CN114561861A

CN114561861A - Line marking robot

Info

Publication number: CN114561861A
Application number: CN202011364032.1A
Authority: CN
Inventors: 周献华; 佘洋; 贾玉涛
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-11-27
Filing date: 2020-11-27
Publication date: 2022-05-31

Abstract

The application relates to parking stall construction technical field, concretely relates to marking off robot, it includes: an intelligent chassis; the marking device is arranged on the intelligent chassis and used for spraying and marking on the ground; the punching device is arranged on the intelligent chassis and used for punching holes on the ground; the controller is used for controlling the intelligent chassis to walk along a preset path; when the intelligent chassis walks along a preset path, the controller controls the scribing device to work; when the intelligent chassis walks to a preset point position along a preset path, the controller controls the punching device to work. The utility model provides a marking off robot, when its intelligence chassis was walked along predetermined route, the work of controller control marking off device was in order to rule in subaerial spraying, when the walking of intelligence chassis was to predetermined position, the work of controller control perforating device was in order to punch subaerial to at the in-process of marking off robot walking along predetermined route, can once only accomplish parking stall marking off operation and punching operation, improve parking stall efficiency of construction greatly.

Description

Scribing robot

Technical Field

The application relates to the technical field of parking space construction, particularly, relates to a marking robot.

Background

At present, a line marking vehicle is generally sprayed on the ground by a manual operation line marking vehicle, then after a hole marking position is manually measured, a hole is punched on the ground by using an electric hammer so as to install a locator, and the parking place has multiple construction steps and low construction efficiency.

Disclosure of Invention

The application aims at providing a marking robot to solve the problem that the parking space construction efficiency is low among the prior art.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a scribing robot, including:

an intelligent chassis;

the marking device is arranged on the intelligent chassis and used for spraying and marking on the ground;

the punching device is arranged on the intelligent chassis and used for punching holes on the ground;

the controller is used for controlling the intelligent chassis to walk along a preset path;

when the intelligent chassis walks along a preset path, the controller controls the scribing device to scribe on the ground; when the intelligent chassis travels to a preset point position along a preset path, the controller controls the punching device to punch holes on the ground.

The utility model provides a marking off robot, when its intelligence chassis was walked along predetermined route, the work of controller control marking off device was in order to rule in subaerial spraying, when the walking of intelligence chassis was to predetermined position, the work of controller control perforating device was in order to punch subaerial to at the in-process of marking off robot walking along predetermined route, can once only accomplish parking stall marking off operation and punching operation, improve parking stall efficiency of construction greatly.

In an embodiment of the present application, optionally, the scribing robot further includes a distance measuring device, which is installed on the intelligent chassis, and is configured to detect a punching depth of the punching device and feed back a detection result to the controller;

and the controller controls the punching device and the intelligent chassis to act according to the detection result.

When walking to predetermined point location, the intelligence chassis needs to be suspended to perforating device punches at predetermined point location, in above-mentioned technical scheme, through setting up range unit and detecting the drilling degree of depth at the in-process of perforating device work, the controller can learn the completion condition of punching, so that control perforating device and intelligent chassis cooperation work.

In an embodiment of the present application, optionally, the distance measuring device includes a stay wire encoder, a body of the stay wire encoder is installed on the intelligent chassis, and a stay wire of the stay wire encoder is connected to the punching device.

The body and the intelligent chassis relatively fixed of the encoder of acting as go-between, and the perforating device is connected to acting as go-between of encoder of acting as go-between, can stimulate when perforating device punches downwards and act as go-between, and perforating device punches how deep downwards, then acts as go-between by how long down, and this kind of measuring method is difficult to receive other factors influence, and the retrieval result degree of accuracy is high. And this measurement mode is very directly perceived, directly will act as go-between the elongation and the testing result comparison can know and measure whether accurate, easy access and calibration.

In one embodiment of the present application, optionally:

when the punching depth of the punching device reaches a preset depth, the controller controls the punching device to move upwards to leave the ground and controls the intelligent chassis to continue to walk along a preset path;

when the punching depth of the punching device is smaller than the preset depth and is continuously constant within a certain time, the controller controls the punching device to move upwards to be away from the ground, controls the intelligent chassis to deviate from the current position, and then controls the punching device to move downwards to punch again.

In the technical scheme, when the punching depth is reached, the punching is finished, the controller controls the punching device to move upwards to be away from the ground so as not to block the movement, and then the intelligent chassis is controlled to continue to travel along the preset path so that the scribing device continues to spray and scribe along the preset path.

However, in actual construction, the predetermined point is sometimes just above the floor slab reinforcement, or there are cases where there are hard rocks or metal embedded parts below the ground, and in these cases, the drilling device may not be able to continue drilling downwards after contacting with hard objects, and even if the drilling device can pass through the hard objects after a long time of drilling or hammering, the drilling device is easily damaged, and the floor slab reinforcement, the embedded parts, etc. are also damaged, which affects the later use of the building. Therefore, in the technical scheme, once the distance measuring device detects that the punching depth is continuously unchanged within a certain time and cannot reach the preset depth, the controller controls the punching device to stop punching and leave the ground, and controls the intelligent chassis to punch holes again near the preset point after moving. Therefore, the damage to a metal embedded part inside a building is avoided, the damage to the punching device is also avoided, punching can be completed near a preset point position, and the influence on the installation precision of the positioner is reduced.

In an embodiment of the present application, optionally, the punching device includes:

a carriage mounted to the intelligent chassis to be movable up and down;

two drilling mechanisms mounted to the carriage;

and the driving mechanism is arranged on the intelligent chassis, and the output end of the driving mechanism is connected with the sliding frame.

Be equipped with two anchor eyes on the locator, need aim at two subaerial two holes with two anchor eyes during the installation, in order to be fixed in ground simultaneously with the both ends of locator, make locator monolithic stationary and can not be subaerial activity, at present the manual work in-process of punching, need confirm earlier the relative position in first hole and sideline and punch the back, confirm the relative position in second hole and first hole again and punch, two holes are for the position of parking stall, and the relative position between two holes is all by manual measurement, the error appears easily sometimes, this can lead to two anchor eyes can't aim at ground hole, the unable installation of locator. In the technical scheme, the horizontal positions of the two drilling mechanisms relative to the chassis are determined, so that the punching position is determined relative to the sideline position of the parking space; and two drilling mechanisms of actuating mechanism drive move to the below ground simultaneously and punch, can once form two drilling to the relative position of two drilling is accurate, consequently, the marking robot that this technical scheme provided can once form two holes that the position is accurate subaerial, improves the installation power of locator greatly.

In an embodiment of the present application, optionally, the carriage comprises:

the drilling mechanism comprises an upper mounting plate and a lower mounting plate, wherein the two drilling mechanisms are mounted between the upper mounting plate and the lower mounting plate;

two ends of the upper mounting plate are fixedly connected with the two guide rails respectively, and two ends of the lower mounting plate are fixedly connected with the two guide rails respectively;

and the two sliding blocks are fixed on the intelligent chassis and are respectively in sliding fit with the two guide rails.

In the technical scheme, the drilling mechanism is directly fixed between the two mounting plates when being mounted, and the operation is simple; two guide rails not only are one of the parts of sliding assembly, and sliding connection intelligence chassis still is used for connecting two mounting panels from top to bottom simultaneously for the simple structure of balladeur train, compactness, and the balladeur train is connected stably, the removal with intelligent chassis.

In an embodiment of the present application, optionally, two adjustable clamping blocks are provided at two ends of the lower mounting plate, and the two drilling mechanisms are respectively pressed and fixed to the lower mounting plate by the two clamping blocks.

In above-mentioned technical scheme, adjustable clamp piece can get when loosening and put drilling mechanism, can compress tightly drilling mechanism when pressing from both sides tightly to be fixed in down the mounting panel, therefore drilling mechanism installs and dismantles the convenience to can also install the drilling mechanism of equidimension not through the elasticity degree of adjusting clamp piece, the suitability is good.

In an embodiment of the present application, optionally, first screw holes are respectively formed at two ends of the lower mounting plate, first screw rods are respectively arranged on the two clamping blocks, and the first screw rods are matched with the first screw holes.

In above-mentioned technical scheme, first screw and the cooperation of first screw are so that two clamp tight piece and the interval of lower mounting panel are adjustable to put into and press from both sides tight electric hammer, and can be suitable for the electric hammer of different specifications.

In an embodiment of the present application, optionally, the two guide rails are respectively connected to the two clamping blocks, and the two sliding blocks are respectively provided with a second screw hole and a jackscrew that can extend toward the intelligent chassis;

and a second screw is arranged on the intelligent chassis and matched with the second screw hole, and the jackscrew is abutted against the intelligent chassis.

When the interval that presss from both sides tight piece and lower mounting panel diminishes, the interval grow between slider and the intelligent chassis, among the above-mentioned technical scheme, even the interval grow between slider and the intelligent chassis, the second screw rod also can be connected in the second screw, realizes slider and balladeur train integral erection, rocks for avoiding the balladeur train whole for the intelligent chassis simultaneously, and the jackscrew stretches out towards the intelligent chassis to support tight intelligent chassis, make the balladeur train wholly connect in the intelligent chassis steadily.

In an embodiment of the application, optionally, the two drilling mechanisms are two electric hammers, each electric hammer comprising a body and a drill rod mounted to the body, the body being mounted to the carriage, the drill rod extending downwardly.

In above-mentioned technical scheme, drilling mechanism sets up to the electric hammer, and the electric hammer corotation is in order to punch on ground when the balladeur train moves down, and the electric hammer reversal is so that can reduce the resistance between drilling rod and the pore wall when the balladeur train moves up to reduce the resistance that the balladeur train moved up, the drilling rod of being convenient for leaves ground fast.

In an embodiment of the present application, optionally, the male perpendicular lines of the drill rods of the two electric hammers and the bodies of the two electric hammers form a triangle.

In the technical scheme, the machine bodies of the two electric hammers, one end of the installation drill rod is arranged according to the distance between the two installation holes of the positioner, and one end of the drill rod is kept away from, so that more installation spaces can be reserved, and the reserved installation spaces can be used for installing other functional components, so that the intelligent chassis is integrally compact.

In an embodiment of the present application, optionally, the scribing device includes a nozzle, and the nozzle is disposed on the intelligent chassis in a manner of being movable left and right and can be moved to extend out of the left and right sides of the intelligent chassis.

In the technical scheme, when the intelligent chassis moves, the spray head can be used for scribing on two sides of the intelligent chassis, and the rolling and scribing of wheels under the intelligent chassis can be effectively avoided. In addition, the punching device installed on the intelligent chassis can be enabled to have a fixed distance with the marking line, a certain interval is formed between the locator installation hole formed in the ground and the marking line formed, and the interval reserves an accommodating space for parking the vehicle body.

In an embodiment of the present application, optionally, the scribing device further includes a sliding rail extending in the left-right direction, the sliding rail is installed at one end of the intelligent chassis, and the spray head is installed on the sliding rail.

In the technical scheme, the sprayer is installed on the sliding rail extending left and right, the sprayer moving stability is good, and the sprayer can form a line in the process of moving left and right due to the fact that the sliding rail is located at one end of the intelligent chassis, so that the line drawing robot can work conveniently, and the line drawing efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a side view of a scribing robot provided in an embodiment of the present application;

fig. 2 is a bottom view of a scribing robot provided in an embodiment of the present application;

FIG. 3 is a front view of a punch device according to an embodiment of the present disclosure;

fig. 4 is a schematic perspective view of a punching device provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a lower mounting plate according to an embodiment of the present disclosure;

fig. 6 is an enlarged view of a portion a of fig. 4.

Icon: 100-an intelligent chassis; 110-a frame; 111-a fixed plate; 112-a second screw; 120-laser radar; 130-a movable door; 200-a scribing device; 210-a slide rail; 220-a spray head; 300-a perforating device; 310-a carriage; 311-upper mounting plate; 312-a lower mounting plate; 3121-a first clamping block; 3122-a second clamping block; 313-a first guide rail; 314-a first slider; 315-a second guide rail; 316-second slider; 317-a first screw; 320-a drilling mechanism; 321-a first fuselage; 322-a first drill pipe; 323-a second fuselage; 324-a second drill pipe; 330-a drive mechanism; 331-cylinder body; 332-a piston rod; 400-top thread; 500-a distance measuring device; 510-a stay encoder body; 520-a pull wire.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

Examples

The embodiment of the application provides a marking robot, and this marking robot can once only accomplish parking stall marking off operation and punching operation subaerial, need not the manual work and rule, then measure the position, punch again, has improved parking stall efficiency of construction greatly.

As shown in fig. 1, the scribing robot includes an intelligent chassis 100, a scribing apparatus 200, and a punching apparatus 300.

The intelligent chassis 100 is used to walk along a predetermined path.

The line marking apparatus 200 is mounted to the intelligent chassis 100 so as to spray a line on the ground along a predetermined path.

The punching device 300 is installed on the intelligent chassis 100 so as to punch a hole on the ground when the intelligent chassis 100 walks to a predetermined position, the hole is a mounting hole of the positioner, and for clarity of description, the hole formed on the ground by the punching device 300 is hereinafter collectively referred to as a mounting hole.

The predetermined point position in this embodiment refers to a position where the intelligent chassis 100 is near a bottom corner of the vehicle line, as shown in fig. 2, at this time, the punching device 300 is near the bottom line and the side line of the vehicle line, and has a space with both the bottom line and the side line, so that the positioner can be installed at the bottom corner of the vehicle line, and the positioner is spaced with the bottom line and the side line, so that the positioner can be located behind the wheels, and a containing space for the vehicle body is reserved at the rear and at both sides. After the wheels of the vehicle are aligned with the positioner to be parked, the vehicle body can be accommodated in the marking line, the vehicle body does not need to be adjusted in the front-back direction and the left-right direction, and a parking space convenient to use can be formed.

The line striping robot further comprises a controller, not shown in the figures, which as will be appreciated by those skilled in the art is a commercially available processor such as a single chip or PLC.

The controller is respectively electrically connected with the intelligent chassis 100, the punching device 300 and the scribing device 200, the electrical connection mode can be through wire connection, bluetooth connection, or through other wireless transmission modules, and the like.

The intelligent chassis 100, the perforating device 300 and the scribing device 200 are controlled by the controller. That is, the controller controls the intelligent chassis 100 to travel along a predetermined path, the controller controls the scribing device 200 to spray and scribe along the predetermined path during the travel, and the controller controls the punching device 300 to punch holes on the ground when the intelligent chassis travels to a predetermined point.

The controller controls the scribing device 200 to work to spray and scribe lines on the ground while the intelligent chassis 100 travels along the predetermined path.

When the intelligent chassis 100 walks to a predetermined position, the controller controls the punching device 300 to work to punch holes on the ground.

In order to further improve the walking precision of the intelligent chassis 100, a laser radar 120 is installed on the intelligent chassis 100, and the laser radar 120 is used for scanning the field to be scribed and feeding back the scanning result to the controller.

The controller is pre-stored with a database map, and a preset path and a preset point are set on the database map in advance.

When the line drawing robot walks to the field to be drawn, the laser radar 120 firstly scans the field to be drawn and feeds back the scanning result, the controller establishes a real-time map according to the scanning result, and then the real-time map is compared with the database map. The controller determines the location of the predetermined path by comparison, and determines the real-time location of the intelligent chassis 100. Then, the controller controls the intelligent chassis 100 to travel to the starting point of the predetermined path, then controls the intelligent chassis 100 to travel along the predetermined path, and controls the scribing device 200 and the perforating device 300 to operate.

During the intelligent chassis 100 walks along the predetermined path, the controller controls the scribing device 200 to work to spray and scribe lines on the ground.

When the intelligent chassis 100 walks to a predetermined position, the controller controls the punching device 300 to work to punch holes on the ground. Because a certain time is often needed for punching to a certain depth, in order to ensure the hole forming effect of the mounting hole, when the intelligent chassis 100 travels to a preset point position, the controller controls the intelligent chassis 100 to temporarily travel, controls the scribing device 200 to temporarily stop spraying and scribing, and then controls the punching device 300 to work.

In order to better control the hole forming effect of the mounting hole and enable the scribing robot to continue to work normally after the hole forming is finished. The scribing robot provided in this embodiment further includes a distance measuring device 500, and the distance measuring device 500 is configured to detect the punching depth of the punching device 300 and feed back the detection result to the controller.

The controller controls the action of the perforating device 300 and the intelligent chassis 100 according to the detection result.

The controller is set with a predetermined depth, and during the punching process of the punching device 300, the controller compares the received detection result with the predetermined depth. When the punching depth reaches the preset depth, the controller controls the punching device 300 to move upwards to leave the ground, and after the punching device 300 moves upwards to leave the ground, the intelligent chassis 100 is controlled to continue to walk along the preset path. Meanwhile, when the intelligent chassis 100 walks, the controller controls the scribing device 200 to start scribing again.

Hard objects such as steel bars and metal embedded parts often exist in a floor slab or a floor where a parking space is located, and the hard objects hidden in a building component cannot be known when a predetermined point position is set, so that the predetermined point position may be just above the hard objects. If the drilling device 300 continues to drill downwards after contacting with the hard objects, the hard objects may be damaged, which may result in damage to the building components and damage to the drilling device 300.

Accordingly, the controller is configured to: and when the received detection result is smaller than the preset setting and is continuously unchanged within a certain time, controlling the punching device 300 to move upwards to be away from the ground, controlling the intelligent chassis 100 to deviate for a certain distance, and then controlling the punching device 300 to punch holes again. So, then can effectively avoid building element to damage, also alleviate perforating device 300 and meet the problem of hard object damage, can also accomplish the mounting hole near predetermined point location simultaneously, reduce the influence to locator installation accuracy.

The controller may set the intelligent chassis 100 to be shifted in a manner of shifting a preset distance in a direction parallel to the bottom line of the parking space, and if the punching depth after the re-punching still cannot reach the preset depth, shifting the preset distance in a direction parallel to the side line. Thereby, can avoid perforating device 300 to remove above the reinforcing bar all the time and punch, can just realize avoiding the reinforcing bar to punch through two steps only, reduce skew number of times and skew distance, improve the installation accuracy of locator.

In addition, the diameter of the plate surface steel bar commonly used for the common floor slab is between 6mm and 12mm, and the preset distance of each deviation can be set to be 6 mm. When the diameter of the steel bar is 6mm, if the deviation direction is correct, one deviation can be generally separated from the steel bar along the radial direction of the steel bar. When the diameter of reinforcing bar is greater than 6mm, for example when being 10mm, need squint 10mm at most, but in the actual construction, generally only need squint the radial length of reinforcing bar can, for example 5mm can. Therefore, by setting the preset distance to 6mm, most of the requirements can be satisfied in actual construction.

Structurally, the intelligent chassis 100 includes a chassis body and a frame 110 disposed on the chassis body, the frame 110 extends upward to cover the top of the chassis body so as to provide an installation space for parts, and the frame 110 extends downward to shield the bottom of the chassis body so as to protect a working space below the chassis body.

In order to make the view of lidar 120 wider and less prone to obstruction, lidar 120 is disposed on top of frame 110.

The scribing device 200 is mounted at one end of the chassis body. The line drawing device 200 comprises a sliding rail 210 and a spray head 220, the spray head 220 is movably arranged on the sliding rail 210, the sliding rail 210 is installed at one end of the chassis body, the spray head 220 can move along the sliding rail 210 to draw lines on two sides of the chassis body, so that wheels under the chassis body are prevented from rolling and drawing lines when walking, and meanwhile, when two side lines are sprayed, the intelligent chassis 100 does not need to turn around integrally.

In order to further improve the scribing efficiency, the roller of the intelligent chassis 100 is an omni wheel, so that the whole scribing robot can keep a certain posture. When a side line is scribed, the intelligent chassis 100 walks in a direction parallel to the side line; when the bottom line needs to be marked, the omni-directional wheel turns in place and walks in the direction parallel to the bottom line, and the intelligent chassis 100 and all devices mounted on the intelligent chassis keep stable. The intelligent chassis 100 stops when moving to the other side line, and at this time, the spray head 220 finishes spraying the rest part of the bottom line while moving along the slide rail 210, and reaches the starting point of the other side line.

The punching device 300 is installed on the frame 110 and can move up and down through the chassis body to punch a hole below the chassis body.

The two anchor holes of the locator are required to be aligned to the two mounting holes on the ground when the locator is mounted, and two anchoring parts respectively penetrate through the two anchor holes and the two mounting holes so as to fix the two ends of the locator on the ground. Therefore, the positioner is integrally fixed and cannot move on the ground.

In the current manual punching process, the relative position of a first mounting hole and a sideline needs to be determined through measurement, then punching is carried out, and then the relative position of a second mounting hole and the first mounting hole is determined through measurement and punching is carried out. The positions of the two mounting holes relative to the parking space line are manually measured, so that large deviation exists sometimes, and a standardized parking space is difficult to form. And the relative position between the two mounting holes is also manually measured, and if the relative position between the two mounting holes has errors, the two anchor holes cannot be aligned with the two mounting holes on the ground, so that the positioner cannot be mounted.

The scribing robot provided by the embodiment can punch holes when the robot walks to a preset point position so as to form a standardized parking space, and can accurately control the relative positions of the two mounting holes so as to ensure that the positioner is correctly mounted.

The structure of the punch apparatus 300 as shown in fig. 3 and 4, the punch apparatus 300 includes a carriage 310, a driving mechanism 330, and two drilling mechanisms 320. The carriage 310 is installed on the intelligent chassis 100 to be movable up and down, two drilling mechanisms 320 are installed on the carriage 310, a driving mechanism 330 is installed on the intelligent chassis 100, and an output end of the driving mechanism 330 is connected to the carriage 310. The driving mechanism 330 drives the carriage 310 to move up and down so that the two drilling mechanisms 320 on the carriage 310 drill holes on the ground.

The carriage 310 includes an upper mounting plate 311, a lower mounting plate 312, two guide rails, and two sliders.

The two drilling mechanisms 320 are installed between the upper mounting plate 311 and the lower mounting plate 312, two guide rails are respectively arranged at two sides of the upper mounting plate 311 and the lower mounting plate 312, and the two guide rails are respectively connected with the upper mounting plate 311 and the lower mounting plate 312 to form a whole. The two sliding blocks are respectively arranged in the two guide rails in a sliding manner and are respectively connected to the intelligent chassis 100.

For convenience of description, hereinafter, the two guide rails are referred to as a first guide rail 313 and a second guide rail 315, respectively, and the two sliders are referred to as a first slider 314 and a second slider 316, respectively.

The first guide rail 313 is located at the same end of the upper mounting plate 311 and the lower mounting plate 312, and connects the upper mounting plate 311 and the lower mounting plate 312. The second guide 315 is located at the other end of the upper mounting plate 311 and the lower mounting plate 312, and connects the upper mounting plate 311 and the lower mounting plate 312.

The first slider 314 is attached to the frame 110 of the intelligent chassis 100 and is slidably fitted to the first guide rail 313. The second slider 316 is attached to the frame 110 of the intelligent chassis 100 and is slidably engaged to the second rail 315. Thereby, the carriage 310 is movably disposed on the intelligent chassis 100.

The driving mechanism 330 may be a pneumatic cylinder, an electric cylinder, a linear motor, etc., and in this embodiment, the driving mechanism 330 is a pneumatic cylinder. In some embodiments, the cylinder 331 of the air cylinder is fixed to the frame 110, and the piston rod 332 of the air cylinder is connected to the upper mounting plate 311 or the lower mounting plate 312. In other embodiments, the cylinder 331 may be fixed to the upper mounting plate 311 or the lower mounting plate 312, and the piston rod 332 may be connected to the frame 110. When the air cylinder operates, the piston rod 332 extends and contracts along the cylinder 331 to drive the carriage 310 to move up and down.

In this embodiment, the cylinder body 331 of the air cylinder is fixed to the frame 110, the upper mounting plate 311 is formed with a guide hole, and the piston rod 332 is connected to the lower mounting plate 312 through the guide hole. When the piston rod 332 extends or contracts, the piston rod 332 can also be guided in cooperation with the guide hole, thereby improving the stability of the carriage 310.

In this embodiment, the drilling mechanism 320 is an electric hammer, the body of which is mounted to the lower mounting plate 312, and the drill rod of which extends downwardly through the lower mounting plate 312.

The two drilling mechanisms 320 are two electric hammers, and for convenience of description, one of the two drilling mechanisms is a first electric hammer, and the other is a second electric hammer.

The first electric hammer is provided with a first machine body 321 and a first drill rod 322, wherein the first drill rod 322 is connected to one end of the first machine body 321; the second electric hammer has a second body 323 and a second drill rod 324, and the second drill rod 324 is coupled to one end of the second body 323. The first body 321 and the second body 323 are respectively mounted to the lower mounting plate 312.

In order to save the installation space of the intelligent chassis 100, the common perpendicular lines of the first drill rod 322 and the second drill rod 324 and the first body 321 and the second body 323 form a triangle. In other words, the other end of the first body 321 and the other end of the second body 323 are close to each other, so that more installation space is provided, so that other components can be installed on the intelligent chassis 100.

Referring to fig. 5 and 6, two adjustable clamping blocks are disposed at two ends of the lower mounting plate 312, such that a first clamping block 3121 is disposed near one end of the lower mounting plate 312, and a second clamping block 3122 is disposed near the other end of the lower mounting plate 312. The first guide rail 313 is connected to the first clamping block 3121, and the second guide rail 315 is connected to the second clamping block 3122.

Round holes are respectively formed among the first clamping block 3121, the second clamping block 3122, and the lower mounting plate 312. That is, notches are formed at both ends of the lower mounting plate 312, and notches are formed in the first clamp block 3121 and the second clamp block 3122, respectively, such that the notch in the first clamp block 3121 and the notch at one end of the lower mounting plate 312 form a circular hole, and the notch in the second clamp block 3122 and the notch at the other end of the lower mounting plate 312 form a circular hole.

The end of the first body 321 connected to the first drill rod 322 is clamped between the first clamping block 3121 and the lower mounting plate 312, and the end of the second body 323 connected to the second drill rod 324 is clamped between the second clamping block 3122 and the lower mounting plate 312.

The first clamping block 3121 is released, and the first body 321 can be taken out; the second body 323 can be removed by releasing the second clamping block 3122. When the electric hammer needs to be installed again, the corresponding clamping blocks are loosened, the body of the electric hammer is placed into the round hole, and then the clamping blocks are adjusted again to press the body onto the lower installation plate 312.

For the convenience of adjustment, two ends of the lower mounting plate 312 are respectively provided with a first screw hole (not shown in the figure), and the two clamping blocks are respectively provided with a first screw bar 317, and the first screw bar 317 is matched with the first screw hole. The first screw 317 is matched with the first screw hole to enable the distance between the two clamping blocks and the lower mounting plate 312 to be adjustable, so that the diameter of the round hole can be adjusted. For example, when the first screw bar 317 is screwed into the first screw hole, the circular hole becomes small, and the electric hammer can be clamped; when the first screw 317 is screwed out from the first screw hole, the circular hole is enlarged, and the electric hammer can be loosened.

Generally speaking, the larger the power of the electric hammer is, the larger the machine body of the electric hammer is, the first screw 317 is adjusted, the electric hammer can be taken and placed, and the electric hammers with different machine body sizes can be conveniently installed.

When the diameters of the mounting holes are different, drill rods with different specifications can be selected.

To facilitate replacement of the drill pipe, a movable door 130 for exposing the perforating device 300 is formed on the carriage 110. Referring to fig. 1, the movable door 130 is disposed at the lower portion of the frame 110, and the movable door 130 can be lifted upwards by pulling the lower end of the movable door 130, so that a maintenance worker can replace a drill rod through the movable door 130.

After the first and second clamping blocks 3121 and 3122 are pressed toward the lower mounting plate 312, the distance between the first guide rail 313 and the first slider 314 and the vehicle frame 110 is increased, and the distance between the second guide rail 315 and the second slider 316 and the vehicle frame 110 is increased. To ensure the stable mounting of the sliding rack 310, the first sliding block 314 and the second sliding block 316 are respectively provided with a second screw hole (not shown in the figure), and the frame 110 is provided with a second screw rod 112.

When the distance between the frame 110 and the sliding block is increased, the second screw rod 112 is screwed out of the second screw hole for a certain distance, so that the sliding block and the sliding frame 310 are integrally installed.

In order to avoid shaking, the first sliding block 314 and the second sliding block 316 are respectively provided with a top thread 400, and the top thread 400 is abutted against the intelligent chassis 100 to make up the space between the frame 110 and the sliding block, so that the sliding block and the sliding frame 310 are prevented from shaking relative to the frame 110 as a whole. Of course, the top thread 400 may be disposed on the frame 110 and abut against the sliding block.

In this embodiment, as shown in fig. 5 and 6, two sides of the frame 110 are respectively provided with a fixing plate 111, the second screw rod 112 is disposed on the fixing plate 111, one end of the jackscrew 400 is connected to the fixing plate 111 through a thread, and the other end of the jackscrew 400 is used for abutting against the slider. When the distance between the fixing plate 111 and the slider is increased, the jack screw 400 is screwed out toward the slider. The top threads 400 on the two sides cooperate together to tightly abut against the sliding frame 310, so that the sliding frame 310 is ensured to be stable.

The distance measuring device 500 may be a laser distance measuring device, an infrared distance measuring device, a potential displacement sensor, etc., and the distance measuring device 500 is mounted on the frame 110 of the intelligent chassis 100 for detecting the moving distance of the carriage 310 relative to the frame 110, where the moving distance of the carriage 310 is the drilling depth.

In the present embodiment, the distance measuring device 500 employs a stay wire 520 encoder, and referring to fig. 3, a stay wire encoder body 510 is installed on the intelligent chassis 100, and the stay wire 520 of the stay wire 520 encoder is connected to the carriage 310. Optionally, to avoid shadowing and interference, the ends of the pull wires 520 are attached to the upper mounting plate 311.

When the punching device 300 punches a hole downwards, the carriage 310 inevitably moves downwards, the pull wire 520 is pulled at this time, how deep the punching device 300 punches the hole downwards, how long the pull wire 520 is pulled downwards, the measuring mode is not easily influenced by other factors, and the accuracy of the retrieval result is high. And the measuring mode is very intuitive, and whether the measurement is accurate or not can be obtained by directly comparing the elongation of the stay wire 520 with the detection result, so that the maintenance and the calibration are convenient.

Of course, since the drill rod of the electric hammer may be at a distance from the ground at the initial height, the total length of the pull wire 520 pulled down may be greater than the depth of the hole. Therefore, the buffer distance may be set before the scribing robot operates, and the controller may calculate the actual punching depth as the detection result-buffer distance after receiving the detection result of the encoder of the wire drawing 520.

The working principle of the scribing robot provided by the embodiment is as follows:

preparation work

And inputting a database map into the controller, calibrating the preset path and the preset point position on the database map, and setting the preset depth.

And placing the scribing robot in a field to be scribed and starting.

The laser radar 120 operates to scan the site to be scribed and feed back the scan results to the controller.

The controller builds a real-time map according to the scanning result, then compares the real-time map with the database map, determines the position of the predetermined path and the position of the predetermined point on the real-time map, and determines the position of the intelligent chassis 100 relative to the predetermined path.

Then, the controller controls the intelligent chassis 100 to walk to the start point of the predetermined path.

Construction of parking space

The controller controls the intelligent chassis 100 to walk along a preset path and controls the scribing device 200 to work, and the spray head 220 of the scribing device 200 sprays on the ground to form a scribing line.

The parking line generally comprises a left side line, a bottom line, a right side line and an entrance line, and the positioner is generally close to the bottom line.

Take the order of the predetermined path as left sideline-bottom line-right sideline-entrance line as an example.

The sprayer 220 moves to one side of the intelligent chassis 100 close to the left side line, the intelligent chassis 100 moves along the preset path to the bottom line direction, and the sprayer 220 sprays on the ground to form the left side line.

After the intelligent chassis 100 reaches the tail end of the left side line and the left end of the bottom line, the intelligent chassis 100 stops walking, the spray head 220 stops spraying, and the punching device 300 moves downwards to punch holes. After punching, the punching device 300 moves upwards to leave the ground, the omnidirectional wheel of the intelligent chassis 100 rotates backwards to drive the intelligent chassis 100 to move horizontally towards the right side line, the sprayer 220 sprays the bottom line on the ground, the intelligent chassis 100 stops walking when reaching the position of the right side line, the sprayer 220 sprays and moves along the sliding rail 210 at one side, and the spraying is stopped after the sprayer 220 moves to the right end of the bottom line and the starting end of the right side line.

When the intelligent chassis 100 stops at a position close to the right side line, the controller controls the punching device 300 to move downwards for punching. After punching, the punching device 300 moves upward and leaves the ground, the omnidirectional wheel of the intelligent chassis 100 turns and then rolls to drive the intelligent chassis 100 to move horizontally in the direction of the entrance line, and the spray head 220 sprays the right side line on the ground.

After the right sideline is sprayed, the omni wheel turns again to drive the intelligent chassis 100 to complete the entrance line.

It is thus clear that the marking robot that this embodiment provided can once only accomplish parking stall marking off operation and the operation of punching, improves parking stall efficiency of construction greatly.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A scribing robot, comprising:

an intelligent chassis;

2. The scribing robot according to claim 1, further comprising a distance measuring device installed to the intelligent chassis for detecting a punching depth of the punching device and feeding back a detection result to the controller;

3. The line marking robot according to claim 2, wherein the distance measuring device comprises a stay wire encoder, a body of the stay wire encoder is mounted on the intelligent chassis, and a stay wire of the stay wire encoder is connected with the punching device.

4. The line striping robot of claim 2 wherein:

5. The scribing robot according to claim 1, wherein the punching means comprises:

a carriage mounted to the intelligent chassis to be movable up and down;

two drilling mechanisms mounted to the carriage;

6. The line striping robot of claim 5 wherein the carriage comprises:

the two ends of the upper mounting plate are fixedly connected with the two guide rails respectively, and the two ends of the lower mounting plate are fixedly connected with the two guide rails respectively;

7. The line striping robot of claim 6 wherein the lower mounting plate is provided at each end with two adjustable clamping blocks, and wherein the two drilling mechanisms are each held in compression by the two clamping blocks.

8. The scribing robot according to claim 7, wherein first screw holes are respectively formed at both ends of the lower mounting plate, and first screw rods are respectively formed on the two clamping blocks, and the first screw rods are engaged with the first screw holes.

9. The line marking robot according to claim 8, wherein the two guide rails are respectively connected to the two clamping blocks, and the two sliding blocks are respectively provided with a second screw hole and a top thread which can extend towards the intelligent chassis;

10. The line striping robot of any one of claims 5 to 9 wherein the two drilling mechanisms are two electric hammers each comprising a body and a drill rod mounted to the body, the body being mounted to the carriage and the drill rod extending downwardly.

11. The line striping robot of claim 10 wherein the male vertical line of the drill rods of the two electric hammers forms a triangle with the body of the two electric hammers.

12. The scribing robot according to claim 1, wherein the scribing device comprises a spray head which is disposed on the intelligent chassis in a manner of moving left and right and can move to extend out of the left and right sides of the intelligent chassis.

13. The line striping robot of claim 12 further comprising a skid rail extending in a side-to-side direction, the skid rail being mounted at one end of the intelligent chassis, the spray head being mounted to the skid rail.