CN114960392A - Scribing system, scribing method and scribing device - Google Patents
Scribing system, scribing method and scribing device Download PDFInfo
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- CN114960392A CN114960392A CN202110220527.5A CN202110220527A CN114960392A CN 114960392 A CN114960392 A CN 114960392A CN 202110220527 A CN202110220527 A CN 202110220527A CN 114960392 A CN114960392 A CN 114960392A
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- scribing
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
- E01C23/20—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ
- E01C23/22—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying
- E01C23/222—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for forming markings in situ by spraying specially adapted for automatic spraying of interrupted, individual or variable markings
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
Abstract
The invention relates to the technical field of construction machinery and discloses a marking system, a marking method and a marking device. The marking system comprises a positioning device and a marking device, the positioning device comprises a rack and a first positioning mechanism arranged on the rack, the first positioning mechanism comprises a first signal transmitter and a first adjusting mechanism, the first signal transmitter and the first adjusting mechanism can transmit signals along the Y direction, the first adjusting mechanism is in communication connection with the marking device, the first adjusting mechanism can drive the first signal transmitter to move along the X direction, the marking device comprises a marking mechanism and a first signal receiver arranged on the marking mechanism, the marking mechanism can move on the surface to be marked and mark, the first signal receiver can receive the signals of the first signal transmitter and communicate with the marking mechanism, the marking mechanism can move along the Y direction and mark, and meanwhile, the marking position is adjusted along the X direction according to the information received by the first signal receiver. The scribing device can adjust the position of the signal transmitter to a proper position matched with the signal receiver, so that the scribing precision is improved.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a marking system, a marking method and a marking device.
Background
Along with the development of society, cost of labor in the building construction process is constantly increased, and in the parking stall marking operation field, the traditional whole course of relying on the manual marking operation mode is gradually replaced by the operation mode of marking by adopting the automatic marking device. The marking device usually comprises an automatic navigation trolley and a spraying mechanism connected to the automatic navigation trolley, wherein the automatic navigation trolley pulls the spraying mechanism to move along a preset direction so as to realize marking action, but the marking device is influenced by various factors such as ground flatness and the like, and the marking precision is not high only by means of the navigation movement of the automatic navigation trolley.
In order to solve the problem, in the prior art, there is a scribing system including a positioning device for fixing at a specific position and a scribing device, where the positioning device includes a signal transmitter, the scribing device includes an automatic navigation car and a spraying mechanism connected to the automatic navigation car, and a displacement sensor is arranged on the spraying mechanism, and the displacement sensor can receive a signal of the signal transmitter and make the spraying mechanism move in a direction perpendicular to a scribing direction relative to the automatic navigation car, so as to compensate a position deviation of the automatic navigation car and ensure accuracy of a line of the spraying car. However, when the initial placement position deviation of the displacement sensor and the signal emitter is large and exceeds the compensation range of the spraying mechanism relative to the automatic navigation trolley, the displacement sensor cannot capture the signal emitted by the signal emitter, and the scribing accuracy cannot be guaranteed.
Therefore, a scribing system, a scribing method and a scribing apparatus are needed to solve the above technical problems.
Disclosure of Invention
A first object of the present invention is to provide a scribing system capable of automatically adjusting the position of a signal transmitter to an appropriate position for matching with a signal receiver, thereby improving the scribing accuracy.
A second object of the invention is to propose a scribing method with which the precision of the straight line scribed is high.
A third object of the present invention is to provide a scribing apparatus, which can adjust the laser emitted from the signal emitting end to match the scribing apparatus, thereby improving the scribing accuracy.
In order to achieve the purpose, the invention adopts the following technical scheme:
a marking system comprises a positioning device and a marking device, wherein the positioning device comprises a rack and a first positioning mechanism arranged on the rack, the first positioning mechanism comprises a first signal emitter capable of emitting signals along the Y direction and a first adjusting mechanism, the first adjusting mechanism is in communication connection with the scribing device and can drive the first signal emitter to move along the X direction, the scribing device comprises a scribing mechanism and a first signal receiver arranged on the scribing mechanism, the scribing mechanism can move on the surface to be scribed and scribe, the first signal receiver can receive the signal sent by the first signal transmitter and is in communication connection with the scribing mechanism, the scribing mechanism can move along the Y direction and scribe, while adjusting the scribe line position in the X direction based on information received by the first signal receiver.
The scribing system of the invention is operated, the scribing device is communicated with the first adjusting mechanism after reaching the first preset position, the first adjusting mechanism receives the signal and then adjusts the position of the first signal emitter along the direction vertical to the to-be-scribed direction, so that the signal emitted by the first signal emitter is positioned at the midpoint of the first signal receiver along the direction vertical to the scribing direction, at the moment, the first signal receiver is communicated with the first adjusting mechanism through the scribing mechanism, the first adjusting mechanism stops adjusting the position of the first signal emitter so as to lock the position of the first signal emitter, therefore, the first signal receiver can always receive the signal emitted by the first signal emitter in the initial scribing position and the scribing process of the scribing device, the scribing mechanism can be ensured to keep adjusting the scribing deviation along the direction vertical to the scribing direction, and the conflict between the running route of the scribing mechanism and the route planned by the first signal emitter is avoided, thereby improving the accuracy of the scribing.
As an alternative, the frame comprises a beam extending in the X-direction, the first adjustment mechanism being capable of adjusting the position of the first signal emitter on the beam. Therefore, when the scribing device scribes straight lines extending along the Y direction at different positions, the first signal transmitter can be adjusted to the position matched with the first signal receiver by the first adjusting mechanism, and the position of the positioning device does not need to be moved, so that the scribing efficiency is improved.
As an optional scheme, the rack includes a beam extending along the X direction, the beam is provided with a plurality of the first positioning mechanisms, and each of the first positioning mechanisms is provided with one of the first signal emitters correspondingly. The first signal transmitter of each first positioning mechanism can respectively transmit signals to the first signal receivers positioned at different scribing positions, and the scribing deviation of the corresponding spraying mechanism along the X direction is corrected, namely, when scribing lines in the Y direction at different positions, the position of the positioning device does not need to be moved, so that the scribing efficiency is improved.
As an optional scheme, the first adjusting mechanism includes a frame, a rack, a gear and a first driving assembly, the frame is movably connected to the cross beam, the first signal transmitter is disposed on the frame, the rack is disposed on the cross beam and extends along the X direction, the first driving assembly is disposed on the frame, the gear is engaged with the rack, and the first driving assembly can drive the gear to rotate so as to move the frame along the X direction.
As an optional scheme, the first adjusting mechanism includes a slider, a flexible component, two driving wheels, and a second driving component, the first signal emitter is disposed on the slider, a connection line of the two driving wheels extends along the X direction and is rotatably supported on the cross beam, the flexible component is wound around the two driving wheels, the slider is connected with the flexible component, the second driving component is disposed on the cross beam, and the second driving component can drive any one of the driving wheels to rotate, so that the slider moves along the X direction, and further position adjustment of the first signal emitter along the X direction is achieved, the structure is simple, and the cost is low.
As an alternative, one end of the machine frame along the X direction is provided with a fixed leg, and the other end is provided with a caster, and the fixed leg and the caster are used for supporting on the surface to be scribed. The fixed right angle can guarantee that the frame places the stability of position, and when moving the frame position, operating personnel lifts up the one end of fixed stabilizer blade to truckle through the other end promotes the frame, and the removal process is comparatively laborsaving, and is difficult to scrape the line that the flower just drawn.
As an optional scheme, the positioning device further includes a second positioning mechanism disposed on the frame, the second positioning mechanism includes a second signal emitter capable of emitting a setting signal along the X direction and a second adjusting mechanism, the second adjusting mechanism is in communication connection with the scribing device, and the second adjusting mechanism is capable of driving the second signal emitter to move along the Y direction; the scribing device comprises a second signal receiver arranged on the scribing mechanism, the second signal receiver can receive signals transmitted by the second signal transmitter and is in communication connection with the scribing mechanism, the scribing mechanism can move along the X direction and scribe, and meanwhile, the scribing position is adjusted along the Y direction according to information received by the second signal receiver. The marking system can ensure higher precision when marking the line along the X direction.
As an alternative, the machine frame includes a longitudinal beam extending along the Y direction and located at one end of the machine frame along the X direction, and the second positioning mechanism is disposed on the longitudinal beam. Interference of the signals transmitted by the first signal transmitter and the second position signal transmitter can be avoided.
As an alternative, the first signal emitter and/or the second signal emitter is a line laser emitter, and the line laser emitter is capable of emitting a laser plane in a vertical direction. Namely, the signal emitted by the first signal emitter is a plane, and is a vertical straight line when the signal is applied to the first signal receiver, even if the first signal receiver and the first signal emitter have a deviation in height, the first signal emitter can still receive the signal of the first signal emitter, so that the influence of the position error of the first signal emitter and the first signal receiver in the vertical direction on the positioning precision is solved.
As an alternative, the scribing mechanism includes a moving base and a spraying mechanism, the first signal receiver is disposed on the spraying mechanism, and the spraying mechanism is capable of moving in the X direction relative to the moving base. When the scribing deviation of the scribing device along the X direction is adjusted, only the structure of the spraying mechanism needs to be adjusted, and the adjustment is more convenient.
As an alternative, the scribing mechanism further comprises a third driving assembly and a spraying moving guide rail extending along the X direction, and the third driving assembly can drive the spraying mechanism to slide along the spraying moving guide rail, so that when the scribing device performs scribing along the Y direction, the scribing deviation of the spraying mechanism along the X direction can be adjusted.
As an alternative, the spraying mechanism includes a mounting seat, a spraying actuator, and a fourth driving assembly, the fourth driving assembly is disposed on the mounting seat, and the fourth driving assembly can drive the spraying actuator to move along the Y direction relative to the mounting seat. Therefore, when the scribing device is used for scribing along the X direction, the scribing deviation of the spraying mechanism along the Y direction can be adjusted.
As an optional solution, the spraying mechanism further includes a fifth driving assembly, the fifth driving assembly is connected to an output end of the fourth driving assembly, and the fifth driving assembly can drive the spraying actuator to axially rotate around a vertical direction relative to the mounting base, so as to spray along the X direction or spray along the Y direction, that is, adjust a spraying direction of the spraying mechanism.
A method of scribing, comprising:
moving to a first preset position;
sending a laser adjusting signal to a laser emitting end so that the laser emitting end can adjust the laser irradiation position;
when the laser emitting end is adjusted to irradiate the laser to a preset area, stopping sending the laser adjusting signal;
and moving the laser beam to a second preset position for scribing, and compensating the offset position in real time according to the laser beam irradiation path so as to keep the laser beam always irradiated on the preset area until the second preset position is reached.
A scribing apparatus comprising:
the scribing module is used for moving to a first preset position;
the first sending module is used for sending a laser adjusting signal to a laser emitting end so that the laser emitting end can adjust the laser irradiation position;
the first receiving module is used for receiving the laser transmitting end in-place signal when the laser transmitting end is adjusted to the laser irradiated to a preset area, so that the first transmitting module stops transmitting the laser adjusting signal;
the scribing module is also used for moving to a second preset position for scribing and compensating the offset position in real time according to the laser irradiation path so as to keep the laser always irradiated on the preset area until the second preset position is reached.
The invention has the beneficial effects that:
the scribing system of the invention is operated, the scribing device is communicated with the first adjusting mechanism after reaching the first preset position, the first adjusting mechanism receives the signal and then adjusts the position of the first signal emitter along the direction vertical to the to-be-scribed direction, so that the signal emitted by the first signal emitter is positioned at the midpoint of the first signal receiver along the direction vertical to the scribing direction, at the moment, the first signal receiver is communicated with the first adjusting mechanism through the scribing mechanism, the first adjusting mechanism stops adjusting the position of the first signal emitter so as to lock the position of the first signal emitter, therefore, the first signal receiver can always receive the signal emitted by the first signal emitter when the scribing device is at the first preset position and in the scribing process, the scribing mechanism can keep adjusting the scribing deviation along the direction vertical to the scribing direction, and the conflict between the preset operation route of the scribing mechanism and the route planned by the first signal emitter is avoided, thereby improving the accuracy of the scribing.
According to the scribing method, when the signal emitted by the laser emitting end is adjusted to irradiate the signal in the preset area at the first preset position, namely, the laser irradiation path is accurately adjusted before scribing, so that the deviation position can be compensated in real time according to the accurate laser irradiation path in the scribing process from the first preset position to the second preset position, and the scribing precision is improved.
The marking device can adjust the laser emitted by the laser emitting end to be matched with the first preset position where the marking device is located in a matching mode, and therefore marking accuracy is improved.
Drawings
Fig. 1 is a top view of a scribing system according to an embodiment of the present invention when scribing a plane to be scribed;
fig. 2 is a schematic structural diagram of a positioning device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a scribing apparatus according to an embodiment of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 2;
FIG. 5 is a schematic structural diagram of a first adjustment mechanism provided in accordance with an embodiment of the present invention;
FIG. 6 is an enlarged view at B in FIG. 2;
fig. 7 is a schematic diagram of a first signal transmitter and a signal transmitted by the first signal transmitter according to an embodiment of the present invention;
FIG. 8 is a flow chart of a scribing method according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a positioning device according to a second embodiment of the present invention;
fig. 10 is a schematic structural view of a first adjustment mechanism provided in the second embodiment of the present invention;
fig. 11 is a longitudinal sectional view of a positioning device according to a second embodiment of the present invention.
In the figure:
100-vertical reference plane; 200-column; 300-a third positioning mechanism;
1-a positioning device; 111-a cross-beam; 112-longitudinal beams; 113-fixed feet; 114-a caster; 115-an abutment; 12-a first positioning mechanism; 121-a first signal transmitter; 122 — a first adjustment mechanism; 1220-a roller; 1221-a vehicle frame; 1222-a rack; 1223-gears; 1224 — a first drive assembly; 1225-a slide block; 1226-a flexure; 1227-a transmission wheel; 1228-a second drive assembly; 1229-linear guides; 123-a mounting plate; 124-an electric cabinet; 13-a second positioning mechanism; 131-a second signal transmitter; 132-a second adjustment mechanism;
2-a scribing device; 21-a scribing mechanism; 211-moving the base; 212-a spray mechanism; 2121-a mounting seat; 21211-a first mounting surface; 21212-a second mounting surface; 2122-spray actuator; 2123-fifth drive assembly; 22-a first signal receiver; 23-a second signal receiver; 24-spray moving guide.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example one
The embodiment provides a marking system which can be used in building construction and is particularly suitable for marking a vehicle line on a plane to be marked. Specifically, as shown in fig. 1 to 5, the scribing system includes a positioning device 1 and a scribing device 2, the positioning device 1 includes a frame and a first positioning mechanism 12 disposed on the frame, the first positioning mechanism 12 includes a first signal emitter 121 capable of emitting a signal in a Y direction and a first adjusting mechanism 122, the first adjusting mechanism 122 is in communication connection with the scribing device 2, the first adjusting mechanism 122 can drive the first signal emitter 121 to move in the X direction, the scribing device 2 includes a scribing mechanism 21 and a first signal receiver 22 disposed on the scribing mechanism 21, the scribing mechanism 21 can move and scribe on a surface to be scribed, the first signal receiver 22 can receive the signal emitted by the first signal emitter 121 and is in communication connection with the scribing mechanism 21, the scribing mechanism 21 can move in the Y direction and scribe, and simultaneously adjust a scribing position in the X direction according to information received by the first signal receiver 22, the X direction is perpendicular to the Y direction.
In operation of the scribing system of this embodiment, after the scribing device 2 reaches the first predetermined position (position a in fig. 1), when the first signal transmitter 121 and the first signal receiver 22 are at a position approximately opposite to each other, the scribing mechanism 21 is in communication connection with the first adjusting mechanism 122, the first adjusting mechanism 122 receives the signal and adjusts the position of the first signal transmitter 121 along the X direction, so that the signal transmitted by the first signal transmitter 121 is located at the midpoint of the receiving surface of the first signal receiver 22 along the X direction, when the first signal receiver 22 communicates with the first adjusting mechanism 122 through the scribing mechanism 21, so that the first adjusting mechanism 122 stops adjusting the position of the first signal transmitter 121, so as to lock the position of the first signal transmitter 121 at that time, during the process of moving the scribing device 2 from the first predetermined position to the second predetermined position (i.e. from position a to position b in fig. 1) in the first predetermined position and in the Y direction, the first signal receiver 22 can always receive the signal transmitted by the first signal transmitter 121, so that the scribing mechanism 21 can keep real-time compensation for scribing deviation along the X direction, and a preset running route of the scribing mechanism 21 is prevented from colliding with a route planned by the first signal transmitter 121, thereby improving precision of scribing a Y-direction straight line.
Preferably, the scribing device 2 includes a scribing module, a first sending module and a first receiving module, the scribing module is configured to move to a first predetermined position, the first sending module is configured to send a laser adjustment signal to the laser emitting end so that the laser emitting end adjusts the laser irradiation position, the first receiving module is configured to receive a laser emitting end in-place signal when the laser emitting end is adjusted to irradiate a predetermined region (i.e., a midpoint of the receiving surface of the first signal receiver 22 along the X direction) with laser, so that the first sending module stops sending the laser adjustment signal, the scribing module is further configured to move to a second predetermined position for scribing, and compensate the offset position in real time according to the laser irradiation path, so as to keep the laser irradiated in the predetermined region all the time until the second predetermined position is reached. In this embodiment, the scribing mechanism 21 includes a scribing module, a first sending module, and a first receiving module. The laser emitting end comprises a first positioning mechanism 12, a laser adjusting signal sent by the first sending module is received by a first adjusting mechanism 122, and the first adjusting mechanism 122 drives a first signal emitter 121 to adjust the position, so as to adjust the irradiation position of the laser.
Preferably, as shown in fig. 2, 3 and 6, the positioning device 1 further includes a second positioning mechanism 13, the second positioning mechanism 13 includes a second signal emitter 131 capable of emitting a setting signal in the X direction and a second adjusting mechanism 132, the second adjusting mechanism 132 is in communication connection with the scribing device 2, the second adjusting mechanism 132 can drive the second signal emitter 131 to move in the Y direction, the scribing device 2 includes a second signal receiver 23 disposed on the scribing mechanism 21, the second signal receiver 23 can receive the signal emitted by the second signal emitter 131 and is in communication connection with the scribing mechanism 21, the scribing mechanism 21 can move in the X direction and scribe a line, and simultaneously adjust the scribing position in the Y direction according to the information received by the second signal receiver 23, so that the scribing system can ensure high accuracy when scribing a line in the X direction. In the embodiment, as shown in fig. 1, when the scribing device 2 moves from the a position to the b position, when the second signal transmitter 131 and the second signal receiver 23 are at a position approximately opposite to each other, the scribing mechanism 21 communicates with the second adjusting mechanism 132, the second adjusting mechanism 132 receives the signal and adjusts the position of the second signal transmitter 131 in the Y direction, so that the signal transmitted by the second signal transmitter 131 irradiates the midpoint of the receiving surface of the second signal receiver 23 in the Y direction, when the second signal receiver 23 communicates with the second adjusting mechanism 132 through the scribing mechanism 21, so that the second adjusting mechanism 132 stops adjusting the position of the second signal transmitter 131 to lock the position of the second signal transmitter 131 at that time, so that the scribing device 2 moves from the second predetermined position to the third predetermined position in the second predetermined position and in the X direction (i.e., moves from the b position to the third predetermined position in fig. 1) To the position c), the second signal receiver 23 can always receive the signal transmitted by the first signal generator, so that the scribing mechanism 21 can timely adjust the scribing deviation along the Y direction, and the precision of scribing the straight line in the X direction is improved.
Preferably, the scribing apparatus 2 further comprises a second sending module and a second receiving module, wherein the second sending module is configured to send a laser adjustment signal to the second adjusting mechanism 132 to enable the second adjusting mechanism 132 to adjust the laser irradiation position of the second signal transmitter 131, the second receiving module is configured to receive a second signal transmitter 131 in-place signal when the laser emitted by the second signal transmitter 131 irradiates a midpoint of the receiving surface of the second signal receiver 23 along the Y direction, and enable the second sending module to stop sending the laser adjustment signal, and the scribing module compensates the position deviation in real time according to the signal emitted by the second signal transmitter 131 in the process of moving from the second predetermined position to the third predetermined position and scribing, thereby, improving the scribing accuracy. Note that both the second sending module and the second receiving module belong to the scribing mechanism 21.
Preferably, as shown in fig. 3, the scribing mechanism 21 further includes a moving base 211 and a spraying mechanism 212, the first signal receiver 22 is provided on the spraying mechanism 212, and the spraying mechanism 212 is movable in the X direction with respect to the moving base 211. When the scribing deviation of the scribing device 2 along the X direction is adjusted, only the spraying mechanism 212 needs to be adjusted, and the adjustment is more convenient. Specifically, in this embodiment, the moving base 211 and the spraying mechanism 212 belong to a scribing module, one or more of the first sending module, the first receiving module, the second sending module, and the second receiving module may be disposed on the spraying mechanism 212, and the others are disposed on the moving base 211, or disposed on the spraying mechanism 212, or disposed on the moving base 211, which is not limited specifically herein. Preferably, the movable base 211 can move in any direction on the plane to be scribed, so that the vehicle body of the movable base 211 and the spraying mechanism 212 on the vehicle body do not need to be turned when scribing the corner, scribing is convenient and efficient. Further, the movable base 211 has a navigation function, the movable base 211 can drive the spraying mechanism 212 to move and draw lines along a route planned by navigation (i.e. the preset running route described above), and the cooperation between the first signal emitter 121 and the first signal receiver 22 (or the cooperation between the second signal emitter 131 and the second signal receiver 23) can drive the spraying mechanism 212 to compensate for deviation of the route planned by the movable base 211, so as to ensure the precision of drawing lines, and not to interfere with the navigation of the movable base 211. The movable base 211 having a navigation function and capable of moving in any direction on a plane is a mature component in the prior art, and the specific structure and the working principle thereof are not described herein again.
Specifically, as shown in fig. 3, the scribing mechanism 21 further includes a third driving assembly and the painting moving guide 24 extending in the X direction, and the third driving assembly can drive the painting mechanism 212 to slide along the painting moving guide 24, so that when the scribing device 2 scribes in the Y direction, the scribing deviation of the painting mechanism 212 in the X direction can be adjusted. Specifically, in this embodiment, the two ends of the spraying moving guide rail 24 along the X direction extend out of the moving base 211, so that the spraying mechanism 212 can scribe lines at a position outside the moving base 211, and the newly scribed lines are prevented from being scratched during the moving process of the moving base 211. Further, the third driving assembly may be a motor cooperating with the screw nut pair, a linear cylinder, or other structures capable of driving the spraying mechanism 212 to move along the spraying moving guide rail 24, and is not limited in this respect.
Preferably, as shown in fig. 3, the spray mechanism 212 includes a mount 2121, a spray actuator 2122, and a fourth drive assembly disposed on the mount 2121 and configured to drive the spray actuator 2122 to move in the Y-direction relative to the mount 2121. Therefore, when the scribing device 2 performs scribing in the X direction, the scribing deviation of the coating mechanism 212 in the Y direction can be adjusted. Specifically, in this embodiment, the fourth driving component may be an electric push rod, and an output end of the electric push rod extends in the Y direction. The spray actuator 2122 may be a spray gun, and the spray gun is connected to an output end of the electric push rod.
Further, as shown in fig. 3, the spraying mechanism 212 further includes a fifth driving assembly 2123, the fifth driving assembly 2123 is connected to an output end of the fourth driving assembly, and the fifth driving assembly 2123 can drive the spraying actuator 2122 to rotate axially relative to the mounting block 2121 in the vertical direction so as to spray in the X direction or spray in the Y direction, that is, to achieve adjustment of the spraying direction of the spraying mechanism 212. Specifically, in the present embodiment, the fifth driving assembly 2123 may be a rotary cylinder or a direct drive motor, and is not limited in this respect.
In this embodiment, the first signal receiver 22 is a displacement sensor, that is, the first signal receiver 22 has a signal receiving range with a certain length along the X direction, and when the first adjusting mechanism 122 adjusts the position of the first signal emitter 121, the signal emitted by the first signal emitter 121 hits the midpoint of the displacement sensor along the X direction. Likewise, the second signal receiver 23 is a displacement sensor. That is, the second signal receiver 23 has a signal receiving range with a certain length in the Y direction, and when the second adjusting mechanism 132 adjusts the position of the second signal emitter 131, the signal emitted from the second signal emitter 131 is made to hit the midpoint of the corresponding displacement sensor in the Y direction. As shown in fig. 3, the mount 2121 includes a first mounting surface 21211 perpendicular to the Y direction and a second mounting surface 21212 perpendicular to the X direction, the first signal receiver 22 is disposed on the first mounting surface 21211, and the second signal receiver 23 is disposed on the second mounting surface 21212.
Preferably, as shown in fig. 3 and 7, the first signal transmitter 121 is a word line laser transmitter, that is, the signal transmitted by the first signal transmitter 121 is a plane parallel to the Y direction and is a vertical straight line when it hits on the first signal receiver 22, even if the first signal receiver 22 and the first signal transmitter 121 have a deviation in height, the first signal receiver 22 can still receive the signal of the first signal transmitter 121, so as to solve the influence of the position error of the first signal transmitter 121 and the first signal receiver 22 in the vertical direction on the positioning accuracy. Similarly, the second signal transmitter 131 is also a word line laser transmitter, which can solve the influence of the position error of the second signal transmitter 131 and the second signal receiver 23 in the vertical direction on the positioning accuracy.
Preferably, as shown in fig. 2, 4 and 5, the rack includes a cross beam 111 extending along the X direction, the cross beam 111 is provided with a plurality of first positioning mechanisms 12, and each first positioning mechanism 12 is provided with a corresponding first signal emitter 121. The first signal transmitter 121 of each first positioning mechanism 12 can transmit a signal to the first signal receiver 22 when the first signal transmitter is located at a different scribing position, and the scribing deviation of the corresponding spraying mechanism 212 along the X direction is corrected, that is, when a line in the Y direction at a different position is scribed, the position of the positioning device 1 does not need to be moved, so that the scribing efficiency is improved. In this embodiment, the distance between two adjacent first positioning mechanisms 12 may be the length of one parking space or the width of one parking space.
Specifically, as shown in fig. 5, the first adjusting mechanism 122 includes a sliding block 1225, a flexible member 1226, two transmission wheels 1227, and a second driving assembly 1228, the first signal emitter 121 is disposed on the sliding block 1225, a connecting line of the two transmission wheels 1227 extends in the X direction and is rotatably supported on the cross beam 111, the flexible member 1226 is wound around the two transmission wheels 1227, the sliding block 1225 is connected to the flexible member 1226, the second driving assembly 1228 is disposed on the cross beam 111, and the second driving assembly 1228 can drive any one of the transmission wheels 1227 to rotate, so that the sliding block 1225 moves in the X direction, thereby achieving position adjustment of the first signal emitter 121 in the X direction, and having a simple structure and low cost. In this embodiment, the second driving assembly 1228 may be a servo motor or a rotary cylinder, and is not limited in this embodiment. Alternatively, the flexible member 1226 may be a belt, the corresponding transmission wheel 1227 may be a pulley, the flexible member 1226 may also be a chain, and the corresponding transmission wheel 1227 may be a sprocket. Further, the first adjusting mechanism 122 further includes an electric cabinet 124 and a mounting plate 123, the mounting plate 123 is disposed on the cross beam 111, the electric cabinet 124 is connected with the mounting plate 123, and the first signal emitter 121 and the second driving assembly 1228 are electrically connected with the electric cabinet 124. Preferably, the first adjusting mechanism 122 further includes a linear guide 1229, the linear guide 1229 is disposed on the mounting plate 123 and extends along the X direction, and the sliding block 1225 is in sliding fit with the linear guide 1229, so that the first signal emitter 121 moves along the X direction accurately and smoothly.
Further, as shown in fig. 2 and 6, the rack further includes a longitudinal beam 112, the longitudinal beam 112 extends along the Y direction and is located at one end of the cross beam 111 along the X direction, and the second positioning mechanism 13 is disposed on the longitudinal beam 112, so that signals emitted by the first signal emitter 121 and the second signal emitter can be prevented from interfering with each other. Specifically, the second positioning mechanism 13 and the first positioning mechanism 12 have the same structure, and only the setting position and the setting direction are different, so the description thereof is omitted.
Preferably, as shown in fig. 2, two ends of the rack along the X direction are respectively provided with an abutting piece 115, a connecting line of the two abutting pieces 115 is parallel to the X direction, the abutting pieces 115 are used for abutting with the vertical reference plane 100, namely, the accuracy of the whole rack placing direction can be ensured by taking the vertical reference plane 100 as a reference. In this embodiment, two abutting pieces 115 are respectively connected to both ends of the cross beam 111 in the X direction. Preferably, between the two abutting pieces 115, a plurality of support beams may be further disposed on the cross beam 111, and the plurality of support beams support the cross beam 111 together, so that the levelness of the cross beam 111 can be ensured.
Further, one end of the rack in the X direction is provided with a fixed leg 113, and the other end is provided with a caster 114, and the fixed leg 113 and the caster 114 are used for supporting on the surface to be scribed. The stable that the position was placed to the frame can be guaranteed to fixed stabilizer blade 113, and when moving the frame position, operating personnel lifted fixed stabilizer blade 113's one end to truckle 114 through the other end promotes the frame, and the removal process is comparatively laborsaving, and is difficult to scrape the line that the flower just drawn. Specifically, in the present embodiment, the fixed leg 113 and the caster 114 are respectively installed below the two abutments 115.
The present embodiment further provides a scribing method, as shown in fig. 8, which includes the steps of:
moving to a first preset position;
sending a laser adjusting signal to the laser emitting end so that the laser emitting end can adjust the laser irradiation position;
when the laser emitting end is adjusted to the laser irradiation preset area, stopping sending the laser adjusting signal;
and moving the laser beam to a second preset position for scribing, and compensating the offset position in real time according to the laser beam irradiation path so as to keep the laser beam always irradiated on the preset area until the second preset position is reached.
According to the scribing method, when the signal emitted by the laser emitting end is adjusted to irradiate the signal in the preset area at the first preset position, namely, the laser irradiation path is accurately adjusted before scribing, so that the deviation position can be compensated in real time according to the accurate laser irradiation path in the scribing process from the first preset position to the second preset position, and the scribing precision is improved.
Specifically, the laser emitting end may be the first positioning mechanism 12 or the second positioning mechanism 13 in the scribing system, and the preset region may be a midpoint of the signal receiving surface of the first signal receiver 22 in the X direction, or a midpoint of the signal receiving surface of the second signal receiver 23 in the Y direction.
Taking the scribing method adopted by the scribing system of the embodiment as an example, as shown in fig. 1, the process of scribing the vehicle bit line is as follows:
the frame of the positioning device 1 is abutted on the vertical reference plane 100, and the scribing device 2 is moved to the position a (namely, the first preset position), wherein the first signal transmitter 121 is approximately opposite to the second signal receiver 23;
the first sending module of the scribing mechanism 21 sends a signal to the first adjusting mechanism 122, the first adjusting mechanism 122 adjusts the position of the first signal emitter 121 along the X direction, so that the signal sent by the first signal emitter 121 is located at the midpoint of the receiving surface of the first signal receiver 22 along the X direction, at this time, the first receiving module receives the first signal emitter 121 in-position signal and stops sending the laser adjustment signal, the scribing mechanism 21 moves from the position a (a first predetermined position) to the position b (a second predetermined position) along the Y direction and performs scribing, and in the scribing process, the spraying mechanism 212 compensates the position deviation along the X direction in real time according to the signal of the first signal emitter 121. The second signal emitter 131 is substantially opposite to the second signal receiver 23 after the scribing device 2 reaches the position b;
the second sending module of the scribing mechanism 21 sends a signal to the second adjusting mechanism 132, the second adjusting mechanism 132 adjusts the position of the second signal emitter 131 along the Y direction, so that the signal sent by the second signal emitter 131 is located at the midpoint of the receiving surface of the second signal receiver 23 along the Y direction, at this time, the second receiving module receives the second signal emitter 131 in-place signal and stops sending the laser adjustment signal, then, the scribing mechanism 21 moves from the b position to the c position along the X direction and performs scribing, and in the scribing process, the spraying mechanism 212 compensates the position deviation along the Y direction in real time according to the signal of the second signal emitter 131;
the scribing mechanism 21 moves from the c position to the d position. This process is the same as the process of moving the scribing mechanism 21 from the position a to the position b, and will not be described herein;
the scribing mechanism 21 is moved from the d position to the a position. The third positioning mechanism 300 is separately arranged at one side of the position a, (the third positioning mechanism 300 can be placed by taking the nearby upright post 200 as a reference surface) the structure and the working principle of the third positioning mechanism 300 are completely the same as those of the second positioning mechanism 13, so the process is consistent with the process of moving the scribing mechanism 21 from the position b to the position c;
the processes of moving the scribing mechanism 21 from the e position to the f position and from the g position to the h position are the same as the processes of moving the scribing mechanism 21 from the a position to the b position, and are not described again.
Example two
The scribing system provided in this embodiment is basically the same as the scribing system provided in the first embodiment in terms of working principle, and only the specific structure of the first positioning mechanism 12 is different, and the structure that is the same as that in the first embodiment is not described again in this embodiment, and the difference between this embodiment and the first embodiment is that:
as shown in fig. 9 to 11, the rack includes a beam 111, the beam 111 extends in the X direction, and the first adjustment mechanism 122 can adjust the position of the first signal emitter 121 on the beam 111 in the X direction. Therefore, when the scribing device 2 scribes straight lines extending in the Y direction at different positions, the first signal transmitter 121 can be adjusted to a position matching the first signal receiver 22 by the first adjusting mechanism 122, and the position of the positioning device 1 does not need to be moved, thereby improving the scribing efficiency. In this embodiment, the length of the cross beam 111 may be an integral multiple of the length (or width) of the parking space.
Optionally, the first adjusting mechanism 122 includes a frame 1221, a rack 1222, a gear 1223, and a first driving assembly 1224, the frame 1221 is movably connected to the cross beam 111, the first signal emitter 121 is disposed on the frame 1221, the rack 1222 is disposed on the cross beam 111 and extends along the X direction, the first driving assembly 1224 is disposed on the frame 1221, the gear 1223 is engaged with the rack 1222, and the first driving assembly 1224 is capable of driving the gear 1223 to rotate, so that the frame 1221 moves along the X direction, and the first adjusting mechanism is simple in structure, and the matching manner of the gear 1223 and the rack 1222 is high in precision and good in precision. Preferably, the frame 1221 is shaped like a "U" with an opening facing downward, the three inner surfaces of the frame 1221 are provided with rollers 1220, and the rollers 1220 on each inner surface are correspondingly matched with three side surfaces of the cross beam 111, respectively, so as to guide the movement of the frame 1221 along the X direction. In other embodiments, the movement of the carriage 1221 may be guided by providing a rail-slider structure, which is not limited herein. In other embodiments, the first adjusting mechanism 122 may also be consistent with the structure of the first adjusting mechanism 122 in the first embodiment, and is not limited in detail herein.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the invention and are not to be construed as limitations of the embodiments of the present invention, but may be modified in various embodiments and applications by those skilled in the art according to the spirit of the present invention, and the content of the present description should not be construed as a limitation of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (15)
1. A line marking system, characterized by comprising a positioning device (1) and a line marking device (2);
the positioning device (1) comprises a rack and a first positioning mechanism (12) arranged on the rack, the first positioning mechanism (12) comprises a first signal emitter (121) capable of emitting signals along the Y direction and a first adjusting mechanism (122), the first adjusting mechanism (122) is in communication connection with the scribing device (2), and the first adjusting mechanism (122) can drive the first signal emitter (121) to move along the X direction;
the scribing device (2) comprises a scribing mechanism (21) and a first signal receiver (22) arranged on the scribing mechanism (21), the scribing mechanism (21) can move on the surface to be scribed and scribe, the first signal receiver (22) can receive signals sent by the first signal transmitter (121) and is in communication connection with the scribing mechanism (21), the scribing mechanism (21) can move along the Y direction and scribe, and meanwhile the scribing position is adjusted along the X direction according to information received by the first signal receiver (22).
2. The line striping system of claim 1 wherein the carriage comprises a beam (111), the beam (111) extending in the X-direction, and the first adjustment mechanism (122) is capable of adjusting the position of the first signal emitter (121) on the beam (111).
3. The line striping system of claim 1 wherein the carriage comprises a beam (111) extending in the X direction, the beam (111) having a plurality of the first positioning mechanisms (12) disposed thereon, one of the first signal emitters (121) being disposed on each of the first positioning mechanisms (12).
4. The line striping system of claim 2 or claim 3 wherein the first adjustment mechanism (122) comprises:
the frame (1221) is movably connected with the cross beam (111), and the first signal emitter (121) is arranged on the frame (1221);
a rack (1222) provided on the cross beam (111) and extending in the X direction;
a gear (1223) and a first driving assembly (1224), wherein the first driving assembly (1224) is disposed on the frame (1221), the gear (1223) is engaged with the rack (1222), and the first driving assembly (1224) can drive the gear (1223) to rotate so as to move the frame (1221) along the X direction.
5. The line striping system of claim 2 or claim 3 wherein the first adjustment mechanism (122) comprises:
a slider (1225), the first signal emitter (121) being disposed on the slider (1225);
the connecting line of the two transmission wheels (1227) extends along the X direction and is rotatably supported on the cross beam (111) respectively, the flexible part (1226) is wound on the two transmission wheels (1227), and the sliding block (1225) is connected with the flexible part (1226);
and the second driving assembly (1228) is arranged on the cross beam (111), and the second driving assembly (1228) can drive any one of the transmission wheels (1227) to rotate so as to enable the sliding block (1225) to move along the X direction.
6. The line striping system of claim 1 wherein the frame is provided with a mounting foot (113) at one end in the X direction and a castor wheel (114) at the other end, the mounting foot (113) and castor wheel (114) being adapted to be supported on the surface to be scribed.
7. The line striping system of claim 1, wherein the positioning means (1) further comprises a second positioning mechanism (13), the second positioning mechanism (13) comprising a second signal emitter (131) capable of emitting a set signal in the X-direction and a second adjustment mechanism (132), the second adjustment mechanism (132) being in communicative connection with the line striping apparatus (2), the second adjustment mechanism (132) being capable of driving the second signal emitter (131) to move in the Y-direction;
the scribing device (2) further comprises a second signal receiver (23) arranged on the scribing mechanism (21), the second signal receiver (23) can receive signals transmitted by the second signal transmitter (131) and is in communication connection with the scribing mechanism (21), the scribing mechanism (21) can move along the X direction and scribe a line, and meanwhile, the scribing position is adjusted along the Y direction according to information received by the second signal receiver (23).
8. The line striping system of claim 7, wherein the frame comprises a stringer (112), the stringer (112) extending in the Y direction and being located at one end of the frame in the X direction, the second positioning means (13) being provided on the stringer (112).
9. The scribing system according to claim 7, wherein the first signal emitter (121) and/or the second signal emitter (131) is a wordline laser emitter capable of emitting a vertically oriented laser plane.
10. The line striping system of any one of claims 1-3 and 6-7, wherein the line striping mechanism (21) comprises a motion base (211) and a spray mechanism (212), and wherein the first signal receiver (22) is provided on the spray mechanism (212), and wherein the spray mechanism (212) is movable in the X-direction relative to the motion base (211).
11. The line striping system of claim 10, wherein the line striping mechanism (21) further comprises a third drive assembly and a spray movement rail (24) extending in the X-direction, the third drive assembly being capable of driving the spray mechanism (212) to slide along the spray movement rail (24).
12. The scoring system according to claim 10, wherein the spray mechanism (212) includes a mount (2121), a spray actuator (2122), and a fourth drive assembly disposed on the mount (2121) that is capable of driving the spray actuator (2122) to move relative to the mount (2121) in the Y-direction.
13. The line striping system of claim 12, wherein the spray mechanism (212) further comprises a fifth drive assembly (2123), the fifth drive assembly (2123) being coupled to an output of the fourth drive assembly, the fifth drive assembly (2123) being configured to drive the spray actuator (2122) to rotate axially relative to the mount (2121) in a vertical direction to spray in the X-direction or to spray in the Y-direction.
14. A scribing method, comprising:
moving to a first preset position;
sending a laser adjusting signal to a laser emitting end so that the laser emitting end can adjust the laser irradiation position;
when the laser emitting end is adjusted to the laser irradiation preset area, stopping sending the laser adjusting signal;
and moving the laser beam to a second preset position for scribing, and compensating the offset position in real time according to the laser beam irradiation path so as to keep the laser beam always irradiated on the preset area until the second preset position is reached.
15. A scribing apparatus, comprising:
the scribing module is used for moving to a first preset position;
the first sending module is used for sending a laser adjusting signal to a laser emitting end so that the laser emitting end can adjust the laser irradiation position;
the first receiving module is used for receiving the laser transmitting end in-place signal when the laser transmitting end is adjusted to the laser irradiated to a preset area, so that the first transmitting module stops transmitting the laser adjusting signal;
the scribing module is also used for moving to a second preset position for scribing and compensating the offset position in real time according to the laser irradiation path so as to keep the laser always irradiated on the preset area until the second preset position is reached.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220527.5A CN114960392A (en) | 2021-02-26 | 2021-02-26 | Scribing system, scribing method and scribing device |
| PCT/CN2021/120761 WO2022179099A1 (en) | 2021-02-26 | 2021-09-26 | Line marking system, line marking method and line marking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110220527.5A CN114960392A (en) | 2021-02-26 | 2021-02-26 | Scribing system, scribing method and scribing device |
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| Publication Number | Publication Date |
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| CN114960392A true CN114960392A (en) | 2022-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110220527.5A Pending CN114960392A (en) | 2021-02-26 | 2021-02-26 | Scribing system, scribing method and scribing device |
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| Country | Link |
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| CN (1) | CN114960392A (en) |
| WO (1) | WO2022179099A1 (en) |
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| WO2022179099A1 (en) | 2022-09-01 |
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