CN206477237U - A kind of Athey wheel road face repair robot system - Google Patents

Abstract

The utility model discloses a crawler wheel road surface repair robot system, which comprises a robot body with a power system, a mechanical arm is installed on the robot body, and a road surface repair device is installed on the mechanical arm; The control system has a wireless signal receiving device, and the control system is electrically connected with the mechanical arm. Specifically, the road surface repairing device includes a grouting device and/or a percussion drill and/or a slotting device. Using the robot system of the utility model can realize intelligent repair, because only manual remote intervention is required, so the safety during repair is improved to a certain extent; the modularized mechanical arm is integrated, which can be disassembled and combined according to the actual situation, and Replacement of the end repair tool improves the efficiency of the modular robotic arm.

Description

A crawler track surface repair robot system

technical field

The utility model relates to a track wheel road surface repair robot system, which belongs to the technical field of road repair.

Background technique

After the expressway is completed, in order to ensure the safety and efficiency of traffic, it needs regular maintenance. With the rapid increase in the mileage of expressways in China and the increase in the service life of the roads, expressways have entered a period of equal emphasis on construction and maintenance. Expressways with more than 50,000 kilometers have generally entered the normal maintenance period after the defect liability period, and the overall personnel scale of the maintenance industry has grown rapidly. Expressway maintenance includes subgrade maintenance, pavement maintenance, bridge maintenance, channel maintenance, tunnel maintenance, sign marking maintenance, house maintenance, electromechanical facility maintenance, etc., among which road surface maintenance is an important part of expressway maintenance. The premise of pavement maintenance is the detection and evaluation of pavement conditions.

At present, pavement condition detection and repair mainly rely on the cooperation of manual and equipment. However, this method has certain defects in terms of work efficiency, personal safety, and repair speed. With the development of science and technology, some road repair equipment have appeared one after another, but the above-mentioned equipment is generally less automated or larger in size, which is not suitable for modern and accurate road repair needs, and it is easy to cause unnecessary loss of manpower and material resources.

Utility model content

The purpose of the utility model is to provide a track wheel road surface repair robot system, which can effectively improve the repair speed and repair efficiency by adopting an automatic design concept.

In order to solve the problems of the technologies described above, the utility model adopts the following technical solutions:

A crawler road surface repair robot system, including a robot body with a power system, a robot arm is installed on the robot body, a road surface repair device is installed on the robot arm to form a road surface robot repair system; the robot body is also equipped with Control the control system of the mechanical arm, the control system has a wireless signal receiving device, and the control system is electrically connected with the mechanical arm. Specifically, the road surface repairing device includes a grouting device and/or a percussion drill and/or a slotting device. The mechanical arm can be driven by electricity. The electric mechanical arm is mainly composed of a motor, a reducer, and a driver. mechanical activity. The mechanical arm can also be a hydraulic/pneumatic mechanical arm. The hydraulic/pneumatic mechanical arm is mainly composed of a hydraulic/pneumatic pump, a hydraulic/pneumatic cylinder, an overflow valve, a throttle valve, a reversing valve, and a sequence valve. Thereby driving the movement of the mechanical arm.

As one of the possible implementations, the mechanical arm is composed of a number of connecting rods that are sequentially articulated, and adjacent connecting rods are connected by a driving mechanism; the number of the driving mechanisms is greater than or equal to four, and less than or equal to 7, the driving mechanism adopts hydraulic pressure, pneumatic or electric as the driving form to complete a series of pavement repair work, requiring the mechanical arm to have at least 4 degrees of freedom. The degree of freedom of the mechanical arm is realized by the driving mechanism, for example: The driving mechanism adopts a motor, and the motor drives the connecting rod to rotate, and one driving mechanism can increase one degree of freedom, so the number of driving mechanisms is at least four. It is worth noting that in the non-use state, the modular manipulator is at the zero position, and the modular manipulator shrinks, thereby lowering the center of gravity of the robot, making the operation more stable, and reducing the overall occupied space, avoiding possible Damage caused by bumps; the modular robotic arm is unfolded in use, and the area to be repaired is positioned by the auxiliary equipment such as the industrial camera on the modular robotic arm, and then the repaired area is cleaned with the impact drill at the end, and the cleaning is completed Finally, use grouting equipment to pour concrete into the area, and after setting, use road surface testing equipment to test the repair effect.

As a driving method of the robot body, the power system of the robot body includes a crawler wheel, a speed reduction mechanism, a power mechanism and a power supply device, the power supply device is electrically connected to the power mechanism, the power mechanism is connected to the speed reduction mechanism, and the speed reduction mechanism is connected to the track wheel . The crawler wheel is used to drive the robot body, so that the robot body can move in all directions and have a certain ability to overcome obstacles.

In the aforesaid crawler track surface repair robot system, the control system includes a global positioning system, a gyroscope, an encoder and an obstacle avoidance laser radar, and the system also includes a remote monitoring auxiliary system for remotely controlling the robot body , the remote monitoring auxiliary system is connected with the robot body through wireless communication. The remote monitoring auxiliary system is used to control the movement of the robot body, as well as the operation of the detection equipment, repair device and mechanical arm on the robot body. The navigation of the robot body adopts a navigation scheme based on multi-sensing data fusion of global positioning system, gyroscope, encoder and obstacle avoidance lidar, which realizes outdoor centimeter-level high-precision navigation and position calibration of detection data; In terms of control, a modular manipulator calibration method based on the screw theory is adopted, which can better compensate for the accuracy problem caused by the model error of the DH parameter method.

In the aforementioned track wheel road surface repair robot system, the power system includes two sets of universal wheels and a set of driving wheels, the driving wheels are located between the two sets of universal wheels, and each driving wheel has an independent driving device . Compared with the track wheel and Mecanum wheel, this driving method has a simpler structure, which is convenient for future maintenance, and the cost is relatively low, and it can bear a large weight.

In the aforementioned track wheel track surface repair robot system, the power system includes four driving wheels, and each driving wheel has an independent driving device. The use of four-wheel independent drive improves the mobility of the robot body and increases the corresponding speed. At the same time, compared with the two-wheel differential mode, it reduces the turning radius at low speeds, making the control easier; and, using four-wheel hub motors Driving and combining the hub motor technology with multiple functions of electric power, power generation feedback and electromagnetic braking can enable the robot body to recover kinetic energy under road conditions such as downhill, so as to save energy and improve battery life. The robot body can also use mecanum wheels. There are more mecanum wheels, which can realize all-round movements such as straight travel, 45-degree oblique travel, horizontal travel, and in-situ steering. The system flexibility is greatly improved, and it has better load capacity.

In the aforesaid crawler track surface repair robot system, as another embodiment of the mechanical arm, the mechanical arm includes a mounting base, a support frame is fixed on the mounting base, and a first connecting rod is hinged on the support frame to support The frame connects the middle part of the first connecting rod, and the end of the first connecting rod is hinged with the second connecting rod; it also includes a first telescopic device and a second telescopic device, one end of the first telescopic device is connected to the support frame, and the other end is connected to the first connecting rod. Rod; one end of the second telescopic device is connected to the support frame and the other end is connected to the second connecting rod, and the end of the second connecting rod is provided with a tool installation position for installing the road surface repair device. This form of robotic arm is more compact and less expensive.

In the aforesaid track wheel road surface repair robot system, a binocular camera is installed on the robot body, and the binocular camera is electrically connected to the control system; the binocular camera is used to collect road surface image information and transmit it to the control system, The control system performs filtering, edge detection processing, crack image binarization, crack classification, crack size measurement by morphological method, repair area calibration and map matching, and optimal path selection on the received road surface image information, and then the control system controls the mechanical arm and road surface repair device to repair the road surface.

The utility model also discloses a pavement repair method, which includes the following methods: controlling the robot body to move to a designated position on the pavement; manually determining the key point coordinates of the area to be repaired; manually setting the pavement repair area and the repair method, The robot body plans the pavement detection path according to the position of the area to be repaired; the robot body is controlled to move to the area to be repaired along the road surface detection path, and the impact drill bit or the grouting device or the slotting device is positioned to the designated position through the mechanical arm. Drill and/or grout and/or slit the pavement according to the specified pavement repair method; collect the repaired pavement information data, and perform real-time monitoring and analysis or delayed analysis on the pavement information data to determine the repair effect. The robotic arm determines the location of the repair through the pre-input coordinate information, uses the percussion drill to drill the area to be repaired, and then uses the grouting equipment to inject concrete and other mixtures into the drilled area.

In the aforesaid pavement repair method, the loose pavement defects of the pavement base are drilled and grouted; the drilled and grouted repairs include the following methods: drilling on the surface of the pavement to be repaired to obtain grouting holes, and then oxidized Asphalt or grout is injected into the grout holes to fill the voids under the concrete slab, rebuilding the uniform overall strength of the pavement slab. Using this method to repair the loose pavement of the base can improve the quality of the pavement, increase its bearing capacity, and prevent problems such as deformation and collapse.

In the aforementioned pavement repair method, the crack disease of the pavement is repaired by slotting and grouting; the repairing of the slotting and grouting includes the following methods: slotting, adjusting the slotting depth in advance according to the designed slotting size, and then performing Grooving operation; seam cleaning: use blower equipment to clean the debris in the groove and dust within at least 10cm on both sides of the crack; filling seam: use grouting equipment to evenly pour the sealant into the groove.

Compared with the prior art, 1. The road surface maintenance robot system of the present utility model adopts a high-precision outdoor navigation system, a modular mechanical arm system and a detachable tool head, which can realize the autonomous repair of the road surface and improve the repair efficiency. , economy and safety have been greatly improved, and the overall performance of the system is better;

2. The utility model adopts the control method of "macro remote control, micro autonomy, and remote monitoring", which can independently plan the path to the area to be repaired and carry out repair operations; after the robot body moves to the designated position, it can use the industrial camera of the modular manipulator, etc. Equipment, to locate the repair area, and use impact drills, grouting equipment and other tools to complete the repair on the ground. The repair tools can be switched automatically and semi-automatically, realizing intelligent repair. Since there is less need for manual intervention, the repair is improved. process safety;

3. The utility model adopts a navigation scheme based on GPS, gyroscope, encoder and lidar multi-sensing data fusion, which realizes outdoor centimeter-level high-precision navigation and greatly improves the accuracy of positioning;

4. The utility model integrates a modular mechanical arm, which can be transformed into different degrees of freedom according to needs, and the terminal equipment can be replaced with impact drills, grouting equipment and other tools. Therefore, one arm can be used for multiple purposes, and the modular utilization efficiency of the robotic arm;

5. The repair position and method of the utility model can be manually formulated, and industrial cameras are used to confirm the repair situation, which improves the accuracy of the repair and ensures the repair effect;

6. The mobile platform of the utility model adopts track wheels as the moving mechanism, which can realize all-round movement, and has a certain ability to overcome obstacles, and can more flexibly set the walking route of the robot body, and then complete the repair work more efficiently.

7. The crawler road surface repair robot system described in the present invention can also cooperate with multiple robots of the same type to further improve repair efficiency.

Description of drawings

Fig. 1 is a schematic diagram of the operating state structure of an embodiment of the robot body;

Fig. 2 is a schematic structural view of an embodiment of a mechanical arm;

Fig. 3 is a schematic diagram of an embodiment of a modular mechanical arm using a percussion drill;

Fig. 4 is a schematic diagram of some electrical connections of the power system;

Fig. 5 is a schematic structural view of an embodiment of a power system;

Fig. 6 is a schematic structural view of another embodiment of the mechanical arm;

Fig. 7 is a schematic structural view of the non-running state of the robot body;

Fig. 8 is a schematic diagram of an embodiment of a modular robotic arm using a slotting device;

Fig. 9 is a schematic diagram of an embodiment in which the robot body adopts a Mecanum wheel;

Fig. 10 is a schematic diagram of an embodiment in which the robot body adopts four-wheel drive;

Fig. 11 is an overall schematic diagram of a robot system including a structural diagram of a remote monitoring auxiliary system;

Fig. 12 is a schematic diagram of the working mode of the robot body.

Reference signs: 1-power system, 2-robot body, 3-mechanical arm, 4-road repair device, 5-connecting rod, 6-drive mechanism, 7-track wheel, 8-reduction mechanism, 9-power mechanism, 10-power supply device, 11-driving wheel, 12-driving device, 13-universal wheel, 14-support frame, 15-first telescopic device, 16-first connecting rod, 17-second telescopic device, 18-installation Position, 19-second connecting rod, 20-installation base, 21-operating table, 22-monitoring screen, 23-modified vehicle, 24-power supply unit, 25-control cabinet.

Below in conjunction with accompanying drawing and specific embodiment, the utility model is further described.

detailed description

Embodiment 1 of the present utility model: a crawler road surface repair robot system, including a robot body 2 with a power system 1, a robot arm 3 is installed on the robot body 2, and a road surface repair device 4 is installed on the robot arm 3 to form a A robot repair system on the track surface; the robot body 2 is also provided with a control system for controlling the mechanical arm 3 , the control system has a wireless signal receiving device, and the control system is electrically connected to the mechanical arm 3 . Specifically, the road surface restoration device 4 includes a grouting device. The grouting device is composed of a mounting base, a connector, a hose, a cylinder, etc., and the mixture is injected into cracks or repaired areas through air pressure, hydraulic pressure, etc. In this embodiment, the mechanical arm 3 is composed of several connecting rods 5 which are hinged to each other in turn, and the adjacent connecting rods 5 are connected by a driving mechanism 6; the driving mechanism 6 is equal to 6, and the driving mechanism 6 adopts Hydraulic, pneumatic or electric drive forms are assembled into a lower-degree-of-freedom robotic arm system according to user needs, and impact drills, grouting devices, and slotting devices can be installed at the end.

The power system 1 of the robot body 2 includes a track wheel 7, a speed reduction mechanism 8, a power mechanism 9 and a power supply unit 10, the power supply unit 10 is electrically connected to the power mechanism 9, the power mechanism 9 is connected to the speed reduction mechanism 8, and the speed reduction mechanism 8 is connected to the crawler belt. Wheel 7 is connected. The control system includes a global positioning system, a gyroscope, an encoder and an obstacle avoidance laser radar. The system also includes a remote monitoring auxiliary system for remotely controlling the robot body 2, and the remote monitoring auxiliary system is connected to the robot body 2 through wireless communication. . The remote monitoring auxiliary system includes an operation console 21, a monitoring screen 22 and a control cabinet 25. The operation console 21 and the monitoring screen 22 are electrically connected to the control cabinet 25; information.

A binocular camera is installed on the robot body 2, and the binocular camera is electrically connected to the control system; the binocular camera is used to collect road surface image information and transmit it to the control system, and the control system filters the received road surface image information, Edge detection processing, crack image binarization, crack classification, crack size measurement by morphological method, repair area calibration and map matching, optimal path selection, and then the control system controls the mechanical arm 3 and the road repair device 4 to repair the road surface.

Embodiment 2: A crawler road surface repair robot system, including a robot body 2 with a power system 1, a robot arm 3 is installed on the robot body 2, and a road surface repair device 4 is installed on the robot arm 3 to form a road surface robot Repair system; the robot body 2 is also provided with a control system for controlling the mechanical arm 3 , the control system has a wireless signal receiving device, and the control system is electrically connected with the mechanical arm 3 . The road repairing device 4 includes a percussion drill. The impact drill is mainly composed of a high-power motor, a cooling fan, a top-mounted impact module, a drill fixture, and a drill, and provides energy for the impact drill through electrical connections.

The mechanical arm 3 is composed of several connecting rods 5 which are hinged to each other in turn, and the adjacent connecting rods 5 are connected by a driving mechanism 6; in this embodiment, the driving mechanism 6 is equal to 4, and the driving mechanism 6 adopts Hydraulic, pneumatic or electric as drive form. The control system includes a global positioning system, a gyroscope, an encoder and an obstacle avoidance laser radar. The system also includes a remote monitoring auxiliary system for remotely controlling the robot body 2, and the remote monitoring auxiliary system is connected to the robot body 2 through wireless communication. . The robot body 1 collects geological information on the road surface and below the road surface, and then sends the collected information to the remote monitoring auxiliary system. The remote monitoring auxiliary system can be in the form of a refitted car (as shown in Figure 11), and there are Power supply device 24, control cabinet 25, operation console 14 and monitoring screen 22, monitoring screen 22 is a multi-screen display system, power supply device 24 supplies power for the remote monitoring auxiliary system, the detected geological information is first sent to the control cabinet 25, and then through The monitoring screen 22 shows that the collected geological information can be processed through the console 21; meanwhile, the remote monitoring auxiliary system can also be used to control the working state of the robot body 1, and can also be used as a remote transportation and storage device for the robot body. The power system 1 includes two sets of universal wheels 13 and one set of driving wheels 11 , the driving wheels 11 are located between the two sets of universal wheels 13 , and each driving wheel 11 has an independent driving device 12 .

A binocular camera is installed on the robot body 2, and the binocular camera is electrically connected to the control system; the binocular camera is used to collect road surface image information and transmit it to the control system, and the control system filters the received road surface image information, Edge detection processing, crack image binarization, crack classification, crack size measurement by morphological method, repair area calibration and map matching, optimal path selection, and then the control system controls the mechanical arm 3 and the road repair device 4 to repair the road surface.

Embodiment 3: A crawler road surface repair robot system, including a robot body 2 with a power system 1, a robot arm 3 is installed on the robot body 2, and a road surface repair device 4 is installed on the robot arm 3 to form a road surface robot Repair system; the robot body 2 is also provided with a control system for controlling the mechanical arm 3 , the control system has a wireless signal receiving device, and the control system is electrically connected with the mechanical arm 3 . The road repairing device 4 includes a slotting device.

The control system includes a global positioning system, a gyroscope, an encoder and an obstacle avoidance laser radar. The system also includes a remote monitoring auxiliary system for remotely controlling the robot body 2, and the remote monitoring auxiliary system is connected to the robot body 2 through wireless communication. . The power system 1 includes four driving wheels 11 , and each driving wheel 11 has an independent driving device 12 . Described mechanical arm 3 comprises installation base 20, and support frame 14 is fixed on the installation base 20, is hinged with first link 16 on support frame 14, and support frame 14 connects the middle part of first link 16, and the middle part of first link 16 The end is hinged with the second connecting rod 19; it also includes a first telescopic device 15 and a second telescopic device 17, one end of the first telescopic device 15 is connected to the support frame 14, and the other end is connected to the first connecting rod 16; one end of the second telescopic device 17 is The other end of the connecting support frame 14 is connected to the second connecting rod 19 , and the end of the second connecting rod 19 is provided with a tool installation position 18 for installing the road repair device 4 .

Embodiment 4: A crawler road surface repair robot system, including a robot body 2 with a power system 1, a robot arm 3 is installed on the robot body 2, and a road surface repair device 4 is installed on the robot arm 3 to form a road surface robot Repair system; the robot body 2 is also provided with a control system for controlling the mechanical arm 3 , the control system has a wireless signal receiving device, and the control system is electrically connected with the mechanical arm 3 . The road surface restoration device 4 includes a grouting device and/or a percussion drill and/or a slotting device.

The power system 1 of the robot body 2 includes a track wheel 7, a speed reduction mechanism 8, a power mechanism 9 and a power supply unit 10, the power supply unit 10 is electrically connected to the power mechanism 9, the power mechanism 9 is connected to the speed reduction mechanism 8, and the speed reduction mechanism 8 is connected to the crawler belt. Wheel 7 is connected. The control system includes a global positioning system, a gyroscope, an encoder and an obstacle avoidance laser radar. The system also includes a remote monitoring auxiliary system for remotely controlling the robot body 2, and the remote monitoring auxiliary system is connected to the robot body 2 through wireless communication. .

Described mechanical arm 3 comprises installation base 20, and support frame 14 is fixed on the installation base 20, is hinged with first link 16 on support frame 14, and support frame 14 connects the middle part of first link 16, and the middle part of first link 16 The end is hinged with the second connecting rod 19; it also includes a first telescopic device 15 and a second telescopic device 17, one end of the first telescopic device 15 is connected to the support frame 14, and the other end is connected to the first connecting rod 16; one end of the second telescopic device 17 is The other end of the connecting support frame 14 is connected to the second connecting rod 19 , and the end of the second connecting rod 19 is provided with a tool installation position 18 for installing the road repair device 4 .

The utility model also provides a pavement repair method, repairing the pavement through the track wheel pavement repair robot system described in the above embodiments, which specifically includes the following methods: control the robot body 2 to move to the designated position on the pavement; manually determine The key point coordinates of the area to be repaired; the repair area and repair method of the road surface are manually set, and the robot body 2 plans the road surface detection path according to the position of the area to be repaired; the robot body 2 is controlled to move to the area to be repaired along the road surface detection path , using the mechanical arm 3 to position the percussion drill bit or the grouting device or the slit device to the designated position, and perform drilling and/or grouting and/or slit the pavement according to the manually set pavement repair method; collect the repaired pavement Surface information data, real-time monitoring and analysis or delayed analysis of pavement information data to determine the repair effect; the mechanical arm 3 determines the repair position through the pre-input coordinate information, uses the percussion drill to drill the area to be repaired, and then uses the grouting The equipment injects a mixture such as concrete into the drilled area.

In the aforesaid pavement repair method, the loose pavement defects of the pavement base are drilled and grouted; the drilled and grouted repairs include the following methods: drilling on the surface of the pavement to be repaired to obtain grouting holes, and then oxidized Asphalt or grout is injected into the grout holes to fill the voids under the concrete slab, rebuilding the uniform overall strength of the pavement slab. Using this method to repair the loose pavement of the base can improve the quality of the pavement, increase its bearing capacity, and prevent problems such as deformation and collapse.

As another pavement repair method, the pavement repair method in this embodiment is applicable to the crack disease of the pavement; the described slit and grout repair include the following methods: slit, according to the designed slit size, pre-adjust the slit Groove depth, and then slotting operation; seam cleaning: use blower equipment to clean the debris in the groove and dust within at least 10cm on both sides of the crack; joint filling: use grouting equipment to evenly pour sealant into the groove. Other methods and steps of the pavement restoration method are the same as those in the foregoing embodiments, and will not be repeated here.

The robot body 1 is first manually controlled to the starting point of the detection operation, and then according to the manually set maintenance area, maintenance point and maintenance method, the robot independently plans the repair path and implements the repair. After the repair is completed, the repair effect is measured by the detection equipment . The control system of the robot body 1 and the robotic arm 3 uses an embedded PC as the main control system; the remote monitoring auxiliary system is equipped with work such as repair confirmation, and evaluates the work through image data.

When the robot body 1 is working, the remote monitoring auxiliary system first transports the robot body 1, the mechanical arm 3, the impact drill, the grouting equipment, etc. to the job site, and then the robot body 1 moves to the detection starting point, and the relevant Parameter information. After the repair work is started, the robot body moves to the vicinity of the repair area according to the preset settings, and according to the process requirements, uses the mechanical arm 3 and repair equipment to repair the surrounding area. The whole process can be manually monitored in real time. The working status of the robot body , if necessary, control its operation through the remote monitoring auxiliary system.

The utility model also discloses a road surface repair method based on vision, which determines the location of road surface defects by vision, and independently plans the repair path, specifically including the following methods:

Pavement condition survey is a routine part of highway maintenance work. The previous survey method was basically manual measurement, which affected the accuracy, operability, and difficulty of implementation. Moreover, due to the large traffic flow on the road, there were some problems in the measurement. of danger. This method adopts a visual intelligent measurement method based on vision. During the implementation process, the camera used to collect images is installed at the end of the mechanical arm, and the collected images are analyzed and processed through the remote monitoring auxiliary system, so as to obtain the data of road surface diseases such as cracks. length, area, etc.

The road maintenance robot can calibrate each maintenance position according to the detection results, and plan the repair path according to the relationship between the map and the area to be repaired, and obtain the optimal movement path.

The process of image acquisition, path planning, and pavement repair by maintenance robots is as follows: pavement image collection→image filtering, edge detection processing→crack image binarization→crack classification→morphological method to measure cracks (crack size calculation)→repair area calibration and Map matching→optimal route selection→road repair work→repair detection→construction completed.

Next, the binocular vision detection method is used as an example to illustrate the aforementioned vision-based road surface repair method:

The binocular vision crack detection method is to collect crack pictures through a binocular camera, and then calculate the crack size with the binocular vision theory after image processing. The acquisition core of this method is a binocular camera, which is placed at the end of the robot arm for road detection, and the collected images are processed by noise reduction, enhancement, edge detection, binarization, etc. The matching and coordinate calculation method matches and calculates the above images to obtain the crack size. The road maintenance robot calibrates the repair area on the constructed map to obtain the optimal repair path, and independently determines the repair method according to the road surface conditions.

Claims (5)

1. a robot system for repairing track wheel road surface, is characterized in that, comprises the robot body (2) with power system (1), is equipped with mechanical arm (3) on the robot body (2), on the mechanical arm (3) A pavement repair device (4) is installed to form a pavement robot repair system; the robot body (2) is also provided with a control system for controlling the mechanical arm (3), and the control system has a wireless signal receiving device, a control system and a mechanical arm (3) electrical connection; the power system (1) of the robot body (2) includes crawler wheels (7), speed reduction mechanism (8), power mechanism (9) and power supply unit (10), power supply unit (10) and The power mechanism (9) is electrically connected, and the power mechanism (9) links to each other with the deceleration mechanism (8), and the deceleration mechanism (8) links to each other with the crawler wheels (7). 2. A crawler track surface repair robot system according to claim 1, characterized in that the road surface repair device (4) includes a grouting device and/or an impact drill and/or a slotting device. 3. A kind of crawler track surface repairing robot system according to claim 1, is characterized in that, described mechanical arm (3) is made up of several connecting rods (5) that are mutually articulated successively, and adjacent connecting rods (5) ) are connected by a drive mechanism (6); the number of the drive mechanism (6) is greater than or equal to 4 and less than or equal to 7, and the drive mechanism (6) adopts hydraulic pressure, pneumatic or electric drive form. 4. A kind of crawler track surface repair robot system according to claim 1, is characterized in that, described control system comprises global positioning system, gyroscope, encoder and obstacle avoidance lidar, and this system also comprises for remote The remote monitoring auxiliary system of the robot body (2) is controlled, and the remote monitoring auxiliary system is connected with the robot body (2) through wireless communication. 5. A robot system for track wheel surface repair according to claim 1, characterized in that, the mechanical arm (3) comprises a mounting base (20), on which a support frame (14) is fixed , the support frame (14) is hinged with the first connecting rod (16), the support frame (14) connects the middle part of the first connecting rod (16), the end of the first connecting rod (16) and the second connecting rod (19 ) is hinged; also include a first telescopic device (15) and a second telescopic device (17), one end of the first telescopic device (15) is connected to the support frame (14), and the other end is connected to the first connecting rod (16); the second telescopic device One end of the device (17) is connected to the support frame (14) and the other end is connected to the second connecting rod (19), and the end of the second connecting rod (19) is provided with a tool installation position (18) for installing the road repair device (4).