CN211312142U - Bituminous paving hole groove patching device - Google Patents

Abstract

The utility model discloses a bituminous paving pit repairing device, which comprises a walking module, a generator, a material spraying module, a milling module, a 3D scanning module, a telescopic boom, a high-pressure airflow cleaning module and a maintenance module, wherein the operation end of the high-pressure airflow cleaning module, the milling module and the material spraying module are detachably arranged at the tail end of the telescopic boom; the high-pressure airflow cleaning module comprises an air compressor, an air duct, an air nozzle and a connecting plate; the air compressor is fixed on the walking module, an air outlet of the air compressor is hermetically connected with an air guide pipe, and the tail end of the air guide pipe is hermetically connected with an air nozzle; the air nozzle is fixed on the connecting plate; the maintenance module comprises a fan and a maintenance lamp containing ultraviolet light; the maintenance lamp passes through the lamp stand to be fixed at the front end of walking module, and the fan passes through the support to be fixed at the front end of walking module, and maintenance lamp and fan are noninterference. The device effectively replaces traditional manual repair operation, has improved work efficiency, has reduced the human cost.

Description

Bituminous paving hole groove patching device

Technical Field

The utility model relates to a road surface maintenance equipment technical field specifically is a bituminous paving hole groove patching device.

Background

Asphalt pavement is widely used because of its advantages of good flatness, comfortable driving, low noise, short construction period, fast repairing speed, etc. The asphalt pavement is a main structural form of roads and urban road pavements in China and plays a vital role in a road traffic network. However, in the using process, as the traffic volume increases and the overload problem becomes more serious, and in addition, the influence of environmental conditions such as high temperature and rainfall causes ruts, cracks, pits and the like on the asphalt pavement. The destructive power of the pit is the largest, and if the pit is not repaired in time, the pit can be further enlarged, even a pit belt can be formed, and the road surface flatness, the driving comfort and the safety are seriously influenced. Therefore, the repair of the pits of the asphalt pavement is very important, and at present, the asphalt pavement is repaired manually, so that the efficiency is low, the speed is low, the workload is large, and the danger in the operation process is high.

The application number 201720059360.8 discloses an intelligent asphalt pavement pit repairing vehicle, wherein a filling mechanism and a milling mechanism are respectively installed at the bottom of a bottom plate of the repairing vehicle from left to right, and a first pavement scanner and a second pavement scanner are respectively installed on the right side of the bottom of the filling mechanism and the right side of the bottom of the milling mechanism; when the repairing machine is used, a worker pushes the repairing machine to move on the road surface, and in the moving process, a road surface scanner at the bottom of the milling mechanism scans road conditions of the road surface and transmits the scanned data to a computer control cabinet for analysis; when the pit is detected, the computer control case controls a driving motor II in the milling mechanism to drive the mounting plate to move on the inner side of the bearing frame body, the pit is milled according to the shape of the pit, a pavement scanner at the bottom of the pouring mechanism performs scanning positioning on the milled pit again, the computer control case controls a driving motor I in the pouring mechanism to operate, so that the pouring cylinder moves according to the shape of the pit and is filled, the scraper blade performs scraping processing on filling materials in the pit, and the scraping roller performs compaction processing. The repair vehicle has the following defects: 1. after the pit is milled and milled, fragments need to be cleaned manually, so that time and labor are wasted, and the efficiency is low; 2. maintenance treatment is not carried out after pit filling, the filling curing speed is slow, and the waiting time of a road is prolonged; 3. the pavement scanner is positioned at the bottom of the bottom plate, the light is dark, the quality of a scanned image is seriously influenced, and the size and the shape of a pit slot cannot be accurately analyzed.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model discloses the technical problem who plans to solve provides a bituminous paving hole groove patching device.

The technical scheme adopted by the utility model for solving the technical problems is to provide a repairing device for a pit of an asphalt pavement, which comprises a walking module, a generator, a material spraying module, a milling module and a 3D scanning module arranged on the walking module; the device is characterized by further comprising a telescopic arm, a high-pressure airflow cleaning module and a maintenance module, wherein the operation end of the high-pressure airflow cleaning module, the milling module and the material spraying module are detachably mounted at the tail end of the telescopic arm;

the telescopic arm is arranged on the walking module and does three-degree-of-freedom rotary motion by taking the mounting points of the telescopic arm and the walking module as base points; the maximum extending distance of the tail end of the telescopic arm exceeds the position of the maintenance module at the front end of the walking module;

the high-pressure airflow cleaning module comprises an air compressor, an air duct, an air nozzle and a connecting plate; the air compressor is fixed on the walking module, an air outlet of the air compressor is hermetically connected with an air guide pipe, and the tail end of the air guide pipe is hermetically connected with an air nozzle; the air nozzle is fixed on the connecting plate, the connecting plate does not shield the nozzle of the air nozzle, and the air nozzle is arranged at the tail end of the telescopic arm through the connecting plate when the air nozzle is used;

the maintenance module comprises a fan and a maintenance lamp containing ultraviolet light; the maintenance lamp passes through the lamp stand to be fixed at the front end of walking module, and the fan passes through the support to be fixed at the front end of walking module, and maintenance lamp and fan noninterference all face ground with the air outlet of fan, the direction of shining of maintenance lamp.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. this patching device collects the pit slot and mills plane, fragment clearance, repair raw materials fill and maintenance in an organic whole, effectively replaces traditional artifical repair operation, has improved work efficiency, has reduced the human cost.

2. The milling module, the material spray head and the air spray head are detachably arranged on the telescopic arm, and the corresponding parts are moved to the positions of the pit slots through the telescopic arm; compared with other devices which are used for installing the milling module and the material spraying module at the bottom of the chassis, the device does not need to be adjusted, so that the milling module and the material spraying module are aligned to the position of the pit slot, and the flexibility is higher.

3. The utility model scans and identifies the pit slot through the 3D scanning camera, and analyzes the shape, size and depth of the pit slot through the upper computer, so that the controller controls the milling motor to work; and a plurality of bar-shaped light sources are arranged near the 3D scanning camera, so that the 3D scanning camera can scan the pit slot more clearly.

4. The utility model discloses can operate through wireless remote control handle operation patching device, improve operating personnel's security.

5. The utility model discloses a crawler-type walking module has increased the stability of device walking, has further improved the accuracy of 3D scanning camera scanning hole groove.

Drawings

Fig. 1 is a front view of the overall structure of the present invention;

fig. 2 is an installation schematic diagram of each component of the control module, the material spraying module, the high-pressure airflow cleaning module and the 3D scanning module of the present invention;

fig. 3 is a left side view of the overall structure of the present invention;

fig. 4 is a schematic structural view of the rotating mechanism of the present invention;

FIG. 5 is a schematic view of a first arm of the present invention;

FIG. 6 is a schematic view of a second arm of the present invention;

fig. 7 is a schematic structural view of the milling module of the present invention;

in the figure: 1-a walking module; 2-a generator; 3-a control module; 4-a material spraying module; 5-a telescopic arm; 6-high pressure air flow cleaning module; 7-milling module; 8-maintenance module; 9-3D scanning module;

31-a controller; 32-an electrical cabinet; 33-wireless remote control handle; 34-an operating panel; 35-a radio receiver; 36-an antenna;

41-a material box; 42-material spray head; 43-a feed delivery pipe; 44-a pressure pump; 45-electric heating plate; 46-a mounting plate;

51-a base; 52-a cushion cap; 53-a first stepper motor; 54-a second stepper motor; 55-a first output flange; 56-first arm plate; 57-second arm plate; 58-a first bracket; 59-a second bracket; 501-a third step motor; 502-a second output flange; 503-a third arm board; 504-fourth arm board; 505-a third support; 506-a fourth scaffold;

61-an air compressor; 62-an airway tube; 63-air shower nozzle; 64-a connecting plate;

71-milling motor; 72-milling and planing a drill bit; 73-a bearing plate; 74-connecting disc;

81-a fan; 82-maintenance light;

91-3D scanning camera; 92-a light source; 93-a connecting frame; 94-fixing frame.

Detailed Description

The present invention will be further described with reference to the following drawings and specific embodiments, but the following embodiments are by no means limiting to the present invention.

The utility model provides a bituminous pavement pit repairing device (for short repairing device, see fig. 1-7), which comprises a walking module 1, a generator 2, a control module 3, a material spraying module 4, a telescopic arm 5, a high-pressure airflow cleaning module 6, a milling module 7, a maintenance module 8 and a 3D scanning module 9; the generator 2, the control module 3, a part of the material spraying module 4, one end of the telescopic arm 5, one end of the high-pressure airflow cleaning module 6 and one end of the 3D scanning module 9 are respectively arranged at the top of the walking module 1; the other part of the material spraying module 4, the other part of the high-pressure airflow cleaning module 6 and the milling module 7 are detachably mounted at the tail end of the telescopic arm 5; the other end of the 3D scanning module 9 extends to the front end of the walking module 1; the generator 2 is electrically connected with the control module 3, and the walking module 1, the material spraying module 4, the telescopic arm 5, the high-pressure airflow cleaning module 6, the milling module 7, the maintenance module 8 and the 3D scanning module 9 are respectively connected with the control module 3; the maintenance module 8 is arranged at the front end of the walking module 1;

the control module 3 includes a controller 31, an electrical cabinet 32, an operation panel 34 and an upper computer (not shown in the figure); the electrical cabinet 32 and the upper computer are respectively fixed at the rear end of the top of the walking module 1, the electrical cabinet 32 is used for distributing the electricity of the generator 2 to each electricity-consuming part, and the upper computer is used for receiving the image of the pit slot transmitted by the 3D scanning module 9; the operation panel 34 is fixed on the top of the electrical cabinet 32, an operation area of the operation panel 34 is located within the action range of a human hand, the operation panel 34 is electrically connected with the electrical cabinet 32, and operation buttons for advancing, starting and stopping, turning, milling, material spraying, air jetting, maintenance and the like are arranged on the operation panel 34; the controller 31 is fixed in the electrical cabinet 32 and electrically connected with the electrical cabinet 32;

the telescopic arm 5 comprises a rotating mechanism, a first arm and a second arm; the rotating mechanism is arranged at the top of the walking module 1, the first arm is arranged on the rotating mechanism, and the second arm is arranged on the first arm;

the rotating mechanism comprises a base 51, a bearing platform 52 and a first stepping motor 53; the base 51 is U-shaped, the base 51 is fixed on the top of the walking module 1, and the opening of the base 51 faces downwards; the first stepping motor 53 is fixed in the middle of the base 51, and the output shaft of the first stepping motor 53 faces the vertical direction; an output shaft of the first stepping motor 53 penetrates out of the top of the base 51 and is fixed with a bearing platform 52, the bearing platform 52 is not in contact with the base 51, and a first arm is arranged on the bearing platform 52; the first stepping motor 53 drives the bearing platform 52 to rotate, so that the horizontal rotation of the whole telescopic arm 5 is realized;

the first arm includes a second stepping motor 54, a first output flange 55, a first arm plate 56, a second arm plate 57, a first bracket 58, and a second bracket 59; the second stepping motor 54 is fixed on the bearing platform 52, and the output shaft of the second stepping motor 54 is vertical to the output shaft of the first stepping motor 53; a first output flange 55 is fixed on an output shaft of the second stepping motor 54, and the first output flange 55 is not in contact with the bearing platform 52; the first bracket 58 and the second bracket 59 have the same structure and are U-shaped; one side of the first bracket 58 and one end of the first arm plate 56 are fixed on the first output flange 55, and the other side of the first bracket 58 is fixedly connected with one end of the second arm plate 57; the tail ends of the first arm plate 56 and the second arm plate 57 are fixedly connected with two sides of a second support 59 respectively, and a second arm is mounted on the second support 59; the second stepping motor 54 drives the first output flange 55 to rotate, so that the first arm rotates in the vertical plane;

the second arm comprises a third stepping motor 501, a second output flange 502, a third arm plate 503, a fourth arm plate 504, a third bracket 505 and a fourth bracket 506; the third stepping motor 501 is fixed on the second bracket 59, and the output shaft of the third stepping motor 501 is parallel to the output shaft of the second stepping motor 54; an output shaft of the third stepping motor 501 penetrates through one side of the second bracket 59 and the second arm plate 57, and is fixed with a second output flange 502, and the second output flange 502 is not in contact with the second arm plate 57; the third bracket 505 and the fourth bracket 506 have the same structure and are U-shaped; one side of a third bracket 505 and one end of a third arm plate 503 are fixed on the second output flange 502, and the other side of the third bracket 505 is fixedly connected with one end of a fourth arm plate 504; the ends of the third arm plate 503 and the fourth arm plate 504 are fixedly connected with two sides of a fourth bracket 506 respectively, and the top of the fourth bracket 506 is provided with a threaded hole for installing the material spray nozzle 42 or the air spray nozzle 63 or the milling module 7; a third step motor 501 drives a second output flange 502 to rotate, so that the second arm can rotate in a vertical plane;

all the stepping motors are in communication connection with the controller 31 and are electrically connected with the electrical cabinet 32;

the material spraying module 4 comprises a material box 41, a material spraying head 42, a pressure pump 44 and a mounting plate 46; the material box 41 is fixed on the walking module 1 and used for containing road surface repairing raw materials such as hot asphalt, hot-mixed asphalt mixture, emulsified asphalt, epoxy resin with photosensitivity and the like; a material conveying pipe 43 is arranged at the lower part of the material box 41, and a pressure pump 44 is arranged on the material conveying pipe 43; the pressure pump 44 is in communication connection with the controller 31 and is electrically connected with the electrical cabinet 32; the tail end of the material conveying pipe 43 is hermetically connected with a material spray nozzle 42, the material spray nozzle 42 is fixed at one end of a mounting plate 46, and the mounting plate 46 does not shield a spray opening of the material spray nozzle 42; the other end of the mounting plate 46 is provided with a threaded hole, and the mounting plate 46 is detachably connected with the fourth bracket 506; when the material needs to be sprayed, the other end of the mounting plate 46 and the fourth bracket 506 are manually fixed through bolts, so that the spraying direction of the material spray head 42 faces the ground; when the material does not need to be sprayed, the mounting plate 46 is taken down, and the material spray head 42 is placed on the walking module 1; the material spray head 42 is used for spraying materials to the road surface;

the high-pressure airflow cleaning module 6 is used for cleaning residual dust and gravels and comprises an air compressor 61, an air duct 62, an air spray nozzle 63 and a connecting plate 64; the air compressor 61 is fixed on the walking module 1, and the air compressor 61 is in communication connection with the controller 31 and is electrically connected with the electrical cabinet 32; an air outlet of the air compressor 61 is hermetically connected with an air duct 62, and the tail end of the air duct 62 is hermetically connected with an air nozzle 63; the air nozzle 63 is fixed on the connecting plate 64, and the connecting plate 64 does not shield the nozzle of the air nozzle 63; the other end of the connecting plate 64 is provided with a threaded hole, and the connecting plate 64 is detachably mounted on the fourth bracket 506; when air injection is needed, the other end of the connecting plate 64 and the fourth bracket 506 are manually fixed through bolts, so that the injection direction of the air nozzle 63 faces the ground; when air injection is not needed, the connecting plate 64 is taken down, and the air nozzle 63 is placed on the walking module 1;

the milling module 7 comprises a milling motor 71, a milling bit 72, a receiving plate 73 and a connecting plate 74; the milling motor 71 is fixed at the bottom of the bearing plate 73, and an output shaft of the milling motor 71 is perpendicular to the bearing plate 73; the milling motor 71 is in communication connection with the controller 31 and is electrically connected with the electrical cabinet 32; a connecting disc 74 is fixed on an output shaft of the milling motor 71, and a plurality of milling bits 72 are fixed on the connecting disc 74; a threaded hole connected with the fourth bracket 506 is formed in one side of the bearing plate 73, and when milling is needed, the bearing plate 73 and the fourth bracket 506 are manually fixed through bolts, so that the milling drill 72 faces the ground; when milling is not needed, the bearing plate 73 is taken down, and the milling module 7 is placed on the traveling module 1;

the 3D scanning module 9 includes a 3D scanning camera 91, a light source 92, a connecting frame 93 and a fixing frame 94; one end of the connecting frame 93 is fixed on the walking module 1, the tail end of the connecting frame 93 extends to the front end of the repairing device, and the projection of the tail end of the connecting frame 93 on the ground is positioned in the action range of the telescopic arm 5; a fixing frame 94 is fixed at the tail end of the connecting frame 93, and the lower part of the fixing frame 94 is a hollow frame structure formed by welding; the 3D scanning camera 91 is fixed on the upper part of the fixing frame 94, the lens of the 3D scanning camera 91 is positioned in the hollow area of the fixing frame 94 and faces the ground, and the 3D scanning camera 91 is in communication connection with an upper computer; the bottom of the fixed frame 94 is provided with a light source 92, and the light source 92 is electrically connected with the electrical cabinet 32; the 3D scanning camera 91 scans the road surface and transmits the scanned image to an upper computer; the upper computer analyzes the road surface condition according to the image and identifies the pit;

the maintenance module 8 comprises a fan 81, a maintenance lamp 82 containing ultraviolet light, a lamp holder and a bracket (not shown in the figure); the lamp holder and the bracket are respectively arranged at the front end of the walking module 1, and the positions of the lamp holder and the bracket are staggered; the maintenance lamp 82 is fixed on the lamp holder, the maintenance lamp 82 is electrically connected with the electrical cabinet 32, the maintenance lamp 82 faces the ground, and a maintenance lamp protective cover is arranged outside the maintenance lamp to avoid damage caused by strong external impact; the fan 81 is fixed on the bracket, the fan 81 is electrically connected with the electrical cabinet 32, and an air blowing port of the fan 81 faces the ground; the fan 81 and the maintenance lamp 82 are used for meeting the requirement of quick maintenance of different repairing raw materials, and if the repairing raw materials are hot asphalt, hot-mixed asphalt mixture and emulsified asphalt, the fan 81 is used for maintaining to accelerate the curing and forming speed of the raw materials; if the repair raw material is photosensitive epoxy resin, the curing lamp 82 is used for irradiation after the material spraying is finished, so that the curing rate is improved.

The control module 3 further comprises a wireless remote control handle 33, a wireless receiver 35 and an antenna 36; the radio receiver 35 is fixed in the electrical cabinet 32, and the radio receiver 35 is in communication connection with the controller 31; the antenna 36 is fixed on the electrical cabinet 32, electrically connected with the electrical cabinet 32, and communicatively connected with the wireless receiver 35 and the wireless remote control handle, and is used for receiving the signal of the wireless remote control handle 33 and transmitting the signal to the wireless receiver 35; the wireless remote control handle 33 is provided with operation buttons for advancing, starting and stopping, turning, milling, material spraying, air injection, maintenance and the like, and the function of the wireless remote control handle 33 is equal to the function of the operation buttons on the operation panel 34.

The material spraying module 4 further comprises an electric heating plate 45 fixed on the inner wall of the material box 41, and the electric heating plate 45 is electrically connected with the electrical cabinet 32 and used for preserving heat of the pavement patching raw materials.

The first arm and the second arm further respectively comprise a plurality of supporting columns 507, and two ends of the supporting columns 507 are fixedly connected with the first arm plate 56 and the second arm plate 57 or the third arm plate 503 and the fourth arm plate 504 respectively to support the corresponding arm plates.

The preferred ultraviolet lamp.

The connecting frame 93 is right-angled, and the height from the top of the connecting frame 93 to the ground is 1.6-1.9 m; the light source 92 comprises a plurality of strip light sources arranged in a ring.

The walking module 1 belongs to the prior art, and can be in a crawler type, a wheel type and the like, and the crawler type is preferred.

The 3D scanning camera 91 employs a germany Raytrix R29 light field camera; the controller adopts an SPC-8080 controller of Shanghai Senpin electronics technology Limited; the radio receiver adopts a Lopa photoelectron USRP-LWX300 type; the wireless remote control handle adopts a Baste industrial wireless remote control handle; the model of the operation panel is Siemens TP 700; the generator adopts an Dongcheng FF-9500DSE gasoline generator; the pressure pump adopts an LC-3060 miniature high-pressure pump of Thai science and technology; the air compressor adopts a DA7001 mute oil-free air compressor of Jiangsu Dailong medical science and technology Limited; the model of the upper computer is an association V330; the milling motor adopts a 1TL0002 motor of Siemens Bedset; all stepper motors were model 42BYG34-401A from Risym.

The repairing device is suitable for the pit slots with the length and the width of 1-2m and the depth of 3-12cm, and because the high-pressure airflow cleaning module 6 is adopted to clean the fragments milled by blowing, the fragments milled by too large pit slots are too many, and the high-pressure airflow cleaning module 6 cannot completely clean, which can influence the repairing effect.

The utility model discloses a theory of operation and work flow are:

when in use, the button on the operation panel or the wireless remote control handle can be pressed to operate the repairing device to complete the relevant operation; the walking module 1 works to enable the repairing device to move forward, the 3D scanning camera 91 scans the road surface in the moving process, the scanned image is transmitted to the upper computer, the upper computer analyzes and identifies the image and transmits the analysis result to the controller 31, and the controller 31 controls corresponding parts to work; if the 3D scanning camera 91 does not recognize the pit, continuing to travel forward, and if the 3D scanning camera recognizes the pit, controlling the traveling module 1 to stop traveling; the 3D scanning camera 91 scans the shape, size, depth and position of the pit slot to be milled again, the upper computer obtains the using amount of the repairing raw materials according to the volume of the pit slot, and the control method of the invention adopts a control method with the application number of 201720059360.8 and the patent name of 'an intelligent asphalt pavement pit slot repairing vehicle';

manually installing the milling module 7 at the tail end of the telescopic arm 5, controlling the telescopic arm 5 to move to the position of the pit slot by the controller 31, and then starting the milling module 7 to mill the pit slot; after the pit slot is milled, the milling module 7 is manually taken down, and a connecting plate 64 (an air nozzle is fixed on the connecting plate) of the high-pressure airflow cleaning module 6 is arranged at the tail end of the telescopic arm 5, so that the spraying direction of the air nozzle 63 faces the ground; then the air compressor 61 starts to work, the air nozzle 63 blows air to clean the milled fragments, and the cleaned fragments are located on the road surface but do not affect the normal use of the repairing device; after the fragments are cleaned, the connecting plate 63 and the air nozzle 63 are manually taken down together, and the mounting plate 46 (on which the material nozzle is fixed) of the material spraying module 4 is mounted at the tail end of the telescopic arm 5, so that the nozzle of the material nozzle 42 faces the ground; the pressure pump 44 starts to work, and the repairing raw material is sprayed to the pit through the material spray nozzle 42; after the repair raw material is sprayed, manually pressing a travel button and a turning button on the operation panel 34 or the wireless remote control handle 33, moving the fan 81 or the maintenance lamp 82 of the maintenance module 8 to the upper part of the pit slot, maintaining the pit slot, and accelerating the curing of the repair raw material; when the repairing raw materials are hot asphalt, hot-mixed asphalt mixture and emulsified asphalt, maintaining by using a fan 81; the repair material is photosensitive epoxy resin, and is irradiated by a curing lamp 82.

The utility model discloses the nothing is mentioned the part and is applicable to prior art.

Claims (10)

1. A bituminous pavement pit repairing device comprises a walking module, a generator, a material spraying module, a milling module and a 3D scanning module, wherein the 3D scanning module is installed on the walking module; the device is characterized by further comprising a telescopic arm, a high-pressure airflow cleaning module and a maintenance module, wherein the operation end of the high-pressure airflow cleaning module, the milling module and the material spraying module are detachably mounted at the tail end of the telescopic arm;

the telescopic arm is arranged on the walking module and does three-degree-of-freedom rotary motion by taking the mounting points of the telescopic arm and the walking module as base points; the maximum extending distance of the tail end of the telescopic arm exceeds the position of the maintenance module at the front end of the walking module;

the high-pressure airflow cleaning module comprises an air compressor, an air duct, an air nozzle and a connecting plate; the air compressor is fixed on the walking module, an air outlet of the air compressor is hermetically connected with an air guide pipe, and the tail end of the air guide pipe is hermetically connected with an air nozzle; the air nozzle is fixed on the connecting plate, the connecting plate does not shield the nozzle of the air nozzle, and the air nozzle is arranged at the tail end of the telescopic arm through the connecting plate when the air nozzle is used;

the maintenance module comprises a fan and a maintenance lamp containing ultraviolet light; the maintenance lamp passes through the lamp stand to be fixed at the front end of walking module, and the fan passes through the support to be fixed at the front end of walking module, and maintenance lamp and fan noninterference all face ground with the air outlet of fan, the direction of shining of maintenance lamp.

2. The asphalt pavement pit repairing apparatus according to claim 1, wherein said telescopic arm comprises a rotating mechanism, a first arm and a second arm; the rotating mechanism is arranged at the top of the walking module, the lower part of the first arm is arranged on the rotating mechanism, and the upper part of the first arm is connected with the second arm in a rotating way.

3. The asphalt pavement pit repairing apparatus according to claim 1, wherein said material spraying module comprises a bin, a material spray head, a pressure pump and a mounting plate; the feed box is fixed on the walking module, the lower part of the feed box is provided with a feed delivery pipe, and the feed delivery pipe is provided with a pressure pump; the tail end of the conveying pipe is hermetically connected with a material spray head, the material spray head is fixed at one end of the mounting plate, and the mounting plate does not shield a spray nozzle of the material spray head; when the material spraying module is used, the material spray head is connected with the tail end of the telescopic arm through the mounting plate.

4. The asphalt pavement pit repairing apparatus according to claim 3, wherein said material spraying module further comprises an electric heating plate fixed to an inner wall of the hopper.

5. The asphalt pavement pit repairing apparatus according to claim 1, wherein said milling module comprises a milling motor, a milling bit, a receiving plate, and a connecting disc; the milling motor is fixed at the bottom of the bearing plate, and an output shaft of the milling motor is perpendicular to the bearing plate; a connecting disc is fixed on an output shaft of the milling motor, and a plurality of milling bits are fixed on the connecting disc; when the milling module is used, the milling module is arranged at the tail end of the telescopic arm through the bearing plate.

6. The asphalt pavement pit repairing device according to claim 1, wherein said 3D scanning module comprises a 3D scanning camera, a light source, a connecting frame and a fixing frame; one end of the connecting frame is fixed on the walking module, and the other end of the connecting frame extends to the front end of the repairing device; the other end of link is fixed with the mount, and the upper portion of mount is fixed with the 3D scanning camera, and the camera lens of 3D scanning camera is not sheltered from and is faced ground by the mount, and the bottom of mount is equipped with the light source.

7. The asphalt pavement pit repairing apparatus according to claim 6, wherein said light source comprises a plurality of strip-shaped light sources annularly disposed at the bottom of the fixing frame.

8. The asphalt pavement pit repairing apparatus according to claim 2, wherein said rotating mechanism comprises a base, a cap, and a first stepping motor; the first arm comprises a second stepping motor, a first output flange, a first arm plate, a second arm plate, a first support and a second support; the second arm comprises a third stepping motor, a second output flange, a third arm plate, a fourth arm plate, a third support and a fourth support;

the base is fixed on the upper surface of the walking module, the output shaft of the first stepping motor faces the vertical direction, and the first stepping motor is fixed on the base; an output shaft of the first stepping motor penetrates out of the top of the base and is fixedly provided with a bearing platform, and the bearing platform is not in contact with the base;

the second stepping motor is fixed on the bearing platform, and an output shaft of the second stepping motor is vertical to an output shaft of the first stepping motor; a first output flange is fixed on an output shaft of the second stepping motor and is not in contact with the bearing platform; one side of the first support and one end of the first arm plate are fixed on the first output flange, and the other side of the first support is fixedly connected with one end of the second arm plate; the tail ends of the first arm plate and the second arm plate are fixedly connected with the two sides of the second support respectively;

the third stepping motor is fixed on the second bracket, and an output shaft of the third stepping motor is parallel to an output shaft of the second stepping motor; an output shaft of the third step motor penetrates through one side of the second support and the second arm plate, and is fixedly provided with a second output flange which is not in contact with the second arm plate; one side of the third support and one end of the third arm plate are fixed on the second output flange, and the other side of the third support is fixedly connected with one end of the fourth arm plate; the tail ends of the third arm plate and the fourth arm plate are fixedly connected with the two sides of the fourth support respectively.

9. The asphalt pavement pit repairing device according to claim 1, further comprising a control module, wherein the control module comprises a controller, an electrical cabinet, an operation panel and an upper computer; the electrical cabinet and the upper computer are respectively fixed at the rear end of the top of the walking module, the operating panel is fixed at the top of the electrical cabinet, the operating area of the operating panel is located in the acting range of a human hand, and the controller is fixed in the electrical cabinet.

10. The asphalt pavement pit repairing apparatus according to claim 9, wherein said control module further comprises a wireless remote control handle, a radio receiver and an antenna; the radio receiver is fixed in the electrical cabinet and is in communication connection with an external controller; the antenna is fixed on the electrical cabinet, is electrically connected with the electrical cabinet and is in communication connection with the radio receiver and the wireless remote control handle.

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