CN215848152U

CN215848152U - Automatic laying-out and marking robot for horizontal plane

Info

Publication number: CN215848152U
Application number: CN202122147199.9U
Authority: CN
Inventors: 蒋勇平
Original assignee: Shanghai Ppcg Interior Decoration Co ltd
Current assignee: Shanghai Ppcg Interior Decoration Co ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2022-02-18
Anticipated expiration: 2031-09-07

Abstract

The utility model provides a horizontal plane automatic lofting and marking robot, wherein a plane lofting instrument comprises an instrument body, a moving mechanism, an ink jet mechanism, a positioning induction mechanism, a roadblock induction mechanism and an instrument body control mechanism, wherein the moving mechanism is arranged at the bottom side of the instrument body; the ink-jet mechanism comprises an ink storage cavity and an ink-jet head, and an ink-jet port is arranged at the bottom side of the ink-jet head; the positioning induction mechanism comprises an infrared horizontal receiver and a fixed point positioner, and the infrared horizontal receiver is in signal connection with the fixed point positioner; the roadblock sensing mechanism comprises a visual sensor, a 3D obstacle sensor and a height sensor which are arranged on the machine body; the machine body control mechanism comprises a wireless control panel, a machine body power supply and a machine body control system. In the application, the plane lofting instrument confirms the coordinate position of the fixed point positioner through the infrared horizontal receiver, and the traveling route of the plane lofting instrument is obtained by matching with the wireless control panel. The plane lofting instrument can realize the functions of full-automatic positioning, obstacle avoidance, ink jetting and the like, and lofting and line drawing work is carried out under the remote control of a wireless control panel, so that the working efficiency is improved.

Description

Automatic laying-out and marking robot for horizontal plane

Technical Field

The utility model relates to the field of lofting machines, in particular to a horizontal plane automatic lofting and scribing robot.

Background

The existing lofting and scribing robot often needs manual operation, cannot automatically scribe according to a lofting drawing, and meanwhile cannot comprehensively detect the environment state, particularly cannot automatically position the part needing to be scribed again after bypassing when an obstacle or a cavity exists.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a horizontal plane automatic lofting and scribing robot which can automatically detect a positioning position, realize the positioning position of a lofting drawing and facilitate lofting and scribing.

In order to achieve the above object, the present invention provides a horizontal automatic lofting and scribing robot, wherein the horizontal lofting instrument comprises a machine body, a moving mechanism, an ink jet mechanism, a positioning sensing mechanism, a roadblock sensing mechanism and a machine body control mechanism, wherein:

the moving mechanism is arranged on the bottom side of the machine body;

the ink-jet mechanism comprises an ink storage cavity and an ink-jet head, the ink storage cavity is arranged in the machine body, the bottom side of the ink-jet head is provided with an ink-jet port, and the ink storage cavity is communicated with the ink-jet port through the ink-jet head;

the positioning induction mechanism comprises an infrared horizontal receiver and a fixed point positioner, the infrared horizontal receiver is arranged on the machine body, and the infrared horizontal receiver is in signal connection with the fixed point positioner;

the roadblock sensing mechanism comprises a visual sensor, a 3D obstacle sensor and a height sensor, and the visual sensor, the 3D obstacle sensor and the height sensor are all arranged on the side surface of the head end of the machine body;

the robot body control system comprises a robot body control mechanism and a robot body control system, wherein the robot body control mechanism comprises a wireless control panel, a robot body power supply and a robot body control system, the wireless control panel is connected with the robot body control system through a wireless networking signal, the robot body power supply is electrically connected with a moving mechanism, an ink jet mechanism, a positioning induction mechanism, a roadblock induction mechanism and the robot body control system, and the robot body control system is in control connection with the moving mechanism, the ink jet mechanism, the positioning induction mechanism and the roadblock induction mechanism.

Further, in the automatic horizontal lofting and marking robot, the moving mechanism includes a rotary ball wheel and two rollers, the rotary ball wheel is disposed on one side of the head end of the machine body, the rollers are disposed on one side of the tail end of the machine body, the rotary ball wheel is disposed on the central axis of the machine body, and the two rollers are symmetrically disposed with the central axis of the machine body as a symmetry axis.

Further, in the robot for automatically lofting and scribing a horizontal plane, the ink jet mechanism further comprises an infrared height sensor and an ink box, the infrared height sensor is arranged at the bottom side of the ink jet head, the ink box is detachably mounted in the machine body, and the ink box is communicated with the ink jet port through the ink jet head.

Further, in the horizontal automatic lofting and marking robot, the ink jet heads are respectively arranged at the end corners of two sides of the head end of the machine body, an ink box containing cavity is arranged at the top of the machine body, and at least two ink boxes are arranged in the ink box containing cavity.

Further, in the horizontal automatic lofting and marking robot, infrared buffer anti-collision plates are arranged on the side surfaces of the two side ends of the machine body, an on-off key, a USB interface and a machine body display panel are arranged on the machine body, and the on-off key, the USB interface and the machine body display panel are connected with the machine body control system.

Further, in the horizontal automatic lofting and marking robot, a gyroscope is arranged in the machine body.

Furthermore, the automatic horizontal lofting and scribing robot further comprises a base, wherein a charging mechanism and a base power supply are arranged in the base, the charging mechanism comprises an accommodating cavity, a charging pole piece and a butt joint pole piece, the accommodating cavity is formed in the bottom of the base, an opening facilitating the machine body to enter is formed in one side of the accommodating cavity, the charging pole piece is arranged on the bottom side of the accommodating cavity, and the charging pole piece is electrically connected with the base power supply; the butt joint pole piece is arranged on the bottom side of the machine body and is electrically connected with the machine body power supply; when the machine body moves to the accommodating cavity, the charging pole pieces and the butt joint pole pieces are correspondingly spliced and connected, and the machine base power supply charges the machine body power supply through the spliced butt joint pole pieces and the charging pole pieces.

Furthermore, in the horizontal automatic lofting and marking robot, a base positioner is arranged in the base, and the infrared horizontal receiver is in signal connection with the base positioner.

Furthermore, in the horizontal plane automatic lofting and marking robot, an ink adding mechanism is further arranged in the base and comprises an ink tank accommodating cavity, ink storage tanks and ink injection heads, the ink tank accommodating cavity is formed in the top of the base, the two ink storage tanks are arranged in the ink tank accommodating cavity, and the ink injection heads communicated with the ink storage tanks are arranged on the top sides in the accommodating cavity; the machine body is provided with an ink injection hole which is communicated with the ink storage cavity; when the machine body moves into the accommodating cavity, the ink injection head performs ink injection supplement on the ink storage cavity through the ink injection hole.

Further, in the horizontal automatic lofting and marking robot, a base control panel and a base control system are further arranged in the base, the wireless control panel is connected with the base control system through a wireless networking signal, the base control panel is in control connection with the base control system, a base power supply is electrically connected with the ink adding mechanism, the base control panel and the base control system, and the base control system is in control connection with the charging mechanism and the ink adding mechanism.

Compared with the prior art, the utility model has the following beneficial effects: the plane lofting instrument is used for remotely positioning the coordinate position of the fixed point positioner through the infrared horizontal receiver and is matched with the wireless control panel to calculate the traveling route of the plane lofting instrument. The plane lofting instrument combines the cooperation work of moving mechanism, inkjet mechanism, location response mechanism and roadblock response mechanism, realizes automatic positioning, keeps away the function of barrier and automatic inkjet automatically, and the full-automatic lofting marking off work of carrying on under the dull and stereotyped remote control of wireless control improves work efficiency.

Drawings

FIGS. 1 and 2 are schematic structural views of a plane lofting instrument in a horizontal plane automatic lofting and scribing robot according to the present invention;

FIG. 3 is a schematic structural view of an ink cartridge in the automatic horizontal lofting and scribing robot according to the present invention;

FIG. 4 is a schematic structural diagram of a gyroscope in the horizontal automatic lofting and scribing robot according to the present invention;

FIG. 5 is a schematic structural diagram of a machine base in the automatic lofting and scribing robot for horizontal plane according to the present invention;

FIG. 6 is a schematic view of the ink tank in the automatic lofting and line drawing robot for horizontal plane according to the present invention;

FIG. 7 is a schematic structural diagram of a fixed point positioner in the automatic lofting and scribing robot for horizontal planes according to the present invention;

FIG. 8 is a schematic structural view of a wireless control panel in the automatic lofting and scribing robot for horizontal planes according to the present invention;

FIG. 9 is a schematic structural view of the automatic horizontal lofting and scribing robot of the present invention, wherein the horizontal lofting instrument is disposed in the machine base.

Wherein: the infrared height sensor comprises a machine body 1, an infrared buffer anti-collision plate 11, a switch key 12, a USB interface 13, a machine body display panel 14, a gyroscope 15, a rotary ball wheel 21, a roller 22, an ink gun 31, an ink jet 32, an infrared height sensor 33, an ink box accommodating cavity 34, an ink box 35, an ink injection hole 36, an infrared horizontal receiver 41, a fixed point positioner 42, a vision sensor 51, a 3D obstacle sensor 52, a height sensor 53, a wireless control panel 6, a machine base 7, a machine base control panel 71, an accommodating cavity 81, a charging pole piece 82, a butt joint pole piece 83, an ink tank accommodating cavity 91, an ink storage tank 92 and an ink injection head 93.

Detailed Description

The automatic level lofting and line marking robot of the present invention will now be described in greater detail with reference to the schematic drawings, in which preferred embodiments of the utility model are shown, it being understood that one skilled in the art may modify the utility model herein described while still achieving the advantageous effects of the utility model. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the utility model.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.

The utility model is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

As shown in fig. 1 to 9, the utility model provides a horizontal automatic lofting and scribing robot, which comprises a plane lofting instrument, a fixed point positioner 42, a wireless control panel 6 and a base 7, wherein the plane lofting instrument is used for lofting and scribing in movement, the fixed point positioner 42 is used as a positioning identifier of the plane lofting instrument, the plane lofting instrument performs standard scribing according to a positioned accurate coordinate comparison lofting drawing, the base 7 is used for charging and inking the plane lofting instrument, and the wireless control panel 6 receives a signal sent by the fixed point positioner 42 and controls the plane lofting instrument and the base 7 to work through the wireless control panel 6.

Further, as shown in fig. 1 to 2, in the present embodiment, the flat lofting apparatus includes a body 1, a moving mechanism, an ink jet mechanism, a positioning sensing mechanism, a road block sensing mechanism, and a body control mechanism, which are specifically as follows:

as shown in fig. 2, a moving mechanism is disposed at the bottom side of the machine body 1, the moving mechanism includes a rotary ball wheel 21 and two rollers 22, the rotary ball wheel 21 is disposed at one side of the head end of the machine body 1, the rollers 22 are disposed at one side of the tail end of the machine body 1, the rotary ball wheel 21 is disposed on the central axis of the machine body 1, and the two rollers 22 are symmetrically disposed with the central axis of the machine body 1 as the symmetry axis. The rotary ball wheel 21 is used for controlling the rotation direction of the movement of the machine body 1, and the roller 22 is used for controlling the front and rear positions of the movement of the machine body 1.

As shown in fig. 1 to 2, the ink jet mechanism includes an ink storage chamber, ink jet heads 31, ink nozzles 32, an infrared height sensor 33, an ink cartridge 35, and an ink cartridge accommodating chamber 34, wherein one ink jet head 31 is disposed at each of the corners of the two sides of the head end of the body 1, and the two ink jet heads 31 are used for drawing ink lines of different color patterns, one is black and the other is red. The bottom side of the ink gun 31 is provided with an ink jet port 32 and an infrared height sensor 33, the ink jet port 32 arranged on the bottom side can effectively prevent dust from being accumulated and blocked, the infrared height sensor 33 is used for monitoring the height distance between the plane where the ink jet port 32 is located and the ground plane, so that the distance between the ink jet port 32 and the ground plane is always consistent, and the situation that drawn ink lines are different in thickness due to uneven bottom surfaces is avoided. Specifically, when the infrared height sensor 33 detects an uneven ground, the inkjet head 31 is correspondingly controlled to perform height adjustment in the vertical direction according to the change of the distance between the inkjet port 32 and the ground, so that the thickness of the ink lines drawn on the ground by the inkjet port 32 is always consistent, and the pattern drawn by the lofting scribes is ensured to be clear. That is, according to the detection of the infrared height sensor 33, when the ground plane is raised upwards, the ink jet head 31 is controlled to move upwards, when the ground plane is lowered downwards, the ink jet head 31 is controlled to move downwards, and the distance between the ink jet opening 32 and the ground plane is controlled to be consistent all the time, so that the thickness of the ink lines drawn on the ground plane by the ink jet opening 32 is ensured to be consistent all the time, and the result that the drawn pattern is clear is achieved.

Further, as shown in fig. 1 to fig. 2, in the present embodiment, the ink storage cavity is disposed in the body 1, the body 1 is provided with an ink injection hole 36, the ink injection hole 36 is communicated with the ink storage cavity, the ink storage cavity is communicated with the ink jetting port 32 through the inkjet head 31, the ink storage cavity correspondingly stores two different colors of ink/toner, and the ink injection hole 36 and the inkjet head 31 are respectively connected with the corresponding ink storage cavity. Meanwhile, the top of the body 1 is provided with an ink cartridge accommodating chamber 34, at least two ink cartridges 35 with different colors are arranged in the ink cartridge accommodating chamber 34, and the ink cartridges 35 are communicated with the ink jetting port 32 through the ink jet head 31. Because the ink box 35 has the characteristics of small volume and convenient carrying and replacement relative to the ink storage cavity, the portable ink box 35 is suitable for lofting in small-area space, and the ink storage cavity is suitable for lofting in large-area space after ink is supplemented.

As shown in fig. 1 to 2, the positioning sensing mechanism includes an infrared horizontal receiver 41, a fixed-point positioner 42 and a machine base positioner, the infrared horizontal receiver 41 is disposed on the machine body 1, the machine base positioner is disposed on the machine base 7, the infrared horizontal receiver 41 is in signal connection with the fixed-point positioner 42 and the machine base positioner, respectively, the infrared horizontal receiver 41 is used for receiving positioning signals of the fixed-point positioner 42 and the machine base positioner, and coordinates are calculated and accurately positioned.

As shown in fig. 1 to 2, the obstacle sensing mechanism includes a visual sensor 51, a 3D obstacle sensor 52 and a height sensor 53, the visual sensor 51 is disposed on a side surface of the top end of the machine body 1, and the 3D obstacle sensor 52 and the height sensor 53 are both disposed on a side surface of the head end of the machine body 1; the vision sensor 51 is used for scanning the surrounding environment and avoiding obstacles, the 3D obstacle sensor 52 is used for identifying obstacles and preventing the winding of articles such as ropes and electric wires, and the height sensor 53 is used for identifying the height difference of the surrounding ground plane and avoiding falling from steps or holes.

As shown in fig. 8, the body control mechanism includes a wireless control panel 6, a body power supply and a body control system, the wireless control panel 6 is connected with the body control system through a wireless networking signal, the body power supply supplies power to the moving mechanism, the ink jet mechanism, the positioning sensing mechanism, the roadblock sensing mechanism and the body control system, and the body control system is connected with the moving mechanism, the ink jet mechanism, the positioning sensing mechanism and the roadblock sensing mechanism in a control manner.

Meanwhile, as shown in fig. 1 to 2, in this embodiment, the side surfaces of both sides of the machine body 1 are respectively provided with an infrared buffer anti-collision plate 11, the machine body 1 is provided with an on-off key 12, a USB interface 13 and a machine body display panel 14, the on-off key 12, the USB interface 13 and the machine body display panel 14 are all connected with the machine body control system, the on-off key 12 is used for controlling the running state of the main control system, the USB interface 13 is used for performing data connection with an external device, and the machine body display panel 14 can display a menu selection state, a wifi state and electric quantity which are in signal connection with the wireless control panel 6 and the machine base 7. As shown in fig. 4, a gyroscope 15 is provided in the body 1 for stabilizing and positioning the body.

Further, as shown in fig. 5, in the present embodiment, a charging mechanism, a base power supply, an ink adding mechanism, a base control panel 71 and a base control system are provided in the base 7, and the base 7 charges the machine body 1 by the charging mechanism and supplies ink to the machine body 1 by the ink adding mechanism. The base power supply supplies power for the ink adding mechanism, the base control panel 71 and the base control system, and the base control system is in control connection with the charging mechanism and the ink adding mechanism. The wireless control panel 6 is connected with the base control system through a wireless networking signal, namely, a user can remotely control the base 7 to work through the wireless control panel 6; the base control panel 71 is in control connection with the base control system, i.e. a user can manually control the operation of the base 7 through the base control panel 71.

Specifically, as shown in fig. 5, in the present embodiment, the charging mechanism includes an accommodating cavity 81, a charging pole piece 82 and a docking pole piece 83, the accommodating cavity 81 is disposed at the bottom of the base 7, an opening for facilitating the entry of the machine body 1 is disposed at one side of the accommodating cavity 81, the charging pole piece 82 is disposed at the bottom side in the accommodating cavity 81, and the charging pole piece 82 is electrically connected to the base power supply; the bottom side of the machine body 1 is provided with a butt joint pole piece 83, and the butt joint pole piece 83 is electrically connected with a power supply of the machine body; when the machine body 1 moves into the accommodating cavity 81, the corresponding charging pole piece 82 and the butt joint pole piece 83 are spliced and connected, and the machine body power supply is charged through the spliced butt joint pole piece 83 and the charging pole piece 82.

Further, as shown in fig. 5 to 6, in the present embodiment, the ink adding mechanism includes an ink tank receiving cavity 91, ink tanks 92 and ink injecting heads 93, the ink tank receiving cavity 91 is disposed at the top of the base 7, two ink tanks 92 are disposed in the ink tank receiving cavity 91, and the ink injecting heads 93 communicated with the ink tanks 92 are disposed at the top side in the receiving cavity 81; when the body 1 moves into the accommodating chamber 81, the ink filling head 93 fills the ink storage chamber with ink through the ink filling hole 36.

The specific implementation conditions are as follows:

as shown in fig. 8, the plane lofting instrument and the fixed point locator 42 are respectively arranged at predetermined positions, the drawing to be lofted is guided into the wireless control panel 6, and the specific position of the fixed point locator 42 in the drawing to be lofted is marked in the wireless control panel 6, at this time, the infrared horizontal receiver 41 calculates the relative position of the infrared horizontal receiver in the drawing to be lofted through the fixed point locator 42, and calculates how to reach the scribing position in the drawing to be lofted by using the coordinate distance between the infrared horizontal receiver and the fixed point locator 42. The plane lofting instrument obtains positioning through the infrared horizontal receiver 41 and then calculates a traveling route, and detects the surrounding environment through the roadblock sensing mechanism in the moving process, and the traveling route can be calculated and updated according to the fixed point positioner 42 at any time in the obstacle avoiding process. And in the moving process of the plane lofting instrument, ink jet scribing is carried out in a preset route by matching with an ink jet mechanism according to the scribing position in the drawing needing lofting, and the pattern needing lofting is drawn.

In addition, as shown in fig. 9, when the electric quantity of the plane lofting instrument is insufficient and/or the remaining ink is insufficient, the base 7 needs to be used for charging and/or adding ink, the plane lofting instrument receives a positioning signal of the base positioner through the infrared horizontal receiver 41, the coordinate distance between the plane lofting instrument and the base 7 is calculated, a traveling route of the plane lofting instrument moving into the base 7 is planned, the plane lofting instrument moves into the accommodating cavity 81 of the base 7, and the charging pole piece 82 and the butt-joint pole piece 83 are spliced, so that the base 7 charges the plane lofting instrument. Meanwhile, the ink filling head 93 moves to the connection position corresponding to the ink filling hole 36 under the driving of the base control system, and the ink filling head 93 supplies ink to the ink storage cavity at the ink filling hole 36.

In summary, in the embodiment of the horizontal automatic lofting and scribing robot, the planar lofting instrument remotely positions the coordinate position of the fixed point positioner through the infrared horizontal receiver, and the traveling route of the planar lofting instrument is calculated by matching with the wireless control panel. The plane lofting instrument combines the cooperation work of moving mechanism, inkjet mechanism, location response mechanism and roadblock response mechanism, realizes keeping away the barrier in automatic positioning, automation and automatic inkjet function, and the full-automatic lofting marking off work of carrying on under the dull and stereotyped remote control of wireless control improves work efficiency.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. The utility model provides an automatic laying-out marking off machine people in horizontal plane which characterized in that, the plane laying-out appearance includes organism (1), moving mechanism, inkjet mechanism, location response mechanism, roadblock response mechanism and organism control mechanism, wherein:

the moving mechanism is arranged on the bottom side of the machine body (1);

the ink-jet mechanism comprises an ink storage cavity and an ink-jet head (31), the ink storage cavity is arranged in the machine body (1), the bottom side of the ink-jet head (31) is provided with an ink-jet port (32), and the ink storage cavity is communicated with the ink-jet port (32) through the ink-jet head (31);

the positioning sensing mechanism comprises an infrared horizontal receiver (41) and a fixed point positioner (42), the infrared horizontal receiver (41) is arranged on the machine body (1), and the infrared horizontal receiver (41) is in signal connection with the fixed point positioner (42);

the roadblock sensing mechanism comprises a visual sensor (51), a 3D obstacle sensor (52) and a height sensor (53), wherein the visual sensor (51), the 3D obstacle sensor (52) and the height sensor (53) are all arranged on the side face of the head end of the machine body (1);

the robot body control system is characterized in that the robot body control mechanism comprises a wireless control panel (6), a robot body power supply and a robot body control system, the wireless control panel (6) is connected with the robot body control system through a wireless networking signal, the robot body power supply is electrically connected with the moving mechanism, the ink jet mechanism, the positioning induction mechanism, the roadblock induction mechanism and the robot body control system, and the robot body control system is in control connection with the moving mechanism, the ink jet mechanism, the positioning induction mechanism and the roadblock induction mechanism.

2. The automatic lofting and marking robot for the horizontal plane according to claim 1, wherein the moving mechanism comprises a rotary ball wheel (21) and two rollers (22), the rotary ball wheel (21) is disposed on one side of the head end of the machine body (1), the rollers (22) are disposed on one side of the tail end of the machine body (1), the rotary ball wheel (21) is disposed on the central axis of the machine body (1), and the two rollers (22) are symmetrically disposed with the central axis of the machine body (1) as the symmetry axis.

3. The automatic level lofting and marking robot according to claim 1, wherein the ink jet mechanism further comprises an infrared height sensor (33) and an ink cartridge (35), the infrared height sensor (33) is provided on a bottom side of the ink jet head (31), the ink cartridge (35) is detachably mounted in the body (1), and the ink cartridge (35) is communicated with the ink ejection port (32) through the ink jet head (31).

4. The automatic level lofting and marking robot as claimed in claim 3, wherein the machine body (1) is provided with an ink jet head (31) at each of the corners at both sides of the head end, the top of the machine body (1) is provided with an ink cartridge receiving cavity (34), and at least two ink cartridges (35) are arranged in the ink cartridge receiving cavity (34).

5. The automatic lofting and marking robot for the horizontal plane is characterized in that infrared buffering anti-collision plates (11) are arranged on the side surfaces of the two side ends of the machine body (1), a switch key (12), a USB interface (13) and a machine body display panel (14) are arranged on the machine body (1), and the switch key (12), the USB interface (13) and the machine body display panel (14) are connected with the machine body control system.

6. The automatic level setting and marking robot according to claim 1, characterized in that a gyroscope (15) is arranged in the machine body (1).

7. The automatic level lofting and marking robot as claimed in claim 1, further comprising a base (7), wherein a charging mechanism and a base power supply are arranged in the base (7), the charging mechanism comprises a receiving cavity (81), a charging pole piece (82) and a butt pole piece (83), the receiving cavity (81) is arranged at the bottom of the base (7), one side of the receiving cavity (81) is provided with an opening for facilitating the machine body (1) to enter, the bottom side in the receiving cavity (81) is provided with the charging pole piece (82), and the charging pole piece (82) is electrically connected with the base power supply; the butt joint pole piece (83) is arranged on the bottom side of the machine body (1), and the butt joint pole piece (83) is electrically connected with the machine body power supply; when the machine body (1) moves into the accommodating cavity (81), the charging pole piece (82) and the butt joint pole piece (83) are correspondingly spliced and connected, and the machine base power supply is charged through the spliced butt joint pole piece (83) and the charging pole piece (82).

8. The automatic level setting and marking robot as claimed in claim 7, wherein a base positioner is further provided in said base (7), said infrared level receiver (41) being in signal connection with said base positioner.

9. The automatic level lofting and marking robot as claimed in claim 7, wherein an ink adding mechanism is further arranged in the base (7), the ink adding mechanism comprises an ink tank receiving cavity (91), an ink storage tank (92) and an ink filling head (93), the ink tank receiving cavity (91) is arranged at the top of the base (7), two ink storage tanks (92) are arranged in the ink tank receiving cavity (91), and the ink filling head (93) communicated with the ink storage tanks (92) is arranged at the top side in the receiving cavity (81); an ink injection hole (36) is formed in the machine body (1), and the ink injection hole (36) is communicated with the ink storage cavity; when the machine body (1) moves into the accommodating cavity (81), the ink injection head (93) performs ink injection supplement on the ink storage cavity through the ink injection hole (36).

10. The automatic level lofting and marking robot as claimed in claim 9, wherein a base control panel (71) and a base control system are further arranged in the base (7), the wireless control panel (6) is connected with the base control system through wireless networking signals, the base control panel (71) is in control connection with the base control system, the base power supply is electrically connected with the ink adding mechanism, the base control panel (71) and the base control system, and the base control system is in control connection with the charging mechanism and the ink adding mechanism.