CN104831912B - A kind of building wall construction robot walking guide and method - Google Patents
A kind of building wall construction robot walking guide and method Download PDFInfo
- Publication number
- CN104831912B CN104831912B CN201510283273.6A CN201510283273A CN104831912B CN 104831912 B CN104831912 B CN 104831912B CN 201510283273 A CN201510283273 A CN 201510283273A CN 104831912 B CN104831912 B CN 104831912B
- Authority
- CN
- China
- Prior art keywords
- building wall
- wall construction
- photoswitch
- construction robot
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of building wall construction robot walking guide and method, building wall construction robot both sides are equipped with crawler unit, crawler unit connects motor, the chassis that crawler unit is supported is provided with photoswitch combination, photoswitch combination is connected with controller, controller is connected with driver, and driver drives motor operates；The front or behind of building wall construction robot walking is provided with horizontal and vertical generating laser.Place generating laser in construction area, generate horizontal and vertical lasing area, and in robot both sides, photoswitch combination, position signalling in detection walking are installed, controller is by the movable motor of driver control robot both sides it is ensured that it is walked according to guided laser face and is accurately positioned；Structure is simple, and walking and position fixing process fully achieve straight line guiding, and the speed of travel and location efficiency are higher.
Description
Technical field
The present invention relates to needing sprocket bit is equipped with the mobile device of exact requirements, more particularly, to a kind of building wall is applied
Work robot ambulation guide and method.
Background technology
Building wall construction robot when carrying out building wall plastering construction, constantly move in construction area and
Keep there is certain accurate distance with constructed metope, need a kind of effective method and apparatus to ensure positioning precision.Existing
A lot of methods measure the distance of walking by measuring the rotation of track drive motor in chassis, due to double in actual application
Skidding in the difference and walking process of side crawler belt can bring larger measurement error.
Content of the invention
The purpose of the present invention is for overcoming above-mentioned the deficiencies in the prior art, providing a kind of building wall construction robot walking
Guide and method, to realize building wall construction robot using exterior laser source, photoswitch and sampling processing device
Walking is accurately positioned with fixed position.
For achieving the above object, the present invention adopts following technical proposals：
A kind of building wall construction robot walking guide, building wall construction robot both sides are equipped with crawler belt row
Walking apparatus, crawler unit connects motor, and the chassis that described crawler unit is supported is provided with photoswitch combination, institute
State photoswitch combination to be connected with controller, controller is connected with driver, and driver drives motor operates；Described building wall
The front or behind of construction robot walking is provided with horizontal and vertical generating laser, and described horizontal and vertical generating laser is sent out
The light going out forms vertical reference face and level reference needed for wall construction.
Described photoswitch combination is positioned only at the one of the chassis of building wall construction robot crawler unit support
Side.
Preferably, the chassis both sides that the crawler unit of described building wall construction robot both sides is supported are equipped with
Photoswitch combines.
Described photoswitch combination includes multiple photoswitches, is established by cable with one of light in construction robot walking process
Central point on the basis of pass, remaining photoswitch is laid up and down along this central point both sides or uniformly.
Described controller is PLC or MCU.
A kind of building wall construction robot walking bootstrap technique, comprises the following steps：
(1) horizontal and vertical generating laser, this horizontal and vertical generating laser are placed in building wall construction area
The light sending forms vertical reference face and level reference；
(2) after vertical reference face is irradiated to the photoswitch combination on building wall construction robot crawler unit,
Form the on-off model of building wall construction robot position, this on-off model is transferred to control by photoswitch combination
Device；
(3) controller is according to the on-off model receiving, and the on-off model with the photoswitch position of central point
Compare, if deviateing in building wall construction robot walking process, controller controls driver to adjust motor fortune
Scanning frequency degree, thus driving crawler unit to carry out the adjustment of position in walking process, realize building wall construction robot with
Construction being accurately positioned of metope.
In described step (3), building wall construction robot is concretely comprised the following steps with construction the pinpoint of metope：?
Before building wall construction robot is not walked, horizontal and vertical generating laser is adjusted according to construction requirement so that send hangs down
Straight datum level is the plane of reference in building wall construction robot walking process, remain in walking process vertical reference face with
When the photoswitch of the central point setting overlaps, reference laser face is irradiated on benchmark photoswitch all the time, this photoswitch
Detection signal exports controller, and controller is failure to actuate；
If deviateed in building wall construction robot walking process, vertical reference face is irradiated the laser sending and is irradiated
During to left side or right side photoswitch, to controller, controller is according to upper for left side or right side photoswitch output detection signal
Stating signal controls driver to adjust the motor speed of service, thus driving crawler unit to carry out position in walking process
Adjust it is ensured that set vertical reference face is overlapped with the photoswitch position of central point all the time before construction, thus realizing building
Wall construction robot is accurately positioned with construction metope.
Beneficial effects of the present invention are：
The present invention using exterior laser source, photoswitch and sampling processing device to realize walk and fixed position accurate
Positioning；Place generating laser in construction area, generate horizontal and vertical lasing area, and in robot both sides, photoswitch is installed
Combination, position signalling in detection walking, controller is by the movable motor of driver control robot both sides it is ensured that it is according to drawing
Lead lasing area to walk and be accurately positioned；Present configuration is simple, and walking and position fixing process fully achieve straight line guiding, the speed of travel
Higher with location efficiency.
Brief description
Fig. 1 is the schematic diagram of building wall construction robot walking guide of the present invention；
In figure, 1 is horizontal and vertical generating laser, and 2 is vertical reference face, and 3 is level reference, and 4 is photoswitch
Combination, 5 is controller, and 6 is left side drive, and 7 is left motor, and 8 is right driver, and 9 is right motor, and 10 is building wall
Surface construction robot, 11 is crawler unit.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
As shown in figure 1, building wall construction robot walking guide, required according to wall construction in construction area
Place horizontal and vertical laser reflector 1, this emitter forms vertical reference face 2 and level reference 3 according to specific needs.Build
Walling surface construction robot 10 both sides are equipped with crawler unit 11, and left track running gear connects left motor 7, right side
Crawler unit connects right motor 9, is installed on building wall construction robot one or both sides crawler unit 11
Photoswitch combination 4 formed building wall construction robot walking processes in position signallings, in actual applications light establish by cable
Close combination and can adjust quantity as needed, can be such as 3,4,5 etc. more form permutation and combination, photoswitch
Combination includes multiple photoswitches, defines point centered on certain photoswitch in the middle of in photoswitch combination, such as selection B or
Point centered on C.Photoswitch combination 4 is connected with controller 5, and controller 5 is connected with left side drive 6 and right driver 8, left
Side driver 6 and right driver 8 drive left motor 7 and right motor 9 to operate respectively；Controller 5 can be programmable patrolling
Collect device (PLC) or microprocessor (MCU).
Building wall construction robot walking bootstrap technique, comprises the following steps：
(1) horizontal and vertical generating laser 1, this horizontal and vertical generating laser are placed in building wall construction area
The light that 1 sends forms vertical reference face 2 and level reference 3；
(2) vertical reference face 2 is irradiated to the photoswitch group on building wall construction robot 10 crawler unit 11
After closing 4, form the on-off model of building wall construction robot 11 position, this on-off model is passed by photoswitch combination 4
It is defeated by controller 5；
(3) before building wall construction robot is not walked, workmen adjusts generating laser according to construction requirement, makes
The vertical reference face that must send is the plane of reference during wall construction robot ambulation, remains vertical base in walking process
Quasi- face all the time with set photoswitch combine in reference photoswitch center superposition when, reference laser face is irradiated all the time
To on benchmark photoswitch, the detection signal of this photoswitch exports follow-up controller, controller regard as walking in
Reference position overlaps.
If deviateed in walking process, reference laser face is irradiated the laser sending and is deviateed reference position and be irradiated to a left side
When side or right side photoswitch, the left side irradiated by laser pulse or right side photoswitch will export detection signal, left side
Or right side offset signal is input to controller, walking mechanism controller controls driver to adjust motor fortune according to above-mentioned signal
Scanning frequency degree, thus drive crawler unit to carry out the adjustment of position in walking process it is ensured that vertical base set before construction
Quasi- face combine with photoswitch all the time in reference photoswitch center superposition, thus realizing building wall construction robot
With being accurately positioned of construction metope.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (6)
1. a kind of building wall construction robot is walked bootstrap technique, it is characterized in that, the method based on device include in building
Wall construction robot both sides are equipped with crawler unit, and crawler unit connects motor, described crawler unit institute
The chassis supporting is provided with photoswitch combination, and described photoswitch combination is connected with controller, and controller is connected with driver,
Driver drives motor operates；The front or behind of described building wall construction robot walking is provided with horizontal and vertical laser and sends out
Emitter, the light that described horizontal and vertical generating laser sends forms vertical reference face and horizontal reference needed for wall construction
Face；
The method comprises the following steps：
（1）Place horizontal and vertical generating laser in building wall construction area, this horizontal and vertical generating laser sends
Light form vertical reference face and level reference；
（2）After vertical reference face is irradiated to the photoswitch combination on building wall construction robot crawler unit, formed
The on-off model of building wall construction robot position, this on-off model is transferred to controller by photoswitch combination；
（3）Controller according to the on-off model receiving, and compared with the on-off model of the photoswitch position of central point
Relatively, if deviateing in building wall construction robot walking process, controller controls driver to adjust motor operation speed
Degree, thus driving crawler unit to carry out the adjustment of position in walking process, realizes building wall construction robot and construction
Being accurately positioned of metope.
2. building wall construction robot walking bootstrap technique as claimed in claim 1, is characterized in that, described photoswitch group
Close the side on the chassis being positioned only at the support of building wall construction robot crawler unit.
3. building wall construction robot walking bootstrap technique as claimed in claim 1, is characterized in that, described building wall is applied
The chassis both sides that the crawler unit of work robot both sides is supported are equipped with photoswitch combination.
4. building wall construction robot walking bootstrap technique as claimed in claim 1, is characterized in that, described photoswitch group
Close include multiple photoswitches, in building wall construction robot walking process on the basis of one of photoswitch center
Point, remaining photoswitch is laid up and down along this central point both sides or uniformly.
5. building wall construction robot walking bootstrap technique as claimed in claim 1, is characterized in that, described controller is
PLC or MCU.
6. building wall construction robot walking bootstrap technique as claimed in claim 1, is characterized in that, described step（3）In
Building wall construction robot is concretely comprised the following steps with construction the pinpoint of metope：
Before building wall construction robot is not walked, horizontal and vertical generating laser is adjusted according to construction requirement so that sending out
The vertical reference face going out is the plane of reference in building wall construction robot walking process, remains vertical base in walking process
When quasi- face is overlapped with the photoswitch of the central point setting, reference laser face is irradiated on benchmark photoswitch all the time, this photoelectricity
The detection signal of switch exports controller, and controller is failure to actuate；
If deviateed in building wall construction robot walking process, vertical reference face is irradiated the laser sending and is irradiated to a left side
When side or right side photoswitch, to controller, controller is according to above-mentioned letter for left side or right side photoswitch output detection signal
Number control driver adjust the motor speed of service, thus driving crawler unit to carry out the tune of position in walking process
Whole it is ensured that construction before set vertical reference face overlap with the photoswitch position of central point all the time, thus realizing building wall
Surface construction robot is accurately positioned with construction metope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283273.6A CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510283273.6A CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104831912A CN104831912A (en) | 2015-08-12 |
| CN104831912B true CN104831912B (en) | 2017-03-08 |
Family
ID=53810070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510283273.6A Active CN104831912B (en) | 2015-05-28 | 2015-05-28 | A kind of building wall construction robot walking guide and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104831912B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640735A (en) * | 2019-10-17 | 2020-01-03 | 广东博智林机器人有限公司 | Deviation rectifying method, deviation rectifying device and robot |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105587107B (en) * | 2016-01-28 | 2018-02-23 | 长沙万工机器人科技有限公司 | A kind of full automatic wall material construction robot |
| CN107327126B (en) * | 2017-08-11 | 2023-09-08 | 深圳班翟机器人有限公司 | Plastering robot |
| CN108518047A (en) * | 2018-05-21 | 2018-09-11 | 黄艳秋 | A kind of plastering machine for painting wall |
| CN109577616B (en) * | 2019-01-17 | 2020-12-29 | 深圳市森博机器人有限公司 | Control method of plastering robot with automatic translation and walking function |
| CN111576803A (en) * | 2020-04-26 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Wall surface construction robot and wall surface robot control method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09210687A (en) * | 1996-01-31 | 1997-08-12 | Topcon Corp | Laser level |
| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN202324558U (en) * | 2011-11-14 | 2012-07-11 | 蒋京德 | Walking and turning device of building wall surface construction robot |
| CN103726645A (en) * | 2013-12-10 | 2014-04-16 | 沈阳市昂扬科技有限公司 | Special device for automatic spraying and whitewashing |
| CN104563459A (en) * | 2014-12-25 | 2015-04-29 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN104631804A (en) * | 2014-12-25 | 2015-05-20 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN204738511U (en) * | 2015-05-28 | 2015-11-04 | 山东省科学院自动化研究所 | Building wall construction walking guiding device of robot |
-
2015
- 2015-05-28 CN CN201510283273.6A patent/CN104831912B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09210687A (en) * | 1996-01-31 | 1997-08-12 | Topcon Corp | Laser level |
| CN202280240U (en) * | 2011-11-14 | 2012-06-20 | 蒋京德 | Construction robot for wall surface of building |
| CN202324558U (en) * | 2011-11-14 | 2012-07-11 | 蒋京德 | Walking and turning device of building wall surface construction robot |
| CN103726645A (en) * | 2013-12-10 | 2014-04-16 | 沈阳市昂扬科技有限公司 | Special device for automatic spraying and whitewashing |
| CN104563459A (en) * | 2014-12-25 | 2015-04-29 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN104631804A (en) * | 2014-12-25 | 2015-05-20 | 三一汽车制造有限公司 | Wall plastering machine and leveling method thereof |
| CN204738511U (en) * | 2015-05-28 | 2015-11-04 | 山东省科学院自动化研究所 | Building wall construction walking guiding device of robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640735A (en) * | 2019-10-17 | 2020-01-03 | 广东博智林机器人有限公司 | Deviation rectifying method, deviation rectifying device and robot |
| CN110640735B (en) * | 2019-10-17 | 2021-05-11 | 广东博智林机器人有限公司 | Deviation rectifying method, deviation rectifying device and robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104831912A (en) | 2015-08-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104831912B (en) | A kind of building wall construction robot walking guide and method | |
| CN103790367B (en) | A kind of full-automatic erection equipment of external wall stone material | |
| CN110805301B (en) | Hole plugging device and hole plugging robot | |
| CN104942519A (en) | Straight pipe correcting platform and straight pipe correcting method | |
| CN203566083U (en) | Double-rail laser marking machine | |
| CN103831192A (en) | Conformal coating spraying PCB conveying spraying positioning system | |
| CN104772266B (en) | A kind of ultraviolet light polymerization equipment | |
| CN103742160A (en) | Mounting device for upper structure in tunnel | |
| CN103862582A (en) | Transmission device for glass drilling machine and glass drilling machine thereof | |
| KR102099271B1 (en) | Method and System for Preventing Cutting of Cable For Supplying Power to Tripper Car | |
| CN204738511U (en) | Building wall construction walking guiding device of robot | |
| CN104440453A (en) | Automatic edge grinding device | |
| CN108661384A (en) | A kind of automatic parking system of parking | |
| CN110162056A (en) | A kind of light guidance follow-up mechanism and method | |
| CN204759202U (en) | Location detection device in walking of wall construction robot | |
| CN105862526A (en) | High speed rail base plate side wall vehicle-mounted sawing device | |
| CN104850126B (en) | Locating and detecting device and method in a kind of wall construction robot ambulation | |
| CN115633614A (en) | Control system for planting machine and control method thereof | |
| CN203529417U (en) | Production line for transferring workpiece by transfer trolley | |
| CN104556655A (en) | Novel glass cutting equipment and control method thereof | |
| CN109481856A (en) | Make the auxiliary equipment of spiral-fault radiation therapeutic systematic treating bed holding level | |
| CN208441556U (en) | A kind of automatic parking system of parking | |
| KR20200019208A (en) | Tire production system and method | |
| CN106952666A (en) | Plasterboard diagonal Bias Correction device | |
| JP2020078852A (en) | Learning system and robot position adjustment system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150812 Assignee: SHANDONG JUNDE ROBOT TECHNOLOGY CO., LTD. Assignor: Automation Inst., Shandong Prov. Contract record no.: X2019370000011 Denomination of invention: Travelling guide device and method for building wall construction robot Granted publication date: 20170308 License type: Common License Record date: 20191105 |