CN106863331A - Intelligence finishing robot platform - Google Patents
Intelligence finishing robot platform Download PDFInfo
- Publication number
- CN106863331A CN106863331A CN201710151447.2A CN201710151447A CN106863331A CN 106863331 A CN106863331 A CN 106863331A CN 201710151447 A CN201710151447 A CN 201710151447A CN 106863331 A CN106863331 A CN 106863331A
- Authority
- CN
- China
- Prior art keywords
- frame
- drive component
- robot platform
- intelligence
- component
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013441 quality evaluation Methods 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The present invention relates to a kind of intelligence finishing robot platform.By the mutual cooperation of positioning component, the first drive component and control assembly, to realize that intelligent positioning and intelligence are advanced, in addition, by the mutual cooperation of control assembly, the second drive component and executive module, to realize intelligent operation in the larger context, and, by changing different types of actuator, to perform different types of fitment operation, so that the intelligence degree of above-mentioned intelligence finishing robot platform is improved, the need for so as to meet various fitment operations, various complicated working environments are tackled, and human intervention is small.Further, it is anti-skidding when intelligently finishing robot platform is moved to suitable fitting position, to carry out intelligence to vehicle by setting anti-skidding component, without manually on-slip.Further, by setting detection components, detected with the operation plane quality to executive module, to ensure the smooth degree of operation plane, improve operation quality.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of intelligence finishing robot platform.
Background technology
The operation type of repairs profession is various, professional to require height, and labour intensity is big.The older portion of current decoration worker
Divide more than 50 years old, and rare young labour's injection is supplemented, repairs profession faces the follow-up trying situation without craftsman.
And in operation of plastering a wall, also begin to engender wall-plastering robot, to replace manually plastering a wall, largely
Improve operating efficiency.However, current wall-plastering robot is only capable of performing the operation of plastering a wall of simple function, it is impossible to meet finishing row
The several work of industry needs, but also there is the defect that operation quality is poor, be difficult to the complicated working environment of reply.
The content of the invention
Based on this, it is necessary to provide a kind of intelligence degree intelligence finishing robot platform higher.
A kind of intelligence finishing robot platform, including：
Frame；
Control assembly, is installed in the frame,
Positioning component, including signal projector and signal receiver, the signal receiver are installed in the frame, with
The positional information that the signal projector sends is received, the signal receiver is connected with control assembly communication；
First drive component, is installed in the frame, and first drive component is connected with control assembly communication,
To drive the frame closer or far from the signal projector；
Executive module, including mechanical arm and actuator, the actuator are mounted at the end of the mechanical arm,
The control assembly is connected with mechanical arm communication, and the mechanical arm can drive the actuator motions；And
Second drive component, is installed in the frame, and the mechanical arm is installed on institute away from one end of the actuator
State on the second drive component, the control assembly is connected with second drive component communication, and second drive component can
The executive module is driven to be lifted along the vertical direction of the frame.
Wherein in one embodiment, the signal projector is three line instrument, and the signal receiver is camera.
Wherein in one embodiment, the control assembly includes main frame, information input equipment and device for display of message, institute
State information input equipment and described information display device to be connected with the main frame respectively, described information input equipment is used to receive
Information input, described information display device can carry out presentation of information, and the main frame drives with the positioning component, described first
Component, the executive module and second drive component are respectively connected with, with to the positioning component, first driving group
Part, the executive module and second drive component are controlled.
Wherein in one embodiment, first drive component includes steering wheel, steering wheel driver and universal wheel, the master
Machine is connected with the steering wheel driver, and steering wheel rotation described in the steering wheel driver drives, the steering wheel drives the universal wheel
And the gantry motion.
Wherein in one embodiment, second drive component includes motor, gear, nested screw rod and sleeve,
The motor is installed in the frame, and is connected with the main frame, and the motor and the nested screw rod divide
It is not meshed with the gear, the sleeve is sheathed on the nested screw rod, and the executive module is installed on the sleeve,
The motor is extended or is shunk by nested screw rod described in the gear driven and the sleeve, so that the executive module
Closer or far from the gear.
Wherein in one embodiment, second drive component also includes the bracing wire coding being installed in the frame
Device, the end of pulling of the draw wire encoder is connected with the end of the sleeve, and the main frame is communicated with the draw wire encoder
Connection.
Wherein in one embodiment, also including detection components, the detection components are installed on second drive component
On, the detection components include light emitters and light collector, and the light emitters can send structure light, and irradiate
In in operation plane, the light collector can collect the light of operation plane reflection, the light collector and the master
Machine communication connection.
Wherein in one embodiment, also including anti-skidding component, the anti-skidding component include push-rod electric machine, anti-skidding connecting rod,
Support bar and limit sensors, the anti-skidding connecting rod are installed in the frame, and positioned at the frame away from the execution
The side of component, the push-rod electric machine can drive the relatively described frame folding and unfolding of the anti-skidding connecting rod, and the support bar is installed on
On the anti-skidding connecting rod, the limit sensors are installed on the support bar, and the anti-skidding connecting rod can be with the spacing biography
Sensor is mutually touched, and the limit sensors are connected with the host communication.
Wherein in one embodiment, the anti-skidding connecting rod includes cross bar and vertical pole, and the cross bar is two, described in two
Cross bar is respectively arranged on the two opposite sides side of the frame, and the vertical pole connects two cross bars, the push-rod electric machine and institute
The middle part connection of vertical pole is stated, the push-rod electric machine drives the vertical pole motion, and the vertical pole drives the beam movement.
Wherein in one embodiment, also including avoidance radar, the avoidance radar is installed in the frame, described to keep away
Barrier radar is connected with the host communication.
In above-mentioned intelligence finishing robot platform, by the phase interworking of positioning component, the first drive component and control assembly
Close, to realize that intelligent positioning and intelligence are advanced, in addition, the phase interworking for passing through control assembly, the second drive component and executive module
Close, to realize intelligent operation in the larger context, and, by changing different types of actuator, to perform different type
Fitment operation so that it is above-mentioned intelligence finishing robot platform intelligence degree be improved such that it is able to meet it is many
The need for planting fitment operation, various complicated working environments are tackled, and human intervention is small.
Further, by setting anti-skidding component, suitable fitting position is moved to in intelligently finishing robot platform
When, it is anti-skidding to carry out intelligence to vehicle, without manually on-slip, improves the intelligence degree of intelligence finishing robot platform.
Further, by setting detection components, light emitters emitting structural light irradiation in operation plane, receive by light
Storage collects the light of operation plane reflection, and carries out quality evaluation to operation plane by main frame, so as to ensure operation plane
Smooth degree, improve operation quality.
Brief description of the drawings
Fig. 1 is the structured flowchart of the intelligence finishing robot platform of one embodiment of the invention；
Fig. 2 is the structural representation that robot platform is intelligently fitted up shown in Fig. 1；
Fig. 3 is the internal structure schematic diagram that robot platform is intelligently fitted up shown in Fig. 2；
Fig. 4 is intelligently to fit up the peace of the first drive component and anti-skidding component in frame in robot platform shown in Fig. 2
Dress schematic diagram；
Fig. 5 is the scheme of installation of the first drive component shown in Fig. 4 and frame；
Fig. 6 is the structural representation of anti-skidding component shown in Fig. 4；
Fig. 7 is the structural representation of the second drive component shown in Fig. 3；And
Fig. 8 is the internal structure schematic diagram of the second drive component shown in Fig. 7.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give better embodiment of the invention.But, the present invention can be realized in many different forms, however it is not limited to herein
Described implementation method.On the contrary, the purpose for providing these implementation methods is to make to understand more the disclosure
Plus it is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left side ",
For illustrative purposes only, it is unique implementation method to be not offered as " right side " and similar statement.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the implementation method of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more
The arbitrary and all of combination of related Listed Items.
With reference to shown in 1, Fig. 2 and Fig. 3, the intelligence finishing robot platform 10 of one embodiment of the invention includes frame 11, control
Component processed 12, positioning component 13, the first drive component 14, the drive component 16 of executive module 15 and second.
Wherein, the drive component 14 of control assembly 12 and first is mounted in frame 11.First drive component 14 and control
The communication connection of component 12.Positioning component 13 includes signal projector 131 and signal receiver 132, and signal receiver 132 is installed on
In frame 11, and it is connected with the communication of control assembly 12.Signal projector 131 be arranged at signal receiver 132 have it is certain between
Away from ground on, for launching positional information.Signal receiver 132 receives the positional information that signal projector 131 sends, and will
The positional information for receiving is sent to control assembly 12, and control assembly 12 sends control instruction, to control the first drive component 14,
So that the first drive component 14 drives frame 11 closer or far from signal projector 131.
In addition, the second drive component 16 is installed in frame 11, and it is connected with the communication of control assembly 12.Executive module 15 is wrapped
Mechanical arm 151 and actuator 152 are included, actuator 152 is installed on the end of mechanical arm 151, and mechanical arm 151 is away from actuator 152
One end be installed on the second drive component 16.Control assembly 12 can send control instruction, so that the second drive component 16 drives
Dynamic executive module 15 is lifted along the vertical direction of frame 11.And, control assembly 12 is connected with the communication of mechanical arm 151, control group
Part 12 can also be controlled to the motion of mechanical arm 151, so that mechanical arm 151 drives actuator 152 to move, make actuator
152 perform finishing work.
Meanwhile, actuator 152 is mounted on mechanical arm 151, can be by changing different types of actuator
152, for example, sander, air painter, tiling device etc., to carry out different types of fitment operation.
In above-mentioned intelligence finishing robot platform 11, by positioning component 13, the first drive component 14 and control assembly 12
Mutual cooperation, with realize intelligent positioning and intelligence advance, in addition, by control assembly 12, the second drive component 16 and perform
The mutual cooperation of component 15, to realize intelligent operation in the larger context, and, by changing different types of actuator
152, to perform different types of fitment operation, so that the intelligence degree of above-mentioned intelligence finishing robot platform 11 is able to
Improve such that it is able to the need for meeting various fitment operations, tackle various complicated working environments, and human intervention is small.
Specifically in the present embodiment, control assembly 12 includes main frame 121 and touch-screen 122.Main frame 121 and touch-screen 122
It is connected, information input and presentation of information can be carried out by touch-screen 122, and then to the data parameters of the memory storage of main frame 121
Set.Main frame 121 and positioning component 13, the first drive component 14, the difference phase of 15 and second drive component of executive module 16
Connection, is controlled with the operation respectively to positioning component 13, the first drive component 14, the drive component 16 of executive module 15 and second
System.
It is pointed out that in other embodiments, touch-screen 122 may be replaced by having and receive information input function
Information input equipment and the device for display of message with information display function.For example, keyboard and display screen.
Specifically, signal projector 131 is three line instrument.Signal receiver 132 is camera.Three line instrument can send laser
Beam, to set the positioning datum of intelligence finishing robot platform 11.Camera can capture the laser beam that three line instrument send, and
The laser beam information that will be captured is sent to main frame 121, so that main frame 121 makes frame 11 by controlling the first drive component 14
Move closer to or away from three line instrument.
In other embodiments, signal projector 131 can also be other positioning devices in addition to three line instrument, and signal connects
Receiving device 132 can also replace with that other are corresponding with signal projector 131, and can receive what signal projector 131 sent
The device of signal.
With reference to shown in Fig. 1, Fig. 4 and Fig. 5, specifically in the present embodiment, the first drive component 14 includes steering wheel driver
141st, steering wheel 142 and universal wheel 143.Main frame 121 is connected with the driver 141 of steering wheel 142.142 driver of steering wheel 141 drives rudder
Wheel 142 rotates, and steering wheel 142 drives universal wheel 143 and frame 11 to move.
Specifically, steering wheel 142 is two.Two steering wheels 142 are played screw 144 and are installed in frame 11 by plug respectively.Plug
Beat on screw 144 and be also arranged with damping spring 145, with shock absorbing effect from when shaking.Universal wheel 143 is four,
Four universal wheels 143 are respectively arranged in frame 11 towards four corners of the side on ground, to play a supporting role.Steering wheel
142 can realize turning to, to change the direction of motion of frame 11.
With reference to shown in Fig. 1, Fig. 3 and Fig. 6, specifically in the present embodiment, intelligence finishing robot platform 11 also includes anti-skidding
Component 17.Anti-skidding component 17 includes push-rod electric machine 171, anti-skidding connecting rod 172, support bar 173 and limit sensors 174.Anti-skidding company
Bar 172 is installed in frame 11, and positioned at the side away from executive module 15 of frame 11, i.e., anti-skidding connecting rod 172 is installed on machine
Towards the side on ground on frame 11.Push-rod electric machine 171 being capable of the relative folding and unfolding of frame 11 of Anti-slip regulation connecting rod 172.When anti-skidding connecting rod
172 when packing up, and the first drive component 14 can drive frame 11 to move.When anti-skidding connecting rod 172 puts down, you can offseted with ground
Hold, prevent universal wheel 143 and the relative ground moving of frame 11, so as to play anti-skidding effect to intelligence finishing robot platform 11.
Specifically, support bar 173 is installed on anti-skidding connecting rod 172, and limit sensors 174 are installed on support bar 173, is prevented
Sliding connecting rod 172 can mutually be touched in folding and unfolding to extreme position with limit sensors 174.Limit sensors 174 and main frame 121
Communication connection.When anti-skidding connecting rod 172 is packed up, and when touching limit sensors 174, limit sensors 174 send signal to main frame
121, main frame 121 can be by controlling the first drive component 14, so that frame 11 is with respect to ground motion.When anti-skidding connecting rod 172 is put
Under, and when touching limit sensors 174, limit sensors 174 send signal to main frame 121, main frame 121 is driven by control first
Dynamic component 14, so that the first drive component 14 stops driving frame 11 to move.
Specifically, in the present embodiment, anti-skidding connecting rod 172 includes cross bar 172a and vertical pole 172b.Cross bar 172a is two,
Two cross bar 172a are respectively arranged on the two opposite sides side of frame 11, and vertical pole 172b connects two cross bar 172a.Push-rod electric machine 171
Middle part with vertical pole 172b is connected, and push-rod electric machine 171 drives vertical pole 172b motions, and vertical pole 172b drives cross bar 172a with respect to frame
11 pack up or put down.
It is pointed out that in the present embodiment, vertical pole 172b is to be sequentially connected in series the six-bar mechanism for obtaining by six connecting rods,
And connection is rotated between two connecting rods of arbitrary neighborhood.
In addition, support bar 173 is two, two support bars 173 are respectively arranged on the both sides of push-rod electric machine 171.Spacing sensing
Device 174 is two, and a limit sensors 174 are respectively installed on two support bars 173.One of limit sensors 174 are installed
In on support bar 173 towards the side of push-rod electric machine 171, with when cross bar 172a puts down and offseted with ground, with vertical pole
172b phases are touched.Another limit sensors 174 is installed on support bar 173 away from the side of push-rod electric machine 171, with cross bar
When 172a is packed up, touched with vertical pole 172b phases.
With reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 7 and Fig. 8, specifically in the present embodiment, the second drive component 16 includes driving
Motor 161, gear 162, nested screw rod 163 and sleeve 164.Motor 161 is installed in frame 11.Gear 162 is two,
One gear 162 is fixed on the power output shaft of motor 161, another gear 162 and nested screw rod 163 and is installed on
Gear 162 on motor 161 is engaged, and power is transferred to nested screw rod by motor 161 by two gears 162
On 163.Sleeve 164 is sheathed on nested screw rod 163, and sleeve 164 is cylindrical in shape structure, and is nested successively by multiple cartridge units
Constituted, that can be elongated or shortened, nested screw rod 163 is the nested screw that can be extended and shorten.Executive module
15 are installed on sleeve 164.Motor 161 is connected with main frame 121, and main frame 121 can be controlled to motor 161
System, so that motor 161 is rotated by band moving gear 162, and then drives nested screw rod 163 and sleeve 164 to elongate or shorten,
So that executive module 15 realizes being raised and lowered for executive module 15 closer or far from gear 162, so that executive module 15
Fitment operation can in the larger context be carried out.
It is pointed out that in the present embodiment, sleeve 164 includes four cartridge units, four cartridge units phase successively
It is nested.Executive module 15 is installed on outermost cartridge unit, and the cartridge unit of innermost layer is connected with frame 11, nested spiral shell
Bar 163 is connected away from one end of gear 162 with outermost cartridge unit, when motor 161 makes with the rotation of moving gear 162
Nested screw rod 163 when elongating or shortening, nested screw rod 163 band moving sleeve 164 can be extended or be shunk simultaneously.
In addition, being provided with sleeve between two cartridge units being connected with each other buckles (not shown), with to two cartridge units
It is attached and is oriented to.
Further, in the present embodiment, the second drive component 16 also includes the draw wire encoder being installed in frame 11
165.The end of pulling of draw wire encoder 165 is connected with the end of sleeve 164, i.e., the end of pulling of draw wire encoder 165 with most
Outer layer sleeve unit is connected, so as to while outermost layer cartridge unit gradually rises or reduces, drive draw wire encoder 165
Bracing wire campaign.By the bracing wire elongated distance of draw wire encoder 165, you can obtain the elongated distance of sleeve 164, namely execution group
The rising distance of part 15.
Main frame 121 is connected with the communication of draw wire encoder 165.Draw wire encoder 165 can will record the bracing wire elongation for obtaining
Range information is sent to main frame 121 in real time, and when executive module 15 is increased to object height, main frame 121 can be to motor
161 are controlled, so that the stopping of motor 161 is acted so that executive module 15 is maintained at object height.
Referring again to shown in Fig. 1, Fig. 2 and Fig. 3, specifically in the present embodiment, intelligence finishing robot platform 11 also includes
Detection components 18.Detection components 18 are installed on the second drive component 16.Detection components 18 include light emitters 181 and light
Collector 182, light emitters 181 can send structure light, and be irradiated in operation plane, and light collector 182 can be received
Collect the light of operation plane reflection, light collector 182 is connected with the communication of main frame 121.
Specifically, detection components 18 are installed on same cartridge unit with executive module 15, are kept with executive module 15
In more consistent height, detected with the fitment operation quality completed to executive module 15.Light collector 182 can
The reflection light information of the operation plane that will be collected into is sent to main frame 121, and the information that 121 pairs, main frame is received is carried out at conversion
Manage, and then the smooth degree of operation plane is estimated.When operation plane is not smooth enough, main frame 121 can be to mechanical arm 151
It is controlled, continues to carry out fitment operation, when operation coplanar flat, main frame 121 can be by controls the first driving group
The drive component 16 of part 14 and second realizes the movement of fitment operation position.
It is pointed out that in the present embodiment, light emitters 181 are specially projecting apparatus, light collector 182 is specific
It is video camera.
With reference to shown in Fig. 1 and Fig. 2, specifically in the present embodiment, intelligence finishing robot platform 11 also includes avoidance radar
19.Avoidance radar 19 is four, and four avoidance radars 19 are uniformly distributed in frame 11, with to intelligence finishing robot platform 11
All directions be monitored avoidance.Avoidance radar 19 is connected with the communication of main frame 121, when avoidance radar 19 monitors barrier
When, you can main frame 121 is sent information to, so that 121 pairs of the first drive components 14 of main frame and the second drive component 16 are controlled,
With the lifting height for changing whole machine in ground handling direction or changing executive module 15.
In addition, intelligence finishing robot platform 11 also includes housing 21 and power distribution assembly 22 in frame 11, housing
21 can wrap up power distribution assembly 22, main frame 121, the driver 141 of steering wheel 142, push-rod electric machine 171, motor 161 and avoidance thunder
Up to 19 grade devices, protected with to it, prevent the dust or debris of fitting up occasion from falling into, to ensure power distribution assembly 22, main frame
121st, the normal work of the device such as the driver 141 of steering wheel 142, push-rod electric machine 171, motor 161 and avoidance radar 19.
In the present embodiment, the thickness of housing 21 is 1.5mm.In other embodiments, housing 21 can also be other
Meaning thickness.
In above-mentioned intelligence finishing robot platform 11, by positioning component 13, the first drive component 14 and control assembly 12
Mutual cooperation, with realize intelligent positioning and intelligence advance, in addition, by control assembly 12, the second drive component 16 and perform
The mutual cooperation of component 15, to realize intelligent operation in the larger context, and, by changing different types of actuator
152, to perform different types of fitment operation, so that the intelligence degree of above-mentioned intelligence finishing robot platform 11 is able to
Improve such that it is able to the need for meeting various fitment operations, tackle various complicated working environments, and human intervention is small.
Further, by setting anti-skidding component 17, suitable finishing is moved to in intelligently finishing robot platform 11
During position, it is anti-skidding to carry out intelligence to vehicle, without manually on-slip, improves the intelligent journey of intelligence finishing robot platform 11
Degree.
Further, by setting detection components 18, the emitting structural light irradiation of light emitters 181 in operation plane,
Light collector 182 collects the light of operation plane reflection, and carries out quality evaluation to operation plane by main frame 121, so that
Ensure the smooth degree of operation plane, improve operation quality.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of intelligence fits up robot platform, it is characterised in that including：
Frame；
Control assembly, is installed in the frame,
Positioning component, including signal projector and signal receiver, the signal receiver are installed in the frame, to receive
The positional information that the signal projector sends, the signal receiver is connected with control assembly communication；
First drive component, is installed in the frame, and first drive component is connected with control assembly communication, to drive
The frame is moved closer or far from the signal projector；
Executive module, including mechanical arm and actuator, the actuator are mounted at the end of the mechanical arm, described
Control assembly is connected with mechanical arm communication, and the mechanical arm can drive the actuator motions；And
Second drive component, is installed in the frame, and the mechanical arm is installed on described away from one end of the actuator
On two drive components, the control assembly is connected with second drive component communication, and second drive component can drive
The executive module is lifted along the vertical direction of the frame.
2. intelligence according to claim 1 fits up robot platform, it is characterised in that the signal projector is three lines
Instrument, the signal receiver is camera.
3. it is according to claim 1 intelligence finishing robot platform, it is characterised in that the control assembly include main frame,
Information input equipment and device for display of message, described information input equipment and described information display device respectively with the main frame phase
Connection, described information input equipment is input into for receive information, and described information display device can carry out presentation of information, the master
Machine is respectively connected with the positioning component, first drive component, the executive module and second drive component, with
The positioning component, first drive component, the executive module and second drive component are controlled.
4. intelligence according to claim 3 fits up robot platform, it is characterised in that first drive component includes rudder
Wheel, steering wheel driver and universal wheel, the main frame are connected with the steering wheel driver, steering wheel described in the steering wheel driver drives
Rotation, the steering wheel drives the universal wheel and the gantry motion.
5. intelligence according to claim 3 fits up robot platform, it is characterised in that second drive component includes driving
Dynamic motor, gear, nested screw rod and sleeve, the motor is installed in the frame, and is connected with the main frame, institute
State motor and the nested screw rod is meshed with the gear respectively, the sleeve is sheathed on the nested screw rod, institute
State executive module to be installed on the sleeve, the motor is by nested screw rod and the sleeve described in the gear driven
Elongation is shunk, so that the executive module is closer or far from the gear.
6. intelligence according to claim 5 fits up robot platform, it is characterised in that second drive component also includes
The draw wire encoder in the frame is installed on, the end of pulling of the draw wire encoder is connected with the end of the sleeve, institute
Main frame is stated to be connected with draw wire encoder communication.
7. intelligence according to claim 3 fits up robot platform, it is characterised in that also including detection components, the inspection
Survey component to be installed on second drive component, the detection components include light emitters and light collector, the light
Line transmitter can send structure light, and be irradiated in operation plane, and the light collector can collect operation plane reflection
Light, the light collector is connected with the host communication.
8. intelligence according to claim 3 fits up robot platform, it is characterised in that also including anti-skidding component, described anti-
Sliding component includes push-rod electric machine, anti-skidding connecting rod, support bar and limit sensors, and the anti-skidding connecting rod is installed in the frame,
And positioned at the side away from the executive module of the frame, the push-rod electric machine can drive the anti-skidding connecting rod with respect to institute
Frame folding and unfolding is stated, the support bar is installed on the anti-skidding connecting rod, and the limit sensors are installed on the support bar, institute
Stating anti-skidding connecting rod can mutually touch with the limit sensors, and the limit sensors are connected with the host communication.
9. it is according to claim 8 intelligence finishing robot platform, it is characterised in that the anti-skidding connecting rod include cross bar and
Vertical pole, the cross bar is two, and two cross bars are respectively arranged on the two opposite sides side of the frame, the vertical pole connection two
The individual cross bar, the push-rod electric machine is connected with the middle part of the vertical pole, and the push-rod electric machine drives the vertical pole motion, described
Vertical pole drives the beam movement.
10. intelligence according to claim 3 fits up robot platform, it is characterised in that described to keep away also including avoidance radar
Barrier radar is installed in the frame, and the avoidance radar is connected with the host communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151447.2A CN106863331A (en) | 2017-03-14 | 2017-03-14 | Intelligence finishing robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710151447.2A CN106863331A (en) | 2017-03-14 | 2017-03-14 | Intelligence finishing robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863331A true CN106863331A (en) | 2017-06-20 |
Family
ID=59170836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710151447.2A Pending CN106863331A (en) | 2017-03-14 | 2017-03-14 | Intelligence finishing robot platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106863331A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702764A (en) * | 2019-01-30 | 2019-05-03 | 西安交通大学 | A kind of polishing of indoor wall operates robot with spraying multifunctional mobile |
| CN109972821A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
| CN109972822A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
| CN110017011A (en) * | 2019-05-21 | 2019-07-16 | 广东博智林机器人有限公司 | Spray robot |
| CN110465844A (en) * | 2019-08-30 | 2019-11-19 | 广东博智林机器人有限公司 | A kind of milling robot and its working method |
| CN113114940A (en) * | 2021-04-12 | 2021-07-13 | 哈尔滨理工大学 | Image processing shooting platform |
| CN114856131A (en) * | 2022-04-24 | 2022-08-05 | 华北水利水电大学 | Intelligent spraying robot for indoor wall |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008103328A1 (en) * | 2007-02-23 | 2008-08-28 | Intest Corporation | Test head manipulator |
| CN101470080A (en) * | 2007-12-26 | 2009-07-01 | 南京理工大学 | Surface shape image detection system based on structured light projection |
| CN101831862A (en) * | 2009-03-11 | 2010-09-15 | 南京理工大学 | Laser high-speed detection system for road surface deflection |
| CN102491217A (en) * | 2011-12-12 | 2012-06-13 | 中国科学院长春光学精密机械与物理研究所 | Ball screw and sliding screw mutually nested type synchronous lifting photoelectric mast |
| CN102706294A (en) * | 2012-05-04 | 2012-10-03 | 东莞市奥普特自动化科技有限公司 | Device for detecting surface evenness of object |
| US20140277722A1 (en) * | 2013-03-15 | 2014-09-18 | Kabushiki Kaisha Yaskawa Denki | Robot system, calibration method, and method for producing to-be-processed material |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN105031859A (en) * | 2015-08-26 | 2015-11-11 | 上海格拉曼国际消防装备有限公司 | Fire-fighting robot |
| CN105133471A (en) * | 2015-05-15 | 2015-12-09 | 南京航空航天大学 | Linear structured light pavement surface detection system-based pavement depth image production method |
| CN105587264A (en) * | 2014-11-18 | 2016-05-18 | 张斌 | Robot used for punching building ceiling |
| CN206605509U (en) * | 2017-03-14 | 2017-11-03 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
-
2017
- 2017-03-14 CN CN201710151447.2A patent/CN106863331A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008103328A1 (en) * | 2007-02-23 | 2008-08-28 | Intest Corporation | Test head manipulator |
| CN101470080A (en) * | 2007-12-26 | 2009-07-01 | 南京理工大学 | Surface shape image detection system based on structured light projection |
| CN101831862A (en) * | 2009-03-11 | 2010-09-15 | 南京理工大学 | Laser high-speed detection system for road surface deflection |
| CN102491217A (en) * | 2011-12-12 | 2012-06-13 | 中国科学院长春光学精密机械与物理研究所 | Ball screw and sliding screw mutually nested type synchronous lifting photoelectric mast |
| CN102706294A (en) * | 2012-05-04 | 2012-10-03 | 东莞市奥普特自动化科技有限公司 | Device for detecting surface evenness of object |
| US20140277722A1 (en) * | 2013-03-15 | 2014-09-18 | Kabushiki Kaisha Yaskawa Denki | Robot system, calibration method, and method for producing to-be-processed material |
| CN105587264A (en) * | 2014-11-18 | 2016-05-18 | 张斌 | Robot used for punching building ceiling |
| CN104723318A (en) * | 2015-03-10 | 2015-06-24 | 苏州英达瑞机器人科技有限公司 | Autonomous working robot system |
| CN105133471A (en) * | 2015-05-15 | 2015-12-09 | 南京航空航天大学 | Linear structured light pavement surface detection system-based pavement depth image production method |
| CN105031859A (en) * | 2015-08-26 | 2015-11-11 | 上海格拉曼国际消防装备有限公司 | Fire-fighting robot |
| CN206605509U (en) * | 2017-03-14 | 2017-11-03 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
Non-Patent Citations (1)
| Title |
|---|
| 王辉: "《数字化全息三维显示与检测》", vol. 1, 30 November 2013, 上海交通大学出版社 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702764A (en) * | 2019-01-30 | 2019-05-03 | 西安交通大学 | A kind of polishing of indoor wall operates robot with spraying multifunctional mobile |
| CN109702764B (en) * | 2019-01-30 | 2021-11-19 | 西安交通大学 | Multifunctional movable operating robot for polishing and spraying indoor wall |
| CN109972821A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
| CN109972822A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
| CN110017011A (en) * | 2019-05-21 | 2019-07-16 | 广东博智林机器人有限公司 | Spray robot |
| CN110465844A (en) * | 2019-08-30 | 2019-11-19 | 广东博智林机器人有限公司 | A kind of milling robot and its working method |
| CN110465844B (en) * | 2019-08-30 | 2021-06-01 | 广东博智林机器人有限公司 | Polishing robot and working method thereof |
| CN113114940A (en) * | 2021-04-12 | 2021-07-13 | 哈尔滨理工大学 | Image processing shooting platform |
| CN113114940B (en) * | 2021-04-12 | 2023-04-07 | 深圳市万影视觉科技有限公司 | Image processing shooting platform |
| CN114856131A (en) * | 2022-04-24 | 2022-08-05 | 华北水利水电大学 | Intelligent spraying robot for indoor wall |
| CN114856131B (en) * | 2022-04-24 | 2023-11-10 | 华北水利水电大学 | Intelligent spraying robot for indoor wall |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863331A (en) | Intelligence finishing robot platform | |
| CN206605509U (en) | Intelligence finishing robot platform | |
| CN104296733B (en) | Laser positioning device of heading machine and heading machine | |
| JP7091324B2 (en) | Methods and systems for detecting the position of a vehicle with respect to the truck on which the vehicle is traveling. | |
| US10259115B2 (en) | Work device | |
| US9375853B1 (en) | Methods and systems to provide feedback based on a motion per path metric indicative of an effect of motion associated with components of a robotic device | |
| US11820013B2 (en) | Mobile manipulation in human environments | |
| CN203045155U (en) | Vibrating disc type laser welding tool | |
| CN104827482A (en) | Robotic platform capable of moving automatically | |
| EP3072789B1 (en) | Machine tool with walking apparatus | |
| WO2021021320A1 (en) | Independent pan of coaxial robotic arm and perception housing | |
| CN205289008U (en) | Novel automatic weighing equipment of food machinery | |
| US10773901B2 (en) | Rotary picker with arms | |
| JP2023159103A (en) | Mobile robot sensor configuration | |
| US11660750B1 (en) | Autonomous and semi-autonomous control of aerial robotic systems | |
| CN207810578U (en) | Transfer robot and sorting system | |
| JP2022511978A (en) | Systems, equipment, and methods for detecting escalators | |
| CN213518000U (en) | Wheeled lunar exploration robot control device | |
| JP2017007010A (en) | Robot, control device, and robot system | |
| CN204640230U (en) | A kind of can the robot platform of autonomous | |
| Donohoe et al. | Mechatronic implementation of a force optimal underconstrained planar cable robot | |
| JP2022500763A (en) | Systems and methods for detecting blind spots for robots | |
| US20200384649A1 (en) | Method and system for simulating a braking operation of a robot | |
| JP7241546B2 (en) | 3D reconstruction device, 3D reconstruction system, 3D reconstruction method, and 3D reconstruction program | |
| Huang et al. | An obstacle avoidance of large-scale indoor tricycle drive cleaning robot using laser scanner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Positive end Inventor after: Zhang Honghai Inventor after: Zhang Feng Inventor after: Huang He Inventor after: Zeng Zhaowen Inventor after: Qiu Fan Inventor after: Duan Xunyu Inventor after: Zhu Xuan Inventor before: Positive end Inventor before: Zhang Honghai Inventor before: Huang He Inventor before: Zeng Zhaowen Inventor before: Qiu Fan Inventor before: Liao Longhua Inventor before: Duan Xunyu |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220328 Address after: 518100 Building 1, Hangcheng Zhigu Zhongcheng future industrial park, Hangcheng Avenue, Bao'an District, Shenzhen, Guangdong Province Applicant after: Hu Wei Address before: 518000 floor 6, building 5, Wangtang Industrial Park, Xili Town, Nanshan District, Shenzhen, Guangdong Applicant before: SHENZHEN GRANDLAND ROBOT CO.,LTD. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221102 Address after: 518101 3A17, Building U2, Junxiang U8 Intelligent Manufacturing Industrial Park, Guxing Community, Xixiang Street, Bao'an District, Shenzhen, Guangdong Applicant after: ZHUCHENG TECHNOLOGY (SHENZHEN) Co.,Ltd. Address before: 518100 Building 1, Hangcheng Zhigu Zhongcheng future industrial park, Hangcheng Avenue, Bao'an District, Shenzhen, Guangdong Province Applicant before: Hu Wei |
|
| TA01 | Transfer of patent application right |