CN108589979A - A kind of large space robot module separates furred ceiling decoration method and equipment - Google Patents
A kind of large space robot module separates furred ceiling decoration method and equipment Download PDFInfo
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- CN108589979A CN108589979A CN201810522385.6A CN201810522385A CN108589979A CN 108589979 A CN108589979 A CN 108589979A CN 201810522385 A CN201810522385 A CN 201810522385A CN 108589979 A CN108589979 A CN 108589979A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005034 decoration Methods 0.000 title claims abstract description 17
- 238000005192 partition Methods 0.000 claims abstract description 88
- 238000009434 installation Methods 0.000 claims abstract description 58
- 238000010276 construction Methods 0.000 claims abstract description 24
- 230000006870 function Effects 0.000 claims description 28
- 239000007921 spray Substances 0.000 claims description 24
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- 230000005540 biological transmission Effects 0.000 claims description 14
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- 230000003287 optical effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000012790 confirmation Methods 0.000 claims description 6
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- 238000009408 flooring Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 5
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
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- 230000009471 action Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 239000003973 paint Substances 0.000 claims description 2
- 230000037452 priming Effects 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims description 2
- 238000005507 spraying Methods 0.000 claims description 2
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B2/00—Walls, e.g. partitions, for buildings; Wall construction with regard to insulation; Connections specially adapted to walls
- E04B2/74—Removable non-load-bearing partitions; Partitions with a free upper edge
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
A kind of large space robot module separates furred ceiling decoration method and equipment.A kind of large space robot partition decoration method and equipment put together machines people it is characterized in that the equipment includes partition, using modular construction, chassis is mainly lifted by walking, upper and lower attachment installing frame and partition board mounting bracket composition, each part have independent control system, pass through integrating keys（Limiting plate/partition board）Corresponding automation mechanized operation program is triggered, semi-automatic installation is completed.The present invention can improve equipment efficiency, reduce recruitment cost, reduce decoration cost.
Description
Technical field
The present invention relates to a kind of construction and decoration technology, skill is fitted up in the partition of the larger building blank of especially a kind of floor height
Art, specifically a kind of large space robot module separate furred ceiling decoration method and corresponding robot technology.
Background technology
It is increased significantly at present in construction and decoration technical field recruitment cost, finishing requires and installation requirement is also all with day
Increase, for this purpose, realize that few unmanned finishing is a kind of trend using robot technology, but there is no needles for existing robot technology scheme
To property, comprehensive solution.Especially for the most important partition assembly in decoration construction, there is presently no can be complete
Artificial solution is substituted entirely.On the other hand as Chinese Enterprises are gone abroad, foreign countries put into effect labour protection policy to China
Construction personnel's number limits, and the employment of local employee is driven with this.Domestic enterprise is caused to employ cost excessively high.Same time delay
The delivery time of duration is grown.Therefore, the real data utilization for carrying out partition operation is obtained using three-dimensional laser scanner
Existing general BIM data processing techniques are targetedly designed corresponding partition-type structures, carry out backstage production, then
It is to improve decoration efficiency to carry out partition operation using robot, reduces the task of top priority of decoration cost.
Invention content
The purpose of the present invention is be directed to measurement, setting-out and installation present in existing building partition construction to meet life
The problem of production needs invents a kind of large space robot partition decoration method, while providing corresponding equipment.
One of technical scheme of the present invention is：
A kind of large space robot module partition furred ceiling decoration method, characterized in that it includes the following steps：
The first step arranges a series of color semi-round ball in floor at random before treating finishing building and carrying out flooring DATA REASONING
On roof, forms network-like localization field and used for optical alignment；
Second step, the data collection on flooring and roof is completed with 3d laser scanner scans, and generates point cloud data, after being transmitted to
Design software is held, and is transmitted to factory's blanking, is fabricated to module, including metope, the water power of top surface, ventilation；Switch socket it is pre-buried
Pipeline, magazine；Face layer putty and priming paint of the built-in fitting and furred ceiling of wall top face installation object with metope；Complete design scheme, and
Cad data is generated, cad data includes the planning chart of scribing line, including straightway, broken line, auxiliary line, while need to be by the seat of locating pin
Cursor position fusion mark；
Third walks, and the cad plan views after fusion is imported scribing line robot, and scribing line robot is placed at initial alignment point；
4th step, starts scribing line robot, and robot by the measurement of stereoptics and is reflected according to given initial coordinate orientation
Be mapped on two dimensional surface, mobile robot, make self poisoning precision controlling in the range of 2mm or so and direction of travel with wait for
The markings direction for spraying picture is consistent, completes the initial alignment similar to icon；
5th step, starts automatic operation mode, and scribing line robot starts itself three column leveling procedure, itself working face is made to protect
Water holding is gentle vertical, and the turntable after rotation level makes the direction of extension bar and the direction of setting-out to be painted be consistent later, then root
According to the cross pallet on optical alignment data translation turntable, complete being accurately positioned for coordinate origin, Positioning Precision Control 1mm with
It is interior；
6th step, after being accurately positioned, scribing line robot is sprayed according to drawing line style within the scope of five meters of the axis direction of extension bar
It draws, parallel multi-line section is drawn by left and right translation spray, corresponding broken line, corner are drawn by head of the nozzle volume steering engine rotation spray
Line；The intersection point of initial alignment point general position both direction can complete the spray picture of the relevant 5m ranges of joint a position；
When straight line is more than working range, scribing line robot moves to next joint automatically according to the planning of cad, and completes corresponding
Picture is sprayed, after this if when the distance of point-to-point transmission exceeds positioning operation range, the preferential polishing point-to-point transmission of scribing line robot has been
At spray painter make；
6th step, under the planning of cad approach, scribing line robot is automatically performed the construction line spray picture of entire roof plan；Scribing line knot
Shu Hou manually understands preset positioning hemisphere point, subsequently to separate construction；
7th step：The partition people that puts together machines manually is transported to part to be installed, positioned at the side-lower for having sprayed setting-out, attachment is pacified
The X to frame up to spray setting-out it is substantially parallel, upper and lower attachment is placed in fixing groove by 90 ° of rotary attachment installing frame to horizontality
It is adsorbed on position and by electromagnet, overturning is appropriate to extend control attachment up and down and crossed perpendicular to upright state after the completion of positioning
Straight gap, presses contraposition key, and robot and is gradually increasing bottom automatically according to the image Auto-matching position relationship of binocular vision
Portion, until top V-type accessory contact metope, ensures that V-type attachment edge is consistent with scribing edge, complete position matching；
8th step：After manual confirmation position is correct, attachment installation key is pressed, robotically-driven lower extended is until bottom stabilization connects
Tread surface, after signal triggering, robot carries out percussion drilling automatically, installs expansion cap, screws in the single-station action of screw, later
Installation unit, which is punched, according to setting value carries out screw installation to next fixed point is moved in X, until upper and lower positioning attachment
Mounting screw fixation finishes, and the vibration in installation process has mounting bracket absorption equilibrium, does not influence the control accuracy of mounting robot；
The seven, the 8th steps are repeated, until the limiting plate up and down planned in region installs；Attachment installing frame up and down is packed up, this
When the installing frame as counterweight, balance the resistance to capsizing of mounting robot；
9th step starts partition board installation procedure, and mobile robot installs partition board at number partition board stacking, erection sequence is drawn,
Detailed process is as follows：
Rotating barrier mounting bracket makes under its horizontal direction, declines the wicking height of robot, and discharge sucker platform to it is to be installed every
On plate, according to the relationship of auxiliary colo(u)r streak and dual camera on partition board, ensures that sucker Platform center is consistent with partition board center, continue
Declining mounting bracket makes sucker contact the partition board and keeps certain pressure, and sucker levelness is consistent with partition board at this time, but and mounting bracket
Levelness it is not necessarily consistent, have certain fault-tolerant ability；
The pumping for starting sucker is completed to draw, and after promoting mounting bracket certain distance, sucker platform pumpback makes partition board fitting installation
Frame completes partition board and the depth of parallelism unification of mounting bracket and sucker is made only to provide vertical suction, shearing component is not present；Further
Chassis elevating lever is promoted to specified altitude assignment, and completes the upright process of partition board；
Manual operation robot to partition board region to be installed, starts automatic mounting bracket, and robot is according to the range finder module number at top
According to the position relationship of adjust automatically partition board and top V-type locating piece, including angle and distance, adjustment terminates rear bulkhead bottom should
It is bonded with the locating piece of lower part；After manual confirmation, start automatic installation key, robot continues to lift up until top elastic switch
Triggering, the V-groove on partition board top is bonded with mounted V-type locating piece at this time, completes finder；Elastic switch triggering installation
Nail gun on frame completes the installation of screw；With this reciprocal installation for completing partition board.
The color semi-round ball standoff distance according to the minimal distortion range of optical lens determine, generally 5-6 meters.
The people chassis that puts together machines uses identical chassis structure with scribing line robot, has caterpillar belt structure, rotating disk
And attached cross supporting plate, adjustable height are floor height half or so.
Barrel structure centered on the Building class is made of upper lower floor plate, and floor height 4.5m or so, ground is coarse, similar sand
Stone road surface；The high 18cm of stair activity platform in central tube, table top depth 30cm, angle of climbing is at 30 ° or so；
The 3d laser scanners generate scribing line robot and dress after carrying out data mapping after the processing of bim data transmission softwares
Cad two-dimensional formats with robot motion's range and location data.
The color semi-round ball standoff distance according to the minimal distortion range of optical lens determine, generally 5-6 meters.
Technical scheme of the present invention second is that：
A kind of large space robot partition decorating apparatus, it includes separating the people that puts together machines, it is characterized in that the partition assembly
Robot includes：
One mobile platform 1, the mobile platform 1 are mounted on a mobile chassis 13, and mobile chassis 13 can drive mobile platform real
Now the displacement of full side is dynamic, installs the battery pack 2 that promising entire robot provides power on mobile platform 1, man-machine interaction unit 3,
Signal receives and transmission data units 15, navigation and avoidance unit 9；
One elevating mechanism 8, which is mounted on mobile platform 1, for making robot work platform 17 rise to setting
Highly；
One robot work platform 17, the robot work platform 17 are mounted on the top of elevating mechanism 8, and the upper surface of it is equipped with air
Compressor 18, Automatic-feeding unit 14 and several mechanical arms 7, mechanical arm 7 are driven by air compressor 18 and realize automatic telescopic,
It is equipped on one of mechanical arm 7 by motor-driven self-tapping screw machine 4, self-tapping screw machine 4 is supplied by Automatic-feeding unit 14
Material；Sucker 10 turned round in pitching, horizontal plane and vertical plane, for capturing partition panel can be made by being equipped on one mechanical arm 7；
Multifunctional drill is installed on one mechanical arm 7, which can make pitching in revolution and vertical plane in horizontal plane, one
Electric hammer 5 with drilling function is installed, other end is equipped with the setscrew machine 6 that can carry out the swollen screw installation of spiral shell；In machinery
It is also equipped on arm 7 for the infrared identification unit 11 of vision positioning and is known for reading the digital of Quick Response Code function on every block of material
Other unit.
The mobile chassis 13 is wheeled or the track structure of energy stair climbing.
The bottom of the elevating mechanism 8 is connected with turntable 16, so as to which robot work platform 17 is driven to realize spatial rotational；
The navigation is intelligent video camera head with avoidance unit 9.
Bidirectional output electric machine is installed in the Multifunctional drill, is respectively used to driving electric hammer 5 and setscrew machine 6；
Function drill bit is mounted on the first servo turntable 18 of the servo motor driving for driving it to make pitching movement, the first servo turntable 18
On the second servo turntable 19 for making to turn round in vertical plane equally by servo motor driving, the second turntable is equipped with machinery
On arm 7.
The sucker 10 for capturing partition panel, which is mounted on, can make the third servo turntable 20 turned round in vertical plane,
Third servo turntable 20, which is mounted on, can drive its 4th servo for making pitching movement to walk around on platform 21, the installation of the 4th servo turntable 21
On the 5th servo turntable 22 for driving it to make vertical rotation in surface, the 5th servo turntable 22 is installed on mechanical arm 7, third servo
Turntable 22, the 4th servo turntable 22, the 5th servo turntable 22 are driven by corresponding servo motor.
Beneficial effects of the present invention：
The present invention is creatively combined using three-dimensional laser scanner and BIM softwares, cook up rational partition route and
Size, the blocking material using scribing line robot accurate setting-out, then after factory is customized carry out automation peace by mounting robot
Dress, greatly reduces the quantity of operating personnel, has efficient, at low cost advantage.
The present invention is suitable for the needs in the Foreign Architecture market of stringent control labor service personnel, and whole process only needs 2-3 people
Quick, the accurate finishing of whole building is completed, short time limit is high-quality, no waste of material.
The present invention operates robotic arm by automatically scanning, identification, positioning etc..Can carry out：1, expanding screw wire hole, automatic is beaten
Feed；2, self-tapping screw is gone up automatically；3, Automatic-feeding, the automatic plate for installing back court production.
The present invention is a kind of large space interior decoration Intelligent Installation robot, it solves existing large space interior decoration
The drawbacks of manpower-intensive type, the intelligent robot platform that it is used incorporate the electric tool of several existing maturations, can be
Auto arrangement is mounted on the modular partition wall ceiling board that plant design is made in the short time in engineering construction, reduces construction and installation
The generation of site safety accident, ensure that construction quality, accelerate construction speed, reach the environmental requirement in work progress,
And it is standardized installation exercise in strict accordance with rule.
Description of the drawings
Fig. 1 is the building structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the scribing line robot office work status diagram of the present invention.
Fig. 3 is that the partition of the present invention puts together machines people's indoor construction status diagram.
Fig. 4 is the top accessory installation process schematic diagram of the present invention.
Fig. 5 is the partition board crawl process schematic of the present invention.
Fig. 6 is the partition panel installation process schematic diagram of the present invention.
Fig. 7 is that the partition of the present invention puts together machines the structural schematic diagram of people.
Fig. 8 is the rearview of Fig. 7.
Fig. 9 is the driving structure schematic diagram of the Multifunctional drill of the present invention.
Figure 10 is the driving structure schematic diagram of the sucker of the present invention.
Specific implementation mode
The present invention is further illustrated with reference to the accompanying drawings and examples.
Embodiment one.
As shown in figures 1 to 6.
A kind of large space robot partition decoration method, it includes that setting-out and partition are assembled.Building is similar to Fig. 1, in
Heart barrel structure, upper lower floor plate composition, floor height 4.5m or so, ground is coarse, similar sand-gravel surface；Stair activity has platform in central tube
The step and platform of high 18cm, table top depth 30cm form, and angle of climbing is at 30 ° or so；Construction environment is by 3d laser scanning numbers
According to mapping, and through bim data transmission scheme schemes, it is supplied to scribing line robot and put together machines people's motion range and location data
With cad two-dimensional formats.Built in base station fence function can only work in the orientation of mandate.
It is as follows：
One, construction line sprays picture.
Before measuring flooring data, it can arrange that a series of color semi-round ball on floor roof, is separated by substantially 5 at random
~ 6m or so（This distance is limited according to the minimal distortion range of optical lens）, form network-like localization field and used for optical alignment.
1. the data collection on flooring and roof need to be completed when with 3d laser scannings, and point cloud data is generated, is transmitted to rear end
Design software, complete design scheme, and cad data is generated, include the planning chart of scribing line, including straightway, broken line, auxiliary line
Deng, while the coordinate position of locating pin need to be merged and be marked.
2. before scribing line, the cad plan views after fusion are manually imported scribing line robot（Such as Fig. 2, can designed, designed, also may be used
Directly purchased from market fixation）, and scribing line robot is placed at initial alignment point.
3. starting scribing line robot, robot by the measurement of stereoptics and is reflected according to given initial coordinate orientation
Be mapped on two dimensional surface, mobile ontology, make self poisoning precision controlling in the range of 2mm or so and direction of travel with it is to be painted
The markings direction of picture is almost the same, completes the initial alignment similar to icon.
4. starting automatic operation mode, scribing line robot starts itself 3 column leveling procedure, itself working face is made to keep
Horizontal and vertical, the turntable after rotation level makes the direction of extension bar and the direction of setting-out to be painted be consistent later, further according to
Optical alignment data translate the cross pallet on turntable, complete being accurately positioned for coordinate origin, Positioning Precision Control 1mm with
It is interior.
5. after being accurately positioned, scribing line robot ranging from sprays picture according to drawing line style in five meters of the axis direction of extension bar,
The parallel multi-line section of picture can be sprayed in accurate fixed position by left and right translation, it can by the rotation of head of the nozzle volume steering engine
To spray the corresponding broken line of picture, corner stitch.The intersection point of initial alignment point general position both direction can be completed to cross a position
The spray picture of the relevant 5m ranges of point；When straight line is more than working range, scribing line robot moves to down automatically according to the planning of cad
One joint, and complete corresponding spray picture, after this if when the distance of point-to-point transmission exceeds positioning operation range, machine of crossing
The preferential polishing point-to-point transmission of people is that the spray painter completed makees.
6. under the planning of cad approach, scribing line robot can be automatically performed the construction line spray picture of entire roof plan.
7. after scribing line, preset positioning hemisphere point is manually understood, subsequently to separate construction.
According to site environment, only floor roof has the condition of spray picture, so it is only straight to spray picture head under construction environment
Vertical upward needs, when needing transition or transport, spray picture head can manually rotate downwards, in order to save space or avoid it is unnecessary
Interference.Overall structure block diagram is as shown in Figure 2
Scribing line robot performance's parameter：
| Working method | Wireless remote control | |
| Walking manner and ability | The opposed differential speed motor in left and right drives Caterpillar walking wheel | The speed of travel：0.5m/s, positioning accuracy：3mm rotation precision：2 °, climbing capacity：35° |
| Power supply mode | Included accumulator | Continuous work 10 hours |
| Complete machine Package size（m） | 1.3 X 0.8 X 1.6 | |
| Working limit | Two-way 5m increases 3m | |
| Turntable angle precision | 0.2° | |
| Cross supporting plate precision | Orthogonal 0.3mm | |
| Steering engine precision | 0.2° | |
| Itself leveling capability | Orthogonal 0.1 ° | |
| Positioning method | Binocular visual positioning | Plane positioning precision：0.2mm |
| Spray setting-out precision | 1.5mm | Repeatable accuracy：0.5mm |
| Dead weight | Less than 250kg |
Two, partition assembly.
1. the people chassis that puts together machines uses identical chassis structure with scribing line robot, there is caterpillar belt structure, rotating disk and attached
The cross supporting plate of category, adjustable height are slightly reduced to floor height half or so.
2. the office work state for the people that puts together machines as shown in figure 3, it walking lift chassis, upper and lower attachment installing frame and
Each part such as partition board mounting bracket has independent control system, passes through integrating keys（Limiting plate/partition board）Triggering is corresponding certainly
Dynamicization operation sequence completes semi-automatic installation.
3. the first step：Manually robot motion to part to be installed is installed attachment positioned at the side-lower for having sprayed setting-out
The X of frame to spray setting-out it is substantially parallel, rotary attachment installing frame is rotated by 90 ° to horizontality, and upper and lower attachment is placed in fixation
It is adsorbed on slot position and by electromagnet, overturning is appropriate to extend control attachment up and down and crossed to upright state after the completion of positioning
Vertical gap, presses contraposition key, and robot and is gradually increasing bottom automatically according to the image Auto-matching position relationship of binocular vision
Portion, until top V-type accessory contact metope, ensures that V-type attachment edge is consistent with scribing edge, complete position matching.
4. second step：After manual confirmation position is correct, attachment installation key is pressed, robotically-driven lower extended is until bottom
Ground is steadily contacted in L-type attachment, and after signal triggering, robot carries out percussion drilling automatically, installs expansion cap, screws in the list of screw
Station acts, and punch installation unit according to setting value later carries out screw installation in X to next fixed point is moved to, until upper
The peace of lower positioning attachment turns screw fixation and finishes, and the vibration in installation process has mounting bracket absorption equilibrium, does not influence to install machine
The control accuracy of people.As shown in Figure 4.
5. the one or two step is repeated, until the limiting plate up and down planned in region installs.
6. packing up attachment installing frame up and down, the installing frame balances the resistance to capsizing of mounting robot as counterweight at this time.
7. starting partition board installation procedure, at mobile robot to number partition board stacking, Anshun sequence draws installation partition board, specifically
Process is as follows：
8. rotating barrier mounting bracket makes under its horizontal direction, decline the wicking height of robot, and discharges sucker platform to be installed
On partition board, according to the relationship of auxiliary colo(u)r streak and dual camera on partition board, ensure that sucker Platform center is consistent with partition board center, after
The continuous mounting bracket that declines makes sucker contact the partition board and keeps certain pressure, and sucker levelness is consistent with partition board at this time, but with installation
The levelness of frame is not necessarily consistent, has certain fault-tolerant ability.
9. the air extracting function for starting sucker is completed to draw, after promoting mounting bracket certain distance, sucker platform pumpback makes partition board
It is bonded mounting bracket, complete partition board and the depth of parallelism unification of mounting bracket and sucker is made only to provide vertical suction, there is no shearings point
Power；Chassis elevating lever is further promoted to specified altitude assignment, and completes the upright process of partition board according to the rotary course of Fig. 5.
10. manual operation robot to partition board region to be installed, start automatic mounting bracket, robot is according to the survey at top
Position relationship away from module data adjust automatically partition board Yu top V-type locating piece, including angle and distance, bottom after adjustment
It should be bonded with the L-type keeper of lower part, as shown in Figure 6
11. after manual confirmation, start automatic installation key, robot continues to lift up until the triggering of top elastic switch, this after
The V-groove on plate top is bonded with mounted V-type locating piece, completes finder.It is corresponding on mounting bracket after signal triggering
Nail gun completes the installation of screw, as shown in Figure 6.With this reciprocal installation for completing partition board.
Partition board mounting robot performance parameter：
| Working method | Wired console | |
| Walking manner and ability | The opposed differential speed motor in left and right drives Caterpillar walking wheel | The speed of travel：0.5m/s, positioning accuracy：3mm rotation precision：2 °, climbing capacity：35° |
| Power supply mode | Accumulator+coil of cable drum | Continuous work 10 hours |
| Complete machine Package size（m） | 1.2X 0.8 X 1.6 | Vanning must be unloaded with two installation parts when transition, because Z-direction size is larger, minimum is in 2.5m or so |
| Working limit | 2.5m is increased, Grasping skill is in 80kg or so | Partition board keeps flat minimum altitude（Upper surface）：0.3m |
| Turntable angle precision | 0.2° | |
| Cross supporting plate precision | Orthogonal 0.3mm | |
| Steering engine precision | 0.2° | |
| Itself leveling capability | Orthogonal 0.1 ° | |
| Positioning method | Binocular visual positioning | Plane positioning precision：0.2mm |
| Dead weight | Less than 350kg |
The present invention operation principle be：
1, robot has the function of that visual identity, data barcode scanning are moved to by wireless remote control in region to be mounted, starts to answer
With identification, coordinate and positioning, then makes a stretch of the arm to grab by installation manipulator and inhale the vision that object overturning passes through on manipulator and know
Other function finds need day to be mounted, ground joist workpiece, and sucker finds corresponding installation site again, starts positioning, punching, installation
Screw, puncher also have visual identity function, setting 400mm spacing punching to install filature and puncher cooperating.
2, mechanical hand task is arranged sequentially to mainboard in the workpiece made by CAD diagram paper, and mainboard is connected to order, looks for first
To the region of installation and position to be mounted, then corresponding workpiece is found, start to install, first by 3D scanner line settings, inhaled
The function of disk is to find workpiece by vision barcode scanning function, then finds installation anchor point, then fixed position just has electric hammer to beat
Screw is installed in hole, and partition wall installation, sucker finds workpiece by vision barcode scanning function, then finds installation anchor point, fixed position,
Then self-tapping screw is installed by self-tapping screw machine,（The mounting distance of screw is set）.
Embodiment two.
As is seen in figs 7-10.
A kind of large space robot separates decorating apparatus, it includes that partition as shown in Figure 7,8 puts together machines people, and intelligence is pacified
Fill partition wall, furred ceiling robot chassis 1300*800*1000, can advance, fall back, is left and right, turn and stair climbing function, load
300kg has visual response, navigation and barrier avoiding function.Main composition：
1, there are two 1000 watts of servo motors；
2, power supply is the lithium battery group of 60A；
3, then electric hammer punching automatically feeds setscrew equipment, rotational automatic installation setscrew machine
The partition people that puts together machines includes：
One mobile platform 1, the mobile platform 1 are mounted on a mobile chassis 13, and mobile chassis 13 can drive mobile platform real
Now the displacement of full side is dynamic, installs the battery pack 2 that promising entire robot provides power on mobile platform 1, man-machine interaction unit 3,
Signal receives and transmission data units 15, navigation and avoidance unit 9；Mobile chassis 13 is wheeled or the crawler type knot of energy stair climbing
Structure.The navigation can be used intelligent video camera head with avoidance unit 9 and add corresponding image processing software.
One elevating mechanism 8, the elevating mechanism 8 are mounted on mobile platform 1, are set for making robot work platform 17 rise to
Fixed height；The bottom of the elevating mechanism 8 is connected with turntable 16, so as to which robot work platform 17 is driven to realize that space turns
It is dynamic；
One robot work platform 17, the robot work platform 17 are mounted on the top of elevating mechanism 8, and the upper surface of it is equipped with air
Compressor 18, Automatic-feeding unit 14 and several mechanical arms 7, mechanical arm 7 are driven by air compressor 18 and realize automatic telescopic,
It is equipped on one of mechanical arm 7 by motor-driven self-tapping screw machine 4, self-tapping screw machine 4 is supplied by Automatic-feeding unit 14
Material；Sucker 10 turned round in pitching, horizontal plane and vertical plane, for capturing partition panel can be made by being equipped on one mechanical arm 7；
Multifunctional drill is installed on one mechanical arm 7, which can make pitching in revolution and vertical plane in horizontal plane, one
Electric hammer 5 with drilling function is installed, other end is equipped with the setscrew machine 6 that can carry out the swollen screw installation of spiral shell；In machinery
It is also equipped on arm 7 for the infrared identification unit 11 of vision positioning and is known for reading the digital of Quick Response Code function on every block of material
Other unit.Bidirectional output electric machine is installed in Multifunctional drill, is respectively used to driving electric hammer 5 and setscrew machine 6；Function drill bit
Mounted on driving it to make on the first servo turntable 18 of the servo motor of pitching movement driving, the first servo turntable 18 is mounted on same
On the second servo turntable 19 for making to turn round in vertical plane that sample is driven by servo motor, the second turntable is equipped on mechanical arm 7.Institute
The sucker 10 for capturing partition panel stated, which is mounted on, can make the third servo turntable 20 turned round in vertical plane, and third servo turns
Platform 20, which is mounted on, can drive its 4th servo for making pitching movement to walk around on platform 21, as shown in figure 9, the 4th servo turntable 21 is installed
On the 5th servo turntable 22 for driving it to make vertical rotation in surface, the 5th servo turntable 22 is installed on mechanical arm 7, third servo
Turntable 22, the 4th servo turntable 22, the 5th servo turntable 22 are driven by corresponding servo motor, as shown in Figure 10.
Details are as follows：
The partition of the present invention puts together machines people system smart machine, using modular construction, mainly lifts chassis by walking, attached up and down
Part installing frame and partition board mounting bracket composition, each part have independent control system, pass through integrating keys（Limiting plate/partition board）
Corresponding automation mechanized operation program is triggered, semi-automatic installation is completed.Wherein：1 is mobile platform：Including battery pack, human-computer interaction list
Member, signal receives and transmission data units, navigation and avoidance unit.Realize the all-around mobile of mobile platform.2 be battery pack：
Using phosphoric acid iron cell, it is placed on mobile platform.3 be man-machine interaction unit：Equipped with power control component, for realizing based on power control
Human-computer interaction.It is placed on mobile platform.4 be self-tapping screw machine：It is installed by screw, partition board furred ceiling is fixed.Quilt
It is placed on mechanical arm.5 be electric hammer punching drill bit：Have punching functions, is placed on mechanical arm.6 be automatic installation setscrew
Machine：Has automatic installation setscrew function.It is placed on mechanical arm.7 be mechanical arm：With 360 degree rotation, stretch, up and down
Elevating function.For electric hammer punching, self-tapping screw machine installs setscrew machine, infrared identification unit automatically, and digital recognition unit carries
For job platform.It is placed on robot work platform.8 be elevator structure：Has height adjusting function.In different building rings
It in border, is adjusted by elevator upper-lower height, drives moving up and down for entire robot work platform, reach each unit on manipulator
Operate the requirement of height.It is placed on turntable.9 be navigation and avoidance unit：.This unit is mainly for detection of construction robot
In the real time position of working space, effective path planning is carried out；When encountering obstacle inside working space, the unit at this time
It detects that construction robot is in danger zone, therefore whole system can be sent a signal to, construction robot will change fortune
Obstacle is avoided in dynamic direction, carries out normal need of work.It is placed on mobile platform.10 be automatic installation wallboard top plate：This list
Member has absorption, rotation function.By the sucker on mounting bracket, with cylinder principle, from partition board stacking place, after drawing partition board, inhale
Disk platform pumpback rotates so that partition board top is bonded with the mounted locating piece of roof.It is placed on mechanical arm.
11 be infrared identification unit：On mechanical arm.Color code vision positioning function is provided.12 be digital recognition unit：
On mechanical arm.Identification is provided and reads Quick Response Code function on every block of material.13 be stair climbing unit：Caterpillar belt structure has and climbs
Slope, locomotivity.14 be Automatic-feeding unit：Store screw, setscrew.For self-tapping screw machine, setscrew is installed automatically
Machine provides material supply.On robot work platform.15 be signal reception and transmission data units：WIFI, the letter of 4G are provided
Number receive and output；CAD, the reception and processing of the data such as BIM are completed, while operational order being output to corresponding in robot
Unit meets precision operation and cooperation between whole units.On mobile platform.16 be turntable：360 degree rotation is led to
The rotation of turntable is crossed, top elevator mechanism and the rotation of the angle of manipulator platform are driven.It is practical to meet each unit on manipulator
Angle requirement in operation.On mobile platform.17 be robot work platform：For self-tapping screw machine, electric hammer punching, automatic peace
Dress setscrew machine, mechanical arm, automatic installation wallboard top plate, infrared identification unit, digital recognition unit, Automatic-feeding list
Member, the operation of air compressor, each unit component provides platform.Above elevator mechanism.18 compress for air
Machine；This element has air extracting function.So that installation wallboard top plate has absorption function automatically.As shown in Figure 7,8.
Electric drill, electric hammer, vacuum cup, magnechuck, electric screw machine are individually fixed on three mechanical arms, using walking certainly
Platform is lifted, rotation, and space orientation is carried out using optics aid mark；The electric drill, electric hammer, electric screw machine electricity consumption
Dynamic slide unit is slid back and forth, and 180 ° of rotations of vertical direction, 360 ° of rotations of horizontal direction can be carried out using turntable；：It utilizes
Mechanical arm, which fixes rotating disk, to carry out 180 ° of rotations in vertical direction, and horizontal direction rotates 360 °.Using mechanical arm into
The feed of row screw and setscrew, feed come from vibrations supply disk.Artificially accurate space is fixed for partition wall Intelligent Installation machine
Position, built-in laser radar and far infrared camera, is compared with distal end cloud database with true using the BIM data scanned in advance
Determine current spatial location.Optics aid mark according to the minimal distortion range of optical lens determine, generally 5-6 meters.Described
Put together machines people chassis with scribing line robot use identical chassis structure, have caterpillar belt structure, rotating disk and attached cross support
Plate, adjustable height are floor height half or so.Barrel structure centered on the Building class is made of upper lower floor plate, and floor height 4.5m is left
The right side, ground is coarse, similar sand-gravel surface；The high 18cm of stair activity platform in central tube, table top depth 30cm, angle of climbing is at 30 °
Left and right；3d laser scanners generate scribing line robot and assembly machine after carrying out data mapping after the processing of bim data transmission softwares
The cad two-dimensional formats of device people motion range and location data.
Part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
Claims (10)
1. a kind of large space robot module separates furred ceiling decoration method,
It is characterized in that it includes the following steps：
The first step arranges a series of color semi-round ball in floor at random before treating finishing building and carrying out flooring DATA REASONING
On roof, forms network-like localization field and used for optical alignment；
Second step, the data collection on flooring and roof is completed with 3d laser scanner scans, and generates point cloud data, after being transmitted to
Design software is held, and is transmitted to factory's blanking, is fabricated to module, including metope, the water power of top surface, ventilation；Switch socket it is pre-buried
Pipeline, magazine；Face layer putty and priming paint of the built-in fitting and furred ceiling of wall top face installation object with metope；Complete design scheme, and
Cad data is generated, cad data includes the planning chart of scribing line, including straightway, broken line, auxiliary line, while need to be by the seat of locating pin
Cursor position fusion mark；
Third walks, and the cad plan views after fusion is imported scribing line robot, and scribing line robot is placed at initial alignment point；
4th step, starts scribing line robot, and robot by the measurement of stereoptics and is reflected according to given initial coordinate orientation
Be mapped on two dimensional surface, mobile robot, make self poisoning precision controlling in the range of 2mm or so and direction of travel with wait for
The markings direction for spraying picture is consistent, completes the initial alignment similar to icon；
5th step, starts automatic operation mode, and scribing line robot starts itself three column leveling procedure, itself working face is made to protect
Water holding is gentle vertical, and the turntable after rotation level makes the direction of extension bar and the direction of setting-out to be painted be consistent later, then root
According to the cross pallet on optical alignment data translation turntable, complete being accurately positioned for coordinate origin, Positioning Precision Control 1mm with
It is interior；
6th step, after being accurately positioned, scribing line robot is sprayed according to drawing line style within the scope of five meters of the axis direction of extension bar
It draws, parallel multi-line section is drawn by left and right translation spray, corresponding broken line, corner are drawn by head of the nozzle volume steering engine rotation spray
Line；The intersection point of initial alignment point general position both direction can complete the spray picture of the relevant 5m ranges of joint a position；
When straight line is more than working range, scribing line robot moves to next joint automatically according to the planning of cad, and completes corresponding
Picture is sprayed, after this if when the distance of point-to-point transmission exceeds positioning operation range, the preferential polishing point-to-point transmission of scribing line robot has been
At spray painter make；
6th step, under the planning of cad approach, scribing line robot is automatically performed the construction line spray picture of entire roof plan；Scribing line knot
Shu Hou manually understands preset positioning hemisphere point, subsequently to separate construction；
7th step：The partition people that puts together machines manually is transported to part to be installed, positioned at the side-lower for having sprayed setting-out, attachment is pacified
The X to frame up to spray setting-out it is substantially parallel, upper and lower attachment is placed in fixing groove by 90 ° of rotary attachment installing frame to horizontality
It is adsorbed on position and by electromagnet, overturning is appropriate to extend control attachment up and down and crossed perpendicular to upright state after the completion of positioning
Straight gap, presses contraposition key, and robot and is gradually increasing bottom automatically according to the image Auto-matching position relationship of binocular vision
Portion, until top V-type accessory contact metope, ensures that V-type attachment edge is consistent with scribing edge, complete position matching；
8th step：After manual confirmation position is correct, attachment installation key is pressed, robotically-driven lower extended is until bottom stabilization connects
Tread surface, after signal triggering, robot carries out percussion drilling automatically, installs expansion cap, screws in the single-station action of screw, later
Installation unit, which is punched, according to setting value carries out screw installation to next fixed point is moved in X, until upper and lower positioning attachment
Mounting screw fixation finishes, and the vibration in installation process has mounting bracket absorption equilibrium, does not influence the control accuracy of mounting robot；
The seven, the 8th steps are repeated, until the limiting plate up and down planned in region installs；Attachment installing frame up and down is packed up, this
When the installing frame as counterweight, balance the resistance to capsizing of mounting robot；
9th step starts partition board installation procedure, and mobile robot installs partition board at number partition board stacking, erection sequence is drawn,
Detailed process is as follows：
Rotating barrier mounting bracket makes under its horizontal direction, declines the wicking height of robot, and discharge sucker platform to it is to be installed every
On plate, according to the relationship of auxiliary colo(u)r streak and dual camera on partition board, ensures that sucker Platform center is consistent with partition board center, continue
Declining mounting bracket makes sucker contact the partition board and keeps certain pressure, and sucker levelness is consistent with partition board at this time, but and mounting bracket
Levelness it is not necessarily consistent, have certain fault-tolerant ability；
The pumping for starting sucker is completed to draw, and after promoting mounting bracket certain distance, sucker platform pumpback makes partition board fitting installation
Frame completes partition board and the depth of parallelism unification of mounting bracket and sucker is made only to provide vertical suction, shearing component is not present；Further
Chassis elevating lever is promoted to specified altitude assignment, and completes the upright process of partition board；
Manual operation robot to partition board region to be installed, starts automatic mounting bracket, and robot is according to the range finder module number at top
According to the position relationship of adjust automatically partition board and top V-type locating piece, including angle and distance, adjustment terminates rear bulkhead bottom should
It is bonded with the locating piece of lower part；After manual confirmation, start automatic installation key, robot continues to lift up until top elastic switch
Triggering, the V-groove on partition board top is bonded with mounted V-type locating piece at this time, completes finder；Elastic switch triggering installation
Nail gun on frame completes the installation of screw；With this reciprocal installation for completing partition board.
2. according to the method described in claim 1, it is characterized in that the color semi-round ball standoff distance is according to optical lens
The determination of minimal distortion range, generally 5-6 meters.
3. according to the method described in claim 1, it is characterized in that the people chassis that puts together machines uses phase with scribing line robot
Same chassis structure, it is floor height half or so to have caterpillar belt structure, rotating disk and attached cross supporting plate, adjustable height.
4. according to the method described in claim 1, it is characterized in that barrel structure centered on the Building class, by upper lower floor plate group
At floor height 4.5m or so, ground is coarse, similar sand-gravel surface；The high 18cm of stair activity platform in central tube, table top depth 30cm,
Angle of climbing is at 30 ° or so.
5. according to the method described in claim 1, it is characterized in that through bim numbers after the 3d laser scanners progress data mapping
The cad two-dimensional formats of scribing line robot and put together machines people's motion range and location data are generated after being handled according to transmitting software.
6. a kind of large space robot separates decorating apparatus, it includes separating the people that puts together machines, it is characterized in that the partition dress
Include with robot：
One mobile platform（1）, the mobile platform（1）Mounted on a mobile chassis（13）On, mobile chassis（13）It can driving shifting
Moving platform realizes that the displacement of full side is dynamic, mobile platform（1）The upper promising entire robot of installation provides the battery pack of power（2）, people
Machine interactive unit（3）, signal receives and transmission data units（15）, navigate and avoidance unit（9）；
One elevating mechanism（8）, the elevating mechanism（8）Mounted on mobile platform（1）On, for making robot work platform（17）Rise
To the height of setting；
One robot work platform（17）, the robot work platform（17）Mounted on elevating mechanism（8）Top, the upper surface of it installation
There is air compressor（18）, Automatic-feeding unit（14）With several mechanical arms（7）, mechanical arm（7）By air compressor（18）
Automatic telescopic, one of mechanical arm are realized in driving（7）On be equipped with by motor-driven self-tapping screw machine（4）, self-tapping screw
Machine（4）By Automatic-feeding unit（14）Feed；One mechanical arm（7）On be equipped with and can make pitching, return in horizontal plane and vertical plane
Sucker turn, for capturing partition panel（10）；One mechanical arm（7）On Multifunctional drill is installed, the Multifunctional drill energy
Make revolution and pitching in vertical plane in horizontal plane, one is equipped with the electric hammer with drilling function（5）, other end is equipped with can be into
The setscrew machine for screw installation that row spiral shell is swollen（6）；In mechanical arm（7）On be also equipped with infrared identification unit for vision positioning
（11）And the digital recognition unit (12) for reading Quick Response Code function on every block of material.
7. large space robot according to claim 6 separates decorating apparatus, it is characterized in that the mobile chassis（13）
For wheeled or energy stair climbing track structure.
8. large space robot according to claim 6 separates decorating apparatus, it is characterized in that the elevating mechanism（8）'s
Bottom is connected with turntable（16）, so as to drive robot work platform（17）Realize spatial rotational；The navigation and avoidance unit
（9）For intelligent video camera head.
9. large space robot according to claim 6 separates decorating apparatus, it is characterized in that in the Multifunctional drill
Bidirectional output electric machine is installed, driving electric hammer is respectively used to（5）With setscrew machine（6）；Function drill bit, which is mounted on, drives its work
First servo turntable of the servo motor driving of pitching movement（18）On, the first servo turntable 18）Mounted on equally by servo electricity
The second servo turntable for making to turn round in vertical plane of machine driving（19）On, the second turntable is equipped with mechanical arm（7）On.
10. large space robot according to claim 6 separates decorating apparatus, it is characterized in that described separates for capturing
The sucker of plate（10）Mounted on the third servo turntable that can make to turn round in vertical plane（20）On, third servo turntable（20）It is mounted on
It can be driven to make the 4th servo of pitching movement to walk around platform（21）On, the 4th servo turntable（21）Make vertical plane mounted on it is driven
5th servo turntable of interior rotation（22）On, the 5th servo turntable（22）Mechanical arm is installed（7）On, third servo turntable（22）、
4th servo turntable（22）, the 5th servo turntable（22）It is driven by corresponding servo motor.
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| CN111754566A (en) * | 2020-05-12 | 2020-10-09 | 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) | Robot scene positioning method and construction operation method |
| CN112482786A (en) * | 2020-11-20 | 2021-03-12 | 南京凡芽智能设备有限公司 | Construction method for installing keel frame for building decoration |
| WO2022183621A1 (en) * | 2021-03-04 | 2022-09-09 | 智建机械技术有限公司 | Construction robot |
| CN114232953A (en) * | 2021-12-11 | 2022-03-25 | 卢和美 | Portable furred ceiling gold foil paper laminating device for building decoration |
| CN114232953B (en) * | 2021-12-11 | 2023-12-05 | 百纳装饰工程有限公司 | Portable furred ceiling gold paper laminating device for building decoration |
| CN114842079A (en) * | 2022-04-23 | 2022-08-02 | 四川大学 | Device and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN114842079B (en) * | 2022-04-23 | 2023-09-19 | 四川大学 | Equipment and method for measuring pose of prefabricated intermediate wall in shield tunnel |
| CN118031069A (en) * | 2024-04-15 | 2024-05-14 | 日照新彩建设工程有限公司 | Intelligent laser scanning equipment for building structure mapping |
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