CN108589979B - Method and equipment for decorating large-space robot module partition suspended ceiling - Google Patents
Method and equipment for decorating large-space robot module partition suspended ceiling Download PDFInfo
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- CN108589979B CN108589979B CN201810522385.6A CN201810522385A CN108589979B CN 108589979 B CN108589979 B CN 108589979B CN 201810522385 A CN201810522385 A CN 201810522385A CN 108589979 B CN108589979 B CN 108589979B
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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
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- 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
Abstract
A partition decoration method for large-space robot features that the robot is composed of partition assembling robot, assembled structure consisting of lifting chassis, installing frame for upper and lower accessories and installing frame for partition, and each part has independent control system for triggering automatic operation program by integrating keys (limiting plates or partition). The invention can improve the equipment efficiency, reduce the labor cost and reduce the decoration cost.
Description
Technical Field
The invention relates to a building decoration technology, in particular to a partition decoration technology of a building blank with a large floor height, and specifically relates to a large-space robot module partition ceiling decoration method and a corresponding robot technology.
Background
At present, labor cost is greatly increased in the technical field of building decoration, decoration requirements and installability requirements are increased, so that the realization of few unmanned decorations by using a robot technology is a trend, but the existing robot technical scheme does not have a specific and comprehensive solution. Particularly for the crucial partition assembly in decoration construction, no solution which can completely replace manual work exists at present. On the other hand, as the enterprises in China leave the country, the labor protection policy of foreign country's departure limits the number of constructors in China, so as to drive employment of local personnel. Resulting in excessive employment costs for domestic businesses. And meanwhile, the delivery time of the construction period is prolonged. Therefore, the actual data required to be subjected to the partition operation is obtained by using the three-dimensional laser scanner, the corresponding partition structure is designed in a targeted manner by using the existing general BIM data processing technology, the background production is performed, and the partition operation is performed by using the robot, so that the method is urgent in improving the decoration efficiency and reducing the decoration cost.
Disclosure of Invention
The invention aims to solve the problem that measurement, line drawing and installation in the existing building partition construction cannot meet production requirements, and provides a large-space robot partition decoration method and corresponding equipment.
One of the technical schemes of the invention is as follows:
a large-space robot module partition ceiling decoration method is characterized by comprising the following steps:
firstly, before floor data measurement is carried out on a building to be decorated, a series of color semi-spheres are randomly arranged on a floor roof to form a network-shaped positioning field for optical positioning;
secondly, finishing data collection of floors and roofs by using a 3d laser scanner, generating point cloud data, transmitting the point cloud data to rear-end design software, and transmitting the point cloud data to factories for blanking and manufacturing into modules, wherein the modules comprise water, electricity and ventilation of walls and tops; pre-buried pipeline and cassette of switch socket; embedded parts of wall top surface mounting objects, surface putty and priming paint of suspended ceilings and wall surfaces; finishing the design scheme, generating cad data, wherein the cad data comprises a scribing planning chart, comprises straight line segments, broken lines and auxiliary lines, and meanwhile, the coordinate positions of the positioning nails are required to be fused and marked;
thirdly, importing the fused cad plan into a scribing robot, and placing the scribing robot at an initial positioning point;
fourthly, starting a scribing robot, wherein the robot performs three-dimensional optical measurement and mapping to a two-dimensional plane according to a given initial coordinate direction, and moves the robot to control the self-positioning precision within a range of about 2mm, and the advancing direction is consistent with the direction of a marking line to be sprayed, so that initial positioning similar to an icon is completed;
fifthly, starting an automatic working mode, starting a self three-upright leveling program by the marking robot to enable a self working plane to be kept horizontal and vertical, rotating a horizontal turntable to enable the direction of an extending rod to be consistent with the direction of a line to be sprayed, translating a cross supporting plate on the turntable according to optical positioning data, and finishing accurate positioning of a coordinate origin, wherein the positioning accuracy is controlled within 1 mm;
sixthly, after accurate positioning, the scribing robot sprays and draws in the range of five meters in the axis direction of the extending rod according to the line type of the drawing, parallel multi-line segments are drawn by horizontally moving and spraying, and corresponding fold lines and corner lines are drawn by rotating and spraying a steering engine at the bottom of the spray head; the initial positioning point is generally positioned at the intersection point of two directions, and the spray painting of 5m range related to the intersection point can be completed at one position; when the straight line exceeds the working range, the scribing robot automatically moves to the next intersection point according to the cad planning, and finishes corresponding spraying, and after that, if the distance between the two points exceeds the positioning operation range, the scribing robot preferentially supplements the spraying work which is finished between the two points;
sixthly, under cad path planning, automatically finishing the construction line spraying painting of the whole roof plane by a scribing robot; after scribing is finished, manually and clearly setting a preset positioning hemispherical point so as to facilitate subsequent partition construction;
seventh step: manually conveying the partition assembly robot to a part to be installed, which is positioned below the side of the sprayed line, basically parallel the X direction of the accessory installation frame with the sprayed line, rotating the accessory installation frame to a horizontal state by 90 degrees, arranging upper and lower accessories on a fixed slot position and adsorbing the accessories by an electromagnet, turning the accessories to a vertical state after positioning, properly extending the vertical clearance between the upper and lower control accessories and the marked line, pressing a positioning key, automatically matching the position relation according to the binocular vision image by the robot, gradually lifting the bottom until the upper V-shaped accessory contacts the wall surface, ensuring that the edges of the V-shaped accessories are consistent with the edges of the marked line, and finishing positioning matching;
eighth step: after the position is confirmed to be correct manually, an accessory installation key is pressed down, the robot drives the lower part to extend until the bottom is stably contacted with the ground, after signal triggering, the robot automatically performs impact punching, an expansion cap is installed, a screw is screwed in to perform single-working-position action, then a punching installation unit moves to the next fixed point in the X direction according to a set value to perform screw installation until the installation screws of the accessories are fixed up and down, and vibration in the installation process is absorbed and balanced by an installation frame, so that the control precision of the installation robot is not influenced;
repeating the seventh step and the eighth step until the upper limit plate and the lower limit plate planned in the area are installed; the upper accessory installation frame and the lower accessory installation frame are retracted, and at the moment, the installation frames serve as counterweights to balance the anti-overturning capacity of the installation robot;
ninth, starting a partition plate installation program, moving a robot to a stacking place of the numbered partition plates, and sequentially sucking and installing the partition plates, wherein the concrete process is as follows:
rotating the partition board mounting frame to enable the partition board mounting frame to be horizontally downward, descending the lifting height of the robot, releasing the sucker platform to the partition board to be mounted, ensuring that the center of the sucker platform is consistent with the center of the partition board according to the relationship between the auxiliary color line on the partition board and the double cameras, continuously descending the mounting frame to enable the sucker to be in contact with the partition board and keep certain pressure, and enabling the levelness of the sucker to be consistent with that of the partition board, wherein the levelness of the sucker is not necessarily consistent with that of the mounting frame, and the partition board has certain fault tolerance;
starting suction of the sucker to complete suction, lifting the mounting frame for a certain distance, and then sucking back the sucker platform to enable the partition plate to be attached to the mounting frame, completing parallelism consistency of the partition plate and the mounting frame, enabling the sucker to only provide vertical suction, and enabling no shearing component to exist; further lifting the chassis lifting rod to a specified height, and finishing the erection process of the partition plate;
manually operating the robot to the region where the partition board is to be installed, starting an automatic mounting frame, and automatically adjusting the position relationship between the partition board and the upper V-shaped positioning piece by the robot according to the ranging module data at the top, wherein the position relationship comprises an angle and a distance, and the bottom of the partition board is attached to the lower positioning piece after adjustment; after manual confirmation, starting an automatic installation key, and continuously lifting the robot until an upper elastic switch is triggered, wherein a V-shaped groove at the upper part of the partition plate is attached to an installed V-shaped positioning piece at the moment, so that a positioning program is completed; the elastic switch triggers the nail gun on the mounting frame to complete the installation of the screw; the installation of the partition plate is completed in a reciprocating manner.
The color semicircle sphere separation distance is determined according to the minimum distortion range of the optical lens, and is generally 5-6 meters.
The assembling robot chassis and the scribing robot adopt the same chassis structure and are provided with a crawler structure, a rotating disc and an attached cross supporting plate, and the lifting height is about half of the layer height.
The building is of a central cylinder structure and consists of an upper floor slab and a lower floor slab, wherein the floor height is about 4.5m, the ground is rough, and the building is similar to a gravel road surface; the height of the stair platform in the central cylinder is 18cm, the depth of the stair platform is 30cm, and the climbing angle is about 30 degrees;
and after the 3d laser scanner performs data mapping, the cad two-dimensional format of the motion range and positioning data of the scribing robot and the assembling robot is generated after the data are processed by the bim data transmission software.
The color semicircle sphere separation distance is determined according to the minimum distortion range of the optical lens, and is generally 5-6 meters.
The second technical scheme of the invention is as follows:
the partition decoration equipment for the large-space robot comprises a partition assembly robot, and is characterized in that the partition assembly robot comprises:
the mobile platform 1 is arranged on a mobile chassis 13, the mobile chassis 13 can drive the mobile platform to realize all-direction position movement, and the mobile platform 1 is provided with a battery pack 2 for providing power for the whole robot, a man-machine interaction unit 3, a signal receiving and transmitting data unit 15 and a navigation and obstacle avoidance unit 9;
a lifting mechanism 8, the lifting mechanism 8 is installed on the mobile platform 1, and is used for lifting the manipulator workbench 17 to a set height;
the manipulator workbench 17 is arranged on the upper part of the lifting mechanism 8, an air compressor 18, an automatic feeding unit 14 and a plurality of mechanical arms 7 are arranged on the manipulator workbench 17, the mechanical arms 7 are driven by the air compressor 18 to realize automatic extension and retraction, a self-tapping screw machine 4 driven by a motor is arranged on one mechanical arm 7, and the self-tapping screw machine 4 is fed by the automatic feeding unit 14; a sucker 10 which can rotate in a pitching mode, a horizontal plane and a vertical plane and is used for grabbing the partition panel is arranged on one mechanical arm 7; a multifunctional drill bit is arranged on one mechanical arm 7, the multifunctional drill bit can rotate in a horizontal plane and pitch in a vertical plane, one end of the multifunctional drill bit is provided with an electric hammer 5 with a drilling function, and the other end of the multifunctional drill bit is provided with an expansion screw machine 6 capable of installing screw expansion screws; the mechanical arm 7 is also provided with an infrared identification unit 11 for visual positioning and a digital identification unit for reading the two-dimensional code function on each material.
The movable chassis 13 is of a wheeled type or a crawler type structure capable of climbing stairs.
The bottom of the lifting mechanism 8 is connected with a turntable 16 so as to drive a manipulator workbench 17 to realize space rotation; the navigation and obstacle avoidance unit 9 is an intelligent camera.
The multifunctional drill bit is internally provided with a bidirectional output motor which is respectively used for driving the electric hammer 5 and the expansion screw machine 6; the functional drill bit is arranged on a first servo turntable 23 driven by a servo motor driving the functional drill bit to perform pitching motion, the first servo turntable 23 is arranged on a second servo turntable 19 which is also driven by the servo motor and rotates in a vertical plane, and the second turntable is provided with a mechanical arm 7.
The sucker 10 for grabbing the partition panel is arranged on a third servo turntable 20 capable of rotating in a vertical plane, the third servo turntable 20 is arranged on a fourth servo turntable 21 capable of driving the third servo turntable to do pitching motion, the fourth servo turntable 21 is arranged on a fifth servo turntable 22 capable of driving the fourth servo turntable to do rotation in the vertical plane, the fifth servo turntable 22 is arranged on a mechanical arm 7, and the third servo turntable 20, the fourth servo turntable 21 and the fifth servo turntable 22 are driven by corresponding servo motors.
The invention has the beneficial effects that:
the invention creatively utilizes the combination of the three-dimensional laser scanner and BIM software to plan reasonable partition routes and sizes, utilizes the scribing robot to accurately draw lines, and automatically installs the partition materials customized by the factory by the installation robot, thereby greatly reducing the number of operators and having the advantages of high efficiency and low cost.
The invention is suitable for strictly controlling the demands of overseas building markets of labor staff, can finish the rapid and accurate decoration of the whole building by only 2-3 persons in the whole process, and has the advantages of short construction period, good quality and no material waste.
The invention operates the robot arm through automatic scanning, identification, positioning and the like. The process can be carried out: 1. punching an expansion screw hole and automatically feeding; 2. automatically installing self-tapping screws; 3. automatic feeding and automatic installation of plates produced in a post-production field.
The intelligent installation robot for large-space indoor decoration solves the defect of manpower intensive in the existing large-space indoor decoration, and the intelligent robot platform integrates a plurality of existing mature electric tools, so that the intelligent robot platform can be automatically arranged and installed on a modular partition wall ceiling board designed and manufactured in a factory in a short time in engineering construction, the occurrence of safety accidents in construction and installation sites is reduced, the construction quality is ensured, the construction progress is accelerated, the environmental protection requirement in the construction process is met, and standardized installation operation is strictly carried out according to rules.
Drawings
Fig. 1 is a schematic view of a building structure according to an embodiment of the present invention.
Fig. 2 is a schematic view of an indoor working state of the scribing robot of the present invention.
Fig. 3 is a schematic view of the indoor construction state of the partition assembly robot according to the present invention.
Fig. 4 is a schematic view of the top accessory mounting process of the present invention.
Fig. 5 is a schematic view of the separator gripping process of the present invention.
Fig. 6 is a schematic view of the partition panel installation process of the present invention.
Fig. 7 is a schematic structural view of the partition assembly robot of the present invention.
Fig. 8 is an a-direction view of fig. 7.
Fig. 9 is a schematic view of a driving structure of the multifunctional drill bit of the present invention.
Fig. 10 is a schematic view of the driving structure of the suction cup of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Embodiment one.
As shown in fig. 1-6.
A partition decoration method for a large-space robot comprises line drawing and partition assembly. The building is similar to the building in FIG. 1, and consists of a central cylinder structure, an upper floor and a lower floor, wherein the floor height is about 4.5m, and the floor is rough and similar to a sand road surface; the central cylinder is internally provided with a step with the height of 18cm, the depth of the table top is 30cm and a platform, and the climbing angle is about 30 degrees; the construction environment is mapped by 3d laser scanning data, and the movement range and positioning data provided for the scribing robot and the assembling robot are in cad two-dimensional format through a bim data transmission design scheme. The built-in base station electronic fence function can only work in authorized directions.
The method comprises the following specific steps:
1. and spraying and painting construction lines.
Before floor data are measured, a series of color semi-spheres can be randomly arranged on the floor roof, and the distance between the color semi-spheres is approximately 5-6 m (the distance is limited according to the minimum distortion range of the optical lens), so that a network-shaped positioning field is formed for optical positioning.
1. The data collection of floors and roofs is required to be completed when the 3d laser is used for scanning, point cloud data are generated and transmitted to back-end design software, a design scheme is completed, cad data are generated, a scribing plan including straight line segments, broken lines, auxiliary lines and the like is generated, and meanwhile, the coordinate positions of positioning nails are required to be fused and marked.
2. Before scribing, the fused cad plan is manually guided into a scribing robot (as shown in fig. 2, the scribing robot can be designed by itself or can be directly positioned and purchased from the market), and the scribing robot is placed at an initial positioning point.
3. Starting a scribing robot, measuring and mapping the scribing robot onto a two-dimensional plane through stereoscopic optics according to a given initial coordinate direction, moving the body to control the self positioning precision within a range of about 2mm, enabling the advancing direction to be basically consistent with the direction of a marking line to be painted, and completing initial positioning similar to an icon.
4. And starting an automatic working mode, starting a self 3 upright post leveling program by the marking robot to enable a self working plane to be kept horizontal and vertical, rotating a horizontal turntable to enable the direction of an extending rod to be consistent with the direction of a line to be sprayed, translating a cross supporting plate on the turntable according to optical positioning data, and finishing accurate positioning of a coordinate origin, wherein the positioning accuracy is controlled within 1 mm.
5. After accurate positioning, the scribing robot sprays and draws in the range of five meters in the axis direction of the extending rod according to the line type of the drawing, parallel multi-line sections can be sprayed and drawn at the accurate fixed point position through left-right translation, and corresponding fold lines and corner lines can be sprayed and drawn through rotation of a steering engine at the bottom of the spray head. The initial positioning point is generally positioned at the intersection point of two directions, and the spray painting of 5m range related to the intersection point can be completed at one position; when the straight line exceeds the working range, the scribing robot automatically moves to the next intersection point according to the cad planning, and finishes corresponding spraying, and then if the distance between the two points exceeds the positioning operation range, the scribing robot preferentially supplements the spraying work which is finished between the two points.
6. Under cad pathway planning, the scribing robot can automatically finish the construction line spraying painting of the whole roof plane.
7. After scribing is finished, manually and clearly setting a preset positioning hemispherical point so as to facilitate subsequent partition construction.
According to the field environment, only the floor roof has the condition of spraying painting, so that the spraying painting head only has the requirement of standing upwards under the construction environment, and when the transfer or transportation is required, the spraying painting head can be manually rotated downwards so as to save space or avoid unnecessary interference. The whole block diagram is shown in figure 2
Human performance parameters of the scribing machine:
2. and (5) partition assembly.
1. The assembling robot chassis and the scribing robot adopt the same chassis structure, and have a crawler structure, a rotating disc and an attached cross supporting plate, and the lifting height is slightly reduced to about half of the layer height.
2. The indoor working state of the assembly robot is shown in fig. 3, each part of the walking lifting chassis, the upper and lower accessory mounting frames, the partition plate mounting frame and the like is provided with an independent control system, and the corresponding automatic operation program is triggered by integrating keys (limiting plates/partition plates) to complete semi-automatic installation.
3. The first step: the robot is manually moved to the part to be installed and is positioned below the side of the sprayed line, the X direction of the accessory installation frame is basically parallel to the sprayed line, the accessory installation frame is rotated by 90 degrees to a horizontal state, the upper accessory and the lower accessory are arranged on the fixed slot and are adsorbed by the electromagnet, the upper accessory and the lower accessory are turned to a vertical state after the positioning is finished, the vertical clearance between the upper accessory and the lower accessory is properly extended, the vertical clearance between the accessory and the marked line is controlled, the alignment key is pressed down, the robot automatically matches the position relation according to the binocular vision image, the bottom is gradually lifted until the upper V-shaped accessory contacts the wall surface, the edge of the V-shaped accessory is ensured to be consistent with the edge of the marked line, and the positioning matching is completed.
4. And a second step of: after the position is confirmed to be correct manually, an accessory installation key is pressed down, the robot drives the lower part to extend until the L-shaped accessory at the bottom stably contacts the ground, after signal triggering, the robot automatically performs impact punching, an expansion cap is installed, a single-working-position action of screwing in a screw is performed, then a punching installation unit moves to the next fixed point in the X direction according to a set value to perform screw installation, until the installation screw of the accessory positioned vertically is fixed, vibration in the installation process is absorbed and balanced by an installation frame, and the control precision of the installation robot is not affected. As shown in fig. 4.
5. And repeating the first and second steps until the upper and lower limiting plates planned in the area are installed.
6. And (3) folding up the upper and lower accessory mounting frames, wherein the mounting frames serve as counterweights to balance the anti-overturning capability of the mounting robot.
7. Starting a partition plate installation program, moving a robot to a stacking place of the numbered partition plates, and absorbing the installation partition plates in sequence, wherein the specific process is as follows:
8. the partition plate mounting frame is rotated, so that the level of the partition plate mounting frame is downward, the lifting height of the robot is lowered, the sucker platform is released to the partition plate to be mounted, the center of the sucker platform is guaranteed to be consistent with the center of the partition plate according to the relationship between the auxiliary color line on the partition plate and the double cameras, the mounting frame is continuously lowered, the sucker is enabled to be in contact with the partition plate and keep a certain pressure, and at the moment, the levelness of the sucker is consistent with that of the partition plate, but is not necessarily consistent with that of the mounting frame, and the partition plate mounting frame has a certain fault tolerance.
9. Starting the suction function of the suction cup to complete suction, lifting the mounting frame for a certain distance, and then drawing back the suction cup platform to enable the partition board to be attached to the mounting frame, so that the parallelism between the partition board and the mounting frame is consistent, the suction cup only provides vertical suction force, and no shearing component exists; the chassis elevating rod is further elevated to a designated height, and the erection process of the partition plate is completed according to the rotation process of fig. 5.
10. Manually operating the robot to the region where the partition board is to be installed, starting an automatic installation frame, automatically adjusting the position relationship between the partition board and the upper V-shaped positioning piece by the robot according to the ranging module data of the top, wherein the position relationship comprises angle and distance, and the bottom is attached to the lower L-shaped positioning piece after the adjustment is finished, as shown in fig. 6
11. After manual confirmation, the automatic installation key is started, the robot continues to be lifted until the upper elastic switch is triggered, and at the moment, the V-shaped groove on the upper part of the partition plate is attached to the installed V-shaped positioning piece, so that the positioning procedure is completed. The corresponding nail gun on the mounting frame completes the installation of the screw after the signal is triggered, as shown in fig. 6. The installation of the partition plate is completed in a reciprocating manner.
Baffle installation robot performance parameters:
the working principle of the invention is as follows:
1. the robot has a visual recognition function, the data is scanned the sign indicating number, moves to the region that will install through wireless remote control, begins to use discernment, coordinate and location, then stretches out the arm through the installation manipulator and grabs the object upset and find the sky that needs to install, earthworm bone work piece through the visual recognition function on the manipulator, and the sucking disc finds corresponding mounted position again, begins location, punches, installs the screw, and the puncher also has the visual recognition function, sets for 400mm interval and punches, installs screw machine and puncher cooperation work.
2. Work pieces manufactured through CAD drawings are given to a main board to sequentially arrange a robot task, the main board receives a command, an installed area and a position to be installed are found firstly, then a corresponding work piece is found, installation is started, a 3D scanner is used for positioning and paying off, the function of a sucker is to find the work piece through a visual code scanning function, then an installation locating point, a fixed position is found, then an electric hammer is used for punching an installation screw, a partition wall is installed, the sucker finds the work piece through a visual code scanning function, then an installation locating point, the fixed position is found, then a self-tapping screw is installed by a self-tapping screw machine, and the installation distance of the screw is set.
Embodiment two.
As shown in fig. 7-10.
The partition decoration equipment for large-space robot includes partition assembling robot shown in fig. 7 and 8, chassis 1300 x 800 x 1000 of intelligent partition wall and ceiling robot, forward, backward, left, right, turning and climbing stairs, 300kg load, visual sensing, navigation and obstacle avoidance functions. The main composition is as follows:
1. two 1000W servo motors are arranged;
2. a lithium battery pack with a power supply of 60A;
3. electric hammer perforating, then automatically supplying expansion screw equipment, and rotating automatic installation expansion screw machine
The partition assembly robot comprises:
the mobile platform 1 is arranged on a mobile chassis 13, the mobile chassis 13 can drive the mobile platform to realize all-direction position movement, and the mobile platform 1 is provided with a battery pack 2 for providing power for the whole robot, a man-machine interaction unit 3, a signal receiving and transmitting data unit 15 and a navigation and obstacle avoidance unit 9; the mobile chassis 13 is of a wheeled or crawler-type construction capable of climbing stairs. The navigation and obstacle avoidance unit 9 can adopt an intelligent camera and corresponding image processing software.
A lifting mechanism 8, the lifting mechanism 8 is installed on the mobile platform 1, and is used for lifting the manipulator workbench 17 to a set height; the bottom of the lifting mechanism 8 is connected with a turntable 16 so as to drive a manipulator workbench 17 to realize space rotation;
the manipulator workbench 17 is arranged on the upper part of the lifting mechanism 8, an air compressor 18, an automatic feeding unit 14 and a plurality of mechanical arms 7 are arranged on the manipulator workbench 17, the mechanical arms 7 are driven by the air compressor 18 to realize automatic extension and retraction, a self-tapping screw machine 4 driven by a motor is arranged on one mechanical arm 7, and the self-tapping screw machine 4 is fed by the automatic feeding unit 14; a sucker 10 which can rotate in a pitching mode, a horizontal plane and a vertical plane and is used for grabbing the partition panel is arranged on one mechanical arm 7; a multifunctional drill bit is arranged on one mechanical arm 7, the multifunctional drill bit can rotate in a horizontal plane and pitch in a vertical plane, one end of the multifunctional drill bit is provided with an electric hammer 5 with a drilling function, and the other end of the multifunctional drill bit is provided with an expansion screw machine 6 capable of installing screw expansion screws; the mechanical arm 7 is also provided with an infrared identification unit 11 for visual positioning and a digital identification unit for reading the two-dimensional code function on each material. A bi-directional output motor is arranged in the multifunctional drill bit and is respectively used for driving the electric hammer 5 and the expansion screw machine 6; the functional drill bit is arranged on a first servo turntable 23 driven by a servo motor driving the functional drill bit to perform pitching motion, the first servo turntable 23 is arranged on a second servo turntable 19 which is also driven by the servo motor and rotates in a vertical plane, and the second turntable is provided with a mechanical arm 7. The suction cup 10 for grabbing the partition panel is arranged on a third servo turntable 20 which can rotate in a vertical plane, the third servo turntable 20 is arranged on a fourth servo turntable 21 which can drive the third servo turntable 20 to do pitching motion, as shown in fig. 9, the fourth servo turntable 21 is arranged on a fifth servo turntable 22 which can drive the fourth servo turntable 22 to rotate in the vertical plane, the fifth servo turntable 22 is arranged on a mechanical arm 7, and the third servo turntable 20, the fourth servo turntable 21 and the fifth servo turntable 22 are all driven by corresponding servo motors, as shown in fig. 10.
The details are as follows:
the partition assembly robot intelligent equipment adopts an assembled structure, mainly comprises a walking lifting chassis, an upper accessory installation frame, a lower accessory installation frame and a partition plate installation frame, wherein each part is provided with an independent control system, and corresponding automatic operation procedures are triggered through an integrated key (a limiting plate/a partition plate) to complete semi-automatic installation. Wherein: 1 is a mobile platform: the device comprises a battery pack, a man-machine interaction unit, a signal receiving and transmitting data unit and a navigation and obstacle avoidance unit. Realize the omnidirectional movement of the mobile platform. 2 is a battery pack: an iron phosphate battery is used and placed on a mobile platform. 3, a human-computer interaction unit: the force control assembly is used for realizing man-machine interaction based on force control. Is placed on a mobile platform. 4 is a self-tapping screw machine: through the screw installation, fix the baffle furred ceiling. Is placed on the mechanical arm. And 5 is an electric hammer perforating bit: has the function of punching and is arranged on the mechanical arm. And 6, an automatic expansion screw installing machine: has the function of automatically installing the expansion screw. Is placed on the mechanical arm. 7 is a mechanical arm: has the functions of 360-degree rotation, expansion and downward lifting. The automatic drilling machine is a drilling machine for electric hammers, a self-tapping screw machine, an automatic installation expansion screw machine, an infrared identification unit and a digital identification unit, wherein the digital identification unit provides an operation platform. Is placed on a robot table. 8 is the elevator structure: has the function of height adjustment. In different working environments, the up-and-down height of the lifter is adjusted to drive the whole manipulator workbench to move up and down, so that the operation height requirement of each unit on the manipulator is met. Is placed on the turntable. 9 is a navigation and obstacle avoidance unit: . The unit is mainly used for detecting the real-time position of the construction robot in the working space and carrying out effective path planning; when an obstacle is encountered in the working space, the unit detects that the construction robot is in a dangerous area, so that a signal can be sent to the whole system, and the construction robot can change the moving direction to avoid the obstacle and perform normal work requirements. Is placed on a mobile platform. 10 is an automatically installed wallboard top plate: the unit has sucking and rotating functions. Through the sucking disc on the mounting bracket, application cylinder principle is stacked from the baffle, absorbs the baffle back, and sucking disc platform is rotatory back for baffle upper portion and the laminating of the installed setting element of roof. Is placed on the mechanical arm.
11 is an infrared identification unit: is positioned on the mechanical arm. Providing color vision positioning function. 12 is a digital identification unit: is positioned on the mechanical arm. And a function of identifying and reading the two-dimensional code on each material is provided. 13 is a stair climbing unit: the crawler belt structure has climbing and moving capabilities. 14 is an automatic feed unit: the screw is stored and the screw is expanded. For self-tapping screw machine, automatic installation expansion screw machine provides the material supply. Is positioned on the manipulator workbench. 15 is a signal receiving and transmitting data unit: providing WIFI and 4G signal receiving and outputting; and the receiving and processing of the CAD, BIM and other data are finished, and meanwhile, the operation instructions are output to the corresponding units on the robot, so that the accurate operation and cooperation among all the units are satisfied. Is positioned on the mobile platform. 16 is a turntable: 360 degrees of rotation drive the angle rotation of top elevator mechanism and manipulator platform through the rotation of carousel. The angle requirements of each unit on the manipulator in actual operation are met. Is positioned on the mobile platform. 17 is a manipulator workbench: the automatic feeding device comprises a self-tapping screw machine, an electric hammer for punching, an automatic mounting expansion screw machine, a mechanical arm, an automatic mounting wallboard top plate, an infrared identification unit, a digital identification unit, an automatic feeding unit, an air compressor and a platform support for the operation of each unit component. Above the elevator mechanism. 18 is an air compressor; the unit has an air extraction function. So that the top plate of the automatic installation wallboard has the sucking function. As shown in fig. 7 and 8.
The electric drill, the electric hammer, the vacuum chuck and the electromagnetic chuck are respectively fixed on three mechanical arms, the electric screw machine is lifted and rotated by utilizing the self-propelled platform, and the space positioning is performed by utilizing the optical auxiliary mark; the electric drill, the electric hammer and the electric screw machine slide forwards and backwards by using an electric sliding table, and can rotate 180 degrees in the vertical direction and 360 degrees in the horizontal direction by using a rotating table; : the rotating disc is fixed by the mechanical arm, so that the rotating disc can rotate 180 degrees in the vertical direction and rotate 360 degrees in the horizontal direction. The mechanical arm is used for feeding the screw and the expansion screw, and the feeding is from the vibration feeding disc. The partition intelligent installation robot is accurate in space positioning, a laser radar and a far infrared camera are arranged in the partition intelligent installation robot, and the BIM data scanned in advance are compared with a far-end cloud database to determine the current space position. The optically assisted marks are determined by the minimum distortion range of the optical lens, typically 5-6 meters. The assembling robot chassis and the scribing robot adopt the same chassis structure and are provided with a crawler structure, a rotating disc and an attached cross supporting plate, and the lifting height is about half of the layer height. The building is of a central cylinder structure and consists of an upper floor slab and a lower floor slab, wherein the floor height is about 4.5m, the ground is rough, and the building is similar to a gravel road surface; the height of the stair platform in the central cylinder is 18cm, the depth of the stair platform is 30cm, and the climbing angle is about 30 degrees; and after the 3d laser scanner performs data mapping, generating cad two-dimensional formats of the motion range and positioning data of the scribing robot and the assembling robot after processing the data by the bim data transmission software.
The invention is not related in part to the same as or can be practiced with the prior art.
Claims (10)
1. A decoration method for a large-space robot module partition ceiling,
the method is characterized by comprising the following steps of:
firstly, before floor data measurement is carried out on a building to be decorated, a series of color semi-spheres are randomly arranged on a floor roof to form a network-shaped positioning field for optical positioning;
secondly, finishing data collection of floors and roofs by using a 3d laser scanner, generating point cloud data, transmitting the point cloud data to rear-end design software, and transmitting the point cloud data to factories for blanking and manufacturing into modules, wherein the modules comprise water, electricity and ventilation of walls and tops; pre-buried pipeline and cassette of switch socket; embedded parts of wall top surface mounting objects, surface putty and priming paint of suspended ceilings and wall surfaces; finishing the design scheme, generating cad data, wherein the cad data comprises a scribing planning chart, comprises straight line segments, broken lines and auxiliary lines, and meanwhile, the coordinate positions of the positioning nails are required to be fused and marked;
thirdly, importing the fused cad plan into a scribing robot, and placing the scribing robot at an initial positioning point;
fourthly, starting a scribing robot, wherein the robot performs three-dimensional optical measurement and mapping to a two-dimensional plane according to a given initial coordinate direction, and moves the robot to control the self-positioning precision within a range of about 2mm, and the advancing direction is consistent with the direction of a marking line to be sprayed, so that initial positioning similar to an icon is completed;
fifthly, starting an automatic working mode, starting a self three-upright leveling program by the marking robot to enable a self working plane to be kept horizontal and vertical, rotating a horizontal turntable to enable the direction of an extending rod to be consistent with the direction of a line to be sprayed, translating a cross supporting plate on the turntable according to optical positioning data, and finishing accurate positioning of a coordinate origin, wherein the positioning accuracy is controlled within 1 mm;
sixthly, after accurate positioning, the scribing robot sprays and draws in the range of five meters in the axis direction of the extending rod according to the line type of the drawing, parallel multi-line segments are drawn by horizontally moving and spraying, and corresponding fold lines and corner lines are drawn by rotating and spraying a steering engine at the bottom of the spray head; the initial positioning point is generally positioned at the intersection point of two directions, and the spray painting of 5m range related to the intersection point can be completed at one position; when the straight line exceeds the working range, the scribing robot automatically moves to the next intersection point according to the cad planning, and finishes corresponding spraying, and after that, if the distance between the two points exceeds the positioning operation range, the scribing robot preferentially supplements the spraying work which is finished between the two points;
sixthly, under cad path planning, automatically finishing the construction line spraying painting of the whole roof plane by a scribing robot; after scribing is finished, manually cleaning a preset positioning hemispherical point so as to facilitate subsequent partition construction;
seventh step: manually conveying the partition assembly robot to a part to be installed, which is positioned below the side of the sprayed line, basically parallel the X direction of the accessory installation frame with the sprayed line, rotating the accessory installation frame to a horizontal state by 90 degrees, arranging upper and lower accessories on a fixed slot position and adsorbing the accessories by an electromagnet, turning the accessories to a vertical state after positioning, properly extending the vertical clearance between the upper and lower control accessories and the marked line, pressing a positioning key, automatically matching the position relation according to the binocular vision image by the robot, gradually lifting the bottom until the upper V-shaped accessory contacts the wall surface, ensuring that the edges of the V-shaped accessories are consistent with the edges of the marked line, and finishing positioning matching;
eighth step: after the position is confirmed to be correct manually, an accessory installation key is pressed down, the robot drives the lower part to extend until the bottom is stably contacted with the ground, after signal triggering, the robot automatically performs impact punching, an expansion cap is installed, a single-station action of screwing in a screw is performed, then a punching installation unit moves to the next fixed point along the X direction according to a set value to perform screw installation until the installation screw of the upper and lower positioning accessories is fixed, and vibration in the installation process is absorbed and balanced by a mounting frame, so that the control precision of the installation robot is not influenced;
repeating the seventh step and the eighth step until the upper limit plate and the lower limit plate planned in the area are installed; the upper accessory installation frame and the lower accessory installation frame are retracted, and at the moment, the installation frames serve as counterweights to balance the anti-overturning capacity of the installation robot;
ninth, starting a partition plate installation program, moving a robot to a stacking place of the numbered partition plates, and sequentially sucking and installing the partition plates, wherein the concrete process is as follows:
rotating the partition board mounting frame to enable the partition board mounting frame to be horizontally downward, descending the lifting height of the robot, releasing the sucker platform to the partition board to be mounted, ensuring that the center of the sucker platform is consistent with the center of the partition board according to the relationship between the auxiliary color line on the partition board and the double cameras, continuously descending the mounting frame to enable the sucker to be in contact with the partition board and keep certain pressure, and enabling the levelness of the sucker to be consistent with that of the partition board, wherein the levelness of the sucker is not necessarily consistent with that of the mounting frame, and the partition board has certain fault tolerance;
starting suction of the sucker to complete suction, lifting the mounting frame for a certain distance, and then sucking back the sucker platform to enable the partition plate to be attached to the mounting frame, completing parallelism consistency of the partition plate and the mounting frame, enabling the sucker to only provide vertical suction, and enabling no shearing component to exist; further lifting the chassis lifting rod to a specified height, and finishing the erection process of the partition plate;
manually operating the robot to the region where the partition board is to be installed, starting an automatic mounting frame, and automatically adjusting the position relationship between the partition board and the upper V-shaped positioning piece by the robot according to the ranging module data at the top, wherein the position relationship comprises an angle and a distance, and the bottom of the partition board is attached to the lower positioning piece after adjustment; after manual confirmation, starting an automatic installation key, and continuously lifting the robot until an upper elastic switch is triggered, wherein a V-shaped groove at the upper part of the partition plate is attached to an installed V-shaped positioning piece at the moment, so that a positioning program is completed; the elastic switch triggers the nail gun on the mounting frame to complete the installation of the screw; the installation of the partition plate is completed in a reciprocating manner.
2. The method of claim 1, wherein the color semi-sphere separation distance is determined based on a minimum distortion range of the optical lens, typically 5-6 meters.
3. The method of claim 1, wherein the assembly robot chassis and the scribing robot adopt the same chassis structure and have a crawler structure, a rotating disc and an attached cross pallet, and the lifting height is about half of the layer height.
4. The method of claim 1, wherein the building is a central cylinder structure, and comprises an upper floor and a lower floor, wherein the floor is 4.5m in height and rough in surface and is similar to a gravel road surface; the height of the stair platform in the central cylinder is 18cm, the depth of the stair platform is 30cm, and the climbing angle is 30 degrees.
5. The method of claim 1, wherein the 3d laser scanner generates cad two-dimensional format of the scribe robot and assembly robot range of motion and positioning data after data mapping and processing by bim data transmission software.
6. The partition decoration equipment for the large-space robot comprises a partition assembly robot, and is characterized in that the partition assembly robot comprises:
the mobile platform (1) is arranged on a mobile chassis (13), the mobile chassis (13) can drive the mobile platform to realize all-side position movement, a battery pack (2) for providing power for the whole robot, a man-machine interaction unit (3), a signal receiving and transmitting data unit (15) and a navigation and obstacle avoidance unit (9) are arranged on the mobile platform (1);
a lifting mechanism (8), wherein the lifting mechanism (8) is arranged on the mobile platform (1) and is used for lifting the manipulator workbench (17) to a set height;
the manipulator workbench (17) is arranged at the upper part of the lifting mechanism (8), an air compressor (18), an automatic feeding unit (14) and a plurality of mechanical arms (7) are arranged on the manipulator workbench (17), the mechanical arms (7) are driven by the air compressor (18) to realize automatic extension and retraction, a self-tapping screw machine (4) driven by a motor is arranged on one mechanical arm (7), and the self-tapping screw machine (4) is fed by the automatic feeding unit (14); a sucker (10) which can rotate in a pitching mode, a horizontal plane and a vertical plane and is used for grabbing the partition panel is arranged on one mechanical arm (7); one mechanical arm (7) is provided with a multifunctional drill bit which can rotate in a horizontal plane and pitch in a vertical plane, one end of the multifunctional drill bit is provided with an electric hammer (5) with a drilling function, and the other end of the multifunctional drill bit is provided with an expansion screw machine (6) capable of installing screw expansion screws; an infrared identification unit (11) for visual positioning and a digital identification unit (12) for reading the two-dimensional code function on each material are also arranged on the mechanical arm (7).
7. The large-space robot partition decoration device according to claim 6, wherein the movable chassis (13) is of a wheeled type or a crawler type structure capable of climbing stairs.
8. The large-space robot partition decoration device according to claim 6, wherein the bottom of the lifting mechanism (8) is connected with a turntable (16) to drive a manipulator workbench (17) to realize space rotation; the navigation and obstacle avoidance unit (9) is an intelligent camera.
9. The large-space robot partition decoration device according to claim 6, wherein the multifunctional drill bit is internally provided with a bidirectional output motor for driving the electric hammer (5) and the expansion screw machine (6) respectively; the functional drill bit is arranged on a first servo rotary table (23) driven by a servo motor for driving the functional drill bit to do pitching motion, the first servo rotary table (23) is arranged on a second servo rotary table (19) which is also driven by the servo motor and rotates in a vertical plane, and the second rotary table is provided with a mechanical arm (7).
10. The large-space robot partition decoration device according to claim 6, wherein the suction disc (10) for grabbing the partition panel is installed on a third servo turntable (20) capable of rotating in a vertical plane, the third servo turntable (20) is installed on a fourth servo turntable (21) capable of driving the third servo turntable to do pitching motion, the fourth servo turntable (21) is installed on a fifth servo turntable (22) capable of driving the fourth servo turntable to do rotation in the vertical plane, the fifth servo turntable (22) is installed on a mechanical arm (7), and the third servo turntable (20), the fourth servo turntable (21) and the fifth servo turntable (22) are driven by corresponding servo motors.
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