CN109623770A - A kind of Li Kong construction and installation robot based on hybrid mechanism - Google Patents
A kind of Li Kong construction and installation robot based on hybrid mechanism Download PDFInfo
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- CN109623770A CN109623770A CN201811527060.3A CN201811527060A CN109623770A CN 109623770 A CN109623770 A CN 109623770A CN 201811527060 A CN201811527060 A CN 201811527060A CN 109623770 A CN109623770 A CN 109623770A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels
Abstract
The invention discloses a kind of Li Kong construction and installation robot based on hybrid mechanism, comprising: rubber wheel Omni-mobile platform realizes that the big stroke of robot is mobile and adapts to construction site complicated landform；Linear guide, the job area of aggrandizement apparatus under Omni-mobile platform dead ship condition；Three freedom degree series-parallel mechanical arm, for controlling three-degree-of-freedom motion of the mechanical arm in space and guaranteeing that terminal angle is constant；Four-degree-of-freedom power control mixed connection operation module guarantees that sucked type ceramic and glass tile installation actuator completes the operations such as feeding and the installation of ceramic and glass tile, and external force of the control action on ceramic and glass tile for controlling an one-movement-freedom-degree and three rotational freedoms；And the mobile raw material storage of ceramic and glass tile, realize the raw materials such as ceramic and glass tile with Che Yidong.Four-degree-of-freedom power control mixed connection operation module is mounted on three freedom degree series-parallel mechanical arm end cooperation linear guide and rubber wheel Omni-mobile platform by the device, and the big stroke installation operation of ceramic and glass tile may be implemented.
Description
Technical field
The present invention relates to building trade technical field of construction, in particular to a kind of power control construction and installation based on hybrid mechanism
Robot.
Background technique
In recent years, with the further development of Development of China's Urbanization, building trade maintains comparatively fast within a very long time
Growth rate, wherein architectural decoration plays particularly important effect in terms of promoting people's lives quality, also therefore
The importance of architectural decoration also increasingly shows.In architectural decoration, glass and ceramic tile are all common ornament materials.
The characteristics of due to its beautiful aspect with cleaning and advantage, occupy the biggish market share in repairs profession at present.But mesh
The problems such as preceding that there are the degree of automation during the installation exercise of ceramic and glass tile is low, and installation quality is unstable.
As China's Economic Transition pressure constantly increases, automation and intelligentification operation is promoted in building trade and has been compeled in eyebrow
Eyelash.Application of traditional industrial robot in the structured environments such as factory is quite mature, also has many researchs uncommon at present
Prestige can be by the application extension of industrial robot into unstructured scene, and architectural decoration is exactly very promising development
Direction.Traditional industrial robot is mostly the fisher's formula structure for using series system to be formed by connecting, and often will appear end poing rigidity
Poor situation, and hybrid mechanism then sufficiently combines the advantages of series connection is with two kinds of structures in parallel, in working space, rigidity, essence
Degree etc. shows excellent performance, therefore suitable for the use environment of architectural decoration rather harsh complexity.It is based on
Hybrid mechanism develops the robot used suitable for building trade for the technical level of promotion industry entirety, improves worker's operation
Environment etc. all has particularly important meaning.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, it is an object of the invention to propose a kind of Li Kong construction and installation robot based on hybrid mechanism, the machine
People can be in feeding, positioning and the installation exercise compared with completion ceramic and glass tile in wide working range, and can adapt to construction operation
Live complicated ground environment, by being controlled with robot construction operation and to the size of institute's external force action on ceramic and glass tile
The mode of system guarantees the installation quality of ceramic tile and glass.
In order to achieve the above objectives, the embodiment of the present invention proposes a kind of power control construction and installation machine based on hybrid mechanism
People.
A kind of Li Kong construction and installation robot based on hybrid mechanism of the embodiment of the present invention, by by four-degree-of-freedom power control
Mixed connection operation module is mounted on three freedom degree series-parallel mechanical arm end cooperation linear guide and is finally equipped on the shifting of rubber wheel omnidirectional
On moving platform, automation feeding, positioning and peace that the building decoration materials such as ceramic and glass tile are equipped on mobile platform may be implemented
Dress operation, while the robot can guarantee the shape and porcelain that can adapt to mounting surface in ceramic tile and glass installation process
The requirement such as orientation of brick glass, and by power control unit to the installation quality of the final ceramic and glass tile of control guarantee of external force.
In addition, a kind of Li Kong construction and installation robot based on hybrid mechanism of the embodiment can be with according to the present invention
With following additional technical characteristic:
Further, in one embodiment of the invention, the three freedom degree series-parallel mechanical arm includes: large arm, and first
Connection rod set and the mechanical arm large arm constitute parallelogram mechanism, are turned by what bottom motors drove around lower rotation pair with realizing
The rotational motion at dynamic center；Forearm, second connecting rod group and the mechanical arm forearm constitute parallelogram mechanism, pass through additional the
Three-link is to realize the rotational motion around center of rotation driven by bottom motors；Rotary type chassis, rotary type chassis can be real
The existing whole rotation around vertical shaft of mechanical arm, guarantees that mechanical arm tail end realizes that space three-freedom is mobile.
Further, in one embodiment of the invention, the four-degree-of-freedom power control mixed connection operation module includes: mixed connection
Module fixed platform；Mixed connection module moving platform；Sucked type ceramic and glass tile installs actuator；First branch, first branch pass through
One revolute pair is connect with the mixed connection module fixed platform, by a Hooke's hinge or two orthogonal revolute pairs of axis with
The mixed connection module moving platform connection, first branch includes a feed screw nut kinematic pair by input driving, with control
Rotational freedom and the lead screw between the lead screw and the nut axis along first branch one-movement-freedom-degree,
Power control unit is arranged between the feed screw nut kinematic pair and the Hooke's hinge, realizes the control to branch internal force, and final
External force of the control action on ceramic tile and glass；Second branch and third branch, second branch and the third branch with
First branched structure is identical, and first branch, second branch and the third branch are connected to described mixed
Between gang mould block fixed platform and the mixed connection module moving platform, closed loop parallel-connection structure is constituted, the installation of sucked type ceramic and glass tile executes
Device is connect with mixed connection module moving platform by a revolute pair, guarantees that sucked type ceramic and glass tile installation actuator has a movement
Freedom degree and three rotational freedoms.
Further, in one embodiment of the invention, the four-degree-of-freedom power control mixed connection operation module is mounted on institute
It states three freedom degree series-parallel mechanical arm end cooperation linear guide and carries rubber wheel Omni-mobile platform, construction can adapted to now
The a wide range of movement of robot is realized under the premise of the complicated landform of field；The device can also take the structure type of no linear guide,
Ceramic and glass tile is realized with mechanical arm and cooperating for four-degree-of-freedom power control mixed connection operation module by rubber wheel Omni-mobile platform
Big stroke installation exercise.
Further, in one embodiment of the invention, first branch includes: first motor, first electricity
One end of machine is connected by a revolute pair with the four-degree-of-freedom power control mixed connection operation module fixed platform；First feed screw nut
Pair, nut and first motor concrete mutually in first screw pair realize lead screw relative to spiral shell to constitute cylindrical movement pair
Female straight-line feed freedom degree and relatively rotate freedom degree, the lead screw in first screw pair by a Hooke's hinge or
The mutually perpendicular revolute pair realization of two axis is connected with the mixed connection module moving platform, in the feed screw nut kinematic pair and institute
Arrangement power control unit between Hooke's hinge is stated, realizes the control to branch internal force, and final control action is on ceramic tile and glass
External force.
According to another embodiment of the invention, first branch may also include that first motor, the first motor
One end is fixed by a Hooke's hinge or two mutually perpendicular revolute pairs of axis and the four-degree-of-freedom power control mixed connection operation module
Platform is connected；First screw pair, nut and first motor concrete mutually in first screw pair, to constitute cylinder fortune
Dynamic pair realizes lead screw relative to the straight-line feed freedom degree of nut and relatively rotates freedom degree, in first screw pair
Lead screw be connected by the realization of revolute pair with the mixed connection module moving platform, in the feed screw nut kinematic pair and described turn
Power control unit is arranged between dynamic pair, realizes the control to branch internal force, and final control action is outer on ceramic tile and glass
Power.
Further, in one embodiment of the invention, the power control unit includes: power control spring, the power
Spring is controlled in operation process by realizing the control of end normal pressure to position control；Damping shock absorber, the damping
Damper can realize the vibration suppression under power control condition by the coordination for controlling spring with the power；Cell enclosure, the list
First shell can then be combined with processing module body construction in parallel overcomes the problems, such as that the unit cannot bear torque.
Further, in one embodiment of the invention, the four-degree-of-freedom power control mixed connection processing module power control is single
Member further include: force snesor, the force snesor feed back acted on normal pressure in operation process, and pass through power/position
Hybrid algo-rithm, according to the data of force snesor feedback to the four-degree-of-freedom power control mixed connection module sucked type ceramic tile glass
Glass installs actuator and realizes power/position mixing control.
Further, in one embodiment of the invention, the four-degree-of-freedom power control mixed connection processing module power control is single
Member can also take the form of powerless control unit according to actual use demand.
Further, in another embodiment of the present invention, the rubber wheel Omni-mobile platform can also be according to construction
The actual demand at scene is changed to the Omni-mobile platform of Mecanum wheel Omni-mobile platform or other forms.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of structure of Li Kong construction and installation robot based on hybrid mechanism according to an embodiment of the invention
Schematic diagram；
Fig. 2 is a kind of knot of Li Kong construction and installation robot based on hybrid mechanism in accordance with another embodiment of the present invention
Structure schematic diagram；
Fig. 3 is three freedom degree series-parallel mechanical arm structural schematic diagram according to an embodiment of the invention；
Fig. 4 is the structural schematic diagram of rubber wheel Omni-mobile platform according to an embodiment of the invention；
Fig. 5 is the structural schematic diagram of four-degree-of-freedom power control mixed connection operation module according to an embodiment of the invention；
Fig. 6 is the structural schematic diagram of four-degree-of-freedom power control mixed connection operation module in accordance with another embodiment of the present invention；
Fig. 7 is the first branch, the fixed platform of four-degree-of-freedom power control mixed connection operation module according to an embodiment of the invention
With the perspective view of the explosion of sucked type ceramic and glass tile installation actuator；
Fig. 8 is the first branch of four-degree-of-freedom power control mixed connection operation module in accordance with another embodiment of the present invention, allocates
The perspective view of the explosion of platform and sucked type ceramic and glass tile installation actuator.
Appended drawing reference:
In Fig. 1, four-degree-of-freedom power control mixed connection operation module I；Three freedom degree series-parallel mechanical arm II；Linear guide III-11；
Rubber wheel Omni-mobile platform III-12；Ceramic and glass tile moves raw material storage IV；
In Fig. 2, four-degree-of-freedom power control mixed connection operation module I；Three freedom degree series-parallel mechanical arm II；Automatic guided vehicle III-2；
Ceramic and glass tile moves raw material storage IV；
In Fig. 3, mechanical arm pedestal 21；Mechanical arm rotary type pedestal 22；Mechanical arm large arm 23；Forearm actuating arm 24；First
Connection rod set 25；Attitude regulation component 26；Mechanical arm forearm 27；Second connecting rod group 28；End effector 29；
In Fig. 4, mobile platform car body 31；Double omnidirectional's rubber wheel 32；
In Fig. 5, the first branch 41；Second branch 42；Third branch 43；Mixed connection operation module fixed platform 44；Mixed connection operation
Module moving platform 45；Sucked type ceramic and glass tile installs actuator 46；
In Fig. 6, the first branch 51；Second branch 52；Third branch 53；Mixed connection operation module fixed platform 54；Mixed connection operation
Module moving platform 55；Sucked type ceramic and glass tile installs actuator 56；
In Fig. 7, first motor 411；First lead screw 412；First power control unit 413；First U-shaped rotating member 414；First
Spherical rotating member 415；Mixed connection module fixed platform 44；Mixed connection module moving platform 45；Ceramic and glass tile installs actuator truss structure
461；Acetabular surgery device 462；
In Fig. 8, first annular rotating member 511；First motor 512；First lead screw 513；First power control unit 514；The
One U-shaped rotating member 515；Mixed connection module fixed platform 54；Mixed connection module moving platform 55；Ceramic and glass tile installs actuator truss structure
561；Acetabular surgery device 562.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of embodiment is shown in the accompanying drawings, wherein identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.It is retouched below with reference to attached drawing
The embodiment stated is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
A kind of power control construction and installation based on hybrid mechanism proposed according to embodiments of the present invention are described with reference to the accompanying drawings
Robot.
In the embodiment of the present invention 1, as shown in Figure 1, a kind of Li Kong construction and installation robot packet based on hybrid mechanism
Include four-degree-of-freedom power control mixed connection operation module I；Three freedom degree series-parallel mechanical arm II；Rubber wheel Omni-mobile platform III-11；Directly
Line guide rail III-12；Ceramic and glass tile moves raw material storage IV.
In the embodiment of the present invention 2, as shown in Fig. 2, a kind of Li Kong construction and installation robot based on hybrid mechanism is also
It may include four-degree-of-freedom power control mixed connection operation module I；Three freedom degree series-parallel mechanical arm II；Rubber wheel Omni-mobile platform III-
2；Ceramic and glass tile moves raw material storage IV.
Linear guide is mature commercially produced product, can choose or customize according to actual operation requirements, not repeat herein.
Further, as shown in figure 3, three freedom degree series-parallel mechanical arm includes mechanical arm pedestal 21, mechanical arm rotary type bottom
Seat 22, mechanical arm large arm 23, forearm actuating arm 24, first connecting rod group 25, attitude regulation component 26, mechanical arm forearm 27, second
Connection rod set 28, end effector 29.Four-degree-of-freedom power control mixed connection operation module is fixedly connected on three freedom degree series-parallel mechanical arm end
Actuator 29 is held, first connecting rod group 25 and mechanical arm large arm 23 constitute parallelogram mechanism, second connecting rod group 28 and mechanical arm
Forearm 24 constitutes parallelogram mechanism, and connecting rod 24 realizes that motor is arranged in the driving on pedestal to mechanical arm forearm 27, mechanical
Arm rotary type pedestal 22 can rotation around vertical direction shaft relative to mechanical arm pedestal 21, it is final to realize space three-freedom fortune
It is dynamic.
As shown in figure 4, rubber wheel Omni-mobile platform includes mobile platform car body 31 and double omnidirectional's rubber wheel 32, three certainly
It is equipped in linear guide by degree series-parallel mechanical arm and is installed on mobile platform car body 31, double omnidirectional's rubber wheel 32 passes through rubber
Rubber tire turns to the Omni-mobile in the cooperative achievement plane with revolving speed and can adapt to the complex road surfaces such as building site.
As shown in figure 5, four-degree-of-freedom power control mixed connection operation module I one embodiment includes the first branch 41, the second branch
42, third branch 43, mixed connection operation module fixed platform 44, mixed connection operation module moving platform 45, the installation of sucked type ceramic and glass tile are held
Row device 46.
First branch 41 is connected by a revolute pair with mixed connection operation module fixed platform 44, and a Hooke's hinge or two are passed through
A orthogonal revolute pair of axis is connect with mixed connection operation module moving platform 45, and power control unit is arranged inside branch；Second
Branch, third branch is identical as the first branched structure, and three branches are both connected to mixed connection operation module fixed platform and mixed connection operation
Closed loop configuration is formed between module moving platform, sucked type ceramic and glass tile installs actuator and passes through a revolute pair and mixed connection operation mould
The connection of block moving platform guarantees that sucked type ceramic and glass tile installation actuator has an one-movement-freedom-degree and three rotational freedoms,
And the external force acted on ceramic and glass tile can be controlled.
As shown in fig. 6, another embodiment of four-degree-of-freedom power control mixed connection operation module I may also include the first branch 51,
Second branch 52, third branch 53, mixed connection operation module fixed platform 54, mixed connection operation module moving platform 55 and sucked type ceramic tile
Glass installs actuator 56.
First branch 51 is allocated by a Hooke's hinge or two orthogonal revolute pairs of axis with mixed connection operation module
Platform 54 is connected, and is connect by a revolute pair with mixed connection operation module moving platform 55, and power control unit is arranged inside branch；Second
Branch, third branch is identical as the first branched structure, and three branches are both connected to formation closed loop knot between fixed platform and moving platform
Structure, sucked type ceramic and glass tile installation actuator are connect by a revolute pair with mixed connection operation module moving platform, guarantee sucked type
Ceramic and glass tile, which installs actuator, has an one-movement-freedom-degree and three rotational freedoms, and can be to acting on ceramic and glass tile
External force is controlled.
In one embodiment of the invention, specifically, as shown in fig. 7, the first branch includes first motor 411, first
Lead screw 412, the first power control unit 413, the first U-shaped rotating member 414 and the first spherical rotating member 415；Mixed connection module is dynamic flat
Platform 45；Sucked type ceramic and glass tile installation actuator includes ceramic and glass tile installation actuator truss structure 461 and acetabular surgery device
462.First motor 411 is connect with mixed connection operation module fixed platform 44, forms a revolute pair；The rotor of first motor 411 with
Nut in first ball screw pair is fixedly connected so that the first lead screw 412 have around nut axis rotational freedom and
Linear movement freedom degree in the axial direction constitutes cylindrical pair；Pacify between first lead screw, 412 end and the first U-shaped rotating member 414
Equipped with the first power control unit 413, the control to internal force is realized by the first power control unit 413 and final control action is in porcelain
External force on brick glass；First U-shaped rotating member 414 connect with the first spherical rotating member 415 and forms a revolute pair；First is spherical
Rotating member 415 and mixed connection module moving platform 45 are connected to form another revolute pair, and two revolute pair axis are orthogonal to constitute one
A Hooke's hinge；Second branch, third branch are identical as the first branched structure, realize that mixed connection module fixed platform 54 and mixed connection module are dynamic
Connection between platform 55 simultaneously constitutes parallel closed loop structure.Ceramic and glass tile installs actuator truss structure 461 and passes through a rotation
Pair is connect with mixed connection operation module moving platform 45, and acetabular surgery device 462 and ceramic and glass tile installation actuator truss structure 461 are fixed
Connection.It is final to guarantee that sucked type ceramic and glass tile installation actuator has an one-movement-freedom-degree and three rotational freedoms, and energy
It is enough that the external force acted on ceramic and glass tile is controlled.
In another embodiment of the present invention, specifically, as shown in figure 8, the first branch may also include first annular turn
Moving part 511, first motor 512, the first lead screw 513, the first power control unit 514 and the first U-shaped rotating member 515；Mixed connection mould
Block moving platform 55；Sucked type ceramic and glass tile installation actuator includes ceramic and glass tile installation actuator truss structure 561 and sucker
Operator 562.First annular rotating member 511 is connect with mixed connection operation module fixed platform 54, forms a revolute pair；First motor
512 are installed on first annular rotating member 511, form another revolute pair, two revolute pair axis, one Hooke of orthogonal formation
Hinge；The rotor of first motor 512 is fixedly connected with the nut in first ball screw pair, so that the first lead screw 513 has around spiral shell
The rotational freedom of mother's axle line and linear movement freedom degree in the axial direction constitute cylindrical pair；First lead screw, 513 end with
First U-shaped rotating member 515 is achieved a fixed connection by the first power control unit 514, and the first power control unit 514 is by first
Final realize of the control of branch internal force controls the external force acted on ceramic and glass tile；First U-shaped rotating member 515 and mixed connection mould
The connection of block moving platform 55 forms a revolute pair；Second branch, third branch are identical as the first branched structure, realize mixed connection module
Connection between fixed platform 54 and mixed connection module moving platform 55 simultaneously constitutes parallel closed loop structure.Ceramic and glass tile installs actuator truss
Structure 561 is connect by a revolute pair with mixed connection operation module moving platform 55, and acetabular surgery device 562 is held with ceramic and glass tile installation
Row device truss structure 561 is fixedly connected.It is final guarantee sucked type ceramic and glass tile installation actuator have an one-movement-freedom-degree and
Three rotational freedoms, and the external force acted on ceramic and glass tile can be controlled.
Specifically, four-degree-of-freedom power control mixed connection operation module can be realized biggish corner output, guarantee ceramic and glass tile
It can adapt to the requirement of installation site, setting angle and installation orientation, while can be with by the power control unit inside branch
It realizes and end stress is guaranteed by the control to branch internal force.
Specifically, in one embodiment of the invention, the power control unit includes: power control spring, the power control
Spring processed is in operation process by realizing the control of end normal pressure to position control；Damping shock absorber, the damping subtract
The device that shakes can realize the vibration suppression under power control condition by the coordination for controlling spring with the power；Cell enclosure, the control
Cell enclosure can then be combined with processing module body construction in parallel overcomes the problems, such as that the unit cannot bear torque.
Specifically, in another embodiment of the present invention, the power control unit may also include that force snesor, described
Force snesor feeds back acted on normal pressure in operation process；Power/position hybrid algo-rithm, according to the force snesor
The data fed back to realize that power/position mixing control, realization are guaranteeing to the Three Degree Of Freedom power control parallel module end effector
End institute external force action is controlled while position precision.
Specifically, the power control unit further include: according to actual job demand using the structure type of powerless control module.
Specifically, the rubber wheel Omni-mobile platform can also be changed to Mecanum according to the actual demand of construction site
Take turns the Omni-mobile platform of Omni-mobile platform or other forms.
Power control unit position in the embodiment of the present invention can be adjusted according to demand in actual use,
It is such as arranged between truss-like moving platform and acetabular surgery device.
Four-degree-of-freedom power control mixed connection operation module is mounted on three freedom degree series-parallel mechanical arm end cooperation linear guide and rubber
Rubber tire Omni-mobile platform and the mobile raw material storage of ceramic and glass tile, increase robot impulse stroke, and can guarantee described one
The sequence of operations such as running fix, feeding, installation and the displacement of Li Kong construction and installation robot of the kind based on hybrid mechanism, energy
The enough efficiency and quality for effectively promoting ceramic and glass tile installation operation.
A kind of Li Kong construction and installation robot based on hybrid mechanism of the embodiment of the present invention, by by four-degree-of-freedom power control
Mixed connection operation module be mounted on three freedom degree series-parallel mechanical arm end cooperation linear guide and rubber wheel Omni-mobile platform and
Ceramic and glass tile moves raw material storage, can increase robot good quality work spatial dimension, the realization pair in primary material loading process
The installation exercise of large area ceramic and glass tile metope and position and posture by installing actuator to end sucked type ceramic and glass tile
Control guarantee the installation effect of final ceramic and glass tile.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
It can be combined in any suitable manner in a or multiple embodiment or examples.In addition, without conflicting with each other, the technology of this field
The feature of different embodiments or examples described in this specification and different embodiments or examples can be combined by personnel
And combination.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of Li Kong construction and installation robot based on hybrid mechanism characterized by comprising
Rubber wheel Omni-mobile platform realizes that the big stroke of robot is mobile and adapts to construction site complicated landform；
Linear guide, the job area of aggrandizement apparatus under Omni-mobile platform dead ship condition；
Three freedom degree series-parallel mechanical arm, for controlling three-degree-of-freedom motion of the mechanical arm in space and guaranteeing terminal angle not
Become；
Four-degree-of-freedom power control mixed connection operation module guarantees sucker for controlling an one-movement-freedom-degree and three rotational freedoms
Formula ceramic and glass tile installs actuator and completes the operations such as feeding and the installation of ceramic and glass tile, and control action is outer on ceramic and glass tile
Power；And
Ceramic and glass tile moves raw material storage, realize the raw materials such as ceramic and glass tile with Che Yidong.
2. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 1, which is characterized in that described
Rubber wheel Omni-mobile platform includes:
Mobile platform car body, for realizing the carrying to mounting robot ontology and the mobile raw material storage of ceramic and glass tile；
Double omnidirectional's rubber wheel；Two rows of four rubber wheels with turning function of car body arranged beneath, can by each rubber wheel it
Between revolving speed and the cooperation turned to realize the Omni-mobile under the conditions of complicated ground at the construction field (site).
3. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 1, which is characterized in that described
Three freedom degree series-parallel mechanical arm includes:
Large arm, first connecting rod group and the mechanical arm large arm constitute parallelogram mechanism, to realize by underdriven the bottom of around
The rotational motion of portion's revolute pair center of rotation；
Forearm, second connecting rod group and the mechanical arm forearm constitute parallelogram mechanism, by additional third connecting rod to realize
The rotational motion around center of rotation driven by bottom motors；
Rotary type chassis, rotary type chassis may be implemented the whole rotation around vertical shaft of mechanical arm, guarantee that mechanical arm tail end is real
Existing space three-freedom is mobile.
4. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 1, which is characterized in that described
Four-degree-of-freedom power control mixed connection operation module includes:
Mixed connection module fixed platform；
Mixed connection module moving platform；
First branch, first branch are connect by a revolute pair with the mixed connection module fixed platform, and two axis are passed through
Mutually perpendicular revolute pair or a Hooke's hinge are connect with the mixed connection module moving platform, and first branch includes one by defeated
Enter the feed screw nut kinematic pair of driving, to control the rotational freedom and the lead screw between the lead screw and the nut axis
Along the one-movement-freedom-degree of first branch, arrange that power control is single between the feed screw nut kinematic pair and the Hooke's hinge
Member realizes the control to branch internal force, and final external force of the control action on ceramic tile and glass；
Second branch and third branch, second branch and the third branch are identical as first branched structure, described
First branch, second branch and the third branch are connected to the mixed connection module fixed platform and the mixed connection module
Between moving platform, constitutes closed loop parallel-connection structure and the external force acted on ceramic and glass tile can be controlled.
Sucked type ceramic and glass tile installs actuator, and the sucked type ceramic and glass tile installation actuator passes through with mixed connection module moving platform
One revolute pair connection, can guarantee sucked type ceramic tile by first branch, the second branch, third branch and revolute pair
Glass, which installs actuator, has an one-movement-freedom-degree and three rotational freedoms.
5. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 1, which is characterized in that described
Four-degree-of-freedom power control mixed connection operation module may also include that
Mixed connection module fixed platform；
Mixed connection module moving platform；
First branch, first branch are connected by two mutually perpendicular revolute pairs of axis and the mixed connection module fixed platform
It connects, is connect by a revolute pair with the mixed connection module moving platform, first branch includes a silk by input driving
Thick stick nut kinematic pair, to control rotational freedom between the lead screw and the nut axis and the lead screw along described first
The one-movement-freedom-degree of branch arranges power control unit between the feed screw nut kinematic pair and the revolute pair, realizes to branch
The control of chain internal force, and final external force of the control action on ceramic tile and glass；
Second branch and third branch, second branch and the third branch are identical as first branched structure, described
First branch, second branch and the third branch are connected to the mixed connection module fixed platform and mixed connection module is dynamic flat
Between platform, constitutes closed loop parallel-connection structure and the external force acted on ceramic and glass tile can be controlled；
Sucked type ceramic and glass tile installs actuator, and the sucked type ceramic and glass tile installation actuator passes through with mixed connection module moving platform
One revolute pair connection, can guarantee sucked type by first branch, the second branch, third branch and the revolute pair
Ceramic and glass tile, which installs actuator, has an one-movement-freedom-degree and three rotational freedoms.
6. a kind of movable building mounting robot according to claim 1, which is characterized in that the four-freedom hybrid
Operation module is mounted on the three freedom degree series-parallel mechanical arm end cooperation linear guide and carries rubber wheel Omni-mobile platform, with
Increase robot working space's range；Or it directly carries rubber wheel Omni-mobile platform and is moved by mechanical arm and rubber wheel omnidirectional
The cooperation of moving platform increases the shift motion of robot.
7. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 4 and claim 5, special
Sign is that the power control unit includes:
Power controls spring, and power control spring is in operation process by realizing the control of end normal pressure to position control
System；
Damping shock absorber, the damping shock absorber can realize the vibration under power control condition by the coordination for controlling spring with the power
It is dynamic to inhibit；
Cell enclosure, described control unit shell can then be combined with processing module body construction in parallel overcomes the unit cannot
The problem of bearing torque.
8. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 4 and claim 5, special
Sign is that the power control unit may also include that
Force snesor, the force snesor feed back acted on normal pressure in operation process；
Power/position hybrid algo-rithm, the data fed back to according to the force snesor are to the Three Degree Of Freedom power control parallel module
End effector realizes that power/position mixing control, realization control end institute external force action while guaranteeing position precision.
9. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 1, which is characterized in that described
Rubber wheel Omni-mobile platform can be also changed to according to the actual demand of construction site Mecanum wheel Omni-mobile platform or its
The Omni-mobile platform of his form.
10. a kind of Li Kong construction and installation robot based on hybrid mechanism according to claim 4 and claim 5,
It is characterized in that, the power control unit may also include that
According to actual use demand using the structure type of powerless control module.
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| CN110145106A (en) * | 2019-05-30 | 2019-08-20 | 曾向柳 | A kind of construction wall construction tile laying mechanical device |
| CN110230386A (en) * | 2019-06-28 | 2019-09-13 | 李方园 | A kind of robot being laid with ceramic tile automatically according to indoor arrangement |
| CN110397256A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of paving robot |
| CN111360786A (en) * | 2020-03-19 | 2020-07-03 | 上海交通大学 | Seven-degree-of-freedom serial-parallel hybrid mechanical arm configuration and mechanical arm |
| CN111409055A (en) * | 2020-04-21 | 2020-07-14 | 王彩霞 | A transfer robot that stability is high for glass production |
| CN111761570A (en) * | 2020-07-27 | 2020-10-13 | 山东女子学院 | A manipulator for industry intelligent manufacturing |
| CN112554518A (en) * | 2020-12-14 | 2021-03-26 | 南京乐飞电科技有限公司 | Curtain wall aluminum-plastic panel installation construction method |
| CN112706169A (en) * | 2019-10-24 | 2021-04-27 | 上海交通大学 | Robot system suitable for cleaning rocket storage tank |
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| CN113944307A (en) * | 2020-07-16 | 2022-01-18 | 广东博智林机器人有限公司 | Plate mounting device, plate mounting robot and plate mounting method |
| WO2023063903A1 (en) * | 2021-10-15 | 2023-04-20 | İzmi̇r Ekonomi̇ Üni̇versi̇tesi̇ | Hybrid force-position control based anti-slip decision mechanism and control algorithm for object manipulation with end actuator mechanism |
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| CN113944307A (en) * | 2020-07-16 | 2022-01-18 | 广东博智林机器人有限公司 | Plate mounting device, plate mounting robot and plate mounting method |
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