CN116641533A - Robot brick laying method based on force-position hybrid control and brick laying robot - Google Patents
Robot brick laying method based on force-position hybrid control and brick laying robot Download PDFInfo
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- CN116641533A CN116641533A CN202310784213.7A CN202310784213A CN116641533A CN 116641533 A CN116641533 A CN 116641533A CN 202310784213 A CN202310784213 A CN 202310784213A CN 116641533 A CN116641533 A CN 116641533A
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- 239000011449 brick Substances 0.000 title claims abstract description 198
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 238000003825 pressing Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 21
- 239000004570 mortar (masonry) Substances 0.000 claims description 34
- 239000002002 slurry Substances 0.000 claims description 34
- 238000005507 spraying Methods 0.000 claims description 32
- 239000012636 effector Substances 0.000 claims description 16
- 230000005484 gravity Effects 0.000 claims description 13
- 238000004898 kneading Methods 0.000 claims description 13
- 230000007480 spreading Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012840 feeding operation Methods 0.000 claims description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims 3
- 239000000523 sample Substances 0.000 claims 1
- 239000004568 cement Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 239000011465 paving brick Substances 0.000 description 5
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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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
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/22—Implements for finishing work on buildings for laying flooring of single elements, e.g. flooring cramps ; flexible webs
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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
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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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
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/20—Implements for finishing work on buildings for laying flooring
- E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Structures (AREA)
Abstract
The invention relates to the technical field of industrial robots, in particular to a robot brick laying method based on force-position hybrid control and a brick laying robot, wherein the method comprises the following steps: determining the upper stress limit of the end actuating mechanism of the robot and the height of the brick laying completion surface; the method comprises the steps of enabling a robot to take bricks, and obtaining position information and stress information of an end actuating mechanism of the robot in six dimensions; according to the position information of the end execution mechanism in six dimensions and the current position of the brick to be paved, enabling the end execution mechanism to hold the brick to move to the position of the brick to be paved; the end actuating mechanism is made to execute the pressing operation, and the position information and the stress information of the end actuating mechanism on the z axis are obtained in real time in the pressing process; and controlling the pressing operation according to the position information and the stress information of the end actuating mechanism on the z axis. The invention can accurately adjust the brick surface to the vicinity of the preset brick paving completion surface, and improves the brick paving quality.
Description
Technical Field
The embodiment of the invention relates to the technical field of industrial robots, in particular to a robot brick laying method based on force-position hybrid control and a brick laying robot.
Background
The brick laying robot is used as a special industrial robot and has the function of replacing the traditional manual brick laying. At present, the paving brick is mainly divided into two paving modes, namely dry mortar paving and ceramic tile glue paving. The dry mortar paving is generally to pave dry mortar on the ground, then scrape cement paste on the back of the brick, and then perform the operations of paving, butt joint, pressing and the like on the dry mortar; the tile adhesive is mainly used for scraping the tile adhesive on the back of the tile, and then the tile adhesive is directly paved on the ground or the wall surface. The two paving modes need to use the tail end actuating mechanism of the robot to carry out actions such as pressing, and the requirements on the paved dry mortar or scraped cement paste are relatively high, otherwise, the quality problem that the brick surface has height difference or hollowness after paving is easy to occur.
Disclosure of Invention
Based on the problem that the height difference or hollowness of a robot brick paving easily occurs in the prior art, the embodiment of the invention provides a robot brick paving method based on force-position hybrid control and a brick paving robot, which can accurately adjust a brick surface to a preset brick paving finished surface height and improve brick paving quality.
In a first aspect, an embodiment of the present invention provides a method for paving a brick by a robot based on force-position hybrid control, including:
determining the upper stress limit of an end actuating mechanism of the robot and the height of a brick laying finished surface;
the robot is enabled to take bricks, and position information and stress information of an end actuating mechanism of the robot in six dimensions are obtained; the six dimensions comprise an x axis and a y axis in a horizontal plane, a z axis in a vertical direction, and rotation dimensions Rx, ry and Rz taking the x axis, the y axis and the z axis as rotating shafts respectively;
according to the position information of the end actuating mechanism in six dimensions and the current position of the brick to be paved, enabling the end actuating mechanism to hold the brick to move to the position of the brick to be paved;
the end actuating mechanism is enabled to execute the pressing operation, and in the pressing process, only the position information and the stress information of the end actuating mechanism on the z axis are obtained in real time;
according to the position information and the stress information of the end actuating mechanism on the z axis, the pressing operation is controlled, and the pressing operation comprises the following steps:
according to the position information of the end actuating mechanism on the z axis, the brick surface height is monitored in real time, and meanwhile, according to the stress information of the end actuating mechanism on the z axis, the acting force condition of the robot on the brick surface is monitored in real time;
if the height of the brick surface reaches the vicinity of the brick paving completion surface, judging whether empty drums exist below the brick surface according to the stress information of the current end actuating mechanism on the z axis, stopping working and alarming if the empty drums exist below the brick surface, separating the end actuating mechanism from the bricks, updating the current brick paving position to be paved, and returning to the step of enabling the robot to take the bricks; wherein, the judging condition near the brick paving completion surface is that the difference between the height of the brick surface and the height of the brick paving completion surface is not more than a preset height difference threshold;
if the acting force of the brick surface of the end actuating mechanism on the z axis is continuously increased to the upper limit of the stress, the robot stops pressing operation, and judges whether the height of the brick surface reaches the vicinity of the brick paving completion surface, if so, the end actuating mechanism is separated from the brick, the current brick to be paved position is updated, and the step of taking the brick by the robot is returned; otherwise, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of a z axis, rx and Ry, enabling the robot to enable the brick surface to move downwards horizontally in a kneading or vibrating mode until the height of the brick surface reaches the vicinity of the brick paving completion surface, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of the x axis, the y axis and the Rz, adjusting the pose of the brick, enabling the end actuating mechanism to be separated from the brick after the adjustment of the six dimensions is completed, updating the current brick waiting position, and returning to the step of enabling the robot to take the brick.
Optionally, the determining the upper stress limit of the end effector of the robot includes:
determining a first upper stress limit of the end effector in the z-axis according to the working parameters of the robot;
determining a second upper limit of stress when the end effector is depressed along a z-axis to the robot lift-off; the robot ground clearance judging condition is that the detection result of a force sensor arranged below the robot base is reduced below a preset gravity threshold value;
taking N times of the smaller value of the first stress upper limit and the second stress upper limit as the stress upper limit of the tail end executing mechanism of the robot; the value range of N is 3/4-5/6.
Optionally, the controlling the pressing operation further includes:
in the process of downwards moving the brick surface in a kneading or vibrating mode, if the acting force of the brick surface in six dimensions of the end actuating mechanism is applied for three times to reach the upper stress limit, stopping working and alarming.
Optionally, the determining whether there is a blank drum under the brick face includes:
judging whether the stress of the end actuating mechanism on the z axis is smaller than a preset stress lower limit or not; if the difference is smaller than the preset value, the empty drum is considered to exist under the brick surface, otherwise, the empty drum is considered to exist under the brick surface.
Optionally, after determining the height of the tile-finished surface, the method further includes, before the step of taking the tile by the robot:
after the robot moves to the operation position, the feeding operation, the fine flattening operation and the slurry spraying operation are sequentially completed; the feeding operation comprises adding dry mortar in a region to be tiled until the height of the dry mortar exceeds the height of the tiled finished surface.
Optionally, the fine flattening operation includes:
enabling the robot to start a fine spreading tool, and enabling the fine spreading tool to move on the surface of the dry mortar to realize fine spreading.
Optionally, the slurry spraying operation includes:
enabling the robot to take the slurry spraying mechanism, starting the slurry spraying mechanism, and spraying slurry on the surface of the dry mortar after spreading by using the output end of the slurry spraying mechanism;
if the slurry spraying mechanism is detachable, the slurry spraying mechanism is detached after the slurry spraying operation is completed.
Optionally, among the position information of the end effector in six dimensions, the position information in the x-axis, y-axis and Rz rotational dimensions is determined by machine vision, the position information in the z-axis dimension is determined by machine vision or point laser, and the position information in the two rotational dimensions of Ry and Rz is determined by value calculation of a gyroscope or point laser.
In a second aspect, the embodiment of the invention also provides a brick laying robot, which is used for realizing the method according to any one of the above; the tiling robot includes: a movable base and an end effector disposed on the movable base.
Optionally, a force sensor is arranged on a base of the brick laying robot and used for monitoring the gravity of the brick laying robot in real time;
when the real-time gravity of the brick laying robot is smaller than a preset gravity threshold, the brick laying robot gives an alarm.
The embodiment of the invention provides a robot brick paving method based on force-position hybrid control and a brick paving robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for paving bricks by a robot based on force-position hybrid control according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for paving bricks by a robot based on force-position hybrid control according to an embodiment of the present invention;
FIG. 3 is a flow chart of controlling a pressing operation in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As described above, the present paving brick is mainly divided into two paving modes, i.e. dry mortar paving and tile glue paving. The two paving modes need to use the tail end actuating mechanism of the robot to carry out actions such as pressing, and the requirements on the paved dry mortar or scraped cement paste are relatively high, otherwise, the quality problem that the brick surface has height difference or hollowness after paving is easy to occur. When the paved dry mortar or cement paste is insufficient, the situation that the quality of the dry mortar or cement paste is empty or the brick surface is lower than the brick paving finished surface is easily caused after the paving is finished; when the materials are too much, because the weight of the robot must be within a certain range, the load that the end effector of the robot can provide is limited, and the excessive pressure may cause the robot to lift off the ground, and insufficient force for pressing the bricks may cause a situation that the finished surface of the bricks to be paved is too high. Both conditions can cause a difference in the height of the tile paving surface, which affects the quality of the tile. In view of the above, the invention provides a robot tile paving method based on force-position hybrid control, which realizes accurate control of the tile paving pressing operation process in a force-position hybrid control mode, so that the tile surface can be accurately adjusted to a preset tile finishing surface height within the bearable range of a robot, and the tile paving quality is improved.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a method for paving bricks by a robot based on force-position hybrid control, the method comprising:
step 100, determining the upper stress limit of an end actuating mechanism of a robot and the height of a brick laying finished surface;
for example, a horizontal laser line may be provided for indicating the height of the finished surface of the tile;
102, enabling the robot to take bricks, and acquiring position information and stress information of an end actuating mechanism of the robot in six dimensions;
the six dimensions comprise an x axis and a y axis in a horizontal plane, a z axis in a vertical direction, and rotation dimensions Rx, ry and Rz taking the x axis, the y axis and the z axis as rotating shafts respectively;
104, according to the position information of the end actuating mechanism in six dimensions and the current position of the brick to be paved, enabling the end actuating mechanism to hold the brick to move to the position of the brick to be paved;
step 106, the end actuating mechanism is made to execute the pressing operation, and in the pressing process, only the position information and the stress information of the end actuating mechanism on the z axis are obtained in real time;
that is, in the pressing process of step 106, the position information and the stress information in the other five dimensions can be no longer obtained, so as to reduce the measurement burden and the processing speed;
step 108, controlling the pressing operation according to the position information and the stress information of the end actuating mechanism on the z axis, including:
according to the position information of the end actuating mechanism on the z axis, the brick surface height is monitored in real time, and meanwhile, according to the stress information of the end actuating mechanism on the z axis, the acting force condition of the robot on the brick surface is monitored in real time;
if the brick surface reaches the vicinity of the brick paving completion surface, judging whether empty drums exist under the brick surface according to the stress information of the current end actuating mechanism on the z axis, stopping working and alarming if the empty drums exist under the brick surface, separating the end actuating mechanism from the bricks, updating the current brick to be paved position, and returning to the step of enabling the robot to take the bricks, namely returning to the step 102; wherein, the judging condition near the brick paving completion surface is that the difference between the height of the brick surface and the height of the brick paving completion surface is not more than a preset height difference threshold; for example, the preset height difference threshold may be set to 0.5mm, i.e., when the height of the brick face does not differ from the height of the brick finish face by more than 0.5mm, the height of the brick face is considered to be near the brick finish face; in other embodiments, other preset height difference thresholds may be set as desired;
if the acting force of the brick surface of the end actuating mechanism on the z axis is continuously increased to the upper limit of the stress, the robot stops pressing operation, and judges whether the height of the brick surface reaches the vicinity of the brick paving completion surface, if so, the end actuating mechanism is separated from the brick, the current brick to be paved position is updated, and the step of enabling the robot to take the brick is returned, namely, the step 102 is returned; otherwise, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of a z axis, rx and Ry, enabling the robot to horizontally move downwards until the height of the brick surface reaches the vicinity of the brick paving completion surface in a kneading or vibrating mode, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of the x axis, the y axis and the Rz, adjusting the pose of the brick, enabling the brick to be at a specified brick paving position after the adjustment of six dimensions is completed, enabling angles of the brick joints, the brick, the height of the brick and the like to meet the requirements, enabling the end actuating mechanism to be separated from the brick, updating the current brick paving position, and returning to the step of enabling the robot to take the brick, namely returning to step 102.
According to the embodiment of the invention, a force position combination mode is adopted to perform tile paving control, the situation that empty drums occur due to insufficient feeding is avoided by enabling the height of dry mortar to exceed the height of a tile paving completion surface, the tile surface height and the z-axis force of a robot are monitored in real time in the process of controlling the pressing operation in step 108, if the tile surface of a held tile reaches the vicinity of the tile paving completion surface, if empty drums exist in force detection, the working is stopped and an alarm is given, if the acting force of an end executing mechanism on the z-axis is increased to the upper limit of the force of the tile surface, if the acting force of the end executing mechanism on the z-axis is still required to be adjusted continuously according to the tile surface height detection, if the acting force of the end executing mechanism is still required to be adjusted downwards, the z-axis data are acquired, the tile surface is still required to be pressed downwards in a kneading or vibrating mode, the two rotation dimensions of Rx and Ry are ensured to be unchanged at the same time, namely, the tile surface level is ensured, and after the vicinity of the tile paving completion surface is reached, the specific positions and angles of the tile on the x-axis, the y-axis and the Rz dimension are adjusted, if alignment and the like are met, so that the tile paving quality of the tile is required to be improved. The kneading can be realized by moving the bricks in front, back, left and right directions, the specific moving direction can be determined according to the idle positions around the tiles to be paved, and the vibrating can be performed at the original position, but no matter kneading or vibrating, the stress of the robot on the z-axis should not exceed the stress upper limit so as to avoid the problems of self-grounding of the robot or overload of an end executing mechanism and the like.
In addition, in the pressing process, only the position information and the stress information of the end actuating mechanism on the z axis are obtained in real time, so that the burden of information acquisition and processing is reduced; when kneading or vibrating is needed, the position information and the stress information of the end actuating mechanism in two dimensions Rx and Ry are obtained so as to ensure the level of the brick surface in the descending process; when the positions of the bricks in the x-axis and y-axis directions and in the Rz dimension are required to be adjusted, the position information and the stress information of the current end actuating mechanism in the x-axis, y-axis and Rz dimensions are acquired, so that the brick joints are aligned; when a brick is paved and a next brick is prepared, the position information and the stress information of the tail end executing mechanism of the robot in six dimensions are acquired, so that the operations of precisely taking the brick, moving and the like are realized, and meanwhile, the information processing amount is reduced.
The manner in which the individual steps are performed is described below.
Optionally, as shown in fig. 2 and 3, after determining the height of the tile-forming surface, the method further includes, before the step of taking the tile by the robot:
after the robot moves to the operation position, the feeding operation, the fine flattening operation and the slurry spraying operation are sequentially completed;
the feeding operation comprises adding dry mortar in a region to be paved with bricks until the height of the dry mortar exceeds the height of the paving finished surface.
Further, before the step of taking bricks by the robot, the step of setting horizontal laser lines can also comprise manual material mixing, and the steps of stacking bricks to be paved to a designated position and the like can be performed in advance. After the front-end work is completed, the robot can be started to load the paving scene.
Optionally, the loading operation further includes:
and detecting the height of the dry mortar, wherein the height of the dry mortar is not more than 1cm higher than the height of the brick laying finished surface.
The excessive mortar may cause the difficulty of the robot to press the brick surface to the preset height of the brick paving completion surface, so that the dry mortar is not required to be controlled to be too high to exceed the height of the brick paving completion surface in order to avoid excessive feeding. In other embodiments, the height above the finished surface of the tile may be set as desired.
Optionally, the fine flattening operation includes:
enabling the robot to start a fine spreading tool, and enabling the fine spreading tool to move on the surface of the dry mortar to realize fine spreading.
In the process of performing the fine flattening operation, the robot moves and finds the position starting the fine flattening through the related sensor; and according to the placed laser line, the dry mortar is finely flattened by adjusting the height to the corresponding height through a sensor and keeping the fixed height, angle and levelness. The flattening quality is preferably improved by moving the end effector at a constant speed.
Optionally, the slurry spraying operation includes:
enabling the robot to take the slurry spraying mechanism, starting the slurry spraying mechanism, and spraying slurry on the surface of the dry mortar after spreading by using the output end of the slurry spraying mechanism;
if the slurry spraying mechanism is detachable, the slurry spraying mechanism is detached after the slurry spraying operation is completed.
After finishing the fine flattening operation, the robot moves to the slurry spraying mechanism, then the slurry spraying mechanism is taken, the slurry spraying mechanism moves to the initial position of the dry mortar which has finished the fine flattening again, the slurry spraying pump, the valve and other controllers are started, the height position of the laser line obtained by the sensor is kept to be at a certain height to move in the horizontal direction, and cement slurry is uniformly sprayed onto the dry mortar which has finished the fine flattening until the slurry spraying operation is finished. The process of finely flattening mortar and the speed of pouring mortar are controlled by a machine, so that the uniformity and flatness of the mortar contacted with the brick surface in the subsequent brick paving process are ensured.
Alternatively, for step 100, the upper stress limit may be determined by:
determining a first upper stress limit of the end effector in the z-axis according to the working parameters of the robot;
determining a second upper limit of stress when the end effector is depressed along a z-axis to the robot lift-off; the robot ground clearance judging condition is that the detection result of a force sensor arranged below the robot base is reduced below a preset gravity threshold value; the gravity threshold is preferably not less than 1/3 of the standing gravity of the robot;
taking N times of the smaller value of the first stress upper limit and the second stress upper limit as the stress upper limit of the tail end executing mechanism of the robot; n is preferably 3/4 to 5/6, more preferably 4/5.
By adopting the embodiment, the condition that the robot is overloaded or is separated from the ground can be effectively avoided, the overload, namely the stress of the end actuating mechanism, exceeds the preset upper limit, the robot is possibly damaged, the separation, namely the downward pressing and the force application of the robot are overlarge, the base of the robot is reversely separated from the ground, the information acquired by the robot again after the separation can deviate from the actual condition, the tilting can be triggered, and the paving effect can be influenced, so that the stress of the robot is very necessary to be accurately controlled in the actual paving process. Taking 4/5 of the smaller value of the first stress upper limit and the second stress upper limit as the stress upper limit of the tail end executing mechanism of the robot can ensure that the robot does not have extreme conditions and can always work normally.
Optionally, for step 108, determining whether there is a void under the tile surface includes:
judging whether the stress of the end actuating mechanism on the z axis is smaller than a preset stress lower limit or not; if the difference is smaller than the preset value, the empty drum is considered to exist under the brick surface, otherwise, the empty drum is considered to exist under the brick surface.
According to the embodiment, the condition that the stress of the end actuating mechanism on the z axis is smaller than the preset stress lower limit is taken as the condition for judging that empty drums exist, other detection means are not needed to be introduced, the fact that the acting force of the robot on the brick surface is smaller can be used for judging that mortar under the brick paving is insufficient, namely that the brick currently paved by the robot does not meet the requirement is judged, the machine can pause paving, manual adjustment is reminded, and the problem of the empty drums possibly caused is solved in time. In other embodiments, other ways of determining whether a cavitation exists may also be employed.
Optionally, for step 108, controlling the pressing operation further includes:
in the process of downwards moving the brick surface in a kneading or vibrating mode, if the acting force of the brick surface in six dimensions of the end actuating mechanism is applied for three times to reach the upper stress limit, stopping working and alarming.
According to the embodiment, the acting force of the end actuating mechanism on the brick surface on the z axis is detected in the kneading or vibrating process, if the acting force of the end actuating mechanism on the brick surface on the six dimensions reaches the upper stress limit three times, namely the acting force of the end actuating mechanism on the six dimensions is not reduced in the kneading or vibrating process, and the height of the end actuating mechanism does not reach the standard height, the brick surface cannot be further lowered by kneading or vibrating, too much feeding is confirmed, the problem is difficult to solve by a robot alone, and an alarm is necessary to inform staff of intervention so as to ensure the brick paving quality.
Optionally, among the position information of the end effector in six dimensions, the position information in x-axis, y-axis, and Rz rotational dimensions is determined by machine vision, the position information in z-axis dimension is determined by machine vision or point laser, and the position information in both Ry and Rz rotational dimensions is determined by value calculation of gyroscope or point laser.
The embodiment can determine the position information of the end effector in six dimensions through machine vision and a gyroscope or a point laser, and the gyroscope or the point laser can rapidly determine the inclination angle of the brick surface relative to the horizontal plane (namely the plane formed by the x axis and the y axis), so that the processing speed is faster and the resolution is better compared with the machine vision. In other embodiments, other sensors or detection schemes may be used to determine the six-dimensional data.
The embodiment of the invention also provides a brick laying robot which is used for realizing the method according to any one of the embodiments; the tiling robot includes: a movable base and an end effector disposed on the movable base.
Optionally, a force sensor is arranged on a base of the brick laying robot and used for monitoring the gravity of the brick laying robot in real time;
when the real-time gravity of the brick laying robot is smaller than a preset gravity threshold, the brick laying robot gives an alarm.
In the above embodiment, the force sensor is provided on the base of the brick laying robot, when the force sensor determines the upper limit of the stress of the end actuating mechanism of the robot in step 100, the force sensor can be used for determining the second upper limit of the stress when the end actuating mechanism is pressed down to the ground leaving position of the robot along the z axis, and in the brick laying process, whether the robot has a sign of ground leaving or not can be continuously monitored, so that the data information acquired by the brick laying robot is accurate and free, the working state of the brick laying robot body is stable, and the problems of toppling and the like can not occur.
The embodiments of the invention have at least the following beneficial effects:
1. in one embodiment of the invention, a robot brick paving method based on force-position hybrid control is provided, the method adopts a force-position combination mode to realize the efficient and accurate brick paving of an industrial robot, and the height difference and the hollowness rate of the bricks after the brick paving are ensured to be in a qualified range. The efficiency and the accuracy of robot operation are higher than those of manual work; repeatability and reproducibility are also stronger than manual work. Under the condition that the slurry meets the requirements, the brick after being paved can meet the requirements on the height difference and the brick joint, and no empty drum basically exists; when the possibly problematic bricks appear, the robot can prompt modification in time, so that the risk of post-repair is avoided.
2. In one embodiment of the invention, a brick laying robot is also provided, which can realize laying under a certain load, and the bricks to be laid are pressed down to the height of a finished surface in a certain height mortar range through a flow of force position control, so that the height difference is ensured.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The robot brick laying method based on the force-position mixed control is characterized by comprising the following steps of:
determining the upper stress limit of an end actuating mechanism of the robot and the height of a brick laying finished surface;
the robot is enabled to take bricks, and position information and stress information of an end actuating mechanism of the robot in six dimensions are obtained; the six dimensions comprise an x axis and a y axis in a horizontal plane, a z axis in a vertical direction, and rotation dimensions Rx, ry and Rz taking the x axis, the y axis and the z axis as rotating shafts respectively;
according to the position information of the end actuating mechanism in six dimensions and the current position of the brick to be paved, enabling the end actuating mechanism to hold the brick to move to the position of the brick to be paved;
the end actuating mechanism is enabled to execute the pressing operation, and in the pressing process, only the position information and the stress information of the end actuating mechanism on the z axis are obtained in real time;
according to the position information and the stress information of the end actuating mechanism on the z axis, the pressing operation is controlled, and the pressing operation comprises the following steps:
according to the position information of the end actuating mechanism on the z axis, the brick surface height is monitored in real time, and meanwhile, according to the stress information of the end actuating mechanism on the z axis, the acting force condition of the robot on the brick surface is monitored in real time;
if the height of the brick surface reaches the vicinity of the brick paving completion surface, judging whether empty drums exist below the brick surface according to the stress information of the current end actuating mechanism on the z axis, stopping working and alarming if the empty drums exist below the brick surface, separating the end actuating mechanism from the bricks, updating the current brick paving position to be paved, and returning to the step of enabling the robot to take the bricks; wherein, the judging condition near the brick paving completion surface is that the difference between the height of the brick surface and the height of the brick paving completion surface is not more than a preset height difference threshold;
if the acting force of the brick surface of the end actuating mechanism on the z axis is continuously increased to the upper limit of the stress, the robot stops pressing operation, and judges whether the height of the brick surface reaches the vicinity of the brick paving completion surface, if so, the end actuating mechanism is separated from the brick, the current brick to be paved position is updated, and the step of taking the brick by the robot is returned; otherwise, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of a z axis, rx and Ry, enabling the robot to enable the brick surface to move downwards horizontally in a kneading or vibrating mode until the height of the brick surface reaches the vicinity of the brick paving completion surface, acquiring the position information and the stress information of the current end actuating mechanism in three dimensions of the x axis, the y axis and the Rz, adjusting the pose of the brick, enabling the end actuating mechanism to be separated from the brick after the adjustment of the six dimensions is completed, updating the current brick waiting position, and returning to the step of enabling the robot to take the brick.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the determining the upper limit of stress of the end actuating mechanism of the robot comprises the following steps:
determining a first upper stress limit of the end effector in the z-axis according to the working parameters of the robot;
determining a second upper limit of stress when the end effector is depressed along a z-axis to the robot lift-off; the robot ground clearance judging condition is that the detection result of a force sensor arranged below the robot base is reduced below a preset gravity threshold value;
taking N times of the smaller value of the first stress upper limit and the second stress upper limit as the stress upper limit of the tail end executing mechanism of the robot; the value range of N is 3/4-5/6.
3. The method according to any one of claim 1 or 2, wherein,
the controlling the pressing operation further includes:
in the process of downwards moving the brick surface in a kneading or vibrating mode, if the acting force of the brick surface in six dimensions of the end actuating mechanism is applied for three times to reach the upper stress limit, stopping working and alarming.
4. The method according to any one of claim 1 or 2, wherein,
judging whether empty drums exist under the brick surface or not, comprising:
judging whether the stress of the end actuating mechanism on the z axis is smaller than a preset stress lower limit or not; if the difference is smaller than the preset value, the empty drum is considered to exist under the brick surface, otherwise, the empty drum is considered to exist under the brick surface.
5. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the method further comprises the following steps of after determining the height of the brick laying completion surface and before the step of enabling the robot to take bricks:
after the robot moves to the operation position, the feeding operation, the fine flattening operation and the slurry spraying operation are sequentially completed; the feeding operation comprises adding dry mortar in a region to be tiled until the height of the dry mortar exceeds the height of the tiled finished surface.
6. The method of claim 5, wherein the step of determining the position of the probe is performed,
the fine flattening operation includes:
enabling the robot to start a fine spreading tool, and enabling the fine spreading tool to move on the surface of the dry mortar to realize fine spreading.
7. The method of claim 6, wherein the step of providing the first layer comprises,
the slurry spraying operation comprises the following steps:
enabling the robot to take the slurry spraying mechanism, starting the slurry spraying mechanism, and spraying slurry on the surface of the dry mortar after spreading by using the output end of the slurry spraying mechanism;
if the slurry spraying mechanism is detachable, the slurry spraying mechanism is detached after the slurry spraying operation is completed.
8. The method of claim 1, wherein the step of determining the position of the substrate comprises,
among the position information of the end effector in six dimensions, the position information in the x-axis, y-axis and Rz rotational dimensions is determined by machine vision, the position information in the z-axis dimension is determined by machine vision or point laser, and the position information in the two rotational dimensions of Ry and Rz is determined by value calculation of a gyroscope or point laser.
9. A tiling robot, characterized by being adapted to implement the method of any one of claims 1-8; the tiling robot includes: a movable base and an end effector disposed on the movable base.
10. The tiling robot of claim 9, wherein the base of the tiling robot is provided with a force sensor for monitoring the weight of the tiling robot in real time;
when the real-time gravity of the brick laying robot is smaller than a preset gravity threshold, the brick laying robot gives an alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310784213.7A CN116641533A (en) | 2023-06-29 | 2023-06-29 | Robot brick laying method based on force-position hybrid control and brick laying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310784213.7A CN116641533A (en) | 2023-06-29 | 2023-06-29 | Robot brick laying method based on force-position hybrid control and brick laying robot |
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| CN116641533A true CN116641533A (en) | 2023-08-25 |
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| CN202310784213.7A Pending CN116641533A (en) | 2023-06-29 | 2023-06-29 | Robot brick laying method based on force-position hybrid control and brick laying robot |
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| Country | Link |
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| CN (1) | CN116641533A (en) |
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- 2023-06-29 CN CN202310784213.7A patent/CN116641533A/en active Pending
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