CN116833982A - Intelligent installation robot and control method - Google Patents
Intelligent installation robot and control method Download PDFInfo
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- CN116833982A CN116833982A CN202310926407.6A CN202310926407A CN116833982A CN 116833982 A CN116833982 A CN 116833982A CN 202310926407 A CN202310926407 A CN 202310926407A CN 116833982 A CN116833982 A CN 116833982A
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- tool
- manipulator
- switching mechanism
- moving
- sliding
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- 238000009434 installation Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 33
- 241000870659 Crassula perfoliata var. minor Species 0.000 claims description 16
- 239000003973 paint Substances 0.000 claims description 16
- 238000003756 stirring Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 12
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000005553 drilling Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled 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
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application discloses an intelligent installation robot and a control method, which relate to the technical field of automation equipment and comprise the following steps: the tool switching mechanism is arranged on the lifting base and comprises a plurality of tool heads of different types; the moving and carrying mechanism is arranged on the lifting base, a visual identification module and a manipulator are respectively arranged at the moving end of the moving and carrying mechanism, the visual identification module is used for identifying a position to be processed on a wall body, the manipulator is used for loading one tool head on the tool switching mechanism and driving the tool head to work on the position to be processed, and the moving and carrying mechanism is used for driving the visual identification module and the manipulator to move to the position of the wall body or the tool switching mechanism. The application can improve the construction efficiency and precision.
Description
Technical Field
The application relates to the technical field of automation equipment, in particular to an intelligent installation robot and a control method.
Background
At present, the construction of elevator installation mainly includes multiple processes such as civil engineering inspection, I-steel installation, guide rail installation, bridge box installation, electrical connection and debugging, traditional installation needs to rely on different processing equipment, especially need use different instruments to polish, the drilling, place the bolt and screw up the operation of nut to the wall body in the process of civil engineering inspection, I-steel installation and guide rail installation, so need the midway dismantlement tool head and install additional tool head and process, the troublesome operation, processing cost is great, and if adopt artificial mode to process, the efficiency is not high.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides the intelligent installation robot and the control method, which can improve the construction efficiency and precision.
In a first aspect, the present application provides an intelligent installation robot comprising:
lifting a base;
the tool switching mechanism is arranged on the lifting base and comprises a plurality of tool heads of different types;
the moving and carrying mechanism is arranged on the lifting base, a visual identification module and a manipulator are respectively arranged at the moving end of the moving and carrying mechanism, the visual identification module is used for identifying a position to be processed on a wall body, the manipulator is used for loading one tool head on the tool switching mechanism and driving the tool head to work on the position to be processed, and the moving and carrying mechanism is used for driving the visual identification module and the manipulator to move to the position of the wall body or the tool switching mechanism.
The intelligent installation robot provided by the embodiment of the first aspect of the application has at least the following beneficial effects: the intelligent mounting robot provided by the application is placed beside a wall body to be processed, the lifting base can drive the tool switching mechanism and the transfer mechanism to move in the vertical direction, the transfer mechanism is controlled to drive the visual identification module to acquire images at the wall body to obtain image information, the acquired image information is analyzed, the position to be processed is determined, the transfer mechanism is controlled to drive the manipulator to move to the tool switching mechanism according to a preset processing strategy, the manipulator is controlled to load a corresponding tool head at the tool switching mechanism, then the transfer mechanism is controlled to drive the manipulator to move to the position to be processed and control the manipulator to drive the tool head to work at the position to be processed, after the tool head finishes a processing task, the transfer mechanism is controlled again to drive the manipulator to move to the tool switching mechanism, the manipulator is controlled to unload the original tool head at the tool switching mechanism, and load other tool heads according to processing sequences, and processing operation of the next procedure is repeated at the processing position.
According to some embodiments of the first aspect of the present application, the transfer mechanism includes a first sliding structure, a second sliding structure and a third sliding structure, which are perpendicular to each other, where the first sliding structure is disposed on the lifting base, the second sliding structure is disposed at a moving end of the first sliding structure, the third sliding structure is disposed at a moving end of the second sliding structure, and the visual identification module and the manipulator are disposed at a moving end of the third sliding structure.
According to some embodiments of the first aspect of the present application, two first sliding structures and two second sliding structures are respectively provided, the two first sliding structures are longitudinally arranged on the lifting base in parallel and are located at two sides of the tool switching mechanism, one ends of the two second sliding structures are respectively vertically arranged at the moving ends corresponding to the first sliding structures, and two ends of the third sliding structure are respectively connected to the moving ends of the two second sliding structures.
According to some embodiments of the first aspect of the present application, the tool switching mechanism further includes a support frame, a plurality of mounting holes are provided on the support frame, the number of the mounting holes is matched with the number of the tool heads, and the tool heads are placed on the mounting holes in a one-to-one correspondence.
According to some embodiments of the first aspect of the present application, the tool switching mechanism further includes a fourth sliding structure and a rotating structure, the fourth sliding structure is transversely disposed on the lifting base, the rotating structure is disposed at a moving end of the fourth sliding structure, and the supporting frame is disposed at a driving end of the rotating structure.
According to some embodiments of the first aspect of the present application, a first clamping portion is disposed on a side, away from the working end, of each tool head, a second clamping portion corresponding to the first clamping portion is disposed on the driving end of the manipulator, a plurality of fixing grooves are circumferentially disposed on an outer wall of the first clamping portion, and balls matched with the fixing grooves are disposed on an inner wall of the second clamping portion.
According to some embodiments of the first aspect of the present application, a positioning clamping block is provided on an outer wall of the first clamping portion, and a positioning clamping groove corresponding to the positioning clamping block is provided on the second clamping portion.
According to some embodiments of the first aspect of the application, the tool switching mechanism further comprises a first conveying structure and a second conveying structure; the first conveying structure is used for outputting bolts and comprises a first feeding bin, a first conveying channel and a conveyor belt, wherein the first feeding bin is used for providing nuts, the output end of the first feeding bin is in butt joint with the input end of the first conveying channel, the output end of the first conveying channel is connected with the input end of the conveyor belt, and positioning columns for the nuts to pass through are arranged on the conveyor belt at intervals; the second conveying structure is used for outputting bolts and comprises a second feeding bin, a second conveying channel and a stirring wheel disc, wherein the second feeding bin is used for providing bolts, the output end of the second feeding bin is connected with the input end of the second conveying channel, and the stirring wheel disc is arranged below the output end of the second conveying channel and is used for stirring and sending out the bolts at the output end of the second conveying channel; the manipulator is also for receiving a nut at the output end of the conveyor belt and for receiving a bolt at the output end of the second conveyor channel.
According to some embodiments of the first aspect of the present application, the tool switching mechanism further comprises a paint bucket and a paint brush head, the paint brush head being placed beside an upper cover side of the paint bucket; the manipulator is also used for loading the paint brush head and driving the paint brush head to feed in the paint bucket and brush at the position to be processed.
In a second aspect, the application also provides a control method of the intelligent installation robot, the intelligent installation robot comprises a lifting base, a tool switching mechanism and a transferring mechanism, the tool switching mechanism comprises a plurality of tool heads of different types, and a visual identification module and a manipulator are respectively arranged on a moving end of the transferring mechanism; the control method comprises the following steps: acquiring image information acquired by the visual identification module; determining a position to be processed according to the image information; according to a preset processing strategy, the transfer mechanism is controlled to drive the manipulator to move to the tool switching mechanism, the manipulator is controlled to load the corresponding tool head at the tool switching mechanism, and the manipulator is controlled to drive the tool head to work at the position to be processed.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
Additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an intelligent installation robot provided by the application;
fig. 2 is a schematic structural diagram of a visual recognition module and a manipulator provided by the application;
FIG. 3 is a schematic diagram of a tool switching mechanism according to the present application;
fig. 4 is a schematic structural diagram of a tool switching mechanism provided by the present application.
The reference numerals are as follows:
lifting the base 100; a tool switching mechanism 200; a support frame 210; a first feed bin 221; a first conveyance path 222; a conveyor belt 223; a positioning post 224; a second feed bin 231; a second conveying passage 232; toggle the wheel 233; a fourth slip structure 240; a rotating structure 250; a paint bucket 261; a paint brush head 262; a first slip structure 310; a second slip structure 320; a third slip structure 330; a visual recognition module 400; a robot 500; a second clamping portion 510; a ball 511; a tool head 600; a first clamping portion 610; a fixing groove 611; a positioning fixture block 612; an ultrasonic probe 700.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
At present, the construction of elevator installation mainly includes multiple processes such as civil engineering inspection, I-steel installation, guide rail installation, bridge box installation, electrical connection and debugging, traditional installation needs to rely on different processing equipment, especially need use different instruments to polish, the drilling, place the bolt and screw up the operation of nut to the wall body in the process of civil engineering inspection, I-steel installation and guide rail installation, so need the midway dismantlement tool head and install additional tool head and process, the troublesome operation, processing cost is great, and if adopt artificial mode to process, the efficiency is not high.
Based on the above, the application provides an intelligent installation robot and a control method thereof, so as to solve the above technical problems, and detailed descriptions of the intelligent installation robot are provided below.
In a first aspect, referring to fig. 1, the present application provides an intelligent installation robot, comprising: the tool switching mechanism 200 is arranged on the lifting base 100, and the tool switching mechanism 200 comprises a plurality of tool heads 600 of different types; the transfer mechanism is arranged on the lifting base 100, a visual identification module 400 and a manipulator 500 are respectively arranged on the moving end of the transfer mechanism, the visual identification module 400 is used for identifying the position to be processed on the wall, the manipulator 500 is used for loading one tool head 600 on the tool switching mechanism 200 and driving the tool head 600 to work on the position to be processed, and the transfer mechanism is used for driving the visual identification module 400 and the manipulator 500 to move to the position of the wall or the tool switching mechanism 200. The intelligent mounting robot provided by the application is placed beside a wall body to be processed, the lifting base 100 can drive the tool switching mechanism 200 and the transfer mechanism to move in the vertical direction, the transfer mechanism is controlled to drive the visual recognition module 400 to acquire images at the wall body to obtain image information, the acquired image information is analyzed, the position to be processed is determined, the transfer mechanism is controlled to drive the manipulator 500 to move to the tool switching mechanism 200 according to a preset processing strategy, the manipulator 500 is loaded with the corresponding tool head 600 at the tool switching mechanism 200, then the transfer mechanism is controlled to drive the manipulator 500 to move to the position to be processed and control the manipulator 500 to drive the tool head 600 to work at the position to be processed, after the tool head 600 finishes a processing task, the transfer mechanism is controlled again to drive the manipulator 500 to move to the tool switching mechanism 200, the manipulator 500 is unloaded at the tool switching mechanism 200 to load additional tool heads 600 according to the processing sequence, and the processing operation of the next step is repeated at the processing position, the intelligent mounting robot provided by the application can automatically finish construction at the position to be processed at the corresponding processing position of the wall body, the elevator support can be placed on the preset tool head 600, the visual recognition module can not be realized, and the labor efficiency can be improved at the same time, and the accuracy of the operation of the machine tool head can be realized.
With continued reference to fig. 1, it may be understood that the transfer mechanism includes a first sliding structure 310, a second sliding structure 320, and a third sliding structure 330, which are perpendicular to each other, where the first sliding structure 310 is disposed on the lifting base 100, the second sliding structure 320 is disposed at a moving end of the first sliding structure 310, the third sliding structure 330 is disposed at a moving end of the second sliding structure 320, and the visual recognition module 400 and the manipulator 500 are disposed at a moving end of the third sliding structure 330. In the embodiment of the present application, the first sliding structure 310, the second sliding structure 320 and the third sliding structure 330 are perpendicular to each other, each sliding structure is responsible for driving in different directions, in which the first sliding structure 310 is driven in the Y-axis direction, the second sliding structure 320 is driven in the Z-axis direction, and the third sliding structure 330 is driven in the X-axis direction, and by the cooperation of the first sliding structure 310, the second sliding structure 320 and the third sliding structure 330, the visual recognition module 400 and the manipulator 500 can be driven to freely move in the three-dimensional space, so that the flexibility of the visual recognition module 400 and the manipulator 500 during movement is improved.
Specifically, the visual recognition module 400 is disposed at the moving end of the third sliding structure 330, and the manipulator 500 is disposed beside the visual recognition module 400, which is not limited in the present application. An ultrasonic probe 700 may also be provided at the end of the third slip structure 330.
With continued reference to fig. 1, it may be understood that two first sliding structures 310 and two second sliding structures 320 are respectively provided, the two first sliding structures 310 are longitudinally disposed on the lifting base 100 in parallel and located at two sides of the tool switching mechanism 200, one ends of the two second sliding structures 320 are vertically disposed at moving ends corresponding to the first sliding structures 310, and two ends of the third sliding structure 330 are respectively connected to moving ends of the two second sliding structures 320. It should be noted that, the moving ends of the two first sliding structures 310 are located in the same lateral direction at the same time, the driving speeds of the moving ends of the two first sliding structures 310 are the same, and likewise, the moving ends of the two second sliding structures 320 are located in the same lateral direction at the same time, and the driving speeds of the moving ends of the two second sliding structures 320 are the same, and by setting the two first sliding structures 310 and the two second sliding structures 320, the stability of driving the third sliding structure 330 to move is improved, so that the stability of driving the visual recognition module 400 and the manipulator 500 to move is improved.
Referring to fig. 3 and 4, it can be understood that the tool switching mechanism 200 further includes a support frame 210, a plurality of mounting holes are provided on the support frame 210, the number of the mounting holes is matched with the number of the tool heads 600, and the tool heads 600 are placed on the mounting holes in a one-to-one correspondence. In the process of construction, the wall body needs to be polished and drilled, and the tool head 600 includes polishing sheets, cutting knives, drills, etc. with different specifications, which are not limited in the present application. Each tool bit 600 is placed on the corresponding mounting hole, and when the tool bit 600 is needed, the transfer mechanism drives the manipulator 500 to the position corresponding to the mounting hole, and the butt-joint mounting is completed with the tool bit 600.
With continued reference to fig. 3 and 4, it can be appreciated that the tool switching mechanism 200 further includes a fourth sliding structure 240 and a rotating structure 250, the fourth sliding structure 240 is laterally disposed on the lifting base 100, the rotating structure 250 is disposed at a moving end of the fourth sliding structure 240, and the supporting frame 210 is disposed at a driving end of the rotating structure 250. The fourth sliding structure 240 is used for driving the support frame 210 to move in the X direction, and the rotating structure 250 is used for driving the support frame 210 to rotate, so that the support frame 210 can be adaptively adjusted according to the position of the manipulator 500, flexibility of the intelligent installation robot in construction is improved, and working efficiency of construction is improved.
Referring to fig. 1 and 2, it can be understood that each tool head 600 is provided with a first clamping portion 610 at a side far from the working end, the driving end of the manipulator 500 is provided with a second clamping portion 510 corresponding to the first clamping portion 610, the outer wall of the first clamping portion 610 is circumferentially provided with a plurality of fixing grooves 611, and the inner wall of the second clamping portion 510 is provided with balls 511 matched with the fixing grooves 611. When the tool head 600 is docked with the manipulator 500, the first clamping portion 610 of the tool head 600 is clamped with the second clamping portion 510 of the manipulator 500, specifically, rollers of the second clamping portion 510 are clamped in the fixing grooves 611 in a one-to-one correspondence manner, so that the working head can be stably driven to work in the construction process, and the tool head 600 can be prevented from falling in the construction process.
Referring to fig. 2, it can be understood that the outer wall of the first clamping portion 610 is provided with a positioning clamping block 612, and the second clamping portion 510 is provided with a positioning clamping groove corresponding to the positioning clamping block 612. The first clamping portion 610 and the second clamping portion 510 are pre-positioned by the positioning clamping block 612 and the positioning clamping groove, so that each roller can be clamped into the corresponding fixing groove 611 more easily.
Referring to fig. 3 and 4, it will be appreciated that the tool switching mechanism 200 further includes a first conveying structure and a second conveying structure; the first conveying structure is used for outputting bolts and comprises a first feeding bin 221, a first conveying channel 222 and a conveyor belt 223, wherein the first feeding bin 221 is used for providing nuts, the output end of the first feeding bin 221 is in butt joint with the input end of the first conveying channel 222, the output end of the first conveying channel 222 is connected with the input end of the conveyor belt 223, and positioning columns 224 for the nuts to pass through are arranged on the conveyor belt 223 at intervals; the second conveying structure is used for outputting bolts and comprises a second feeding bin 231, a second conveying channel 232 and a stirring wheel disc 233, the second feeding bin 231 is used for providing bolts, the output end of the second feeding bin 231 is connected with the input end of the second conveying channel 232, and the stirring wheel disc 233 is arranged below the output end of the second conveying channel 232 and is used for stirring and sending out the bolts at the output end of the second conveying channel 232; the robot 500 is also configured to receive nuts at the output of the conveyor 223 and to receive bolts at the output of the second conveyor channel 232. After grinding and drilling the wall, operations of bolting the wall, setting the elevator bracket, and tightening the nut are required, in which the bolts and nuts can be provided through the first and second conveying structures, respectively.
It should be noted that, the output ends of the first conveying structure and the second conveying structure may be provided with regular hexagonal output ports, which plays a role in angle alignment of the output bolts and nuts.
Referring to fig. 4, it can be appreciated that the tool switching mechanism 200 further includes a paint bucket 261 and a paint brush head 262, the paint brush head 262 being disposed beside the upper cover side of the paint bucket 261; the robot 500 also serves to load the paint brush head 262 and drive the paint brush head 262 to feed within the paint bucket 261 and to paint at the location to be processed. The upper cover of paint bucket 261 can be opened through motor drive, and behind manipulator 500 and the butt joint of coating brush head 262, control coating brush head 262 material loading in paint bucket 261 to move to the processing position department that corresponds and scribble, improved the diversification of intelligent installation robot construction.
In a second aspect, the present application also provides a control method of an intelligent installation robot, which is applied to the intelligent installation robot, the intelligent installation robot includes a lifting base 100, a tool switching mechanism 200 and a transferring mechanism, the tool switching mechanism 200 includes a plurality of tool heads 600 of different types, and a visual recognition module 400 and a manipulator 500 are respectively disposed on a moving end of the transferring mechanism, the control method includes, but is not limited to, the following steps:
step S110: acquiring image information acquired from the visual recognition module 400;
step S120: determining a position to be processed according to the image information;
step S130: according to a preset processing strategy, the transfer mechanism is controlled to drive the manipulator 500 to move to the tool switching mechanism 200, the manipulator 500 is controlled to load the corresponding tool head 600 at the tool switching mechanism 200, and the manipulator 500 is controlled to drive the tool head 600 to work at a position to be processed.
The intelligent mounting robot provided by the application is placed beside a wall body to be processed, the lifting base 100 can drive the tool switching mechanism 200 and the transfer mechanism to move in the vertical direction, the transfer mechanism is controlled to drive the visual recognition module 400 to acquire images at the wall body to obtain image information, the acquired image information is analyzed, the position to be processed is determined, the transfer mechanism is controlled to drive the manipulator 500 to move to the tool switching mechanism 200 according to a preset processing strategy, the manipulator 500 is loaded with the corresponding tool head 600 at the tool switching mechanism 200, then the transfer mechanism is controlled to drive the manipulator 500 to move to the position to be processed and control the manipulator 500 to drive the tool head 600 to work at the position to be processed, after the tool head 600 finishes a processing task, the transfer mechanism is controlled again to drive the manipulator 500 to move to the tool switching mechanism 200, the manipulator 500 is unloaded at the tool switching mechanism 200 to load additional tool heads 600 according to the processing sequence, and the processing operation of the next step is repeated at the processing position, the intelligent mounting robot provided by the application can automatically finish construction at the position to be processed at the corresponding processing position of the wall body, the elevator support can be placed on the preset tool head 600, the visual recognition module can not be realized, and the labor efficiency can be improved at the same time, and the accuracy of the operation of the machine tool head can be realized.
In addition, the tool switching mechanism 200 in the intelligent installation robot further includes a first conveying structure and a second conveying structure, and the control method of the intelligent installation robot provided by the application further includes: according to a preset machining strategy, the manipulator 500 is controlled to load bolts at the first conveying structure and place the bolts at positions to be machined, or the manipulator 500 is controlled to load nuts at the second conveying structure and screw the nuts at the corresponding bolts.
The tool switching mechanism 200 in the intelligent installation robot further comprises a paint bucket 261 and a paint brush head 262, and the control method of the intelligent installation robot provided by the application further comprises the following steps: the control robot 500 loads the paint brush head 262 and drives the paint brush head 262 to feed into the paint bucket 261 and to paint at the location to be processed.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.
Claims (10)
1. An intelligent installation robot, characterized by comprising:
lifting a base;
the tool switching mechanism is arranged on the lifting base and comprises a plurality of tool heads of different types;
the moving and carrying mechanism is arranged on the lifting base, a visual identification module and a manipulator are respectively arranged at the moving end of the moving and carrying mechanism, the visual identification module is used for identifying a position to be processed on a wall body, the manipulator is used for loading one tool head on the tool switching mechanism and driving the tool head to work on the position to be processed, and the moving and carrying mechanism is used for driving the visual identification module and the manipulator to move to the position of the wall body or the tool switching mechanism.
2. The intelligent installation robot of claim 1, wherein the transfer mechanism comprises a first sliding structure, a second sliding structure and a third sliding structure which are perpendicular to each other, the first sliding structure is arranged on the lifting base, the second sliding structure is arranged at a moving end of the first sliding structure, the third sliding structure is arranged at a moving end of the second sliding structure, and the visual recognition module and the manipulator are arranged at a moving end of the third sliding structure.
3. The intelligent installation robot of claim 2, wherein two first sliding structures and two second sliding structures are respectively arranged, the two first sliding structures are mutually parallel and longitudinally arranged on the lifting base and are positioned on two sides of the tool switching mechanism, one ends of the two second sliding structures are respectively vertically arranged at moving ends corresponding to the first sliding structures, and two ends of the third sliding structures are respectively connected to the moving ends of the two second sliding structures.
4. The intelligent installation robot of claim 1, wherein the tool switching mechanism further comprises a support frame, a plurality of installation hole sites are arranged on the support frame, the number of the installation hole sites is matched with the number of the tool heads, and the tool heads are placed on the installation hole sites in a one-to-one correspondence.
5. The intelligent mounting robot of claim 4, wherein the tool switching mechanism further comprises a fourth sliding structure and a rotating structure, the fourth sliding structure is transversely arranged on the lifting base, the rotating structure is arranged at a moving end of the fourth sliding structure, and the supporting frame is arranged at a driving end of the rotating structure.
6. The intelligent installation robot of claim 4, wherein each tool head is provided with a first clamping portion on one side far away from the working end, the driving end of the manipulator is provided with a second clamping portion corresponding to the first clamping portion, the outer wall circumference of the first clamping portion is provided with a plurality of fixing grooves, and the inner wall of the second clamping portion is provided with balls matched with the fixing grooves.
7. The intelligent installation robot of claim 6, wherein the outer wall of the first clamping portion is provided with a positioning clamping block, and the second clamping portion is provided with a positioning clamping groove corresponding to the positioning clamping block.
8. The intelligent installation robot of claim 1, wherein the tool switching mechanism further comprises a first transport structure and a second transport structure; the first conveying structure is used for outputting bolts and comprises a first feeding bin, a first conveying channel and a conveyor belt, wherein the first feeding bin is used for providing nuts, the output end of the first feeding bin is in butt joint with the input end of the first conveying channel, the output end of the first conveying channel is connected with the input end of the conveyor belt, and positioning columns for the nuts to pass through are arranged on the conveyor belt at intervals; the second conveying structure is used for outputting bolts and comprises a second feeding bin, a second conveying channel and a stirring wheel disc, wherein the second feeding bin is used for providing bolts, the output end of the second feeding bin is connected with the input end of the second conveying channel, and the stirring wheel disc is arranged below the output end of the second conveying channel and is used for stirring and sending out the bolts at the output end of the second conveying channel; the manipulator is also for receiving a nut at the output end of the conveyor belt and for receiving a bolt at the output end of the second conveyor channel.
9. The intelligent mounting robot of claim 1, wherein the tool switching mechanism further comprises a paint bucket and a paint brush head, the paint brush head being positioned beside an upper cover side of the paint bucket; the manipulator is also used for loading the paint brush head and driving the paint brush head to feed in the paint bucket and brush at the position to be processed.
10. The control method of the intelligent installation robot is characterized by being applied to the intelligent installation robot, wherein the intelligent installation robot comprises a lifting base, a tool switching mechanism and a transferring mechanism, the tool switching mechanism comprises a plurality of tool heads of different types, and a visual identification module and a manipulator are respectively arranged on the moving end of the transferring mechanism; the control method comprises the following steps:
acquiring image information acquired by the visual identification module;
determining a position to be processed according to the image information;
according to a preset processing strategy, the transfer mechanism is controlled to drive the manipulator to move to the tool switching mechanism, the manipulator is controlled to load the corresponding tool head at the tool switching mechanism, and the manipulator is controlled to drive the tool head to work at the position to be processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310926407.6A CN116833982A (en) | 2023-07-19 | 2023-07-19 | Intelligent installation robot and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310926407.6A CN116833982A (en) | 2023-07-19 | 2023-07-19 | Intelligent installation robot and control method |
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| CN116833982A true CN116833982A (en) | 2023-10-03 |
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| CN202310926407.6A Pending CN116833982A (en) | 2023-07-19 | 2023-07-19 | Intelligent installation robot and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118024284A (en) * | 2024-03-29 | 2024-05-14 | 深圳市元亨光电股份有限公司 | Intelligent maintenance robot |
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2023
- 2023-07-19 CN CN202310926407.6A patent/CN116833982A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118024284A (en) * | 2024-03-29 | 2024-05-14 | 深圳市元亨光电股份有限公司 | Intelligent maintenance robot |
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