CN118024284A

CN118024284A - Intelligent maintenance robot

Info

Publication number: CN118024284A
Application number: CN202410377067.0A
Authority: CN
Inventors: 钟涛; 李鸥; 周旭; 李小杰
Original assignee: SHENZHEN YAHAM OPTOELECTRONICS CO Ltd
Current assignee: SHENZHEN YAHAM OPTOELECTRONICS CO Ltd
Priority date: 2024-03-29
Filing date: 2024-03-29
Publication date: 2024-05-14

Abstract

The application relates to the technical field of intelligent maintenance robots, in particular to an intelligent maintenance robot, wherein image information of a piece to be maintained is acquired through a visual module, a moving device drives disassembly, assembly and loading to move to a damaged piece to be maintained according to the image information, and screws for fixing the piece to be maintained are disassembled through the disassembly and assembly device. After the screw is disassembled by the disassembling device, the screw is carried to the loading device. After all screws for fixing the to-be-maintained parts are removed, the moving device moves the taking and placing device to the installation position of the to-be-maintained parts, the to-be-maintained parts are taken out from the installation position of the to-be-maintained parts through the taking and placing device, and the replacement parts capable of working normally are installed. After the replacement part is installed at the installation position, the dismounting device takes the screw from the loading device, the screw is installed at the replacement part at the installation position, and the replacement part is fixed through the screw, so that the maintenance of the part to be maintained is completed. The whole maintenance process is completed through the intelligent maintenance robot, so that the safety and convenience of the LED display screen maintenance process are improved.

Description

Intelligent maintenance robot

Technical Field

The application relates to the technical field of intelligent maintenance robots, in particular to an intelligent maintenance robot.

Background

Along with the development of science and technology, information transmission modes are also changed day by day, information is transmitted to people in a visual mode through pictures, the impression is impressive, the transmission range is wide, and the transmission efficiency is high. LED displays are capable of displaying a wide variety of pictures, with their use becoming increasingly widespread. In order to make the spreading range of the picture displayed by the LED display screen wider, the area of the LED display screen is often set larger and the mounting height is higher.

When the LED display screen fails, the LED display screen needs to be maintained. The LED display screen is formed by splicing LED display modules, and the LED display modules are fixed on the main body structure through fixing screws. When a single LED display module is damaged, the damaged LED display module needs to be disassembled and replaced by an LED display module capable of working normally. At present, maintenance of the LED display screen is often completed manually, and maintenance personnel are required to work aloft in the process of manually maintaining the LED display screen, so that the risk coefficient is high, and the working difficulty is high.

Therefore, how to improve the safety and convenience of the process of maintaining the LED display screen is a technical problem to be solved.

Disclosure of Invention

The application provides an intelligent maintenance robot, which aims to solve the technical problem of how to improve the safety and convenience of the process of maintaining an LED display screen in the prior art.

The application provides an intelligent maintenance robot, which comprises:

the dismounting device is used for dismounting and fixing screws of the to-be-maintained parts;

loading means for loading the screw;

The picking and placing device is used for picking and placing the to-be-maintained piece at the installation position;

the visual module is used for acquiring the image information of the to-be-maintained piece;

The moving device is used for driving at least one of the dismounting device, the picking and placing device and the vision module to move according to the image information;

in the maintenance process, the disassembling and assembling device places the detached screw into the loading device, and the disassembling and assembling device takes the screw at the loading device.

Further, the loading device is provided with a loading screw hole, the loading screw hole is matched with the screw, and the loading screw hole is located in the moving range of the dismounting loading.

Further, the number of the loading screw holes is larger than or equal to the number of the screws for fixing the single to-be-repaired piece, and the loading screw holes are used for fixing the screws.

Still further, the vision module includes a first vision unit and a second vision unit, the first vision unit having a higher field of view than the second vision unit;

the first visual unit is used for acquiring first image information, and the second visual unit is used for acquiring second image information;

The first image information comprises global image information, and the second image information comprises image information of the damaged part to be repaired.

Furthermore, the mobile device drives the dismounting device to move in the global range according to the first image information, and the mobile device drives the dismounting device to move in the range of the to-be-maintained piece according to the second image information.

Still further, the dismounting device includes:

a drive mechanism mounted to the mobile device;

the screwing mechanism is connected with the driving mechanism;

the screw hole of the to-be-maintained piece is aligned and installed by the screwing mechanism according to the image information, and the driving mechanism drives the screwing mechanism to rotate clockwise or anticlockwise.

Further, the driving mechanism comprises a motor device and a transmission device, wherein the transmission device is connected with the motor device and is provided with a first threaded hole;

The screwing mechanism comprises a screw, a buffer piece and a disassembling tool head, wherein the disassembling tool head is installed at the end part of the screw through the buffer piece, and the screw is matched with the first threaded hole.

Furthermore, the disassembling tool head drives the screw in a magnetic attraction mode.

Still further, the pick-and-place device includes:

The moving direction of the third moving assembly faces to the direction approaching to or far from the to-be-maintained part;

the at least one butt joint assembly is distributed and arranged in a scattered way, and the third moving assembly drives the butt joint assembly to move;

and in the process of taking out the to-be-maintained piece, the docking assembly stretches into the screw hole of the to-be-maintained piece.

Still further, the docking assembly includes:

the butt-joint screw rod is matched with the screw hole;

the driving assembly is used for driving the butt screw to rotate;

the buffer component is arranged at the power output end of the driving component, and the butt screw is connected with the driving component through the buffer component;

The buffer assembly is elastically deformed in the process of screwing the butt screw into the screw hole, so that the butt screw can smoothly enter the screw hole.

The beneficial effects achieved by the application are as follows:

According to the intelligent maintenance robot provided by the application, the visual module is used for acquiring the image information of the to-be-maintained piece, the moving device drives the disassembly, assembly and loading to move to the damaged to-be-maintained piece according to the image information, and the screw for fixing the to-be-maintained piece is disassembled through the disassembly and assembly device. After the screw is disassembled by the disassembling and assembling device, the screw is conveyed to the loading device, and the screw is loaded by the loading device. After all screws for fixing the to-be-maintained parts are removed, the moving device moves the taking and placing device to the installation position of the to-be-maintained parts, the to-be-maintained parts are taken out from the installation position of the to-be-maintained parts through the taking and placing device, and the replacement parts capable of working normally are installed. After the replacement part is installed at the installation position, the dismounting device takes the screw from the loading device, the screw is installed at the replacement part at the installation position, and the replacement part is fixed through the screw, so that the maintenance of the part to be maintained is completed. The whole maintenance process is completed through the intelligent maintenance robot, so that the safety and convenience of the LED display screen maintenance process are improved.

Drawings

Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a three-dimensional structure of a robot according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of a robot belt loading device according to another embodiment of the present invention;

FIG. 4 is a schematic perspective view of a robot belt loading device according to another embodiment of the present invention;

FIG. 5 is a schematic perspective view of a robot with a flight module according to another embodiment of the present invention;

FIG. 6 is a schematic diagram showing a robot with a flight module in a second embodiment of the present invention;

FIG. 7 is a schematic perspective view of a disassembling and assembling device according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a pick-and-place device according to an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a docking assembly according to an embodiment of the present invention;

FIG. 10 is a schematic perspective view of a pick-and-place apparatus according to another embodiment of the present invention;

FIG. 11 is a control module diagram of a remote control module in an embodiment of the invention;

FIG. 12 is a block diagram of a remote control module in an embodiment of the invention;

Fig. 13 is a flowchart of a control method in the embodiment of the present invention.

Description of main reference numerals:

100. A robot; 110. a robot main body; 120. a maintenance module; 20. a mobile device; 21. a first moving assembly; 22. a second moving assembly; 30. a dismounting device; 31. a driving mechanism; 311. a motor device; 312. a transmission device; 313. a first gear assembly; 314. a second gear assembly; 315. a guide nut; 316. a first threaded hole; 32. a screwing mechanism; 321. a screw; 322. a buffer member; 323. disassembling and assembling the tool head; 40. a pick-and-place device; 41. a third moving assembly; 42. a docking assembly; 43. docking the screw; 44. a drive assembly; 45. a buffer assembly; 46. a second threaded hole; 47. a first loading assembly; 48. a second loading assembly; 130. a vision module; 131. a first vision unit; 132. a second vision unit; 140. a loading device; 141. loading screw holes; 150. a first fixing device; 151. a first chuck assembly; 152. a first negative pressure assembly; 160. a second fixing device; 161. a second chuck assembly; 162. a second negative pressure assembly; 170. a flight module; 171. a rotor mechanism; 172. a driving motor; 173. rotating the blades; 174. a steering mechanism; 175. a first bracket assembly; 176. a first driving device; 177. a second bracket assembly; 178. a second driving device; 179. a third bracket assembly; 180. a distance detection module; 190. a remote control module; 191. displaying an interface; 192. an operation unit; 201. a piece to be maintained; 202. a replacement; 203. screw holes; 204. and (5) a screw.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. Furthermore, it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "left," "right," "horizontal," "top," "bottom," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Example 1

Referring to fig. 1 to 2, in some embodiments of the present application, a robot 100 according to the present application includes: mobile device 20, detachable device 30, and vision module 130.

The dismounting device 30 is mounted to the mobile device 20. The vision module 130 is used for obtaining the position information of the screw hole 203. Wherein, the moving device 20 drives the dismounting device 30 to move by referring to the position information of the screw hole 203, and the dismounting device 30 dismounts the piece 201 to be maintained by referring to the position information of the screw hole 203.

The visual module 130 obtains the position information of the screw hole 203 of the to-be-maintained member 201, and the moving device 20 refers to the position information of the screw hole 203 to drive the dismounting device 30 to move, so that the dismounting device 30 moves to the position of the screw hole 203. When the part 201 to be repaired is to be removed, the dismounting device 30 removes the screw 204 at the position of the screw hole 203; when the replacement piece 202 is to be mounted, the dismounting device 30 mounts the screw 204 at the screw hole 203. Thereby completing the removal of the part 201 to be repaired and the installation of the replacement part 202.

Thus, the LED display screen is automatically maintained.

In some embodiments of the present application, the robot 100 may be coupled to the LED display screen to be repaired by hanging, so that the robot 100 can stably operate at the LED display screen.

Referring to fig. 7, in some embodiments of the present application, the dismounting device 30 includes: the driving mechanism 31 and the screwing mechanism 32. The driving mechanism 31 is mounted on the moving device 20. The screwing mechanism 32 is connected to the driving mechanism 31.

The screwing mechanism 32 aligns with the screw hole 203 of the to-be-maintained member 201 according to the image information, and the driving mechanism 31 drives the screwing mechanism 32 to rotate clockwise or anticlockwise.

In the process of removing the to-be-maintained member 201, the moving device 20 drives the dismounting device 30 to move to the position of the mounting screw hole 203 of the to-be-maintained member 201, and drives the dismounting device 30 to align with the screw hole 203 according to the position information of the screw hole 203. The driving mechanism 31 drives the screwing mechanism 32 to rotate clockwise, so that the screwing mechanism 32 approaches the screw 204 for fixing the to-be-repaired piece 201. When the screwing mechanism 32 contacts with the screw 204 for fixing the to-be-maintained member 201, the driving mechanism 31 changes the running direction, so that the screwing mechanism 32 drives the screw 204 to rotate anticlockwise, and the screw 204 for fixing the to-be-maintained member 201 is removed. After all the screws 204 for fixing the member 201 to be repaired are removed, the member 201 to be repaired can be removed.

In the process of installing the replacement part 202, the moving device 20 drives the dismounting device 30 to move to the installation hole position of the replacement part 202, and drives the dismounting device 30 to align with the screw hole 203 according to the position information of the screw hole 203. The driving mechanism 31 drives the screwing mechanism 32 to rotate clockwise, so that the screwing mechanism 32 approaches the screw 204 in the screw hole 203. When the screwing mechanism 32 contacts the screw 204 in the fixing screw hole 203, the driving mechanism 31 drives the screwing mechanism 32 to rotate clockwise, so that the screwing mechanism 32 drives the screw 204 to rotate clockwise, and the replacement piece 202 is installed and fastened. The installation of the substitute is completed after all screws 204 for fixing the substitute are installed and fastened.

Therefore, maintenance of the LED display screen is automatically completed, high-altitude operation of workers is avoided, safety of the workers is guaranteed, and working efficiency is improved.

Referring to fig. 1 and 7, in some embodiments of the present application, the driving mechanism 31 includes a motor device 311 and a transmission device 312, the transmission device 312 is connected to the motor device 311, and the transmission device 312 is provided with a first threaded hole 316. The screwing mechanism 32 comprises a screw 321, a buffer piece 322 and a disassembling tool head 323, wherein the disassembling tool head 323 is installed at the end part of the screw 321 through the buffer piece 322, and the screw 321 is matched with the first threaded hole 316.

The motor device 311 operates to drive the transmission device 312 to operate, so as to rotate the first threaded hole 316. In the process of rotating the first threaded hole 316, the screw rod 321 is forced to rotate, the disassembling tool head 323 is driven to rotate by the screw rod 321, the disassembling of the screw 204 is completed by the rotation of the disassembling tool head 323, and then the disassembling of the part 201 to be maintained is completed. The detachable tool head 323 may be a screw 204 head or a spanner head.

In the process of removing the to-be-repaired member 201, the screw 321 is rotated clockwise, and the disassembling tool head 323 is driven to approach the screw 204 for fixing the to-be-repaired member 201. When the dismounting tool head 323 contacts the screw 204 for fixing the to-be-maintained member 201, the screw rod 321 is rotated counterclockwise again, and the screw 204 is dismounted through the dismounting tool head 323.

During the process of installing the replacement part 202, the screw rod 321 rotates clockwise, and then drives the dismounting tool head 323 to approach the screw 204 in the screw hole 203. When the dismounting tool head 323 contacts the screw 204, the screw rod 321 continues to rotate clockwise, so that the dismounting tool head 323 drives the screw 204 to rotate clockwise, and the replacement piece 202 is mounted and fastened. When the screw 204 is screwed down by the screwing mechanism 32, the buffer member 322 is forced to elastically deform, so that the dismounting tool head 323 and the screw 204 are prevented from receiving excessive impact force, and the safety of the dismounting process is ensured. After the screw 204 is mounted and fastened, the screw rod 321 is rotated counterclockwise, and the dismounting tool head 323 is withdrawn from the range of the screw 204 head of the screw 204. In the process of withdrawing the dismounting tool head 323, the buffer piece 322 is elastically deformed, so that the dismounting tool head 323 can not rotate along with the screw rod 321, the screw 204 can not be driven to rotate anticlockwise, the screw 204 is prevented from loosening in the process of withdrawing the dismounting tool head 323, and the effectiveness of the installation process is ensured. The screw 321 continues to rotate until the removal tool head 323 is completely out of the range of the head of the screw 204 and moves to a safe position for removal of the next screw 204. The buffer member 322 may be a spring, a coupling, a combination of a coupling and a spring, or other structures that can be elastically deformed and do not drive the screw 204 to rotate after being screwed.

The dismounting tool head 323 can be approaching to or separating from the screw 204 through one motor device 311, and can be dismounted from the screw 204 without setting too many power sources, so that the equipment structure is simplified, the equipment cost is reduced, the equipment is convenient to mount, debug and maintain, and the equipment energy consumption is effectively reduced.

In some embodiments of the present application, the disassembling tool head 323 drives the screw 204 by magnetic attraction.

After the screw 204 is detached by the detaching device 30, the detaching tool head 323 moves with the screw 204 by means of magnetic attraction, so that the screw 204 is prevented from falling off from the detaching tool head 323.

In some embodiments of the present application, the detachable tool head 323 may be magnetic, or the detachable tool head 323 may be made of a magnetically conductive material, and the detachable tool head 323 is excited by a magnetic component. Wherein the magnetic assembly may comprise a permanent magnet.

In some embodiments of the present application, the magnetic assembly may comprise an electromagnet, and the magnetic attraction force of the magnetic assembly is controlled by controlling the voltage of the electromagnet, thereby preventing the screw 204 from falling off the removing tool head 323.

Referring to fig. 7, in some embodiments of the present application, the transmission 312 includes: a first gear assembly 313 and a second gear assembly 314. The first gear assembly 313 is mounted to the power output of the motor means 311. The second gear assembly 314 is engaged with the first gear assembly 313, and the screw hole 203 is provided at the rotation center of the second gear assembly 314.

The motor device 311 drives the first gear assembly 313 to rotate, and drives the second gear assembly 314 to rotate through the meshing effect, so that the screw hole 203 rotates at the rotation center of the second gear assembly 314, and the screw 321 is driven to rotate.

In some embodiments of the application, the transmission 312 further includes a guide nut 315. The guide nut 315 is adapted to the threaded rod 321, and the guide nut 315 is kept relatively fixed to the motor means 311.

The stress of the screw rod 321 is more balanced and the rotation of the screw rod 321 is more stable and reliable through the action of the guide nut 315.

Referring to fig. 2, in some embodiments of the present application, the vision module 130 includes a first vision unit 131 and a second vision unit 132, and the height of the field of view of the first vision unit 131 is higher than the height of the field of view of the second vision unit 132.

By making the visual field height of the first visual unit 131 higher than the visual field height of the second visual unit 132, the first visual unit 131 has a wider visual field range, and the first visual unit 131 performs global detection, so that the damaged part 201 to be repaired is identified. The moving device 20 drives the dismounting device 30 to move to the damaged part 201 to be maintained according to the detection result of the first visual unit 131. The maintenance member 201 is detected by the second vision unit 132, and the position of the screw hole 203 is determined. The moving device 20 moves the dismounting device 30 to the position of the screw hole 203 according to the detection result of the second vision unit 132, and then dismantles the screw 204 for fixing the to-be-maintained member 201 at the position of the screw hole 203 through the dismounting device 30. In the process of aligning the screw 204 by the dismounting device 30, the second vision unit 132 is used for fine positioning, so that the dismounting device 30 can be accurately abutted with the screw 204. In this way, the detection of the first vision unit 131 and the second vision unit 132 enables the dismounting device 30 to be accurately abutted with the screw 204 at the damaged part 201 to be repaired, thereby improving the reliability of the robot 100 and the effectiveness of the dismounting work.

Referring to fig. 1 to 2, in some embodiments of the present application, a mobile device 20 includes: a first movement assembly 21 and a second movement assembly 22. The first moving assembly 21 drives the second moving assembly 22 to move, and the second moving assembly 22 drives the dismounting device 30 to move. Wherein the moving direction of the first moving assembly 21 crosses the moving direction of the second moving assembly 22.

Through the actions of the first moving assembly 21 and the second moving assembly 22, the dismounting device 30 can move in the global range, and further the dismounting device 30 can reach the damaged part 201 to be maintained and accurately butt-joint with the screw 204.

The first moving assembly 21 and the second moving assembly 22 may be a rack and pinion driving structure, a synchronous belt driving structure, a gear chain driving structure, a screw driving structure, or other driving structures capable of driving the components to move.

Referring to fig. 1 to 2 and 8, a robot 100 according to the present application further includes a pick-and-place device 40, and the moving device 20 drives the pick-and-place device 40 to move. The pick-and-place device 40 includes: a third movement assembly 41 and at least one docking assembly 42. The moving direction of the third moving assembly 41 is toward a direction approaching or separating from the maintenance member 201. The docking assemblies 42 are distributed and arranged in a scattered manner, and the third moving assembly 41 drives the docking assemblies 42 to move. Wherein, during the process of taking out the to-be-maintained member 201, the docking assembly 42 extends into the screw hole 203 of the to-be-maintained member 201.

After all screws 204 for fixing the to-be-maintained member 201 are removed, the moving device 20 drives the taking and placing device 40 to move to the to-be-maintained member 201 to be removed, and the docking assembly 42 is positioned to the screw hole 203 through the position information of the screw hole 203 acquired by the vision module 130 and then extends into the screw hole 203, so that the docking assembly 42 is combined with the to-be-maintained member 201. The third moving component 41 drives the docking component 42 to move towards the direction away from the to-be-maintained piece 201, and because the docking component 42 is combined with the to-be-maintained piece 201, when the docking component 42 is away from the to-be-maintained piece 201, the to-be-maintained piece 201 is detached from the installation position, so that the detachment of the to-be-maintained piece 201 is completed.

When the part 201 to be repaired is removed, the pick-and-place device 40 takes out the replacement part 202 and is driven by the moving device 20 to move to the installation position. The third moving component 41 drives the docking component 42 to move towards the direction approaching the installation position, so that the replacement piece 202 is placed in the installation position. Then, the docking assembly 42 is moved out of the screw hole 203 of the replacing part 202, the moving device 20 drives the taking and placing device 40 to leave the installation position, and drives the dismounting device 30 to move to the position of the replacing part 202, and the screw 204 is tightened at the screw hole 203 of the replacing part 202, so that the installation of the replacing part 202 is completed. The third moving component 41 may be a screw rod mode, an air cylinder, an electric cylinder, a cam mechanism, or other devices capable of driving the docking component 42 to approach or depart from the mounting position of the to-be-maintained member 201.

In this way, maintenance of the LED screen is completed by the robot 100.

Referring to fig. 9, in some embodiments of the application, the docking assembly 42 includes: a docking screw 43 and a drive assembly 44. The docking screw 43 is fitted with the screw hole 203. The driving assembly 44 is provided with a second threaded hole 46, and the second threaded hole 46 is matched with the docking screw 43, so that the driving assembly 44 drives the docking screw 43 to rotate.

During the operation of the driving assembly 44, the second threaded hole 46 rotates to drive the docking screw 43 to rotate, so that the docking screw 43 extends into the threaded hole, and the docking assembly 42 is combined with the to-be-maintained member 201 through threaded engagement.

Referring to fig. 1 to 2, in some embodiments of the present application, the pick-and-place apparatus 40 further includes: a first loading assembly 47. The first loading assembly 47 is used for loading the removed to-be-repaired member 201, and the first loading assembly 47 is located at the movement track of the pick-and-place device 40.

After the to-be-maintained piece 201 is removed, the to-be-maintained piece 201 is driven to the first loading assembly 47 by the taking and placing device 40, the to-be-maintained piece 201 is placed at the first loading assembly 47, and the removed to-be-maintained piece 201 is loaded and stored through the first loading assembly 47, so that the robot 100 can remove a plurality of to-be-maintained pieces 201, and the working efficiency of the robot 100 is improved.

Referring to fig. 8 to 9, in some embodiments of the present application, the pick-and-place apparatus 40 further includes: a second loading assembly 48. The second loading assembly 48 is used for loading the replacement part 202, and the second loading assembly 48 is located at the movement track of the pick-and-place device 40.

After the part 201 to be repaired is removed, the pick-and-place device 40 is moved to the second loading assembly 48 to remove the replacement part 202, and the replacement part 202 is carried to the installation site. The plurality of replacement parts 202 are loaded by the second loading assembly 48, so that the robot 100 can install the plurality of replacement parts 202, and the working efficiency of the robot 100 is improved.

Example two

Referring to fig. 3 to 4, in some embodiments of the present application, a robot 100 according to the present application includes: the dismounting device 30, the loading device 140, the picking and placing device 40, the vision module 130 and the moving device 20. The dismounting device 30 is used for dismounting the screw 204 for fixing the member 201 to be repaired. The loading device 140 is used for loading screws 204. The pick-and-place device 40 is used for picking and placing the part 201 to be repaired at the installation position. The vision module 130 is used for acquiring image information of the part 201 to be repaired. The moving device 20 is used for driving at least one of the dismounting device 30, the picking and placing device 40 and the vision module 130 to move according to the image information. Wherein, during maintenance, the dismounting device 30 puts the detached screw 204 into the loading device 140, and the dismounting device 30 takes the screw 204 at the loading device 140.

The visual module 130 is used for acquiring image information of the to-be-maintained member 201, the mobile device 20 drives the disassembly, assembly and loading to move to the damaged to-be-maintained member 201 according to the image information, and the screw 204 for fixing the to-be-maintained member 201 is disassembled through the disassembly and assembly device 30. After the screw 204 is removed by the removing device 30, the screw 204 is carried to the loading device 140, and the removed screw 204 is placed in the loading device 140, and the screw 204 is loaded by the loading device 140.

After the screws 204 for fixing the member 201 to be maintained are removed, the moving device 20 moves the pick-and-place device 40 to the mounting position of the member 201 to be maintained, and the member 201 to be maintained is taken out from the mounting position of the member 201 to be maintained by the pick-and-place device 40, and the replacement member 202 capable of operating normally is mounted.

After the replacement part 202 is installed in the installation position, the dismounting device 30 takes the screw 204 from the loading device 140, installs the screw 204 to the replacement part 202 in the installation position, and fixes the replacement part 202 by the screw 204, thereby completing the maintenance of the part 201 to be maintained.

The whole maintenance process is completed through the robot 100, so that the safety and convenience of the process of maintaining the LED display screen are improved.

Referring to fig. 3 to 4, in some embodiments of the present application, the loading device 140 is provided with a loading screw hole 141, the loading screw hole 141 is matched with the screw 204, and the loading screw hole 141 is located in the moving range of the disassembly and assembly loading.

After the disassembling and assembling device 30 disassembles the screw 204 for fixing the to-be-maintained member 201, the moving device 20 drives the disassembling and assembling device 30 to move to the loading device 140, the disassembled screw 204 is aligned to the loading screw hole 141, the disassembling and assembling device 30 screws the screw 204 into the loading screw hole 141, the screw 204 is loaded through the loading device 140, and the screw 204 is prevented from falling.

After the maintenance member 201 is removed, the replacement member 202 is installed in the installation position of the maintenance member 201. During the process of installing the replacement part 202, the dismounting device 30 is driven by the moving device 20 to move to the loading device 140, and the screw 204 at the loading device 140 is screwed out, so that the screw 204 for installing the replacement part 202 is taken out from the loading device 140. After the screw 204 is taken out by the dismounting device 30, the dismounting device 30 is driven by the moving device 20 to move to the position of the replacing piece 202, the screw 204 is screwed into the screw hole 203 for fixing the replacing piece 202, and the replacing piece 202 is fixed by the screw 204. The loading device 140 may store a plurality of screws 204 in advance, thereby ensuring that enough screws 204 can be taken. The detached screws 204 are loaded into the loading device 140, and when the screws 204 are taken, the detached screws 204 can be taken, so that the waste of resources is avoided.

In some embodiments of the present application, the number of the loading screw holes 141 is equal to or greater than the number of the screws 204 for fixing the single piece 201 to be repaired, and the loading screw holes 141 are used for fixing the screws 204.

By making the number of the loading screw holes 141 equal to or greater than the number of the screws 204 for fixing the single piece 201 to be repaired, it is ensured that the loading device 140 has enough holes for loading the detached screws 204.

In some embodiments of the present application, the number of the loading screw holes 141 may be an integer multiple of the number of the screws 204 of the to-be-repaired member 201 with the fixing band, so as to ensure that the robot 100 can disassemble and assemble a plurality of damaged to-be-repaired members 201 at a time, and improve the working capacity of the robot 100.

Referring to fig. 3 to 4 and fig. 10, a robot 100 according to the present application, a pick-and-place device 40 includes: a third movement assembly 41 and at least one docking assembly 42. The moving direction of the third moving assembly 41 is toward a direction approaching or separating from the maintenance member 201. The docking assemblies 42 are distributed and arranged in a scattered manner, and the third moving assembly 41 drives the docking assemblies 42 to move. Wherein, during the process of taking out the to-be-maintained member 201, the docking assembly 42 extends into the screw hole 203 of the to-be-maintained member 201. The moving device 20 drives the picking and placing device 40 to move.

In this way, maintenance of the LED screen is completed by the robot 100.

Referring to fig. 10, in some embodiments of the application, the docking assembly 42 includes: a docking screw 43, a drive assembly 44, and a buffer assembly 45. The docking screw 43 is fitted with the screw hole 203. The driving assembly 44 is used for driving the docking screw 43 to rotate. The buffer assembly 45 is installed at the power output end of the driving assembly 44, and the docking screw 43 is connected with the driving assembly 44 through the buffer assembly 45. In the process of screwing the docking screw 43 into the screw hole 203, the buffer assembly 45 is elastically deformed, so that the docking screw 43 can smoothly enter the screw hole 203.

During the operation of the driving assembly 44, the docking screw 43 is driven to rotate, so that the docking screw 43 extends into the threaded hole, and the docking assembly 42 is combined with the to-be-maintained member 201 through threaded fit.

In the process that the docking screw 43 enters the screw hole 203, the buffer assembly 45 is elastically deformed in a direction close to the screw hole 203, so that the screw 321 can extend into the screw hole 203 in the rotating process, and the docking screw 43 can be smoothly screwed into the screw hole 203. The buffer assembly 45 may include a tension spring, by which elastic deformation is generated.

In some embodiments of the present application, the vision module 130 includes a first vision unit 131 and a second vision unit 132, the first vision unit 131 having a higher visual field height than the second vision unit 132. The first vision unit 131 is used for acquiring first image information, and the second vision unit 132 is used for acquiring second image information. The first image information includes global image information and the second image information includes image information of the damaged part 201 to be repaired.

In some embodiments of the present application, the mobile device 20 drives the dismounting device 30 to move in a global range according to the first image information, and the mobile device 20 drives the dismounting device 30 to move in a range of the to-be-maintained piece 201 according to the second image information.

It should be noted that, if the field of view of the first visual unit 131 can fully cover the global area, the first visual unit 131 obtains global image information once; if the field of view of the first vision unit 131 cannot cover the global area, the mobile device 20 drives the vision module 130 to move, and the first vision unit 131 scans the global area to obtain image information of the global area.

It should be further noted that whether the maintenance member 201 is damaged or not may be determined by image information such as appearance, lighting conditions, and the like.

Example III

Referring to fig. 3 to 4, in some embodiments of the present application, a robot 100 according to the present application includes: the assembly and disassembly device 30, the picking and placing device 40, the vision module 130, the moving device 20, the first fixing device 150 and the second fixing device 160.

The dismounting device 30 is used for dismounting the screw 204 of the member 201 to be repaired. The pick-and-place device 40 is used for picking and placing the part 201 to be repaired at the installation position. The vision module 130 is used for acquiring image information of the part 201 to be repaired. The moving device 20 includes a first moving assembly 21 and a second moving assembly 22, the second moving assembly 22 is mounted at the power output end of the first moving assembly 21, the dismounting device 30 is mounted at the power output end of the second moving assembly 22, and the moving directions of the first moving assembly 21 and the second moving assembly 22 are intersected with each other. The first fixing device 150 is mounted on the first moving assembly 21, and the first fixing device 150 is used for fixing the first moving assembly 21. The second fixing device 160 is fixedly connected with the dismounting device 30, and the second fixing device 160 is used for fixing the dismounting device 30.

The moving device 20 is used for driving the dismounting device 30, the picking and placing device 40 and the vision module 130 to move according to the image information. During maintenance, the first fixture 150 and the second fixture 160 are operated alternately or simultaneously.

In some embodiments of the present application, the first moving assembly 21 and the second moving assembly 22 may be a rack and pinion driving structure, a synchronous belt driving structure, a gear chain driving structure, a screw driving structure, or other driving structures capable of driving the components to move.

During maintenance of the LED display, the robot 100 detects the LED display through the vision module 130, and further determines the position of the damaged part 201 to be maintained. By the cooperation of the first fixing device 150 and the second fixing device 160, the robot 100 is moved to the part 201 to be repaired.

During the movement of the robot 100, the first moving assembly 21 is fixed by the first fixing device 150, so that the first moving assembly 21 and the LED display screen remain relatively fixed. The second fixing device 160 and the dismounting device 30 are moved relative to the first fixing device 150 by the mutual matching of the first moving assembly 21 and the second moving assembly 22. Then, the dismounting device 30 is fixed by the second fixing device 160, so that the dismounting device 30 and the LED display screen are kept relatively fixed. The first fixing device 150 is then used to release the fixing of the first moving component 21, so that the first moving component 21 can move relative to the LED display screen. The first moving assembly 21 and the first fixing device 150 are moved relative to the second fixing device 160 by the mutual matching of the first moving assembly 21 and the second moving assembly 22. Then, the first moving assembly 21 is fixed by the first fixing device 150, so that the first moving assembly 21 and the LED display screen are kept relatively fixed.

In this way, through the alternate operation of the first fixing device 150 and the second fixing device 160 and the cooperation of the first moving assembly 21 and the second moving assembly 22, the robot 100 moves on the LED display screen, so that the robot 100 drives the dismounting device 30 to move to the damaged part 201 to be maintained according to the image information detected by the vision module 130, and then the part 201 to be maintained is dismounted through the dismounting device 30 and the picking and placing device 40.

Since the moving directions of the first moving assembly 21 and the second moving assembly 22 are intersected with each other, the robot 100 can move within the global plane range of the LED display screen, and the robot 100 can maintain the LED display screen within the global plane range of the LED display screen.

If the size of the LED display screen is larger than the visual field of the vision module 130, the movement of the robot 100 drives the vision module 130 to move, so that the robot 100 scans and detects the LED display screen through the vision module 130, and further maintains all fault points of the LED display screen.

The robot 100 is used for carrying out full-automatic intelligent maintenance on the LED display screen, so that high-altitude operation of workers is avoided, and the robot 100 replaces the workers to maintain the LED display screen, so that the safety of the process of maintaining the LED display screen is improved, and the labor intensity of the workers is reduced.

In the process of maintaining the LED display screen, the first fixing device 150 and the second fixing device 160 operate simultaneously, so that the robot 100 and the LED display screen are kept relatively fixed through the first fixing device 150, and the robot 100 can work stably; the dismounting device 30 and the LED display screen are kept relatively fixed through the second fixing device 160, so that the dismounting device 30 can work stably. The taking and placing device 40 and the dismounting device 30 can be fixedly connected, so that the taking and placing device 40, the dismounting device 30 and the LED display screen can be kept relatively fixed through the second fixing device 160, and the dismounting device 30 and the taking and placing device 40 can work stably.

The visual module 130 is used for acquiring image information of the to-be-maintained member 201, the mobile device 20 drives the disassembly, assembly and loading to move to the damaged to-be-maintained member 201 according to the image information, and the screw 204 for fixing the to-be-maintained member 201 is disassembled through the disassembly and assembly device 30.

After the screws 204 for fixing the member 201 to be maintained are removed, the moving device 20 moves the pick-and-place device 40 to the mounting position of the member 201 to be maintained, and the member 201 to be maintained is taken out from the mounting position of the member 201 to be maintained by the pick-and-place device 40, and the replacement member 202 capable of operating normally is mounted. After the replacement member 202 is installed in the installation position, the screw 204 is installed in the replacement member 202 in the installation position, and the replacement member 202 is fixed by the screw 204, thereby completing replacement of the maintenance member 201.

If the LED display screen has a plurality of fault points and the fault points are within the moving range of the moving device 20, the moving device 20 drives the dismounting device 30 and the taking and placing device 40 to move, and then the dismounting device 30 and the taking and placing device 40 replace the to-be-maintained piece 201, so that all the fault points are removed, and the maintenance of the LED display screen is completed.

If the LED display screen has a plurality of fault points, and the distribution of the fault points exceeds the moving range of the moving device 20, the robot 100 is moved on the LED display screen by the alternate operation of the first fixing device 150 and the second fixing device 160 and the cooperation of the first moving component 21 and the second moving component 22, so that the robot 100 drives the dismounting device 30 to move to the damaged part 201 to be maintained according to the image information detected by the vision module 130, and then the part 201 to be maintained is replaced by the dismounting device 30 and the picking and placing device 40, so that all the fault points are removed, and the maintenance of the LED display screen is completed.

Referring to fig. 3 to 4, in some embodiments of the present application, the first fixing device 150 includes: a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is used for sucking the workpiece 201 to be repaired. The first negative pressure assembly 152 is used to create a negative pressure for the first suction cup assembly 151.

In the process of repairing the LED display screen by the robot 100, the first moving assembly 21 is fixed by the first fixing device 150, so that the first moving assembly 21 and the LED display screen are kept relatively fixed, and the positions of the robot 100 and the to-be-repaired piece 201 are kept stable, so that the safety and stability of the repairing process are improved.

In the process of fixing the first moving assembly 21 by the first fixing device 150, the first sucking disc assembly 151 is sucked to the LED display screen or a structure which is relatively fixed to the LED display screen. The first suction cup assembly 151 is pumped through the first negative pressure assembly 152, so that the first suction cup assembly 151 forms negative pressure, the suction force of the first suction cup assembly 151 is improved, and the reliability and stability of suction of the first suction cup assembly 151 are guaranteed. In this way, the robot 100 and the LED display screen are kept relatively fixed by the first fixing device 150, so as to improve the safety and stability of the maintenance process.

In the process of the robot 100, the first moving assembly 21 drives the second moving assembly 22 to move, and the second moving assembly 22 drives the dismounting device 30, the picking and placing device 40 and the second fixing device 160 to move. The first moving assembly 21 and the LED display screen are kept relatively fixed by the first fixing device 150, so that the robot 100 can stably stay on the LED display screen, and the maintenance operation of the robot 100 can be effectively completed.

Referring to fig. 3 to 4, in some embodiments of the present application, the second fixing device 160 includes: a second suction cup assembly 161 and a second negative pressure assembly 162. The second suction cup assembly 161 is used for sucking the workpiece 201 to be repaired. The second suction assembly 162 is used to create a suction pressure for the second suction cup assembly 161.

When the robot 100 moves to the damaged part 201 to be repaired, the screw 204 for fixing the part 201 to be repaired is disassembled by the disassembling and assembling device 30, the damaged part 201 to be repaired is taken out from the installation position of the part 201 to be repaired by the taking and placing device 40, and the replacement part 202 is placed at the installation position. In the process of the operation of the dismounting device 30 and the taking and placing device 40, the dismounting device 30 and the taking and placing device 40 are fixed through the second fixing device 160, so that the dismounting device 30, the taking and placing device 40 and the LED display screen are kept relatively fixed, the positions of the dismounting device 30, the taking and placing device 40 and the part 201 to be maintained are kept stable, and the safety and stability of the maintenance process are improved.

In the process of fixing the dismounting device 30 and the picking and placing device 40 by the second fixing device 160, the dismounting device is adsorbed on the LED display screen or a structure which is relatively fixed with the LED display screen by the second sucking disc component 161. The second suction cup assembly 161 is pumped through the second negative pressure assembly 162, so that the second suction cup assembly 161 forms negative pressure, the suction force of the second suction cup assembly 161 is improved, and the reliability and stability of suction of the second suction cup assembly 161 are ensured. In this way, the dismounting device 30, the picking and placing device 40 and the LED display screen are kept relatively fixed by the second fixing device 160, so that the safety and stability of the maintenance process are improved.

Referring to fig. 3 to 4, in some embodiments of the present application, the vision module 130 includes a first vision unit 131 and a second vision unit 132, and the height of the field of view of the first vision unit 131 is higher than that of the second vision unit 132. The first vision unit 131 is used for acquiring first image information, and the second vision unit 132 is used for acquiring second image information. The first image information includes global image information and the second image information includes image information of the damaged part 201 to be repaired.

It should be noted that, if the field of view of the first visual unit 131 can fully cover the global area, the first visual unit 131 obtains global image information once; if the field of view of the first vision unit 131 cannot cover the global area, the mobile device 20 drives the vision module 130 to move, and scans the global area through the first vision unit 131 to obtain image information of the global area; if the LED display screen has a plurality of fault points, and the distribution of the fault points exceeds the moving range of the moving device 20, the robot 100 moves on the LED display screen through the alternate operation of the first fixing device 150 and the second fixing device 160 and the cooperation of the first moving component 21 and the second moving component 22, so that the robot 100 drives the first vision unit 131 to move, and the first vision unit 131 scans and detects the LED display screen to obtain the position information of all the fault points on the LED display screen, so that the robot 100 drives the dismounting device 30 to move to the damaged part 201 to be maintained according to the position information of the fault points detected by the first vision unit 131, and then the dismounting device 30 and the picking and placing device 40 replace the part 201 to be maintained, thereby eliminating all the fault points and completing the maintenance of the LED display screen.

During the movement of the robot 100 from one failure point to another, the first moving assembly 21 is fixed by the first fixing device 150, so that the first moving assembly 21 and the LED display screen remain relatively fixed. The first moving component 21 drives the second moving component 22 to move towards the other fault point, and the second moving component 22 drives the second fixing device 160 to move towards the other fault point. Then, the second fixing device 160 is used for fixing the dismounting device 30 and the picking and placing device 40, so that the second fixing device 160, the dismounting device 30 and the picking and placing device 40 can be kept relatively fixed with the LED display screen. The first fixing device 150 is then used to release the fixing of the first moving component 21, so that the first moving component 21 can move relative to the LED display screen. The first moving assembly 21 and the second moving assembly 22 are driven in opposite directions, and the first moving assembly 21 and the second moving assembly 22 move toward the other fault point relative to the second fixing device 160. Then, the first moving assembly 21 is fixed by the first fixing device 150, so that the first moving assembly 21 and the LED display screen are kept relatively fixed.

Example IV

Referring to fig. 5 or 6, in some embodiments of the present application, a robot 100 according to the present application includes: a robot body 110, a maintenance module 120, a vision module 130, a flight module 170, a distance detection module 180, and a first fixture 150.

The maintenance module 120 is used for maintaining the piece 201 to be maintained. The vision module 130 is used for acquiring image information of the part 201 to be repaired. The flying module 170 is used for flying the robot main body 110. The distance detection module 180 is used for detecting the distance between the robot main body 110 and the maintenance object 201. The first fixture 150 is used to stabilize the positions of the robot main body 110 and the workpiece 201 to be repaired during the repair process.

The maintenance module 120, the flight module 170, the distance detection module 180, and the first fixture 150 are all mounted on the robot main body 110.

The flying module 170 drives the robot main body 110 to rise to the height of the LED display screen, and drives the robot main body 110 to move relative to the LED display screen, and the vision module 130 scans and detects the LED display screen, so that image information of the to-be-maintained pieces 201 is obtained, and the number and the positions of the to-be-maintained pieces 201 are determined.

The robot main body 110 is driven to fly to the damaged part 201 to be maintained by the flying module 170 according to the position information of the part 201 to be maintained, and the part 201 to be maintained is maintained by the maintenance module 120. The distance between the robot main body 110 and the LED display screen assembly is detected through the distance detection module 180, so that the LED display screen is prevented from being bumped in the process that the robot main body 110 is close to the LED display screen.

In the process of fixing the LED display screen, the robot main body 110 is fixed by the first fixing device 150, so that the robot main body 110 and the LED display screen are kept relatively fixed, and the maintenance module 120 can work stably. During the operation of the maintenance module 120, the vision module 130 acquires the image information of the to-be-maintained member 201, so that the maintenance module 120 can maintain the fault point of the to-be-maintained member 201.

Thus, the LED display screen is maintained through the robot 100, so that the high-altitude operation of workers is avoided, and the safety of the process of maintaining the LED display screen is improved.

Referring to fig. 5 or fig. 6, in some embodiments of the application, the number of the distance detection modules 180 is at least four, wherein the four distance detection modules 180 are distributed at four corners of the edge profile of the robot main body 110, and the detection direction of the distance detection modules 180 faces the direction in which the contact surface of the robot main body 110 and the LED display screen extends outwards.

The distance from each point of the robot body 110 facing the LED display screen to the LED display screen is detected by at least four distance detection modules 180. The flight module 170 adjusts the angle and the gesture of the robot main body 110 according to the data detected by all the distance detection modules 180, so that the relative angle and the relative distance between the robot main body 110 and the LED display screen are within the expected range. Referring to the data detected by the distance detection module 180, the flight module 170 adjusts the speed at which the robot body 110 approaches the LED display screen, thereby reducing momentum when the robot body 110 contacts the LED display screen, reducing impact of the robot body 110 on the LED display screen, and protecting the LED display screen from being damaged by the impact of the robot 100. Can set up buffer structure in the one side that robot main part 110 contacted with the LED display screen, when robot main part 110 contacted the LED display screen, carry out buffer function through buffer structure, further reduce the risk that the LED display screen was damaged by the striking. The buffer structure can comprise one or more of sponge, spring, rubber, air bag and rubber, and can also comprise other structures capable of realizing the buffer function.

By installing the four distance detection modules 180 at four corners of the edge outline of the host machine of the robot 100, the distance detection modules 180 can further adapt to the contact surface of the robot main body 110 and the LED display screen according to the principle of multipoint surface formation, and the state of the robot main body 110 can be adjusted according to the data difference detected by each distance detection module 180. When all the distance data detected by the distance detection module 180 are within the expected range, it can be determined that the state and the angle of the robot main body 110 meet the expected requirements. The distance detection module 180 includes one or more of a laser distance measurement sensor, an ultrasonic distance sensor, an infrared distance sensor, a radar distance measurement sensor, or a dynamic optical distance measurement sensor, and the distance detection module 180 may also include other sensors or devices with a distance detection function.

In some embodiments of the present application, the robot 100 may further include an angle detection module for detecting at least one of an angle or a change in an angle of the robot body 110.

The angle of the robot main body 110 relative to the horizontal plane is detected through the angle detection module, the angle of the robot main body 110 relative to the LED display screen is calculated according to the angle of the LED display screen relative to the horizontal plane, and the relative angle between the robot main body 110 and the LED display screen is in an expected range through adjusting the angle of the robot main body 110. In the process of adjusting the angle of the robot main body 110, the angle detection module detects the change of the angle of the robot main body 110, so that the adjustment of the robot main body 110 is quicker and more accurate. When the robot main body 110 stays in the flying process, the angle of the robot main body 110 is monitored in real time through the angle detection module, and then the angle of the robot main body 110 is adjusted in real time according to real-time data detected by the angle detection module, so that the angle variation of the robot main body 110 in the stay process is within an expected range. The angle detection module comprises at least one of a potentiometer type angle sensor, a magnetic induction synchronous angle sensor, a grating type angle sensor, a Hall sensor and an MEMS angle sensor.

Referring to fig. 5 or 6, in some embodiments of the present application, the first fixing device 150 includes: a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is fixedly connected with the robot main body 110. The first suction cup assembly 151 is used for sucking the workpiece 201 to be repaired. The first negative pressure assembly 152 is used to create a negative pressure for the first suction cup assembly 151.

In the process of repairing the LED display screen by the robot 100, the robot main body 110 is fixed by the first fixing device 150, so that the robot main body 110 and the LED display screen are kept relatively fixed, and further, the positions of the robot 100 and the to-be-repaired piece 201 are kept stable, so that the safety and stability of the repairing process are improved.

In the working process of the first fixing device 150, the first negative pressure component 152 operates, so that the first sucker component 151 forms negative pressure, the first sucker component 151 is adsorbed on the LED display screen, and the robot main body 110 and the LED display screen are kept relatively fixed through vacuum adsorption.

In the maintenance process of the robot 100, the flight module 170 continuously runs, so that the robot 100 realizes a hovering function, and further the adsorption force of the first fixing device 150 on the LED display screen and the acting force of the robot 100 on the LED display screen are reduced, and damage to the LED display screen due to overlarge stress is avoided. In the hovering process of the robot 100, the robot 100 is fixed by the first fixing device 150, so that shaking of the robot 100 is reduced, stability of the working process of the robot 100 is improved, and the maintenance module 120 can work stably.

Referring to fig. 5 or 6, in some embodiments of the application, the flight module 170 includes: a rotor mechanism 171 and a steering mechanism 174. The number of rotor mechanisms 171 is at least one. The steering mechanism 174 is used to adjust the angle between the rotor mechanism 171 and the robot body 110. Wherein the rotor mechanism 171 is connected to the robot main body 110 through a steering mechanism 174.

The rotor mechanism 171 provides flying power, so that the flying module 170 can fly the robot main body 110. The steering mechanism 174 is used for adjusting the included angle between the rotor mechanism 171 and the robot main body 110, so that the inclination angle of the robot main body 110 is adjusted, and the included angle between the robot main body 110 and the LED display screen is within an expected range after the robot 100 rises to the height of the LED display screen, so that the robot 100 can approach the LED display screen in a correct posture and stay at a target position, and the maintenance module 120 can maintain the LED display screen.

Referring to fig. 5 or 6, in some embodiments of the application, the steering mechanism 174 includes: a first bracket assembly 175, a first drive 176, a second bracket assembly 177, a second drive 178, and a third bracket assembly 179. The first bracket assembly 175 is fixedly mounted to the robot body 110. The first drive 176 is mounted to the first bracket assembly 175. The second bracket assembly 177 is mounted on the power output end of the first driving device 176, and the first driving device 176 drives the second bracket assembly 177 to rotate in the first direction. The second driving device 178 is mounted to the second bracket assembly 177. The third bracket assembly 179 is mounted on the power output end of the second driving device 178, and the second driving device 178 drives the third bracket assembly 179 to rotate in the second direction. Wherein the rotor mechanism 171 is mounted to a third bracket assembly 179, the first direction intersecting the second direction. The first direction and the second direction are both forward and reverse directions.

In the process of adjusting the included angle between the rotor mechanism 171 and the robot main body 110 through the steering mechanism 174, the first driving device 176 drives the second bracket assembly 177 to rotate towards the first direction, and then the second bracket assembly 177 drives the third bracket assembly 179 and the rotor mechanism 171 to rotate towards the first direction relative to the robot main body 110. The third bracket assembly 179 is driven to rotate towards the second direction by the second driving device 178, and the rotor mechanism 171 is driven to rotate towards the second direction by the third bracket assembly 179 relative to the robot main body 110. Through the combined operation of the first driving device 176 and the second driving device 178, the included angle between the rotor mechanism 171 and the robot main body 110 can be changed in multiple directions, so that the angle change of the robot main body 110 is more flexible, the angle of the robot main body 110 is convenient to adjust, and the angle adjusting efficiency of the robot main body 110 is improved.

The first driving device 176 and the second driving device 178 may have the same structure, and may provide a power source through a motor to drive the transmission assembly to operate, so as to perform angle adjustment. The transmission assembly can comprise a gear transmission assembly, a gear rack transmission assembly, a worm and gear transmission assembly, a chain wheel and chain transmission assembly or a synchronous belt synchronous wheel transmission assembly.

Referring to fig. 5 or 6, in some embodiments of the application, the flight module 170 includes: a driving motor 172 and a rotating blade 173. The driving motor 172 is mounted to the robot main body 110. The rotary vane 173 is mounted at the power output end of the driving motor 172, and the driving motor 172 drives the rotary vane 173 to rotate.

The rotary blades 173 are driven to rotate by the driving motor 172, so that ascending power is formed, and the flying module 170 drives the robot main body 110 to fly. The robot main body 110 is raised or lowered by adjusting the rotation speed of the driving motor 172 and thus the power of the raising.

Referring to fig. 5, in some embodiments of the application, the number of flight modules 170 is at least four.

At least four flight modules 170 are distributed on the robot main body 110 in a dispersed manner, and power is provided for ascending or descending of the robot main body 110 through at least four flight modules 170, so that the power of the robot main body 110 is more uniform, and the robot main body 110 can be kept balanced more easily. The rotational speeds of the driving motors 172 of the flying modules 170 at different positions are controlled to adjust the ascending power of different parts of the robot main body 110, thereby adjusting the posture and the angle of the robot main body 110. The rotation speed of the driving motor 172 in the flying module 170 at each position can be adjusted according to the angle data detected by the angle detection module, so that the action of the robot main body 110 is more coordinated and stable.

Referring to fig. 5 or 6, in some embodiments of the application, the maintenance module 120 includes: the detachable device 30, the pick-and-place device 40, and the mobile device 20. The dismounting device 30 is used for dismounting the screw 204 for fixing the member 201 to be repaired. The pick-and-place device 40 is used for picking and placing the part 201 to be repaired at the installation position. The moving device 20 is used for driving at least one of the dismounting device 30 and the picking and placing device 40 to move.

In the process of repairing the member to be repaired 201, the position of the repair module 120 and the position of the member to be repaired 201 are kept relatively fixed by the first fixing device 150, so that the member to be repaired 201 can stably perform the repair action at the member to be repaired 201. The visual module 130 is used for acquiring the image information of the to-be-maintained member 201 so as to acquire the damaged position, the screw 204 position and other information of the to-be-maintained member 201, so that the maintenance module 120 can complete the maintenance of the to-be-maintained member 201 by using the image information.

During the maintenance operation of the maintenance module 120, the moving device 20 moves the dismounting device 30 to the damaged part 201 to be maintained, and the dismounting device 30 dismounts all the screws 204 for fixing the damaged part 201 to be maintained. After the screws 204 for fixing the damaged part 201 to be repaired are all removed, the moving device 20 moves the picking and placing device 40 to the damaged part 201 to be repaired, and then the damaged part 201 to be repaired is removed from the installation position by the picking and placing device 40, and the damaged part 201 to be repaired is carried to the loading assembly for loading the damaged part 201 to be repaired. The pick-and-place apparatus 40 again removes the replacement part 202 from the loading assembly loaded with the replacement part 202, and carries the replacement part 202 to the installation position of the damaged part 201 to be repaired, and places the replacement part 202 in the installation position of the damaged part 201 to be repaired. The dismounting device 30 reaches the mounting position of the damaged part 201 to be repaired, the mounting screws 204 are tightened to the replacement part 202, and after all the mounting screws 204 are tightened, the maintenance of the single part 201 to be repaired is completed. Detecting the overall situation through the vision module 130, and repeating the disassembling and assembling operation if the damaged part 201 to be maintained exists; if there is no damaged part 201 to be repaired, it is determined that the repair operation is completed.

It should be noted that, if the field of view of the vision module 130 can fully cover the global area, the vision module 130 acquires the global image information once; if the visual field of the vision module 130 cannot cover the global area, the mobile device 20 drives the vision module 130 to move, and the vision module 130 scans the global area to obtain image information of the global area; if the distance between the fault points of the LED display screen exceeds the moving range of the moving device 20, the flying module 170 drives the robot main body 110 to fly between the fault points of the LED display screen, so that the robot 100 can reach another fault point from one fault point, and further detection and maintenance of the LED display screen in the global range are realized.

Example five

Referring to fig. 3 to 4 and 11, in some embodiments of the present application, a robot 100 includes a maintenance module 120, a vision module 130, a remote control module 190, and a first fixture 150. The maintenance module 120 is used for maintaining the piece 201 to be maintained. The vision module 130 is used for acquiring image information of the part 201 to be repaired. The remote control module 190 can communicate remotely with the maintenance module 120 and the vision module 130. The first fixture 150 is used to stabilize the position of the repair module 120 and the part 201 to be repaired during repair. Wherein the remote control module 190 remotely controls the maintenance module 120 according to the image information.

In the process of repairing the member to be repaired 201, the position of the repair module 120 and the position of the member to be repaired 201 are kept relatively fixed by the first fixing device 150, so that the member to be repaired 201 can stably perform the repair action at the member to be repaired 201. The visual module 130 is used for acquiring image information of the to-be-repaired member 201 to acquire the damaged position of the to-be-repaired member 201, the position of the screw 204 and the like, so that the remote control module 190 can remotely control the repair module 120 according to the image information. The remote control module 190 remotely controls the maintenance module 120 according to the image information, so that the maintenance module 120 can complete remote maintenance of the to-be-maintained piece 201. Therefore, the safety of maintenance personnel is improved in the maintenance process of the LED display screen.

In some embodiments of the present application, the robot 100 may also be combined with the LED display screen to be repaired by means of suction by suction, so that the robot 100 can stably operate at the LED display screen.

In some embodiments of the present application, the robot 100 may also be supported by a support frame, so that the robot 100 may be combined with the LED display screen to be repaired, thereby enabling the robot 100 to stably operate at the LED display screen.

Referring to fig. 3 to 4 and 11, in some embodiments of the application, the maintenance module 120 includes a disassembling device 30, a picking and placing device 40, and a moving device 20. The dismounting device 30 is used for dismounting the screw 204 for fixing the member 201 to be repaired. The pick-and-place device 40 is used for picking and placing the part 201 to be repaired at the installation position. The moving device 20 is used for driving at least one of the dismounting device 30 and the picking and placing device 40 to move. Wherein, the dismounting device 30, the picking and placing device 40 and the moving device 20 are controlled by the remote control module 190.

In the process of repairing the member to be repaired 201, the position of the repair module 120 and the position of the member to be repaired 201 are kept relatively fixed by the first fixing device 150, so that the member to be repaired 201 can stably perform the repair action at the member to be repaired 201. The visual module 130 is used for acquiring the image information of the to-be-maintained member 201 to acquire the damaged position, the screw 204 position and other information of the to-be-maintained member 201, so that the remote control module 190 sends an operation instruction to the maintenance module 120 according to the image information to remotely control the maintenance module 120. The remote control module 190 remotely controls the maintenance module 120 according to the image information, so that the maintenance module 120 can complete remote maintenance of the to-be-maintained piece 201.

During the maintenance operation of the maintenance module 120, the moving device 20 moves the dismounting device 30 to the damaged part 201 to be maintained according to the operation instruction, and the dismounting device 30 dismounts all screws 204 for fixing the damaged part 201 to be maintained according to the operation instruction. After the screws 204 for fixing the damaged part 201 to be repaired are all removed, the moving device 20 moves the picking and placing device 40 to the damaged part 201 to be repaired, and then the damaged part 201 to be repaired is removed from the installation position by the picking and placing device 40, and the damaged part 201 to be repaired is carried to the loading assembly for loading the damaged part 201 to be repaired. The pick-and-place apparatus 40 again removes the replacement part 202 from the loading assembly loaded with the replacement part 202, and carries the replacement part 202 to the installation position of the damaged part 201 to be repaired, and places the replacement part 202 in the installation position of the damaged part 201 to be repaired. The dismounting device 30 reaches the mounting position of the damaged part 201 to be repaired, the mounting screws 204 are tightened to the replacement part 202, and after all the mounting screws 204 are tightened, the maintenance of the single part 201 to be repaired is completed. Detecting the overall situation through the vision module 130, and repeating the disassembling and assembling operation if the damaged part 201 to be maintained exists; if there is no damaged part 201 to be repaired, it is determined that the repair operation is completed.

It should be noted that, if the field of view of the vision module 130 can fully cover the global area, the vision module 130 acquires the global image information once; if the field of view of the vision module 130 cannot cover the global area, the mobile device 20 drives the vision module 130 to move, and scans the global area through the vision module 130 to obtain image information of the global area.

Referring to fig. 11 to 12, in some embodiments of the present application, a remote control module 190 includes a display interface 191 and an operation unit 192. The display interface 191 is used to display image information. The operation unit 192 is used to manually send an operation instruction to the maintenance module 120.

The remote control module 190 obtains the image information from the vision module 130, displays the image information through the display interface 191, and an operator determines the damaged part 201 to be maintained according to the image information displayed by the display interface 191, and sends an operation instruction to the maintenance module 120 through the operation unit 192 according to the image information, so that the maintenance module 120 finishes remote maintenance of the part 201 to be maintained, thereby avoiding high-altitude operation of the operator and ensuring the safety of the operator.

In some embodiments of the application, the operating unit 192 may be a combination of one or more of a button, knob, or lever, or other unit that can be manually operated and send instructions.

In some embodiments of the present application, the operation unit 192 may be disposed on the display interface 191, and send the operation instruction by means of a touch screen.

In some embodiments of the present application, the operation unit 192 may also be separately provided with the display interface 191 to facilitate the interaction of a plurality of operators.

Referring to fig. 3 to 4, in some embodiments of the present application, a first fixture 150 is fixedly installed on the maintenance module 120, and the first fixture 150 includes a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is used for sucking the workpiece 201 to be repaired. The first negative pressure assembly 152 is used to create a negative pressure for the first suction cup assembly 151.

During the maintenance operation of the maintenance module 120, the positions of the maintenance module 120 and the to-be-maintained member 201 are kept stable by the first fixing device 150, so as to improve the safety and stability of the maintenance process.

During the process of fixing the maintenance module 120 by the first fixing device 150, the first suction cup assembly 151 is attached to the maintenance member 201 or a structure relatively fixed to the maintenance member 201. The first suction cup assembly 151 is pumped through the first negative pressure assembly 152, so that the first suction cup assembly 151 forms negative pressure, the suction force of the first suction cup assembly 151 is improved, and the reliability and stability of suction of the first suction cup assembly 151 are guaranteed. In this way, the first fixing device 150 keeps the maintenance module 120 and the to-be-maintained member 201 relatively fixed, so as to improve the safety and stability of the maintenance process.

Example six

Referring to fig. 13, in some embodiments of the present application, the present application provides a control method, which includes the following steps:

Acquiring global image information;

Acquiring damaged position information of the part 201 to be maintained according to the global image information;

moving the dismounting device 30 to the position of the to-be-maintained member 201 according to the damaged position information of the to-be-maintained member 201;

Acquiring image information of a piece 201 to be maintained;

acquiring position information of an installation screw 204 of the to-be-maintained member 201 according to the image information of the damaged to-be-maintained member 201;

Aligning the screwing mechanism 32 with the mounting screw 204 of the damaged part 201 to be maintained according to the position information of the mounting screw 204;

The driving mechanism 31 drives the screwing mechanism 32 to operate so as to remove the mounting screw 204;

detecting whether the mounting screw 204 is completely removed;

If the mounting screws 204 are completely removed, the pick-and-place device 40 is moved to the part 201 to be maintained;

The pick-and-place device 40 takes out the work piece 201 to be repaired from the installation position of the work piece 201 to be repaired.

Global image information is acquired by the vision module 130, and the position of the damaged part 201 to be repaired is determined according to the global image information. Whether the to-be-repaired member 201 is damaged or not can be judged according to the image information such as appearance form, lighting condition and the like, the damaged to-be-repaired member 201 is further determined, and the position of the to-be-repaired member 201 is determined according to the coordinates of the damaged to-be-repaired member 201 in the global. If the visual field of the vision module 130 can fully cover the global area, the vision module 130 acquires global image information once; if the field of view of the vision module 130 cannot cover the global area, the mobile device 20 drives the vision module 130 to move, and scans the global area through the vision module 130 to obtain image information of the global area.

And sending an instruction to the moving device 20 according to the position information of the damaged part 201 to be repaired, and further moving the dismounting device 30 to the part 201 to be repaired by the moving device 20.

The visual module 130 is used for acquiring the image information of the to-be-maintained member 201, and further acquiring the position information of the mounting screw 204 of the to-be-maintained member 201 according to the image information of the damaged to-be-maintained member 201. An instruction is sent to the moving device 20 according to the position information of the mounting screw 204, so that the screwing mechanism 32 is aligned with the mounting screw 204 of the damaged part 201 to be repaired. The driving mechanism 32 is driven to operate by the driving structure, so that the driving mechanism 32 drives the mounting screw 204 to rotate anticlockwise, and the mounting screw 204 is removed. Image information of the part 201 to be repaired is acquired, and whether the mounting screws 204 are all removed is detected. If the mounting screws 204 are removed, the moving device 20 drives the pick-and-place device 40 to move to the part 201 to be repaired, and the part 201 to be repaired is taken out from the mounting position of the part 201 to be repaired through the pick-and-place device 40. The damaged part 201 to be repaired is carried to the loading assembly where the damaged part 201 to be repaired is loaded. The pick-and-place apparatus 40 again removes the replacement part 202 from the loading assembly loaded with the replacement part 202, and carries the replacement part 202 to the installation position of the damaged part 201 to be repaired, and places the replacement part 202 in the installation position of the damaged part 201 to be repaired. The dismounting device 30 reaches the mounting position of the damaged part 201 to be repaired, the mounting screws 204 are tightened to the replacement part 202, and after all the mounting screws 204 are tightened, the maintenance of the single part 201 to be repaired is completed. Detecting the overall situation through the vision module 130, and repeating the disassembling and assembling operation if the damaged part 201 to be maintained exists; if there is no damaged part 201 to be repaired, it is determined that the repair operation is completed.

In the description of the present specification, reference to the terms "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the foregoing description of the preferred embodiment of the invention is provided for the purpose of illustration only, and is not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. An intelligent maintenance robot, characterized by comprising:

loading means for loading the screw;

2. The intelligent maintenance robot according to claim 1, wherein the loading device is provided with a loading screw hole, the loading screw hole is matched with the screw, and the loading screw hole is located in the moving range of the dismounting loading.

3. The intelligent maintenance robot of claim 2, wherein the number of loading screw holes is greater than or equal to the number of screws for fixing a single piece to be repaired, the loading screw holes being used for fixing the screws.

4. The intelligent maintenance robot of claim 1, wherein the vision module comprises a first vision unit and a second vision unit, the first vision unit having a higher field of view than the second vision unit;

5. The intelligent maintenance robot of claim 4, wherein the mobile device drives the dismounting device to move in a global range according to the first image information, and the mobile device drives the dismounting device to move in a range of a part to be maintained according to the second image information.

6. The intelligent maintenance robot of claim 1, wherein the dismounting device comprises:

a drive mechanism mounted to the mobile device;

the screwing mechanism is connected with the driving mechanism;

7. The intelligent maintenance robot of claim 6, wherein the drive mechanism comprises a motor device and a transmission device, the transmission device is connected with the motor device, and the transmission device is provided with a first threaded hole;

8. The intelligent maintenance robot of claim 7, wherein the assembly and disassembly tool head drives the screw by magnetic attraction.

9. The intelligent maintenance robot of claim 1, wherein the pick-and-place device comprises:

10. The intelligent maintenance robot of claim 9, wherein the docking assembly comprises:

the butt-joint screw rod is matched with the screw hole;

the driving assembly is used for driving the butt screw to rotate;