CN209140881U - Universal indoor engineering intelligent robot - Google Patents
Universal indoor engineering intelligent robot Download PDFInfo
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- CN209140881U CN209140881U CN201821490672.5U CN201821490672U CN209140881U CN 209140881 U CN209140881 U CN 209140881U CN 201821490672 U CN201821490672 U CN 201821490672U CN 209140881 U CN209140881 U CN 209140881U
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Abstract
A kind of universal indoor engineering intelligent robot, which is characterized in that it includes: motion base；Kinematic arm；It has the power offer portion between at least two link arms, adjacent link arm by means of joint portion activity and each joint portion of driving portion；Sensor-based system；It is set on the motion base and is set on Kinematic arm, and the sensor-based system includes the space relative coordinate that the detection module of realization avoidance and distance and the detection module are used to detect the motion base；Central control；It is connected to the motion base, Kinematic arm and sensor-based system, and the central control includes mobile control module, movable arm control module and detection control module.Its structure is simple, is easily achieved large-scale production manufacture, this universal indoor engineering intelligent robot motion base, control, Distribution Management System, Multi-shaft mechanical arm automatically working are effectively improved construction quality and construction quality to reach, and improves work efficiency.
Description
Technical field
The utility model relates to a kind of universal indoor engineering intelligent robots.
Background technique
Indoor decoration industry is all people all the time manually or by simple mechanical-assisted operation, labor intensity
Greatly, finished product accuracy not can guarantee, and working environment is severe；Working efficiency is low and is difficult to constantly improve, and finished product machining accuracy can not be held
Continuation of insurance card, working environment is severe, this various drawback of this various drawback make have about 200,000 decorations in current Chinese market
Company, the average age of decoration worker was more than 40 years old according to investigations, and rare young labour's injection.This allows for this industry
Labor cost is sharply promoted, and decoration corporation faces the trying situation of " subsequent no craftsman ".
And European & American Market, because local labour cost is more expensive, interior decoration is essentially all that owner DIY is completed.Cause
This, people there is an urgent need to research and develop one kind to be proficient in consummate decoration technology skill, can substitute the universal of part hand labor and build
Indoor engineering intelligent robot is built to be engaged in heavy building operation.
Construction building site working environment is severe, and construction site region is wide or narrow variation is more, indoor barrier
It is more, and need to solve across door, the outposts such as stair, it needs to solve robot and can rapidly adapt to job location often to convert, with
And need to solve it is open and without fixed reference, the space high-precision large-area construction requirement of not no datum plane.And
There are a large amount of yin-yang angle, handover die joint to need high Precision Processing in construction；There are also higher flatness, vertical for metope, ground
Degree requires.Therefore, meet application of the intelligent robot of above-mentioned requirements in construction currently without one.
In order to overcome above-mentioned defect and meet construction requirement, we have developed a kind of universal indoor engineering intelligence
Robot can be such that robot is just very widely applied in building trade, be effectively improved and applied with the effective solution above problem
Work quality and construction quality, mitigate labor intensity of workers and health is horizontal.
Utility model content
The technical problem to be solved is that provide a kind of universal indoor engineering intelligence for the purpose of this utility model
Robot, is related to building automation technical field of processing equipment, sound construction, simple, it is easy to accomplish mass production, operation are empty
Between freedom degree and flexibility ratio it is good, can be moved freely and be automated processing by planning path, can complete in interior decoration engineering
Most engineering duty and nonproductive task, such as: demolishing walls, build a wall, the slot that bursts at the seams, beat wall hole, lay water power pipeline, pass bracing wire, paving
It builds ground, source brick, carpenter's installation, spraying water-repellent paint, plaster a wall, batch ash, spray paint etc., be effectively improved construction to reach
Quality and construction quality improve work efficiency, mitigate labor intensity of workers and improve the purpose of health level.Therefore, it is one
Kind of economy and the technical intelligent machine equipment for having a superior function.
To achieve the above object, the utility model provides a kind of universal indoor engineering intelligent robot, feature
It is, it includes:
Motion base；
Kinematic arm；It is movable by means of joint portion between at least two link arms, adjacent link arm that it has, with
And the power offer portion of each joint portion of driving portion；
Sensor-based system；It is set on the motion base and is set on Kinematic arm, the sensor-based system
Detection module and the detection module including realizing avoidance and distance are used to detect the space relative coordinate of the motion base；
Central control；It is connected to the motion base, Kinematic arm and sensor-based system, the central control
Including mobile control module, movable arm control module and detection control module.
In one or more embodiments of the utility model, the joint portion includes the first joint portion, second joint portion
And third joint；The link arm includes:
The first link arm being connected with pedestal, first link arm rotate with pedestal and connect；
Second connecting rod limb is connected between the first link arm by the first joint portion；
Third connecting rod arm is connected between described second connecting rod limb by second joint portion；
Wrist is connected between third connecting rod arm by third joint.
In one or more embodiments of the utility model, the wrist has Standard general purpose interface.
In one or more embodiments of the utility model, the motion base is installed with detection module, the wrist
Equipped with rotation angle detection module or apart from detection module.
In one or more embodiments of the utility model, the motion base, which is installed with, executes mobile mechanism, described
Execute mobile mechanism include Mecanum wheel, Athey wheel, wheel, polypody mobile mechanism it is one or more；Execute mobile mechanism
It is installed in the lower section of carrying board.
In one or more embodiments of the utility model, power offer portion includes drive the first joint portion the
One servo motor, the second servo motor for driving second joint portion and the third servo motor for driving third joint.
In one or more embodiments of the utility model, the detection module includes radar, infrared sensor, connects
Nearly sensor, visual sensor, laser sensor any appoint a variety of；The detection module is used for object ranging and object
Outline identification.
In one or more embodiments of the utility model, the Standard general purpose interface removably hold by the task of being assembled with
Row mechanism.
In one or more embodiments of the utility model, the task execution mechanism includes for the automatic of spraying
Spray gun or for metope polish the grinding tool of polishing or pneumatic clamper for grabbing object or cutter or milling for the slot that bursts at the seams plus
Work machinery head or automatic gun nailing machine.
In one or more embodiments of the utility model, the central control connects electrical system, electrical system
Including battery, battery connector, external power source interface, conducting wire, electrical protection circuit and dispensing controller；
The instruction reasonable distribution electric power that the dispensing controller is provided according to central control is to the Kinematic arm
And motion base；The central control includes high-performance computer, all kinds of communication interfaces, Various types of data bus interface and display
Interface is constituted,
The detection control module is used for the reconstruct of point cloud, clearing, feature to body and surrounding enviroment gestures of object information
Identification, the operation of gesture recognition and perception information, to realize that function control, the function control include instruction parsing, channel radio
Letter, navigation data processing and image procossing；
Electrical system also has safety control module, which includes emergent stopping, warning device, Ren Yuanan
Full detection device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis,
The mobile control module is used for planning walking path, motion control and navigation/guidance system, provides for body and is
System is absolutely or relative position and course；
The activity arm control module is used for manipulator motion trajectory planning and control and logical with remote control center
Communication and data exchange between news and data exchange and the collaborative work robot at scene.
The utility model existing effect compared with background technique is:
Since the utility model uses above-mentioned scheme, its structure is simple, is easily achieved large-scale production manufacture, this is logical
With type indoor engineering intelligent robot motion base, control, Distribution Management System, Multi-shaft mechanical arm composition.This is universal
Indoor engineering intelligent robot is grabbed by mechanical arm or connects different task execution mechanisms, sound construction, simple, easily
In realizing mass production, working space freedom degree and flexibility ratio are good, can complete most engineering in interior decoration engineering
Task and nonproductive task, such as: demolishing walls, build a wall, the slot that bursts at the seams, beat wall hole, lay water power pipeline, pass bracing wire, pave ground, metope face
Brick carpenter's installation, spraying water-repellent paint, is plastered a wall, batch ash, spray paint etc., is effectively improved construction quality and matter of constructing to reach
Amount improves work efficiency, mitigates labor intensity of workers and improves the purpose of health level.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of universal indoor engineering intelligent robot in the utility model one embodiment；
Fig. 2 is the control connection structure of universal indoor engineering intelligent robot in the utility model one embodiment
Schematic diagram；
Fig. 3 be the utility model one embodiment in universal indoor engineering intelligent robot under another visual angle
Partial structure diagram；
Specific embodiment
The embodiments of the present invention are described below in detail, the embodiment described example is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.
Orientation shown by attached drawing should not be understood as the specific protection scope for limiting the utility model, only for preferred embodiment
Reference understand, can with product component shown in figure carry out position variation or quantity increase or structure simplify.
Mutually " connection " relationship of component shown in " connection " described in the specification and attached drawing, it can be understood as fixed
Ground connects or is detachably connected or is formed the connection of one；It can be and be directly connected directly or be connected by intermediary, ability
Domain those of ordinary skill can understand connection relationship as the case may be and it can be concluded that be spirally connected or rivet or weld or clamping or
The modes such as interlocking carry out different embodiments in an adequate manner for using.
Orientation shown in the nouns of locality such as upper and lower, left and right described in the specification, top, bottom and attached drawing, each component can be straight
Contact passes through the other characterisation contact between them；As above can for surface and oblique upper or it only indicates height
In other objects；Other orientation can also be made to analogize understanding.
There is physical form component and unshowned supporting member making material represented by specification and attached drawing, it can
Adaptively to use metal material or nonmetallic materials or other synthetic materials；All components for being related to having physical form are adopted
Being adapted to property of mechanical processing technique selects punching press, forging and stamping, casting, wire cutting, laser cutting, injection molding, number milling, three-dimensional to beat
Print, machining, shearing etc.；Those of ordinary skill in the art can adapt to according to different processing conditions, cost, precision
Selection is selected to property or combined, but is not limited to above-mentioned material and manufacture craft.
Made below with reference to the attached drawing of specification by being further described to specific embodiment of the present utility model
The technical solution of the utility model and its benefits are clearer.It is intended to explain the utility model, and should not be understood as
Limitations of the present invention.
Referring to Fig.1 shown by -3, the embodiments of the present invention preferably provide a kind of universal indoor engineering
Intelligent robot, it includes:
Motion base 1；
Kinematic arm 2；It has between at least two link arms 21, adjacent link arm 21 by means of joint portion 22
The mutually power offer portion 23 of activity and each joint portion 22 of driving portion；
Sensor-based system 3；It is set to from the motion base 1 and is set on Kinematic arm 2, the biography
Sensing system 3 includes the sky that the detection module 31 of realization avoidance and distance and the detection module 31 are used to detect the motion base 1
Between relative coordinate；Sensor-based system 3 can be equipped with visual sensor 32.
Central control 4；Comprising:
For connection motion base 1 to control the mobile control module 41 that it is moved, the movement control module 41 connection executes shifting
Motivation structure 11；
The movable arm control module 42 in power offer portion 23 is connected, the activity arm control module 42 instruction power mentions
Power is provided to realize link arm activity for the movement of portion 23 for each joint portion 23 of driving；
The detection control module 43 of sensor-based system 3 is connected, which is used to receive sensor-based system 3 to survey and keep away
Barrier and close distance parameter carry out feeding back and being based on feedback data, for mobile control module 41 and movable 42 control of arm control module
The work of the corresponding driving source of system generates instruction.
Central control 4 further includes control panel 44, rear emergency safety stop button 45, switch button 46,47 and of handle
Emergency safety stop button 48 afterwards.The joint portion 22 includes the first joint portion 221, second joint portion 222 and third joint
223；The link arm 21 includes: the first link arm 212 being connected with pedestal 211, first link arm 212 and 211 phase of pedestal
Rotation connection；Second connecting rod limb 213 is connected between the first link arm 212 by the first joint portion 221；Third
Link arm 214 is connected between described second connecting rod limb 213 by second joint portion 222；
Wrist 215 is connected between third connecting rod arm 214 by third joint 223.Wrist 215 has standard
General-purpose interface 216.The side of motion base 1 is installed with detection module 31, and the wrist 215 is installed with or apart from detection module 33
Or rotation angle detection module.Wrist 215 is connected to by means of link 6 apart from detection module 33.215 one end of wrist, which has, to be connected
Connect cylindricality connector 2151.
Motion base 1, which is installed with, executes mobile mechanism 11, and the execution mobile mechanism 11 includes Mecanum wheel, crawler belt
One of modes such as wheel, wheel, Zu Shi mechanism are a variety of；Execute the lower section that mobile mechanism is installed in carrying board 12.
Power offer portion 23 includes the first servo motor 231 of the first joint portion 221 of driving, driving second joint portion
222 the second servo motor 232 and the third servo motor 233 of driving third joint 223.
The detection module 31 includes radar, infrared sensor, proximity sensor, visual sensor, laser sensor
It waits any of sensing modes or appoints a variety of；The detection module 31 is used to identify object ranging and contour of object.
Standard general purpose interface 216 is removably assembled with task execution mechanism 5.Task execution mechanism 5 may include being used for
The automatic spray gun of spraying polishes the grinding tool of polishing or pneumatic clamper for grabbing object for metope or for the slot that bursts at the seams
Cutter or Milling Machining machinery head or automatic gun nailing machine etc..
Central control 5 connects electrical system, and electrical system includes battery, battery connector, external power source interface, leads
Line, electrical protection circuit and dispensing controller；The instruction reasonable distribution electricity that the dispensing controller is provided according to central control
Power gives the Kinematic arm and motion base；The central control includes high-performance computer, all kinds of communication interfaces, each
Class data bus interface and display interface are constituted,
The detection control module 43 is used for the point cloud reconstruct of body and surrounding enviroment gestures of object information, clearing, spy
Sign identification, the operation of gesture recognition and perception information, to realize that function control, the function control include that instruction parses, is wireless
Communication, navigation data processing and image procossing；Electrical system also has safety control module, which includes urgent
Stopping, warning device, personnel safety detection device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis,
The mobile control module 41 is used for planning walking path, motion control and navigation/guidance system, and it is absolute to provide system for body
Or relative position and course.
The activity arm control module 43 is used for manipulator motion trajectory planning and control and and remote control center
Communication and data exchange between communication and data exchange and the collaborative work robot at scene.
The principle of other specific embodiments and and work be further described through:
Centrally-mounted driving, motion controller and mobile execution unit of walking in motion base 1；The driving motor, quantity
No less than one, independent power is provided for the mobile execution unit of the walking, it is driven to realize shift action；The motion control
Device executes the path planning instruction of system controller, controls the accurate movement of driving motor and the mobile execution unit of walking,
Realize the accurate displacement of the universal indoor engineering intelligent robot；The mobile execution unit of the walking can be wheeled
The mobile execution unit of walking or the mobile execution unit of crawler-type traveling can also be the sufficient mobile execution units of formula walking；The shifting
Dynamic base portion is the carrying board of above-mentioned universal indoor engineering intelligent robot and mobile execution unit of walking, and is responsible for entire
The accurate movement of universal indoor engineering intelligent robot under control of the control system is to system specified station.The shifting
The transhipment that manpower directly carries out mobile each processing machine interdigit for this system also can be used in dynamic base portion, can also be by people remote
End is controlled universal indoor engineering intelligent robot using remote-control handle and completes specified movement.
Specifically further include one group for detect the universal indoor engineering intelligent robot surrounding enviroment and from
Body position and speed, the sensor of angle and an environment and position and attitude perceive integrated software.The surrounding enviroment and
Own location information includes but is not limited to: surrounding enviroment body surface is artificially sat with universal indoor engineering intelligence machine
Mark the x, y, z axial coordinate point cloud information under the relative coordinate system of origin；Surrounding enviroment body surface is with universal architecture indoor
Angular speed, linear speed information under the relative coordinate system of the artificial coordinate origin of engineering intelligent machine etc.；These by passing in real time
Sensor, which obtains and passes through the integrated software, is uploaded to above-mentioned control distribution system progress feature identification, the reconstruct of point cloud, algorithm solution
It the operations such as calculates, slaps the universal indoor engineering intelligent robot comprehensively to itself and surrounding enviroment gestures of object information
Control；It preferentially uses but is not limited to laser radar to carry out ranging and contour of object identification, to facilitate universal indoor engineering
The intelligent robot quickly identification and avoidance to surrounding enviroment and barrier in real time in environment indoors.
(upper) the control system in ground can be divided into using control, Distribution Management System, the control, Distribution Management System
System, vehicle-mounted (single machine) control system and navigation/guidance system, wherein ground control system refers to the universal architecture indoor work
The remote control equipment of journey intelligent robot is mainly responsible for task distribution, vehicle scheduling, path (line) management, traffic administration, machine
The functions such as device arm and Motion trajectory and the processing work of the interchangeable task execution mechanism；The vehicle-mounted control system
System, including the access of electrical system, electric power and dispensing controller, core control computer unit, safety governor etc., are receiving
After the instruction of Upper system, the navigation for being responsible for the universal indoor engineering intelligent robot is calculated, and guiding is realized, vehicle
Walking, the functions such as Machinery Ministry operation；The electrical system includes: battery, battery connector, external power source interface, conducting wire, electrical
Protect circuit；The electric power access and dispensing controller, the instruction reasonable distribution electricity provided according to core control computer unit
Power is used to the universal each system in each position of indoor engineering intelligent robot；Core control computer unit by
High-performance computer, all kinds of communication interfaces, Various types of data bus interface, display interface are constituted, the control, Distribution Management System
To complete the universal indoor engineering intelligent robot to the point Yun Chong of itself and surrounding enviroment gestures of object information
Structure, clearing, feature identification, gesture recognition, etc. the operations of perception informations, function control (such as instruction parsing, wireless communication, navigation
Data processing, image procossing etc.), dynamic Control (such as power supply, charge control), security control (such as detection of obstacles, speed and
Course changing control etc.), it is planning walking path and motion control, manipulator motion trajectory planning and control, logical with remote control center
Interrogate communication between data exchange and the collaborative work robot at scene and data exchange and above-mentioned task execution mechanism
It the communication of other control elements and data exchange and cooperates with；Navigation/guidance system is the universal indoor engineering intelligence
Energy robot single machine provides absolute system or relative position and course；
Multi-shaft mechanical arm includes Multi-shaft mechanical arm executing agency, driving mechanism；The Multi-shaft mechanical arm executing agency includes
Wrist, wrist, arm, pedestal are constituted；The wrist, equipped with standard mechanical interface and electric interfaces and above-mentioned universal building room
The task execution mechanism of interior engineering intelligent robot is coupled；The wrist is to connect the component of above-mentioned wrist and arm, and can be used
The orientation and direction of wrist and task execution mechanism are adjusted, to expand the actuating range of mechanical arm, and becomes mechanical arm more
Add dexterity, it is more adaptable.The wrist has independent freedom degree, and the general wrist is equipped with rotary motion and is further added by one
Lower swing can meet job requirement, some act relatively simple work such as Land leveling, bracing wire etc., in order to simplify knot
Structure can not set wrist, and directly drive wrist function with arm movement；The arm, component are that the important of mechanical arm is held
Component is held, its effect is to support above-mentioned wrist and wrist and task execution mechanism, and drive them to do spatial movement, and precisely
Reach any point in spatial dimension.If it is desired to changing the posture and orientation of above-mentioned wrist, then added with the freedom degree of above-mentioned wrist
To realize.Therefore, in general, there is arm three degree of freedom to be just able to satisfy basic demand, i.e. the flexible of arm, left-right rotary
Turn, lifting or pitching movement；The pedestal, for connecting mechanical arm and above-mentioned universal indoor engineering intelligent robot
Board is carried, is made of the ring flange matched；The driving mechanism is the important component of mechanical arm, not according to power source
Together, hydraulic, pneumatic, electronic and four class of Mechanical Driven, the utility model can be roughly divided into and mainly use electric drive, except special
It needs the operative scenario of heavy load or greater impact power such as: carrying, Land leveling compacting is using hydraulic or pneumatic outer, the electricity
Dynamic driving, is made of driving motor and retarder, and structure is simple, compact dimensions, light-weight, easy to control.
Standard interface and all kinds of engineering processing equipments, for example, spraying the levelling polishing of automatic spray gun, metope mill
Tool, the cutting of the pneumatic clamper for grabbing object, the slot that bursts at the seams, milling machine tool, automatic gun nailing machine etc., these processing equipments generally have
Dedicated auxiliary device is coupled, such as air pump, the blender of spraying, dedicated air compressor of pneumatic clamper etc.；It is above-mentioned various
Interchangeable task execution mechanism is connect by the general-purpose interface with above-mentioned mechanical wrist, completes appointed task jointly；
In motion base, the mobile execution unit of running on wheels uses Mecanum wheel, to facilitate universal architecture indoor work
Journey intelligent robot is in the narrow flexible deflecting of the interior space and advance and retreat；Multi-shaft mechanical arm uses sixdegree-of-freedom simulation, and six certainly
By having highest cost performance and versatility in degree mechanical arm indoors engineering-environment；Universal indoor engineering intelligence machine
People's 2 above-mentioned Multi-shaft mechanical arms of upper at most installation facilitate matching for each work post in engineering to adapt to the scene of certain particular/special requirements
It closes and coordinates processing；It states the wrist end of Multi-shaft mechanical arm, it is contactless apart from displacement sensor or contact pressure that one group of high-precision is set
Power, stroke sensor, to the interchangeable task execution on above-mentioned universal indoor engineering intelligent robot
Mechanism carries out secondary precise positioning when accurate processing work to architecture indoor, with the above-mentioned universal architecture indoor work of correction-compensation
Position when journey intelligent robot walks mobile in free space that is open and lacking datum plane without fixed reference positions
Precision is unsatisfactory for the contradiction of requirement on machining accuracy.
The utility model can be along the intelligent navigation of the route of preparatory planning and designing, autonomous and automatic obstacle-avoiding function
Energy；It is passed so that one group of high-precision positioned at multi-spindle machining wrist is contactless apart from displacement sensor or contact pressure, stroke
Secondary positioning based on sensor is reinforced being promoted the universal indoor engineering intelligent robot and above-mentioned is alternatively appointed
The positioning accuracy of business executing agency meets process requirements；Interchangeable task execution mechanism is driven to realize task with Multi-shaft mechanical arm
Diversification and quick replaceability promote the versatility of the universal indoor engineering intelligent robot and complete complicated
The ability and the range of work of process requirements.And the feature simple, easy to manufacture, agile and all-purpose with structure.Therefore, it is one
Kind technical and economy has the product of superior function.
Although describing the utility model by above-mentioned preferred embodiment, it is likely present and falls in the utility model
Change, displacement and equivalent scheme in range；A variety of alternatives are also likely to be present to realize the utility model.Therefore, purport
The appended claims are construed to include all such changes in the true spirit and range for falling in the utility model,
Displacement and equivalence；It should be understood by those skilled in the art that and the utility model be not limited to it is above-mentioned specific
Embodiment all falls within the guarantor of the utility model on the basis of the utility model using the improvement of techniques well known and substitution
Range is protected, should be limited by each claim.
Claims (10)
1. a kind of universal indoor engineering intelligent robot, which is characterized in that it includes:
Motion base；
Kinematic arm；It has by means of joint portion activity between at least two link arms, adjacent link arm, and drives
The power offer portion of the dynamic each joint portion in portion；
Sensor-based system；It is set on the motion base and is set on Kinematic arm, and the sensor-based system includes
It realizes the detection module of avoidance and distance and the detection module is used to detect the space relative coordinate of the motion base；
Central control；It is connected to the motion base, Kinematic arm and sensor-based system, and the central control includes
Mobile control module, movable arm control module and detection control module.
2. universal indoor engineering intelligent robot according to claim 1, which is characterized in that the joint portion packet
Include the first joint portion, second joint portion and third joint；The link arm includes:
The first link arm being connected with pedestal, first link arm rotate with pedestal and connect；
Second connecting rod limb is connected between the first link arm by the first joint portion；
Third connecting rod arm is connected between described second connecting rod limb by second joint portion；
Wrist is connected between third connecting rod arm by third joint.
3. universal indoor engineering intelligent robot according to claim 2, which is characterized in that the wrist has
Standard general purpose interface.
4. universal indoor engineering intelligent robot according to claim 2 or 3, which is characterized in that the movement
Base portion is installed with detection module, and the wrist is equipped with the detection module of rotation angle detection module or distance.
5. universal indoor engineering intelligent robot according to claim 4, which is characterized in that the motion base
It is installed with and executes mobile mechanism, the execution mobile mechanism includes Mecanum wheel, Athey wheel, wheel, polypody mobile mechanism
It is one or more；Execute the lower section that mobile mechanism is installed in carrying board.
6. universal indoor engineering intelligent robot according to claim 2, which is characterized in that the power provides
Portion includes the first servo motor for driving the first joint portion, the second servo motor for driving second joint portion and driving third joint
The third servo motor in portion.
7. universal indoor engineering intelligent robot according to claim 6, which is characterized in that the detection module
Including radar, infrared sensor, proximity sensor, visual sensor, laser sensor any or appoint a variety of；The inspection
Module is surveyed to be used to identify object ranging and contour of object.
8. universal indoor engineering intelligent robot according to claim 3, which is characterized in that the standard universal
Interface is removably assembled with task execution mechanism.
9. universal indoor engineering intelligent robot according to claim 8, which is characterized in that the task is held
Row mechanism include for spraying automatic spray gun or for metope polish the grinding tool of polishing or pneumatic clamper for grabbing object or
Cutter or Milling Machining machinery head or automatic gun nailing machine for the slot that bursts at the seams.
10. according to claim 1-3, universal indoor engineering intelligent robot described in any one of 5-9, special
Sign is that the central control connects electrical system, and electrical system includes battery, battery connector, external power source interface, leads
Line, electrical protection circuit and dispensing controller；
The instruction reasonable distribution electric power that the dispensing controller is provided according to central control is to the Kinematic arm and shifting
Dynamic base portion；The central control includes high-performance computer, all kinds of communication interfaces, Various types of data bus interface and display interface
It constitutes,
The detection control module is used to reconstruct the point cloud of body and surrounding enviroment gestures of object information, settle accounts, feature identifies,
The operation of gesture recognition and perception information, to realize that function control, the function control include that instruction is parsed, wirelessly communicated, leading
Navigate data processing and image procossing；
Electrical system also has safety control module, which includes emergent stopping, warning device, personnel safety inspection
Device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis are surveyed,
The mobile control module is used for path planning, motion control and navigation/guidance system is walked, and it is exhausted to provide system for body
Pair or relative position and course；
It is described activity arm control module be used for manipulator motion trajectory planning and control and with remote control center communication, with
Communication and data exchange between data exchange and the collaborative work robot at scene.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108942873A (en) * | 2018-09-12 | 2018-12-07 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
| CN110748130A (en) * | 2019-11-04 | 2020-02-04 | 珠海心怡科技有限公司 | Indoor intelligent spraying and rolling coating dual-purpose machine for robot |
| CN111421533A (en) * | 2020-04-19 | 2020-07-17 | 广东华星建设集团有限公司 | Intelligent construction device and method for rain sewage pipe network |
| CN113172272A (en) * | 2021-04-23 | 2021-07-27 | 中铁十四局集团有限公司 | Steel pipe machining device and machining method |
| TWI755947B (en) * | 2019-11-29 | 2022-02-21 | 日商精工愛普生股份有限公司 | The control method of the robot system |
| KR102659797B1 (en) * | 2023-12-29 | 2024-04-23 | 주식회사 에스앤디코리아 | Intelligent robots provide laser processing for storage tank |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942873A (en) * | 2018-09-12 | 2018-12-07 | 珠海心怡科技有限公司 | Universal indoor engineering intelligent robot |
| CN110748130A (en) * | 2019-11-04 | 2020-02-04 | 珠海心怡科技有限公司 | Indoor intelligent spraying and rolling coating dual-purpose machine for robot |
| TWI755947B (en) * | 2019-11-29 | 2022-02-21 | 日商精工愛普生股份有限公司 | The control method of the robot system |
| CN111421533A (en) * | 2020-04-19 | 2020-07-17 | 广东华星建设集团有限公司 | Intelligent construction device and method for rain sewage pipe network |
| CN111421533B (en) * | 2020-04-19 | 2020-10-20 | 广东华星建设集团有限公司 | Intelligent construction device and method for rain sewage pipe network |
| CN113172272A (en) * | 2021-04-23 | 2021-07-27 | 中铁十四局集团有限公司 | Steel pipe machining device and machining method |
| KR102659797B1 (en) * | 2023-12-29 | 2024-04-23 | 주식회사 에스앤디코리아 | Intelligent robots provide laser processing for storage tank |
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