CN209850970U - Horizontal self-stabilizing platform of intelligent robot for building indoor engineering and robot - Google Patents
Horizontal self-stabilizing platform of intelligent robot for building indoor engineering and robot Download PDFInfo
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- CN209850970U CN209850970U CN201920348492.1U CN201920348492U CN209850970U CN 209850970 U CN209850970 U CN 209850970U CN 201920348492 U CN201920348492 U CN 201920348492U CN 209850970 U CN209850970 U CN 209850970U
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Abstract
The utility model provides a building indoor engineering intelligent robot's level is from steady platform and robot, it includes: a base; the central upright post is connected with a central upright post and a plurality of hinge parts arranged at intervals, and the central upright post is pivoted with the supporting beam; the hinge part is connected with a first telescopic branched chain, and the upper hinge of the first telescopic branched chain is connected with the movable platform plate; the hinge part is connected with a second telescopic branched chain, and the second telescopic branched chain is connected with the supporting beam in a supporting manner; the supporting beam is hinged with the movable platform plate; the sensor is arranged on the platform plate; the controller is connected with the servo driving part and used for receiving the position change detected by the sensor so as to instruct the first telescopic branched chain and the second telescopic branched chain to be driven by the servo driving part to realize lifting and shrinking, so that the movable platform plate is in a horizontal state. The device has the outstanding characteristics of simple structure, easy realization of large-scale production and manufacture, safety, reliability, self-stability, self-leveling, parallel linkage support, good rigidity, large bearing capacity, compact mechanism and the like.
Description
Technical Field
The utility model relates to a level of building interior engineering intelligent robot is from steady platform and robot.
Background
The building interior decoration industry is always manually operated or simply and mechanically assisted, the labor intensity is high, the precision of a finished product cannot be guaranteed, and the working environment is severe; the working efficiency is low and difficult to continuously improve, the finished product processing precision cannot be continuously ensured, the working environment is severe, and the defects of about 20 ten thousand decoration companies exist in the current Chinese market, the average age of the decoration workers is over 40 years according to survey, and the young labor is rarely injected. This has led to a dramatic increase in labor costs for this industry, and decoration companies are faced with embarrassment of "no-craftsman follow-up". Therefore, people are urgently required to develop an intelligent robot for building interior engineering which is skilled and skillful in decoration process engineering and can replace part of manual labor to carry out heavy construction work.
The construction site working environment is severe, the construction site space is changeable, many application scenes are ultra-high and ultra-large, and the mechanical arm configured by the intelligent robot is limited by space, dead weight and the like and cannot extend infinitely. Therefore, it is a conventional method to equip the intelligent robot with a lifting mechanism and place the robot arm device on top of the lifting mechanism to expand the vertical working range of the robot arm, but this approach brings another trouble:
this is only true in the case of an uneven ground surface, which is common on building construction sites, where the ground surface slope is greater than 30Or the disturbance of the ground surface to the level of the intelligent robot base is amplified by the lifting mechanism by multiple times, so that the gravity center of the intelligent robot deviates, the risk and the accident of lodging caused by instability of the intelligent robot are increased rapidly, the robot arm base generates an unmeasured displacement deviation when moving up and down along with the lifting mechanism, and the displacement deviation value is amplified linearly along with the increase of the lifting height, so that the processing precision is seriously influenced. However, in the whole process from the displacement, positioning, mechanical arm movement to the processing of the processing tool, if accumulated errors of various manufacturing, measurement, mechanical assembly, movement and the like are not effectively controlled and isolated, the conduction to the tail end can greatly influence the processing precision, and a correction unit is required to be inserted in the whole process to isolate and correct the accumulated errors.
In order to overcome the defects and meet the requirement of construction precision, a horizontal self-stabilizing platform and a robot of an intelligent robot for construction indoor engineering are developed, wherein the self-stabilizing platform mainly has the functions of correcting disturbance caused by uneven ground and inhibiting disturbance generated by a movable base, and provides a self-stabilizing plane for the work of a lifter and a mechanical arm.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a level self-stabilization platform and robot of building interior engineering intelligent robot is to be provided, its simple structure, easily realize that scale production makes, safe and reliable, self-stabilization self-leveling, parallelly connected linkage support, rigidity are good, the bearing capacity is big, outstanding characteristics such as mechanism compactness.
In order to realize the above-mentioned purpose, the utility model provides a technical scheme provides a level of building interior engineering intelligent robot is from steady platform, and it includes:
a base; the central upright post is connected with a central upright post and a plurality of hinge parts arranged at intervals, and the central upright post is pivoted with the supporting beam; the hinge part is connected with a first telescopic branched chain, and the upper hinge of the first telescopic branched chain is connected with the movable platform plate; the hinge part is connected with a second telescopic branched chain, and the second telescopic branched chain is connected with the supporting beam in a supporting manner; the supporting beam is hinged with the movable platform plate;
the sensor is arranged on the platform plate;
the controller is connected with the servo driving part and used for receiving the position change detected by the sensor so as to instruct the first telescopic branched chain and the second telescopic branched chain to be driven by the servo driving part to realize lifting and shrinking, so that the movable platform plate is in a horizontal state.
In one or more embodiments of the present invention, the number of the first retractable branches is plural.
In one or more embodiments of the present invention, the number of the second retractable branches is plural.
In one or more embodiments of the present invention, the sensor includes a gyroscope, a three-axis acceleration sensor, a speed sensor, or an inclination sensor.
In one or more embodiments of the present invention, the servo driving part includes a servo motor, a hydraulic cylinder, or a pneumatic cylinder.
In one or more embodiments of the present invention, the sensor detects the position change signal fed back to the controller of the movable platen, so as to instruct the first and second telescopic branches to perform the telescopic feeding amount for the telescopic action.
In one or more embodiments of the present invention, the first hinge portion or the second hinge portion is a hooke hinge.
Under the same design, the utility model provides a robot, it includes any one of above-mentioned scheme building indoor engineering intelligent robot's level self-stabilization platform.
In one or more embodiments of the present invention, the present invention further comprises a movable base, a control cabinet disposed on the movable base, and a horizontal self-stabilizing platform, wherein the horizontal self-stabilizing platform is provided with a lifting mechanism, and the lifting mechanism is provided with a manipulator substrate; the robot is connected to the robot base plate.
In one or more embodiments of the present invention, the lifting mechanism includes a scissor arm set, an air cylinder, an oil cylinder, or an electric driving lifting device.
Compared with the prior art, the utility model the effect that exists is:
by adopting the scheme, the device has the outstanding characteristics of simple structure, easiness in realization of large-scale production and manufacture, safety, reliability, self-stability and self-leveling, parallel linkage support, good rigidity, large bearing capacity, compact mechanism and the like.
Drawings
Fig. 1 is a schematic structural diagram of a horizontal self-stabilizing platform of an intelligent robot for construction indoor engineering in a first embodiment of the present invention;
fig. 2 is a schematic structural view of a horizontal self-stabilizing platform of the intelligent robot for construction indoor engineering in the second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the robot of the present invention;
fig. 4 is a schematic view of an expanded structure of a horizontal self-stabilizing platform of the intelligent robot for construction indoor engineering in the second embodiment of the present invention;
fig. 5 is the control flow chart of the horizontal self-stabilizing platform of the intelligent robot for indoor construction engineering in the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
The orientation shown in the drawings is not to be considered as limiting the scope of the invention, but merely as a reference to the preferred embodiments, changes in position or addition of numbers or structural simplifications may be made to the product parts shown in the drawings.
The relation of "connected" between the components shown in the drawings and described in the specification can be understood as fixedly connected or detachably connected or integrally connected; the connecting elements can be directly connected or connected through an intermediate medium, and persons skilled in the art can understand the connecting relation according to specific conditions, and can use the connecting elements in a screwed connection or riveting connection or welding connection or clamping connection or embedding connection mode to replace different embodiments in a proper mode.
The terms of orientation such as up, down, left, right, top, bottom, and the like in the description and the orientation shown in the drawings, may be used for direct contact or contact with each other through another feature therebetween; above may be directly above and obliquely above, or it simply means above the other; other orientations may be understood by analogy.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification; and are intended to be illustrative of the invention and not to be construed as limiting the invention.
Example 1:
referring to fig. 1, an embodiment of the present invention preferably provides a horizontal self-stabilizing platform of an intelligent robot for building interior engineering, which includes: the device comprises a movable platform 1, an upper hinge 2, a first telescopic branched chain 3, a servo driving part 4, a hinge part 5, a base 6, a central upright post 7, a pivoting part 8, a supporting beam 9, a sensor 10, a second telescopic branched chain 11, a supporting beam 12 and a controller 13; wherein, the base 6 is connected with a central upright post 7 and a plurality of hinge parts 5 arranged at intervals, and the central upright post 7 is pivoted with a supporting beam 12 by a pivoting part 8; the hinge part 5 is connected with the first telescopic branched chain 3, and the upper hinge 2 of the first telescopic branched chain 3 is connected with the movable platform plate 1; the other hinge part 5 is connected with a second telescopic branched chain 11, and the second telescopic branched chain 11 is in propping connection with a supporting beam 12; the supporting beam 12 is hinged with the movable platform plate 1; the sensor 10 is arranged on the platform plate 1; the controller 13 is connected with the servo driving part 4, and the controller 13 receives the position change of the movable platform detected by the sensor 10 to instruct the servo driving part to lift and retract the first telescopic branched chain 3 or/and the second telescopic branched chain 11, so that the movable platform plate 1 is in a horizontal state.
In a particular embodiment, the number of first telescopic branches 3 is a plurality; the number of the second flexible branch 11 is plural, and the specific number is not limited, but 2 to 6 are generally preferred. The sensors 10 include gyroscopes, three-axis acceleration sensors, velocity sensors, tilt sensors, etc., and the present specification does not limit the specific number or type of sensors 10.
The servo driving unit 4 includes a power source such as a servo motor, a hydraulic cylinder, or a pneumatic cylinder, and is not particularly limited. The hinge part can adopt a Hooke hinge.
When the telescopic device is used, the sensor 10 detects a position change signal of the movable platform plate and feeds the position change signal back to the controller 13 so as to instruct the first telescopic branch chain 3 and the second telescopic branch chain 11 to execute telescopic feeding amount to perform telescopic action; thereby leading the movable platform to reach a horizontal state; the horizontal self-stabilizing platform mechanism adopts a parallel design, has the characteristics of good rigidity, large bearing capacity, compact mechanism and the like, obtains the deflection angle of a horizontal X, Y shaft of a movable platform through an angle and motion sensor, generally adopts the angle and motion sensor for the self-stabilizing platform, detects information such as rolling, pitching and the like in real time, transmits the deviation value to a self-stabilizing platform servo controller to control the telescopic motion of a branched chain to isolate external disturbance, provides a self-stabilizing horizontal state, and can meet the use requirement as a main bearing part in the construction engineering machinery.
Example 2:
referring to fig. 2 and 4, the general structure is the same as that of embodiment 1, and the same structure is not described again, except that the number of the first telescopic branches 3 is one more than that of embodiment 1, and the specific structure in the case of a plurality of first telescopic branches 3 is intended to be illustrated for further understanding. In the unfolding structure of the horizontal self-stabilizing platform of the intelligent robot for building interior engineering shown in fig. 4, the upper hinge 2 and the pivoting part 8 can be realized by adopting a structural mode of assembling a rotating shaft by using a pivoting hole sleeve.
In combination with the above embodiments and referring to fig. 3, the present invention preferably provides a robot, which includes the above-mentioned horizontal stage 100 of the intelligent robot for building interior engineering, a mobile base 101, a control cabinet 102 and a horizontal stage 103, wherein the mobile base 101 is provided with wheels 104, the horizontal self-stabilizing platform 100 is provided with an elevating mechanism 105, and a manipulator substrate 106 is arranged above the elevating mechanism 105; the robot 107 is connected to the robot base 106. The control cabinet 102 is provided with a display screen 108 and an emergency stop button 109. The manipulator 107 is connected with the working head 110; the lifting mechanism 105 comprises a scissor arm set, an air cylinder, an oil cylinder, an electric driving lifting device and the like.
Illustrated in fig. 5, which is a more specific control flow provided by the above embodiments in the case of multiple scalable branches; during work control, the action of the electric cylinder is fed back to the control system, and the control system controls the electric cylinder to stretch; the speed controller and the current controller are controlled by the parameter change of the position controller, the speed controller and the current controller are subordinate to the position controller, namely, the position determines the speed, the speed determines the current, the electric cylinder only feeds back the current state, the direct drive of the electric cylinder is the current controller, and the upper computer sets the stroke of the electric cylinder and the position deviation perception through the position and the motion sensor. Specifically, the position and motion sensors can be converted into signals through the rolling angle feedback and the pitching angle feedback and feed the signals back to the host computer.
The robot applying the horizontal self-stabilizing platform consists of a moving base, a control and power distribution management system, the horizontal self-stabilizing platform, a lifting mechanism and a multi-axis mechanical arm. This building interior engineering intelligent robot can enlarge the perpendicular working range of arm through elevating system, improves the robot suitability, and sound construction, simple easily realize mass production, operation space degree of freedom and flexibility ratio are good, can accomplish most engineering task and supplementary task in the interior decoration engineering, if: the method comprises the following steps of wall dismantling, wall building, slot opening, wall opening, water and electricity pipeline laying, wire transmission and pulling, floor paving, wall surface tile laying, woodworking installation, waterproof paint spraying, wall plastering, ash scraping, finish paint spraying and the like, so that the aims of effectively improving construction quality and construction quality, improving work efficiency, reducing labor intensity of workers and improving health and sanitation levels are fulfilled.
While the invention has been described in terms of the preferred embodiments described above, there may be alterations, permutations, and equivalents, which fall within the scope of this invention; there may be many alternative ways of implementing the invention. It is therefore intended that the following appended claims be interpreted as including all such alterations, permutations, and equivalents as fall within the true spirit and scope of the present invention; it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and modifications and substitutions based on the known art are intended to fall within the scope of the present invention, which is defined by the claims.
Claims (10)
1. The utility model provides a level of building indoor engineering intelligent robot is from steady platform which characterized in that, it includes:
a base; the central upright post is connected with a central upright post and a plurality of hinge parts arranged at intervals, and the central upright post is pivoted with the supporting beam; the hinge part is connected with a first telescopic branched chain, and the upper hinge of the first telescopic branched chain is connected with the movable platform plate; the hinge part is connected with a second telescopic branched chain, and the second telescopic branched chain is connected with the supporting beam in a supporting manner; the supporting beam is hinged with the movable platform plate;
the sensor is arranged on the platform plate;
and the controller is connected with the servo driving part and receives the position change detected by the sensor to instruct the servo driving part to drive the first telescopic branched chain and the second telescopic branched chain to ascend and contract, so that the movable platform plate is in a horizontal state.
2. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to claim 1, characterized in that: the number of the first telescopic branched chains is multiple.
3. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to claim 2, characterized in that: the number of the second telescopic branched chains is multiple.
4. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to claim 3, characterized in that: the sensor comprises a gyroscope or a three-axis acceleration sensor or a speed sensor or an inclination sensor.
5. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to claim 4, characterized in that: the servo driving part comprises a servo motor or a hydraulic cylinder or a pneumatic cylinder.
6. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to claim 5, characterized in that: the hinge part is a Hooke hinge.
7. The horizontal self-stabilization platform of the intelligent robot for construction indoor engineering according to any one of claims 1 to 6, characterized in that: the sensor detects a controller fed back by position change signals of the movable platform plate to instruct the first telescopic branch chain and the second telescopic branch chain to execute telescopic feeding amount to perform telescopic action.
8. A robot, characterized by: it includes the horizontal self-stabilization platform of the intelligent robot for the construction indoor engineering of any one of claims 1 to 7.
9. The robot of claim 8, wherein: the manipulator comprises a moving base, a control cabinet and a horizontal self-stabilizing platform, wherein the control cabinet and the horizontal self-stabilizing platform are arranged on the moving base; the robot is connected to the robot base plate.
10. The robot of claim 9, wherein: the lifting mechanism comprises a scissor arm group or an air cylinder or an oil cylinder or an electric driving lifting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920348492.1U CN209850970U (en) | 2019-03-19 | 2019-03-19 | Horizontal self-stabilizing platform of intelligent robot for building indoor engineering and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920348492.1U CN209850970U (en) | 2019-03-19 | 2019-03-19 | Horizontal self-stabilizing platform of intelligent robot for building indoor engineering and robot |
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| CN209850970U true CN209850970U (en) | 2019-12-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895138A (en) * | 2019-03-19 | 2019-06-18 | 珠海心怡科技有限公司 | Indoor engineering intelligent robot it is horizontal from steady platform and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895138A (en) * | 2019-03-19 | 2019-06-18 | 珠海心怡科技有限公司 | Indoor engineering intelligent robot it is horizontal from steady platform and robot |
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