CN210502958U

CN210502958U - Biped robot

Info

Publication number: CN210502958U
Application number: CN201921420191.1U
Authority: CN
Inventors: 贺金锋; 赵永春
Original assignee: Unilumin Group Co Ltd
Current assignee: Unilumin Group Co Ltd
Priority date: 2019-08-28
Filing date: 2019-08-28
Publication date: 2020-05-12
Anticipated expiration: 2029-08-28

Abstract

The utility model discloses a biped robot for the tiled display screen, include: a communication module for communicating with an external measurement device; the detection module is used for detecting the position information of the plane; the device comprises two mechanical feet, wherein the two mechanical feet can rotate relatively, and each mechanical foot is provided with a punching mechanism for punching a hole on the base, a tapping mechanism for tapping in the hole to form an inner screw hole, a gluing mechanism for gluing, a curing mechanism for curing glue, an installation mechanism for installing a connecting piece on the base and a clamping mechanism for clamping the display screen unit. Compared with the prior art, the utility model discloses a biped robot is through communicating with outside measuring device for the concatenation precision of robot improves greatly, and just carries out the walking and the operation of mating the end through two mechanical feet of biped robot, has realized the automation of concatenation, has improved concatenation efficiency greatly.

Description

Biped robot

Technical Field

The utility model relates to a display screen technical field especially relates to a biped robot for display screen concatenation.

Background

At present, when the screen splicing work of the display screen is carried out, manual splicing is mostly needed, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the display screen concatenation is inefficient among the prior art, the utility model provides an use the biped robot of concatenation display screen has improved the concatenation efficiency of display screen greatly, and this biped robot includes:

a communication module for communicating with an external measurement device;

the detection module is used for detecting the position information of the plane;

the device comprises two mechanical feet, wherein the two mechanical feet can rotate relatively, and each mechanical foot is provided with a punching mechanism for punching a hole on the base, a tapping mechanism for tapping in the hole to form an inner screw hole, a gluing mechanism for gluing, a curing mechanism for curing glue, an installation mechanism for installing a connecting piece on the base and a clamping mechanism for clamping the display screen unit.

Optionally, the punching mechanism comprises a fixing seat and a drill bit, and the drill bit is fixedly arranged on the fixing seat.

Optionally, the gluing mechanism comprises a glue storage tank and a glue outlet piece, and the glue outlet piece is communicated with the glue storage tank.

Optionally, the curing mechanism is an ultraviolet lamp, and the glue storage tank stores the shadowless glue.

Optionally, the biped robot further comprises a processing module connected to the communication module, the processing module controlling the mechanical foot according to the received external information.

Optionally, the glue outlet member has a plane, and an outer surface of the shadowless glue ejected from the glue outlet member is attached to the plane of the glue outlet member, so that the outer surface is a plane.

Optionally, the glue outlet part is covered outside the base, so that the cross section of the shadowless glue arranged outside the base is in a preset shape.

Optionally, the punching mechanism is used for punching on the base of the fixed display screen unit, the tapping mechanism is used for forming an inner threaded hole in the hole, the connecting piece is a double-threaded screw, the clamping mechanism is used for fixing one end of the double-threaded screw in the inner threaded hole of the base, and the display screen unit is fixed on the base through the matching of a nut and the other end of the double-threaded screw.

Optionally, the communication module communicates with the outside through any one of bluetooth, wireless fidelity, or near field communication.

Optionally, the detection module is an image measuring instrument.

The beneficial effects of the utility model reside in that: compared with the prior art, the utility model discloses a biped robot is through communicating with outside measuring device for the concatenation precision of robot improves greatly, and carries out walking and the operation in turn through two mechanical feet of biped robot, has realized the automation of concatenation, has improved concatenation efficiency greatly.

Drawings

Fig. 1 is a schematic view of a biped robot provided in an embodiment of the present invention during operation;

fig. 2 is a schematic structural diagram of a biped robot provided in one embodiment of the present invention;

fig. 3 is a schematic structural diagram of a base according to an embodiment of the present invention;

fig. 4 is a flowchart of a display screen splicing method according to an embodiment of the present invention.

Description of reference numerals:

1. a wall body; 2. a biped robot; 3. a base; 4. and (6) a glue layer.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The display screens are substantially rectangular block-shaped, and each display screen is provided with at least one mounting through-hole for mounting penetrating through a front surface (display surface) and a rear surface (mounting surface) of the display screen. In the display screen field of concatenation type, the display screen is formed through the concatenation of a little display screen unit, in order to guarantee the viewing and admiring effect, needs to guarantee the roughness of adjacent display screen unit. A base 3 is arranged between the indoor splicing display screen and the wall body 1, the base 3 is fixed on the wall body 1, and the display screen is fixed on the base 3 through a connecting piece. The connecting piece is a double-threaded screw, one end of the double-threaded screw is in threaded connection with the base 3, and the other end of the double-threaded screw is used for fixing the display screen unit on the base 3 through matching with the bolt.

As shown in fig. 3, four mounting through holes are provided at four corners of the base 3, and the base 3 can be fixed to the approximate position of the wall 1 by manually mounting four expansion bolts through the four mounting through holes of the base 3.

As shown in fig. 1 to 2, the present embodiment provides a display screen splicing system which mainly includes a measuring device (not shown) for acquiring a contour of a wall 1 on which a display screen is to be installed and determining a reference plane and position information from the contour of the wall 1, and a biped robot 2 which communicates with the measuring device, acquires the reference plane and position information, and fixes a display screen unit on a base 3 based on the reference plane and position information.

In this embodiment, the measuring device may be a total station, and the total station scans the contour of the wall 1 to be installed, and determines a reference plane based on the contour of the wall 1, the reference plane being substantially parallel to the wall surface, and the reference plane being located in front of the wall 1 and spaced from the wall 1 by a certain distance. And the total station establishes a two-dimensional coordinate system on the reference plane, and different two-dimensional coordinate values correspond to different positions on the reference plane. Because the appearance physical dimension of the display screen to be spliced and the relative position of the mounting point of the display screen on the display screen are known in advance, the position information of the mounting point on each display screen can be determined, namely, the total station can know the position information of each mounting point of each display screen.

It will be appreciated that in some other embodiments, the measurement device may also be a laser tracker.

The biped robot 2 comprises a communication module, a detection module, a processing module and two mechanical feet, wherein the processing module is respectively in electric communication connection with the communication module, the detection module and the two mechanical feet. The processing module is a control center of the biped robot 2 and controls the action of the mechanical foot according to the information fed back by the communication module and the detection module.

The communication module is used for communicating with an external device, and in the present embodiment, the communication module is mainly used for communicating with the measurement apparatus externally, so as to know and obtain the reference plane and the position information determined by the measurement apparatus. In the present embodiment, the Communication module may communicate with the outside by one of Bluetooth (Bluetooth), Wireless Fidelity (Wireless Fidelity), and Near Field Communication (Near Field Communication).

The detection module is configured to detect position information of a plane and feed back the detected position information of the plane to the processing module.

The two mechanical feet can relatively rotate, and each mechanical foot is respectively provided with a punching mechanism for punching a hole, a tapping mechanism for tapping in the hole to form an inner screw hole, a gluing mechanism for gluing, a curing mechanism for curing glue, an installation mechanism for installing the connecting piece on the base 3 and a clamping mechanism for clamping the display screen unit.

The punching mechanism is used for punching on the base 3 and comprises a fixed seat and a drill bit. The specific work engineering of the punching mechanism is that the communication module communicates with the measuring device, position information used for installing the display screen unit on each base 3 is obtained, the position information is fed back to the processing module, and the processing module controls the drill bit to punch at the position corresponding to the position information of each base 3, so that the accurate control of the installation position is realized.

The tapping mechanism is used for tapping in a hole to form an internal thread after the hole is formed in the base 3, so that an internal thread hole is formed. It will be appreciated that the tapping mechanism may be a tap.

The mounting mechanism is used for mounting the connecting piece on the base 3, and after an inner threaded hole is formed in the base 3, the mounting mechanism screws one end of the double-threaded screw into the inner threaded hole in the base 3, so that the double-threaded screw is fixed on the base 3.

The gluing mechanism comprises a glue storage tank and a glue outlet piece, wherein shadowless glue is stored in the glue storage tank, an electric spray valve is arranged on the glue storage tank, the electric spray valve is in telecommunication connection with a processing module, and the opening or closing of the electric spray valve is controlled by the processing module. The outer side of the glue outlet piece is provided with a containing cavity, one side of the containing cavity is communicated with the outside, the other side of the containing cavity is provided with a partition plate, one side of the partition plate facing the outside is a plane, and a through hole penetrating through the partition plate is formed in the partition plate, so that the shadowless glue sprayed by the electric spray valve can enter the containing cavity through the through hole in the partition plate.

When this mechanism of gluing beats and glues, a mechanical foot of processing module control biped robot 2 removes for the plane of the periphery wall cover of holding chamber is established in the outside of base 3 and baffle and the coincidence of the reference plane that measuring device confirmed, then the electronic valve that spouts of processing module control is opened, and the shadowless in the storage glue jar is glued the through-hole on the baffle and is got into and be full of the holding chamber.

The curing mechanism is used for curing the shadowless glue in the accommodating cavity, in the embodiment, the curing mechanism is an ultraviolet lamp, the ultraviolet lamp is connected with the processing module, and after the accommodating cavity is filled with the shadowless glue, the processing module controls the ultraviolet lamp to be started to emit ultraviolet light, and due to the characteristics of the shadowless glue, the ultraviolet light can be condensed and cured on the base 3 when being irradiated by the ultraviolet light.

The detection module detects the position information of the outer side surface of the partition plate of the accommodating cavity and feeds the position information back to the processing module, the processing module judges whether the position information coincides with the reference plane determined in the measuring device, and if the processing module judges that the position information of the outer side surface of the partition plate does not coincide with the reference plane, the processing module controls the mechanical foot of the biped robot 2 to move until the outer side surface of the partition plate coincides with the reference plane, so that the surface of the shadowless adhesive coincides with the reference plane.

The clamping mechanism is used for clamping the display screen unit, aligning the mounting through hole of the display screen unit with the connecting piece, and then fixing the display screen unit on the base 3 through the matching of the bolt and the double-headed screw rod. It will be appreciated that one display screen unit may correspond to one or more bases 3.

In this embodiment, the working process of the display screen splicing system is roughly that, firstly, a measuring device acquires the outline of a wall body 1, and determines a reference plane and a plurality of position information for installing display screen units based on the outline of the wall body 1; then, the biped robot 2 obtains the reference plane and the plurality of position information determined by the measuring device, and starts to sequentially punch, tap, install the connecting piece on the base 3, glue and cure processes on each base 3 by one mechanical foot of the robot, and after the cure process is completed on each base 3, the fixing process of installing the display screen units on the bases 3 is completed in batch in a unified manner.

In the concatenation in-process of above-mentioned display screen, biped robot 2 walks on wall body 1 always, a mechanical foot of biped robot 2 is attached to on the connecting piece, specific adhesion mode does, a mechanical foot centre gripping nut of robot, through locating the nut soon outside the connecting piece, make a mechanical foot of robot attach outside the connecting piece, thereby realize the fixed of biped robot 2 on wall body 1, then another mechanical foot of biped robot 2 punches, attack the tooth, the installation of connecting piece, beat and glue and solidification process, or the process of display screen unit installation on base 3.

Taking the installation procedure of the display screen unit as an example, when the other mechanical foot of the biped robot 2 finishes the installation of the display screen unit on the base 3, namely the foot fixes the display screen unit on the other connecting piece through the nut, the other mechanical foot is attached to the connecting piece, one mechanical foot of the biped robot 2 unscrews the nut from one connecting piece, then clamps the display screen unit to move to the next position, namely clamps the display screen unit to move to the position where the next connecting piece of the display screen unit needs to be fixed, fixes the clamped display screen unit on the connecting piece, thereby realizing the fixation of one mechanical foot and the operation of the other mechanical foot of the biped robot 2, namely the two mechanical feet of the biped robot 2 are alternately operated, namely one mechanical foot is attached to the connecting piece for realizing the walking and the fixation of the biped robot, and the other mechanical foot carries out the processes of punching, tapping, mounting of a connecting piece, gluing and curing, or the process that the display screen unit is mounted on the base 3.

It will be appreciated that the first base 3 can be perforated, tapped and fitted with connectors manually, so that the biped robot 2 has an attachment to it, so that the subsequent splicing process can be started.

It is understood that in some other embodiments, a steel plate may be further disposed on the surface of the shadowless adhesive layer 4 to improve the flatness of the display screen during splicing.

The display screen splicing system provided by the embodiment has the advantages that on one hand, the problem that the wall body 1 is uneven is solved, on the other hand, the splicing efficiency and the splicing precision are improved through the automatic splicing of the biped robot 2.

As shown in fig. 4, the present embodiment further provides a display screen splicing method, which is applied to the biped robot 2, and the method includes:

step S1, the position information and the reference plane information sent by the measuring device are received.

The biped robot 2 has a communication module, and communicates with an external measurement device to acquire the reference plane and the plurality of position information determined by the measurement device.

And step S2, fixing the connecting piece at the preset position of the base 3 according to the position information.

One mechanical foot of the biped robot 2 fixes one end of the connecting piece on the base 3 at a position corresponding to the position information.

Step S3, glue is applied to the surface of the base 3 and the glue layer 4 is formed, so that the surface of the glue layer 4 and the reference plane are located on the same plane.

Step S5, the display screen unit is fixed on the base 3 formed with the glue layer 4 through the connecting piece.

Specifically, a mechanical foot of the biped robot 2 clamps a display screen unit, aligns a mounting hole of the display screen unit with a connecting piece, and then fixes the display screen unit on the base 3 through the cooperation of a nut and the connecting piece.

In some other embodiments, the step S2 includes:

s21, punching holes at the preset position of the base 3 according to the position information;

specifically, the drilling head of one mechanical foot of the biped robot 2 performs drilling on the position information corresponding to the base 3.

S22, tapping in the hole to form an inner screw hole;

specifically, one mechanical foot of the biped robot 2 taps in a hole formed by a drill, and forms an internal thread in the hole, thereby forming an internal screw hole.

And S23, screwing one end of the connecting piece into the inner threaded hole.

Specifically, one mechanical foot of the biped robot 2 screws one end of the connecting member into the inner screw hole formed in step S22.

In some other embodiments, step S3 further includes:

s31, printing shadowless glue on the base 3;

specifically, a mechanical foot of the biped robot 2 is controlled by the processing module to move, so that the glue outlet part is covered outside the base 3, the outer side surface of the partition plate of the glue outlet part coincides with the reference plane, and the electric spray valve of the glue storage tank is controlled by the processing module to spray shadowless glue to fill the accommodating cavity between the base 3 and the partition plate.

S32, irradiating the shadowless glue by an ultraviolet lamp to enable the shadowless glue to be solidified on the base 3;

specifically, after the holding cavity between the base 3 and the partition plate is filled with the shadowless glue, the processing module controls the ultraviolet lamp to be started to emit ultraviolet light, so that the shadowless glue is cured, and the shadowless glue is cured.

S33, the surface of the shadowless glue is inspected to ensure that the surface of the shadowless glue coincides with the reference plane.

Specifically, the detection module detects that the outer side surface of the partition plate coincides with the reference plane, so that the surface of the shadowless glue coincides with the reference plane.

In some other embodiments, step S4 is further included after step S3, and a steel plate is disposed on the glue layer 4, so as to further improve the flatness of the display screen assembly.

It is understood that the steps S2 and S3 are performed by one mechanical foot of the biped robot 2, specifically, one mechanical foot of the biped robot 2 is attached to one connecting member, the other mechanical foot of the biped robot 2 sequentially performs the steps S2 and S3, when the steps S2 and S3 are completed, the other mechanical foot is attached to the other connecting member, one mechanical foot performs the steps S2 and S3 at the current position, or moves to the other base 3 to perform the steps S2 and S3, that is, the two mechanical feet of the biped robot 2 perform the alternating operation, and the operation content is the steps S2 and S3.

It is understood that the step S5 is a single step S5 completed in batch together after the step S3 is completed on all the pedestals 3. In this step, one of the mechanical feet of the biped robot 2 is attached to one of the attachment members, the other mechanical foot of the biped robot 2 fixes one of the display screen units to the other attachment member, and the two mechanical feet of the biped robot 2 perform alternate attachment and installation of the display screen units.

It is understood that the mechanical feet are attached to the connecting member in such a manner that one of the mechanical feet of the biped robot 2 holds a nut and screws the nut outside the connecting member, and when the other mechanical foot of the biped robot 2 is attached to fix the biped robot 2, the mechanical foot unscrews the nut from the connecting member to perform work on the connecting member or moves to another connecting member to perform work.

In this embodiment, carry out the concatenation of display screen through biped robot 2, improved the concatenation efficiency of display screen greatly on the one hand, on the other hand, treat the wall body 1 of installing through measuring device and measure and confirm a plurality of positional information and reference plane, and biped robot 2 and measuring device communicate, obtain a plurality of positional information and reference plane, improved the concatenation precision of display screen greatly.

Claims

1. A biped robot for splicing display screens, comprising:

a communication module for communicating with an external measurement device;

2. The biped robot of claim 1 wherein the hole-punching mechanism comprises a fixed seat and a drill bit, the drill bit being fixedly disposed on the fixed seat.

3. The biped robot of claim 1 wherein the glue dispensing mechanism comprises a glue storage tank and a glue outlet member, the glue outlet member being in communication with the glue storage tank.

4. The biped robot of claim 3 wherein the curing mechanism is an ultraviolet lamp and the glue storage tank has shadowless glue stored therein.

5. The biped robot of claim 4 further comprising a processing module coupled to the communication module, the processing module controlling the mechanical foot based on external information received.

6. The biped robot of claim 5, wherein the glue-out member has a plane, and an outer surface of the shadowless glue punched in the glue-out member is attached to the plane of the glue-out member, so that the outer surface is a plane.

7. The biped robot of claim 5, wherein the glue-out piece is covered outside the base, so that the cross section of the shadowless glue arranged outside the base is in a preset shape.

8. The biped robot of claim 1, wherein the punching mechanism is configured to punch a hole in a base on which the display screen unit is fixed, the tapping mechanism is configured to form an internal threaded hole in the hole, the connecting member is a double-headed screw, and the clamping mechanism is configured to fix one end of the double-headed screw in the internal threaded hole of the base, and fix the display screen unit on the base by matching a nut with the other end of the double-headed screw.

9. The biped robot of claim 1 wherein the communication module communicates with the outside by any one of bluetooth, wireless fidelity or near field communication.

10. The biped robot of claim 1 wherein the detection module is an image measuring instrument.