WO2022000943A1 - 一种室内装修机器人 - Google Patents

一种室内装修机器人 Download PDF

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Publication number
WO2022000943A1
WO2022000943A1 PCT/CN2020/129532 CN2020129532W WO2022000943A1 WO 2022000943 A1 WO2022000943 A1 WO 2022000943A1 CN 2020129532 W CN2020129532 W CN 2020129532W WO 2022000943 A1 WO2022000943 A1 WO 2022000943A1
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WO
WIPO (PCT)
Prior art keywords
grinding
electrically connected
control assembly
carrying frame
indoor decoration
Prior art date
Application number
PCT/CN2020/129532
Other languages
English (en)
French (fr)
Inventor
何凯
晏祯卓
徐耀辉
Original Assignee
深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳先进技术研究院 filed Critical 深圳先进技术研究院
Publication of WO2022000943A1 publication Critical patent/WO2022000943A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10—Single-purpose machines or devices
    • B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • the utility model belongs to the technical field of robot equipment, in particular to an indoor decoration robot.
  • Interior decoration generally includes processes such as scraping, grinding, rolling, and tiling.
  • the decoration process is complex, labor-intensive, and the automation level of the industry is not high. Low efficiency, especially grinding
  • the dust and noise generated during operation and decoration can harm the health of workers.
  • the wall surface after the putty has been scraped will have defects such as stubble, local too thin or too thick at the junction of the putty.
  • Wall grinding can correct these defects and make the surface structure of the putty more uniform, thereby improving the wall.
  • the flatness of the surface is convenient for the next step.
  • Manual decoration operations have the following disadvantages: (1) The efficiency is low, the posture and contact force of the tools are controlled by the workers, and the workers cannot work for a long time. (2) The working environment is harsh. During the grinding operation, the workers are exposed to the dust environment for a long time, which will cause damage to the workers' health.
  • the purpose of the utility model is to provide an indoor decoration robot, which aims to solve the problems of low efficiency of the current indoor decoration work and the work environment is harmful to the health of workers.
  • an indoor decoration robot comprising: a mobile chassis, the mobile chassis includes a bearing frame and a walking wheel set installed on the bearing frame; a control assembly, the control assembly is installed on the The carrying frame, the control assembly is electrically connected with the traveling wheel set; the telescopic adjustment mechanism, the telescopic adjustment mechanism has a first connection end and a second connection end, the first connection end is connected to the carrying frame, and the telescopic adjustment mechanism is electrically connected to the control assembly Connection; grinding work part, the grinding work part is installed on the second connection end, and the grinding work part is electrically connected with the control assembly.
  • the telescopic adjustment mechanism includes: a lifting device, the lifting device includes a bracket, a drive motor, a guide rail and a mounting seat, the bracket is connected to the carrying frame, the guide rail is connected to the bracket, the mounting seat is slidably connected to the guide rail, and the drive
  • the motor is installed on the bracket, the power output end of the driving motor is drivingly connected with the mounting seat, and the driving motor is electrically connected with the control assembly; for the mechanical arm, the first end of the mechanical arm is connected to the mounting seat, and the second end of the mechanical arm is the second connection At the end, the robotic arm is electrically connected with the control assembly.
  • the grinding work part includes: a grinding tool, the grinding tool is connected to the second end of the mechanical arm, and the grinding tool is electrically connected with the control component; an angle detection component, the angle detection component is connected to the second end of the mechanical arm, and the angle detection component is The component is electrically connected with the control component.
  • the angle detection assembly includes a plurality of laser rangefinders, the plurality of laser rangefinders are connected to the second end of the mechanical arm around the grinding tool, and each laser rangefinder is electrically connected to the control assembly.
  • the grinding work part further includes: a constant force device, the first end of the constant force device is connected to the second end of the mechanical arm, and the constant force device is electrically connected with the control assembly; a clamp, the clamp is connected to the first end of the constant force device. At both ends, the grinding tool is clamped on the jig.
  • the telescopic adjustment mechanism further includes an installation flange, the installation flange is connected to the second end of the mechanical arm, the constant force device is connected to the installation flange, and the angle detection component is connected to the installation flange.
  • the mobile chassis further includes at least one displacement sensor, the displacement sensor is mounted on the carrying frame, and the displacement sensor is electrically connected to the control assembly.
  • the mobile chassis further includes at least one obstacle avoidance radar, the obstacle avoidance radar is mounted on the carrying frame, and the obstacle avoidance radar is electrically connected to the control assembly.
  • the sanding work part further includes a dust collecting hood
  • the sanding tool has a sanding disc for sanding construction
  • the dust collecting hood covers the sanding disc
  • the interior decoration robot further includes a vacuum cleaner, the vacuum cleaner is mounted on the carrying frame, the dust collecting hood has a communication joint, and the vacuum cleaner communicates with the communication joint through a connecting hose.
  • the indoor decoration robot provided by the utility model is used to polish the indoor walls after the putty has been scraped, the walking wheel group is intelligently controlled by the control component to drive the mobile chassis to reach a predetermined position, and the telescopic adjustment mechanism is controlled by the control component to drive the grinding work part to be able to move.
  • the continuous grinding operation can be realized within the reachable position range, and the decoration operation efficiency can be improved.
  • the indoor decoration robot is used to replace the work of the workers, the workers can stay away from the working environment full of dust pollution, the health of the workers is protected, and the labor intensity of the workers is greatly reduced.
  • FIG. 1 is a schematic diagram of an assembly structure of an indoor decoration robot according to an embodiment of the present utility model
  • FIG. 2 is a schematic structural diagram of a mobile chassis of an indoor decoration robot according to an embodiment of the present utility model
  • FIG. 3 is a schematic structural diagram of a lifting device of an indoor decoration robot according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of the connection between the grinding work part and the mounting flange of the indoor decoration robot according to the embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a connection structure between a walking wheel set and a carrying frame of an indoor decoration robot according to an embodiment of the present invention.
  • first”, “second”, etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first”, “second”, etc., may expressly or implicitly include one or more of that feature.
  • “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the terms “installation”, “connection”, “connection”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integration; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two elements or the interaction relationship between the two elements.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the present utility model provides an interior decoration robot.
  • the interior decoration robot includes a mobile chassis 10, a control assembly 20, a telescopic adjustment mechanism 30 and a grinding work part 40, wherein the mobile chassis 10 includes a carrying frame 11 and a walking wheel set 12, and the telescopic adjustment mechanism 30 has a first connection terminal 301 and a second connection terminal 302 .
  • the walking wheel group 12 is installed on the carrying frame 11, and the walking wheel group 12 provides the walking power for the movement of the interior decoration robot, so as to realize the changing of the working position in the room.
  • the control assembly 20 is installed on the carrying frame 11, and the control assembly 20 It is electrically connected with the walking wheel set 12 , and the moving process of the interior decoration robot is intelligently controlled through the control assembly 20 .
  • the first connection end 301 is connected to the carrying frame 11, the telescopic adjustment mechanism 30 is electrically connected to the control assembly 20, the grinding part 40 is installed on the second connection end 302, the clamp 44 is connected to the second end of the constant force device 43, and the grinding The tool 41 is clamped on the clamp 44 .
  • the control assembly 20 can control the telescopic adjustment mechanism 30 to change the working position of the grinding working part 40, that is, the telescopic adjustment mechanism 30 can
  • the moving chassis 10 only needs to stop once within the range where the grinding work part 40 extends, and the grinding work part 40 is electrically connected to the control assembly 20 .
  • the indoor decoration robot provided by the utility model is used to polish the indoor wall after the putty is scraped, and the traveling wheel group 12 is intelligently controlled by the control component 20 to drive the mobile chassis 10 to reach a predetermined position, and the control component 20 is used to control the telescopic adjustment mechanism 30 to drive
  • the grinding work part 40 realizes continuous grinding operation within the reachable position range, and improves the efficiency of decoration work.
  • the indoor decoration robot is used to replace the work of the workers, the workers can stay away from the working environment full of dust pollution, the health of the workers is protected, and the labor intensity of the workers is greatly reduced.
  • control assembly 20 is composed of a robotic arm control box and an industrial computer.
  • the robotic arm control box specifically controls the movement of the robotic arm 32 , and the robotic arm control box cooperates to control the displacement sensor 13 and the laser range finder 42 .
  • Working state and attitude adjustment; the industrial computer monitors and controls the working conditions of the walking wheel set 12, the grinding work part 40, the vacuum cleaner 50, the driving motor 312, the constant force device 43, etc.
  • the telescopic adjustment mechanism 30 includes a lifting device 31 and a mechanical arm 32, and the telescopic adjustment mechanism 30 is decomposed into two groups of modules.
  • the extension distance in the horizontal direction and the transformation of the rotation angle are realized, so that the grinding working part 40 can meet the working requirements of more degrees of freedom.
  • the lifting device 31 includes a bracket 311 , a driving motor 312 , a guide rail 313 and a mounting seat 314 .
  • the bracket 311 is connected to the carrying frame 11 as a support for vertical movement in the up-down direction, and the guide rail 313 is connected to the bracket 311
  • the guide rail 313 is a linear guide rail, and the length direction of the guide rail 313 is the vertical direction
  • the mounting seat 314 is slidably connected to the guide rail 313, the driving motor 312 is installed on the bracket 311, and the power output end of the driving motor 312 is connected to the installation
  • the seat 314 is drivingly connected, the driving motor 312 outputs power to drive the mounting seat 314 to move in the vertical direction along the guide rail 313, the driving motor 312 is electrically connected with the control assembly 20, and the first end of the mechanical arm 32 is connected to the mounting seat 314,
  • the second end of the robot arm 32 is the second connection end 302 , and the robot arm 32 is electrically connected to the control assembly 20 .
  • the robotic arm 32 used in this application is a multi-joint robotic arm, each joint is provided with a drive motor, the drive motor is electrically
  • the grinding work part 40 includes a grinding tool 41 and an angle detection assembly (not shown).
  • the angle detection assembly includes a plurality of laser rangefinders 42 .
  • three laser rangefinders 42 are used for assembly (of course, four, five, and six laser rangefinders 42 can also be used for assembly).
  • the grinding implement 41 is connected to the second end of the mechanical arm 32, the grinding implement 41 is electrically connected to the control assembly 20, the three laser rangefinders 42 are connected to the second end of the mechanical arm 32 around the grinding implement 41, and the three laser rangefinders are connected to the second end of the mechanical arm 32.
  • the distance meters 42 are arranged at an equal angle (that is, the corresponding central angle between the two laser distance meters 42 is 120°), and each of the laser distance meters 42 is electrically connected to the control assembly 20 .
  • each laser rangefinder 42 is used to measure the distance between it and the wall surface, thereby calculating the angle between the grinding tool 41 and the wall surface, and the control component 20 calculates and analyzes the angle data obtained by the detection, Therefore, the robot arm 32 is controlled to adjust the attitude of the angle of the grinding tool 41, so that the grinding tool 41 is always kept parallel to the wall surface.
  • the grinding work part 40 further includes a constant force device 43 and a fixture 44 , the first end of the constant force device 43 is connected to the second end of the mechanical arm 32 , and the constant force device 43 is connected with the control
  • the assembly 20 is electrically connected
  • the clamp 44 is connected to the second end of the constant force device 43
  • the grinding tool 41 includes a grinding motor 412 .
  • the constant force device 43 can detect the force perpendicular to the wall surface on the turntable during the grinding operation, and can drive the grinding tool 41 to stick to the wall surface, so that the grinding pressure can be kept constant during the operation.
  • the telescopic adjustment mechanism 30 further includes a mounting flange 33, the mounting flange 33 is connected to the second end of the mechanical arm 32, and the constant force device 43 is connected to
  • the angle detection assembly is connected to the mounting flange 33 , that is, each laser rangefinder 42 is connected to the mounting flange 33 around the constant force device 43 .
  • the mobile chassis 10 further includes at least one displacement sensor 13 , the displacement sensor 13 is mounted on the carrying frame 11 , and the displacement sensor 13 is electrically connected to the control assembly 20 .
  • the displacement sensor 13 monitors the distance between the robot and the wall in real time, and ensures that the mobile chassis 10 is parallel to the wall during the moving process.
  • the mobile chassis 10 further includes at least one obstacle avoidance radar 14 , the obstacle avoidance radar 14 is mounted on the carrying frame 11 , and the obstacle avoidance radar 14 is electrically connected with the control assembly 20 . Achieved full-view obstacle avoidance capability.
  • the grinding work part 40 further includes a dust collecting cover 45
  • the grinding tool 41 also includes a grinding disc 411 for grinding construction.
  • the grinding disc 411 is installed on the grinding motor. At the power output end of 412, the grinding disc 411 is driven and rotated by the grinding motor 412 to grind the putty on the wall, and the dust collecting cover 45 covers the grinding disc 411, so as to cover the dust cover generated during the grinding process without making it fly away.
  • the interior decoration robot further includes a vacuum cleaner 50 mounted on the carrying frame 11 , the dust collecting cover 45 has a communication joint 451 , and the vacuum cleaner 50 communicates with the communication joint 451 through a connecting hose.
  • the dust collecting hood 45 is used to prevent the dust from spreading, and then the dust is sucked away by the vacuum cleaner 50, thereby greatly reducing the floating amount of dust in the interior decoration environment, which is conducive to improving the working environment of workers.
  • the carrying frame 11 is provided with a battery compartment (not shown) in which the battery 16 is placed, and the battery 16 is covered by the battery compartment movable compartment door 17 , and the battery 16 is the walking wheel set 12 ,
  • the displacement sensor 13 the obstacle avoidance radar 14 , the drive motor 312 , the mechanical arm 32 , the grinding motor 412 , the laser range finder 42 , the constant force device 43 , the vacuum cleaner 50 , etc. supply power.
  • a connecting plate 15 is provided on the top of the carrying frame 11 , and the bracket 311 is fixedly connected to the connecting plate 15 .
  • the walking wheel set 12 is provided with a wheel 127 (as shown in FIG. 5 ) driven by the steering gear 122 and a universal wheel 121, through which the universal wheel 121 cooperates with the steering gear 122 Driven wheels 127 for flexible steering.
  • the robot performs vibration isolation processing through a vibration isolation mechanism, and mainly uses vibration damping springs 125 to achieve vibration damping balance.
  • a sleeve 123 is set at the bottom of the carrying frame 11 , and accordingly, a damping guide rod 126 is set on the mounting frame of the steering gear 122 and the wheel 127 , and then a limit block 124 is used to connect the end of the damping guide rod 126 to The damping spring 125 is limited and installed between the limiting block 124 and the sleeve 123 , thereby effectively damping vibration in the vertical direction and improving stability.
  • the steering gear 122 outputs power to drive the wheels 127 to rotate to achieve walking movement.
  • a reduction gear set 128 is set between the power output end of the steering gear 122 and the wheels 127, and the reduction gears are used.
  • the group 128 realizes deceleration and torque increase, so that the wheel 127 can be easily rotated to perform the walking movement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

本实用新型属于机器人设备技术领域，尤其涉及一种室内装修机器人，包括：移动底盘，移动底盘包括承载车架和安装在承载车架上的行走轮组；控制组件，控制组件安装于承载车架，控制组件与行走轮组电性连接；伸缩调节机构，伸缩调节机构具有第一连接端和第二连接端，第一连接端连接于承载车架，伸缩调节机构与控制组件电性连接；打磨工作部，打磨工作部安装于第二连接端，打磨工作部与控制组件电性连接。应用本实用新型的技术方案能够解决当前室内装修工作效率低下且工作环境有害工人身体健康的问题。

Description

一种室内装修机器人 技术领域
本实用新型属于机器人设备技术领域，尤其涉及一种室内装修机器人。
 背景技术
目前，室内装修行业还属于劳动密集型产业，室内装修一般包括刮腻子、打磨、滚涂、贴瓷砖等工序，装修工序复杂，劳动强度大，行业的自动化水平不高，效率低下，尤其是打磨作业，装修过程中产生的粉尘和噪音会损害工人的身体健康。
在目前的装修作业中，刮完腻子的墙面在腻子交界处会存在接茬、局部过薄或过厚等瑕疵，进行墙面打磨可以修正这些瑕疵，使腻子表面结构更加均匀一致，从而提升墙面的平整度，方便进行下一步作业。
人工装修作业存在以下缺点：（1）效率低下，工具的姿态与接触力都由工人控制，工人不能长时间作业。（2）工作环境恶劣，在打磨作业中，工人长时间暴露在粉尘环境中，会对工人的身体健康造成损害。
 技术问题
本实用新型的目的在于提供一种室内装修机器人，旨在解决当前室内装修工作效率低下且工作环境有害工人身体健康的问题。
 技术解决方案
为实现上述目的，本实用新型采用的技术方案是：一种室内装修机器人，包括：移动底盘，移动底盘包括承载车架和安装在承载车架上的行走轮组；控制组件，控制组件安装于承载车架，控制组件与行走轮组电性连接；伸缩调节机构，伸缩调节机构具有第一连接端和第二连接端，第一连接端连接于承载车架，伸缩调节机构与控制组件电性连接；打磨工作部，打磨工作部安装于第二连接端，打磨工作部与控制组件电性连接。
可选地，伸缩调节机构包括：升降装置，升降装置包括支架、驱动电机、导轨和安装座，支架连接在承载车架上，导轨连接在支架上，安装座可滑动的连接在导轨上，驱动电机安装于支架，驱动电机的动力输出端与安装座驱动连接，驱动电机与控制组件电性连接；机械臂，机械臂的第一端连接于安装座，机械臂的第二端为第二连接端，机械臂与控制组件电性连接。
可选地，打磨工作部包括：打磨器具，打磨器具连接于机械臂的第二端，打磨器具与控制组件电性连接；角度检测组件，角度检测组件连接于机械臂的第二端，角度检测组件与控制组件电性连接。
可选地，角度检测组件包括多个激光测距仪，多个激光测距仪环绕打磨器具连接于机械臂的第二端，各个激光测距仪均与控制组件电性连接。
可选地，打磨工作部还包括：恒力装置，恒力装置的第一端连接于机械臂的第二端，恒力装置与控制组件电性连接；夹具，夹具连接于恒力装置的第二端，打磨器具装夹在夹具上。
可选地，伸缩调节机构还包括安装法兰，安装法兰连接于机械臂的第二端，恒力装置连接于安装法兰，角度检测组件连接在安装法兰上。
可选地，移动底盘还包括至少一个位移传感器，位移传感器安装在承载车架上，位移传感器与控制组件电性连接。
可选地，移动底盘还包括至少一个避障雷达，避障雷达安装在承载车架上，避障雷达与控制组件电性连接。
可选地，打磨工作部还包括集尘罩，打磨器具具有用于打磨施工的打磨盘，集尘罩罩盖住打磨盘。
可选地，室内装修机器人还包括吸尘器，吸尘器安装于承载车架，集尘罩具有连通接头，吸尘器通过连接软管与连通接头相连通。
 有益效果
应用本实用新型提供的室内装修机器人对刮完腻子后的室内墙壁进行打磨，通过控制组件智能控制行走轮组带动移动底盘达到预定的位置，并且通过控制组件控制伸缩调节机构带动打磨工作部在能够达到的位置范围内实现连续性打磨作业，提高装修作业效率。利用该室内装修机器人代替了工人作业，工人能够远离充满粉尘污染的工作环境，保护了工人的身体健康，并且极大地减轻了工人的劳动强度。
 附图说明
为了更清楚地说明本实用新型实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本实用新型实施例的室内装修机器人的装配结构示意图；
图2为本实用新型实施例的室内装修机器人的移动底盘的结构示意图；
图3为本实用新型实施例的室内装修机器人的升降装置的结构示意图；
图4为本实用新型实施例的室内装修机器人的打磨工作部与安装法兰连接的结构示意图；
图5为本实用新型实施例的室内装修机器人的行走轮组与承载车架之间的连接结构示意图。
其中，图中各附图标记：
10、移动底盘；11、承载车架；12、行走轮组；121、万向轮；122、舵机；123、套筒；124、限位块；125、减振弹簧；126、减振导杆；127、轮子；128、减速齿轮组；13、位移传感器；14、避障雷达；15、连接板；16、电池；17、电池仓活动仓门；20、控制组件；30、伸缩调节机构；301、第一连接端；302、第二连接端；31、升降装置；311、支架；312、驱动电机；313、导轨；314、安装座；32、机械臂；33、安装法兰；40、打磨工作部；41、打磨器具；411、打磨盘；412、打磨电机；42、激光测距仪；43、恒力装置；44、夹具；45、集尘罩；451、连通接头；50、吸尘器。
 本发明的实施方式
下面详细描述本实用新型的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本实用新型，而不能理解为对本实用新型的限制。
在本实用新型的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制。
此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本实用新型的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本实用新型中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本实用新型中的具体含义。
如图1至图4所示，本实用新型提供了一种室内装修机器人，在室内装修作业过程中，尤其是刮腻子后的打磨作业，采用该室内装修机器人进行自动化作业，作业效率高，并且能够保持各处位置的打磨作业质量的一致性。具体地，该室内装修机器人包括移动底盘10、控制组件20、伸缩调节机构30和打磨工作部40，其中，移动底盘10包括承载车架11和行走轮组12，伸缩调节机构30具有第一连接端301和第二连接端302。装配时，行走轮组12安装在承载车架11上，行走轮组12为室内装修机器人移动提供行走动力，从而实现在室内中变换作业位置，控制组件20安装于承载车架11，控制组件20与行走轮组12电性连接，通过控制组件20智能地控制室内装修机器人的移动过程。第一连接端301连接于承载车架11，伸缩调节机构30与控制组件20电性连接，打磨工作部40安装于第二连接端302，夹具44连接于恒力装置43的第二端，打磨器具41装夹在夹具44上。，通过伸缩调节机构30对打磨工作部40实现距离延伸，如此，室内装修机器人在装修作业过程中就不需要连续性地移动变换位置来实施打磨作业，利用伸缩调节机构30对打磨工作部40实现距离延伸，这样就能够在每一次移动底盘10停留在一个位置时，便可通过控制组件20控制伸缩调节机构30来变换打磨工作部40的作业位置，也就是说，在伸缩调节机构30能够将打磨工作部40延伸到达的位置范围内，移动底盘10只需停留一次，打磨工作部40与控制组件20电性连接。
应用本实用新型提供的室内装修机器人对刮完腻子后的室内墙壁进行打磨，通过控制组件20智能控制行走轮组12带动移动底盘10达到预定的位置，并且通过控制组件20控制伸缩调节机构30带动打磨工作部40在能够达到的位置范围内实现连续性打磨作业，提高装修作业效率。利用该室内装修机器人代替了工人作业，工人能够远离充满粉尘污染的工作环境，保护了工人的身体健康，并且极大地减轻了工人的劳动强度。
在本实施例中，控制组件20由机械臂控制箱和工控机组成，机械臂控制箱专门针对于机械臂32的运动进行控制，并且机械臂控制箱协同控制位移传感器13激光测距仪42的工作状态与姿态调节；工控机则监测并控制行走轮组12、打磨工作部40、吸尘器50、驱动电机312、恒力装置43等的工作工况。
参见图1和图3所示，伸缩调节机构30包括升降装置31和机械臂32，将伸缩调节机构30分解为两组模块，升降装置31实现上下方向垂直距离的位置变换，机械臂32则主要实现水平方向上延伸距离以及实现旋转角度变换，使得打磨工作部40能够适应更多自由度角度的工作要求。具体地，升降装置31包括支架311、驱动电机312、导轨313和安装座314，装配成型过程中，支架311连接在承载车架11上，作为上下方向垂直运动的支撑，导轨313连接在支架311上，导轨313为直线段导轨，并且导轨313的长度方向即为竖直方向，安装座314可滑动的连接在导轨313上，驱动电机312安装于支架311，驱动电机312的动力输出端与安装座314驱动连接，驱动电机312输出动力以带动安装座314沿着导轨313在竖直方向上移动，驱动电机312与控制组件20电性连接，机械臂32的第一端连接于安装座314，机械臂32的第二端为第二连接端302，机械臂32与控制组件20电性连接。本申请采用的机械臂32为多关节机械臂，每个关节均设置有驱动马达，驱动马达与控制组件20电性连接，通过驱动马达是每个关节的两个连接臂产生相对运动位移。
在本实施例中，打磨工作部40包括打磨器具41和角度检测组件（未图示），具体地，如图1和图4所示，角度检测组件包括多个激光测距仪42，在本实施例中采用了三个激光测距仪42进行装配（当然也可以采用四个、五个、六个等数量的激光测距仪42进行装配）。打磨器具41连接于机械臂32的第二端，打磨器具41与控制组件20电性连接，三个激光测距仪42环绕打磨器具41连接于机械臂32的第二端，并且三个激光测距仪42成等夹角布置（即两个激光测距仪42之间环绕对应的圆心角为120°），各个激光测距仪42均与控制组件20电性连接。在工作位置时，利用各个激光测距仪42测量其与墙面之间的距离，从而计算出打磨器具41与墙面之间的夹角，控制组件20通过计算分析检测得到的夹角数据，从而控制机械臂32对打磨器具41的角度进行姿态调整，使打磨器具41始终与墙面保持平行。
进一步地，如图1和图4所示，打磨工作部40还包括恒力装置43和夹具44，恒力装置43的第一端连接于机械臂32的第二端，恒力装置43与控制组件20电性连接，夹具44连接于恒力装置43的第二端，打磨器具41包括打磨电机412，将打磨电机412的机身装夹在夹具44上，方便装配打磨器具41。恒力装置43可以在打磨作业时检测转盘受到垂直于墙面的作用力，并能够驱动打磨器具41紧贴墙面，使得打磨压力在工作中保持恒定。
为了方便地将打磨工作部40安装至机械臂32的第二端，因此，伸缩调节机构30还包括安装法兰33，安装法兰33连接于机械臂32的第二端，恒力装置43连接于安装法兰33，角度检测组件连接在安装法兰33上，也就是，各个激光测距仪42环绕恒力装置43连接在安装法兰33上。
如图2所示，移动底盘10还包括至少一个位移传感器13，位移传感器13安装在承载车架11上，位移传感器13与控制组件20电性连接。该位移传感器13通过实时监测机器人与墙面之间的距离，并保证移动底盘10在移动过程中与墙面平行。进一步地，移动底盘10还包括至少一个避障雷达14，避障雷达14安装在承载车架11上，避障雷达14与控制组件20电性连接，如此，在移动底盘10牵引移动过程中则实现了全视角避障能力。
为了在打磨作业过程中防止扬起粉尘而造成粉尘污染环境，因此，打磨工作部40还包括集尘罩45，打磨器具41还包括用于打磨施工的打磨盘411，打磨盘411安装在打磨电机412的动力输出端，打磨盘411由打磨电机412驱动旋转以对墙面的腻子进行打磨，集尘罩45罩盖住打磨盘411，从而将打磨过程中产生的粉尘罩盖住而不使其飞散。并且，室内装修机器人还包括吸尘器50，吸尘器50安装于承载车架11，集尘罩45具有连通接头451，吸尘器50通过连接软管与连通接头451相连通。在打磨作业过程中，在打磨盘411打磨产生粉尘时就通过集尘罩45防止粉尘扩散，然后通过吸尘器50将粉尘吸走，从而极大地降低室内装修环境的粉尘漂浮量，有利于改善工人在其余装修工序的工作环境。
如图2所示，承载车架11上设置有电池仓（未图示），电池仓中安放了电池16，并通过电池仓活动仓门17盖住电池16，电池16为行走轮组12、位移传感器13、避障雷达14、驱动电机312、机械臂32、打磨电机412、激光测距仪42、恒力装置43和吸尘器50等进行供电。并且，在承载车架11的顶部设置了连接板15，支架311被固定连接在连接板15上。
在机器人移动过程中，为了能够便于实现机器人转向，因此，行走轮组12设置了由舵机122驱动的轮子127（如图5所示）和万向轮121，通过万向轮121配合舵机122驱动的轮子127实现灵活转向。如图5所示，为了在机器人移动过程实现避振以保持机器人打磨作业的平稳性，因此，该机器人通过避振机构进行避振处理，主要通过减振弹簧125实现减振平衡。承载车架11的底部设置了套筒123，相应地，舵机122及轮子127的安装架上设置了减振导杆126，然后利用限位块124连接在减振导杆126的端部以限位住减振弹簧125，将减振弹簧125安装在限位块124与套筒123之间，从而有效地针对竖直方向进行减振，提高稳定性。舵机122输出动力以驱动轮子127转动实现行走移动，为了增大传递至轮子127的驱动力，因此，在舵机122的动力输出端与轮子127之间设置了减速齿轮组128，利用减速齿轮组128实现减速增矩，即可轻松地转动轮子127而进行行走移动。
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。

Claims (10)

  1. 一种室内装修机器人，其特征在于，包括：
    移动底盘（10），所述移动底盘（10）包括承载车架（11）和安装在所述承载车架（11）上的行走轮组（12）；
    控制组件（20），所述控制组件（20）安装于所述承载车架（11），所述控制组件（20）与所述行走轮组（12）电性连接；
    伸缩调节机构（30），所述伸缩调节机构（30）具有第一连接端（301）和第二连接端（302），所述第一连接端（301）连接于所述承载车架（11），所述伸缩调节机构（30）与所述控制组件（20）电性连接；
    打磨工作部（40），所述打磨工作部（40）安装于所述第二连接端（302），所述打磨工作部（40）与所述控制组件（20）电性连接。
  2. 根据权利要求1所述的室内装修机器人，其特征在于，
    所述伸缩调节机构（30）包括：
    升降装置（31），所述升降装置（31）包括支架（311）、驱动电机（312）、导轨（313）和安装座（314），所述支架（311）连接在所述承载车架（11）上，所述导轨（313）连接在所述支架（311）上，所述安装座（314）可滑动的连接在所述导轨（313）上，所述驱动电机（312）安装于所述支架（311），所述驱动电机（312）的动力输出端与所述安装座（314）驱动连接，所述驱动电机（312）与所述控制组件（20）电性连接；
    机械臂（32），所述机械臂（32）的第一端连接于所述安装座（314），所述机械臂（32）的第二端为所述第二连接端（302），所述机械臂（32）与所述控制组件（20）电性连接。
  3. 根据权利要求2所述的室内装修机器人，其特征在于，
    所述打磨工作部（40）包括：
    打磨器具（41），所述打磨器具（41）连接于所述机械臂（32）的第二端，所述打磨器具（41）与所述控制组件（20）电性连接；
    角度检测组件，所述角度检测组件连接于所述机械臂（32）的第二端，所述角度检测组件与所述控制组件（20）电性连接。
  4. 根据权利要求3所述的室内装修机器人，其特征在于，
    所述角度检测组件包括多个激光测距仪（42），所述多个激光测距仪（42）环绕所述打磨器具（41）连接于所述机械臂（32）的第二端，各个所述激光测距仪（42）均与所述控制组件（20）电性连接。
  5. 根据权利要求3所述的室内装修机器人，其特征在于，
    所述打磨工作部（40）还包括：
    恒力装置（43），所述恒力装置（43）的第一端连接于所述机械臂（32）的第二端，所述恒力装置（43）与所述控制组件（20）电性连接；
    夹具（44），所述夹具（44）连接于所述恒力装置（43）的第二端，所述打磨器具（41）装夹在所述夹具（44）上。
  6. 根据权利要求5所述的室内装修机器人，其特征在于，
    所述伸缩调节机构（30）还包括安装法兰（33），所述安装法兰（33）连接于所述机械臂（32）的第二端，所述恒力装置（43）连接于所述安装法兰（33），所述角度检测组件连接在所述安装法兰（33）上。
  7. 根据权利要求1至6中任一项所述的室内装修机器人，其特征在于，
    所述移动底盘（10）还包括至少一个位移传感器（13），所述位移传感器（13）安装在所述承载车架（11）上，所述位移传感器（13）与所述控制组件（20）电性连接。
  8. 根据权利要求7所述的室内装修机器人，其特征在于，
    所述移动底盘（10）还包括至少一个避障雷达（14），所述避障雷达（14）安装在所述承载车架（11）上，所述避障雷达（14）与所述控制组件（20）电性连接。
  9. 根据权利要求3所述的室内装修机器人，其特征在于，
    所述打磨工作部（40）还包括集尘罩（45），所述打磨器具（41）具有用于打磨施工的打磨盘（411），所述集尘罩（45）罩盖住所述打磨盘（411）。
  10. 根据权利要求9所述的室内装修机器人，其特征在于，
    所述室内装修机器人还包括吸尘器（50），所述吸尘器（50）安装于所述承载车架（11），所述集尘罩（45）具有连通接头（451），所述吸尘器（50）通过连接软管与所述连通接头（451）相连通。
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