WO2022257681A1 - Système d'interaction, appareil de briquetage, bras de robot de briquetage et procédé de positionnement de briquetage - Google Patents

Système d'interaction, appareil de briquetage, bras de robot de briquetage et procédé de positionnement de briquetage Download PDF

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Publication number
WO2022257681A1
WO2022257681A1 PCT/CN2022/091882 CN2022091882W WO2022257681A1 WO 2022257681 A1 WO2022257681 A1 WO 2022257681A1 CN 2022091882 W CN2022091882 W CN 2022091882W WO 2022257681 A1 WO2022257681 A1 WO 2022257681A1
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WIPO (PCT)
Prior art keywords
picked
sensor
brick
bricks
distance
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PCT/CN2022/091882
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English (en)
Chinese (zh)
Inventor
谢军
曹耿
郑小林
易俊
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广东博智林机器人有限公司
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Priority claimed from CN202110637426.8A external-priority patent/CN115450447B/zh
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2022257681A1 publication Critical patent/WO2022257681A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/162—Handles to carry construction blocks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/18—Adjusting tools; Templates
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/18—Adjusting tools; Templates
    • E04G21/1841—Means for positioning building parts or elements
    • E04G21/185—Means for positioning building parts or elements for anchoring elements or elements to be incorporated in the structure
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

Definitions

  • the present application relates to the technical field of construction equipment automation, in particular to an interactive system, a bricklaying device, a bricklaying manipulator and a bricklaying positioning method.
  • Bricklaying refers to the neat stacking of bricks to form a wall, and the operation of bricklaying is highly dependent on labor. With the rise of labor costs and the decline in the number of construction workers due to the aging population, the use of bricklaying robots to replace manual bricklaying operations is the future development direction of the industry.
  • Chinese patent document CN 111350361 A discloses a masonry method, a masonry system and a masonry robot, wherein the masonry method includes the following steps: S1, positioning the masonry robot to the working position of the masonry wall; S2, calibration The pose of the masonry robot relative to the masonry wall; S3, the execution manipulator of the masonry robot acquires the pose of the work object; wherein, step S2 includes at least the following steps: calibrate the masonry robot relative to the Describe the three-dimensional position of the masonry wall and the inclination angle relative to the horizontal plane.
  • the bricklaying positioning assembly includes a fourth visual detector 51 and a third ranging sensor 52, the fourth visual detector 51 is used to detect the position and direction of the position to be laid in the horizontal plane, and the third ranging sensor 52 It is used to detect the distance of the bricklaying manipulator 5 relative to the position to be laid in the vertical direction.
  • the bricklaying manipulator 5 grabs the bricks 61 to be laid from the transfer position, it adjusts its angle in the horizontal plane according to the angle of itself relative to the position to be laid, so that the bricklaying manipulator 5 rotates to a position parallel to the position to be laid, and then Move horizontally to the top of the position to be laid, and then move down to place the brick 61 to be laid at the position to be laid, and the bricklaying manipulator 5 resets to grab the next brick 61 to be laid.
  • this positioning method because each brick to be laid takes the position and direction of the adjacent bricks as the positioning reference, errors are accumulated, and the verticality of the wall is detected after the bricklaying is completed. Due to the technical defect that the verticality of the original brick wall surface is unqualified, it is difficult to meet the verticality requirements of the bricks during the bricklaying process.
  • An interactive system applied to a bricklaying robot comprising a base, an arm extending forwardly from the base, and a hand connected to the free end of the arm, the hand picks up bricks and releases
  • the stacking position of bricks on the wall is formed by stacking a plurality of bricks, and the stacking position includes a vertical placement surface, including:
  • a light emission source the light emission source emits a plurality of light rays, and the plurality of light rays are located on the same vertical plane to form a vertical reference plane, and the vertical reference plane is located at a distance between the wall body in the width direction of the wall body side;
  • a first sensor used to obtain a first angle, the first angle being the angle between the picked brick and the horizontal plane of the working environment;
  • a second sensor used to obtain a first distance, the first distance being the horizontal distance between the picked brick and the vertical placement surface;
  • a third sensor is used to obtain a second angle and a second distance, the second angle is the angle between the picked brick and the vertical reference plane, and the second distance is the distance between the picked bricks and the vertical datum;
  • control module respectively connected to the communication of the first sensor, the second sensor and the third sensor
  • the control module controls the rotation of the hand based on the first included angle and the second included angle value, so that the picked bricks form a target pose with the rotation of the hand;
  • the control module generates a first action command based on the first distance, and can control the hand to drive the picked brick to move toward the vertical placement surface by a first horizontal displacement amount;
  • the control module generates a second action instruction based on the second distance, and can control the hand to drive the picked brick to move toward the vertical reference plane by a second horizontal displacement amount, and the first horizontal displacement
  • the moving direction of the displacement amount and the moving direction of the second horizontal displacement amount are perpendicular to each other.
  • the control module sends a rotation command to the hand based on the first angle and the second angle, and the rotation of the hand drives the picked bricks to rotate together until the hand is in the target position. pose, and the subsequent operation of picking up bricks is carried out in this target pose;
  • the control module sends the first action command to the hand based on the first distance, and the hand moves to drive the picked up bricks to move toward the vertical placement surface together
  • the first horizontal displacement so that the side of the brick and the vertical placement surface can have an ideal distance;
  • the control module sends a second action command to the hand based on the second distance, and the movement of the hand drives the picked bricks together toward the vertical
  • the straight reference plane moves the second horizontal displacement amount, and since the moving direction of the first horizontal displacement amount and the moving direction of the second horizontal displacement amount are perpendicular to each other, the brick picked up when the hand moves along the moving direction of the second horizontal displacement amount
  • the side of the block remains on the same plane as the vertical placement surface and is perpendicular to the moving
  • each picked brick Since the determination of the target pose of each picked brick is based on the horizontal and vertical reference planes of the working environment, multiple picked bricks have a common positioning reference, which avoids the accumulation of positioning errors. Improved positioning accuracy. Since the hand moves toward the vertical reference plane in the direction of the second horizontal displacement amount in the target posture, and the picked bricks are always parallel to the vertical reference plane at this time, so that the bricks moved to the stacking position Each block is parallel to the vertical datum plane, thereby making the wall parallel to the vertical datum plane, ensuring the verticality of the wall body.
  • control module controls each picked brick to move a second horizontal displacement amount based on the second distance of each picked brick, and each picked brick The second horizontal displacement amount makes the distance between each of the bricks at the stacking position and the vertical reference plane equal.
  • control module separately controls the second horizontal displacement of each picked brick to ensure the flatness of the wall.
  • control module controls each picked brick to move the first horizontal displacement amount toward the vertical placement surface based on the first distance of each picked brick
  • the first horizontal displacement of each picked-up brick makes the brick joints between every two horizontally adjacent bricks within a preset error range.
  • control module separately controls the first horizontal displacement of each picked brick, which improves the reliability and aesthetics of the wall.
  • the target pose includes a horizontal pose, and the picked bricks located in the horizontal pose are parallel to the horizontal plane of the working environment;
  • the control module controls the rotation of the hand based on the first included angle, so that the picked brick rotates to the horizontal posture relative to the horizontal plane of the working environment.
  • the determination of the horizontal pose of each picked brick is based on the horizontal plane of the working environment as the positioning reference, which improves the accuracy of horizontal positioning, and the control module is based on the first included angle and the second angle.
  • the two included angles are controlled separately to achieve the target pose conveniently and quickly.
  • the target pose includes a vertical pose, and the picked bricks located in the vertical pose are parallel to the vertical reference plane;
  • the control module controls the hand to rotate relative to the vertical reference plane to the vertical posture based on the second included angle.
  • the determination of the vertical pose of each picked brick is based on the vertical reference plane as the positioning reference, which improves the accuracy of vertical positioning, and the control module is based on the first angle and the second included angle are controlled separately to achieve the target pose conveniently and quickly.
  • the second sensor is a laser sensor
  • the laser sensor includes a laser emission port
  • the laser emission port emits a horizontal laser along the horizontal direction
  • the horizontal laser is configured to shooting towards the vertical placement surface
  • the control module presets a first correction value, the first correction value is the distance that the picked brick protrudes from the laser emission port along the emission direction of the horizontal laser, and the control module calculates the distance of the horizontal laser The difference between the length of and the first correction value is used to obtain the first distance.
  • control module can conveniently and accurately calculate the distance between the picked brick and the vertically placed surface in the emission direction of the horizontal laser according to the first correction value and the length of the horizontal laser.
  • the third sensor includes:
  • the housing is in the shape of a hollow box, the lower side wall of the housing includes a material that can be projected, the other side walls of the housing include an opaque material, and the vertical reference plane can be projected on the lower side wall imaging;
  • An image collector connected in communication with the control module, the image collector is installed inside the housing and above the lower side wall, and the image collector is used to photograph the vertical reference plane on the lower side wall
  • the real-time image of the side wall is defined as a first image, and the image collector feeds back the first image to the control module;
  • the control module includes a storage unit, the storage unit stores a reference image in advance, the second angle is equal to the angle between the first image and the reference image, and the second distance is equal to the angle between the first image and the reference image. The distance from the reference image.
  • the second included angle and the second distance can be calculated more conveniently and accurately.
  • the width of the projectable portion of the lower sidewall is greater than the second horizontal displacement.
  • the acquisition accuracy of the third sensor is ensured by limiting the width of the projectable portion of the lower side wall to be greater than the second horizontal displacement.
  • the hand when laying bricks for the first time, the hand picks up the bricks and places them at the initial stacking position, and the image collector at the initial stacking position photographs the vertical reference plane on the lower
  • the image collector feeds back the first real-time image to the control module, and the control module stores the first real-time image to form the reference image.
  • Second included angle and second distance.
  • the stacking position further includes a horizontal placement surface
  • the interactive system further includes a fourth sensor communicated with the control module, and the fourth sensor is used to obtain the horizontal placement surface and the The third distance of the picked bricks along the vertical direction;
  • the control module generates a first vertical displacement based on the third distance, and controls the hand to drive the picked brick to move down the first vertical displacement, so that the picked brick
  • the bricks are displaced downward to the horizontal placement surface, and the moving direction of the first vertical displacement is perpendicular to the moving direction of the first horizontal amount and the moving direction of the second horizontal amount.
  • the picked bricks can be accurately placed on the stacking position.
  • the fourth sensor is a laser sensor, and the laser emitting port of the laser sensor emits vertical laser light downward to the horizontal placement surface;
  • the control module presets a second correction value, the second correction value is the distance that the picked brick protrudes from the laser emission port along the emission direction of the vertical laser, and the control module calculates the distance The difference between the length of the vertical laser and the second correction value is used to obtain the third distance.
  • control module can conveniently and accurately calculate the distance between the picked brick and the horizontal placement surface in the vertical laser emitting direction according to the second correction value and the length of the vertical laser.
  • first horizontal displacement and its moving direction form a first vector
  • second horizontal displacement and its moving direction form a second vector
  • first vertical displacement and its moving direction form the third vector
  • the initial position of the first vector, the initial position of the second vector and the initial position of the third vector coincide, and the position where the three coincide is defined as the fine calibration position, and the fine calibration position is the same as the
  • the vertically placed surfaces are arranged at intervals in the horizontal direction;
  • the control module is configured to:
  • the movement of the hand can be realized more conveniently, quickly and accurately by determining the fine calibration position and the moving path.
  • the distance between the picked brick at the fine calibration position and the vertical placement surface is greater than or equal to 10 mm and less than or equal to 30 mm.
  • control module is further configured to:
  • Controlling the hand and the picked bricks to stop at at least one rough calibration position the at least one rough calibration position is located on the same horizontal line as the fine calibration position and farther away from the vertical than the fine calibration position. vertical placement surface;
  • the rough positioning of the picked bricks can be realized within a certain range by limiting the control module; at the same time, by setting the rough calibration position between the fine calibration position and the brick picking position, the arm starts to The calibration position of the robot is relatively far away, so as to avoid the collision between the bricks picked up and the vertical placement surface when the arm rotates excessively, thus triggering a fault.
  • the interactive system further includes a fifth sensor, the fifth sensor is connected in communication with the control module, and the fifth sensor is used to obtain the pose of the brick to be picked;
  • the control module adjusts the pose of the hand based on the pose of the brick to be picked up and controls the hand to pick up the brick to be picked up in a pose parallel to the brick to be picked up.
  • the ideal pose of the brick can be obtained by adjusting the pose of the hand.
  • the fifth sensor is formed by at least three laser sensors, and the laser emitting port of each laser sensor emits downward and forms a laser spot on the upper surface of the brick to be picked, so The at least three laser points are not arranged on the same straight line, and the pose of the plane passing through the at least three laser points is the pose of the brick to be picked.
  • the centroid of the brick to be picked is located within a line connecting at least three of the laser points.
  • the accuracy of adjusting the picked brick is increased.
  • the interactive system further includes a sixth sensor, the sixth sensor faces downward to define a detection position, and the control module controls the hand to be in a released state and move downward to the detection position at the same time.
  • the position is triggered by the bricks to be picked up, and the control module controls the hand to switch from the release state to the picking state after receiving the information that the detection position is triggered, for picking up the bricks to be picked up.
  • the interactive system further includes a seventh sensor, the seventh sensor is a pressure sensor, used to detect the picking force of the brick to be picked by the hand, when the picking force is greater than the preset When the threshold is set, the hand is in the picking state, and when the picking force is smaller than the preset threshold, the hand is in the releasing state.
  • the seventh sensor is a pressure sensor, used to detect the picking force of the brick to be picked by the hand, when the picking force is greater than the preset When the threshold is set, the hand is in the picking state, and when the picking force is smaller than the preset threshold, the hand is in the releasing state.
  • a pressure sensor is provided to detect the picking force of the brick to be picked up by the hand, so that the control module controls the switching state of the hand according to the picking force.
  • the present application also provides a bricklaying device for stacking a plurality of bricks into a wall, each of the bricks defines a stacking position on the wall, and the stacking position includes horizontal placement face and vertically placed face, the bricklaying device consists of:
  • a bricklaying manipulator having a base, an arm extending forward from the base, and a hand connected to the end of the arm for picking up the bricks to be picked up and releasing the picked bricks at the stacking position, wherein the first sensor, the second sensor, and the third sensor are respectively installed at different positions of the hand.
  • the arm of the bricklaying manipulator moves relative to the base, driving the hand to move close to the bricks to be picked up
  • the first sensor acquires the first included angle
  • the second sensor acquires the first distance
  • the third sensor acquires
  • the control module sends a rotation command to the hand based on the first included angle and the second included angle, and the rotation of the hand drives the picked bricks to rotate together until the hand is in the target position, and the subsequent The operation of picking up bricks is carried out in the target pose
  • the control module sends a first action command to the hand based on the first distance
  • the movement of the hand drives the picked up bricks to move together toward the vertical placement surface by a first horizontal displacement amount, In order to make the side of the bricks and the vertical placement surface have an ideal distance
  • the control module sends a second action command to the hand based on the second distance, and the movement of the hand drives the picked bricks to move toward the vertical reference plane for the second time.
  • the placing surface is located on the same plane perpendicular to the moving direction of the first horizontal displacement, so that the picked bricks are placed on the stacking position to complete the stacking action. Since the multiple picked bricks in the above interactive system have a common positioning reference, the accumulation of positioning errors is avoided, and the positioning accuracy is improved.
  • the datum plane moves, and the picked bricks are always parallel to the vertical datum plane at this time, so that each brick moved to the stacking position is parallel to the vertical datum plane, so that the wall is parallel to the vertical datum plane.
  • the straight reference plane ensures the verticality of the wall. Therefore, the above-mentioned bricklaying device with the interactive system can avoid the accumulation of positioning errors, improve the accuracy of positioning, and ensure the verticality of the wall.
  • the first sensor, the second sensor, and the third sensor are installed in different positions of the hand, so that the above-mentioned three sensors are connected to the hand in a follow-up manner, so that the movement trajectory of the hand can be based on the relative position of the hand.
  • the deviation of the position to be laid, the positions of the first sensor, the second sensor and the third sensor are set in advance, and the picked brick is fixed on the hand, which is also the difference between the first sensor, the second sensor and the third sensor relative to the brick.
  • With a known relative position it is easier to know the pose of the brick according to the known relative position, which is beneficial to adjust the brick.
  • the hand itself defines a first coordinate system
  • the first coordinate system is formed by a front-rear axis, a left-right axis, and an up-down axis
  • the hand defines its own width along the left-right axis, Defining its own length along the front-back axis and its own height along the up-down axis, the hand includes:
  • An actuator installed under the support plate, is used to pick up and release the bricks
  • An adjustment part is connected forwardly to the support plate and backward to the end of the arm part, the adjustment part includes three rotation axes, respectively defined as the first rotation axis, the second rotation axis and the third rotation axis rotary axis;
  • the front end of the adjustment part has the first rotation axis, which is pivotally connected to the support plate along any axis of the first coordinate system, and the rear end of the adjustment part has the second rotation axis, along which Any one of the other two axes in the first coordinate system is pivotally connected to the end of the arm, and the third rotation axis is pivotally connected to the front and rear sides of the adjustment part along the remaining axis of the first coordinate axis. end.
  • the hand through the three-axis rotation adjustment, the hand can be rotated in a small range, the adjustment accuracy is improved, and it is beneficial for the hand to drive the bricks to form the target pose.
  • the adjustment unit further includes:
  • a first drive motor drivingly connected to the rotary shaft pivotally connected to the adjustment part along the front-rear axis
  • a second driving motor drivingly connected to the rotating shaft pivotally connected to the adjusting part along the left-right axis;
  • a third drive motor drivingly connected to the rotary shaft pivotally connected to the adjustment part along the up-down axis;
  • the control module is configured to communicate with the first drive motor, the second drive motor, and the third drive motor;
  • the control module generates a first rotation instruction based on the first included angle, and the control module sends a first rotation instruction to the first drive motor and/or the second drive motor, so that the picked-up the brick is rotated to a horizontal pose in said target pose;
  • the control module generates a second rotation instruction based on the second included angle, and the control module sends the second rotation instruction to the third driving motor, so that the picked brick rotates to the target The vertical pose in the pose.
  • the hand itself defines a first coordinate system
  • the first coordinate system is formed by a front-rear axis, a left-right axis, and an up-down axis
  • the hand defines its own width along the left-right axis, Defining its own length along the front-back axis and its own height along the up-down axis, the hand includes:
  • the first splint is installed under the support plate
  • the second splint is installed below the support plate and spaced behind the first splint along the front-to-rear direction, and the inner surface of the first splint and the inner surface of the second splint form a clamping space for clamping holding said bricks;
  • At least one of the first clamping plate and the second clamping plate is displaceable in a front-rear direction relative to the support plate to adjust a size of the clamping space in the front-rear direction.
  • the clamping space can be adjusted to clamp bricks of different widths.
  • the first sensor is an inclination sensor, installed above the support plate, and viewed from top to bottom, the projection of the first sensor overlaps with the projection of the picked brick.
  • the first sensor is defined as an inclination sensor, and at the same time, the projection of the inclination sensor in the up and down direction overlaps with the projections of the picked bricks, so that the centroid of the bricks is close to the first sensor. Increased accuracy of first included angle.
  • the centroids of the picked bricks overlap within the projection area of the first sensor.
  • the accuracy of the first included angle is further ensured by limiting the center of mass of the picked bricks to overlap within the range of the projection area of the first sensor.
  • the second sensor is installed on the outer surface of one of the first splint and the second splint
  • the third sensor is installed on the first splint and the second splint the other side.
  • both the second sensor and the third sensor are installed on the outer surface of one of the first splint and the second splint, and the second sensor and the third sensor are The third sensor is arranged at relatively fixed intervals along the front-rear direction, and the third sensor is farther away from the brick than the second sensor along the front-rear direction.
  • the first distance, the second distance and the second included angle information can be obtained more conveniently, and the first distance, the second distance and the second angle can be guaranteed.
  • the accuracy of the two included angles is convenient for detecting the second included angle and the second distance according to the vertical reference plane.
  • the hand has a proximal end and a distal end along the horizontal left-right direction, and when the second sensor detects the first distance, the proximal end is relatively close to the vertical reference plane;
  • the number of the second sensors is two, which are respectively arranged on the outer surface of the first splint or the outer surface of the second splint, and are relatively spaced at the proximal end and the distal end of the corresponding outer surface,
  • the detection ports of the two second sensors have the same orientation and are misaligned up and down;
  • the control module obtains the first distance according to the feedback data of the second sensor located at the proximal end;
  • the control module obtains the first distance according to the feedback data of the third sensor located at the far end.
  • the second sensor when the length of the bricks is long, the second sensor is provided in the proximal end and has a sufficient length to allow the signal wave to detect the size of the first distance; when the length of the bricks is short, If the second sensor is still set at the near end, then the detection range accuracy of the second sensor is required to be higher, and the price of the second sensor with higher accuracy requirements is relatively high. If another second sensor is set at the far end , will reduce its precision requirements, thereby reducing manufacturing costs.
  • Both the second sensor and the fourth sensor are laser sensors, the laser emission port of the second sensor faces the vertical placement surface, and is used to obtain the first distance, and the laser emission of the fourth sensor is emitting a vertical laser beam downward to the horizontal placement surface, for acquiring the third distance;
  • the second sensor and the fourth sensor are fixed on the outer surface of the first splint or the outer surface of the second splint, and the horizontal laser and the vertical laser are located on the same vertical plane.
  • the interactive system as described in another technical solution above;
  • the width direction of the body of wall as the front-to-back direction of the environment, the length direction of the body of wall as the left-right direction of the environment, and the stacking height of the body of wall as the up-down direction of the environment;
  • the bricklaying manipulator is located between the wall and the brick source, and there is a calibration position between the brick source and the wall, and the control module controls the bricklaying manipulator to pick up backwards The bricks of the brick source, and forward the picked bricks to the calibration position, the arm is a scara mechanical arm, which forms a first pose at the picking position, and the The fine calibration position forms a second pose.
  • the terminal articulated arm of the first pose and the terminal articulated arm of the second pose are arranged symmetrically at 180 degrees in the front-back direction of the environment.
  • the terminal articulated arm of the first pose and the terminal articulated arm of the second pose are arranged symmetrically at 180 degrees in the front and rear directions of the environment, so that the picked bricks can be picked up from The position is transferred to the calibration position, and the rotation of the terminal articulated arm does not affect the pose of the hand.
  • the calibration position is the fine calibration position and/or the coarse calibration position.
  • the position for forming the second pose can be defined as a fine calibration position and/or a rough calibration position.
  • the bricklaying device further includes a lifting mechanism, a movable seat and a lifting driving motor are arranged on the front side of the lifting mechanism, and the lifting driving motor is connected with the control module and can drive the The movable seat rises and falls relative to the working environment;
  • the base is connected to the movable seat, and the arm is a horizontal joint arm;
  • control module controls the lifting drive motor to drive the movable seat up or down, so as to drive the horizontal articulated arm to a corresponding height.
  • control module controls the movement of the lifting drive mechanism based on the height of the horizontal placement surface, so as to drive the movable seat and the base up and down, so as to drive the horizontal articulated arm to a corresponding height more conveniently.
  • the bricklaying device further comprises a traversing mechanism adapted to the bottom of the elevating mechanism, capable of traversing the elevating mechanism so as to traversing the horizontal articulated arm;
  • the traverse mechanism is connected between the lift mechanism and the horizontal articulated arm, and the traverse mechanism can drive the horizontal articulated arm to traverse relative to the lift mechanism.
  • the traversing movement of the horizontal articulated arm can be realized on the basis of realizing the lifting of the horizontal articulated arm.
  • the present application also provides a bricklaying manipulator, which is used for bricklaying operations on walls.
  • a bricklaying manipulator which is used for bricklaying operations on walls.
  • Each of a plurality of bricks corresponds to a stacking position on the wall, and the stacking position includes a horizontal placement surface and a vertical stacking position.
  • Placement surface, the bricklaying manipulator includes:
  • a hand which includes a support plate, connected backwards to the end of the arm, and two splints arranged at intervals along the front-to-back direction below the support plate, and the two splints are used to pick up and release the arm. bricks;
  • a sensor assembly fixed on the hand, includes an inclination sensor, a distance sensor and a vision sensor;
  • the inclination sensor is used to obtain the inclination angle between the picked bricks and the horizontal plane of the working environment, the inclination sensor is fixed above the support plate and overlaps with the picked bricks along the vertical direction projection;
  • the distance sensor is fixed on the outer surface of one of the two splints to detect the distance between the picked brick and the horizontal and/or vertical placement surface, and the distance
  • the emission wave of the sensor is configured to be perpendicular to the picked-up bricks and the horizontal placement surface and/or the vertical placement surface;
  • the vision sensor is used to detect the deviation angle and deviation distance of the picked bricks relative to the stacking position along the front and rear directions.
  • the inclination sensor obtains the inclination angle between the picked bricks and the horizontal plane of the working environment, and the arm rotates based on the inclination information collected by the inclination sensor to drive the hand, the sensor assembly and the picked bricks together It rotates to be parallel to the horizontal plane of the working environment;
  • the distance sensor collects the distance between the picked bricks and the horizontal and/or vertical placement surface, and the arm moves based on the distance information collected by the distance sensor to drive the hand, sensor The horizontal and/or vertical placement surface where the components and the picked bricks move together;
  • the visual sensor collects the deviation angle and deviation distance of the picked bricks relative to the stacking position along the front and rear directions, and the arm is based on The deviation angle and deviation distance collected by the vision sensor can drive the hand, the sensor assembly and the picked bricks to rotate together to the stacking position.
  • the arm can be adjusted in the front and rear directions based on the error information collected by the visual sensor, the flatness of the wall is ensured. And it is limited that the emission wave of the distance sensor is perpendicular to the horizontal placement surface and/or the vertical placement surface during detection, which increases the accuracy of distance detection and makes the control module obtain the target distance value without conversion.
  • the visual sensor detects the deviation angle and deviation distance in the front and rear directions, so that the sensor assembly can detect the horizontal placement surface and/or Or while vertically placing the distance of the surface, it can also take into account the detection of the deviation angle and deviation distance in the front and rear directions, so as to ensure the flatness of the wall.
  • the distance sensor includes a horizontal distance sensor and a vertical distance sensor.
  • the distance sensor is defined to include a horizontal distance sensor and a vertical distance sensor, so as to detect the distance between the picked bricks and the horizontal and vertical placement surfaces.
  • the visual sensor is connected in communication with a control module, the control module pre-stores a reference image for comparison with the real-time collected image of the visual sensor, and the control module calculates the deviation angle and The offset distance.
  • the reference image is pre-stored in the control module, and the visual sensor collects the real-time image of the picked bricks relative to the stacking position along the front and rear directions, and the control module receives the real-time image and compares it with the reference image to obtain The deviation angle and deviation distance can be calculated conveniently and accurately.
  • a visible vertical surface is applied in the working environment, the visible vertical surface is parallel to and spaced from one side of the wall along the width direction, and the hands place the bricks
  • the image of the visible vertical surface collected by the visual sensor is a reference image
  • the control module takes the reference image as a reference to control each of the bricks to be placed in the corresponding stacking position with the possible
  • the deviation distance and the deviation included angle are all equal when looking at the vertical plane.
  • the present application also provides a bricklaying positioning method, which is applied to a bricklaying device to place bricks on the wall at a stacking position, the stacking position includes a horizontal placement surface and a vertical placement surface, and the stacking position includes a horizontal placement surface and a vertical placement surface.
  • the brick device includes an arm and a hand installed at the end of the arm, and the hand is equipped with a first sensor, a second sensor and a third sensor that communicate with the control module, and the width direction of the wall is defined as the front and back of the environment.
  • the length direction of the wall is the left and right direction of the environment
  • the height of the wall stacking is the up and down direction of the environment
  • the bricklaying positioning method includes the following steps:
  • the light emission source emits a vertical light surface, and adjust the position of the vertical light surface to be parallel to and spaced from the wall along the front and rear directions;
  • the control module controls the swing of the arm so that the hand can pick up bricks
  • the control module controls the swing of the arm, so that the hand and the picked-up brick move forward over the vertical smooth surface, and move the brick to a fine calibration position;
  • control module Based on the first included angle, the control module adjusts the posture of the brick by rotating the hand so that the brick is parallel to the horizontal plane of the working environment;
  • control module Based on the second included angle, the control module adjusts the pose of the brick by rotating the hand so that the brick is parallel to the vertical smooth surface;
  • the control module controls the movement of the arm to move the bricks toward The vertical placement surface moves;
  • step S42 and the step S43 can be exchanged, and the step S44 and the step S45 can be executed sequentially or interspersed with each other or both are executed simultaneously.
  • the light emission source is activated to form a vertical light surface, and the light emission source is adjusted along the front and rear directions to adjust the position of the vertical light surface to be parallel to and spaced from the wall; then, the control module Control the swing of the arm, and drive the hand to move to the position where the brick is to be picked up, so that the hand can pick up the brick; then, the control module controls the swing of the arm, and drives the hand and the picked brick to move and cross the vertical
  • the optical surface moves to the fine calibration position; then, the first angle is obtained by the first sensor, the first distance is obtained by the second sensor, the second angle and the second distance are obtained by the third sensor, and the control module is based on the first angle Send a rotation command to the hand, and the rotation of the hand drives the picked bricks to rotate together to the horizontal plane parallel to the working environment; the control module sends a rotation command to the hand based on the second included angle, and the rotation of the hand drives the picked bricks together Rotate
  • each picked brick is based on the horizontal plane and the vertical smooth surface of the working environment as the positioning reference, and multiple picked bricks have a common
  • the positioning benchmark avoids the accumulation of positioning errors and improves the positioning accuracy. Since the hand moves toward the vertical smooth surface in the same posture, and the picked bricks are always parallel to the vertical smooth surface at this time, each brick moved to the stacking position is parallel to the vertical smooth surface. The surfaces are parallel, so that the wall is parallel to the vertical smooth surface, ensuring the verticality of the wall.
  • step S4 also includes:
  • the step S41 further includes: providing a fourth sensor installed on the hand, in the fine calibration position, a third distance is acquired by the fourth sensor, the third distance is the picked-up The vertical distance between bricks and the horizontal placement surface;
  • step S44, the step S45 and the step S46 can be executed sequentially or interspersed with each other or both are executed simultaneously.
  • the fourth sensor obtains the third distance, adjusts the bricks to be parallel to the vertical smooth surface and the horizontal plane of the working environment, and the control module is based on the first
  • the three-distance sends action instructions to the arm, and the arm moves to drive the picked bricks to the horizontal placement surface together, so that the picked bricks can be accurately placed on the stacking position.
  • the hand includes a support plate and a grasping assembly, the grasping assembly is arranged under the support plate, and the step S2 includes the following steps:
  • the arm drives the hand to move above the brick to be picked up;
  • S22 Provide at least three fifth sensors installed on the hand, and at least three fifth sensors cooperate to detect the flatness information of the upper surface of the brick to be picked;
  • the bricks can be picked up more conveniently and accurately; at the same time, the pose of the brick is parallel to the pose of the hand, so that the pose of the hand is roughly the same as the pose of the brick The same, so that the ideal pose of the brick can be obtained by adjusting the pose of the hand.
  • step S2 also includes:
  • the arm controls the hand to stop at at least one coarse calibration position, at least one coarse calibration position is the same as the The fine calibration positions are located on the same horizontal axis, and after performing pose calibration at the at least one coarse calibration position, move to the fine calibration position along a horizontal direction toward the vertical placement surface.
  • the arm before reaching the fine calibration position, stops at least one coarse calibration position before the fine calibration position, so that rough calibration can be performed between fine calibrations, and positioning accuracy is improved.
  • the step "after performing pose calibration at the at least one coarse calibration position, moving to the fine calibration position along a horizontal direction toward the vertical placement surface” includes:
  • the first angle is obtained by the first sensor, the first angle is the deviation angle between the picked brick and the horizontal plane of the working environment, and the first distance is obtained by the second sensor, The first distance is the horizontal distance between the picked brick and the vertical placement surface, and the second included angle is acquired by the third sensor, and the second included angle is the picked brick and the vertical distance. the angle between straight surfaces;
  • the control module adjusts the posture of the bricks by rotating the hand based on the first included angle, so that the bricks are parallel to the horizontal plane of the working environment;
  • the control module adjusts the posture of the brick by rotating the hand based on the second included angle, so that the brick is parallel to the vertical smooth surface;
  • the control module controls the arm to move , moving the brick from the at least one coarse calibration position to the fine calibration position.
  • the movement of the arm drives the hand and the picked bricks to move from at least one coarse calibration position to a fine calibration position, so as to realize multiple positioning calibrations and ensure the accuracy of positioning.
  • Fig. 1 is a schematic diagram of bricklaying in the first embodiment
  • Fig. 2 is a schematic diagram of bricklaying at another angle in the first embodiment
  • Fig. 3 is a top view of bricklaying in the first embodiment
  • Fig. 4 is the initial position diagram when the hand grabs the brick to be picked up in the first embodiment
  • Fig. 5 is a moving position diagram when hands place bricks to be picked up in the first embodiment
  • Fig. 6 is another moving position diagram when the hand places the bricks to be picked up in the second embodiment
  • Fig. 7 is an enlarged schematic view of position B in Fig. 6;
  • Fig. 8 is a schematic diagram of the internal structure of the bricklaying device in the first embodiment
  • Fig. 9 is a schematic diagram of the internal structure of the bricklaying device in the second embodiment.
  • Figure 10 is a front view of the overall structure of the bricklaying device in Figure 8.
  • Figure 11 is an exploded view of the overall structure of the bricklaying device in Figure 8.
  • Figure 12 is an exploded view of the overall structure of the hand in Figure 8.
  • Figure 13 is an exploded view of the support plate and guide assembly in Figure 8;
  • Figure 14 is an exploded view of the overall structure of the first splint in Figure 8.
  • Figure 15 is an exploded view of the overall structure of the second splint in Figure 8.
  • Figure 16 is an exploded view of the hand part of the bricklaying manipulator in Figure 8.
  • Fig. 17 is a schematic diagram of making the plate surface of the support plate parallel to the upper surface of the picked brick in Fig. 4;
  • Figure 18 is a schematic diagram of adjusting the position of the hand in Figure 4 to make the picked bricks horizontal;
  • Fig. 19 is a schematic diagram of the bricklaying device in Fig. 4 reaching the working area and grabbing the picked bricks;
  • Fig. 20 is a schematic diagram of the bricklaying manipulator in Fig. 4 driving the hand to turn over 180° so that the picked bricks reach the first transit position and set the picked bricks horizontally through the first sensor;
  • Fig. 21 is a schematic diagram of the hand moving along the X-axis in Fig. 4 and making the picked bricks reach the second intermediate position;
  • Fig. 22 is a schematic diagram of the cooperation between the first sensor and the light emitting source in Fig. 4 to make the laser line correspond to the reference image, so that the picked bricks reach the third intermediate position;
  • Fig. 23 is a schematic diagram of the hand moving along the X-axis in Fig. 4 and making the picked bricks reach the fourth transit position;
  • Fig. 24 is a schematic diagram of readjusting the position of the hand through the first sensor and the third sensor in Fig. 4 and making the picked bricks arrive at the preset bricklaying position and placed;
  • Fig. 25 is an overall schematic diagram of the bricks picked up in Fig. 4 and the wall body after bricklaying construction.
  • 300 stacking position; 310, horizontal placement surface; 320, vertical placement surface;
  • the present application provides an interactive system, which is applied to a bricklaying manipulator 100 for controlling the movement of the bricklaying manipulator 100 to realize bricklaying operations.
  • the bricklaying manipulator 100 includes three parts: a base 110 , an arm 120 and a hand 130 , wherein the arm 120 is connected to the base 110 , and the arm 120 extends forward from the base 110 , and the arm 120 Including a plurality of connecting arms 121 and a plurality of joints 122, the adjacent two of the plurality of connecting arms 121 and the base 110 are connected by joints 122, and the end of the arm 120 away from the base 110 is a free end, and the end of the arm 120 is free.
  • the free end of the part 120 is connected with a hand 130, and the joint 122 connecting the proximal connecting arm 121 and the base 110 is defined as the shoulder joint, the joint 122 between two adjacent connecting arms 121 is the elbow joint, and the distal connecting arm 122 is defined as the shoulder joint.
  • the joint 122 connected with the hand 130 is a wrist joint
  • the hand 130 is used to pick up the bricks 210 to be picked up, and is used to release the picked up bricks 220 at the stacking position 300 of the wall 200
  • the wall 200 consists of multiple Blocks of bricks are piled up to form
  • the stacking position 300 includes a horizontal placement surface 310 and a vertical placement surface 320, defining the length direction of the wall body 200 as the X-axis direction, the width direction of the wall body 200 as the Y direction, and the height direction of the wall body 200. is the Z-axis direction.
  • the length and the posture of the connecting arm 121 are symmetrical at 180 degrees, and can be the arm portion 120 described in this embodiment.
  • the arm 120 in FIG. 3 rotates 180° horizontally through the elbow joint of the distal connecting arm 121, so that the hand 130 rotates between the picking position and the calibration position.
  • the arm 120 in FIG. 4 passes The wrist joint of the distal connecting arm 121 is horizontally rotated forward and backward by 180°, so that the hand 130 is rotated between the picking position and the calibration position.
  • the interactive system includes light emitting source 400, first sensor 510, second sensor 520, third sensor 530 and control module.
  • the light emitting source 400 can emit a plurality of light rays 410, and the plurality of light rays 410 are located on the same vertical plane, these light rays form a vertical reference plane 610, and the vertical reference plane 610 is located on the wall 200 on one side in the width direction of the body of wall 200, and spaced between the vertical reference plane 610 and the body of wall 200 in the width direction of the body of wall 200; in specific settings, the light emitting source 400 can be a laser box, which can be They are fixed on one side of the wall body 200 at intervals in the Y-axis direction.
  • the first sensor 510 is used to obtain the first angle, the first angle is the angle between the picked brick 220 and the horizontal plane 620 of the working environment; during specific setting, as shown in Figure 2, the brick to be picked
  • the block 210 is transferred to the bricklaying manipulator 100 through the brick conveying mechanism 700.
  • the first sensor 510 is an inclination sensor, which is a two-axis sensor, which detects the pitch angle and the left and right roll angles relative to the environmental horizontal plane, and the detected These angle information can reflect the positional relationship of the picked bricks 220 relative to the horizontal plane 620 of the working environment.
  • the first sensor 510 acquires and transmits these angle information to the control module, and the control module calculates the first angle information according to the received angle information. angle.
  • the second sensor 520 is used to obtain the first distance, and the first distance is the horizontal distance between the picked brick 220 and the vertical placement surface 320;
  • the sensor 520 is a laser sensor, and the laser sensor measures the distance information between the picked brick 220 and the vertical placement surface 320 through a laser line, and these distance information can reflect the distance between the picked brick 220 and the vertical placement surface 320.
  • the second sensor 520 acquires and transmits the distance information to the control module, and the control module calculates the first distance according to the received distance information.
  • the third sensor 530 is used to obtain the second angle and the second distance, the second angle is the angle between the picked brick 220 and the vertical reference plane 610, and the second distance is the angle between the picked brick 220 and the vertical reference plane 610.
  • the control module controls the rotation of the hand 130 based on the first angle and the second angle value, and the rotation of the hand 130 drives the picked bricks 220 to rotate together, so that the picked bricks 220 rotate with the hand 130 to form a target position
  • the target pose in this implementation can be that the picked brick 220 is parallel to the horizontal plane 620 of the working environment, and at the same time, the picked brick 220 can be parallel to the vertical reference plane 610.
  • the target pose may be that the picked brick 220 forms a preset included angle with the working environment horizontal plane 620 or forms another preset included angle with the vertical reference plane 610. Adjustments are required for construction, as long as each picked brick 220 is controlled to use the working environment level 620 as a unified horizontal reference and the vertical reference plane 610 as a unified vertical reference.
  • the control module generates a first motion command based on the first distance, and the hand 130 moves after receiving the first motion command and drives the picked brick 220 to move toward the vertical placement surface 320, and the hand 130 drives the picked brick
  • the distance moved by block 220 is the first horizontal displacement.
  • the control module generates a second action command based on the second distance. After receiving the second action command, the hand 130 moves and drives the picked brick 220 to move toward the vertical reference plane 610, and the hand 130 drives the picked brick.
  • the moving distance of the block 220 is the second horizontal displacement. When moving, the moving direction of the first horizontal displacement and the moving direction of the second horizontal displacement are perpendicular to each other.
  • the control module sends a rotation command to the hand 130 based on the first angle and the second angle, and the rotation of the hand 130 drives the picked brick 220 to rotate together to
  • the hand 130 is in the target pose, and the operation of picking up bricks is performed in the target pose;
  • the control module sends a first action command to the hand 130 based on the first distance, and the hand 130 moves to drive the picked up bricks 220 move the first horizontal displacement toward the vertical placement surface 320 together, so that the side of the brick and the vertical placement surface 320 can have an ideal distance;
  • the control module sends a second action command to the hand 130 based on the second distance, and the hand
  • the movement of the part 130 drives the picked bricks 220 to move together towards the vertical reference plane 610 by the second horizontal displacement amount, and since the moving direction of the first horizontal displacement amount and the moving direction of the second horizontal displacement amount are perpendicular to each other, the hand 130 moves along When moving along the moving direction of the second horizontal displacement, the picked brick 220 side remains
  • each picked brick 220 Since the determination of the target pose of each picked brick 220 is based on the horizontal plane 620 and the vertical reference plane 610 of the working environment as the positioning reference, multiple picked bricks 220 have a common positioning reference, which avoids positioning The accumulation of errors improves the positioning accuracy. Since the hand 130 moves toward the vertical reference plane 610 in the direction of the second horizontal displacement with the target posture, and the picked brick 220 is always parallel to the vertical reference plane 610 at this time, so that the moving to Each brick on the stacking position 300 is parallel to the vertical reference plane 610 , so that the wall 200 is parallel to the vertical reference plane 610 , ensuring the verticality of the wall 200 .
  • control module controls each picked brick 220 to move a second horizontal displacement amount based on the second distance of each picked brick 220, each The second horizontal displacement of the picked bricks 220 makes the distance between each brick at the stacking position 300 and the vertical reference plane 610 equal.
  • the control module separately controls the second horizontal displacement of each picked brick 220, so that the picked bricks 220 are placed at the stacking position 300 at an equal distance from the vertical reference plane 610 , and because the vertical reference plane 610 is set at a certain distance between the wall body 200 and the wall body 200 in the width direction of the wall body 200, to ensure that the distances between each position of the body of wall body 200 and the vertical reference plane 610 are equal, ensuring that the wall body 200 flatness.
  • the second horizontal displacement of each picked brick 220 can be adapted to the requirements of different wall surfaces.
  • the control module controls each picked brick 220 to move toward the vertical placement surface 320 by a first level based on the first distance of each picked brick 220 Displacement amount, the first horizontal displacement amount of each picked brick 220 makes the brick joints between every two horizontally adjacent bricks within the preset error range.
  • the control module controls the first horizontal displacement of each picked brick 220 respectively, and the hand 130 drives the picked brick 220 to move the first horizontal displacement, so that the picked brick 220
  • the brick joints between every two horizontally adjacent bricks are all within the preset error range, so that the brick joints at each position of the wall 200 are always within the error range, improving the The reliability and aesthetics of the wall 200.
  • the first horizontal displacement has an error range, and the error range is a preset error range.
  • the picked brick 220 is located in the vertical position. At the placement surface 320, at this time, the brick joint between two adjacent bricks is within the preset error range.
  • the target pose includes a horizontal pose, and the picked bricks 220 located in the horizontal pose are parallel to the horizontal plane 620 of the working environment;
  • the horizontal plane 620 of the environment serves as the positioning reference for all picked bricks 220 .
  • the control module controls the rotation of the hand 130 based on the first angle, and the rotation of the hand 130 drives the picked brick 220 to rotate accordingly, so that the picked brick 220 rotates to a horizontal posture relative to the horizontal plane 620 of the working environment.
  • the control module sends a rotation command to the hand 130 based on the first included angle, and the hand 130 rotates to drive the picked brick 220 to rotate together to the picked brick 220 is parallel to the horizontal plane 620 of the working environment.
  • the hand 130 is rotated to a horizontal posture, and the subsequent operation of picking up bricks is performed in this horizontal posture.
  • the determination of the horizontal pose is based on the horizontal plane 620 of the working environment as the positioning reference.
  • Multiple picked bricks 220 have a common horizontal positioning reference, which avoids the accumulation of horizontal positioning errors, improves the accuracy of horizontal positioning, and controls
  • the module is controlled based on the first included angle and the second included angle to achieve the target pose conveniently and quickly.
  • the target pose includes a vertical pose
  • the picked bricks 220 located in the vertical pose are parallel to the vertical reference plane 610; when specifically set, The vertical reference plane 610 is used as a positioning reference for all picked bricks 220 .
  • the control module controls the rotation of the hand 130 based on the second included angle, and the rotation of the hand 130 drives the picked brick 220 to rotate accordingly, so that the picked brick 220 rotates to a vertical posture relative to the vertical reference plane 610 .
  • the control module sends a rotation command to the hand 130 based on the second included angle, and the rotation of the hand 130 drives the picked brick 220 to rotate together to the picked brick 220 is parallel to the vertical datum plane 610, at this time the hand 130 rotates to a vertical position, and the subsequent operation of picking up bricks is carried out in this vertical position, by limiting each picked up brick
  • the determination of the vertical position and posture of 220 is based on the vertical datum plane 610 as the positioning datum, and multiple picked-up bricks 220 have a common vertical positioning datum, which avoids the accumulation of vertical positioning errors and improves the vertical positioning.
  • the accuracy, and the control module performs control based on the first angle and the second angle, so as to achieve the target pose conveniently and quickly.
  • control module can control the hand 130 to drive the picked bricks 220 to adjust the horizontal posture or vertical posture respectively. For example, first, the control module controls the hand 130 to drive the picked bricks based on the first included angle. The picked brick 220 is rotated to a horizontal posture relative to the horizontal plane 620 of the working environment, and then the control module controls the hand 130 to drive the picked brick 220 relative to the vertical reference plane based on the second included angle.
  • the control module 610 rotates to a vertical posture; for another example, first, the control module controls the hand 130 based on the second included angle to drive the picked brick 220 to rotate to a vertical posture relative to the vertical reference plane 610, and then, the control module based on The first included angle control hand 130 drives the picked brick 220 to rotate to a horizontal posture relative to the horizontal plane 620 of the working environment.
  • the control module can also control the hand 130 to drive the picked brick 220 to adjust the horizontal posture and vertical position at the same time, and the control module controls the hand 130 to drive the picked brick 220 based on the first included angle.
  • control module controls the hand 130 to drive the picked brick 220 to rotate to a vertical posture relative to the vertical reference plane 610 based on the second included angle.
  • the second sensor 520 can be a laser sensor
  • the laser sensor includes a laser emission port
  • the laser emission port can emit a horizontal laser along the horizontal direction
  • the horizontal laser is configured to move along the horizontal direction. The direction shoots to the vertical placement surface 320;
  • the control module presets a first correction value.
  • the first correction value is the distance that the picked brick 220 protrudes from the laser emission port along the emission direction of the horizontal laser.
  • the control module calculates the distance between the length of the horizontal laser and the first correction value. The difference to obtain the first distance.
  • the distance between the picked brick 220 and the laser emission port in the horizontal laser emission direction is determined by the first correction value
  • the horizontal distance between the laser emission port and the vertical placement surface 320 is determined by the length of the horizontal laser.
  • the control module can conveniently and accurately calculate the distance between the picked brick 220 and the vertical placement surface 320 in the horizontal laser emission direction according to the first correction value and the length of the horizontal laser.
  • the length of the horizontal laser is the distance between the laser emission port and the vertical placement surface 320 along the emission direction of the horizontal laser
  • the first correction value is the distance between the brick 220 picked up along the emission direction of the horizontal laser and The distance between the laser emission ports, the distance between the bricks and the vertical placement surface 320 along the emission direction of the horizontal laser can be calculated through these two distances, and this distance is the first distance.
  • the third sensor 530 includes two parts of the housing 531 and the image collector, and wherein:
  • the housing 531 is in the shape of a hollow box, including a lower side wall 5311 and other side walls.
  • the lower side wall 5311 of the housing 531 includes a projectable material 532, and the other side walls of the housing 531 include an opaque material.
  • the vertical reference plane 610 can be positioned at The lower side wall 5311 is projected and imaged; in specific settings, an opaque material is provided on the other side walls of the housing 531, and a projectable material 532 is provided on the lower side wall 5311 of the housing 531, so that it can be placed on the lower side wall 5311 of the housing 531
  • the vertical reference plane 610 is located above the lower side wall 5311 of the casing 531 , and projection imaging can be performed on the lower side wall 5311 .
  • the image collector is communicated with the control module, and is used to transmit the collected images to the control module.
  • the image collector can be installed inside the shell 531 through threaded connection, buckle connection, concave-convex fit, gluing, etc., and the image collector is located at Above the lower side wall 5311 to facilitate image acquisition, the image collector is used to take a real-time image of the vertical reference plane 610 on the lower side wall 5311, and the real-time image of the vertical reference plane 610 on the lower side wall 5311 defines it as the first image 810. After collecting the first image 810, the image collector feeds back the first image 810 to the control module.
  • the image collector here can be a CCD camera, as long as it can collect images and convert the images into digital signals to feed back to the control module.
  • the control module includes a storage unit, the storage unit pre-stores the reference image 820, the control module compares the received first image 810 with the pre-saved reference image 820, and calculates the angle between the first image 810 and the reference image 820 and the second The distance between an image 810 and the reference image 820 , and the second angle is equal to the angle between the first image 810 and the reference image 820 , and the second distance is equal to the distance between the first image 810 and the reference image 820 .
  • the setting of other side walls of the third sensor 530 that is opaque reduces the interference of non-target light, thereby making the quality of the image pixels collected by the image collector good, which is more conducive to the analysis of subsequent data.
  • an opaque material may be provided on the entire area of the other side walls of the housing 531 to obtain better image pixel quality.
  • a reference image 820 is pre-stored in the control module, and the image collector collects a real-time image of the vertical reference plane 610 on the lower side wall 5311, and the control module receives the real-time image and compares it with the reference image 820, so as to be able to quickly and conveniently determine the
  • the included angle between the first image 810 and the reference image 820 and the distance between the first image 810 and the reference image 820 are used to calculate the second included angle and the second distance more conveniently and accurately.
  • the width of the projectable portion of the lower side wall 5311 may be greater than the second horizontal displacement.
  • the width of the projectable part of the lower side wall 5311 can be slightly larger than the second horizontal displacement, so as to ensure that the structure size of the third sensor 530 is relatively compact; the width of the projectable part of the lower side wall 5311 can be much larger than the second horizontal displacement. 2. Horizontal displacement to meet different demands of wall body 200.
  • the vertical reference plane 610 can be projected on the lower side wall 5311 before and after moving the second horizontal displacement Imaging can further ensure that the image collector can capture the projection imaging of the vertical reference plane 610 on the lower side wall 5311 during the entire working process, ensuring the acquisition accuracy and reliability of the third sensor 530 .
  • the hand 130 picks up the bricks and places them at the first stacking position 300, and the image collector at the first stacking position 300 shoots a vertical
  • the real-time image of the reference surface 610 on the lower side wall 5311 the image collector feeds back the real-time image to the control module, and the control module stores the real-time image to form a reference image 820 .
  • the image collector shoots the vertical reference plane 610 below
  • the real-time image on the side wall 5311 is used as the reference image 820
  • the position of the vertical reference plane 610 on the lower side wall 5311 at the first bricklaying in the target pose is used as the positioning reference
  • all subsequent picked-up bricks 220 are Positioning and calculating the position of the picked bricks 220 relative to the vertical reference plane 610 based on the positioning reference can more conveniently realize the second included angle and the second distance of the picked bricks 220 based on the same positioning reference.
  • the third sensor 530 can also adopt another embodiment.
  • the third sensor 530 can be a PSD element, such as a laser position sensor, and its quantity can be two, two
  • Each of the laser position sensors senses the laser light on the vertical reference plane 610 and generates real-time data, and calculates the second included angle and the second distance based on the real-time data of the two laser position sensors and preset data.
  • the third sensor 530 can also use an image collector to collect real-time images of the picked brick 220 and the vertical reference plane 610, and then extract the picked-up brick 220. The edge is compared 610 with the vertical reference plane, so as to calculate the second included angle and the second distance.
  • the interactive system further includes a fourth sensor 540, and the fourth sensor 540 is connected to the control module for communicating with the control module.
  • the collected information is transmitted, and the fourth sensor 540 is used to obtain the third distance between the horizontal placement surface 310 and the picked brick 220 along the vertical direction; when specifically set, the fourth sensor 540 is a laser sensor, and the laser sensor passes through The laser line is used to measure the distance information between the horizontal placement surface 310 and the picked bricks 220.
  • These distance information can reflect the positional relationship between the horizontal placement surface 310 and the picked bricks 220 along the vertical direction, and the fourth sensor 540 acquires And transmit the distance information to the control module, and the control module calculates the third distance according to the received distance information.
  • the control module generates a first vertical displacement based on the third distance, and the hand 130 of the control module moves, and the movement of the hand 130 drives the picked bricks 220 to move together, so that the picked bricks 220 move downward
  • the first vertical displacement so that the picked bricks 220 are displaced downward to the horizontal placement surface 310.
  • the moving direction of the first vertical displacement is perpendicular to the moving direction of the first horizontal amount and the second horizontal direction of movement of the quantity.
  • the control module sends an action to the hand 130 based on the third distance command, the hand 130 moves to drive the picked bricks 220 to move together toward the horizontal placement surface 310 by the first vertical displacement amount, and because the moving direction of the first vertical displacement amount and the moving direction of the first horizontal displacement amount, the second The moving directions of the horizontal displacement are perpendicular to each other, and the bottom surface of the brick 220 picked up when the hand 130 moves along the moving direction of the first vertical displacement is located on the horizontal placement surface 310, so that the picked brick 220 can be accurately The land is placed on the stacking position 300.
  • the fourth sensor 540 may be a laser sensor, and the laser emitting port of the laser sensor can emit vertical laser light downward to the horizontal placement surface 310 .
  • the control module presets a second correction value.
  • the second correction value is the distance that the picked brick 220 protrudes from the laser emission port along the emission direction of the vertical laser.
  • the control module calculates the length of the vertical laser and the second correction value. The difference between the values gives the third distance.
  • the distance between the picked brick 220 and the laser emission port in the vertical laser emission direction is determined by the second correction value
  • the distance between the laser emission port and the horizontal placement surface 310 is determined by the length of the vertical laser.
  • the control module can more conveniently and accurately calculate the distance between the picked brick 220 and the horizontal placement surface 310 in the vertical laser emission direction according to the second correction value and the length of the vertical laser .
  • the length of the vertical laser is the distance between the laser emission port and the horizontal placement surface 310 along the emission direction of the vertical laser
  • the second correction value is the brick picked up along the emission direction of the vertical laser 220 and the distance between the laser emission port, the distance between the brick and the horizontal placement surface 310 along the vertical laser emission direction can be calculated through these two distances, and this distance is the third distance.
  • the first horizontal displacement amount and the moving direction of the first horizontal displacement amount form a first vector
  • the second horizontal displacement amount and the moving direction of the second horizontal displacement amount form a vector
  • the second vector, the first vertical displacement and the moving direction of the first vertical displacement form a third vector.
  • the starting position of the first vector, the starting position of the second vector and the starting position of the third vector coincide, and define the starting position of the first vector, the starting position of the second vector and the starting position of the third vector coincide
  • the position is the fine calibration position, and the fine calibration position and the vertical placement surface 320 are arranged at intervals in the horizontal direction.
  • the control module is structured as:
  • the control module controls the hand 130 and the picked bricks 220 to stop at the fine calibration position, and the control module controls the rotation of the hand 130 based on the first angle and the second angle of the fine calibration position, and the rotation of the hand 130 drives the picked bricks.
  • the bricks 220 rotate accordingly to adjust the picked bricks 220 to the target pose.
  • control module After the control module adjusts the picked brick 220 to the target pose, it uses the first vector, the second vector and the third vector generated by the fine calibration position to plan the movement path, and the control module controls the movement of the hand 130, and the movement of the hand 130
  • the picked bricks 220 are driven to move accordingly, so that the picked bricks 220 move from the fine calibration position to the stacking position 300 .
  • the vector is determined by the amount of displacement and its moving direction
  • the control system is preset with a fine calibration position
  • the first vector, the second vector and the third vector are determined at the fine calibration position
  • the control module is based on the first vector , the second vector and the third vector plan the movement path, and at the fine calibration position based on the first angle and the second angle, control the movement of the hand 130 to drive the picked brick 220 to the target pose, at the fine calibration position
  • the distance d2 between the picked bricks 220 at the fine calibration position and the vertical placement surface 320 can be greater than or equal to 10mm and less than or equal to 30mm.
  • the distance between the picked brick 220 at the fine calibration position and the vertical placement surface 320 is not limited to the above-mentioned range value, and can also be other values that can meet the requirements.
  • the fine positioning of the picked brick 220 can be realized within a small range.
  • the distance d2 between the picked brick 220 at the fine calibration position and the vertical placement surface 320 can be 10mm, 12mm, 14mm, 15mm, 16mm, 18mm, 20mm, 22mm, 24mm, 25mm, 26mm, 28mm, 30mm.
  • the distance d2 between the picked brick 220 at the fine calibration position and the vertical placement surface 320 is not limited to the above value, and can also be other values within the range of greater than or equal to 10 mm and less than or equal to 30 mm.
  • control module is further configured to:
  • the control module controls the hand 130 and the picked bricks 220 to stop at at least one coarse calibration position, at least one coarse calibration position is located on the same horizontal line as the fine calibration position, and at least one coarse calibration position is placed vertically away from the fine calibration position Surface 320; in specific settings, the number of rough calibration positions can be one, two, three or more than three, and the specific number of rough calibration positions can be determined by the actual situation of the interactive system.
  • FIG. 20 which is a schematic diagram of the picked brick 220 in the rough calibration position in this embodiment. At this time, the distance between the picked brick 220 and the vertical placement surface 320 is d1. The value of d1 is 200mm, and the value can be adjusted according to actual needs.
  • the arm 120 of the bricklaying manipulator 100 drives the hand 130 so that the picked bricks 220 move horizontally from the coarse calibration position toward the vertical placement surface 320 to the fine calibration position shown in FIG. 21 .
  • the control module controls the hand 130 and the picked bricks 220 to stop at the rough calibration position, and the control module controls the rotation of the hand 130 based on the first angle and the second angle of the rough calibration position, and the rotation of the hand 130 drives the picked bricks.
  • the bricks 220 rotate accordingly to adjust the picked bricks 220 to the target pose; the control module controls the movement of the hand 130 after adjusting the picked bricks 220 to the target pose, and the movement of the hand 130 drives the picked up bricks 220
  • the bricks 220 move accordingly, so that the picked bricks 220 move horizontally from at least one coarse calibration position to a fine calibration position.
  • Block 220 is adjusted to the target pose, and continues to move horizontally from the coarse calibration position to the fine calibration position with the target pose, so as to be able to realize the coarse positioning of the picked brick 220 within the range;
  • a rough calibration position is set between the brick picking position, so that the initial calibration position of the arm 120 is relatively far away, so as to avoid collision between the picked brick 220 and the vertical placement surface 320 when the arm 120 rotates excessively, thereby triggering a fault .
  • the control module transmits information, and the fifth sensor 550 is used to obtain the pose of the brick 210 to be picked up; during specific setting, the fifth sensor 550 is a laser sensor, and the laser sensor obtains the distance information of the brick 210 to be picked up.
  • the distance information can reflect the position of the brick 210 to be picked up, and the first sensor 510 acquires and transmits this distance information to the control module, and the control module calculates the pose of the brick 210 to be picked up according to the received distance information.
  • control module controls the movement of the hand 130 based on the pose of the brick 210 to be picked up, to adjust the pose of the hand 130 to be parallel to the brick 210 to be picked up, and control The module controls the hand 130 to pick up the brick 210 to be picked up in a posture parallel to the brick 210 to be picked up.
  • the fifth sensor 550 acquires the pose of the brick 210 to be picked up and feeds it back to the control module, and the control module adjusts the pose of the hand 130 to be parallel to the brick to be picked up based on the pose of the brick 210 to be picked up.
  • the pose is parallel to the pose of the hand 130, so that the pose of the hand 130 is roughly the same as the pose of the brick 210 to be picked up, so that the ideal pose of the picked brick 220 can be obtained by adjusting the pose of the hand 130 .
  • the fifth sensor 550 is formed by at least three laser sensors, and the laser emission port of each laser sensor Emit downwards, and the laser emitted by the laser emission port of each laser sensor forms a laser point on the upper surface of the brick 210 to be picked up, at least three laser points are not arranged in the same straight line, and the plane of the at least three laser points Pose is the pose of the brick 210 to be picked up.
  • the upper The flatness of the surface makes it easier to locate the upper surface of the brick 210 to be picked up and determine the pose of the brick 210 to be picked up.
  • the fifth sensor 550 can be formed by three laser sensors, and these three laser sensors are not arranged in the same straight line, the fifth sensor 550 can be formed by four laser sensors, and there are three laser points in the four laser sensors Not arranged on the same straight line, of course, the structural form of the fifth sensor 550 is not limited to this, and can also be other structural forms that can meet the requirements.
  • the centroid O of the brick 210 to be picked is located within the connecting line of at least three laser points.
  • the center of mass O of the brick 210 to be picked up is obtained, and the hand 130 picks up the
  • the posture of the hand 130 is parallel to the flatness of the middle position, so that when the hand 130 drives the brick 210 to be picked up to rotate or displace, the first included angle of the picked up brick 220 is equal to that of the hand 130 relative to the horizontal plane of the environment, the second angle of the picked brick 220 is equal to the angle of the hand 130 relative to the vertical reference plane 610, by rotating the hand 130, the picked brick 220 Rotating the same angle increases the accuracy of adjusting the picked brick 220 .
  • the fifth sensor 550 of the hand 130 in the first embodiment is composed of three laser sensors, two of which are located on one side in the left-right direction of the hand 130 and spaced from front to back, and the other laser sensor Located on the other side of the left and right direction of the hand 130, three laser sensors constituting the fifth sensor 550 are distributed on the left and right sides of the hand 130, so that when the hand 130 is aligned downwards to the middle position of the picked brick 210, The three laser sensors constituting the fifth sensor 550 are distributed on the left and right sides of the centroid O of the picked brick 220 .
  • the three laser sensors constituting the fifth sensor 550 are also configured to be located at the front and rear sides of the center of mass O of the picked brick 220, specifically, please Referring to Fig. 8, one laser sensor of the fifth sensor 550 on the other side of the hand 130 is aligned with the other laser sensor of the fifth sensor 550 on one side of the hand 130, as shown in Fig. 17 and Fig.
  • the laser lines c emitted downward by the remaining laser sensors in the fifth sensor 550 are located at the rear side of the centroid O of the brick 210 to be picked up.
  • the laser line a and the laser line b are aligned along the left and right directions, which is convenient for controlling the center of mass O to be located within the connecting line of the three laser points.
  • the interactive system further includes a sixth sensor 560, and the sixth sensor 560 defines a detection position downward.
  • the control module controls the hand 130 to be in the released state, and the control module simultaneously controls the hand 130 to move downward to the detection position and is triggered by the brick 210 to be picked up.
  • the control module controls the hand.
  • the part 130 is switched from the releasing state to the picking state, and at this moment, the hand 130 is used to pick up the brick 210 to be picked up.
  • the control hand 130 is switched from the release state to the pick-up state, which can facilitate the pick-up.
  • the picking of the bricks 210 makes the picking time required for the hand 130 to pick up the bricks 210 to be picked up to be shorter, while avoiding collisions between the hand 130 and the bricks 210 to be picked up during picking.
  • the brick 210 to be picked picks up the force, and the seventh sensor 570 transmits the detected pick-up force to the control module.
  • the pick-up force is greater than the preset threshold, the hand 130 is in the pick-up state.
  • the pick-up force is less than When the threshold is preset, the hand 130 is in a released state.
  • a pressure sensor is provided to detect the picking force of the hand 130 on the brick 210 to be picked up, so that the control module can control the switching state of the hand 130 according to the picking force.
  • the control module controls the hand 130 to generate the picking force
  • the seventh sensor 570 detects the picking force and transmits it to the control module.
  • the pick-up force is less than the preset threshold; when the hand 130 needs to be switched from the release state to the pick-up state, the control module controls the hand 130 to increase the pick-up force, the seventh sensor 570 detects the pick-up force in real time, and the control module is in the pick-up state.
  • the hand 130 switches from the release state to the pick-up state; when the hand 130 needs to be switched from the pick-up state to the release state, the control module controls the hand 130 to reduce the pick-up force, and the seventh sensor 570
  • the pick-up force is detected in real time, and the control module determines when the pick-up force is less than a preset threshold, and the hand 130 switches from the pick-up state to the release state.
  • the present application also provides a bricklaying device, which is used for stacking a plurality of bricks into a wall 200, each brick on the wall
  • a stacking position 300 is defined on the body 200, and the stacking position 300 includes a horizontal placement surface 310 and a vertical placement surface 320, including:
  • a bricklaying manipulator 100 has three parts: a base 110, an arm 120 and a hand 130, wherein the arm 120 is connected to the base 110, and the arm 120 extends from the base 110 to the Extending forward, and the end of the arm 120 away from the base 110 is the end, on the end of the arm 120 is connected a hand 130, the hand 130 is used to pick up the bricks 210 to be picked up, and is used to release the picked up bricks
  • the block 220 is placed at the stacking position 300 of the wall 200 , wherein the first sensor 510 , the second sensor 520 , and the third sensor 530 in the interactive system are respectively installed at different positions of the hand 130 .
  • the bricklaying device 300 of the second embodiment replaces the hand 130 of the first embodiment with the hand 130 of the second embodiment.
  • the arm 120 of the bricklaying manipulator 100 moves relative to the base 110, driving the hand 130 to move close to the brick 210 to be picked up, the first sensor 510 obtains the first included angle, and the second sensor 520 obtains the second angle.
  • the control module sends a rotation command to the hand 130 based on the first included angle and the second included angle, and the rotation of the hand 130 drives the picked bricks 220 to rotate together Until the hand 130 is in the target pose, and the subsequent operation of picking up bricks is performed at the target pose;
  • the control module sends a first action command to the hand 130 based on the first distance, and the hand 130 moves to drive the picked bricks
  • the blocks 220 move together toward the vertical placement surface 320 by the first horizontal displacement amount, so that the sides of the bricks and the vertical placement surface 320 can have an ideal distance;
  • the control module sends a second action command to the hand 130 based on the second distance,
  • the movement of the hand 130 drives the picked bricks 220 to move the second horizontal displacement toward the vertical reference plane 610 together, and since the moving direction of the first horizontal displacement and the moving direction of the second horizontal displacement are perpendicular to each other, the hand 130 When moving along the moving direction of the second horizontal displacement, the
  • the bricklaying device with the interactive system can avoid the accumulation of positioning errors, improve the accuracy of positioning, and ensure the verticality of the wall 200 .
  • the first sensor 510, the second sensor 520, and the third sensor 530 are installed in different positions of the hand 130, so that the above-mentioned three sensors are connected to the hand 130 in a follow-up manner, so that according to the trajectory of the hand 130, based on The deviation of the hand 130 relative to the position to be laid, the positions of the first sensor 510, the second sensor 520 and the third sensor 530 are preset, and the picked brick 220 is fixed on the hand 130, which is also the position of the first sensor 510,
  • the second sensor 520 and the third sensor 530 have known relative positions relative to the bricks, so that it is easier to know the pose of the bricks according to the known relative positions, which is beneficial for adjusting the bricks.
  • the hand 130 itself defines a first coordinate system
  • the first coordinate system includes front and rear axes, left and right axes and up and down
  • the axis is formed
  • the hand 130 defines its own width along the left and right axis
  • its own length is defined along the front and rear axes
  • its own height is defined along the up and down.
  • the length direction of the hand 130 is along the front-to-back axis
  • the height direction of the hand 130 is along the up-down axis.
  • the hand 130 includes three parts: a support plate 131, an actuator 132 and an adjustment part 133, wherein:
  • the actuator 132 is installed under the support plate 131 through threaded connection, snap connection, concave-convex fit, welding, etc.
  • the actuator 132 is used to pick up the bricks 210 to be picked up, and the actuator 132 is also used to release the picked bricks 220 ;
  • the adjustment part 133 is arranged between the support plate 131 and the end of the arm part 120, and the adjustment part 133 is connected to the support plate 131 forward, and the adjustment part 133 is connected to the end of the arm part 120 backward,
  • the adjustment part 133 includes three rotary shafts, which are respectively defined as a first rotary shaft 133A, a second rotary shaft 133B and a third rotary shaft 133C;
  • the front end of the adjusting part 133 has a first rotating shaft 133A, and the first rotating shaft 133A is pivotally connected to the support plate 131 along any axis of the first coordinate system, and the adjusting part
  • the rear end of 133 has a second rotation axis 133B, the second rotation axis 133B is pivoted to the end of the arm portion 120 along any axis in the other two axes in the first coordinate system, and the third rotation axis 133C is along the first coordinate axis
  • the remaining axis is pivotally connected to the front and rear ends of the adjustment part 133 .
  • the adjustment part 133 can rotate and adjust the hand 130 in the three directions of XYZ, so that the hand 130 is not driven by the arm part 120, and the cantilever length driven by the adjustment part 133 is the length of the support plate 131, so that the hand 130 can be rotated in a small range, the adjustment accuracy can be improved, and it is beneficial for the hand 130 to drive the bricks to form the target pose.
  • the adjustment accuracy can be improved, and it is beneficial for the hand 130 to drive the bricks to form the target pose.
  • the first rotating shaft 133A can be pivotally connected to the support plate 131 along the upper and lower axes
  • the second rotating shaft 133B can be pivotally connected to the supporting plate 131 along the left and right axes
  • the third rotating shaft 133C can be pivotally connected to the supporting plate 131 along the front and rear axes.
  • the axis is pivotally connected to the support plate 131; of course, the pivot axes along which the first rotary shaft 133A, the second rotary shaft 133B, and the third rotary shaft 133C are along are not limited to this, and other ways that can meet requirements can also be adopted.
  • the second rotating shaft 133B is pivotally connected to the end of the arm portion 120 along any one of the other two axes in the first coordinate system.
  • the arm 1332, the second connecting arm 1332 connects the end of the arm part 120 backward, and can also be the upper and lower plate parts at the rear end of the adjustment part 133 of the second embodiment Fig. 9 are directly pivoted to the end of the arm part 120, the second rotating shaft 133B passes through the circular grooves of the upper and lower plate parts.
  • the adjustment unit 133 further includes three parts: a first drive motor 1335, a second drive motor 1336, and a third drive motor 1337, wherein:
  • the third driving motor 1337 is drivingly connected with the rotating shaft pivotally connected with the adjusting part 133 along the upper and lower axes, so as to drive the rotating shaft connected to it to rotate, so as to drive the adjusting part 133 to rotate around the upper and lower axes; when specifically arranged, as shown in Figure 16
  • the adjusting part 133 includes a first connecting arm 1331, a second connecting arm 1332, a third connecting arm 1333 and a fourth connecting arm 1334, the arm part 120 is rotationally connected with the first connecting arm 1331, and the other end of the first connecting arm 1331
  • One end of the second connecting arm 1332 is fixed; one end of the third connecting arm 1333 is rotationally connected with the other end of the second connecting arm 1332, and the third connecting arm 1333 can rotate along the second rotating shaft 133B on the second connecting arm 1332;
  • One end of the fourth connecting arm 1334 is rotatably connected to the other end of the third connecting arm 1333, and the fourth connecting arm 1334 can rotate on the third connecting arm 1333
  • the second driving motor 1336 is drivingly connected with the rotating shaft pivotally connected to the left and right axis of the adjusting part 133 to drive the rotating shaft connected thereto to rotate around the left and right axis to drive the adjusting part 133 to rotate around the left and right axis; the third connecting arm 1333 and the second connecting arm 1333
  • the arms 1332 are all door-shaped rectangular frames, and the two side walls of the third connecting arm 1333 are rotatably matched with the two side walls of the second connecting arm 1332.
  • the outside of the second connecting arm 1332 is provided with a second driving motor 1336.
  • the connecting arm 1332 is driven by the second driving motor 1336 to drive the third connecting arm 1333 to rotate on the second connecting arm 1332 along the left-right axis relative to the second rotating shaft 133B.
  • the first drive motor 1335 is drivingly connected to the rotating shaft pivotally connected with the adjusting part 133 along the front-rear axis, so as to drive the rotating shaft connected to it to rotate, so as to drive the adjusting part 133 to rotate around the front-rear axis; 1333 and the opening of the second connecting arm 1332 are set opposite to each other to form a receiving chamber, and a first driving motor 1335 is arranged in the receiving chamber.
  • the third connecting arm 1333 can move relative to the first connecting arm 1333 along the front-rear axis.
  • the three rotary shafts 133C rotate.
  • the control module is configured to communicate with the first drive motor 1335, the second drive motor 1336, and the third drive motor 1337, and the control module transmits action signals to the first drive motor 1335, the second drive motor 1336, and the third drive motor 1337 respectively. ;
  • the control module generates a first rotation command based on the first included angle, the control module sends the first rotation command to the first drive motor 1335 and/or the second drive motor 1336, and the first drive motor 1335 and/or the second drive motor 1336 act , the drive adjustment part 133 rotates accordingly, so that the picked brick 220 rotates to the horizontal pose in the target pose; in specific settings, the control module can send a first rotation instruction to the first drive motor 1335, so that the picked brick 220 The bricks 220 rotate around the front-back axis to the horizontal pose in the target pose; or, the control module can send the first rotation command to the second drive motor 1336, so that the picked up bricks 220 rotate around the left-right axis to the target pose Or, the control module can send a first rotation command to both the first driving motor 1335 and the second driving motor 1336, so that the picked brick 220 rotates around the front-to-back axis and the picked up brick 220 rotates around the left-right axis The axis is rotate
  • the control module generates a second rotation command based on the second included angle, the control module sends the second rotation command to the third drive motor 1337, the third drive motor 1337 acts, and the drive adjustment part 133 rotates accordingly, so that the picked brick 220 Rotate to an upright pose in the target pose.
  • the control module generates a first rotation command based on the first included angle
  • the first driving motor 1335 and/or the second driving motor 1336 act according to the first rotation command to drive the front and rear axes and/or the left and right axes
  • the rotation axis of the control module moves to drive the adjustment part 133 to rotate around the front-rear axis and/or the left-right axis, so as to drive the picked-up rotation to the horizontal pose in the target pose.
  • the control module generates a second rotation command based on the second included angle.
  • the three driving motors 1337 act according to the second rotation command, and drive the rotation axis of the upper and lower axes to drive the adjustment part 133 to rotate around the upper and lower axes, and drive the picked up rotation to the vertical position in the target position, thereby more conveniently Controls the rotation being picked.
  • the hand 130 itself defines a first coordinate system
  • the first coordinate system includes the formation of the front-back axis, the left-right axis and the upper-lower axis
  • the hand 130 130 defines its own width along the left and right axes
  • Front and rear axes, the height direction of the hand 130 is along the upper and lower axes
  • the hand 130 includes three parts: a support plate 131, a first splint 134 and a second splint 135, wherein:
  • the support plate 131 is connected to the end of the arm portion 120 backwards, and in a specific configuration, the support plate 131 is connected to the end of the arm portion 120 by means of threaded connection, buckle connection, concave-convex fit, welding, etc.;
  • the first splint 134 is installed below the support plate 131;
  • the second clamping plate 135 is installed below the support plate 131, and the second clamping plate 135 is spaced apart from the rear of the first clamping plate 134 along the front-rear direction, and the inner surface of the first clamping plate 134 and the inner surface of the second clamping plate 135 form a clamping space. Clamping space for clamping bricks;
  • At least one of the first clamping plate 134 and the second clamping plate 135 can be displaced along the front-to-back direction relative to the support plate 131 to adjust the size of the clamping space along the front-to-back direction;
  • the actuator 132, the first splint 134 is slidably installed on the support plate 131 through the structural form of the motor and the slide rail, and the second splint 135 is fixed on the support plate 131 through threaded connection, buckle connection, concave-convex fit, etc.
  • first splint 134 is fixed on the support plate 131 through threaded connection, buckle connection, concave-convex fit, etc.
  • second splint 135 is slidably installed on the support plate 131 through the structural form of a cylinder and a guide groove
  • first clamping plate 134 is slidably installed on the supporting plate 131 by the structural form of motor, slide rail
  • the second clamping plate 135 is slidably installed on the supporting plate 131 by the structural form of cylinder, guide groove
  • first clamping plate 134 and The manner of sliding connection of at least one of the second clamping plate 135 relative to the support plate 131 is not limited to this, and may also be in other forms that meet requirements.
  • the distance between the first clamping plate 134 and the second clamping plate 135 can be changed, and then the clamping plate 134 can be adjusted.
  • the size of the holding space can be adjusted, and the holding space can be adjusted to hold bricks of different widths, so as to expand the applicable range of the bricklaying device.
  • the hand 130 also includes a first drive assembly, the first drive assembly is connected to the support plate 131, and both the first splint 134 and the second splint 135 are connected to the first drive assembly , the first driving assembly can make the first clamping plate 134 and the second clamping plate 135 cooperate to gather and separate.
  • the first driving assembly includes a first driver 136, a first movable block 137 and a second movable block 138, the first driver 136 is fixed to the support plate 131, the first driver 136 can make the first movable
  • the block 137 and the second movable block 138 are gathered or separated on the support plate 131 , the first clamping plate 134 is connected with the first movable block 137 , and the second clamping plate 135 is connected with the second movable block 138 .
  • the first driving assembly also includes a first rotating shaft 139
  • the bricklaying manipulator 100 also includes a guide assembly
  • the first rotating shaft 139 is rotated on the support plate 131, the first driver 136 and the first
  • the rotating shaft 139 is connected by transmission.
  • the first rotating shaft 139 has a first threaded part 1391 and a second threaded part 1392.
  • the helical direction of the first threaded part 1391 is opposite to that of the second threaded part 1392.
  • the guide assembly is arranged on the support plate 131 superior.
  • the first movable block 137 is screwed to the first rotating shaft 139 through the first threaded part 1391
  • the second movable block 138 is screwed to the first rotating shaft 139 through the second threaded part 1392
  • the first clamping plate 134 and the second clamping plate 135 are both Guided by guide components.
  • the first splint 134 includes a first fixed plate 1341 and a first plate body 1342, the first fixed plate 1341 is fixed to the first movable block 232, and the first plate body 1342 is fixed on the first fixed plate 1341.
  • the first fixing plate 1341 is connected with the guide assembly and guides.
  • the first fixing plate 1341 is further provided with a first fitting groove 1343 and a first escape groove 1344 .
  • the first assembly groove 1343 is provided corresponding to the first movable block 232 for fixed assembly with the first movable block 232 ; the first avoidance groove 1344 is used for avoiding the first rotating shaft 139 .
  • the second splint 135 includes a second fixed plate 1351 and a second plate body 1352 , the second fixed plate 1351 is fixed to the second movable block 233 , and the second plate body 1352 is fixed on the second fixed plate 1351 . And the second plate body 1352 is arranged opposite to the first clamping plate 212, and the second fixing plate 1351 is connected with the guide assembly and guides.
  • the second fixing plate 1351 is further provided with a second assembly groove 1353 and a second escape groove 1354 .
  • the second assembly groove 1353 is provided corresponding to the second movable block 143 for fixed assembly with the second movable block 143 ; the second avoidance groove 1354 is used for avoiding the first rotating shaft 139 .
  • the guide assembly includes a first guide rail 141 , a second guide rail 142 , a first slider 143 and a second slider 144 .
  • the first guide rail 141 and the second guide rail 142 are fixed on the supporting plate 131 and located on opposite sides of the first rotating shaft 139 respectively, and the first guiding rail 141 and the second guiding rail 142 are arranged along the length direction of the first rotating shaft 139 .
  • first sliders 143 There are two first sliders 143 and they are slidably matched with the first guide rail 141 and the second guide rail 142 respectively; there are two second sliders 144 and they are respectively slidably matched with the first guide rail 141 and the second guide rail 142
  • the two first sliders 143 are both fixed to the first fixing plate 1341
  • the two second sliders 144 are both fixed to the second fixing plate 1351 .
  • the first splint 134 also includes a first backing plate 1345 , the first backing plate 1345 is arranged on the first plate body 1342 , and the first backing plate 1345 is located on the side of the first plate body 1342 facing the second splint 222 . side.
  • the second clamping plate 135 also includes a second backing plate 1355 , the second backing plate 1355 is arranged on the second plate body 1352 , and the second backing plate 1355 is located on the second plate body 1352 facing the first plate body 1342 side.
  • the bricklaying manipulator 100 also includes a driving wheel 151, a driven wheel 152 and a transmission belt 153, the driving wheel 151 is in transmission connection with the first driver 136, the driven wheel 152 is in transmission connection with the first rotating shaft 139, and the transmission belt 153 is sleeved Between the driving wheel 151 and the driven wheel 152 .
  • the bricklaying manipulator 100 also includes a limit sensor, the limit sensor is used to monitor the first sensing element 161 and the second sensing element of the movement range of the first clamping plate 134 and/or the second clamping plate 135 162 , the first sensing element 161 is disposed on the first splint 134 or the second splint 135 , the second sensing element 162 is disposed on the support plate 131 , and the second sensing element 162 is inductively matched with the first sensing element 161 .
  • the first sensing part 161 may be a sensing piece, and the second sensing part 162 may be a limit sensor, so as to realize the movement range and/or Monitoring and control of the movement range of the second splint 135 .
  • the bricklaying manipulator 100 also includes a main housing 170 and an end housing 180, the end housing 180 is arranged at one end of the main housing 170, and the part of the hand 130 is located at the main housing 170. inside, so as to protect the hand 130.
  • the first sensor 510 can be an inclination sensor, the first sensor 510 is installed above the support plate 131, and viewed from top to bottom, the projection of the first sensor 510 is picked up The projections of the bricks 220 overlap.
  • the first sensor 510 as an inclination sensor, and defining the projection of the inclination sensor in the up and down direction to overlap the projections of the picked bricks, so that the centroid O of the bricks is close to the first sensor 510, the first sensor
  • the positional relationship of the picked bricks 220 obtained at 510 relative to the horizontal plane 620 of the working environment is more accurate, thereby increasing the accuracy of the first included angle.
  • the centroid O of the picked brick 220 overlaps within the projection area of the first sensor 510 .
  • the first sensor 510 obtains the position of the picked brick 220 relative to the horizontal plane 620 of the working environment The relationship is more accurate, which further ensures the accuracy of the first included angle.
  • the second sensor 520 is installed on the first splint 134 and the second clamping plate 134 through screw connection, snap connection, concave-convex fit, gluing, etc.
  • the third sensor 530 is mounted on the outer surface of the other of the first clamping plate 134 and the second clamping plate 135 through threaded connection, buckle connection, concave-convex fit, gluing and the like.
  • the second sensor 520 is installed on the outer surface of the first clamping plate 134, and the third sensor 530 is installed on the outer surface of the second clamping plate 135; or, the second sensor 520 is installed on the outer surface of the second clamping plate 135, the second The three sensors 530 are installed on the outer surface of the first splint 134 .
  • the distance information and the second included angle collected by the second sensor 520 and the third sensor 530 are all the distance information collected by the picked bricks.
  • the side of the first clamping plate 134 and the second clamping plate 135 can be adjusted according to the width of the brick, and the second sensor 520 on the first clamping plate 134 is located on the second clamping plate 135.
  • the sensor and the bricks of different widths A fixed relative distance is maintained on the side surfaces of each other, so as to obtain the information of the first distance, the second distance, and the second included angle more conveniently, and ensure the accuracy of the first distance, the second distance, and the second included angle.
  • the second sensor 520 and the third sensor 530 are installed on the outer surface of one of the first splint 134 and the second splint 135, the second sensor 520 and the third sensor 530 are arranged at a relatively fixed distance along the front-rear direction, and the third sensor 530 is arranged along the front-rear direction Farther away from the brick than the second sensor 520 .
  • the second sensor 520 and the third sensor 530 are located on the second splint 135, and the second sensor 520 and the third sensor 530 are spaced apart in the front-to-back direction, and the third sensor 530 is located on the side of the second sensor 520 away from the brick.
  • the second sensor 520 and the third sensor 530 are located on the first splint 134 , and at this time the vertical reference plane 610 is set on the same side as the first splint 134 .
  • the second sensor 520 and the third sensor 530 are installed on the outer surface of one of the first clamping plate 134 and the second clamping plate 135, so that the second sensor 520 and the third sensor 530 collect
  • the distance information and the second included angle are all based on the side of the picked brick as the positioning surface, which also makes the second sensor 520 and the third sensor 530 maintain a fixed relative distance from the side of the brick with different widths, so that it is more convenient Acquire the information of the first distance, the second distance and the second angle accurately, and ensure the accuracy of the first distance, the second distance and the second angle; at the same time, the second sensor 520 and the third sensor 530 are limited to
  • the third sensor 530 is set at a relatively fixed distance apart and the third sensor 530 is farther away from the brick than the second sensor 520 along the front-back direction, so that when the brick is misaligned from the stacking position 300 along the front-back direction, the second sensor 520 measures the first distance horizontally , the third sensor
  • the hand 130 has a proximal end and a distal end along the horizontal left and right directions.
  • the proximal end is relatively close to the vertical reference plane 610;
  • the quantity of the second sensor 520 is two, and the two second sensors 520 are respectively arranged on the outer surface of the first splint 134, or the two second sensors 520 are respectively arranged on the outer surface of the second splint 135, and the two second The sensors 520 are relatively spaced at the proximal end and the distal end of the corresponding outer surface, the detection ports of the two second sensors 520 are oriented in the same direction, and the detection ports of the two second sensors 520 are dislocated up and down;
  • the control module obtains the first distance according to the feedback data of the second sensor 520 located at the proximal end; in specific settings, the second sensor 520 located at the proximal end of the hand 130 obtains the picked brick 220 and the vertical reference plane 610, the distance information can reflect the positional relationship between the picked bricks 220 relative to the vertical reference plane 610, and the second sensor 520 located at the near end of the hand 130 acquires this A distance information is transmitted to the control module, and the control module calculates the first distance according to the received distance information.
  • the control module obtains the first distance according to the feedback data of the second sensor 520 located at the far end; in specific settings, the second sensor 520 located at the proximal end of the hand 130 acquires the picked brick 220 and the vertical reference plane 610, the distance information can reflect the positional relationship between the picked bricks 220 relative to the vertical reference plane 610, and the second sensor 520 located at the near end of the hand 130 acquires this A distance information is transmitted to the control module, and the control module calculates the first distance according to the received distance information.
  • the second sensor 520 when the length of the bricks is long, the second sensor 520 is provided in the proximal end and has a sufficient length to allow the signal wave to detect the size of the first distance; when the length of the bricks is short, if If the second sensor 520 is still arranged at the near end, then the detection range accuracy of the second sensor 520 is required to be higher, and the price of the second sensor 520 with higher accuracy requirements is relatively high. If another second sensor 520 is set At the far end, the requirements for its accuracy will be reduced, thereby reducing the manufacturing cost. In a specific setting, the two second sensors 520 are respectively a proximal second sensor 521 and a distal second sensor 522 .
  • the control module In order to improve the position accuracy when the picked bricks 220 are placed in the stacking position 300, specifically, as shown in FIG.
  • Both the second sensor 520 and the fourth sensor 540 are laser sensors, the laser emission port of the second sensor 520 faces the vertical placement surface 320, the second sensor 520 is used to obtain the first distance, and the laser emission port of the fourth sensor 540 can face toward the vertical placement surface 320.
  • the vertical laser is emitted to the horizontal placement surface 310, and the fourth sensor 540 is used to obtain the third distance; wherein, the second sensor 520 and the fourth sensor 540 are fixed to the first sensor 520 by means of threaded connection, snap connection, concave-convex fit, gluing, etc.
  • the outer surface of the first splint 134 or the outer surface of the second splint 135 , and the horizontal laser emitted by the second sensor 520 and the vertical laser emitted by the fourth sensor 540 are located on the same vertical plane.
  • the second sensor 520 and the fourth sensor 540 are fixed on the outer surface of the first clamping plate 134 or the second clamping plate 135 by defining the second sensor 520, and the horizontal laser emitted by the second sensor 520 and the fourth sensor 540
  • the vertical laser beams emitted by the four sensors 540 are located in the same vertical plane, so that the dislocation distance of the bricks relative to the stacking position 300 is relatively small, which reduces the size of the second horizontal displacement, and is more conducive to the control of being picked up The positional accuracy when the bricks 220 are placed in the stacking position 300.
  • the first splint 134 is located on the side of the second splint 135 away from the light emitting source 400, and the second sensor 520 and the fourth sensor 540 are fixed on the outer side of the first splint 134, And on the first clamping plate 134 staggered along the front and rear direction, the third sensor 530 is fixed on the outer surface of the second clamping plate 135, at this moment, the first clamping plate 134 and the second clamping plate 135 drive the bricks 220 picked up from the wall 200 The side away from the light emitting source 400 moves to the horizontal placement surface 310.
  • the second sensor 520 and the fourth sensor 540 can also be fixed on the outer side of the second splint 135.
  • the third sensor 530 is fixed on the first The outer side of the splint 134 and the light emitting source 400 are located on the other side of the wall 200 .
  • the first splint 134 is located on the side of the second splint 135 away from the light emitting source 400, and the second sensor 520, the third sensor 530 and the fourth sensor 540 are all fixed.
  • the horizontal laser beam emitted by the second sensor 520 and the vertical laser beam emitted by the fourth sensor 540 are located in the same vertical plane.
  • the first clamping plate 134 and the second clamping plate 135 drive the picked-up
  • the brick 220 moves from the side of the wall 200 close to the light emitting source 400 to the horizontal placement surface 310 , of course, the second sensor 520 , the third sensor 530 and the fourth sensor 540 can also be fixed on the outer surface of the first splint 134 , at this time, the light emitting source 400 is located on the other side of the wall 200 .
  • the interactive system has the above-mentioned fine calibration position and rough calibration position, and the fine calibration position and the vertical placement surface 320 are arranged at intervals in the horizontal direction , at least one coarse calibration position is located on the same horizontal line as the fine calibration position and is farther away from the vertical placement surface 320 than the fine calibration position;
  • the control module is structured as:
  • the control hand 130 and the picked bricks 220 stop at at least one rough calibration position; the control hand 130 and the picked bricks 220 stop at the rough calibration position, and the first angle and the second angle based on the rough calibration position Angle adjustment of the picked brick 220 to the target pose; after adjusting the picked brick 220 to the target pose, the control hand 130 drives the picked brick 220 to move from at least one rough calibration position along the horizontal direction to the fine Calibration position; the coarse calibration position is the first intermediate position shown in Figure 20, the fine calibration position is the second intermediate position shown in Figure 21, the third intermediate position shown in Figure 22 and the fourth intermediate position shown in Figure 23
  • the intermediate positions are two moving positions between the fine calibration position and the stacking position 300 .
  • the width direction of the wall 200 as the front-to-back direction of the environment, the length direction of the wall 200 as the left-right direction of the environment, and the stacking height of the wall 200 as the up-down direction of the environment;
  • the bricklaying manipulator 100 is located between the wall body 200 and the brick source, and there is a calibration position between the wall body 200 and the brick source, and the control module controls the bricklaying manipulator 100 to pick up bricks from the brick source backwards, and controls The module controls the bricklaying manipulator 100 to move the picked bricks 220 forward to the calibration position.
  • the arm 120 is a scara robot arm.
  • the arm 120 forms a first pose at the picking position, and the arm 120 forms a first pose at the fine calibration position.
  • Two poses, viewed from top to bottom, the end articulated arm of the first pose and the end articulated arm of the second pose are symmetrically arranged at 180 degrees in the front-back direction of the environment.
  • the terminal articulated arm of the first pose and the terminal articulated arm of the second pose are arranged symmetrically at 180 degrees in the front and rear directions of the environment, so that the picked bricks 220 can be rotated 180 degrees from The pick-up position is transferred to the calibration position, and the rotation of the terminal articulated arm does not affect the pose of the hand 130 .
  • the calibration position is a fine calibration position and/or a coarse calibration position.
  • the calibration position may be a fine calibration position
  • the calibration position may also be a rough calibration position
  • the calibration position may also be a fine calibration position and a coarse calibration position.
  • the position for forming the second pose can be defined as a fine calibration position and/or a rough calibration position.
  • the calibration position is the fine calibration position
  • the arm 120 of the bricklaying manipulator 100 forms a first pose at the picking position, and then moves to the fine calibration position with the first pose.
  • the arm 120 forms a second pose at the fine calibration position, and then moves to the stacking position 300 with the second pose;
  • the calibration position is the rough calibration position
  • the arm 120 of the bricklaying manipulator 100 forms a first pose at the picking position, and then moves to the rough calibration position with the first pose
  • the arm 120 forms a second pose at the rough calibration position, and then moves with the second pose Move to the fine calibration position, then move to the fine calibration position in the second pose, and finally move to the stacking position 300 in the second pose.
  • the bricklaying device further includes a lifting mechanism (not shown), the front side of the lifting mechanism (not shown) is provided with a movable seat and A lift drive motor, the movable seat is connected to the output end of the lift drive motor, the lift drive motor is connected to the control module by communication, and the lift drive motor moves after receiving the action signal from the control module to drive the movable seat to move up and down relative to the working environment ;
  • the base 110 is connected to the movable seat through threaded connection, buckle connection, concave-convex fit, welding, etc., and the arm 120 is a horizontal joint arm;
  • the control module controls the lifting drive motor to drive the movable seat up or down, and the movement of the movable seat drives the base 110 and the horizontal articulated arm to move accordingly, so that the horizontal articulated arm moves to a corresponding height.
  • the control module controls the movement of the lifting drive mechanism based on the height of the horizontal placement surface 310 to drive the movable seat and the base 110 up and down, so as to drive the horizontal articulated arm to a corresponding height more conveniently.
  • the lifting mechanism (not shown) can move according to a preset route, and can also be configured to lift and lower the arm 120 so that the arm 120 can be operated at different heights.
  • the lifting mechanism can be arranged on the side of the robot main body 01 facing the wall 200, the base 110 is fixed in the lifting output end (not shown) of the lifting mechanism, and the robot main body 01 can also be provided with a
  • the transfer manipulator 02, the robot main body 01, the transfer manipulator 02 and the manipulator 100 form the bricklaying robot.
  • the mechanism (not shown) can traverse the main body 01 so as to traverse the horizontal articulated arm; in the specific setting, the main body 01 is installed above the traverse mechanism (not shown), and the lifting mechanism (not shown) is installed on the main body 01 facing On one side of the wall 200, the horizontal articulated arm is installed on the lifting mechanism (not shown), and the traversing mechanism (not shown) moves to drive the main body 01, the lifting mechanism (not shown), and the horizontal articulated arm to move laterally accordingly.
  • the lifting motion of the lifting mechanism (not shown) drives the horizontal joint arm to move up and down accordingly.
  • the traversing mechanism (not shown) is connected between the lifting mechanism (not shown) and the horizontal articulated arm, and the traversing mechanism (not shown) can drive the horizontal articulated arm to move laterally relative to the lifting mechanism (not shown) ;
  • the traversing mechanism (not shown) is a carriage extending laterally, the back side of the carriage is installed on the movable seat of the lifting mechanism, the horizontal joint arm is installed on the front of the carriage, and the lifting mechanism ( (not shown) lifting motion to drive the traversing mechanism (not shown), the horizontal articulated arm moves up and down accordingly, and the traversing mechanism (not shown) laterally drives the horizontal articulated arm to move laterally, as shown in Figure 21, the base 110
  • the horizontal movement trace A may reflect the lateral movement of the arm 120 .
  • the horizontal articulated arm can be moved horizontally on the basis of realizing the horizontal articulated arm lifting. shift.
  • the present application also provides a bricklaying manipulator 100, which is used for the bricklaying operation of the wall 200, and each of a plurality of bricks on the wall 200 has a corresponding A stacking position 300, the stacking position 300 includes a horizontal placement surface 310 and a vertical placement surface 320, including four parts of the base 110, the arm 120, the hand 130 and the sensor assembly, wherein:
  • the arm portion 120 is connected to the base portion 110 and extends forward from the base portion 110, and the arm portion 120 has multiple degrees of freedom.
  • the hand 130 includes two splints, the support plate 131, the first splint 134 and the second splint 135, the support plate 131 connects the end of the arm 120 backward, the first splint 134 and the second splint 135
  • the clamping plate 135 is installed below the support plate 131, and the first clamping plate 134 and the second clamping plate 135 are spaced apart along the front and rear direction, the first clamping plate 134 and the second clamping plate 135 are used to pick up the bricks 210 to be picked up, and are used to release
  • the picked bricks 220 are placed at the stacking position 300 of the wall 200 .
  • the sensor assembly is fixed on the hand 130 through threaded connection, concave-convex fit, snap connection, gluing, etc., and the sensor assembly includes an inclination sensor, a distance sensor and a vision sensor.
  • the inclination sensor is used to obtain the inclination angle of the picked brick 220 and the horizontal plane 620 of the working environment, the inclination sensor is fixed above the support plate 131, and the inclination sensor and the picked brick 220 are projected to overlap along the up-down direction; during specific setting , the inclination sensor is the first sensor 510 , and the first sensor 510 is arranged at the upper middle position of the support plate 240 .
  • the distance sensor is fixed on the outer surface of one of the two clamping plates of the first clamping plate 134 and the second clamping plate 135, and the distance sensor is used to detect the distance between the picked brick 220 and the horizontal placement surface 310 and/or the vertical placement surface 320.
  • the emission wave of the distance sensor is configured to be perpendicular to the picked brick 220 and the horizontal placement surface 310 and/or the vertical placement surface 320 when detecting; when specifically arranged, the distance sensor is the second sensor 520 And/or the fourth sensor 540, the second sensor 520 and the fourth sensor 540 are arranged on the outer surface of the first clamping plate 134 or the second clamping plate 135 and are positioned at the side end of the support plate 240, and the laser emission direction of the second sensor 520 is In the horizontal direction, the laser emitting direction of the fourth sensor 540 is the vertical direction and faces the lower side of the support plate 240 .
  • the laser lines 570 of the second sensor 520 and the fourth sensor 540 are located at different heights and coplanar in the vertical direction or as shown in Figure 5, the laser lines of the second sensor 520 and the fourth sensor 540 The 570s are at the same height and are offset in the front-to-rear direction.
  • the visual sensor is used to detect the deviation angle of the picked bricks 220 relative to the stacking position 300 along the front-rear direction, and the visual sensor is also used to detect the deviation angle and deviation of the picked bricks 220 relative to the stacking position 300 along the front-back direction Distance; when specifically setting, in the first embodiment, as shown in Figure 5, Figure 8 and Figure 10, the visual sensor is the third sensor 530, and the third sensor 530 is located at the first splint 134 and the second splint 135.
  • the outer surface of one of the two splints; in the second embodiment, the second sensor 520, the fourth sensor 540, and the third sensor 530 are located on the outer surface of the other of the two splints. As shown in 6, FIG. 7 and FIG.
  • the visual sensor is a third sensor 530
  • the third sensor 530 is arranged on the outer surface of one of the two clamping plates of the first clamping plate 134 and the second clamping plate 135, and the second sensor 520 , the fourth sensor 540, and the third sensor 530 are located on the outer surface of the same splint, and the proximal second sensor 521 and the distal second sensor 521 are located at the left and right ends of the side, in order to avoid the laser line of the fourth sensor 540 located above 570
  • the third sensor 530 has a connecting portion 533 , and the connecting portion 533 is provided with an avoidance opening 5331 to facilitate the passage of the laser line 570 of the fourth sensor 540 .
  • the inclination sensor obtains the inclination angle between the picked brick 220 and the horizontal plane 620 of the working environment, and the arm 120 rotates based on the inclination information collected by the inclination sensor to drive the hand 130, the sensor assembly and the picked bricks.
  • the bricks 220 rotate together to be parallel to the horizontal plane 620 of the working environment; the distance between the picked bricks 220 and the horizontal placement surface 310 and/or vertical placement surface 320 is collected by the distance sensor, and the arm 120 is collected based on the distance sensor
  • the distance information moves to drive the hand 130, the sensor assembly and the picked bricks 220 to move together with the horizontal placement surface 310 and/or the vertical placement surface 320; the visual sensor collects the picked bricks 220 relative to The deviation angle and deviation distance of the stacking position 300 along the front and rear directions, the arm 120 is based on the deviation angle and deviation distance collected by the visual sensor, so as to drive the hand 130, the sensor assembly and the picked bricks 220 to rotate together to stack position 300.
  • the arm part 120 can be adjusted in the front and back direction based on the error information collected by the visual sensor, the flatness of the wall body 200 is ensured. And it is limited that the emission wave of the distance sensor is perpendicular to the horizontal placement surface 310 and/or the vertical placement surface 320 during detection, which increases the accuracy of distance detection and makes the control module obtain the target distance value without conversion.
  • the distance sensor is set on the outer side of the splint, so that the bricks during detection are misaligned relative to the stacking position 300 along the front and rear directions, and the vision sensor detects the deviation angle and deviation distance in the front and rear directions, so that the sensor components can be detected and placed horizontally. While the distance between the surface 310 and/or the vertically placed surface 320 can also be taken into consideration to detect the deviation angle and deviation distance in the front and rear directions, so as to ensure the flatness of the wall 200 .
  • the distance sensor includes a horizontal distance sensor and a vertical distance sensor.
  • the distance sensor includes a horizontal distance sensor and a vertical distance sensor by defining that the distance sensor is used to detect the distance between the brick and the vertical placement surface 320, and the vertical distance sensor is used to detect the distance between the brick and the horizontal placement surface 310, so as to detect the distance between the picked brick 220 and the horizontal placement surface 310 and the vertical placement surface 320.
  • the vision sensor is connected with a control module in communication, and the vision sensor collects the real-time acquisition image of the picked brick 220 relative to the stacking position 300 and converts this The real-time collected image is transmitted to the control module.
  • the control module pre-stores the reference image 820 for comparison with the real-time collected image of the visual sensor.
  • the control module calculates the deviation angle and deviation distance.
  • a reference image 820 is pre-stored in the control module, and the visual sensor collects a real-time image of the picked bricks 220 relative to the stacking position 300 along the front and rear directions, and the control module receives the real-time image and compares it with the reference image. 820, so that the deviation angle and deviation distance can be calculated more conveniently and accurately.
  • the visible vertical surface is a vertical reference plane 610, and the visible vertical surface is parallel and spaced apart from the wall 200 along the width direction
  • the image of the visible vertical surface collected by the visual sensor is the reference image 820;
  • the control module When calibrating each of the multiple bricks stacked into the wall 200, the control module takes the reference image 820 as a reference, and the control module controls the distance between each brick and the visible vertical surface when it is placed at the corresponding stacking position 300. The deviation distance and deviation angle are equal.
  • the control module to take the reference image 820 as a reference, it is controlled when each brick is placed in the corresponding stacking position 300 and the visual vertical
  • the deviation distance and deviation angle of the straight face are all equal, so that multiple picked bricks 220 have a common positioning reference, avoiding the accumulation of positioning errors, improving the positioning accuracy, and making the wall 200 parallel to the vertical
  • the straight reference plane 610 ensures the verticality of the wall 200 .
  • the hand 130 picks up the brick 210 to be picked up.
  • the lifting mechanism (not shown) displaces the arm 120 along the height direction to a height corresponding to the stacking position 300, and the corresponding height allows the picked bricks to Block 220 is not interfered by wall 200 .
  • the arm 120 is rotated horizontally by 180° to the first intermediate position, which is the coarse calibration position, and the picked bricks perform pose adjustment in the coarse calibration position.
  • the posture of the hand 130 is adjusted by the inclination sensor so that it is in a horizontal state, and the real-time image 810 on the visual sensor is adjusted to be roughly parallel to the reference image 820 through the visual sensor.
  • the range of the roughly parallel is, real-time
  • the preset front and rear offset distance between the image 810 and the reference image 820 is n
  • the angle between the real-time image 810 and the reference image 820 does not exceed 0.1°
  • the preset front and rear offset distance n is equal to the brick and the ideal wall 230
  • the picked brick 220 is in a horizontal state and parallel to the ideal wall 230
  • the pose of the picked brick 210 is the target pose
  • the first splint 134 is at the Above the horizontal placement surface 310 of the stacking position 300 and aligned with the vertical placement surface 320 of the stacking position 300 along the horizontal direction
  • the distance sensor on the first plate body 1342 measures the horizontal distance d1 and the vertical distance m1.
  • d1 is 200mm
  • m1 is 10mm.
  • the hand 130 is horizontally displaced from the first transfer position to the second transfer position
  • the second transfer position is the fine calibration position
  • the vertical distance remains unchanged at m1
  • the pose is corrected again in the second transfer position until the above target pose is reached, and the adjustment method is the same as the above method, and will not be repeated here.
  • the horizontal displacement from the first intermediate position to the second intermediate position can be directly reached, or at least one rough calibration position can be set during the horizontal movement, and 1, 2, 3 or more than 3 can be set according to actual needs Coarse calibration position
  • the picked brick 220 stops at each coarse calibration position and calibrates its own pose to the above-mentioned target pose.
  • the value of the first vector formed at the first transfer position is 30mm, the direction of the first vector is toward the vertical placement surface, the value of the second vector is the preset deviation distance value n, and the direction of the second vector is toward the vertical
  • the value of the third vector is m1
  • the direction of the third vector is towards the horizontal placement plane 310.
  • the straight distance remains unchanged as m1
  • the real-time image 810 roughly coincides with the reference image 820.
  • the range of the approximate coincidence moves the preset deviation distance n between the two to a range where the deviation distance between the two does not exceed 0.5 mm.
  • the included angle between the image 810 and the reference image 820 is within a range of 0.1°.
  • the first vector is segmented into the first segment and the second segment.
  • the value of the first segment is 20mm, and the direction is the same as that of the first vector.
  • the value of the second segment is 10mm, and the direction is the same as that of the first segment.
  • the vectors are in the same direction.
  • the pose is adjusted again through the inclination sensor and the visual sensor, so that the picked brick 220 is located on the horizontal placement surface 310, and the real-time image 810 roughly overlaps with the reference image 820.
  • the roughly overlapping range is two
  • the offset between the two is within the range of 0.5mm, and the angle between the two is within the range of 0.1°.
  • the hand 130 is horizontally displaced from the fourth transfer position to the stacking position 300 along the second segment of the first vector and the third vector, and at this time the picked bricks 220 and the vertical placement surface 320 pass through the mortar Bonding, the picked bricks 220 are bonded to the horizontal surface 310 by mortar to complete a brick stacking process.
  • the first intermediate position may not be set, and the hand 130 may be rotated horizontally by 180° from the state in FIG. 4 to the second intermediate position, that is, the rough calibration position is not set, and the hand 130 is directly rotated to the static calibration position.
  • the second distance d2 at the second transit position is within the range of 10mm ⁇ d2 ⁇ 30mm, rotate the hand horizontally from the state in Figure 4 by 180° to directly reach the second transit position in Figure 21 and generate the second transition position The first vector, the second vector, and the third vector.
  • the control module controls the hand to execute the second vector, the first vector, and the third vector in sequence or execute the second vector first, and then execute the first vector and the third vector at the same time.
  • the order of execution can be Make adjustments according to actual needs.
  • the second vector is executed first to move the picked brick 220 to be flush with the ideal wall 230 and then adjust to the target pose again after the second vector is executed, so that the picked brick 220 Execute the first vector and the second vector at the target pose.
  • the control module controls the hand 130 to put the picked bricks 220 to the stacking position by the above-mentioned first moving path.
  • the control module can plan a fourth movement path, and the fourth movement path is that the control module first moves along the first vector to be picked bricks 220 to the vertical placement surface 320, then move the picked brick 220 horizontally along the second vector to the position where the real-time image 810 roughly coincides with the reference image 820, and finally move the picked brick 220 downward along the third vector Move to the horizontal placement surface 310 .
  • the control module can plan a fifth movement path, and the fifth movement path is that the control module simultaneously moves along the first vector, the second vector and the third vector The hand 130 is moved from the second intermediate position to the stacking position 300 .
  • the present application also provides a bricklaying positioning method.
  • the bricklaying positioning method is applied to a bricklaying device to place bricks on the wall 200 at a stacking position 300.
  • the stacking position 300 includes a horizontal placement surface 310 and a vertical placement surface 310.
  • the bricklaying device includes an arm 120 and a hand 130, the hand 130 is installed at the end of the arm 120, the hand 130 is equipped with a first sensor 510, a second sensor 520 and a third sensor 530, the first sensor 510, the second sensor 520 and the third sensor 530 communicate with the control module, define the width direction of the wall 200 as the front-to-back direction of the environment, the length direction of the wall 200 as the left-right direction of the environment, and the stacking height of the wall 200 as the up-down direction of the environment , the bricklaying positioning method comprises the following steps:
  • Step S1 as shown in Figure 4, provide a light emitting source 400 in the working environment, the light emitting source 400 emits a vertical light surface, and adjust the position of the vertical light surface along the front and rear directions to be parallel and spaced apart from the wall 200;
  • Step S2 as shown in Figure 17, Figure 18 and Figure 19, the control module controls the arm 120 to swing, and the arm 120 moves to drive the hand 130 to move accordingly, so that the hand 130 can pick up bricks;
  • Step S3 the control module controls the arm 120 to swing, and the arm 120 moves to drive the hand 130 to move accordingly, so that the hand 130 and the picked brick 220 move forward across the vertical smooth surface, The brick moves to the fine calibration position;
  • Step S4 as shown in Figure 21, Figure 22, Figure 23, Figure 24 and Figure 25, moves the picked bricks 220 from the calibration position to the stacking position 300, including the following steps:
  • Step S41 at the fine calibration position, the first angle is obtained by the first sensor 510, the first angle is the deviation angle between the picked brick 220 and the horizontal plane 620 of the working environment, and the first distance is obtained by the second sensor 520 , the first distance is the horizontal distance between the picked brick 220 and the vertical placement surface 320, the second included angle and the second distance are acquired by the third sensor 530, the second included angle and the second distance are the picked bricks The angle and distance between 220 and the vertical smooth surface;
  • Step S42 the control module controls the movement of the arm 120 based on the first included angle, the movement of the arm 120 drives the rotation of the hand 130, and the posture of the brick is adjusted by rotating the hand 130, so that the brick is parallel to the horizontal plane 620 of the working environment ;
  • Step S43 the control module controls the movement of the arm 120 based on the second included angle, the movement of the arm 120 drives the rotation of the hand 130, and the posture of the brick is adjusted by rotating the hand 130 so that the brick is parallel to the vertical smooth surface;
  • Step S44 After adjusting the bricks to be parallel to the vertical smooth surface and the horizontal plane 620 of the working environment, based on the first distance, the control module controls the movement of the arm 120, and the movement of the arm 120 drives the hand 130 to move accordingly, moving the bricks Move towards the vertical placement surface 320;
  • Step S45 after adjusting the bricks to be parallel to the vertical smooth surface and the horizontal plane 620 of the working environment, based on the second distance, the control module controls the movement of the arm 120, and the movement of the arm 120 drives the hand 130 to move accordingly, moving the bricks Move toward the vertical glossy surface;
  • step S42 and step S43 can be exchanged, and step S44 and step S45 can be executed sequentially or interspersed with each other or both are executed simultaneously.
  • step S1 first start the light emission source 400 through step S1 to form a vertical light surface, and adjust the light emission source 400 along the front and rear directions to adjust the position of the vertical light surface to be parallel to and spaced from the wall 200;
  • step S2 the control module controls the arm 120 to swing, and drives the hand 130 to move to the position of the brick 210 to be picked up, so that the hand 130 picks up the brick;
  • step S3 the control module controls the arm 120 Swing, drive the hand 130, the picked brick 220 moves accordingly and move across the vertical smooth surface to the fine calibration position;
  • step S4 the first angle is obtained by the first sensor 510, and the second angle is obtained by the second sensor 520
  • the first distance, the second angle and the second distance are acquired by the third sensor 530, the control module sends a rotation command to the hand 130 based on the first angle, and the rotation of the hand 130 drives the picked bricks 220 to rotate together to parallel to The horizontal plane 620 of the working environment; the control module sends a
  • each picked brick 220 can be determined more conveniently and quickly by using the above-mentioned bricklaying positioning method based on the horizontal plane 620 and the vertical smooth surface of the working environment.
  • 220 has a common positioning reference, which avoids the accumulation of positioning errors and improves the positioning accuracy. Since the hand 130 moves towards the vertical smooth surface with the same posture, and the picked bricks 220 are always parallel to the vertical smooth surface at this time, so that each brick moved to the stacking position 300 is in line with the vertical smooth surface.
  • the vertical smooth surfaces are parallel, so that the wall body 200 is parallel to the vertical smooth surfaces, ensuring the verticality of the wall body 200 .
  • step S4 also includes:
  • Step S41 further includes: providing a fourth sensor 540 mounted on the hand 130, in the fine calibration position, obtaining a third distance through the fourth sensor 540, the third distance being the distance between the picked brick 220 and the horizontal placement surface 310 vertical distance;
  • Step S46 after adjusting the bricks to be parallel to the vertical smooth surface and the horizontal plane 620 of the working environment, the control module moves the bricks towards the horizontal placement surface 310 by controlling the movement of the arm 120 based on the third distance;
  • Step S44 , step S45 and step S46 can be executed sequentially or interspersed with each other or executed simultaneously.
  • the fourth sensor 540 obtains the third distance, adjusts the bricks to be parallel to the vertical smooth surface and the horizontal plane 620 of the working environment, and The control module sends an action command to the arm 120 based on the third distance, and the arm 120 moves to bring the picked bricks 220 together toward the horizontal placement surface 310, so that the picked bricks 220 can be accurately placed on the stacking position 300 .
  • the hand 130 includes a support plate 131 and a grasping assembly, and the grasping assembly is arranged under the support plate 131, and the support plate 131 and the arm portion 120 Connected, step S2 comprises the following steps:
  • Step S21 the arm 120 drives the hand 130 to move above the brick 210 to be picked up;
  • Step S22 providing at least three fifth sensors 550 installed on the hand 130, and the at least three fifth sensors 550 cooperatively detect the flatness information of the upper surface of the brick 210 to be picked;
  • Step S23 the control module controls the hand 130 to rotate based on the flatness information, so that the hand 130 is parallel to the upper surface of the brick 210 to be picked;
  • Step S24 the control module controls the grabbing component to pick up the brick 210 to be picked up downward, and controls the hand 130 to pick up the brick 210 to be picked up in a posture parallel to the upper surface of the brick.
  • the arm 120 moves to drive the hand 130 to move above the brick 210 to be picked up, and at least three fifth sensors 550 coordinate detection to obtain the flatness information of the upper surface of the brick, and control
  • the module sends a rotation command to the hand 130 based on the flatness information, and the hand 130 rotates to be parallel to the upper surface of the brick 210 to be picked up.
  • the control module continues to move the arm 120 downwards, driving the support plate 131 1.
  • the grabbing component moves down accordingly, and at the same time, the control module sends an action command to the grabbing component, and the grabbing component picks up the brick 210 to be picked up in a posture parallel to the upper surface of the brick, so as to be able to pick up the brick 210 to be picked up more conveniently and accurately.
  • Picked bricks 210; at the same time, the pose of the brick is parallel to the pose of the hand 130, so that the pose of the hand 130 is roughly the same as the pose of the brick, so that the brick can be obtained by adjusting the pose of the hand 130 ideal pose.
  • step S2 also includes:
  • the arm 120 controls the hand 130 to stop at at least one rough calibration position, at least one coarse calibration position and the fine calibration position are located on the same horizontal axis Above, after the pose calibration is performed at at least one coarse calibration position, the arm 120 controls the hand 130 to move horizontally toward the vertical placement surface 320 to the fine calibration position.
  • the arm 120 before reaching the fine calibration position, stops at least one coarse calibration position before the fine calibration position, so that rough calibration can be performed between fine calibrations, and the positioning accuracy is improved.
  • the step "after the pose calibration is performed at at least one coarse calibration position, move to the fine calibration position along the horizontal direction toward the vertical placement surface 320" includes:
  • the first angle is obtained by the first sensor 510, the first angle is the deviation angle between the picked brick 220 and the horizontal plane 620 of the working environment, the first distance is obtained by the second sensor 520, the first The distance is the horizontal distance between the picked brick 220 and the vertical placement surface 320, and the second included angle is acquired by the third sensor 530, and the second included angle is the included angle between the picked brick 220 and the vertical smooth surface ;
  • the control module controls the movement of the arm 120 based on the first included angle, and the movement of the arm 120 drives the rotation of the hand 130.
  • the posture of the brick is adjusted so that the brick is parallel to the horizontal plane 620 of the working environment;
  • the control module controls the movement of the arm 120 based on the second included angle, the movement of the arm 120 drives the rotation of the hand 130, and the posture of the brick is adjusted by rotating the hand 130 so that the brick is parallel to the vertical smooth surface;
  • the control module controls the movement of the arm 120 based on the first distance and the position information of the fine calibration position, and the movement of the arm 120 drives the hand 130 to follow The movement moves the bricks from at least one coarse calibration position to a fine calibration position.
  • the control module sends a rotation command to the hand 130 based on the first included angle, and the rotation of the hand 130 drives the picked bricks 220 to rotate together to the horizontal plane 620 parallel to the working environment; the control module sends a rotation command to the hand 130 based on the second included angle Command, the hand 130 rotates to drive the picked bricks 220 to rotate together to be parallel to the vertical smooth surface; then, the control module issues an action command to the arm 120 based on the position information of the first distance and the fine calibration position, and the arm 120 moves Drive the hand 130 and the picked bricks to move from at least one coarse calibration position to a fine calibration position, so as to realize multiple positioning calibrations and ensure positioning accuracy.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a first feature being "on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système d'interaction, un appareil de briquetage, un bras de robot de briquetage et un procédé de positionnement de briquetage. Le système d'interaction comprend : une source d'émission de lumière, qui émet une pluralité de rayons lumineux pour former une surface de référence verticale ; un premier capteur, qui est utilisé pour acquérir un premier angle inclus ; un deuxième capteur, qui est utilisé pour acquérir une première distance ; un troisième capteur, qui est utilisé pour acquérir un deuxième angle inclus et une deuxième distance ; et un module de commande, qui est respectivement en liaison de communication avec le premier capteur, le deuxième capteur et le troisième capteur, le module de commande commandant la rotation d'une partie de main sur la base des valeurs du premier angle inclus et du deuxième angle inclus, de telle sorte qu'une brique capturée est mise en rotation conjointement avec la partie de main pour former une pose cible ; le module de commande commande, sur la base de la première distance, la partie de main pour se déplacer vers une surface de placement verticale par un premier déplacement horizontal ; et le module de commande commande, sur la base de la deuxième distance, la partie de main à se déplacer vers la surface de référence verticale par un second déplacement horizontal, la direction de déplacement du premier déplacement horizontal étant perpendiculaire à la direction de déplacement du second déplacement horizontal.
PCT/CN2022/091882 2021-06-08 2022-05-10 Système d'interaction, appareil de briquetage, bras de robot de briquetage et procédé de positionnement de briquetage WO2022257681A1 (fr)

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CN202110637426.8A CN115450447B (zh) 2021-06-08 交互系统、砌砖装置、砌砖机械手及砌砖定位方法

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