CN109849013A - The intelligent robot of indoor engineering construction - Google Patents
The intelligent robot of indoor engineering construction Download PDFInfo
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- CN109849013A CN109849013A CN201910208666.9A CN201910208666A CN109849013A CN 109849013 A CN109849013 A CN 109849013A CN 201910208666 A CN201910208666 A CN 201910208666A CN 109849013 A CN109849013 A CN 109849013A
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Abstract
A kind of intelligent robot of indoor engineering construction, it includes a kind of intelligent robot of indoor engineering construction, it includes central controller, mobile control module, mechanical arm control module, vertical lift platform control module, detection positioning control module, communication module, energy supply control module, end effector control module and safety control module, wherein moving control module connection moving type actuating mechanism；Mechanical arm control module connects power offer portion, connecting joint portion, power offer portion, and joint portion connects link arm；It is vertically moved up or down platform control module connection power plant module and brake module；Positioning control module is detected, distributed sensing system is connected；Energy supply control module connects UPS, UPS connection alternating current-direct current mutation Voltage stabilizing module；End effector control module connects end effector module；Safety control module connects emergency stop button, anti-collision switch and mobile object proximity sensing and emergency stop.It is a kind of economy and the technical product for having a superior function.
Description
Technical field
The present invention relates to a kind of intelligent robots of indoor engineering construction.
Background technique
Indoor decoration industry is all people all the time manually or by simple mechanical-assisted operation, labor intensity
Greatly, finished product accuracy not can guarantee, and working environment is severe；Working efficiency is low and is difficult to constantly improve, and finished product machining accuracy can not be held
Continuation of insurance card, working environment is severe, this various drawback of this various drawback make have about 200,000 decorations in current Chinese market
Company, the average age of decoration worker was more than 40 years old according to investigations, and rare young labour's injection.This allows for this industry
Labor cost is sharply promoted, and decoration corporation faces the trying situation of " subsequent no craftsman ".Therefore, all there is an urgent need to research and develop one by people
Kind is proficient in consummate decoration technology engineering technique, can substitute the indoor engineering intelligent robot of part hand labor to be engaged in
Heavy building operation, construction building site working environment is severe, and the development of automation control is indoor engineering construction
Life is brought, and solves the preferred approach of current construction personnel missing.
In order to overcome above-mentioned defect and meet construction precision requirement, we have developed a kind of indoor engineering construction
Intelligent robot mitigates labor intensity of workers and health is horizontal to be effectively improved construction quality and construction quality.
Summary of the invention
The technical problem to be solved is that provide a kind of intelligence machine of indoor engineering construction for the purpose of the present invention
People, it is simple and compact for structure, be easily achieved large-scale production manufacture, controls that safe and reliable, flexible in application, to be applicable in project under construction wide
Etc. outstanding features.
To achieve the goals above, the technical solution adopted by the present invention is that providing a kind of intelligence of indoor engineering construction
Robot, it includes:
Central controller；
The mobile control module connecting with central controller connects moving type actuating mechanism；
The mechanical arm control module connecting with central controller, connects power offer portion, and connecting joint portion, power offer portion is closed
Section portion connects link arm；
The vertical lift platform control module connecting with central controller connects power plant module and brake module；
The end effector control module connecting with central controller connects end effector module.
In one or more embodiments of the invention, it further include:
The detection positioning control module connecting with central controller connects distributed sensing system；
The communication module being connect with central controller；
The energy supply control module connecting with central controller connects UPS, UPS connection alternating current-direct current mutation Voltage stabilizing module.
In one or more embodiments of the invention, it further include:
The safety control module connecting with central controller, connection emergency stop button, anti-collision switch and mobile object are close
Alarm and emergency stop.
In one or more embodiments of the invention, the central controller is set in central control cabinet；Center control
Cabinet is equipped with control button and display of regime screen；The side of the central control cabinet is equipped with vertical lifting mechanism, they are set to movement
On pedestal.
In one or more embodiments of the invention, the mobile foundation is equipped with multiple Mecanum wheels, vehicle frame, forward sight
Laser radar, side looking radar and tail radar.
In one or more embodiments of the invention, the vertical lifting mechanism is equipped with hoistable platform.
In one or more embodiments of the invention, the hoistable platform connects manipulator mechanism.
In one or more embodiments of the invention, the manipulator mechanism includes that mechanical arm pedestal, the first joint are watched
Take motor and retarder, second joint servo motor and retarder, upper arm, shoulder third joint servo motor and retarder, preceding
Arm, the 4th joint servo motor and retarder and the 5th joint servo motor of wrist and retarder.
In one or more embodiments of the invention, the manipulator mechanism connects front end actuator.
The present invention existing effect compared with background technique is:
Since above-mentioned scheme is employed, it is simple and compact for structure, be easily achieved large-scale production manufacture, control is safe and reliable,
It is flexible in application, be applicable in the outstanding features such as project under construction is wide.It is a kind of economy and the technical product for having a superior function.
Detailed description of the invention
Fig. 1 is the control block diagram of indoor engineering intelligent robot in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of indoor engineering intelligent robot in the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment described example is shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.
Orientation shown by attached drawing should not be understood as limiting specific protection scope of the invention, only for the ginseng of preferred embodiment
Understanding is examined, the variation of position can be carried out with product component shown in figure or quantity increases or structure simplifies.
Mutually " connection " relationship of component shown in " connection " described in the specification and attached drawing, it can be understood as fixed
Ground connects or is detachably connected or is formed the connection of one；It can be directly connected or be connected by intermediary, this field is general
Logical technical staff can understand connection relationship as the case may be and it can be concluded that be spirally connected or rivet or weld or clamping or interlocking
Etc. modes carry out in an adequate manner different embodiments for use.
Orientation shown in the nouns of locality such as upper and lower, left and right described in the specification, top, bottom and attached drawing, each component can be straight
Contact passes through the other characterisation contact between them；As above can for surface and oblique upper or it only indicates height
In other objects；Other orientation can also be made to analogize understanding.
Make this hair by being further described to a specific embodiment of the invention below with reference to the attached drawing of specification
Bright technical solution and its benefits are clearer；And it is intended to explain the present invention and should not be understood as to of the invention
Limitation.
It is shown in Figure 1 go out, be the of the invention embodiment that preferably provides be that a kind of indoor engineering is constructed
Intelligent robot, it includes a kind of intelligent robot of indoor engineering construction, it includes central controller and connection center
The mobile control module of controller, mechanical arm control module, vertical lift platform control module, detection positioning control module, communication
Module, energy supply control module, end effector control module and safety control module are held wherein moving control module connection movement
Row mechanism；The mechanical arm control module connects power offer portion, connecting joint portion, power offer portion, and joint portion connects connecting rod
Arm；The vertical lift platform control module connection power plant module and brake module；The detection positioning control module, connection point
Cloth sensor-based system；The energy supply control module connects UPS, UPS connection alternating current-direct current mutation Voltage stabilizing module；It holds the end
Row device control module connects end effector module；The safety control module connection emergency stop button, anti-collision switch and shifting
Animal body proximity sensing and emergency stop.
In specific implementation of the invention, it may include that mobile foundation 1 is equipped with multiple Mecanum wheels 11, vehicle frame that it, which is constructed,
12, forward-looking laser radar 13, side looking radar 14 and tail radar 12, central controller are set to 2 in central control cabinet.Center control
Cabinet 2 is equipped with control button 21 and display of regime screen 22.
The side of central control cabinet 2 is equipped with vertical lifting mechanism 3, they are set on mobile foundation 1.Vertical lifting mechanism 3
It is equipped with hoistable platform.Hoistable platform connects manipulator mechanism 4.
More specifically, manipulator mechanism 4 includes mechanical arm pedestal 41, the first joint servo motor and retarder 42, second
Joint servo motor and retarder 43, upper arm 44, shoulder third joint servo motor and retarder 45, forearm 46, the 4th joint
Servo motor and retarder 47 and the 5th joint servo motor of wrist and retarder 48 etc..
The manipulator mechanism 4 connects front end actuator 5.Front end actuator is removably to replace, and can be packed into and such as tear open
Wall builds a wall, the slot that bursts at the seams, beats wall hole, lay water power pipeline, pass bracing wire, pave ground, source brick, carpenter's installation, spraying waterproof
Coating, the construction working mechanism for plastering a wall, criticizing the functional modules such as ash, spray paint.
And apply this horizontal robot from steady platform by motion base, control and Distribution Management System, horizontal from steady
Platform, elevating mechanism, Multi-shaft mechanical arm composition.This indoor engineering intelligent robot can be expanded mechanical by elevating mechanism
The vertical working range of arm, improves robot applicability, sound construction, simple, it is easy to accomplish mass production, working space from
It is good by degree and flexibility ratio, most engineering duty and nonproductive task in interior decoration engineering can be completed, such as: demolish walls, build a wall,
Burst at the seams slot, beat wall hole, lay water power pipeline, pass bracing wire, pave ground, source brick, carpenter installation, spraying water-repellent paint, smear
Wall, batch ash, spray paint etc., are effectively improved construction quality and construction quality to reach, and improve work efficiency, mitigate labor intensity of workers
With the purpose for improving health level.
Although describe the present invention by above-mentioned preferred embodiment, it is likely present and is within the scope of the present invention
Change, displacement and equivalent scheme；A variety of alternatives are also likely to be present to realize the present invention.Accordingly, it is intended to by appended right
Claim is construed to include all such changes, displacement and the equivalence fallen in true spirit and scope of the present invention；
It should be understood by those skilled in the art that and the present invention is not limited to above-mentioned specific embodiment, in base of the present invention
Protection scope of the present invention is all fallen within using the improvement of techniques well known and substitution on plinth, should be limited by each claim
It.
Claims (9)
1. a kind of intelligent robot of indoor engineering construction, which is characterized in that it includes:
Central controller；
The mobile control module connecting with central controller connects moving type actuating mechanism；
The mechanical arm control module connecting with central controller, connects power offer portion, and connecting joint portion, power offer portion is closed
Section portion connects link arm；
The vertical lift platform control module connecting with central controller connects power plant module and brake module；
The end effector control module connecting with central controller connects end effector module.
2. the intelligent robot of indoor engineering construction according to claim 1, it is characterised in that: it further include:
The detection positioning control module connecting with central controller connects distributed sensing system；
The communication module being connect with central controller；
The energy supply control module connecting with central controller connects UPS, UPS connection alternating current-direct current mutation Voltage stabilizing module.
3. the intelligent robot of indoor engineering construction according to claim 2, it is characterised in that: it further include:
The safety control module connecting with central controller, connection emergency stop button, anti-collision switch and mobile object are close
Alarm and emergency stop.
4. the intelligent robot of indoor engineering construction according to claim 3, modular character are: the center control
Device processed is set in central control cabinet；Central control cabinet is equipped with control button and display of regime screen；The side of the central control cabinet
Equipped with vertical lifting mechanism, they are set on mobile foundation.
5. the intelligent robot of indoor engineering construction according to claim 4, it is characterised in that: the mobile foundation
Equipped with multiple Mecanum wheels, vehicle frame, forward-looking laser radar, side looking radar and tail radar.
6. the intelligent robot of indoor engineering construction according to claim 5, it is characterised in that: the vertical lift
Mechanism is equipped with hoistable platform.
7. the intelligent robot of indoor engineering construction according to claim 6, it is characterised in that: the hoistable platform
Connect manipulator mechanism.
8. the intelligent robot of indoor engineering construction according to claim 7, it is characterised in that: the machinery mobile phone
Structure includes mechanical arm pedestal, the first joint servo motor and retarder, second joint servo motor and retarder, upper arm, shoulder
Third joint servo motor and retarder, the 5th joint servo motor of forearm, the 4th joint servo motor and retarder and wrist
And retarder.
9. the intelligent robot of indoor engineering construction according to claim 8, it is characterised in that: the machinery mobile phone
Structure connects front end actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208666.9A CN109849013A (en) | 2019-03-19 | 2019-03-19 | The intelligent robot of indoor engineering construction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910208666.9A CN109849013A (en) | 2019-03-19 | 2019-03-19 | The intelligent robot of indoor engineering construction |
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| CN109849013A true CN109849013A (en) | 2019-06-07 |
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| CN201910208666.9A Pending CN109849013A (en) | 2019-03-19 | 2019-03-19 | The intelligent robot of indoor engineering construction |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
| CN112894756A (en) * | 2021-01-30 | 2021-06-04 | 上海工程技术大学 | Movable robot for indoor decoration in building industry and working method thereof |
| CN113006348A (en) * | 2021-03-09 | 2021-06-22 | 重庆邮电大学 | Automatic installation type intelligent robot for high-altitude curtain wall |
| CN113844675A (en) * | 2020-12-30 | 2021-12-28 | 上海飞机制造有限公司 | Detection system and control method |
| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
| CN114161103A (en) * | 2020-09-11 | 2022-03-11 | 深圳市卓派自动化技术有限公司 | Automatic device for installing goods access terminal |
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| CN107427868A (en) * | 2014-10-28 | 2017-12-01 | 恩林克公司 | For ceiling and the mobile robot formula drilling equipment and method of drill hole on wall |
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| CN110936361A (en) * | 2019-12-16 | 2020-03-31 | 中国科学院沈阳自动化研究所 | A cooperation type removes operation robot mechanism for high-voltage chamber patrols and examines |
| CN114161103A (en) * | 2020-09-11 | 2022-03-11 | 深圳市卓派自动化技术有限公司 | Automatic device for installing goods access terminal |
| CN113844675A (en) * | 2020-12-30 | 2021-12-28 | 上海飞机制造有限公司 | Detection system and control method |
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| CN114033183A (en) * | 2021-11-04 | 2022-02-11 | 广东天凛高新科技有限公司 | Robot with model building wall, control method and building construction equipment |
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