CN111872946A

CN111872946A - Interior decoration robot

Info

Publication number: CN111872946A
Application number: CN202010628333.4A
Authority: CN
Inventors: 何凯; 晏祯卓; 徐耀辉
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-07-02
Filing date: 2020-07-02
Publication date: 2020-11-03

Abstract

The invention belongs to the technical field of robot equipment, and particularly relates to an indoor decoration robot, which comprises: the mobile chassis comprises a bearing frame and a traveling wheel set arranged on the bearing frame; the control assembly is arranged on the bearing frame and is electrically connected with the traveling wheel set; the telescopic adjusting mechanism is provided with a first connecting end and a second connecting end, the first connecting end is connected to the bearing frame, and the telescopic adjusting mechanism is electrically connected with the control assembly; the polishing working part is installed on the second connecting end and is electrically connected with the control assembly. By applying the technical scheme of the invention, the problems that the current indoor decoration work efficiency is low and the work environment is harmful to the health of workers can be solved.

Description

Interior decoration robot

Technical Field

The invention belongs to the technical field of robot equipment, and particularly relates to an indoor decoration robot.

Background

At present, the interior decoration industry also belongs to labor-intensive industry, the interior decoration generally comprises the procedures of putty scraping, polishing, roller coating, tile pasting and the like, the decoration procedure is complex, the labor intensity is high, the automation level of the industry is not high, the efficiency is low, and particularly, the dust and the noise generated in the decoration process can damage the health of workers.

In present fitment operation, the wall of having scraped putty can have in the putty juncture and connect the flaw such as stubble, local too thin or super thick, carries out the wall and polishes and can revise these flaws, makes putty surface structure more even unanimous to promote the roughness of wall, conveniently carry out operation on next step.

The manual decoration operation has the following defects: (1) the efficiency is low, the posture and the contact force of the tool are controlled by workers, and the workers cannot work for a long time. (2) The work environment is abominable, and in the operation of polishing, the workman exposes in the dust environment for a long time, can cause the harm to workman's healthy.

Disclosure of Invention

The invention aims to provide an interior decoration robot, and aims to solve the problems that the current interior decoration work efficiency is low and the work environment is harmful to the health of workers.

In order to achieve the purpose, the invention adopts the technical scheme that: an interior decoration robot comprising: the mobile chassis comprises a bearing frame and a traveling wheel set arranged on the bearing frame; the control assembly is arranged on the bearing frame and is electrically connected with the traveling wheel set; the telescopic adjusting mechanism is provided with a first connecting end and a second connecting end, the first connecting end is connected to the bearing frame, and the telescopic adjusting mechanism is electrically connected with the control assembly; the polishing working part is installed on the second connecting end and is electrically connected with the control assembly.

Optionally, the telescopic adjustment mechanism comprises: the lifting device comprises a support, a driving motor, a guide rail and a mounting seat, the support is connected to the bearing frame, the guide rail is connected to the support, the mounting seat is slidably connected to the guide rail, the driving motor is mounted on the support, the power output end of the driving motor is in driving connection with the mounting seat, and the driving motor is electrically connected with the control assembly; the first end of arm is connected in the mount pad, and the second end of arm is the second link, arm and control assembly electric connection.

Optionally, the grinding work portion comprises: the polishing appliance is connected to the second end of the mechanical arm and is electrically connected with the control assembly; the angle detection assembly is connected to the second end of the mechanical arm and electrically connected with the control assembly.

Optionally, the angle detection assembly comprises a plurality of laser range finders, the plurality of laser range finders are connected to the second end of the mechanical arm around the polishing appliance, and each laser range finder is electrically connected with the control assembly.

Optionally, the grinding work portion further comprises: the first end of the constant force device is connected to the second end of the mechanical arm, and the constant force device is electrically connected with the control assembly; and the clamp is connected to the second end of the constant force device, and the sander is clamped on the clamp.

Optionally, the telescopic adjusting mechanism further comprises a mounting flange, the mounting flange is connected to the second end of the mechanical arm, the constant force device is connected to the mounting flange, and the angle detection assembly is connected to the mounting flange.

Optionally, the mobile chassis further comprises at least one displacement sensor, the displacement sensor is mounted on the carriage, and the displacement sensor is electrically connected with the control assembly.

Optionally, the mobile chassis further comprises at least one obstacle avoidance radar, the obstacle avoidance radar is mounted on the bearing frame, and the obstacle avoidance radar is electrically connected with the control assembly.

Optionally, the grinding work part further comprises a dust hood, the grinding tool is provided with a grinding disc for grinding construction, and the dust hood covers the grinding disc.

Optionally, the interior decoration robot further comprises a dust collector mounted on the carriage, the dust hood has a communication joint, and the dust collector is communicated with the communication joint through a connection hose.

The invention has at least the following beneficial effects:

the indoor decoration robot provided by the invention is used for polishing the putty-scraped indoor wall, the walking wheel set is intelligently controlled by the control assembly to drive the movable chassis to reach a preset position, and the telescopic adjusting mechanism is controlled by the control assembly to drive the polishing working part to realize continuous polishing operation within the reachable position range, so that the decoration operation efficiency is improved. The indoor decoration robot replaces the operation of workers, the workers can be far away from the working environment full of dust pollution, the physical health of the workers is protected, and the labor intensity of the workers is greatly reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic view illustrating an assembly structure of an interior decoration robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a mobile chassis of an interior decoration robot according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a lifting device of an interior decoration robot according to an embodiment of the present invention;

FIG. 4 is a schematic structural view illustrating a connection between a polishing working portion and a mounting flange of the interior finishing robot according to the embodiment of the present invention;

fig. 5 is a schematic view of a connection structure between a traveling wheel set and a carriage frame of the interior decoration robot according to the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10. moving the chassis; 11. a load-bearing frame; 12. a traveling wheel set; 121. a universal wheel; 122. a steering engine; 123. a sleeve; 124. a limiting block; 125. a damping spring; 126. a vibration damping guide rod; 127. a wheel; 128. a reduction gear set; 13. a displacement sensor; 14. obstacle avoidance radar; 15. a connecting plate; 16. a battery; 17. a battery compartment movable door; 20. a control component; 30. a telescopic adjusting mechanism; 301. a first connection end; 302. a second connection end; 31. a lifting device; 311. a support; 312. a drive motor; 313. a guide rail; 314. a mounting seat; 32. a mechanical arm; 33. installing a flange; 40. polishing the working part; 41. a grinding tool; 411. grinding disc; 412. polishing the motor; 42. a laser range finder; 43. a constant force device; 44. a clamp; 45. a dust collection cover; 451. a communication joint; 50. a vacuum cleaner.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 4, the present invention provides an interior decoration robot, which is used for performing an automatic operation during an interior decoration operation, particularly a polishing operation after puttying, and has a high operation efficiency and can maintain consistency of polishing operation quality at various positions. Specifically, the interior decoration robot comprises a mobile chassis 10, a control assembly 20, a telescopic adjusting mechanism 30 and a grinding work part 40, wherein the mobile chassis 10 comprises a bearing frame 11 and a walking wheel set 12, and the telescopic adjusting mechanism 30 is provided with a first connecting end 301 and a second connecting end 302. During the assembly, walking wheel set 12 is installed on bearing frame 11, and walking wheel set 12 removes for interior decoration robot provides walking power to realize changing the operation position in indoor, control assembly 20 is installed in bearing frame 11, control assembly 20 and walking wheel set 12 electric connection, through the removal process of control assembly 20 intelligent ground control interior decoration robot. The first connecting end 301 is connected to the carriage 11, the telescopic adjusting mechanism 30 is electrically connected to the control assembly 20, the polishing working portion 40 is mounted on the second connecting end 302, the clamp 44 is connected to the second end of the constant force device 43, and the polishing tool 41 is clamped on the clamp 44. The distance extension is realized to the work of polishing portion 40 through flexible adjustment mechanism 30, so, the interior decoration robot just need not remove the transform position in succession at fitment operation in-process and implements the operation of polishing, utilize flexible adjustment mechanism 30 to realize the distance extension to the work of polishing portion 40, just so can remove chassis 10 at every time and stop when a position, alright change the operation position of the work of polishing portion 40 through control assembly 20 control flexible adjustment mechanism 30, that is to say, can extend the position range that arrives with the work of polishing portion 40 at flexible adjustment mechanism 30, it only needs to stop once to remove chassis 10, the work of polishing portion 40 and control assembly 20 electric connection.

The indoor decoration robot provided by the invention is used for polishing the putty-scraped indoor wall, the walking wheel group 12 is intelligently controlled by the control assembly 20 to drive the movable chassis 10 to reach a preset position, and the telescopic adjusting mechanism 30 is controlled by the control assembly 20 to drive the polishing working part 40 to realize continuous polishing operation within the reachable position range, so that the decoration operation efficiency is improved. The indoor decoration robot replaces the operation of workers, the workers can be far away from the working environment full of dust pollution, the physical health of the workers is protected, and the labor intensity of the workers is greatly reduced.

In this embodiment, the control component 20 is composed of a mechanical arm control box and an industrial personal computer, the mechanical arm control box is specially used for controlling the motion of the mechanical arm 32, and the mechanical arm control box cooperatively controls the working state and posture adjustment of the laser range finder 42 of the displacement sensor 13; the industrial personal computer monitors and controls the working conditions of the traveling wheel set 12, the polishing working part 40, the dust collector 50, the driving motor 312, the constant force device 43 and the like.

Referring to fig. 1 and 3, the telescopic adjusting mechanism 30 includes a lifting device 31 and a mechanical arm 32, the telescopic adjusting mechanism 30 is divided into two groups of modules, the lifting device 31 realizes position conversion of vertical distance in the vertical direction, and the mechanical arm 32 mainly realizes extension distance in the horizontal direction and rotation angle conversion, so that the polishing working part 40 can meet the working requirement of angles with more degrees of freedom. Specifically, the lifting device 31 includes a bracket 311, a driving motor 312, a guide rail 313 and a mounting seat 314, during the assembly and molding process, the bracket 311 is connected to the carriage 11 and used as a support for vertical movement in the up-down direction, the guide rail 313 is connected to the bracket 311, the guide rail 313 is a linear guide rail, the length direction of the guide rail 313 is the vertical direction, the mounting seat 314 is slidably connected to the guide rail 313, the driving motor 312 is mounted to the bracket 311, the power output end of the driving motor 312 is connected to the mounting seat 314 in a driving manner, the driving motor 312 outputs power to drive the mounting seat 314 to move in the vertical direction along the guide rail 313, the driving motor 312 is electrically connected to the control component 20, the first end of the mechanical arm 32 is connected to the mounting seat 314, the second end of the mechanical arm 32 is a second connecting end 302. The arm 32 that this application adopted all is provided with driving motor for many joints arm, every joint, driving motor and control assembly 20 electric connection, and it is two linking arms of every joint through driving motor and produces the relative motion displacement.

In the present embodiment, the grinding work section 40 includes a grinding tool 41 and an angle detection assembly (not shown), specifically, as shown in fig. 1 and 4, the angle detection assembly includes a plurality of laser rangefinders 42, and in the present embodiment, three laser rangefinders 42 are employed for assembly (of course, four, five, six, etc. laser rangefinders 42 may be employed for assembly). The grinding tool 41 is connected to the second end of the mechanical arm 32, the grinding tool 41 is electrically connected to the control assembly 20, the three laser range finders 42 are connected to the second end of the mechanical arm 32 around the grinding tool 41, the three laser range finders 42 are arranged at equal included angles (namely, the central angles of the two laser range finders 42 are 120 degrees around the corresponding circle), and each laser range finder 42 is electrically connected to the control assembly 20. When the working position is used, the distance between each laser range finder 42 and the wall surface is measured, so that the included angle between the grinding tool 41 and the wall surface is calculated, and the control component 20 calculates, analyzes and detects the data of the included angle, so as to control the mechanical arm 32 to perform posture adjustment on the angle of the grinding tool 41, so that the grinding tool 41 is always parallel to the wall surface.

Further, as shown in fig. 1 and 4, the grinding work part 40 further includes a constant force device 43 and a clamp 44, a first end of the constant force device 43 is connected to a second end of the robot arm 32, the constant force device 43 is electrically connected to the control assembly 20, the clamp 44 is connected to a second end of the constant force device 43, the grinding tool 41 includes a grinding motor 412, and a body of the grinding motor 412 is clamped on the clamp 44 to facilitate assembling the grinding tool 41. The constant force device 43 can detect the acting force applied to the turntable by being perpendicular to the wall surface during the polishing operation, and can drive the polishing tool 41 to be tightly attached to the wall surface, so that the polishing pressure is kept constant during the operation.

To facilitate mounting of the grinding section 40 to the second end of the robot arm 32, the telescoping adjustment mechanism 30 therefore further includes a mounting flange 33, the mounting flange 33 being attached to the second end of the robot arm 32, a constant force device 43 being attached to the mounting flange 33, and an angle sensing assembly being attached to the mounting flange 33, i.e., each laser rangefinder 42 being attached to the mounting flange 33 around the constant force device 43.

As shown in fig. 2, the mobile chassis 10 further includes at least one displacement sensor 13, the displacement sensor 13 is mounted on the carriage 11, and the displacement sensor 13 is electrically connected to the control component 20. The displacement sensor 13 monitors the distance between the robot and the wall surface in real time, and ensures that the mobile chassis 10 is parallel to the wall surface in the moving process. Further, the mobile chassis 10 further comprises at least one obstacle avoidance radar 14, the obstacle avoidance radar 14 is mounted on the carrying frame 11, and the obstacle avoidance radar 14 is electrically connected with the control component 20, so that the full-view obstacle avoidance capability is realized in the traction and movement process of the mobile chassis 10.

In order to prevent dust pollution caused by dust flying during the polishing operation, the polishing working part 40 further comprises a dust hood 45, the polishing tool 41 further comprises a polishing disc 411 for polishing, the polishing disc 411 is mounted at the power output end of the polishing motor 412, the polishing disc 411 is driven by the polishing motor 412 to rotate so as to polish putty on the wall surface, and the dust hood 45 covers the polishing disc 411 so as to cover the dust hood generated during the polishing process without scattering the dust hood. The interior finishing robot further includes a dust collector 50, the dust collector 50 is mounted on the carriage 11, the dust collection cover 45 has a communication joint 451, and the dust collector 50 is communicated with the communication joint 451 through a connection hose. In the polishing process, when the polishing disc 411 generates dust during polishing, the dust can be prevented from diffusing through the dust collection cover 45, and then the dust can be sucked away through the dust collector 50, so that the dust floating amount of the indoor decoration environment can be greatly reduced, and the improvement of the working environment of workers in other decoration processes is facilitated.

As shown in fig. 2, a battery compartment (not shown) is disposed on the carriage 11, the battery compartment houses the battery 16, and the battery compartment door 17 covers the battery 16, and the battery 16 supplies power to the traveling wheel set 12, the displacement sensor 13, the obstacle avoidance radar 14, the driving motor 312, the mechanical arm 32, the grinding motor 412, the laser range finder 42, the constant force device 43, the dust collector 50, and the like. A connecting plate 15 is provided on the top of the carrier frame 11, and the bracket 311 is fixedly connected to the connecting plate 15.

In the moving process of the robot, in order to facilitate the robot steering, the walking wheel set 12 is provided with wheels 127 (as shown in fig. 5) driven by the steering engine 122 and universal wheels 121, and the universal wheels 121 cooperate with the wheels 127 driven by the steering engine 122 to achieve flexible steering. As shown in fig. 5, in order to achieve vibration isolation during the movement of the robot to maintain the smoothness of the robot grinding operation, the robot performs vibration isolation processing through a vibration isolation mechanism, and mainly achieves vibration isolation balance through a vibration isolation spring 125. The bottom of the bearing frame 11 is provided with a sleeve 123, correspondingly, a damping guide rod 126 is arranged on the mounting rack of the steering engine 122 and the wheel 127, then the damping guide rod is connected to the end part of the damping guide rod 126 by using a limiting block 124 so as to limit the damping spring 125, and the damping spring 125 is arranged between the limiting block 124 and the sleeve 123, so that the damping is effectively carried out in the vertical direction, and the stability is improved. The steering engine 122 outputs power to drive the wheels 127 to rotate so as to realize walking movement, and in order to increase the driving force transmitted to the wheels 127, a reduction gear set 128 is arranged between the power output end of the steering engine 122 and the wheels 127, and the reduction gear set 128 is used for realizing speed reduction and torque increase, so that the wheels 127 can be easily rotated to realize walking movement.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An interior decoration robot, comprising:

the moving chassis (10), the moving chassis (10) comprises a bearing frame (11) and a walking wheel set (12) arranged on the bearing frame (11);

the control assembly (20), the control assembly (20) is installed on the bearing frame (11), and the control assembly (20) is electrically connected with the traveling wheel set (12);

the telescopic adjusting mechanism (30) is provided with a first connecting end (301) and a second connecting end (302), the first connecting end (301) is connected to the bearing frame (11), and the telescopic adjusting mechanism (30) is electrically connected with the control assembly (20);

the polishing device comprises a polishing working part (40), wherein the polishing working part (40) is arranged on the second connecting end (302), and the polishing working part (40) is electrically connected with the control component (20).

2. An interior decoration robot according to claim 1,

the telescopic adjustment mechanism (30) comprises:

the lifting device (31) comprises a support (311), a driving motor (312), a guide rail (313) and a mounting seat (314), the support (311) is connected to the bearing frame (11), the guide rail (313) is connected to the support (311), the mounting seat (314) is connected to the guide rail (313) in a sliding manner, the driving motor (312) is mounted on the support (311), the power output end of the driving motor (312) is in driving connection with the mounting seat (314), and the driving motor (312) is electrically connected with the control component (20);

a mechanical arm (32), a first end of the mechanical arm (32) is connected to the mounting seat (314), a second end of the mechanical arm (32) is the second connecting end (302), and the mechanical arm (32) is electrically connected with the control component (20).

3. An interior decoration robot according to claim 2,

the grinding work portion (40) includes:

a grinding implement (41), the grinding implement (41) being connected to a second end of the robotic arm (32), the grinding implement (41) being electrically connected to the control assembly (20);

the angle detection assembly is connected to the second end of the mechanical arm (32), and the angle detection assembly is electrically connected with the control assembly (20).

4. An interior decoration robot according to claim 3,

the angle detection assembly comprises a plurality of laser range finders (42), the plurality of laser range finders (42) encircle the grinding tool (41) connected to the second end of the mechanical arm (32), and each laser range finder (42) is electrically connected with the control assembly (20).

5. An interior decoration robot according to claim 3,

the grinding work portion (40) further includes:

a constant force device (43), wherein a first end of the constant force device (43) is connected to a second end of the mechanical arm (32), and the constant force device (43) is electrically connected with the control assembly (20);

a clamp (44), the clamp (44) being connected to a second end of the constant force device (43), the grinding implement (41) being clamped on the clamp (44).

6. An interior decoration robot according to claim 5,

telescopic adjusting mechanism (30) still includes mounting flange (33), mounting flange (33) connect in the second end of arm (32), constant force device (43) connect in mounting flange (33), the angle detection subassembly is connected on mounting flange (33).

7. An interior decoration robot according to any one of claims 1 to 6,

the mobile chassis (10) further comprises at least one displacement sensor (13), the displacement sensor (13) is installed on the bearing frame (11), and the displacement sensor (13) is electrically connected with the control component (20).

8. An interior decoration robot according to claim 7,

the movable chassis (10) further comprises at least one obstacle avoidance radar (14), the obstacle avoidance radar (14) is installed on the bearing frame (11), and the obstacle avoidance radar (14) is electrically connected with the control assembly (20).

9. An interior decoration robot according to claim 3,

the grinding work part (40) further comprises a dust hood (45), the grinding tool (41) is provided with a grinding disc (411) for grinding construction, and the dust hood (45) covers the grinding disc (411).

10. An interior decoration robot according to claim 9,

the interior decoration robot further comprises a dust collector (50), the dust collector (50) is installed on the bearing frame (11), the dust collection cover (45) is provided with a communication joint (451), and the dust collector (50) is communicated with the communication joint (451) through a connecting hose.