CN108942873A - Universal indoor engineering intelligent robot - Google Patents
Universal indoor engineering intelligent robot Download PDFInfo
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- CN108942873A CN108942873A CN201811063770.5A CN201811063770A CN108942873A CN 108942873 A CN108942873 A CN 108942873A CN 201811063770 A CN201811063770 A CN 201811063770A CN 108942873 A CN108942873 A CN 108942873A
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- indoor engineering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
一种通用型建筑室内工程智能机器人，其特征在于，它包括：移动基部；机器活动手臂；其具有至少二个连杆臂、相邻的连杆臂之间借助于关节部活动，以及驱动部各关节部的动力提供部；传感系统；其设置于所述移动基部上以及设置于机器活动手臂上，所述传感系统包括实现避障及距离的检测模块且该检测模块用于检测所述移动基部的空间相对坐标；中央控制部；其连接于所述移动基部、机器活动手臂和传感系统，所述中央控制部包括移动控制模块、活动手臂控制模块和检测控制模块。它结构简单、易于实现规模化生产制造，这个通用型建筑室内工程智能机器人移动基部、控制、配电管理系统、多轴机械臂自动化工作，以达到有效改善施工品质和施工质量，提高工效。
A general intelligent robot for building indoor engineering is characterized in that it includes: a mobile base; a movable arm of the machine; it has at least two link arms, adjacent link arms are movable by means of joint parts, and a driving part The power supply part of each joint part; the sensing system; it is arranged on the mobile base and on the movable arm of the machine, the sensing system includes a detection module for realizing obstacle avoidance and distance, and the detection module is used to detect the The spatial relative coordinates of the mobile base; the central control unit; it is connected to the mobile base, the movable arm of the machine and the sensing system, and the central control unit includes a mobile control module, a movable arm control module and a detection control module. It has a simple structure and is easy to realize large-scale production and manufacturing. This general-purpose building indoor engineering intelligent robot moves the base, control, power distribution management system, and multi-axis robotic arm to work automatically, so as to effectively improve construction quality and construction quality, and improve work efficiency.
Description
Technical field
The present invention relates to a kind of universal indoor engineering intelligent robots.
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 ".
And European & American Market, because local labour cost is more expensive, interior decoration is essentially all that owner DIY is completed.Cause
This, people there is an urgent need to research and develop one kind to be proficient in consummate decoration technology skill, can substitute the universal of part hand labor and build
Indoor engineering intelligent robot is built to be engaged in heavy building operation.
Construction building site working environment is severe, and construction site region is wide or narrow variation is more, indoor barrier
It is more, and need to solve across door, the outposts such as stair, it needs to solve robot and can rapidly adapt to job location often to convert, with
And need to solve it is open and without fixed reference, the space high-precision large-area construction requirement of not no datum plane.And
There are a large amount of yin-yang angle, handover die joint to need high Precision Processing in construction；There are also higher flatness, vertical for metope, ground
Degree requires.Therefore, meet application of the intelligent robot of above-mentioned requirements in construction currently without one.
In order to overcome above-mentioned defect and meet construction requirement, we have developed a kind of universal indoor engineering intelligence
Robot can be such that robot is just very widely applied in building trade, be effectively improved and applied with the effective solution above problem
Work quality and construction quality, mitigate labor intensity of workers and health is horizontal.
Summary of the invention
The technical problem to be solved is that provide a kind of universal indoor engineering intelligence machine for the purpose of the present invention
People, is related to building automation technical field of processing equipment, sound construction, simple, it is easy to accomplish mass production, working space from
It is good by degree and flexibility ratio, processing can be moved freely and automated by planning path, can complete big portion in interior decoration engineering
Point engineering duty and nonproductive task, as: demolish walls, build a wall, the slot that bursts at the seams, beat wall hole, lay water power pipeline, biography bracing wire, pave ground
Face source brick, carpenter's installation, spraying water-repellent paint, is plastered a wall, batch ash, spray paint etc., is effectively improved construction quality to reach
And construction quality, work efficiency is improved, mitigates labor intensity of workers and improves the purpose of health level.Therefore, it is a kind of warp
Ji property and the technical intelligent machine equipment for having a superior function.
To achieve the above object, the present invention provides a kind of universal indoor engineering intelligent robot, which is characterized in that
It includes:
Motion base；
Kinematic arm；It has by means of joint portion activity between at least two link arms, adjacent link arm, and drives
The power offer portion of the dynamic each joint portion in portion；
Sensor-based system；It is set on the motion base and is set on Kinematic arm, and the sensor-based system includes
It realizes the detection module of avoidance and distance and the detection module is used to detect the space relative coordinate of the motion base；
Central control；It is connected to the motion base, Kinematic arm and sensor-based system, and the central control includes
Mobile control module, movable arm control module and detection control module.
In one or more embodiments of the invention, the joint portion includes the first joint portion, second joint portion and the
Three joint portions；The link arm includes:
The first link arm being connected with pedestal, first link arm rotate with pedestal and connect；
Second connecting rod limb is connected between the first link arm by the first joint portion；
Third connecting rod arm is connected between described second connecting rod limb by second joint portion；
Wrist is connected between third connecting rod arm by third joint.
In one or more embodiments of the invention, the wrist has Standard general purpose interface.
In one or more embodiments of the invention, the motion base is installed with detection module, and the wrist is equipped with
Rotate angle detection module or apart from detection module.
In one or more embodiments of the invention, the motion base, which is installed with, executes mobile mechanism, the execution
Mobile mechanism include Mecanum wheel, Athey wheel, wheel, polypody mobile mechanism it is one or more；Execute mobile mechanism's installing
In the lower section of carrying board.
In one or more embodiments of the invention, power offer portion includes driving the first of the first joint portion to watch
Motor is taken, second servo motor in second joint portion is driven and drives the third servo motor of third joint.
In one or more embodiments of the invention, the detection module includes radar, infrared sensor, close biography
Sensor, visual sensor, laser sensor any appoint a variety of；The detection module is used for object ranging and contour of object
Identification.
In one or more embodiments of the invention, the Standard general purpose interface is removably assembled with task execution machine
Structure.
In one or more embodiments of the invention, the task execution mechanism includes the automatic spray gun for spraying
Or the grinding tool or the pneumatic clamper for grabbing object or the cutter for the slot that bursts at the seams or Milling Machining machine of polishing are polished for metope
Tool head or automatic gun nailing machine.
In one or more embodiments of the invention, the central control connects electrical system, and electrical system includes
Battery, battery connector, external power source interface, conducting wire, electrical protection circuit and dispensing controller；
The instruction reasonable distribution electric power that the dispensing controller is provided according to central control is to the Kinematic arm and shifting
Dynamic base portion；The central control includes high-performance computer, all kinds of communication interfaces, Various types of data bus interface and display interface
It constitutes,
The detection control module is used to reconstruct the point cloud of body and surrounding enviroment gestures of object information, settle accounts, feature identifies,
The operation of gesture recognition and perception information, to realize that function control, the function control include that instruction is parsed, wirelessly communicated, leading
Navigate data processing and image procossing；
Electrical system also has safety control module, which includes emergent stopping, warning device, personnel safety inspection
Device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis are surveyed,
The mobile control module is used for planning walking path, motion control and navigation/guidance system, and it is exhausted to provide system for body
Pair or relative position and course；
It is described activity arm control module be used for manipulator motion trajectory planning and control and with remote control center communication, with
Communication and data exchange between data exchange and the collaborative work robot at scene.
The present invention existing effect compared with background technique is:
Since the present invention uses above-mentioned scheme, its structure is simple, is easily achieved large-scale production manufacture, this universal building
Indoor engineering intelligent robot motion base, control, Distribution Management System, Multi-shaft mechanical arm composition.This universal architecture indoor
Engineering intelligent robot is grabbed by mechanical arm or connects different task execution mechanisms, sound construction, simple, it is easy to accomplish batch
Quantization production, working space freedom degree and flexibility ratio are good, can complete in interior decoration engineering most engineering duty and auxiliary
Task is helped, such as: demolishing walls, build a wall, the slot that bursts at the seams, beat wall hole, lay water power pipeline, pass bracing wire, pave ground, source brick, carpenter
Install, spray water-repellent paint, plaster a wall, criticizing ash, spray paint etc., it is effectively improved construction quality and construction quality to reach, is improved
Work efficiency mitigates labor intensity of workers and improves the purpose of health level.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of universal indoor engineering intelligent robot in one embodiment of the invention；
Fig. 2 is the control attachment structure schematic diagram of universal indoor engineering intelligent robot in one embodiment of the invention；
Fig. 3 is the part knot under another visual angle of universal indoor engineering intelligent robot in one embodiment of the invention
Structure schematic diagram；
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment described example is shown in the accompanying drawings, wherein identical from beginning to end
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 and be directly connected directly or be connected by intermediary, ability
Domain those of ordinary skill 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
The modes such as interlocking carry out different embodiments in an adequate manner for using.
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.
There is physical form component and unshowned supporting member making material represented by specification and attached drawing, it can
Adaptively to use metal material or nonmetallic materials or other synthetic materials；All components for being related to having physical form are adopted
Being adapted to property of mechanical processing technique selects punching press, forging and stamping, casting, wire cutting, laser cutting, injection molding, number milling, three-dimensional to beat
Print, machining, shearing etc.；Those of ordinary skill in the art can adapt to according to different processing conditions, cost, precision
Selection is selected to property or combined, but is not limited to above-mentioned material and manufacture craft.
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.It is intended to explain the present invention, and should not be understood as to limit of the invention
System.
Referring to Fig.1 shown by -3, the embodiment of the present invention preferably provides a kind of universal indoor engineering intelligence
Robot, it includes:
Motion base 1；
Kinematic arm 2；It has living by means of 22 phase of joint portion between at least two link arms 21, adjacent link arm 21
Dynamic and each joint portion 22 of driving portion power offer portion 23；
Sensor-based system 3；It is set to from the motion base 1 and is set on Kinematic arm 2, the sensor-based system
3 include that the space of the detection module 31 of realization avoidance and distance and the detection module 31 for detecting the motion base 1 is opposite
Coordinate；Sensor-based system 3 can be equipped with visual sensor 32.
Central control 4；Comprising:
For connection motion base 1 to control the mobile control module 41 that it is moved, the movement control module 41 connection executes moving machine
Structure 11；
The movable arm control module 42 in power offer portion 23 is connected, which instructs power offer portion 23
Movement provides power for each joint portion 23 of driving to realize link arm activity；
Connect sensor-based system 3 detection control module 43, the detection control module 43 for receive the surveyed avoidance of sensor-based system 3 and
It carries out feeding back and being based on feedback data close to distance parameter, controls institute for mobile control module 41 and movable arm control module 42
The work of corresponding driving source generates instruction.
Central control 4 further includes control panel 44, rear emergency safety stop button 45, switch button 46,47 and of handle
Emergency safety stop button 48 afterwards.The joint portion 22 includes the first joint portion 221, second joint portion 222 and third joint
223；The link arm 21 includes: the first link arm 212 being connected with pedestal 211, first link arm 212 and 211 phase of pedestal
Rotation connection；Second connecting rod limb 213 is connected between the first link arm 212 by the first joint portion 221；Third
Link arm 214 is connected between described second connecting rod limb 213 by second joint portion 222；
Wrist 215 is connected between third connecting rod arm 214 by third joint 223.Wrist 215 has standard universal
Interface 216.The side of motion base 1 is installed with detection module 31, and the wrist 215 is installed with or apart from detection module 33 or rotation
Gyration detection module.Wrist 215 is connected to by means of link 6 apart from detection module 33.215 one end of wrist has connection cylindricality
Connector 2151.
Motion base 1, which is installed with, executes mobile mechanism 11, and the execution mobile mechanism 11 includes Mecanum wheel, crawler belt
One of modes such as wheel, wheel, Zu Shi mechanism are a variety of；Execute the lower section that mobile mechanism is installed in carrying board 12.
Power offer portion 23 includes the first servo motor 231 of the first joint portion 221 of driving, driving second joint portion
222 the second servo motor 232 and the third servo motor 233 of driving third joint 223.
The detection module 31 includes radar, infrared sensor, proximity sensor, visual sensor, laser sensor
It waits any of sensing modes or appoints a variety of；The detection module 31 is used to identify object ranging and contour of object.
Standard general purpose interface 216 is removably assembled with task execution mechanism 5.Task execution mechanism 5 may include being used for
The automatic spray gun of spraying polishes the grinding tool of polishing or pneumatic clamper for grabbing object for metope or for the slot that bursts at the seams
Cutter or Milling Machining machinery head or automatic gun nailing machine etc..
Central control 5 connects electrical system, and electrical system includes battery, battery connector, external power source interface, leads
Line, electrical protection circuit and dispensing controller；The instruction reasonable distribution electricity that the dispensing controller is provided according to central control
Power gives the Kinematic arm and motion base；The central control includes high-performance computer, all kinds of communication interfaces, each
Class data bus interface and display interface are constituted,
The detection control module 43 is used to know the point cloud reconstruct of body and surrounding enviroment gestures of object information, clearing, feature
Not, the operation of gesture recognition and perception information, to realize function control, the function control include instruction parsing, wireless communication,
Navigation data processing and image procossing；Electrical system also has safety control module, the safety control module include emergent stopping,
Warning device, personnel safety detection device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis, the shifting
Dynamic control module 41 is used for planning walking path, motion control and navigation/guidance system, and it is absolutely or opposite to provide system for body
Position and course.
The activity arm control module 43 is used for manipulator motion trajectory planning and control and and remote control center
Communication and data exchange between communication and data exchange and the collaborative work robot at scene.
The principle of other specific embodiments and and work be further described through:
Centrally-mounted driving, motion controller and mobile execution unit of walking in motion base 1；The driving motor, quantity are many
Yu Yitai provides independent power for the mobile execution unit of the walking, it is driven to realize shift action；The motion controller,
The path planning instruction for executing system controller controls the accurate movement of driving motor and the mobile execution unit of walking, real
The accurate displacement of the existing universal indoor engineering intelligent robot；The mobile execution unit of the walking can be wheeled row
Mobile execution unit or the mobile execution unit of crawler-type traveling are walked, can also be the sufficient mobile execution unit of formula walking；The movement
Base portion is the carrying board of above-mentioned universal indoor engineering intelligent robot and mobile execution unit of walking, and is responsible for entire logical
With the accurate movement of type indoor engineering intelligent robot under control of the control system to system specified station.The movement
The transhipment that manpower directly carries out mobile each processing machine interdigit for this system also can be used in base portion, can also be by people in distal end
Universal indoor engineering intelligent robot is controlled using remote-control handle completes specified movement.
Specifically further include one group for detect the universal indoor engineering intelligent robot surrounding enviroment and from
Body position and speed, the sensor of angle and an environment and position and attitude perceive integrated software.The surrounding enviroment and
Own location information includes but is not limited to: surrounding enviroment body surface is artificially sat with universal indoor engineering intelligence machine
Mark the x, y, z axial coordinate point cloud information under the relative coordinate system of origin；Surrounding enviroment body surface is with universal architecture indoor
Angular speed, linear speed information under the relative coordinate system of the artificial coordinate origin of engineering intelligent machine etc.；These by passing in real time
Sensor, which obtains and passes through the integrated software, is uploaded to above-mentioned control distribution system progress feature identification, the reconstruct of point cloud, algorithm solution
It the operations such as calculates, slaps the universal indoor engineering intelligent robot comprehensively to itself and surrounding enviroment gestures of object information
Control；It preferentially uses but is not limited to laser radar to carry out ranging and contour of object identification, to facilitate universal indoor engineering
The intelligent robot quickly identification and avoidance to surrounding enviroment and barrier in real time in environment indoors.
(upper) the control system in ground can be divided into using control, Distribution Management System, the control, Distribution Management System
System, vehicle-mounted (single machine) control system and navigation/guidance system, wherein ground control system refers to the universal architecture indoor work
The remote control equipment of journey intelligent robot is mainly responsible for task distribution, vehicle scheduling, path (line) management, traffic administration, machine
The functions such as device arm and Motion trajectory and the processing work of the interchangeable task execution mechanism；The vehicle-mounted control system
System, including the access of electrical system, electric power and dispensing controller, core control computer unit, safety governor etc., are receiving
After the instruction of Upper system, the navigation for being responsible for the universal indoor engineering intelligent robot is calculated, and guiding is realized, vehicle
Walking, the functions such as Machinery Ministry operation；The electrical system includes: battery, battery connector, external power source interface, conducting wire, electrical
Protect circuit；The electric power access and dispensing controller, the instruction reasonable distribution electricity provided according to core control computer unit
Power is used to the universal each system in each position of indoor engineering intelligent robot；Core control computer unit by
High-performance computer, all kinds of communication interfaces, Various types of data bus interface, display interface are constituted, the control, Distribution Management System
To complete the universal indoor engineering intelligent robot to the point cloud weight of itself and surrounding enviroment gestures of object information
Structure, clearing, feature identification, gesture recognition, etc. the operations of perception informations, function control (such as instruction parsing, wireless communication, navigation
Data processing, image procossing etc.), dynamic Control (such as power supply, charge control), security control (such as detection of obstacles, speed and
Course changing control etc.), it is planning walking path and motion control, manipulator motion trajectory planning and control, logical with remote control center
Interrogate communication between data exchange and the collaborative work robot at scene and data exchange and above-mentioned task execution mechanism
It the communication of other control elements and data exchange and cooperates with；Navigation/guidance system is the universal indoor engineering intelligence
Energy robot single machine provides absolute system or relative position and course；
Multi-shaft mechanical arm includes Multi-shaft mechanical arm executing agency, driving mechanism；The Multi-shaft mechanical arm executing agency include wrist,
Wrist, arm, pedestal are constituted；The wrist, equipped with standard mechanical interface and electric interfaces and above-mentioned universal architecture indoor work
The task execution mechanism of journey intelligent robot is coupled；The wrist is to connect the component of above-mentioned wrist and arm, and can be used to adjust
The orientation and direction for saving wrist and task execution mechanism, to expand the actuating range of mechanical arm, and make mechanical arm become cleverer
Ingeniously, more adaptable.The wrist has independent freedom degree, and the general wrist is equipped with rotary motion and is further added by a upper bottom
Dynamic to meet job requirement, some act relatively simple work such as Land leveling, bracing wire etc., can in order to simplify structure
Not set wrist, and wrist function directly is driven with arm movement；The arm, component are the important grip parts of mechanical arm
Part, its effect are to support above-mentioned wrist and wrist and task execution mechanism, and drive them to do spatial movement, and precisely reach
Any point in spatial dimension.If it is desired to changing the posture and orientation of above-mentioned wrist, then it is subject to reality with the freedom degree of above-mentioned wrist
It is existing.Therefore, in general, there is arm three degree of freedom to be just able to satisfy basic demand, i.e. the flexible of arm, left rotation and right rotation, liter
Drop or pitching movement；The pedestal, for connecting the carrying of mechanical arm Yu above-mentioned universal indoor engineering intelligent robot
Board is made of the ring flange matched；The driving mechanism is the important component of mechanical arm, can according to power source difference
It is roughly divided into hydraulic, pneumatic, electronic and four class of Mechanical Driven, the present invention and mainly uses electric drive, except in special requirement heavy burden
Carry or the operative scenario of greater impact power such as: carry, Land leveling compacting is using hydraulic or pneumatic outer, the electric drive,
It is made of driving motor and retarder, structure is simple, compact dimensions, light-weight, easy to control.
Standard interface and all kinds of engineering processing equipments, for example, spraying the levelling polishing of automatic spray gun, metope mill
Tool, the cutting of the pneumatic clamper for grabbing object, the slot that bursts at the seams, milling machine tool, automatic gun nailing machine etc., these processing equipments generally have
Dedicated auxiliary device is coupled, such as air pump, the blender of spraying, dedicated air compressor of pneumatic clamper etc.；It is above-mentioned various
Interchangeable task execution mechanism is connect by the general-purpose interface with above-mentioned mechanical wrist, completes appointed task jointly；
In motion base, the mobile execution unit of running on wheels uses Mecanum wheel, to facilitate universal indoor engineering intelligence
Energy robot is in the narrow flexible deflecting of the interior space and advance and retreat；Multi-shaft mechanical arm uses sixdegree-of-freedom simulation, six degree of freedom
Mechanical arm has highest cost performance and versatility in engineering-environment indoors；On universal indoor engineering intelligent robot
At most 2 above-mentioned Multi-shaft mechanical arms of installation facilitate the cooperation of each work post in engineering to assist to adapt to the scene of certain particular/special requirements
Adjust processing；It states the wrist end of Multi-shaft mechanical arm, it is contactless apart from displacement sensor or contact pressure, row that one group of high-precision is set
Journey sensor, to the interchangeable task execution mechanism pair on above-mentioned universal indoor engineering intelligent robot
Architecture indoor carries out secondary precise positioning when accurate processing work, with the above-mentioned universal indoor engineering intelligence of correction-compensation
Position positioning accuracy when robot walks mobile in free space that is open and lacking datum plane without fixed reference is not
Meet the contradiction of requirement on machining accuracy.
The present invention can be along the intelligent navigation, autonomous and automatic obstacle avoidance functions of the route of preparatory planning and designing；
It is contactless apart from displacement sensor or contact pressure, stroke sensor to be located at one group of multi-spindle machining wrist high-precision
Based on secondary positioning reinforce promoting the universal indoor engineering intelligent robot and above-mentioned interchangeable task and hold
The positioning accuracy of row mechanism meets process requirements；Interchangeable task execution mechanism is driven to realize the more of task with Multi-shaft mechanical arm
Memberization and quick replaceability promote the versatility of the universal indoor engineering intelligent robot and complete complicated processing
The ability and the range of work of demand.And the feature simple, easy to manufacture, agile and all-purpose with structure.Therefore, it is a kind of skill
Art and economy have the product of superior function.
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 (10)
1. a kind of universal indoor engineering intelligent robot, which is characterized in that it includes:
Motion base；
Kinematic arm；It has by means of joint portion activity between at least two link arms, adjacent link arm, and drives
The power offer portion of the dynamic each joint portion in portion；
Sensor-based system；It is set on the motion base and is set on Kinematic arm, and the sensor-based system includes
It realizes the detection module of avoidance and distance and the detection module is used to detect the space relative coordinate of the motion base；
Central control；It is connected to the motion base, Kinematic arm and sensor-based system, and the central control includes
Mobile control module, movable arm control module and detection control module.
2. universal indoor engineering intelligent robot according to claim 1, which is characterized in that the joint portion packet
Include the first joint portion, second joint portion and third joint；The link arm includes:
The first link arm being connected with pedestal, first link arm rotate with pedestal and connect；
Second connecting rod limb is connected between the first link arm by the first joint portion；
Third connecting rod arm is connected between described second connecting rod limb by second joint portion；
Wrist is connected between third connecting rod arm by third joint.
3. universal indoor engineering intelligent robot according to claim 2, which is characterized in that the wrist has
Standard general purpose interface.
4. universal indoor engineering intelligent robot according to claim 1-3, which is characterized in that described
Motion base is installed with detection module, and the wrist is equipped with the detection module of rotation angle detection module or distance.
5. universal indoor engineering intelligent robot according to claim 4, which is characterized in that the motion base
It is installed with and executes mobile mechanism, the execution mobile mechanism includes Mecanum wheel, Athey wheel, wheel, polypody mobile mechanism
It is one or more；Execute the lower section that mobile mechanism is installed in carrying board.
6. universal indoor engineering intelligent robot according to claim 2, which is characterized in that the power provides
Portion includes the first servo motor for driving the first joint portion, the second servo motor for driving second joint portion and driving third joint
The third servo motor in portion.
7. universal indoor engineering intelligent robot according to claim 6, which is characterized in that the detection module
Including radar, infrared sensor, proximity sensor, visual sensor, laser sensor any or appoint a variety of；The inspection
Module is surveyed to be used to identify object ranging and contour of object.
8. universal indoor engineering intelligent robot according to claim 3, which is characterized in that the standard universal
Interface is removably assembled with task execution mechanism.
9. universal indoor engineering intelligent robot according to claim 8, which is characterized in that the task is held
Row mechanism include for spraying automatic spray gun or for metope polish the grinding tool of polishing or pneumatic clamper for grabbing object or
Cutter or Milling Machining machinery head or automatic gun nailing machine for the slot that bursts at the seams.
10. according to claim 1-3, universal indoor engineering intelligent robot described in any one of 5-9, feature
It is, the central control connects electrical system, and electrical system includes battery, battery connector, external power source interface, leads
Line, electrical protection circuit and dispensing controller；
The instruction reasonable distribution electric power that the dispensing controller is provided according to central control is to the Kinematic arm and shifting
Dynamic base portion；The central control includes high-performance computer, all kinds of communication interfaces, Various types of data bus interface and display interface
It constitutes,
The detection control module is used to reconstruct the point cloud of body and surrounding enviroment gestures of object information, settle accounts, feature identifies,
The operation of gesture recognition and perception information, to realize that function control, the function control include that instruction is parsed, wirelessly communicated, leading
Navigate data processing and image procossing；
Electrical system also has safety control module, which includes emergent stopping, warning device, personnel safety inspection
Device, anti-collision safety device, low-voltage, parameter error and mechanical fault diagnosis are surveyed,
The mobile control module is used for path planning, motion control and navigation/guidance system is walked, and it is exhausted to provide system for body
Pair or relative position and course；
It is described activity arm control module be used for manipulator motion trajectory planning and control and with remote control center communication, with
Communication and data exchange between data exchange and the collaborative work robot at scene.
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Application publication date: 20181207 |