Force control building installation robot based on hybrid mechanism

Abstract

The invention discloses a force control building installation robot based on a hybrid mechanism. The force control building installation robot includes a rubber wheel omni-directional mobile platform,a linear guideway, a three-freedom-degree hybrid manipulator, a four-freedom-degree force control hybrid operation module and a ceramic tile glass mobile raw material warehouse, wherein the rubber wheel omni-directional mobile platform realizes large stroke movement of the robot and adapts to the complex terrain of a construction site, the linear guideway increases the operating range of the force control building installation robot when the omni-directional mobile platform stops, and the three-freedom-degree hybrid manipulator is used for controlling three-freedom-degree motion of the manipulator in the space and ensuring the tail end attitude unchanged; the four-freedom-degree force control hybrid operation module is used for controlling one freedom degree of movement and three freedomdegrees of rotation, ensuring that a sucker type ceramic tile glass installation actuator completes taking and installation and other operation of ceramic tile glass, and controlling external force acting on the ceramic tile glass; and the ceramic tile glass mobile raw material warehouse realizes on-board movement of the ceramic tile glass and other raw materials. According to the force control building installation robot based on the hybrid mechanism, the four-freedom-degree force control hybrid operation module is installed at the tail end of the three-freedom-degree hybrid manipulator and combined with the linear guideway and the rubber wheel omni-directional mobile platform, and large stroke installation operation of the ceramic tile glass can be realized.

Description

technical field [0001] The invention relates to the field of construction technology in the construction industry, in particular to a force-controlled construction installation robot based on a hybrid mechanism. Background technique [0002] In recent years, with the further development of the urbanization process, the construction industry has maintained a relatively fast growth rate for a long period of time. Among them, the construction decoration industry has played an extremely important role in improving the quality of life of the people. importance is also becoming increasingly apparent. In the architectural decoration industry, glass and ceramic tiles are commonly used decorative materials. Due to its features and advantages in terms of beauty and cleanliness, it currently occupies a relatively large market share in the decoration industry. However, there are problems such as low degree of automation and unstable installation quality in the installation process of ...

AI Technical Summary

Problems solved by technology

However, at present, there are problems such as low degree of automation and unstable installation quality in the installation process of ceramic tile glass.

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