Novel automatic installation robot system for raised floor

Abstract

A novel automatic installation robot system for raised floor, comprising an AMR (autonomous mobile robot) chassis (1), a mechanical arm body (2) and a mechanical arm tail end (3). The mechanical arm body (2) is mounted on the AMR chassis (1), and the mechanical arm tail end (3) is mounted on the mechanical arm body (2). The mechanical arm tail end (3) comprises: an installation frame part, a pneumatic suction cup module, a sensing module and a support height-adjusting module (a). One or more composite robots are used for cooperative work to automatically complete the whole process of installing the raised floor having pre-installed supports, or human-machine cooperation independently completes installation, leveling and height adjusting of the floor and the supports, thus improving the installation precision and efficiency, reducing the labor intensity of personnel, improving the installation consistency and stability, and reducing the comprehensive cost.

Description

A new type of automatic installation robot system for raised floors Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a novel automatic installation robot system for raised floors. Background Art

[0002] Currently, the installation of raised floors relies primarily on manual labor. Raised floor supports come in two types: plastic and metal. When using a floor with plastic supports, the user first applies an appropriate amount of structural adhesive to the designated location, places the supports on top, and lets the adhesive dry. The supports are then manually adjusted to the same level, completing the installation. The floorboards are then manually removed from the stack, moved to the installation location, and placed on the pre-installed supports. The supports and flooring are then manually secured with nails, completing the installation. When using a floor with metal supports, the user first places the metal supports in the designated location, then removes the floorboards from the stack, moves them to the installation location, and places them on the pre-installed supports. The height of each support is then manually adjusted until the flooring reaches the desired height and is level. The supports are then manually secured with nails, completing the installation. Some metal supports also allow for post-installation glue application, completing the installation process.

[0003] Alternatively, raised floors can be installed using a hybrid robot. To install the supports, the autonomous mobile robot chassis, robotic arms, and related automated equipment are used to raise the supports to the designated height. Glue is then automatically applied to the floor surface before the supports are placed and secured. During floor installation, the robotic arm's camera and gripper identify and grasp the process holes in the floor and place them in the correct position, completing the installation.

[0004] Manual installation of flooring using plastic supports cannot precisely control the amount of adhesive applied, resulting in significant waste of structural adhesive. The leveling of the supports cannot be accurately adjusted, impacting the smoothness and consistency of subsequent flooring installation. Manual adjustment of all supports to the same level is necessary, resulting in poor accuracy. The structural adhesive must be allowed to dry completely before installation, otherwise the supports can easily shift, making manual installation inefficient and inaccurate. Overall, the labor intensity is extremely high, efficiency is extremely low, and overall costs are extremely high.

[0005] When manually installing a floor using metal supports, the supports must be adjusted after the floor is placed. Therefore, the manual labor intensity when adjusting the supports is high, the precision is poor, and the efficiency is low.

[0006] The fully automated installation of supports and flooring by a composite robot requires the installation of all supports first, followed by the flooring, resulting in low installation efficiency. If a gripper is used to grip the flooring, the upper surface of the flooring requires holes for gripping, making it difficult to adapt to the flooring and requiring customization. Currently, composite robots only work with regular-shaped plastic supports and are not suitable for irregularly shaped metal supports. Irregular metal supports are difficult to identify and grip, and different shapes and sizes require different grippers. Furthermore, common metal supports are not secured to the floor with glue during installation, making them prone to tipping over when the composite robot places the flooring, resulting in a failed placement. Installing the supports and flooring requires two separate composite robots, resulting in poor product versatility and high costs. Because the upper surface of common raised floors is polished smooth and flat, while the lower surface is typically not, even if the supports are adjusted to the same height and level, the upper surface of the flooring may not remain level after the flooring is placed, nor may all floors be installed at the same level, making installation results uncertain.

[0007] In view of this, we conducted in-depth research on the above issues, which led to the present case.

[0008] Summary of the Invention

[0009] The purpose of the present invention is to solve the above problems at least to a certain extent. A new type of raised floor automatic installation robot system is designed to complete the entire process of floor installation height adjustment and floor level adjustment installation, improve the floor installation accuracy and efficiency, improve the flatness and consistency of floor installation, reduce labor intensity, improve installation efficiency, and reduce overall costs.

[0010] The technical solution of the embodiment of the present invention is: a new type of raised floor automatic installation robot system, including an AMR autonomous mobile robot chassis, a robotic arm body and a robotic arm end;

[0011] The robotic arm body is mounted on the AMR autonomous mobile robot chassis, and the robotic arm end is mounted on the robotic arm body;

[0012] The end of the robotic arm includes: a mounting frame, a pneumatic suction cup module, a sensing module, and a support height adjustment module;

[0013] The mounting frame is mounted on the robotic arm body, and the pneumatic suction cup module, the sensing module, and the support height adjustment module are all mounted on the mounting frame;

[0014] The support height adjustment module includes: a two-dimensional fine-tuning module and a height adjustment component;

[0015] The two-dimensional fine-tuning module is installed on the installation frame portion, and the height adjustment component is installed on the two-dimensional fine-tuning module.

[0016] Preferably, the two-dimensional fine-tuning module includes: a fixed seat, two guide shaft seats 1, two guide shafts 1, two linear bearings 1, a slider 1, two pairs of compression springs 1, two guide shaft seats 2, two guide shafts 2, two linear bearings 2, two pairs of compression springs 2 and a slider 2;

[0017] The two guide shafts are mounted on the fixed seat, the two guide shafts are mounted on the two guide shaft seats, the two linear bearings are respectively mounted on the two guide shafts, the slider is mounted on the two linear bearings, the two pairs of compression springs are respectively mounted on the two guide shafts, one end of each compression spring is mounted on the guide shaft seat, and the other end of each compression spring is mounted on the guide shaft seat, the two guide shaft seats are mounted on the lower wall of the slider, the two guide shafts are mounted on the two guide shaft seats, the two guide shafts are mounted perpendicular to the two guide shafts, the two linear bearings are respectively mounted on the two guide shafts, the slider is mounted on the two linear bearings, the two pairs of compression springs are respectively mounted on the two guide shafts, one end of each compression spring is mounted on the guide shaft seat, and the other end of each compression spring is mounted on the guide shaft seat.

[0018] Preferably, the height adjustment assembly includes: a height adjustment motor, a ball spline seat, a ball spline nut, a compression spring, a limit plate, a ball spline shaft and a height adjustment shaft;

[0019] The height-adjusting motor is mounted on the lower wall of the slider 2, the ball spline seat is mounted on the driving end of the height-adjusting motor, the ball spline nut is mounted on one end of the ball spline seat, the compression spring 3 is mounted in the upper inner hole of the ball spline seat, the limit plate movably fits on one end of the compression spring 3, the limit plate is located inside the ball spline seat, the ball spline shaft is mounted on the lower wall of the limit plate, and the ball spline shaft movably passes through the center of the ball spline nut, and the height-adjusting shaft is mounted on one end of the ball spline shaft.

[0020] Preferably, the mounting frame portion comprises: an upper base plate, connecting columns and a lower base plate;

[0021] The upper base plate is mounted on the mechanical arm body, the connecting column is mounted on the lower wall surface of the upper base plate, the lower base plate is mounted on one end of the connecting column, and the fixing seat is mounted on the lower base plate.

[0022] Preferably, the pneumatic suction cup module includes: a pneumatic suction cup and a suction cup pipeline;

[0023] The pneumatic suction cup is installed on the lower base plate, and the suction cup pipeline is installed on the lower wall surface of the upper base plate.

[0024] Preferably, the perception module includes: a high-precision ranging sensor 1, a high-precision ranging sensor 2, a gyroscope, a depth camera, and a position sensitive sensor;

[0025] The high-precision ranging sensor 1 is installed on the lower wall surface of the upper substrate, the high-precision ranging sensor 2 is installed on the lower wall surface of the upper substrate, and the high-precision ranging sensor 2 and the high-precision ranging sensor 1 are installed perpendicular to each other, the gyroscope is installed on the lower wall surface of the upper substrate, the depth camera is installed on the lower wall surface of the upper substrate, and the position sensitive sensor is installed on the side wall surface of the upper substrate.

[0026] Preferably, one end of the height adjustment shaft is a polygonal structure.

[0027] Preferably, one end of the height adjustment shaft is provided with a tapered surface.

[0028] Preferably, the number of the connecting columns is no less than two.

[0029] Preferably, the number of the support height adjustment modules is no less than one.

[0030] Furthermore, the robot system also includes a transport robot.

[0031] Furthermore, when the robot system installs the floor, the floor is placed above and behind the chassis of the transport robot or the AMR autonomous mobile robot.

[0032] Furthermore, the support is pre-installed in the inner hole of the floor and adjusted to the lowest position.

[0033] Furthermore, the specific implementation process of the robot system installing the floor includes:

[0034] Arrange height reference lines and XY reference lines or XY reference objects at the construction site;

[0035] Using the position sensitive sensor or the depth camera, the depth camera is used to identify the reference line or the XY reference object in the XY directions, or relying on two mutually perpendicular high-precision ranging sensors 1 and 2 to detect the distance to the XY reference object to achieve precise positioning of the end of the robotic arm;

[0036] After the end of the robotic arm is accurately positioned, the AMR autonomous mobile robot chassis does not move. The depth camera is used to identify the exact position of the floor. The end of the robotic arm moves to the top of the transport robot to take the floor, or to the top and rear of the AMR autonomous mobile robot chassis.

[0037] After the end of the robotic arm takes the floor, the AMR autonomous mobile robot chassis does not move, and the robotic arm body works. At the same time, the height adjustment shaft of the support height adjustment module extends into the corresponding support height adjustment hole. After the end of the robotic arm moves above the previously precisely located installation point, the robotic arm body moves vertically downward until the position sensitive sensor senses the height reference line, and the floor reaches the predetermined installation position;

[0038] After the floor reaches the predetermined installation position, the robotic arm remains stationary, the driving end of the height adjustment motor starts to rotate, and the height adjustment shaft drives the lower half of the support to extend until the lower half of the support contacts the ground. At this time, the feedback current of the height adjustment motor reaches the predetermined value and is raised into place. The pneumatic suction cup cuts off the air and releases the floor, and the installation of the floor is completed.

[0039] Furthermore, using the position sensitive sensor or the depth camera to identify the height reference line includes:

[0040] The height reference line adopts a laser line and is identified by a position sensitive sensor or the depth camera, or the height reference line adopts an ink line and is identified by the depth camera;

[0041] The reference lines in the XY directions are ink lines or laser lines; the reference objects are walls or self-made parts.

[0042] In another optional solution, when the robot system installs the floor, the support height adjustment module is removed from one end of the robot arm body.

[0043] Furthermore, when the robot system installs the floor, the supporter is installed separately from the floor.

[0044] Furthermore, the specific implementation process of the robot system installing the floor includes:

[0045] The AMR autonomous mobile robot chassis moves autonomously to the installation point, while the transport robot transports the floor autonomously to the installation point;

[0046] The end of the robotic arm is leveled by a gyroscope in the end of the robotic arm;

[0047] The end of the robotic arm moves to above the estimated installation point, and uses the mutually perpendicular high-precision ranging sensor 1 and high-precision ranging sensor 2 to measure the relative position of the end of the robotic arm and the reference in the X and Y directions, or uses the depth camera to identify the pre-set reference lines in the X and Y directions to accurately position the robotic arm.

[0048] After the robotic arm is accurately positioned, the AMR autonomous mobile robot chassis does not move. The depth camera is used to identify the exact position of the floor. The end of the robotic arm moves to the top of the transport robot to take the floor, or to the top and rear of the AMR autonomous mobile robot chassis.

[0049] After the end of the robotic arm takes the board, the AMR autonomous mobile robot chassis does not move. After the end of the robotic arm moves above the previously accurately located installation point, the robotic arm body moves vertically downward until the position sensitive sensor senses the height reference line, and the floor reaches the predetermined installation position;

[0050] After the floor reaches the predetermined installation position, the robot arm remains stationary, and the support is manually taken and placed under the floor. The support is adjusted until it contacts the floor and the ground at the same time.

[0051] After the support is raised to the correct position, the pneumatic suction cup is released and the floor is installed.

[0052] Further, adjusting the support until the support is in contact with the floor and the ground simultaneously includes:

[0053] When the supporter contacts the floor first, adjust the supporter to contact the ground; when the supporter contacts the ground first, adjust the supporter to contact the floor.

[0054] Furthermore, if the floor does not reach the predetermined installation position accurately, the specific implementation process of the robot system installing the floor further includes:

[0055] Manually control the end of the robotic arm to make fine adjustments in the X, Y directions and the rotation direction around the Z axis.

[0056] Furthermore, the end of the robotic arm moves to the top of the transport robot to take the floor, or takes the floor from the top and rear of the AMR autonomous mobile robot chassis, including:

[0057] Move the end of the robotic arm downward and work through the suction cup pipeline to make the pneumatic suction cup stick to the floor.

[0058] The new type of automatic installation robot system for raised floors manufactured using the technical solution of the embodiments of the present invention uses one or more composite robots to work together to automatically complete the entire process of installing raised floors with pre-installed supports, or human-machine collaboration to independently complete the installation, leveling and height adjustment of floors and supports, thereby improving installation accuracy and efficiency, reducing labor intensity, improving installation consistency and stability, and reducing overall costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the specific implementation methods of the embodiments of the present invention or the technical solutions in the related technologies, the following briefly introduces the drawings required for use in the specific implementation methods or the description of the related technologies. Obviously, the drawings described below are only some implementation methods of the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] FIG1 is a schematic diagram of the overall main structure of a novel raised floor automatic installation robot system according to an embodiment of the present invention.

[0061] FIG2 is a schematic diagram of the main structure of a support height adjustment module of a novel raised floor automatic installation robot system according to an embodiment of the present invention.

[0062] FIG3 is a side cross-sectional structural diagram of a support height adjustment module of a novel raised floor automatic installation robot system according to an embodiment of the present invention.

[0063] FIG4 is a schematic diagram of the main structural view of the end of the robotic arm of a novel automatic installation robot system for raised floors according to an embodiment of the present invention.

[0064] FIG5 is a schematic diagram of the upward-looking structure of the end of the robotic arm of a novel automatic installation robot system for raised floors according to an embodiment of the present invention.

[0065] In the figure: 1-AMR autonomous mobile robot chassis, 2-robotic arm body, 3-robotic arm end, a-support height adjustment module, a01-fixed seat, a02-guide shaft seat 1, a0a-guide shaft 1, a04-linear bearing 1, a05-slider 1, a06-compression spring 1, a07-guide shaft seat 2, a08-guide shaft 2, a09-linear bearing 2, a10-compression spring 2, a11-slider 2, a12-height adjustment motor, a1 3-ball spline seat, a14-ball spline nut, a15, compression spring three, a16-limit plate, a17-ball spline shaft, a18-height adjustment shaft, a19-upper base plate, a20-connecting column, a21-lower base plate, a22-pneumatic suction cup, a23-suction cup pipeline, a24-high-precision ranging sensor one, a25-high-precision ranging sensor two, a26-gyroscope, a27-depth camera, a28-position sensitive sensor. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0067] In the embodiments of the present invention, the terms "upper" and "lower" and other terms indicating positions or locations are based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe the embodiments of the present invention and its implementations, and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0068] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in the embodiments of the present invention based on specific circumstances.

[0069] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0070] The present invention will be described in detail below with reference to the accompanying drawings. As shown in Figures 1-5, a new type of automatic installation robot system for raised floors is shown.

[0071] Through the use of wires by those skilled in the art, all electrical components in this case are connected to their corresponding power supplies, and appropriate controllers should be selected according to actual conditions to meet control requirements. The specific connection and control sequence should refer to the following working principle, in which the electrical components are electrically connected in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and does not explain the electrical control.

[0072] Embodiment: A novel raised floor automatic installation robot system includes an AMR autonomous mobile robot chassis 1, a robotic arm body 2, and a robotic arm end 3;

[0073] The robotic arm body 2 is mounted on the AMR autonomous mobile robot chassis 1, and the robotic arm end 3 is mounted on the robotic arm body 2;

[0074] It should be noted that the AMR autonomous mobile robot chassis 1 is equipped with radar and self-developed algorithms or existing algorithms to realize automatic mapping, path planning, and navigation. The manipulator body 2 and the manipulator end 3 are mainly used to complete the floor recognition and grasping, precise positioning of the floor installation position, and height adjustment of the support on the floor. Among them, the motion control of the manipulator body 2 and the recognition of the floor by the manipulator end 3 are also realized by self-developed algorithms or existing algorithms.

[0075] In the specific implementation process, the end 3 of the robot arm can preferably be installed with a frame part, a pneumatic suction cup a22 module, a sensing module and a support height adjustment module a;

[0076] The mounting frame is mounted on the robotic arm body 2, and the pneumatic suction cup a22 module, the sensing module, and the support height adjustment module a are all mounted on the mounting frame;

[0077] It should be noted that, as a preference, further, the number of the support height adjustment modules a is not less than one. In actual use, the number of the support height adjustment modules a can be determined according to the number of supports required for the floor to be laid.

[0078] In the specific implementation process, the support height adjustment module a can preferably be a two-dimensional fine-tuning module and a height adjustment component;

[0079] The two-dimensional fine-tuning module is installed on the installation frame, and the height adjustment component is installed on the two-dimensional fine-tuning module;

[0080] In the specific implementation process, the two-dimensional fine-tuning module can preferably include a fixed seat a01, two guide shaft seats a02, two guide shafts a0a, two linear bearings a04, a slider a05, two pairs of compression springs a06, two guide shaft seats a07, two guide shafts a08, two linear bearings a09, two pairs of compression springs a10 and a slider a11;

[0081] The fixed seat a01 is installed on the mounting frame, the two guide shaft seats a02 are installed on the fixed seat a01, the two guide shafts a0a are installed on the two guide shaft seats a02, the two linear bearings a04 are respectively installed on the two guide shafts a0a, the slider a05 is mounted on the two linear bearings a04, the two pairs of compression springs a06 are respectively mounted on the two guide shafts a0a, each compression spring a06 end is mounted on the guide shaft seat a02, and the other end of each compression spring a06 is mounted on the guide shaft seat a02, the two guide shafts The seat a07 is mounted on the lower wall of the slider a05, the two guide shafts a08 are mounted on the two guide shaft seats a07, the two guide shafts a08 are mounted perpendicularly to the two guide shafts a0a, the two linear bearings a09 are mounted on the two guide shafts a08, the slider a11 is mounted on the two linear bearings a09, the two pairs of compression springs a10 are mounted on the two guide shafts a08, each end of the compression spring a06 is mounted on the guide shaft seat a07, and the other end of each compression spring a06 is mounted on the guide shaft seat a07;

[0082] It should be noted that the purpose of providing the two guide shafts a0a is to prevent the slider a05 from rotating. The slider a05 can move laterally on the two guide shafts a0a through two linear bearings a04. The two pairs of compression springs a06 are used to elastically limit the slider a05 so that the slider a05 can make a small movement. The purpose of providing the two guide shafts a08 is to prevent the slider a11 from rotating. The slider a11 can move laterally on the two guide shafts a08 through two linear bearings a09. The two pairs of compression springs a10 are used to elastically limit the slider a11 so that the slider a11 can make a small movement. The slider a05 and the slider a11 can drive the height adjustment component to perform fine-tuning in the XY directions to avoid the problem of non-concentricity between the height adjustment component and the support position due to floor hole position deviation and position recognition deviation;

[0083] In the specific implementation process, the height adjustment component can preferably include a height adjustment motor a12, a ball spline seat a13, a ball spline nut a14, a compression spring a15, a limit plate a16, a ball spline shaft a17 and a height adjustment shaft a18;

[0084] The height adjustment motor a12 is installed on the lower wall of the slider a11, the ball spline seat a13 is installed on the driving end of the height adjustment motor a12, the ball spline nut a14 is installed on one end of the ball spline seat a13, the compression spring a15 is installed in the upper inner hole of the ball spline seat a13, the limit plate a16 is movably fitted on one end of the compression spring a15, the limit plate a16 is located inside the ball spline seat a13, the ball spline shaft a17 is installed on the lower wall of the limit plate a16, and the ball spline shaft a17 movably passes through the center of the ball spline nut a14, and the height adjustment shaft a18 is installed on one end of the ball spline shaft a17;

[0085] It should be noted that the ball spline shaft a17 can be extended and retracted up and down and rotated in a circle along the ball spline nut a14 at the same time through the compression spring three a15. The limit plate a16 is used to limit the movement range of the ball spline shaft a17 to prevent the ball spline shaft a17 from escaping from the ball spline nut a14 in the free state. As a preferred embodiment, further, one end of the height adjustment shaft a18 is a polygonal structure that matches the inner hole of the support to facilitate adjustment of the height of the support. As a preferred embodiment, further, one end of the height adjustment shaft a18 is provided with a tapered surface to facilitate insertion of the height adjustment shaft a18 into the inner hole of the support.

[0086] In the specific implementation process, the mounting frame portion includes: an upper substrate a19, a connecting column a20 and a lower substrate a21;

[0087] The upper base plate a19 is mounted on the robot arm body 2, the connecting column a20 is mounted on the lower wall of the upper base plate a19, the lower base plate a21 is mounted on one end of the connecting column a20, and the fixing seat a01 is mounted on the lower base plate a21;

[0088] It should be noted that, as a preference, further, the number of the connecting columns a20 is not less than two;

[0089] In the specific implementation process, the pneumatic suction cup a22 module may preferably include a pneumatic suction cup a22 and a suction cup pipeline a23;

[0090] The pneumatic suction cup a22 is installed on the lower base plate a21, and the suction cup pipeline a23 is installed on the lower wall of the upper base plate a19;

[0091] In the specific implementation process, the perception module may preferably use a high-precision distance sensor a24, a high-precision distance sensor a25, a gyroscope a26, a depth camera a27, and a position sensitive sensor a28;

[0092] The high-precision ranging sensor a24 is installed on the lower wall surface of the upper substrate a19, the high-precision ranging sensor a25 is installed on the lower wall surface of the upper substrate a19, and the high-precision ranging sensor a25 and the high-precision ranging sensor a24 are installed perpendicular to each other, the gyroscope a26 is installed on the lower wall surface of the upper substrate a19, the depth camera a27 is installed on the lower wall surface of the upper substrate a19, and the position sensitive sensor a28 is installed on the side wall surface of the upper substrate a19.

[0093] Working Principle: The floor can be placed on a transport robot. Before installing the floor, a height reference line is laid out at the construction site. This height reference line uses a laser line, and two XY reference lines are laid out. These XY reference lines can be ink lines or laser lines. Alternatively, an XY reference object can be placed. The reference object can be a wall or a custom-made object. Alternatively, the height reference line can be a laser line or an ink line. When using a laser line, the laser line can be identified by a position-sensitive sensor a28 or the depth camera a27. When using an ink line, the ink line can be identified by a depth camera a27. For example, when using a laser line as the height reference line, height positioning uses the position-sensitive sensor a28 to identify the height reference line. XY positioning can use a camera to identify the XY reference line or the XY reference object, or rely on two mutually perpendicular high-precision ranging sensors a24 and a25 to detect the distance to the XY reference object, achieving precise positioning of the robot end 3. The support is pre-installed in the floor hole and adjusted to its lowest position.

[0094] During installation, the device moves autonomously to the installation point through the AMR autonomous mobile robot chassis 1, and at the same time, the transport robot transports the floor autonomously to the installation point, and the gyroscope a26 in the robot arm end 3 is used to level the robot arm end 3, and then the robot arm body 2 works to move the robot arm end 3 above the estimated installation point, and uses the mutually perpendicular high-precision ranging sensor a24 and the high-precision ranging sensor a25 to measure the relative position of the robot arm end 3 and the XY direction reference, or uses the camera to identify the pre-set XY direction reference line to accurately position the robot arm body 2. After positioning, the AMR autonomous mobile robot chassis 1 does not move to avoid movement errors, and the robot arm end 3 moves above the transport robot, or without using the transport robot, the floor is taken from the rear above the mobile chassis of the installation robot, and the exact position of the floor is identified by the camera. The robot arm body 2 works to move the robot arm end 3 downward, and the suction cup pipeline a23 works to make the pneumatic suction cup a22 suck the floor, and at the same time the support height adjustment module a's height adjustment axis a18 is inserted into the corresponding support height adjustment hole, the AMR autonomous mobile robot chassis 1 does not move, and the end of the manipulator 3 moves to the top of the previously accurately positioned installation point. The manipulator body 2 moves vertically downward until the position sensitive sensor a28 senses the height reference line, and the floor reaches the predetermined installation position. At this time, the manipulator body 2 remains stationary, and the driving end of the height adjustment motor a12 begins to rotate. The height adjustment shaft a18 drives the lower half of the support to extend until the lower half of the support contacts the ground. At this time, the feedback current of the height adjustment motor a12 reaches the predetermined value, which is considered to be in place. The pneumatic suction cup a22 is cut off and releases the floor. The floor is installed, and then the device continues to install the next floor or moves the AMR autonomous mobile robot chassis 1 to the next working point to install the floor in a cycle until all installations are completed. Among them, according to the material of the support (plastic support or metal support), whether gluing is required, and whether the floors are connected as a whole after the support is installed or whether connecting parts are needed to connect the floors as a whole, manual gluing, automatic gluing, no gluing, or manual completion of the connection between floors can be selected.

[0095] During human-machine collaboration, the support height adjustment module a can be removed from one end of the robot arm body 2. When the solution of pre-installing the support and the floor is not adopted but the support and the floor are installed separately, the support height adjustment module a is removed for floor installation. This solution is a human-machine collaboration method. During installation, the device moves autonomously to the installation point through the AMR autonomous mobile robot chassis 1, and at the same time, the transport robot transports the floor autonomously to the installation point, and the gyroscope a26 in the manipulator arm end 3 is used to level the manipulator arm end 3, and then the manipulator arm body 2 works to move the manipulator arm end 3 to above the estimated installation point, and uses the mutually perpendicular high-precision distance measuring sensor a24 and the high-precision distance measuring sensor a25 to measure the relative position of the manipulator arm end 3 and the XY direction reference, or uses the camera to identify the pre-set XY direction reference line, and accurately positions the manipulator arm body 2. After positioning, the AMR autonomous mobile robot chassis 1 does not move to avoid movement errors, and the manipulator arm end 3 moves to above the transport robot or does not use the transport robot to take the floor from the back of the installation robot, and uses the camera to identify the exact position of the floor, and the manipulator arm body 2 works to move the manipulator arm end 3 downward, and uses the suction cup pipeline a23 to work, so that the pneumatic suction cup a22 sucks the floor. At this time, the AMR autonomous mobile robot chassis 1 remains stationary, and the manipulator arm After the end 3 moves to above the previously precisely located installation point, the robotic arm 2 moves vertically downward until the position sensitive sensor a28 senses the height reference line, and the floor reaches the predetermined installation position. The robotic arm 2 remains motionless. At this time, a person manually takes the support and places it under the floor. The support is manually adjusted until the support contacts the floor and the ground at the same time, which is considered to be adjusted to the right height (when the support contacts the floor first, the support is adjusted to contact the ground. When the support contacts the ground first, the support is adjusted to contact the floor). After the person moves to a safe position and inputs a command, the pneumatic suction cup a22 cuts off the air and releases the floor. The floor is installed, and then the device continues to install the next floor or moves to the next working point through the AMR autonomous mobile robot chassis 1 to cyclically install the floor until all installations are completed. Among them, according to the material of the support (plastic support or metal support), whether gluing is required, whether the floor is connected as a whole after the support is installed, or whether connecting parts are needed to connect the floor as a whole, manual gluing, automatic gluing, no gluing or manual completion of the connection between floors can be selected.

[0096] Manual fine-tuning can also be used. During installation, the device moves autonomously to the installation point through the AMR autonomous mobile robot chassis 1, and the transport robot transport floor moves autonomously to the installation point. The gyroscope a26 in the end of the robot arm 3 is used to level the end of the robot arm 3. Then the robot arm body 2 works to move the end of the robot arm 3 to the estimated installation point. The relative position of the end of the robot arm 3 and the XY direction reference is measured by using the mutually perpendicular high-precision distance sensor a24 and the high-precision distance sensor a25, or the camera is used to measure the pre-set XY direction reference. The reference line in each direction is used to identify the robot arm 2, and the robot arm 2 is accurately positioned. After positioning, the AMR autonomous mobile robot chassis 1 does not move to avoid movement errors. The robot arm end 3 moves to the top of the transport robot, or the transport robot is not used to take the floor from the rear of the installation robot. The camera is used to identify the exact position of the floor. The robot arm 2 works to move the robot arm end 3 downward, and the suction cup pipeline a23 works to make the pneumatic suction cup a22 suck the floor. At this time, the AMR autonomous mobile robot chassis 1 remains stationary, and the robot arm end 3 moves to the installation point that was accurately positioned before. The robot arm 2 moves vertically downward until the position sensitive sensor a28 senses the height reference line, and the floor reaches the predetermined installation position. If the alignment is not accurate enough at this time, the installer inputs a command to enter the manual fine-tuning mode. At this time, the personnel can control the end of the robot arm 3 to make fine adjustments in the X, Y directions and the rotation direction around the Z axis. After the adjustment, the support is manually taken and placed under the floor. The support is manually adjusted until the support contacts the floor and the ground at the same time. It is considered to be in place (when the support contacts the floor first, the support is adjusted to contact the ground. When the support contacts the ground first, the support is adjusted to contact the ground). Floor contact), the personnel move to a safe position and input the command, the pneumatic suction cup a22 cuts off the air and releases the floor, the installation of the floor is completed, and then the device continues to install the next floor or moves to the next work point through the AMR autonomous mobile robot chassis 1 to install the floor in a cycle until all the installation is completed. Among them, according to the material of the support (plastic support or metal support), whether gluing is required, and whether the floors are connected as a whole after the support is installed or whether additional connectors are needed to connect the floors as a whole, manual gluing, automatic gluing, no gluing or manual completion of the connection between floors can be selected.

[0097] The installation robot can also be used as a palletizing robot. The installation robot in the palletizing area palletizes the floor to be installed from the stacking area to the upper rear of the mobile chassis of the transport robot or the installation robot. The transport robot or installation robot equipped with the floor moves autonomously to the installation point to install the floor.

[0098] Although the implementation of the embodiment of the present invention has been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the embodiment of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A novel automatic installation robot system for raised floors, characterized in that, It includes an AMR autonomous mobile robot chassis (1), a robotic arm body (2), and a robotic arm end (3); The robotic arm body (2) is installed on the AMR autonomous mobile robot chassis (1), and the robotic arm end (3) is installed on the robotic arm body (2); The robotic arm end (3) includes: a mounting frame part, a pneumatic suction cup (a22) module, a sensing module, and a support adjuster heightening module (a); The mounting frame part is installed on the robotic arm body (2), and the pneumatic suction cup (a22) module, the sensing module, and the support adjuster heightening module (a) are all installed on the mounting frame part; The support adjuster heightening module (a) includes: a two-dimensional fine adjustment module and a height adjustment component; The two-dimensional fine adjustment module is installed on the mounting frame part, and the height adjustment component is installed on the two-dimensional fine adjustment module.

2. The novel overhead floor automatic installation robot system according to claim 1, wherein, The two-dimensional fine adjustment module includes: a fixed seat (a01), two guide shaft seats one (a02), two guide shafts one (a0a), two linear bearings one (a04), a slider one (a05), two pairs of compression springs one (a06), two guide shaft seats two (a07), two guide shafts two (a08), two linear bearings two (a09), two pairs of compression springs two (a10), and a slider two (a11); The fixed seat (a01) is installed on the mounting frame part, the two guide shaft seats one (a02) are installed on the fixed seat (a01), the two guide shafts one (a0a) are installed on the two guide shaft seats one (a02), the two linear bearings one (a04) are respectively installed on the two guide shafts one (a0a), the slider one (a05) is sleeved on the two linear bearings one (a04), the two pairs of compression springs one (a06) are respectively sleeved on the two guide shafts one (a0a), each end of each compression spring one (a06) is installed on the guide shaft seat one (a02), and each other end of each compression spring one (a06) is also installed on the guide shaft seat one (a02), the two guide shaft seats two (a07) are installed on the lower wall surface of the slider one (a05), the two guide shafts two (a08) are installed on the two guide shaft seats two (a07), the two guide shafts two (a08) are perpendicularly installed to the two guide shafts one (a0a), the two linear bearings two (a09) are respectively installed on the two guide shafts two (a08), the slider two (a11) is sleeved on the two linear bearings two (a09), the two pairs of compression springs (a10) are respectively sleeved on the two guide shafts two (a08), each end of each compression spring one (a06) is installed on the guide shaft seat two (a07), and each other end of each compression spring one (a06) is also installed on the guide shaft seat two (a07).

3. The novel overhead floor automatic installation robot system according to claim 2, characterized in that, The height adjustment component includes: a heightening motor (a12), a ball spline seat (a13), a ball spline nut (a14), a compression spring three (a15), a limit plate (a16), a ball spline shaft (a17), and a heightening shaft (a18); The height-adjusting motor (a12) is installed on the lower wall surface of the second slider (a11). The ball spline seat (a13) is installed on the driving end of the height-adjusting motor (a12). The ball spline nut (a14) is installed at one end of the ball spline seat (a13). The third compression spring (a15) is installed in the upper inner hole of the ball spline seat (a13). The limit plate (a16) is movably attached to one end of the third compression spring (a15). The limit plate (a16) is located inside the ball spline seat (a13). The ball spline shaft (a17) is installed on the lower wall surface of the limit plate (a16), and the ball spline shaft (a17) movably penetrates through the central part of the ball spline nut (a14). The height-adjusting shaft (a18) is installed at one end of the ball spline shaft (a17).

4. The novel overhead floor automatic installation robot system according to claim 2, characterized in that, The installation frame part includes: an upper base plate (a19), a connecting column (a20), and a lower base plate (a21); The upper base plate (a19) is installed on the robotic arm body (2). The connecting column (a20) is installed on the lower wall surface of the upper base plate (a19). The lower base plate (a21) is installed at one end of the connecting column (a20). The fixing seat (a01) is installed on the lower base plate (a21).

5. The novel overhead floor automatic installation robot system according to claim 4, wherein, The pneumatic suction cup (a22) module includes: a pneumatic suction cup (a22) and a suction cup pipeline (a23); The pneumatic suction cup (a22) is installed on the lower base plate (a21). The suction cup pipeline (a23) is installed on the lower wall surface of the upper base plate (a19).

6. The novel overhead floor automatic installation robot system according to claim 4, wherein, The sensing module includes: a high-precision ranging sensor one (a24), a high-precision ranging sensor two (a25), a gyroscope (a26), a depth camera (a27), and a position sensitive sensor (a28); The high-precision ranging sensor one (a24) is installed on the lower wall surface of the upper base plate (a19). The high-precision ranging sensor two (a25) is installed on the lower wall surface of the upper base plate (a19), and the high-precision ranging sensor two (a25) is installed perpendicular to the high-precision ranging sensor one (a24). The gyroscope (a26) is installed on the lower wall surface of the upper base plate (a19). The depth camera (a27) is installed on the lower wall surface of the upper base plate (a19). The position sensitive sensor (a28) is installed on the side wall surface of the upper base plate (a19).

7. The novel overhead floor automatic installation robot system according to claim 3, characterized in that, One end of the height-adjusting shaft (a18) is a polygonal structure.

8. The novel overhead floor automatic installation robot system according to claim 3, wherein One end of the height-adjusting shaft (a18) is provided with a tapered surface.

9. The novel overhead floor automatic installation robot system according to claim 4, characterized in that The number of the connecting columns (a20) is not less than two.

10. The novel overhead floor automatic installation robot system according to claim 1, characterized in that, The number of the support adjuster modules (a) is not less than one.

11. The novel overhead floor automatic installation robot system according to any one of claims 1-10, characterized in that, It further includes a transport robot.

12. The novel overhead floor automatic installation robot system according to any one of claims 1-10, characterized in that, When the robot system installs the floor, the floor is placed at the rear above the chassis (1) of the transport robot or the AMR autonomous mobile robot.

13. The novel overhead floor automatic installation robot system according to claim 12, characterized in that, The support is pre-installed in the inner hole of the floor and adjusted to the lowest position.

14. The novel overhead floor automatic installation robot system according to claim 13, wherein The specific implementation process of the robot system installing the floor includes: Laying a height reference line and laying reference lines or XY reference objects in two directions of XY at the construction site; The height reference line is identified by using the position-sensitive sensor (a28) or the depth camera (a27). The depth camera (a27) is used to identify the reference line or the XY reference object in the XY two directions, or the distances from two mutually perpendicular high-precision ranging sensors, namely the high-precision ranging sensor one (a24) and the high-precision ranging sensor two (a25), to the XY reference object are detected to achieve precise positioning of the end of the robotic arm (3). After the end of the robotic arm (3) is precisely positioned, the AMR autonomous mobile robot chassis (1) does not move. The precise position of the floor is identified by the depth camera (a27). The end of the robotic arm (3) moves above the transport robot to pick up the floor, or picks up the floor from the rear above the AMR autonomous mobile robot chassis (1). After the end of the robotic arm (3) picks up the floor, the AMR autonomous mobile robot chassis (1) does not move. The robotic arm body (2) works. At the same time, the lifting shaft (a18) of the support lifting module (a) extends into the corresponding support lifting hole. After the end of the robotic arm (3) moves above the previously precisely positioned installation point, the robotic arm body (2) moves vertically downward until the position-sensitive sensor (a28) senses the height reference line, and the floor reaches the predetermined installation position. After the floor reaches the predetermined installation position, the robotic arm body (2) remains stationary. The driving end of the lifting motor (a12) starts to rotate. The lifting shaft (a18) drives the lower part of the support to extend until the lower part of the support contacts the ground. When the feedback current of the lifting motor (a12) reaches the predetermined value, the lifting is in place. The pneumatic suction cup (a22) cuts off the air and releases the floor, and the installation of the floor is completed. Identifying the height reference line by using the position-sensitive sensor (a28) or the depth camera (a27) includes:

15. The novel overhead floor automatic installation robot system according to any one of claims 11-14, characterized in that, The height reference line is a laser line. The height reference line is identified by using the position-sensitive sensor (a28) or the depth camera (a27), or the height reference line is an ink line, and the depth camera (a27) is used to identify the height reference line. The reference lines in the XY two directions are ink lines or laser lines; the reference object is a wall or a self-made part. When the robot system installs the floor, the support lifting module (a) is disassembled from one end of the robotic arm body (2).

16. The novel overhead floor automatic installation robot system according to claim 12, characterized in that, When the robot system installs the floor, the support is separately installed from the floor.

17. The novel overhead floor automatic installation robot system according to claim 16, characterized in that, The specific implementation process of the robot system for installing the floor includes:

18. The novel overhead floor automatic installation robot system according to claim 17, wherein The AMR autonomous mobile robot chassis (1) autonomously moves to the installation point, and at the same time, the transport robot transports the floor and autonomously moves to the installation point. The end of the robotic arm (3) is leveled by the gyroscope (a26) in the end of the robotic arm (3). The end of the robotic arm (3) moves above the estimated installation point. The relative positions of the end of the robotic arm (3) and the references in the XY two directions are measured by using the mutually perpendicular high-precision ranging sensor one (a24) and the high-precision ranging sensor two (a25), or the reference lines in the previously set XY two directions are identified by using the depth camera (a27) to precisely position the robotic arm body (2). ​ After accurately positioning the robotic arm body (2), the AMR autonomous mobile robot chassis (1) does not move. The precise position of the floor is identified through a depth camera (a27). The end of the robotic arm (3) moves above the transport robot to pick up the floor, or picks up the floor from the rear above the AMR autonomous mobile robot chassis (1). After the end of the robotic arm (3) picks up the board, the AMR autonomous mobile robot chassis (1) does not move. After the end of the robotic arm (3) moves above the previously accurately positioned installation point, the robotic arm body (2) moves vertically downward until the position-sensitive sensor (a28) senses the height reference line, and the floor reaches the predetermined installation position. After the floor reaches the predetermined installation position, the robotic arm body (2) remains stationary. Manually pick up the support and place it under the floor, and adjust the support until the support contacts both the floor and the ground simultaneously, which is regarded as the height adjustment being in place. After the support is adjusted to the appropriate height, the pneumatic suction cup (a22) cuts off the air supply and releases the floor, and the floor installation is completed.

19. The novel overhead floor automatic installation robot system according to claim 18, characterized in that, Adjusting the support until the support contacts both the floor and the ground simultaneously includes: When the support contacts the floor first, adjust the support to contact the ground; when the support contacts the ground first, adjust the support to contact the floor.

20. The novel overhead floor automatic installation robot system according to claim 18, wherein If the floor does not reach the predetermined installation position accurately, the specific implementation process of the robot system for installing the floor further includes: Manually control the end of the robotic arm (3) to make fine adjustments in the X, Y directions and the rotational direction around the Z axis.

21. The novel overhead floor automatic installation robot system according to claim 14 or 18, characterized in that, The end of the robotic arm (3) moves above the transport robot to pick up the floor, or picks up the floor from the rear above the AMR autonomous mobile robot chassis (1) includes: Lower the end of the robotic arm (3), and through the operation of the suction cup pipeline (a23), make the pneumatic suction cup (a22) suck the floor.

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