Intelligent disassembly and assembly robot

Abstract

The present application relates to the technical field of intelligent maintenance robots, and in particular to an intelligent disassembly and assembly robot. An intelligent disassembly and assembly robot proposed in the present application includes: a mobile device, a disassembly and assembly device, and a visual module. The disassembly and assembly device is installed on the mobile device. The visual module is used to obtain screw hole position information. Among them, the mobile device drives the disassembly and assembly device to move with reference to the screw hole position information, and the disassembly and assembly device disassembles the part to be repaired with reference to the screw hole position information. The screw hole position information of the part to be repaired is obtained through the visual module, and the mobile device drives the disassembly and assembly device to move with reference to the screw hole position information, so that the disassembly and assembly device moves to the screw hole position. When the part to be repaired is to be removed, the disassembly and assembly device removes the screws at the screw hole position; when the replacement part is to be installed, the disassembly and assembly device installs the screws at the screw hole position. Then the removal of the part to be repaired and the installation of the replacement part are completed. In this way, the LED display screen is automatically repaired.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent maintenance robots, and in particular to an intelligent disassembly and assembly robot. Background Art

[0002] With the development of science and technology, the way of information dissemination is also changing with each passing day. Disseminating information to people in a visual way through pictures can be impressive, with a wide range and high efficiency. LED display screens can display a variety of pictures, and their applications are becoming more and more extensive. In order to make the dissemination range of the pictures displayed by LED display screens wider, the area of ​​LED display screens is often set larger and the installation height is higher.

[0003] When an LED display screen fails, it needs to be repaired. Currently, the LED display screen is often repaired manually. If the LED display screen is repaired manually, it will not only cause the maintenance personnel to have high labor intensity, but also be more dangerous.

[0004] It can be seen that how to automatically repair LED display screens is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides an intelligent disassembly and assembly robot, which aims to solve the technical problem of how to automatically repair an LED display screen in the prior art.

[0006] The present application provides an intelligent disassembly and assembly robot, comprising:

[0007] Mobile devices;

[0008] A disassembly and assembly device, the disassembly and assembly device is installed on the moving device, and the disassembly and assembly device includes a driving mechanism and a twisting mechanism;

[0009] A visual module, wherein the visual module is used to obtain screw hole position information;

[0010] Wherein, the driving mechanism is installed on the moving device, the twisting mechanism is connected to the driving mechanism, and the driving mechanism drives the twisting mechanism to rotate clockwise or counterclockwise;

[0011] The moving device drives the disassembling device to move with reference to the screw hole position information, so that the twisting mechanism is aligned with the screw hole according to the screw hole position information;

[0012] The disassembly and assembly device disassembles and assembles the part to be repaired with reference to the screw hole position information.

[0013] Furthermore, the driving mechanism includes a motor device and a transmission device, the transmission device is connected to the motor device, and the transmission device is provided with a first threaded hole;

[0014] The screwing mechanism comprises a screw rod, a buffer and a disassembly tool head. The disassembly tool head is installed on the end of the screw rod through the buffer. The screw rod is matched with the first threaded hole.

[0015] Furthermore, the transmission device comprises:

[0016] a first gear assembly, the first gear assembly being mounted at a power output end of the motor device;

[0017] A second gear assembly is meshed with the first gear assembly, and the screw hole is arranged at the rotation center of the second gear assembly.

[0018] Furthermore, the transmission device further comprises:

[0019] A guide nut, wherein the guide nut is matched with the screw rod, and the guide nut and the motor device are kept relatively fixed.

[0020] Furthermore, the visual module includes a first visual unit and a second visual unit, and a visual field height of the first visual unit is higher than a visual field height of the second visual unit.

[0021] Furthermore, the mobile device comprises:

[0022] a first moving component;

[0023] A second moving assembly, wherein the first moving assembly drives the second moving assembly to move, and the second moving assembly drives the disassembly and assembly device to move;

[0024] Wherein, the moving direction of the first moving component intersects with the moving direction of the second moving component.

[0025] Furthermore, the intelligent disassembly and assembly robot provided by the present application further includes a pick-and-place device, and the moving device drives the pick-and-place device to move;

[0026] The pick-and-place device comprises:

[0027] A third moving component, wherein the moving direction of the third moving component is toward or away from the part to be repaired;

[0028] At least one docking assembly, the docking assemblies are dispersedly arranged, and the third moving assembly drives the docking assembly to move;

[0029] Wherein, during the process of taking out the part to be repaired, the docking assembly extends into the screw hole of the part to be repaired.

[0030] Furthermore, the docking assembly comprises:

[0031] A docking screw rod, the docking screw rod is adapted to the screw hole;

[0032] A driving assembly is provided with a second threaded hole, and the second threaded hole is adapted to the docking screw so that the driving assembly drives the docking screw to rotate.

[0033] Furthermore, the pick-and-place device further comprises:

[0034] A first loading assembly is used to load the removed parts to be repaired, and the first loading assembly is located at the movement track of the pick-and-place device.

[0035] Furthermore, the pick-and-place device further comprises:

[0036] A second loading assembly, the second loading assembly is used for loading replacement parts, and the second loading assembly is located at the movement track of the pick-and-place device.

[0037] The beneficial effects achieved by this application are:

[0038] The present application proposes an intelligent disassembly and assembly robot, which obtains the screw hole position information of the part to be repaired through a visual module, and the moving device drives the disassembly and assembly device to move with reference to the screw hole position information, so that the disassembly and assembly device moves to the screw hole position. When the part to be repaired is to be removed, the disassembly and assembly device removes the screws at the screw hole position; when the replacement part is to be installed, the disassembly and assembly device installs the screws at the screw hole position. Then the removal of the part to be repaired and the installation of the replacement part are completed. In this way, the LED display screen is automatically repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the three-dimensional structure of the robot in the embodiment of the present invention Figure 1 ;

[0040] Figure 2 Schematic diagram of the three-dimensional structure of the robot in the embodiment of the present invention Figure 2 ;

[0041] Figure 3 Schematic diagram of the three-dimensional structure of a robot belt loading device in another embodiment of the present invention Figure 1 ;

[0042] Figure 4 Schematic diagram of the three-dimensional structure of a robot belt loading device in another embodiment of the present invention Figure 2 ;

[0043] Figure 5 Schematic diagram of the three-dimensional structure of a robot with a flight module in another embodiment of the present invention Figure 1 ;

[0044] Figure 6 Schematic diagram of the three-dimensional structure of a robot with a flight module in another embodiment of the present invention Figure 2 ;

[0045] Figure 7 is a schematic diagram of the three-dimensional structure of the disassembly and assembly device in an embodiment of the present invention;

[0046] Figure 8 is a schematic diagram of the three-dimensional structure of a pick-and-place device in an embodiment of the present invention;

[0047] Fig. 9 is a schematic diagram of the three-dimensional structure of the docking assembly in an embodiment of the present invention;

[0048] Fig.10 is a schematic diagram of the three-dimensional structure of a pick-and-place device in another embodiment of the present invention;

[0049] Fig.11 is a control module diagram of a remote control module in an embodiment of the present invention;

[0050] Fig.12 is a structural block diagram of a remote control module in an embodiment of the present invention;

[0051] Fig.13 4 is a flow chart of a control method in an embodiment of the present invention.

[0052] Description of main component symbols:

[0053] 100, robot; 110, robot body; 120, maintenance module; 20, moving device; 21, first moving assembly; 22, second moving assembly; 30, disassembly and assembly device; 31, driving mechanism; 311, motor device; 312, transmission device; 313, first gear assembly; 314, second gear assembly; 315, guide nut; 316, first threaded hole; 32, screwing mechanism; 321, screw rod; 322, buffer; 323, disassembly and assembly tool head; 40, pick-and-place device; 41, third moving assembly; 42, docking assembly; 43, docking screw; 44, driving assembly; 45, buffer assembly; 46, second threaded hole; 47, first loading assembly; 48, second loading assembly; 130, visual module; 131, first visual unit; 1 32. Second visual unit; 140. Loading device; 141. Loading screw hole; 150. First fixing device; 151. First suction cup assembly; 152. First negative pressure assembly; 160. Second fixing device; 161. Second suction cup assembly; 162. Second negative pressure assembly; 170. Flight module; 171. Rotor mechanism; 172. Driving motor; 173. Rotating blades; 174. Steering mechanism; 175. First bracket assembly; 176. First driving device; 177. Second bracket assembly; 178. Second driving device; 179. Third bracket assembly; 180. Distance detection module; 190. Remote control module; 191. Display interface; 192. Operating unit; 201. Parts to be repaired; 202. Replacement parts; 203. Screw holes; 204. Screws. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. In addition, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] In the description of the present invention, it is necessary to understand that the terms "length", "width", "up", "down", "left", "right", "horizontal", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0059] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the examples of various specific processes and materials provided by the present invention, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0060] Embodiment 1

[0061] Please refer to Figure 1 to Figure 2 In some embodiments of the present application, a robot 100 proposed in the present application includes: a moving device 20, a disassembly and assembly device 30 and a visual module 130.

[0062] The disassembly and assembly device 30 is installed on the mobile device 20. The visual module 130 is used to obtain the position information of the screw hole 203. The mobile device 20 drives the disassembly and assembly device 30 to move with reference to the position information of the screw hole 203, and the disassembly and assembly device 30 disassembles and assembles the repaired part 201 with reference to the position information of the screw hole 203.

[0063] The visual module 130 obtains the position information of the screw hole 203 of the repaired part 201, and the moving device 20 drives the disassembly and assembly device 30 to move with reference to the position information of the screw hole 203, so that the disassembly and assembly device 30 moves to the position of the screw hole 203. When the repaired part 201 is to be disassembled, the disassembly and assembly device 30 removes the screw 204 at the screw hole 203; when the replacement part 202 is to be installed, the disassembly and assembly device 30 installs the screw 204 at the screw hole 203. Thus, the removal of the repaired part 201 and the installation of the replacement part 202 are completed.

[0064] In this way, the LED display screen is automatically repaired.

[0065] In some embodiments of the present application, the robot 100 can be suspended so as to be combined with the LED display screen to be repaired, so that the robot 100 can work stably at the LED display screen.

[0066] See also Figure 7 In some embodiments of the present application, the disassembly and assembly device 30 includes: a driving mechanism 31 and a twisting mechanism 32. The driving mechanism 31 is installed on the mobile device 20. The twisting mechanism 32 is connected to the driving mechanism 31.

[0067] The screwing mechanism 32 is aligned with the screw hole 203 for installing the repaired part 201 according to the image information, and the driving mechanism 31 drives the screwing mechanism 32 to rotate clockwise or counterclockwise.

[0068] During the process of removing the part to be repaired 201, the moving device 20 drives the disassembling device 30 to move to the position of the mounting screw hole 203 of the part to be repaired 201, and drives the disassembling device 30 to align with the screw hole 203 according to the position information of the screw hole 203. The driving mechanism 31 drives the twisting mechanism 32 to rotate clockwise, so that the twisting mechanism 32 is close to the screw 204 that fixes the part to be repaired 201. When the twisting mechanism 32 contacts the screw 204 that fixes the part to be repaired 201, the driving mechanism 31 changes the running direction, and then the twisting mechanism 32 drives the screw 204 to rotate counterclockwise, so that the screw 204 that fixes the part to be repaired 201 is removed. After all the screws 204 that fix the part to be repaired 201 are removed, the part to be repaired 201 can be removed.

[0069] During the installation of the replacement part 202, the moving device 20 drives the disassembly and assembly device 30 to move to the installation hole position of the replacement part 202, and drives the disassembly and assembly device 30 to align with the screw hole 203 according to the position information of the screw hole 203. The driving mechanism 31 drives the twisting mechanism 32 to rotate clockwise, so that the twisting mechanism 32 is close to the screw 204 in the screw hole 203. When the twisting mechanism 32 contacts the screw 204 in the fixing screw hole 203, the driving mechanism 31 drives the twisting mechanism 32 to continue to rotate clockwise, and then the twisting mechanism 32 drives the screw 204 to rotate clockwise, so that the replacement part 202 is installed and tightened. After all the screws 204 fixing the replacement part are installed and tightened, the installation of the replacement part is completed.

[0070] In this way, the maintenance of the LED display screen is automatically completed, which avoids the workers from working at heights, ensures the safety of the workers, and improves work efficiency.

[0071] Please refer to Figure 1 and Figure 7 In some embodiments of the present application, the driving mechanism 31 includes a motor device 311 and a transmission device 312, the transmission device 312 is connected to the motor device 311, and the transmission device 312 is provided with a first threaded hole 316. The screwing mechanism 32 includes a screw rod 321, a buffer 322, and a disassembly tool head 323, the disassembly tool head 323 is installed at the end of the screw rod 321 through the buffer 322, and the screw rod 321 is adapted to the first threaded hole 316.

[0072] The motor device 311 rotates, driving the transmission device 312 to rotate, thereby rotating the first threaded hole 316. During the rotation of the first threaded hole 316, the screw rod 321 is forced to rotate, and the disassembly tool head 323 is driven to rotate by the screw rod 321. The screw 204 is disassembled and assembled by the rotation of the disassembly tool head 323, and the repaired part 201 is disassembled and assembled. The disassembly tool head 323 can be a screw 204 bit or a wrench head.

[0073] During the process of removing the repaired part 201, the screw rod 321 rotates clockwise, thereby driving the disassembly tool head 323 to approach the screw 204 fixing the repaired part 201. When the disassembly tool head 323 contacts the screw 204 fixing the repaired part 201, the screw rod 321 rotates counterclockwise again, thereby removing the screw 204 through the disassembly tool head 323.

[0074] During the installation of the replacement part 202, the screw rod 321 rotates clockwise, thereby driving the disassembly tool head 323 to approach the screw 204 in the screw hole 203. When the disassembly tool head 323 contacts the screw 204, the screw rod 321 continues to rotate clockwise, thereby causing the disassembly tool head 323 to drive the screw 204 to rotate clockwise, thereby installing and tightening the replacement part 202. When the screwing mechanism 32 tightens the screw 204, it forces the buffer 322 to undergo elastic deformation, thereby preventing the disassembly tool head 323 and the screw 204 from being subjected to excessive impact force, thereby ensuring the safety of the disassembly process. After the screw 204 is installed and tightened, the screw rod 321 rotates counterclockwise, thereby causing the disassembly tool head 323 to withdraw from the screw 204 head range of the screw 204. During the withdrawal of the disassembly tool head 323, the buffer 322 undergoes elastic deformation, so that the disassembly tool head 323 will not rotate with the screw rod 321, and will not drive the screw 204 to rotate counterclockwise, thereby preventing the screw 204 from loosening during the withdrawal of the disassembly tool head 323, thereby ensuring the effectiveness of the installation process. The screw rod 321 continues to rotate until the disassembly tool head 323 completely withdraws from the screw 204 head range of the screw 204 and moves to a safe position to facilitate the disassembly of the next screw 204. The buffer 322 can be a spring, a coupling, a combination of a coupling and a spring, or other structures that can undergo elastic deformation and will not drive the tightened screw 204 to rotate.

[0075] A motor device 311 can be used to move the disassembly tool head 323 closer to or further away from the screw 204, and to disassemble and assemble the screw 204 without having to set up too many power sources, thereby simplifying the equipment structure, reducing equipment costs, making the equipment easier to install, debug and maintain, and effectively reducing equipment energy consumption.

[0076] In some embodiments of the present application, the disassembly tool head 323 drives the screw 204 by magnetic attraction.

[0077] After the disassembly and assembly device 30 removes the screw 204 , the disassembly and assembly tool head 323 moves with the screw 204 by magnetic attraction to prevent the screw 204 from falling off the disassembly and assembly tool head 323 .

[0078] In some embodiments of the present application, the disassembly tool head 323 may be magnetic itself, or may be made of a magnetic conductive material, and the disassembly tool head 323 may be excited by a magnetic component, wherein the magnetic component may include a permanent magnet.

[0079] In some embodiments of the present application, the magnetic component may include an electromagnet, and the magnetic attraction of the magnetic component is controlled by controlling the voltage of the electromagnet, thereby preventing the screw 204 from falling off the disassembly tool head 323.

[0080] See also Figure 7In some embodiments of the present application, the transmission device 312 includes: a first gear assembly 313 and a second gear assembly 314. The first gear assembly 313 is installed at the power output end of the motor device 311. The second gear assembly 314 is meshed with the first gear assembly 313, and the screw hole 203 is set at the rotation center of the second gear assembly 314.

[0081] The motor device 311 drives the first gear assembly 313 to rotate, and drives the second gear assembly 314 to rotate through meshing, so that the screw hole 203 rotates at the rotation center of the second gear assembly 314, thereby driving the screw rod 321 to rotate.

[0082] In some embodiments of the present application, the transmission device 312 further includes a guide nut 315. The guide nut 315 is matched with the screw rod 321, and the guide nut 315 and the motor device 311 are relatively fixed.

[0083] Through the action of the guide nut 315 , the force on the screw rod 321 is more balanced, and the rotation of the screw rod 321 is more stable and reliable.

[0084] See also Figure 2 In some embodiments of the present application, the visual module 130 includes a first visual unit 131 and a second visual unit 132 , and a field of view height of the first visual unit 131 is higher than a field of view height of the second visual unit 132 .

[0085] By making the visual field height of the first visual unit 131 higher than the visual field height of the second visual unit 132, the first visual unit 131 has a wider visual field range, and then the first visual unit 131 performs global detection, and then identifies the damaged part to be repaired 201. The mobile device 20 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the detection result of the first visual unit 131. The part to be repaired 201 is detected by the second visual unit 132, and then the position of the screw hole 203 is determined. The mobile device 20 moves the disassembly and assembly device 30 to the position of the screw hole 203 according to the detection result of the second visual unit 132, and then the disassembly and assembly device 30 disassembles and assembles the screw 204 fixing the part to be repaired 201 at the position of the screw hole 203. In the process of aligning the disassembly and assembly device 30 with the screw 204, the second visual unit 132 performs precise positioning, so as to ensure that the disassembly and assembly device 30 can accurately dock with the screw 204. In this way, through the detection of the first visual unit 131 and the second visual unit 132, the disassembly and assembly device 30 can accurately dock with the screw 204 at the damaged part to be repaired 201, thereby improving the reliability of the robot 100 and the effectiveness of the disassembly and assembly work.

[0086] See also Figure 1 to Figure 2In some embodiments of the present application, the moving device 20 includes: a first moving component 21 and a second moving component 22. The first moving component 21 drives the second moving component 22 to move, and the second moving component 22 drives the disassembly and assembly device 30 to move. The moving direction of the first moving component 21 intersects with the moving direction of the second moving component 22.

[0087] Through the action of the first moving assembly 21 and the second moving assembly 22 , the disassembly and assembly device 30 can move in a global range, so that the disassembly and assembly device 30 can reach the damaged part 201 to be repaired and accurately dock with the screw 204 .

[0088] The first moving assembly 21 and the second moving assembly 22 can be a gear rack drive structure, a synchronous belt drive structure, a gear chain drive structure, a screw drive structure, or other drive structures that can drive components to move.

[0089] Please refer to Figure 1 to Figure 2 and Figure 8 The robot 100 proposed in the present application further includes a pick-and-place device 40, and the moving device 20 drives the pick-and-place device 40 to move. The pick-and-place device 40 includes: a third moving component 41 and at least one docking component 42. The moving direction of the third moving component 41 is toward or away from the part to be repaired 201. The docking components 42 are dispersedly arranged, and the third moving component 41 drives the docking component 42 to move. In the process of taking out the part to be repaired 201, the docking component 42 extends into the screw hole 203 of the part to be repaired 201.

[0090] After all the screws 204 fixing the repaired part 201 are removed, the moving device 20 drives the pick-and-place device 40 to move to the repaired part 201 to be removed, and the docking component 42 is positioned at the screw hole 203 through the position information of the screw hole 203 obtained by the visual module 130, and then extends into the screw hole 203, so that the docking component 42 is combined with the repaired part 201. The third moving component 41 drives the docking component 42 to move away from the repaired part 201, and because the docking component 42 is combined with the repaired part 201, when the docking component 42 is away from the repaired part 201, the repaired part 201 is removed from its installation position, thereby completing the removal of the repaired part 201.

[0091] After the repaired part 201 is removed, the pick-and-place device 40 takes out the replacement part 202 and is driven by the moving device 20 to move to the installation position. The third moving component 41 drives the docking component 42 to move toward the installation position, and then puts the replacement part 202 into the installation position. Then, the docking component 42 moves out of the screw hole 203 of the replacement part 202, and the moving device 20 drives the pick-and-place device 40 to leave the installation position, and drives the disassembly and assembly device 30 to move to the replacement part 202, tightens the screw 204 at the screw hole 203 of the replacement part 202, and completes the installation of the replacement part 202. Among them, the third moving component 41 can be a screw rod mode, a cylinder, an electric cylinder, a cam mechanism, or other devices that can drive the docking component 42 to approach or move away from the installation position of the repaired part 201.

[0092] In this way, the LED screen is repaired by the robot 100 .

[0093] See also Fig. 9 In some embodiments of the present application, the docking assembly 42 includes: a docking screw 43 and a driving assembly 44. The docking screw 43 is adapted to the screw hole 203. The driving assembly 44 is provided with a second threaded hole 46, and the second threaded hole 46 is adapted to the docking screw 43, so that the driving assembly 44 drives the docking screw 43 to rotate.

[0094] During the operation of the driving assembly 44, the second threaded hole 46 rotates, thereby driving the docking screw 43 to rotate, so that the docking screw 43 extends into the threaded hole, and the docking assembly 42 is combined with the part to be repaired 201 through threaded engagement.

[0095] See also Figure 1 to Figure 2 In some embodiments of the present application, the pick-and-place device 40 further includes: a first loading assembly 47 . The first loading assembly 47 is used to load the removed repaired part 201 , and the first loading assembly 47 is located at the motion track of the pick-and-place device 40 .

[0096] After the part to be repaired 201 is removed, the pick-and-place device 40 drives the part to be repaired 201 to the first loading assembly 47, and places the part to be repaired 201 at the first loading assembly 47. The removed part to be repaired 201 is loaded and stored through the first loading assembly 47, so that the robot 100 can remove multiple parts to be repaired 201, thereby improving the working efficiency of the robot 100.

[0097] See also Figures 8 to 9 In some embodiments of the present application, the pick-and-place device 40 further includes: a second loading assembly 48 . The second loading assembly 48 is used to load the replacement part 202 , and the second loading assembly 48 is located at the motion track of the pick-and-place device 40 .

[0098] After the repaired part 201 is removed, the pick-and-place device 40 moves to the second loading assembly 48 to take out the replacement part 202, and moves the replacement part 202 to the installation position. Multiple replacement parts 202 are loaded by the second loading assembly 48, so that the robot 100 can install multiple replacement parts 202, thereby improving the working efficiency of the robot 100.

[0099] Embodiment 2

[0100] See also Figure 3 to Figure 4 In some embodiments of the present application, a robot 100 proposed in the present application includes: a disassembly and assembly device 30, a loading device 140, a pick-and-place device 40, a visual module 130, and a moving device 20. The disassembly and assembly device 30 is used to disassemble and assemble the screws 204 that fix the part to be repaired 201. The loading device 140 is used to load the screws 204. The pick-and-place device 40 is used to pick and place the part to be repaired 201 at the installation position. The visual module 130 is used to obtain image information of the part to be repaired 201. The moving device 20 is used to drive at least one of the disassembly and assembly device 30, the pick-and-place device 40, and the visual module 130 to move according to the image information. Among them, during the maintenance process, the disassembly and assembly device 30 puts the removed screws 204 into the loading device 140, and the disassembly and assembly device 30 takes the screws 204 at the loading device 140.

[0101] The visual module 130 obtains image information of the repaired part 201, and the moving device 20 drives the disassembly and assembly loading device to move to the damaged repaired part 201 according to the image information, and removes the screws 204 fixing the repaired part 201 through the disassembly and assembly device 30. After the disassembly and assembly device 30 removes the screws 204, it moves the screws 204 to the loading device 140, puts the removed screws 204 into the loading device 140, and loads the screws 204 through the loading device 140.

[0102] After all the screws 204 fixing the part to be repaired 201 are removed, the moving device 20 moves the picking and placing device 40 to the installation position of the part to be repaired 201, and removes the part to be repaired 201 from the installation position of the part to be repaired 201 through the picking and placing device 40, and installs a replacement part 202 that can work normally.

[0103] After the replacement part 202 is loaded into the installation position, the disassembly and assembly device 30 takes the screw 204 from the loading device 140 and installs the screw 204 on the replacement part 202 at the installation position, fixes the replacement part 202 by the screw 204, and completes the maintenance of the part to be repaired 201.

[0104] The entire maintenance process is completed by the robot 100, thus improving the safety and convenience of the LED display screen maintenance process.

[0105] See also Figure 3 to Figure 4In some embodiments of the present application, the loading device 140 is provided with a loading screw hole 141, the loading screw hole 141 matches the screw 204, and the loading screw hole 141 is located within the moving range of loading and disassembly.

[0106] After the disassembly and assembly device 30 removes the screw 204 that fixes the part to be repaired 201, the moving device 20 drives the disassembly and assembly device 30 to move to the loading device 140, and aligns the removed screw 204 with the loading screw hole 141, and then the disassembly and assembly device 30 screws the screw 204 into the loading screw hole 141, and then loads the screw 204 through the loading device 140 to prevent the screw 204 from falling.

[0107] After the repaired part 201 is removed, the replacement part 202 is installed in the installation position of the repaired part 201. In the process of installing the replacement part 202, the disassembly and assembly device 30 is driven by the moving device 20 to move to the loading device 140, and the screw 204 at the loading device 140 is screwed out, so that the screw 204 for installing the replacement part 202 is taken out at the loading device 140. After the disassembly and assembly device 30 takes out the screw 204, the moving device 20 drives the disassembly and assembly device 30 to move to the replacement part 202, and screws the screw 204 into the screw hole 203 for fixing the replacement part 202, and fixes the replacement part 202 by the screw 204. A plurality of screws 204 can be pre-stored in the loading device 140, thereby ensuring that sufficient screws 204 can be taken. The removed screws 204 are loaded into the loading device 140, and when the screws 204 are taken out, the removed screws 204 can be taken out, thereby avoiding waste of resources.

[0108] In some embodiments of the present application, the number of the loading screw holes 141 is greater than or equal to the number of the screws 204 for fixing a single repaired part 201 , and the loading screw holes 141 are used to fix the screws 204 .

[0109] By making the number of the loading screw holes 141 greater than or equal to the number of the screws 204 fixing a single repaired part 201 , it is ensured that the loading device 140 has enough holes to load the removed screws 204 .

[0110] In some embodiments of the present application, the number of loading screw holes 141 may be an integer multiple of the number of screws 204 fixing each repaired part 201, thereby ensuring that the robot 100 can disassemble and assemble multiple damaged repaired parts 201 at a time, thereby improving the working capacity of the robot 100.

[0111] See also Figure 3 to Figure 4 and Fig.10The present application proposes a robot 100, wherein the pick-and-place device 40 comprises: a third moving component 41 and at least one docking component 42. The moving direction of the third moving component 41 is toward or away from the part to be repaired 201. The docking components 42 are dispersedly arranged, and the third moving component 41 drives the docking components 42 to move. In the process of taking out the part to be repaired 201, the docking component 42 extends into the screw hole 203 of the part to be repaired 201. The moving device 20 drives the pick-and-place device 40 to move.

[0112] After all the screws 204 fixing the repaired part 201 are removed, the moving device 20 drives the pick-and-place device 40 to move to the repaired part 201 to be removed, and the docking component 42 is positioned at the screw hole 203 through the position information of the screw hole 203 obtained by the visual module 130, and then extends into the screw hole 203, so that the docking component 42 is combined with the repaired part 201. The third moving component 41 drives the docking component 42 to move away from the repaired part 201, and because the docking component 42 is combined with the repaired part 201, when the docking component 42 is away from the repaired part 201, the repaired part 201 is removed from its installation position, thereby completing the removal of the repaired part 201.

[0113] After the repaired part 201 is removed, the pick-and-place device 40 takes out the replacement part 202 and is driven by the moving device 20 to move to the installation position. The third moving component 41 drives the docking component 42 to move toward the installation position, and then puts the replacement part 202 into the installation position. Then, the docking component 42 moves out of the screw hole 203 of the replacement part 202, and the moving device 20 drives the pick-and-place device 40 to leave the installation position, and drives the disassembly and assembly device 30 to move to the replacement part 202, tightens the screw 204 at the screw hole 203 of the replacement part 202, and completes the installation of the replacement part 202. Among them, the third moving component 41 can be a screw rod mode, a cylinder, an electric cylinder, a cam mechanism, or other devices that can drive the docking component 42 to approach or move away from the installation position of the repaired part 201.

[0114] In this way, the LED screen is repaired by the robot 100 .

[0115] See also Fig.10 In some embodiments of the present application, the docking assembly 42 includes: a docking screw 43, a driving assembly 44 and a buffer assembly 45. The docking screw 43 is adapted to the screw hole 203. The driving assembly 44 is used to drive the docking screw 43 to rotate. The buffer assembly 45 is installed at the power output end of the driving assembly 44, and the docking screw 43 is connected to the driving assembly 44 through the buffer assembly 45. In the process of screwing the docking screw 43 into the screw hole 203, the buffer assembly 45 undergoes elastic deformation so that the docking screw 43 can smoothly enter the screw hole 203.

[0116] During the operation of the driving assembly 44 , the docking screw 43 is driven to rotate, so that the docking screw 43 extends into the threaded hole, and the docking assembly 42 is combined with the part to be repaired 201 through threaded engagement.

[0117] When the docking screw 43 enters the screw hole 203, the buffer assembly 45 is elastically deformed in the direction close to the screw hole 203, so that the screw 321 can extend into the screw hole 203 during the rotation process, and the docking screw 43 can be smoothly screwed into the screw hole 203. The buffer assembly 45 may include a tension spring, and the elastic deformation is generated by the tension spring.

[0118] In some embodiments of the present application, the visual module 130 includes a first visual unit 131 and a second visual unit 132, and the visual field height of the first visual unit 131 is higher than the visual field height of the second visual unit 132. The first visual unit 131 is used to obtain first image information, and the second visual unit 132 is used to obtain second image information. The first image information includes global image information, and the second image information includes image information of the damaged part to be repaired 201.

[0119] In some embodiments of the present application, the mobile device 20 drives the disassembly and assembly device 30 to move within a global range according to the first image information, and the mobile device 20 drives the disassembly and assembly device 30 to move within the range of the part to be repaired 201 according to the second image information.

[0120] By making the visual field height of the first visual unit 131 higher than the visual field height of the second visual unit 132, the first visual unit 131 has a wider visual field range, and then the first visual unit 131 performs global detection, and then identifies the damaged part to be repaired 201. The mobile device 20 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the detection result of the first visual unit 131. The part to be repaired 201 is detected by the second visual unit 132, and then the position of the screw hole 203 is determined. The mobile device 20 moves the disassembly and assembly device 30 to the position of the screw hole 203 according to the detection result of the second visual unit 132, and then the disassembly and assembly device 30 disassembles and assembles the screw 204 fixing the part to be repaired 201 at the position of the screw hole 203. In the process of aligning the disassembly and assembly device 30 with the screw 204, the second visual unit 132 performs precise positioning, so as to ensure that the disassembly and assembly device 30 can accurately dock with the screw 204. In this way, through the detection of the first visual unit 131 and the second visual unit 132, the disassembly and assembly device 30 can accurately dock with the screw 204 at the damaged part to be repaired 201, thereby improving the reliability of the robot 100 and the effectiveness of the disassembly and assembly work.

[0121] It should be pointed out that if the field of view of the first visual unit 131 can fully cover the global area, the first visual unit 131 obtains the global image information at one time; if the field of view of the first visual unit 131 cannot cover the global area, the mobile device 20 drives the visual module 130 to move, and scans the global area through the first visual unit 131 to obtain the image information of the global area.

[0122] It should be further pointed out that whether the repaired part 201 is damaged can be judged through image information such as appearance, luminescence, etc.

[0123] Embodiment 3

[0124] See also Figure 3 to Figure 4 In some embodiments of the present application, a robot 100 proposed in the present application includes: a disassembly and assembly device 30, a picking and placing device 40, a visual module 130, a moving device 20, a first fixing device 150 and a second fixing device 160.

[0125] The disassembly and assembly device 30 is used for disassembling and assembling the screws 204 of the part to be repaired 201. The pick-up and placement device 40 is used for picking up and placing the part to be repaired 201 at the installation position. The visual module 130 is used for acquiring image information of the part to be repaired 201. The mobile device 20 includes a first mobile component 21 and a second mobile component 22, the second mobile component 22 is installed at the power output end of the first mobile component 21, the disassembly and assembly device 30 is installed at the power output end of the second mobile component 22, and the moving directions of the first mobile component 21 and the second mobile component 22 intersect with each other. The first fixing device 150 is installed at the first mobile component 21, and the first fixing device 150 is used to fix the first mobile component 21. The second fixing device 160 is fixedly connected to the disassembly and assembly device 30, and the second fixing device 160 is used to fix the disassembly and assembly device 30.

[0126] The moving device 20 is used to drive the disassembly and assembly device 30, the pick-and-place device 40 and the visual module 130 to move according to the image information. During the maintenance process, the first fixing device 150 and the second fixing device 160 operate alternately or simultaneously.

[0127] In some embodiments of the present application, the first moving component 21 and the second moving component 22 can be a gear rack drive structure, a synchronous belt drive structure, a gear chain drive structure, a screw drive structure, or other drive structures that can drive components to move.

[0128] During the process of repairing the LED display screen, the robot 100 detects the LED display screen through the visual module 130, and then determines the position of the damaged part to be repaired 201. The robot 100 moves to the part to be repaired 201 through the cooperation between the first fixing device 150 and the second fixing device 160.

[0129] During the movement of the robot 100, the first moving component 21 is fixed by the first fixing device 150, so that the first moving component 21 and the LED display screen remain relatively fixed. Then, through the mutual cooperation of the first moving component 21 and the second moving component 22, the second fixing device 160 and the disassembly and assembly device 30 are moved relative to the first fixing device 150. Then, the disassembly and assembly device 30 is fixed by the second fixing device 160, so that the disassembly and assembly device 30 and the LED display screen remain relatively fixed. Then, the first fixing device 150 releases the fixation of the first moving component 21, so that the first moving component 21 can move relative to the LED display screen. Then, through the mutual cooperation of the first moving component 21 and the second moving component 22, the first moving component 21 and the first fixing device 150 move relative to the second fixing device 160. Then, the first moving component 21 is fixed by the first fixing device 150, so that the first moving component 21 and the LED display screen remain relatively fixed.

[0130] In this way, through the alternating operation of the first fixing device 150 and the second fixing device 160, and the cooperation of the first moving component 21 and the second moving component 22, the robot 100 moves on the LED display screen, so that the robot 100 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the image information detected by the visual module 130, and then removes the part to be repaired 201 through the disassembly and assembly device 30 and the picking and placing device 40.

[0131] Since the moving directions of the first moving component 21 and the second moving component 22 intersect each other, the robot 100 can move within the global plane range of the LED display screen, thereby enabling the robot 100 to repair the LED display screen within the global plane range of the LED display screen.

[0132] If the size of the LED display screen is larger than the field of view of the visual module 130, the movement of the robot 100 drives the visual module 130 to move, so that the robot 100 can scan and detect the LED display screen through the visual module 130, and then repair all fault points of the LED display screen.

[0133] The robot 100 performs fully automatic intelligent maintenance on the LED display screen, thereby avoiding the workers from working at heights, and the robot 100 replaces the workers in repairing the LED display screen, thereby improving the safety of the LED display screen maintenance process and reducing the labor intensity of the workers.

[0134] During the maintenance of the LED display screen, the first fixing device 150 and the second fixing device 160 operate simultaneously, and the robot 100 and the LED display screen are kept relatively fixed by the first fixing device 150, so that the robot 100 can work stably; the disassembly and assembly device 30 and the LED display screen are kept relatively fixed by the second fixing device 160, so that the disassembly and assembly device 30 can work stably. The pick-up and placement device 40 can be fixedly connected to the disassembly and assembly device 30, so that the pick-up and placement device 40, the disassembly and assembly device 30 and the LED display screen can be kept relatively fixed by the second fixing device 160, so that both the disassembly and assembly device 30 and the pick-up and placement device 40 can work stably.

[0135] The visual module 130 obtains image information of the repaired part 201 , and the moving device 20 drives the disassembly and assembly device 30 to move to the damaged repaired part 201 according to the image information, and removes the screws 204 fixing the repaired part 201 through the disassembly and assembly device 30 .

[0136] After all the screws 204 fixing the repaired part 201 are removed, the moving device 20 moves the pick-and-place device 40 to the installation position of the repaired part 201, and takes the repaired part 201 out of the installation position of the repaired part 201 through the pick-and-place device 40, and installs a replacement part 202 that can work normally. After the replacement part 202 is installed in the installation position, the screws 204 are installed on the replacement part 202 in the installation position, and the replacement part 202 is fixed by the screws 204, thereby completing the replacement of the repaired part 201.

[0137] If the LED display screen has multiple fault points, and the fault points are within the moving range of the mobile device 20, the disassembly and assembly device 30 and the pick-up and placement device 40 are driven by the mobile device 20 to move, and then the disassembly and assembly device 30 and the pick-up and placement device 40 are used to replace the repair part 201, thereby eliminating all fault points and completing the repair of the LED display screen.

[0138] If the LED display screen has multiple fault points, and the distribution of the fault points exceeds the moving range of the mobile device 20, the robot 100 is moved on the LED display screen through the alternating operation of the first fixing device 150 and the second fixing device 160, and the cooperation of the first moving component 21 and the second moving component 22, so that the robot 100 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the image information detected by the visual module 130, and then the part to be repaired 201 is replaced by the disassembly and assembly device 30 and the pick-and-place device 40, so as to eliminate all fault points and complete the repair of the LED display screen.

[0139] See also Figure 3 to Figure 4In some embodiments of the present application, the first fixing device 150 includes: a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is used to absorb the repaired part 201. The first negative pressure assembly 152 is used to make the first suction cup assembly 151 form negative pressure.

[0140] During the process of the robot 100 repairing the LED display screen, the first movable component 21 is fixed by the first fixing device 150 so that the first movable component 21 and the LED display screen remain relatively fixed, so that the positions of the robot 100 and the part to be repaired 201 remain stable, thereby improving the safety and stability of the repair process.

[0141] During the process of fixing the first moving component 21 by the first fixing device 150, the first suction cup component 151 is adsorbed on the LED display screen or a structure relatively fixed to the LED display screen. The first negative pressure component 152 is used to evacuate the first suction cup component 151, thereby forming a negative pressure on the first suction cup component 151, thereby improving the adsorption force of the first suction cup component 151 and ensuring the reliability and stability of the adsorption of the first suction cup component 151. In this way, the robot 100 and the LED display screen are relatively fixed by the first fixing device 150, thereby improving the safety and stability of the maintenance process.

[0142] During the operation of the robot 100, the first moving assembly 21 drives the second moving assembly 22 to move, and the second moving assembly 22 drives the disassembly and assembly device 30, the pick-and-place device 40, and the second fixing device 160 to move. The first fixing device 150 keeps the first moving assembly 21 relatively fixed to the LED display screen, so that the robot 100 can stably stay on the LED display screen, thereby enabling the robot 100 to effectively complete the maintenance operation.

[0143] See also Figure 3 to Figure 4 In some embodiments of the present application, the second fixing device 160 includes: a second suction cup assembly 161 and a second negative pressure assembly 162. The second suction cup assembly 161 is used to absorb the repaired part 201. The second negative pressure assembly 162 is used to make the second suction cup assembly 161 form negative pressure.

[0144] When the robot 100 moves to the position of the damaged part 201 to be repaired, the screws 204 fixing the part 201 to be repaired are disassembled and assembled by the disassembly and assembly device 30, and the damaged part 201 to be repaired is taken out from the installation position of the part 201 to be repaired by the pick-and-place device 40, and the replacement part 202 is placed in the installation position. During the operation of the disassembly and assembly device 30 and the pick-and-place device 40, the disassembly and assembly device 30 and the pick-and-place device 40 are fixed by the second fixing device 160, so that the disassembly and assembly device 30 and the pick-and-place device 40 are relatively fixed to the LED display screen, so that the positions of the disassembly and assembly device 30 and the pick-and-place device 40 and the part 201 to be repaired are kept stable, so as to improve the safety and stability of the repair process.

[0145] In the process of fixing the disassembly and assembly device 30 and the pick-up and placement device 40 by the second fixing device 160, the second suction cup assembly 161 is adsorbed on the LED display screen or a structure that is relatively fixed to the LED display screen. The second negative pressure assembly 162 evacuates the second suction cup assembly 161, thereby forming a negative pressure on the second suction cup assembly 161, thereby improving the adsorption force of the second suction cup assembly 161 and ensuring the reliability and stability of the adsorption of the second suction cup assembly 161. In this way, the disassembly and assembly device 30 and the pick-up and placement device 40 are relatively fixed to the LED display screen through the second fixing device 160, thereby improving the safety and stability of the maintenance process.

[0146] See also Figure 3 to Figure 4 In some embodiments of the present application, the visual module 130 includes a first visual unit 131 and a second visual unit 132, and the visual field height of the first visual unit 131 is higher than the visual field height of the second visual unit 132. The first visual unit 131 is used to obtain first image information, and the second visual unit 132 is used to obtain second image information. The first image information includes global image information, and the second image information includes image information of the damaged part to be repaired 201.

[0147] In some embodiments of the present application, the mobile device 20 drives the disassembly and assembly device 30 to move within a global range according to the first image information, and the mobile device 20 drives the disassembly and assembly device 30 to move within the range of the part to be repaired 201 according to the second image information.

[0148] By making the visual field height of the first visual unit 131 higher than the visual field height of the second visual unit 132, the first visual unit 131 has a wider visual field range, and then the first visual unit 131 performs global detection, and then identifies the damaged part to be repaired 201. The mobile device 20 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the detection result of the first visual unit 131. The part to be repaired 201 is detected by the second visual unit 132, and then the position of the screw hole 203 is determined. The mobile device 20 moves the disassembly and assembly device 30 to the position of the screw hole 203 according to the detection result of the second visual unit 132, and then the disassembly and assembly device 30 disassembles and assembles the screw 204 fixing the part to be repaired 201 at the position of the screw hole 203. In the process of aligning the disassembly and assembly device 30 with the screw 204, the second visual unit 132 performs precise positioning, so as to ensure that the disassembly and assembly device 30 can accurately dock with the screw 204. In this way, through the detection of the first visual unit 131 and the second visual unit 132, the disassembly and assembly device 30 can accurately dock with the screw 204 at the damaged part to be repaired 201, thereby improving the reliability of the robot 100 and the effectiveness of the disassembly and assembly work.

[0149] It should be noted that if the field of view of the first visual unit 131 can fully cover the global area, the first visual unit 131 obtains the global image information at one time; if the field of view of the first visual unit 131 cannot cover the global area, the mobile device 20 drives the visual module 130 to move, and the global area is scanned by the first visual unit 131 to obtain the image information of the global area; if the LED display screen has multiple fault points, and the distribution of the fault points exceeds the moving range of the mobile device 20, the first fixing device 150 and the second fixing device 160 are alternately operated, and the first moving component 21 and the second moving component 21 are alternately operated. With the cooperation of the moving component 22, the robot 100 moves on the LED display screen, and then the robot 100 drives the first visual unit 131 to move, and the LED display screen is scanned and detected by the first visual unit 131, and then the position information of all fault points on the LED display screen is obtained, so that the robot 100 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the fault point position information detected by the first visual unit 131, and then the part to be repaired 201 is replaced by the disassembly and assembly device 30 and the pick-and-place device 40, so as to eliminate all fault points and complete the repair of the LED display screen.

[0150] It should be further pointed out that whether the repaired part 201 is damaged can be judged through image information such as appearance, luminescence, etc.

[0151] In the process of the robot 100 moving from one fault point to another fault point, the first moving component 21 is fixed by the first fixing device 150, so that the first moving component 21 and the LED display screen remain relatively fixed. The second moving component 22 is driven by the first moving component 21 to move in the direction of another fault point, and the second moving component 22 drives the second fixing device 160 to move in the direction of another fault point. Then the disassembly and assembly device 30 and the pick-and-place device 40 are fixed by the second fixing device 160, so that the second fixing device 160, the disassembly and assembly device 30 and the pick-and-place device 40 can remain relatively fixed with the LED display screen. Then the first fixing device 150 releases the fixation of the first moving component 21, so that the first moving component 21 can move relative to the LED display screen. Then the first moving component 21 and the second moving component 22 are driven in the opposite direction, and the first moving component 21 and the second moving component 22 move in the direction of another fault point relative to the second fixing device 160. Then the first moving component 21 is fixed by the first fixing device 150 again, so that the first moving component 21 and the LED display screen remain relatively fixed.

[0152] In this way, through the alternating operation of the first fixing device 150 and the second fixing device 160, and the cooperation of the first moving component 21 and the second moving component 22, the robot 100 moves on the LED display screen, so that the robot 100 drives the disassembly and assembly device 30 to move to the damaged part to be repaired 201 according to the image information detected by the visual module 130, and then removes the part to be repaired 201 through the disassembly and assembly device 30 and the picking and placing device 40.

[0153] Embodiment 4

[0154] See also Figure 5 or Figure 6 In some embodiments of the present application, a robot 100 proposed in the present application includes: a robot body 110, a maintenance module 120, a vision module 130, a flight module 170, a distance detection module 180 and a first fixing device 150.

[0155] The maintenance module 120 is used to repair the part to be repaired 201. The visual module 130 is used to obtain image information of the part to be repaired 201. The flight module 170 is used to drive the robot body 110 to fly. The distance detection module 180 is used to detect the distance between the robot body 110 and the part to be repaired 201. The first fixing device 150 is used to keep the position of the robot body 110 and the part to be repaired 201 stable during the maintenance process.

[0156] The maintenance module 120 , the flight module 170 , the distance detection module 180 and the first fixing device 150 are all installed on the robot body 110 .

[0157] The flight module 170 drives the robot body 110 to rise to the height of the LED display screen, and drives the robot body 110 to move relative to the LED display screen. The LED display screen is scanned and detected by the visual module 130 to obtain image information of the parts to be repaired 201, and then the number and position of the parts to be repaired 201 are determined.

[0158] The flying module 170 drives the robot body 110 to fly to the damaged part 201 to be repaired according to the position information of the part 201 to be repaired, and the repair module 120 repairs the part 201 to be repaired. The distance detection module 180 detects the distance between the robot body 110 and the LED display assembly, thereby preventing the robot body 110 from damaging the LED display when approaching the LED display.

[0159] During the process of repairing the LED display screen, the robot body 110 is fixed by the first fixing device 150, so that the robot body 110 and the LED display screen remain relatively fixed, so that the maintenance module 120 can work stably. During the operation of the maintenance module 120, the image information of the part to be repaired 201 is obtained through the visual module 130, so that the maintenance module 120 can repair the fault point of the part to be repaired 201.

[0160] In this way, the LED display screen is repaired by the robot 100, eliminating the need for workers to work at heights, thereby improving the safety of the LED display screen maintenance process.

[0161] See also Figure 5 or Figure 6 In some embodiments of the present application, the number of distance detection modules 180 is at least four, wherein the four distance detection modules 180 are distributed at the four corners of the edge contour of the robot body 110, and the detection direction of the distance detection module 180 is toward the direction extending outward from the contact surface between the robot body 110 and the LED display screen.

[0162] At least four distance detection modules 180 are used to detect the distance between each point on the side of the robot body 110 facing the LED display screen and the LED display screen. The flight module 170 adjusts the angle and posture of the robot body 110 according to the data detected by all the distance detection modules 180, so that the relative angle and relative distance between the robot body 110 and the LED display screen are within the expected range. Referring to the data detected by the distance detection module 180, the flight module 170 adjusts the speed of the robot body 110 approaching the LED display screen, thereby reducing the momentum of the robot body 110 when it contacts the LED display screen, reducing the impact of the robot body 110 on the LED display screen, and protecting the LED display screen from being damaged by the robot 100. A buffer structure can be set on the side where the robot body 110 contacts the LED display screen. When the robot body 110 contacts the LED display screen, the buffer structure implements a buffer function, further reducing the risk of the LED display screen being damaged by the impact. Among them, the buffer structure may include one or more of sponge, spring, rubber, airbag, and rubber, and the buffer structure may also include other structures that can achieve a buffer function.

[0163] By installing four distance detection modules 180 at the four corners of the edge contour of the robot 100 main body, the distance detection module 180 can make the distance data detected by the distance detection module 180 more consistent with the surface of the robot body 110 in contact with the LED display screen according to the principle of multiple points forming a surface, and then adjust the state of the robot body 110 according to the data difference detected by each distance detection module 180. When the distance data detected by all distance detection modules 180 are within the expected range, it can be determined that the state and angle of the robot body 110 meet the expected requirements. Among them, the distance detection module 180 includes one or more of a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, a radar distance sensor or a dynamic optical distance sensor, and the distance detection module 180 may also include other sensors or devices with distance detection functions.

[0164] In some embodiments of the present application, the robot 100 may further include an angle detection module, which is used to detect at least one of an angle or a change in an angle of the robot body 110 .

[0165] The angle of the robot body 110 relative to the horizontal plane is detected by the angle detection module, and then the angle of the robot body 110 relative to the LED display screen is calculated according to the angle of the LED display screen relative to the horizontal plane. By adjusting the angle of the robot body 110, the relative angle between the robot body 110 and the LED display screen is within the expected range. In the process of adjusting the angle of the robot body 110, the change of the angle of the robot body 110 is detected by the angle detection module, so that the adjustment of the robot body 110 is faster and more accurate. When the robot body 110 stops during the flight, the angle of the robot body 110 is monitored in real time by the angle detection module, and then the angle of the robot body 110 is adjusted in real time according to the real-time data detected by the angle detection module, so that the angle change of the robot body 110 during the stop process is within the expected range. Among them, the angle detection module includes at least one of a potentiometer angle sensor, a magnetic induction synchronous angle sensor, a grating angle sensor, a Hall sensor and a MEMS angle sensor.

[0166] See also Figure 5 or Figure 6 In some embodiments of the present application, the first fixing device 150 includes: a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is fixedly connected to the robot body 110. The first suction cup assembly 151 is used to absorb the repaired part 201. The first negative pressure assembly 152 is used to form a negative pressure on the first suction cup assembly 151.

[0167] When the robot 100 is repairing the LED display screen, the robot body 110 is fixed by the first fixing device 150 so that the robot body 110 and the LED display screen remain relatively fixed, thereby keeping the positions of the robot 100 and the part to be repaired 201 stable, thereby improving the safety and stability of the repair process.

[0168] During the operation of the first fixing device 150, the first negative pressure assembly 152 operates, thereby forming a negative pressure on the first suction cup assembly 151, so that the first suction cup assembly 151 is adsorbed on the LED display screen, and the robot body 110 and the LED display screen are kept relatively fixed through the vacuum adsorption effect.

[0169] During the maintenance work of the robot 100, the flight module 170 continues to operate, so that the robot 100 can achieve the hovering function, thereby reducing the adsorption force of the first fixing device 150 on the LED display screen and the force of the robot 100 on the LED display screen, thereby preventing the LED display screen from being damaged due to excessive force. During the hovering process of the robot 100, the robot 100 is fixed by the first fixing device 150, the shaking of the robot 100 is reduced, the stability of the working process of the robot 100 is improved, and the maintenance module 120 can work stably.

[0170] See also Figure 5 or Figure 6 In some embodiments of the present application, the flight module 170 includes: a rotor mechanism 171 and a steering mechanism 174. The number of the rotor mechanism 171 is at least one. The steering mechanism 174 is used to adjust the angle between the rotor mechanism 171 and the robot body 110. The rotor mechanism 171 is connected to the robot body 110 through the steering mechanism 174.

[0171] The rotor mechanism 171 provides the power for flight, so that the flight module 170 can drive the robot body 110 to fly. The steering mechanism 174 adjusts the angle between the rotor mechanism 171 and the robot body 110, thereby adjusting the inclination angle of the robot body 110, so that after the robot 100 rises to the height of the LED display screen, the angle between the robot body 110 and the LED display screen is within the expected range, so that the robot 100 can approach the LED display screen in a correct posture and stay at the target position, so that the maintenance module 120 can repair the LED display screen.

[0172] See also Figure 5 or Figure 6 In some embodiments of the present application, the steering mechanism 174 includes: a first bracket assembly 175, a first drive device 176, a second bracket assembly 177, a second drive device 178 and a third bracket assembly 179. The first bracket assembly 175 is fixedly mounted on the robot body 110. The first drive device 176 is mounted on the first bracket assembly 175. The second bracket assembly 177 is mounted on the power output end of the first drive device 176, and the first drive device 176 drives the second bracket assembly 177 to rotate in the first direction. The second drive device 178 is mounted on the second bracket assembly 177. The third bracket assembly 179 is mounted on the power output end of the second drive device 178, and the second drive device 178 drives the third bracket assembly 179 to rotate in the second direction. Among them, the rotor mechanism 171 is mounted on the third bracket assembly 179, and the first direction intersects with the second direction. Both the first direction and the second direction have two directions: forward rotation and reverse rotation.

[0173] In the process of adjusting the angle between the rotor mechanism 171 and the robot body 110 through the steering mechanism 174, the second bracket assembly 177 is driven to rotate toward the first direction through the first driving device 176, and then the third bracket assembly 179 and the rotor mechanism 171 are driven to rotate toward the first direction relative to the robot body 110 through the second bracket assembly 177. The third bracket assembly 179 is driven to rotate toward the second direction through the second driving device 178, and then the rotor mechanism 171 is driven to rotate toward the second direction relative to the robot body 110 through the third bracket assembly 179. Through the combined operation of the first driving device 176 and the second driving device 178, the angle between the rotor mechanism 171 and the robot body 110 can change in multiple directions, thereby making the angle change of the robot body 110 more flexible, and facilitating the adjustment of the angle of the robot body 110, thereby improving the efficiency of adjusting the angle of the robot body 110.

[0174] The first drive device 176 and the second drive device 178 may have the same structure, and may be powered by a motor to drive the transmission assembly to operate, thereby adjusting the angle. The transmission assembly may include a gear transmission assembly, a rack and pinion transmission assembly, a worm gear transmission assembly, a sprocket and chain transmission assembly, or a synchronous belt and synchronous wheel transmission assembly.

[0175] See also Figure 5 or Figure 6 In some embodiments of the present application, the flight module 170 includes: a driving motor 172 and a rotating blade 173. The driving motor 172 is installed on the robot body 110. The rotating blade 173 is installed on the power output end of the driving motor 172, and the driving motor 172 drives the rotating blade 173 to rotate.

[0176] The driving motor 172 drives the rotating blades 173 to rotate, thereby generating a rising power, so that the flight module 170 drives the robot body 110 to fly. The rising power is adjusted by adjusting the speed of the driving motor 172, so that the robot body 110 rises or falls.

[0177] See also Figure 5 In some embodiments of the present application, the number of flight modules 170 is at least four.

[0178] At least four flight modules 170 are dispersed in the robot body 110, and at least four flight modules 170 provide power for the ascent or descent of the robot body 110, so that the power of the robot body 110 is more uniform, and the robot body 110 can be more easily balanced. By controlling the speed of the drive motor 172 of the flight modules 170 at different positions, the ascent power of different parts of the robot body 110 is adjusted, thereby adjusting the posture and angle of the robot body 110. The speed of the drive motor 172 in each part of the flight module 170 can be adjusted according to the angle data detected by the angle detection module, so that the movement of the robot body 110 is more coordinated and stable.

[0179] See also Figure 5 or Figure 6 In some embodiments of the present application, the maintenance module 120 includes: a disassembly device 30, a pick-up and placement device 40, and a moving device 20. The disassembly device 30 is used to disassemble and assemble the screws 204 that fix the repaired part 201. The pick-up and placement device 40 is used to pick up and place the repaired part 201 at the installation position. The moving device 20 is used to drive at least one of the disassembly device 30 and the pick-up and placement device 40 to move.

[0180] During the process of repairing the part to be repaired 201, the first fixing device 150 keeps the position of the repair module 120 relatively fixed with the position of the part to be repaired 201, so that the part to be repaired 201 can be repaired stably at the part to be repaired 201. The visual module 130 obtains image information of the part to be repaired 201 to obtain information such as the damaged position of the part to be repaired 201 and the position of the screw 204, so that the repair module 120 can complete the repair of the part to be repaired 201 based on the image information.

[0181] During the maintenance operation of the maintenance module 120, the mobile device 20 moves the disassembly and assembly device 30 to the damaged part to be repaired 201, and the disassembly and assembly device 30 then removes all the screws 204 fixing the damaged part to be repaired 201. After all the screws 204 fixing the damaged part to be repaired 201 are removed, the mobile device 20 moves the pick-and-place device 40 to the damaged part to be repaired 201, and then removes the damaged part to be repaired 201 from its installation position through the pick-and-place device 40, and moves the damaged part to be repaired 201 to the loading assembly where the damaged part to be repaired 201 is loaded. The pick-and-place device 40 then takes out the replacement part 202 from the loading assembly where the replacement part 202 is loaded, and moves the replacement part 202 to the installation position of the damaged part to be repaired 201, and puts the replacement part 202 into the installation position of the damaged part to be repaired 201. The disassembly and assembly device 30 then reaches the installation position of the damaged repaired part 201, and tightens the installation screws 204 on the replacement part 202. After all the installation screws 204 are tightened, the repair of the single repaired part 201 is completed. The visual module 130 performs a global inspection. If there are still damaged repaired parts 201, the above disassembly and assembly operation is repeated; if there are no damaged repaired parts 201, it is determined that the repair operation is completed.

[0182] It should be pointed out that if the field of view of the visual module 130 can fully cover the global area, the visual module 130 will obtain global image information at one time; if the field of view of the visual module 130 cannot cover the global area, the mobile device 20 will drive the visual module 130 to move, and scan the global area through the visual module 130 to obtain image information of the global area; if the distance between the fault points of the LED display screen exceeds the moving range of the mobile device 20, the flight module 170 will drive the robot body 110 to fly between the fault points of the LED display screen, so that the robot 100 can reach another fault point from one fault point, thereby realizing the global detection and maintenance of the LED display screen.

[0183] It should be further pointed out that whether the repaired part 201 is damaged can be judged through image information such as appearance, luminescence, etc.

[0184] Embodiment 5

[0185] See also Figure 3 to Figure 4 and Fig.11In some embodiments of the present application, a robot 100 proposed in the present application includes a maintenance module 120, a visual module 130, a remote control module 190 and a first fixing device 150. The maintenance module 120 is used to repair the part to be repaired 201. The visual module 130 is used to obtain image information of the part to be repaired 201. The remote control module 190 can communicate remotely with the maintenance module 120 and the visual module 130. The first fixing device 150 is used to keep the positions of the maintenance module 120 and the part to be repaired 201 stable during the maintenance process. Among them, the remote control module 190 remotely controls the maintenance module 120 according to the image information.

[0186] During the process of repairing the part to be repaired 201, the position of the repair module 120 and the position of the part to be repaired 201 are kept relatively fixed by the first fixing device 150, so that the part to be repaired 201 can be stably repaired at the part to be repaired 201. The image information of the part to be repaired 201 is obtained by the visual module 130 to obtain information such as the damaged position of the part to be repaired 201 and the position of the screw 204, so that the remote control module 190 can remotely control the repair module 120 according to the image information. The remote control module 190 remotely controls the repair module 120 according to the image information, so that the repair module 120 completes the remote repair of the part to be repaired 201. In this way, the safety of the maintenance personnel is improved during the repair of the LED display screen.

[0187] In some embodiments of the present application, the robot 100 can be suspended so as to be combined with the LED display screen to be repaired, so that the robot 100 can work stably at the LED display screen.

[0188] In some embodiments of the present application, the robot 100 can also be combined with the LED display screen to be repaired by suction cup adsorption, so that the robot 100 can work stably at the LED display screen.

[0189] In some embodiments of the present application, the robot 100 may also be supported by a support frame so that the robot 100 is combined with the LED display screen to be repaired, so that the robot 100 can work stably at the LED display screen.

[0190] See also Figure 3 to Figure 4 and Fig.11 In some embodiments of the present application, the maintenance module 120 includes a disassembly device 30, a pick-and-place device 40, and a moving device 20. The disassembly device 30 is used to disassemble and assemble the screws 204 that fix the repaired part 201. The pick-and-place device 40 is used to pick and place the repaired part 201 at the installation position. The moving device 20 is used to drive at least one of the disassembly device 30 and the pick-and-place device 40 to move. The disassembly device 30, the pick-and-place device 40, and the moving device 20 are all controlled by the remote control module 190.

[0191] During the process of repairing the part to be repaired 201, the first fixing device 150 keeps the position of the repair module 120 relatively fixed with the position of the part to be repaired 201, so that the part to be repaired 201 can be repaired stably at the part to be repaired 201. The image information of the part to be repaired 201 is obtained through the visual module 130 to obtain information such as the damaged position of the part to be repaired 201 and the position of the screw 204, so that the remote control module 190 sends an operation instruction to the repair module 120 according to the image information and remotely controls the repair module 120. The remote control module 190 remotely controls the repair module 120 according to the image information, so that the repair module 120 completes the remote repair of the part to be repaired 201.

[0192] During the maintenance operation of the maintenance module 120, the mobile device 20 moves the disassembly and assembly device 30 to the damaged part to be repaired 201 according to the operation instruction, and the disassembly and assembly device 30 then removes all the screws 204 fixing the damaged part to be repaired 201 according to the operation instruction. After all the screws 204 fixing the damaged part to be repaired 201 are removed, the mobile device 20 moves the pick-and-place device 40 to the damaged part to be repaired 201, and then removes the damaged part to be repaired 201 from its installation position through the pick-and-place device 40, and moves the damaged part to be repaired 201 to the loading assembly where the damaged part to be repaired 201 is loaded. The pick-and-place device 40 then takes out the replacement part 202 from the loading assembly where the replacement part 202 is loaded, and moves the replacement part 202 to the installation position of the damaged part to be repaired 201, and puts the replacement part 202 into the installation position of the damaged part to be repaired 201. The disassembly and assembly device 30 then reaches the installation position of the damaged repaired part 201, and tightens the installation screws 204 on the replacement part 202. After all the installation screws 204 are tightened, the repair of the single repaired part 201 is completed. The visual module 130 performs a global inspection. If there are still damaged repaired parts 201, the above disassembly and assembly operation is repeated; if there are no damaged repaired parts 201, it is determined that the repair operation is completed.

[0193] It should be pointed out that if the field of view of the visual module 130 can fully cover the global area, the visual module 130 will obtain the global image information at one time; if the field of view of the visual module 130 cannot cover the global area, the mobile device 20 will drive the visual module 130 to move, and the global area will be scanned by the visual module 130 to obtain the image information of the global area.

[0194] It should be further pointed out that whether the repaired part 201 is damaged can be judged through image information such as appearance, luminescence, etc.

[0195] See also Figure 11 to Figure 12In some embodiments of the present application, the remote control module 190 includes a display interface 191 and an operation unit 192. The display interface 191 is used to display image information. The operation unit 192 is used to manually send an operation instruction to the maintenance module 120.

[0196] The remote control module 190 acquires image information from the visual module 130 and displays it through the display interface 191. The operator determines the damaged part to be repaired 201 based on the image information displayed on the display interface 191, and sends an operation instruction to the maintenance module 120 through the operation unit 192 based on the image information, and then completes the remote maintenance of the part to be repaired 201 through the maintenance module 120, thereby avoiding high-altitude operations of the staff and ensuring the safety of the staff.

[0197] In some embodiments of the present application, the operating unit 192 may be a combination of one or more of a button, a knob, or a lever, or may be other units that can be manually operated and send instructions.

[0198] In some embodiments of the present application, the operating unit 192 may be provided on the display interface 191 to send operating instructions via a touch screen.

[0199] In some embodiments of the present application, the operating unit 192 may also be provided separately from the display interface 191 to facilitate cooperation among multiple operators.

[0200] See also Figure 3 to Figure 4 In some embodiments of the present application, the first fixing device 150 is fixedly installed on the maintenance module 120, and the first fixing device 150 includes a first suction cup assembly 151 and a first negative pressure assembly 152. The first suction cup assembly 151 is used to absorb the repaired part 201. The first negative pressure assembly 152 is used to form a negative pressure on the first suction cup assembly 151.

[0201] During the maintenance operation of the maintenance module 120 , the positions of the maintenance module 120 and the part to be repaired 201 are kept stable by the first fixing device 150 , so as to improve the safety and stability of the maintenance process.

[0202] During the process of fixing the maintenance module 120 by the first fixing device 150, the first suction cup assembly 151 is adsorbed on the part to be repaired 201 or a structure relatively fixed to the part to be repaired 201. The first negative pressure assembly 152 evacuates the first suction cup assembly 151, thereby forming a negative pressure on the first suction cup assembly 151, thereby improving the adsorption force of the first suction cup assembly 151 and ensuring the reliability and stability of the adsorption of the first suction cup assembly 151. In this way, the maintenance module 120 and the part to be repaired 201 are relatively fixed by the first fixing device 150, thereby improving the safety and stability of the maintenance process.

[0203] Embodiment 6

[0204] See also Fig.13 In some embodiments of the present application, the present application provides a control method, comprising the following steps:

[0205] Get global image information;

[0206] Acquire the position information of the damaged part to be repaired 201 according to the global image information;

[0207] According to the position information of the damaged part 201 to be repaired, the disassembling device 30 is moved to the part 201 to be repaired;

[0208] Acquire image information of the part to be repaired 201;

[0209] Acquire the position information of the mounting screws 204 of the repaired part 201 according to the image information of the damaged repaired part 201;

[0210] Align the screwing mechanism 32 with the mounting screw 204 of the damaged repaired part 201 according to the position information of the mounting screw 204;

[0211] The driving mechanism 31 drives the screwing mechanism 32 to operate so as to remove the mounting screw 204;

[0212] Check whether all the mounting screws 204 are removed;

[0213] If all the mounting screws 204 are removed, the pick-and-place device 40 moves to the part to be repaired 201;

[0214] The taking and placing device 40 takes out the component to be repaired 201 from the installation position of the component to be repaired 201 .

[0215] The global image information is obtained through the visual module 130, and then the position of the damaged part to be repaired 201 is determined based on the global image information. Whether the part to be repaired 201 is damaged can be determined by image information such as appearance, luminescence, and then the damaged part to be repaired 201 is determined, and the position of the part to be repaired 201 is determined based on the coordinates of the damaged part to be repaired 201 in the global area. If the field of view of the visual module 130 can fully cover the global area, the visual module 130 obtains the global image information at one time; if the field of view of the visual module 130 cannot cover the global area, the mobile device 20 drives the visual module 130 to move, and the visual module 130 scans the global area to obtain the image information of the global area.

[0216] According to the position information of the damaged part to be repaired 201 , a command is sent to the mobile device 20 , and then the disassembly and assembly device 30 is moved to the part to be repaired 201 through the mobile device 20 .

[0217] The image information of the part to be repaired 201 is obtained through the visual module 130, and then the position information of the mounting screw 204 of the part to be repaired 201 is obtained according to the image information of the damaged part to be repaired 201. According to the position information of the mounting screw 204, an instruction is sent to the mobile device 20, so that the twisting mechanism 32 is aligned with the mounting screw 204 of the damaged part to be repaired 201. The twisting mechanism 32 is driven by the driving structure to operate, so that the twisting mechanism 32 drives the mounting screw 204 to rotate counterclockwise, thereby removing the mounting screw 204. The image information of the part to be repaired 201 is obtained, and then it is detected whether the mounting screw 204 is completely removed. If the mounting screw 204 is completely removed, the mobile device 20 drives the pick-and-place device 40 to move to the part to be repaired 201, and the part to be repaired 201 is taken out from the installation position of the part to be repaired 201 by the pick-and-place device 40. The damaged part to be repaired 201 is transported to the loading assembly where the damaged part to be repaired 201 is loaded. The pick-and-place device 40 then takes out the replacement part 202 from the loading assembly loaded with the replacement part 202, and moves the replacement part 202 to the installation position of the damaged part 201 to be repaired, and puts the replacement part 202 into the installation position of the damaged part 201 to be repaired. The disassembly and assembly device 30 then reaches the installation position of the damaged part 201 to be repaired, and tightens the installation screws 204 on the replacement part 202. After all the installation screws 204 are tightened, the repair of the single part 201 to be repaired is completed. The visual module 130 performs a global inspection. If there are still damaged parts 201 to be repaired, the above disassembly and assembly operations are repeated; if there are no damaged parts 201 to be repaired, it is determined that the repair operation is completed.

[0218] In the description of this specification, the description with reference to the terms "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0219] In addition, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An intelligent disassembly and assembly robot, characterized in that: include: Mobile devices; A disassembly and assembly device, the disassembly and assembly device is installed on the moving device, and the disassembly and assembly device includes a driving mechanism and a twisting mechanism; A visual module, wherein the visual module is used to obtain screw hole position information; Wherein, the driving mechanism is installed on the moving device, the twisting mechanism is connected to the driving mechanism, and the driving mechanism drives the twisting mechanism to rotate clockwise or counterclockwise; The moving device drives the disassembling device to move with reference to the screw hole position information, so that the twisting mechanism is aligned with the screw hole according to the screw hole position information; The disassembly and assembly device disassembles and assembles the part to be repaired with reference to the screw hole position information; The driving mechanism comprises a motor device and a transmission device, wherein the transmission device is connected to the motor device and is provided with a first threaded hole; The twisting mechanism includes a screw, a buffer and a disassembly tool head, wherein the disassembly tool head is mounted on the end of the screw through the buffer, the screw is adapted to the first threaded hole, and the buffer is used to provide an elastic deformation angle between the screw and the disassembly tool head; The transmission device further comprises: a guide nut, the guide nut being adapted to the screw rod, and the guide nut being relatively fixed to the motor device; The intelligent disassembly and assembly robot further comprises: a flight module, a distance detection module and a first fixing device, wherein the flight module is used to drive the robot body to fly, the distance detection module is used to detect the distance between the robot body and the part to be repaired, and the first fixing device is used to keep the positions of the robot body and the part to be repaired stable during the repair process; wherein the disassembly and assembly device, the moving device, the flight module, the distance detection module and the first fixing device are all installed on the robot body; The intelligent disassembly and assembly robot further includes an angle detection module, which is used to detect at least one of an angle of the robot body or a change in an angle. The angle of the robot body relative to the horizontal plane is detected by the angle detection module, and then the angle of the robot body relative to the LED display screen is calculated according to the angle of the LED display screen relative to the horizontal plane. The angle of the robot body is adjusted so that the relative angle between the robot body and the LED display screen is within an expected range. The first fixing device comprises: a first suction cup assembly and a first negative pressure assembly; the first suction cup assembly is used for adsorbing the part to be repaired; the first negative pressure assembly is used for forming negative pressure in the first suction cup assembly.

2. The intelligent disassembly and assembly robot according to claim 1, characterized in that: The transmission device comprises: a first gear assembly, the first gear assembly being mounted at a power output end of the motor device; A second gear assembly is meshed with the first gear assembly, and the screw hole is arranged at the rotation center of the second gear assembly.

3. The intelligent disassembly and assembly robot according to claim 1, characterized in that: The visual module includes a first visual unit and a second visual unit, and a visual field height of the first visual unit is higher than a visual field height of the second visual unit.

4. The intelligent disassembly and assembly robot according to claim 1, characterized in that: The mobile device comprises: a first moving component; A second moving assembly, wherein the first moving assembly drives the second moving assembly to move, and the second moving assembly drives the disassembling device to move; Wherein, the moving direction of the first moving component intersects with the moving direction of the second moving component.

5. The intelligent disassembly and assembly robot according to claim 1, characterized in that: It also includes a pick-up and placement device, and the moving device drives the pick-up and placement device to move; The pick-and-place device comprises: A third moving component, wherein the moving direction of the third moving component is toward or away from the part to be repaired; At least one docking assembly, the docking assemblies are dispersedly arranged, and the third moving assembly drives the docking assembly to move; Wherein, during the process of taking out the part to be repaired, the docking assembly extends into the screw hole of the part to be repaired.

6. The intelligent disassembly and assembly robot according to claim 5, characterized in that: The docking assembly comprises: A docking screw rod, the docking screw rod is adapted to the screw hole; A driving assembly is provided with a second threaded hole, and the second threaded hole is adapted to the docking screw so that the driving assembly drives the docking screw to rotate.

7. The intelligent disassembly and assembly robot according to claim 5, characterized in that: The pick-and-place device also includes: A first loading assembly is used to load the removed parts to be repaired, and the first loading assembly is located at the movement track of the pick-and-place device.

8. The intelligent disassembly and assembly robot according to claim 5, characterized in that: The pick-and-place device also includes: A second loading assembly, the second loading assembly is used for loading replacement parts, and the second loading assembly is located at the movement track of the pick-and-place device.

Images