Visual cooperation external wall heat preservation six-axis robot

Abstract

The application relates to the technical field of external wall construction, and provides a visual cooperation external wall heat preservation six-axis robot, which comprises a base, a driving device, an end execution mechanism and a control module, the driving device is arranged on the base; the end execution mechanism comprises a frame body and a grabbing fork head connected to one side of the frame body, one side of the frame body is connected with one end of the driving device, and the driving device is used for driving the end execution mechanism to move; the control module comprises a controller, a first pressure sensor and a second pressure sensor, the controller is electrically connected with the first pressure sensor, the second pressure sensor and the driving device, the first pressure sensor is arranged at one end of the grabbing fork head away from the frame body, and the second pressure sensor is arranged at the connection position of the driving device and the frame body. The application can reduce the possibility of damage of the external wall heat preservation plate in mechanical construction.

Description

Technical Field

[0001] This application relates to the technical field of exterior wall construction, and in particular to a visual collaborative six-axis robot for exterior wall insulation. Background Technology

[0002] Exterior wall insulation panel construction is a process designed to improve building energy efficiency and occupant comfort. It reduces heat loss by adding a layer of insulation material to the exterior wall surface, thereby lowering heating and cooling costs. To reduce construction time and labor costs, exterior wall insulation panel construction is increasingly shifting from manual to mechanized methods. Mechanized construction can quickly process large areas of exterior walls, providing more standardized and consistent construction quality and reducing quality issues caused by variations in worker skills. Robots, with their higher precision than humans, ensure the correct installation and adhesion of insulation panels. Furthermore, modern mechanized construction equipment can adapt to different types of insulation materials and building structures, making construction plans more flexible.

[0003] However, during mechanical construction, especially in the process of gripping and attaching exterior wall insulation boards, the insulation boards may be damaged. If the pressure of the robotic arm (gripper) is not set properly, excessive pressure may crush or deform the insulation board, especially when using lighter or softer materials (such as EPS foam boards). When attaching the insulation board to the wall, if the robotic arm applies too much pressure, it may damage the edges or corners of the insulation board or cause hollow areas. If the robotic arm fails to accurately grip the edges of the insulation board or the preset gripping points, it may cause uneven stress on the board surface, resulting in localized damage or tearing. Summary of the Invention

[0004] To reduce the possibility of damage to external wall insulation panels during mechanical construction, this application provides a visual collaborative six-axis robot for external wall insulation.

[0005] This application provides a visual collaborative six-axis robot for exterior wall insulation, employing the following technical solution: A visual collaborative six-axis robot for exterior wall insulation includes: Base; The drive unit is mounted on the base; An end effector includes a frame and a gripping fork connected to one side of the frame. One side of the frame is connected to one end of a drive device, which is used to drive the end effector to move. The control module includes a controller, a first pressure sensor, and a second pressure sensor. The controller is electrically connected to the first pressure sensor, the second pressure sensor, and the drive device. The first pressure sensor is located at the end of the gripping fork head away from the frame, and the second pressure sensor is located at the connection between the drive device and the frame.

[0006] By adopting the above technical solution, a controller, a first pressure sensor, and a second pressure sensor are used. When the gripping fork in the end effector grips the insulation board under the drive of the drive device, the pressure value can be monitored by the first and second pressure sensors, and the information is transmitted to the controller. This allows the controller to control the drive device to adjust the pressure of the end effector during the gripping and placement of the insulation board to be within the set range. This avoids the phenomenon of crushing, deforming, or damaging the edges and corners of the insulation board due to excessive pressure, thereby improving the yield of gripping the insulation board.

[0007] Optionally, the frame includes a connecting strip and a plurality of mounting strips fixed at intervals on the connecting strip, each mounting strip being provided with a gripping fork head, and a plurality of gripping forks being provided at intervals along the length direction of the mounting strip.

[0008] By adopting the above technical solution, the multiple spaced gripping forks facilitate the gripping of the insulation board separately, ensuring the stability of the gripping and the balanced force during the gripping process, while improving the efficiency of gripping the insulation board.

[0009] Optionally, the frame is also provided with a reverse release device, which includes a drive member and a reverse release head connected to one end of the drive member. The drive member is used to drive the reverse release head to move in a direction closer to or away from the frame.

[0010] By adopting the above technical solution, the insulation board can be safely separated from the robot after being pasted onto the exterior wall through the action of the reverse release device, ensuring a tight fit between the insulation board and the wall, while avoiding mutual interference between the robot and the insulation board.

[0011] Optionally, the reverse release device is provided between adjacent gripping forks.

[0012] By adopting the above technical solution, the alternating layout of the reverse release device and the gripping fork ensures that each gripping point has a corresponding reverse release function, thereby enhancing the continuity and smoothness of the construction process.

[0013] Optionally, the base is further provided with a visual collaboration component, which includes a visual sensor and a lighting device.

[0014] By adopting the above technical solutions, the vision sensor enables the robot to monitor the working environment in real time, improve positioning accuracy, and ensure the accurate pasting of the insulation board; when working in an environment with insufficient light, the lighting device can provide a light source for the vision sensor to improve its applicability.

[0015] Optionally, the base is further provided with a self-cleaning component, which includes a liquid storage tank, a water spray head, and a liquid infusion source; the liquid infusion source is used to drive the water in the liquid storage tank to flow to the water spray head, the water spray head is positioned towards the vision sensor, and the water spray head is rotatably positioned on one side of the vision sensor.

[0016] By adopting the above technical solution, the liquid storage tank is used to hold cleaning fluid. When there is dirt on the vision sensor, the liquid supply source can transport the cleaning fluid in the liquid storage tank to the water spray head. The water spray head rotates on one side of the vision sensor and sprays the cleaning fluid onto the vision sensor to automatically remove dirt and water droplets from the vision sensor, ensuring the clarity of the vision system and the reliability of long-term operation.

[0017] Optionally, a 3D scanner is also provided on the base.

[0018] By adopting the above technical solutions and using 3D scanners, accurate measurements of the work surface are provided, which helps robots adjust construction strategies according to actual conditions, thereby improving construction quality and safety.

[0019] Optionally, the machine base is further provided with fixing buckles on both sides. The fixing buckles are located at the bottom of the machine base, and the fixing buckles on both sides form a snap-fit ​​groove with the bottom wall of the machine base.

[0020] By adopting the above technical solution and the design of the fixing buckle block, the robot can be firmly installed on the external wall truss, ensuring the stability and safety of the construction process and preventing dangerous situations such as tilting or falling of the robot during operation.

[0021] Optionally, the water spray brush head includes a brush body, bristles disposed on one side of the brush body, and a cleaning nozzle, wherein the cleaning nozzle is connected to the liquid storage tank.

[0022] By adopting the above technical solution, a water-spraying brush head is formed by combining a cleaning nozzle and bristles. It cleans and rinses away dirt at the same time by spraying water, which improves the cleaning intensity. It can effectively remove stains and protect the vision sensor from damage.

[0023] Optionally, the reverse release head is made of rubber.

[0024] By adopting the above technical solution, the reverse release head uses rubber material, which provides sufficient flexibility and elasticity, reduces potential damage to the insulation board, and ensures close contact between the insulation board and the wall.

[0025] In summary, this application includes at least one of the following beneficial effects: 1. Because this application uses a uniquely designed end effector combined with a pressure sensor, the robot can precisely control the applied pressure during the process of grasping and pasting the insulation board, thereby avoiding the problem of the insulation board being damaged due to excessive pressure, and significantly improving the construction quality and material utilization rate; 2. This application preferably employs a combination of visual collaboration components and self-cleaning components, enabling the robot to maintain high operational efficiency even in complex outdoor environments. The application of visual sensors enables precise positioning of the insulation panels, while the self-cleaning components ensure the clarity of the visual sensors, thereby guaranteeing the accuracy and continuity of construction. 3. The frame of this application is also equipped with a reverse release device, which is placed between adjacent gripping forks. The reverse release device is driven by a drive unit to move the reverse release head towards or away from the frame. This facilitates the insulation board to be skillfully released from the gripping forks by force through the action of the reverse release device, avoiding damage to the insulation board caused by forced pulling, and effectively improving the yield of insulation board unloading. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the visual collaborative exterior wall insulation six-axis robot of Embodiment 1 of this application; Figure 2 This is a schematic diagram of the end effector structure of Embodiment 1 of this application; Figure 3 This is a side view of Embodiment 1 of this application; Figure 4 This is a partial structural schematic diagram of the water spray brush head shown in Embodiment 1 of this application; Explanation of reference numerals in the attached drawings: 1. Base; 11. Fixing buckle block; 12. Snap-fit ​​groove; 13. Support; 2. Drive unit; 3. End effector; 31. Frame; 311. Connecting bar; 312. Mounting bar; 32. Gripping fork head; 4. Control module; 41. Controller; 42. First pressure sensor; 43. Second pressure sensor; 5. Reverse release device; 51. Drive component; 52. Reverse release head; 6. Vision collaboration component; 61. Vision sensor; 62. Lighting device; 7. Self-cleaning component; 71. Liquid storage tank; 72. Water spray brush head; 721. Brush body; 7211. Swing arm; 722. Brush bristles; 723. Cleaning nozzle; 724. Infusion tube; 73. Infusion source; 74. Guide hose; 75. Servo motor; 8. 3D scanner. Detailed Implementation

[0027] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0028] This application provides a visual collaborative six-axis robot for exterior wall insulation.

[0029] Example 1: This application provides a visual collaborative six-axis robot for exterior wall insulation, such as... Figure 1 and Figure 2 As shown, the device includes a base 1, a drive unit 2, an end effector 3, and a control module 4. Fixing blocks 11 are fixed to both sides of the base 1, and the fixing blocks 11 on both sides are arranged opposite each other. The fixing blocks 11 are located at the bottom of the base of the base 1, and the fixing blocks 11 on both sides form a locking groove 12 with the bottom wall of the base 1. The base 1 can be securely installed on the external wall truss through the locking groove 12.

[0030] like Figure 1 and Figure 2 As shown, the drive unit 2 is mounted on the base 1 and provides power. Specifically, the drive unit 2 is configured as a six-axis robotic arm. The end effector 3 includes a frame 31 and multiple gripping forks 32, all of which are connected to one side of the frame 31. The other side of the frame 31 is connected to the end of the drive unit 2, enabling the drive unit 2 to drive the end effector 3 to move. The frame 31 includes a connecting strip 311 and multiple mounting strips 312 fixed at intervals along the length of the connecting strip 311, with the mounting strips 312 perpendicular to the connecting strip 311. Multiple gripping forks 32 are fixed at intervals on each mounting strip 312. In this embodiment, three gripping forks 32 are evenly spaced on one mounting strip 312. This achieves multi-point gripping of the insulation board, ensuring the stability and balance of the gripping process.

[0031] In this embodiment, the gripping fork 32 is made of high-strength engineering plastic to reduce weight while ensuring sufficient strength.

[0032] As shown in Figure 2, a reverse release device 5 is also provided on the frame 31. A reverse release device 5 is provided between each adjacent gripping fork 32, and each reverse release device 5 includes a drive component 51 and a reverse release head 52. In this embodiment, the drive component 51 is specifically configured as an electric push rod, and one end of the telescopic rod of the electric push rod is fixedly connected to the reverse release head 52, which is made of rubber. Activating the drive component 51 drives the reverse release head 52 to move towards or away from the frame 31, thereby ensuring the insulation board can safely separate from the end effector 3 after being adhered to the exterior wall, while simultaneously ensuring a tight fit between the insulation board and the wall.

[0033] like Figure 2 and Figure 3As shown, the control module 4 includes a controller 41, a first pressure sensor 42, and a second pressure sensor 43. The drive device 2, the first pressure sensor 42, and the second pressure sensor 43 are all electrically connected to the controller 41 for real-time monitoring and transmission of pressure data. The first pressure sensor 42 is fixed at the end of the gripping fork 32 away from the frame 31, and it can monitor the pressure generated by the gripping fork 32 when it contacts the insulation board in real time. The second pressure sensor 43 is fixed between the end of the drive device and the frame 31, and it is responsible for monitoring the pressure generated by the drive device 2 when it drives the frame 31 to move. When the drive device 2 is running, the pressure data collected by the first pressure sensor 42 and the second pressure sensor 43 are transmitted to the controller 41 in real time. The controller 41 determines whether the output force of the drive device 2 needs to be adjusted according to the preset pressure range to ensure that the end effector 3 does not put excessive pressure on the insulation board during the gripping and placement process.

[0034] In practical applications, we can further optimize the construction effect by adjusting the parameters and settings of components such as the drive device 2, the end effector 3, and the control module 4. For example, the insertion depth and speed of the gripping fork 32 can be adjusted to accommodate insulation boards of different thicknesses and hardnesses; the threshold of the second pressure sensor 43 can be adjusted to ensure that the insulation board achieves the best adhesion effect during pasting; and the pushing force and speed of the reverse release head 52 can be adjusted according to the actual situation to ensure that the insulation board can be smoothly detached from the gripping fork 32.

[0035] like Figure 1 As shown, a visual collaboration component 6 and a self-cleaning component 7 are also provided on the base 1. The visual collaboration component 6 includes a visual sensor 61 and a lighting device 62, which are spaced apart and both are specifically connected to the base 1. The visual sensor 61 can monitor the working environment in real time and transmit the image information to the controller 41 for processing, which helps to locate the installation position of the insulation board. When working in an environment with insufficient light, turning on the lighting device 62 can provide a light source for the visual sensor 61, thereby improving the applicability of the visual sensor 61. In this embodiment, the visual sensor 61 is specifically configured as a camera, and the lighting device 62 is specifically configured as an LED light.

[0036] In the actual construction process, the visual collaboration component 6 first captures the wall area to be constructed and determines the position of the first insulation board. Then, the robotic arm drives the end effector 3 to move above the insulation board to be grasped, and uses the grasping fork 32 to grasp the insulation board and move it to the construction position. During the grasping process, the first pressure sensor 42 monitors the pressure generated by the grasping fork 32 when it contacts the insulation board in real time, ensuring that the insertion depth of the grasping fork 32 is appropriate. During the pasting process, the second pressure sensor 43 monitors the pasting pressure in real time, ensuring that the insulation board can be tightly and flatly pasted on the wall. After the construction of one insulation board is completed, the robotic arm drives the end effector 3 to move to the next construction position and repeat the above process until the entire wall is constructed. In addition, the visual sensor 61 can capture the position of the pasted insulation board, thereby ensuring that the newly pasted insulation board is tightly and flatly pasted with the pasted insulation board, avoiding gaps or overlaps between the insulation boards.

[0037] like Figure 1 and Figure 4 As shown, the self-cleaning assembly 7 includes a water spray brush head 72, a liquid storage tank 71, and a liquid infusion source 73. The water spray brush head 72 includes a brush body 721, bristles 722 disposed on one side of the brush body 721, and cleaning nozzles 723. The brush body 721 is disposed opposite to the vision sensor 61, and a liquid infusion tube 724 is embedded and fixed at the end of the brush body 721 closest to the vision sensor 61. Multiple cleaning nozzles 723 are spaced apart on the liquid infusion tube 724 and connected to the liquid infusion tube 724. One end of the liquid infusion tube 724 is connected to a guide hose 74, which extends out of the brush body 721 and connects to the liquid storage tank. The liquid infusion source 73 is specifically configured as a water pump, and the water pump is connected to a section of the guide hose 74. A support 13 is fixed on the base 1, and a swing arm 7211 is integrally formed at one end of the brush body 721, and the swing arm 7211 is hinged to the support 13. A servo motor 75 is also fixed to one side of the support 13, and one end of the output shaft of the servo motor 75 is fixedly connected to the swing arm 7211. Activating the servo motor 75 drives the brush body 721 to swing back and forth, thus cleaning the lens of the camera to ensure it remains clear at all times. After cleaning, the water spray brush head 72 can be rotated away from the camera.

[0038] It should be noted that the range of motion of the end effector 3 under the action of the drive device 2 in this embodiment is 1.7m × 1.7m. After the end effector 3 completes the construction of an area such as 1.7m × 1.7m of insulation board, it can move to the next area for construction until the insulation board is pasted on the entire wall.

[0039] A 3D scanner 8 is also fixed on the base 1. The 3D scanner 8 can be used to accurately measure the working surface, which helps the robot adjust the construction strategy according to the actual situation and improve the construction quality and safety.

[0040] The implementation principle of a visual collaborative six-axis robot for exterior wall insulation in Embodiment 1 of this application is as follows: The robot is fixed on a special exterior wall truss to prepare for operation. After the actual environment of the work surface is calibrated by a 3D scanner 8, the position of the first insulation board is confirmed. The drive device 2 drives the end effector 3 to move above the insulation board to be grasped. After the grasping fork 32 in the end effector 3 contacts the insulation board, it transmits the contact pressure data to the controller 41 through the first pressure sensor 42. The controller 41 controls the grasping fork 32 to insert into the insulation board for grasping and fixing, and then lifts the insulation board. The insulation board moves to the pasting position; after the insulation board contacts the wall, the pressure value monitored by the second sensor is transmitted to the controller 41. The controller 41 controls the pasting command, and the reverse release device 5 presses the insulation board tightly to make it adhere to the set position; after the insulation board is pressed to adhere to the wall, the drive unit 51 continues to drive the reverse release head 52 to move, and at the same time the robotic arm drives the gripping fork head 32 to retract. The insulation board is detached from the gripping fork head 32 by the reverse release head 52 and the gripping fork head 32 moving in opposite directions at the same time; then the robot moves to the next location to prepare to continue gripping the insulation board for operation.

[0041] Example 2: This embodiment provides a specific construction method for a visual collaborative six-axis robot for exterior wall insulation, including the following steps: S1, the base 1 is moved to a predetermined position via a truss: First, the base 1 is fixed to a specially designed exterior wall truss. The robot moves to the predetermined position for exterior wall insulation construction, ensuring that the end effector 3 can accurately reach the construction point.

[0042] S2, BIM Modeling and Point Cloud Scanning Technology Positioning: Before construction, a six-axis visual collaborative exterior wall insulation robot imports the building's BIM (Building Information Modeling) data to obtain precise dimensions and shape information of the exterior walls. Next, 3D point cloud scanning technology is used to calibrate the actual working environment, ensuring the accuracy of the construction location. This step is crucial for subsequent insulation board application, as it ensures the precision and quality of the construction.

[0043] S3, Origin Point Laying Positioning and Visual Collaborative Positioning: The robot first performs origin point laying positioning to determine the position of the first insulation board. Starting from the second insulation board, based on point cloud scanning technology, the robot uses the visual collaboration component 6 to capture the position of the already pasted insulation boards in the image. This ensures that the newly pasted insulation board fits tightly with the existing insulation board, guaranteeing the flatness and aesthetics of the wall insulation layer.

[0044] S4, Grasping and Attaching Insulation Board: The robot's end effector 3 moves to the position of the insulation board under the command of the controller 41. When the gripping fork 32 touches the insulation board, the first pressure sensor 42 detects the pressure change and transmits the signal to the controller 41. The controller 41 determines whether the gripping action can be performed based on the preset pressure range. Once the pressure is confirmed to be safe, the gripping fork 32 inserts into the edge of the insulation board and picks it up. During the attachment process, when the insulation board touches the exterior wall, the second pressure sensor 43 detects the pressure change. When the pressure reaches the set value, the controller 41 issues a attachment command, and the robotic arm performs the attachment action. This ensures pressure control during the attachment process and avoids damage to the insulation board due to excessive pressure.

[0045] S5, Reverse Detachment and Continuous Construction: After the insulation board is fully adhered to the wall, the reverse detachment device 5 automatically extends to assist the insulation board in further adhering to the wall. Subsequently, the reverse detachment device 5 continues to push forward while the robotic arm retracts, causing the gripping fork 32 to detach from the insulation board. This process ensures that the insulation board is flat and undamaged when attached to the exterior wall. After completing the installation of one insulation board, the robot moves to the next construction position according to the guidance of the BIM model and vision sensor 61, repeating the above steps for continuous construction.

[0046] The construction method described in this embodiment enables the visual collaborative six-axis robot for exterior wall insulation to complete exterior wall insulation construction tasks efficiently and accurately, effectively reducing the possibility of damage to insulation boards during construction and improving construction quality and material utilization.

[0047] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A visual collaborative six-axis robot for exterior wall insulation, characterized in that, include: A base (1); a drive device (2) disposed on the base (1); an end effector (3) comprising a frame (31) and a gripping fork (32) connected to one side of the frame (31), one side of the frame (31) being connected to one end of the drive device (2), the drive device (2) being used to drive the end effector (3) to move; a control module (4) comprising a controller (41), a first pressure sensor (42) and a second pressure sensor (43), the controller (41) being electrically connected to the first pressure sensor (42), the second pressure sensor (43) and the drive device (2), the first pressure sensor (42) being disposed at one end of the gripping fork (32) away from the frame (31), and the second pressure sensor (43) being disposed at the connection between the drive device (2) and the frame (31); The frame (31) includes a connecting strip (311) and a plurality of mounting strips (312) fixed at intervals on the connecting strip (311). Each mounting strip (312) is provided with a gripping fork head (32), and a plurality of gripping fork heads (32) are provided at intervals along the length direction of the mounting strip (312). The frame (31) is also provided with a reverse release device (5), which includes a drive member (51) and a reverse release head (52) connected to one end of the drive member (51). The drive member (51) is used to drive the reverse release head (52) to move toward or away from the frame (31). The base (1) is also provided with a visual collaboration component (6), which includes a visual sensor (61) and a lighting device (62).

2. The visual collaborative six-axis robot for exterior wall insulation according to claim 1, characterized in that, The reverse release device (5) is provided between each adjacent gripping fork (32).

3. The visual collaborative six-axis robot for exterior wall insulation according to claim 1, characterized in that, The base (1) is also provided with a self-cleaning component (7), which includes a liquid storage tank (71), a water spray brush head (72), and a liquid infusion source (73). The liquid infusion source (73) is used to drive the water in the liquid storage tank (71) to flow to the water spray brush head (72). The water spray brush head (72) is positioned toward the vision sensor (61) and is rotatably positioned on one side of the vision sensor (61).

4. The visual collaborative six-axis robot for exterior wall insulation according to claim 1, characterized in that, A three-dimensional scanner (8) is also provided on the base (1).

5. A visual collaborative six-axis robot for exterior wall insulation according to claim 1, characterized in that, The base (1) is also provided with fixing buckle blocks (11) on both sides. The fixing buckle blocks (11) are located at the bottom of the base (1), and the fixing buckle blocks (11) on both sides form a snap-fit ​​groove (12) with the bottom wall of the base (1).

6. A visual collaborative six-axis robot for exterior wall insulation according to claim 3, characterized in that, The water spray brush head (72) includes a brush body (721), bristles (722) disposed on one side of the brush body (721) and a cleaning nozzle (723), wherein the cleaning nozzle (723) is connected to the liquid storage tank (71).

7. A visual collaborative six-axis robot for exterior wall insulation according to claim 2, characterized in that, The reverse release head (52) is made of rubber.

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