Mobile installation robot, robot control system and control method

Abstract

The invention belongs to the technical field of numerical control device manufacturing, and particularly relates to a mobile installation robot, a robot control system and a control method. Comprising a base, the base is connected with the fixed end of a mechanical arm assembly, and the output end of the mechanical arm assembly is connected with an end effector; the end effector comprises a pose adjusting module, a grasping mechanism and a sensing measuring unit; the upper end of the pose adjusting module is connected with the mechanical arm assembly through a first connecting piece. The lower end of the pose adjusting module is connected with the grabbing mechanism through a second connecting piece. The grabbing mechanism is used for grabbing a to-be-installed assembly. The sensing measurement unit is installed on the second connecting piece. The sensing measurement unit is used for acquiring data in an installation process; and the installation quality and the installation efficiency in a small space environment are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of numerical control device manufacturing, and in particular relates to a mobile installation robot, a robot control system and a control method. Background Art

[0002] Robots are used for installation work and are an important application in the field of modern manufacturing and automation. Robots are used to grab and move objects according to fixed procedures through motion control; they can automatically complete tasks such as handling and assembly on the production line; However, at present, when installing prefabricated cover components of cable trenches in substation projects, manual installation is generally adopted. The installation process has a low degree of mechanization, is time-consuming and labor-intensive, and the installation quality is greatly affected by human factors. There are also safety risks of being hit by objects and quality risks of components being damaged by external forces. The manual installation and construction method can no longer meet the construction needs of new prefabricated substations. Intelligent installation robots can reduce the interference of human factors through autonomous navigation, automated installation, automatic detection of installation quality, and other functions, realize efficient and fast construction operations, and greatly improve construction efficiency and quality.

[0003] With the rapid development of science and technology, robots have been applied to various industries due to their unique advantages. Domestic and foreign scholars have made certain achievements in the research of cover installation robots; for example, the document with application number 202311742340.7 discloses a substation composite cable trench cover installation trolley and construction method. The structure includes a load-bearing seat, a guide plate, a U-shaped bottom plate, a gantry and a winch, but it still requires manual operation and can only meet the needs of specific environments, and cannot cope with complex installation environments. Summary of the invention

[0004] In view of the above problems, the present invention proposes a mobile installation robot, comprising a base, wherein the base is connected to a fixed end of a mechanical arm assembly, and the output end of the mechanical arm assembly is connected to an end effector; The end effector comprises a posture adjustment module, a gripping mechanism and a sensor measurement unit; the upper end of the posture adjustment module is connected to the mechanical arm assembly through a No. 1 connection piece; the lower end of the posture adjustment module is connected to the gripping mechanism through a No. 2 connection piece; the gripping mechanism is used to grip the assembly to be installed; the sensor measurement unit is installed on the No. 2 connection piece; the sensor measurement unit collects data during the installation process; The posture adjustment module includes a first actuator and a second actuator; the fixed end of the first actuator is connected to the second connecting member through a mounting member, and the output end of the first actuator is hinged to the lower end of the first connecting member; the lower end of the second actuator is connected to the second connecting member through a ball joint, and the upper end of the second actuator is hinged to the first connecting member; The No. 1 actuator comprises three groups, and the three groups of the No. 1 actuator are arranged crosswise and obliquely with each other in the space between the No. 1 connecting member and the No. 2 connecting member.

[0005] Furthermore, it also includes a control cabinet; the control cabinet is installed on the base; the control cabinet is electrically connected to the robotic arm assembly, the end effector, and the sensor measurement unit.

[0006] Furthermore, the base includes a moving device and a rotating platform; the rotating platform is connected to the fixed end of the robotic arm assembly.

[0007] Furthermore, the gripping mechanism includes a guide element and a driving element; the guide element and the driving element are installed at the lower end of the second connecting piece; two groups of gripping elements are slidably connected to the guide element; the driving element drives the gripping elements to move toward or away from each other on the guide element.

[0008] Furthermore, there are two groups of driving elements; the output ends of the two groups of driving elements are fixedly connected to the two groups of grabbing elements respectively.

[0009] Furthermore, the grabbing element comprises a slider and a grabbing piece, wherein the slider is slidably connected to the guide element, and the grabbing piece is fixedly mounted on the slider.

[0010] Furthermore, the second actuator is a rod structure.

[0011] Furthermore, the end of the moving device opposite to the forward direction is connected to a material loading vehicle; the material loading vehicle is connected to the control cabinet by signal; the material loading vehicle includes a feeding platform and a moving mechanism; The feeding platform is installed above the mobile mechanism; the mobile mechanism is connected to the No. 1 connecting part of the mobile device through the No. 2 connecting part; the No. 1 connecting part and the No. 2 connecting part are respectively installed at one end adjacent to the mobile device and the mobile mechanism; and the lower end of the feeding platform is installed with a second inclination sensor.

[0012] Furthermore, the robotic arm assembly includes an arm module No. 1, an arm module No. 2 and an arm module No. 3; the arm module No. 1, the arm module No. 2 and the arm module No. 3 are hinged in sequence; the end of the arm module No. 1 away from the arm module No. 2 is hinged to the rotating platform; the end effector of the arm module No. 3 away from the arm module No. 2 is hinged.

[0013] Further, the arm module No. 1 includes a drive assembly No. 1 and a connecting rod No. 1; the arm module No. 2 includes a drive assembly No. 2 and a connecting rod No. 2; the arm module No. 3 includes a drive assembly No. 3 and a connecting rod No. 3; The fixed end of the No. 1 driving assembly is hinged to the rotating platform, and the output end of the No. 1 driving assembly is hinged to the middle part of the first connecting rod; the rear end of the first connecting rod is hinged to the base, and one side of the front end of the first connecting rod is hinged to the middle part of the second connecting rod; the other side of the front end of the first connecting rod is hinged to the fixed end of the third driving assembly; The upper part of the middle part of the connecting rod one is hinged to the fixed end of the No. 2 driving assembly; the output end of the No. 2 driving assembly is hinged to the rear end of the connecting rod two, and the front end of the connecting rod two is hinged to the rear end of the connecting rod three and the end effector; the upper part of the middle part of the connecting rod two is hinged to the fixed end of the No. 3 driving assembly; the output end of the No. 3 driving assembly is hinged to the middle part of the connecting rod three; the front end of the connecting rod three is hinged to the end effector.

[0014] Furthermore, there are two groups of the No. 1 drive assembly, and the two groups of the No. 1 drive assembly are respectively arranged on both sides of the connecting rod.

[0015] Furthermore, the connecting rod three is a "V"-shaped structure with its opening facing downward.

[0016] Furthermore, a hydraulic station is installed above the rotating platform, and the hydraulic station is located on both sides of the rear end of the rotating platform; the hydraulic station is connected to the No. 1 drive component, the No. 2 drive component, the No. 3 drive component and the drive element.

[0017] Furthermore, a positioning block is arranged on the periphery of the feeding platform.

[0018] Furthermore, the sensing and measuring unit includes a laser displacement sensor, a D camera and an inclination sensor 1; multiple groups of the laser displacement sensors are installed below the second connecting piece; the sensing and measuring unit includes a D camera, and the D camera is installed on the side of the second connecting piece; the sensing and measuring unit includes an inclination sensor 1; the inclination sensor 1 is installed on the upper end of the second connecting piece.

[0019] The present invention provides a mobile installation robot control system, the control system is integrated into any one of the mobile installation robots described above; the control system includes an analysis system, a grasping control system and an installation control system; The analysis system is used to analyze and process the information collected by the sensor measurement unit and the tilt sensor 2; The grabbing control system is used to control the installation robot to perform the operation of grabbing the target object; the installation control system is used to control the installation robot to perform the operation of installing the target object; The analysis system is connected with the gripping control system and the installation control system.

[0020] The present invention provides a control method for a mobile installation robot, wherein the control method is a control step of controlling any one of the mobile installation robots described above by the control system described above; specifically, the control method comprises the following steps: The distance information between the target object and the end effector and the position data of the target object are obtained through the sensor measurement unit; the position data of the target object is obtained through the analysis system; Obtaining the joint control amount of the installation robot by inversely solving the target object posture data; executing the grasping control system to control the installation robot to grasp the target object; Then, the position and posture data of the target object's installation position is obtained through the sensor measurement unit; and the installation control system is executed to control the installation robot to perform the installation operation.

[0021] Furthermore, after the installation is completed, the position information of the installed target object is obtained through the sensor measurement unit and fed back to the analysis system for installation quality evaluation.

[0022] Furthermore, if the position information of the installed target object does not meet the installation quality evaluation standard, a secondary installation is performed according to the position information of the installed target object; if the position information of the installed target object meets the installation quality evaluation standard, the next target object installation operation is performed.

[0023] Furthermore, the secondary installation controls the end effector to move to the position directly above the installed target object through the installation control system; Then, the distance data between the installed target object and the end effector is obtained through the sensor measurement unit. After analysis by the analysis system, the grasping control system controls the installation robot to perform grasping operations; The installation robot is then controlled by the installation control system to perform installation operations.

[0024] The beneficial effects of the present invention compared to the prior art are as follows: (i) The present invention adjusts the posture of the end effector through a multi-degree-of-freedom robotic arm assembly and a posture adjustment module to meet the expected posture adjustment and motion characteristics during the installation of the cable trench cover.

[0025] (ii) In the present invention, all actions of the robot arm assembly and the end effector are realized by hydraulic drive, which improves the carrying capacity of the robot arm assembly and can be applied to the installation of cable trench covers in various environments, with good safety performance and large carrying capacity.

[0026] (III) The present invention uses laser displacement sensors and the like to accurately locate the posture of the cover plane in space, thereby ensuring the accuracy and stability of the robot picking and installation process; and after the installation is completed, it is checked whether it complies with the specifications. If not, adjustments are made to further improve the installation quality.

[0027] (iv) The present invention installs an end effector with three degrees of freedom in a mechanical arm assembly with four degrees of freedom, so that compared with existing robots, the present invention occupies less space, has a wider working range, and has higher installation efficiency.

[0028] (V) The present invention has a feeding platform that follows the machine forward, which can ensure the continuity of the installation process and improve the efficiency of cover installation.

[0029] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 The overall structural diagram of the present invention is shown.

[0032] Figure 2 The schematic diagram of the structure of the material removal loading vehicle of the present invention is shown.

[0033] Figure 3 The schematic diagram of the structure of the base of the present invention is shown.

[0034] Figure 4 A schematic structural diagram of a mechanical arm assembly of the present invention is shown.

[0035] Figure 5 A perspective view of an end effector of the present invention is shown.

[0036] Figure 6 A bottom perspective view of the end effector of the present invention is shown.

[0037] Figure 7 The schematic diagram of the structure of the material loading vehicle of the present invention is shown.

[0038] Figure 8 The schematic diagram of the structure of the present invention when it is working as a whole is shown.

[0039] In the figure, 1. base; 101. mobile device; 102. rotating platform; 103. 3D laser radar; 104. hydraulic station; 105. power battery; 106. Beidou satellite signal receiver; 107. No. 1 connection; 108. slewing bearing; 2. control cabinet; 3. Robotic arm assembly; 301. Drive assembly No. 1; 302. Connecting rod 1; 303. Drive assembly No. 2; 304. Connecting rod 2; 305. Drive assembly No. 3; 306. Connecting rod 3; 4. End effector; 401. Connecting piece No. 1; 402. Actuating element No. 1; 403. Actuating element No. 2; 404. Mounting piece; 405. Connecting piece No. 2; 406. Driving element; 407. Guide element; 408. Grasping element; 409. Laser displacement sensor; 410. 3D camera; 411. Inclination sensor No. 1; 5. Material loading vehicle; 501. No. 2 connection part; 502. Material feeding platform; 503. Moving mechanism; 504. Inclination sensor 2; 505. Positioning block. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] The present application provides a mobile installation robot, such as Figure 1 , comprising a base 1, characterized in that the base 1 is connected to a fixed end of a robotic arm assembly 3, and an output end of the robotic arm assembly 3 is connected to an end effector 4.

[0042] like Figure 5 As shown, the end effector 4 includes a posture adjustment module, a gripping mechanism and a sensor measurement unit; the upper end of the posture adjustment module is connected to the robot arm assembly 3 through a No. 1 connector 401; the lower end of the posture adjustment module is connected to the gripping mechanism through a No. 2 connector 405; the gripping mechanism is used to grip the components to be installed; the sensor measurement unit collects data during the gripping and installation process, and the sensor measurement unit is connected to the control cabinet 2 by signal; the sensor measurement unit obtains various data during the installation process, and then transmits it to the control cabinet 2 for analysis and processing by the control system, and then feedback is obtained to obtain the precise position data of the cable trench cover.

[0043] The posture adjustment module includes an actuator No. 1 402 and an actuator No. 2 403; the fixed end of the actuator No. 1 402 is hinged to the connecting member No. 2 405 through a mounting member 404 (the actuator No. 1 402 is connected to the mounting member 404 through a universal Hook's joint), and the connecting member No. 2 405 can be a group of square tubes welded together; the output end of the actuator No. 1 402 is hinged to the lower end of the connecting member No. 1 401 (also hinged to the mounting member 404 through a universal Hook's joint to achieve connection with the lower end of the connecting member No. 1 401); the lower end of the actuator No. 2 403 is connected to the connecting member No. 2 405 through a ball joint, and the ball joint at the lower end of the actuator No. 2 403 is mounted on the connecting member No. 2 405 through a flange; the upper end of the actuator No. 2 403 is hinged to the connecting member No. 1 401.

[0044] The first actuator 402 includes three groups, and the three groups of the first actuator 402 are arranged crosswise and tilted in the space between the first connecting member 401 and the second connecting member 405, and the three groups of the first actuator 402 do not contact each other. The three groups of the first actuator 402 are connected to the mounting member 404 through a universal hook; the position adjustment of the end effector 4 is completed by hydraulically controlling the telescopic movement of the first actuator 402 to achieve the desired working requirements and quality.

[0045] During the implementation process, when installing the components to be installed, the installation of the cable trench cover is taken as an example, but it is not limited to the installation of the cable trench cover; the control system controls the robot arm assembly 3 to extend, and the robot arm assembly 3 is sequentially unfolded from the end close to the end effector 4 to the end away from the end effector 4, so as to avoid the top-heavy situation causing wear on the robot arm assembly 3; then the No. 1 actuator 402 is extended and retracted to drive the No. 2 connecting member 405 to rotate, thereby realizing the pitch and rotation movement of the end effector 4, realizing the posture adjustment of the end effector 4, and making the end effector 4 grab the cable trench cover; at the same time, the No. 2 actuator 403 rotates in the direction opposite to the pitch and rotation movement of the end effector 4, so as to control the movement of the end effector 4 in other directions and improve the accuracy of the posture adjustment.

[0046] The end effector 4 is moved in the horizontal and vertical directions to approach the cable trench cover, and finally the cable trench cover is grasped by the grasping mechanism at the lower end of the second connecting member 405; After the end effector 4 stably grasps the cable trench cover, the mobile device 101 drives the end effector 4 and the cable trench cover to move, and transports the cable trench cover to the installation position. According to the data collected by the sensor measurement unit, the position of the cable trench cover is adjusted, and the cable trench cover is adjusted to completely overlap with the position to be installed, thereby achieving reliable installation of the cable trench cover and improving the installation accuracy of the cable trench cover.

[0047] The present application uses a posture adjustment module to adjust the posture of the end effector 4 in real time, and cooperates with the robot arm assembly 3 to improve the installation accuracy of the cable trench cover in a complex environment; a flexible servo drive with multiple degrees of freedom is achieved through a large-load electro-hydraulic hybrid drive, and a parallel structure is combined as the main posture adjustment structure of the end effector to meet the expected posture adjustment and motion characteristics during the installation of the cable trench cover.

[0048] In one embodiment of the present invention, a control cabinet 2 is further included; the control cabinet 2 is installed on the base 1; the control cabinet 2 is electrically connected to the robot arm assembly 3, the end effector 4, and the sensor measurement unit.

[0049] The base 1 includes a moving device 101 and a rotating platform 102; the rotating platform 102 is connected to the fixed end of the robot arm assembly 3. The control cabinet 2 is installed on the end of the base 1 away from the end effector 4. The robot arm assembly 3 and the end effector 4 are controlled to perform corresponding actions; at the same time, the deadweight of the control cabinet 2 can lower the center of gravity of the robot when the robot arm assembly 3 is working.

[0050] like Figure 2 and Figure 3 As shown, the rotating platform 102 is connected to the moving device 101 through a slewing bearing 108. The rotating platform 102 is driven to rotate by the slewing bearing 108, and can drive the mechanical arm assembly 3 and the end effector 4 to realize 360° rotation in the horizontal plane.

[0051] The control cabinet 2 is equipped with a Beidou satellite signal receiver 106, an IMU sensor and an RTK mobile station receiver. The IMU sensor is used to ensure that the point cloud data is synchronized with the movement of the robot; the RTK mobile station receiver and the base station receiver complete the RTK precise positioning together and combine with the Beidou satellite signal receiver 106 to calculate the high-precision robot position information, which is used for the registration of the point cloud data to ensure that each point cloud fragment is correctly located at each position in the map, so as to achieve more accurate positioning.

[0052] A 3D laser radar 103 is installed at the front end above the rotating platform 102. The 3D laser radar 103 is used to collect point cloud data of the surrounding environment, and completes the scanning of the surrounding environment as the robot moves, ensuring that the installation robot can accurately move to the target position to carry out operations, further ensuring the overall installation work quality.

[0053] like Figure 2 , power batteries 105 are installed on both sides above the rotating platform 102. The power batteries 105 provide energy to ensure the continuous operation and operation of the robot; the power batteries 105 are also arranged at the rear end of the mobile platform to lower the center of gravity and further improve the stability of the robot during operation.

[0054] In one embodiment of the present invention, Figure 6 As shown, the gripping mechanism includes a guide element 407 and a driving element 406; the guide element 407 and the driving element 406 are installed at the lower end of the second connecting member 405; two groups of gripping elements 408 are slidably connected to the guide element 407; the driving element 406 drives the gripping elements 408 to move toward or away from each other on the guide element 407. The guide element 407 can be fixedly installed at the lower end of the second connecting member 405 by threaded connection, and two groups of guide elements 407 can be provided to improve the working stability of the gripping elements 408; the gripping action of the guide element 407 for the cable trench cover provides a smooth and precise linear motion trajectory; the driving element 406 is also fixedly installed at the lower end of the second connecting member 405 by threaded connection; the driving element 406 is hydraulically driven and can be a hydraulic cylinder.

[0055] In one embodiment of the present invention, Figure 6 As shown, there are two groups of driving elements 406; the output ends of the two groups of driving elements 406 are respectively fixedly connected to the two groups of grabbing elements 408. The two groups of driving elements 406 are symmetrically arranged on both sides of the guide element 407, and the two groups of driving elements 406 work synchronously. When the driving elements 406 are extended, the two groups of grabbing elements 408 move in opposite directions, and when the driving elements 406 are contracted, the two groups of grabbing elements 408 move toward each other.

[0056] In one embodiment of the present invention, Figure 6 As shown, the grabbing element includes a slider and a grabbing member, the slider is slidably connected to the guide element 407, and the grabbing member is fixedly installed on the slider. The shape of the grabbing member is adapted to the side of the cable trench cover, so that the grabbing member can fit more closely when grabbing the cable trench cover, thereby making the grabbing, conveying and installation process more stable; at the same time, Figure 5 In the embodiment, an inclined reinforcing rib is arranged above the grabbing member to improve the strength of the grabbing member.

[0057] During the implementation process, when the end effector 4 moves to the grabbing position of the cable trench cover, the position of the grabbing mechanism is adjusted by adjusting the position of the end effector 4, so that the grabbing piece is aligned with the grabbing position of the cable trench cover; then the control cabinet 2 controls the driving element 406 to work, and the driving element 406 contracts to drive the two groups of grabbing elements 408 to move toward each other, and the slider moves toward each other along the guide element 407, and the grabbing piece is fixed on the slider through a threaded connection; the grabbing piece is symmetrically distributed on both sides of the lower end of the second connecting piece 405, and the driving element 406 provides the power required for the grabbing piece, and provides sufficient radial gripping force to ensure the smooth progress of the gripping work; after the grabbing piece moves to the grabbing position of the cable trench cover and the cable trench cover is grabbed, the driving element 406 stops working.

[0058] In one embodiment of the present invention, Figure 5 As shown, the second actuator 403 is a rod structure. The second actuator 403 is a rigid rod structure, such as Figure 5 The ball end of the lower end of the No. 2 actuator 403 is connected to the No. 2 connecting piece 405 through a flange. When the No. 1 actuator 402 is extended and retracted to drive the No. 2 connecting piece 405 to rotate, the No. 2 actuator 403 is used to control the movement of the end actuator 4 in other directions, thereby improving the accuracy of adjusting the posture of the end actuator 4.

[0059] In one embodiment of the present invention, Figure 1 , Figure 3 and Figure 7 The rear end of the mobile device 101 is connected to a material loading vehicle 5; the material loading vehicle 5 is connected to the control cabinet 2 by signal; the material loading vehicle 5 includes a feeding platform 502 and a moving mechanism 503; the feeding platform 502 is installed above the moving mechanism 503; the front end of the moving mechanism 503 is connected to the No. 1 connecting portion 107 at the rear end of the mobile device 101 through the No. 2 connecting portion 501; the second inclination sensor 504 is installed at the middle position of the lower surface of the feeding platform 502. Positioning blocks 505 are arranged on the periphery of the feeding platform 502. The No. 1 connection part 107 is welded to the rear end of the mobile device 101, and the No. 2 connection part 501 is welded to the front end of the mobile mechanism 503; the No. 1 connection part 107 is hinged to the No. 2 connection part 501; during the movement of the mobile device 101, the No. 1 connection part 107 pulls the No. 2 connection part 501, thereby moving through the mobile mechanism 503, so that the feeding platform 502 moves synchronously with the mobile device 101; the cable trench cover to be installed is placed on the feeding platform 502; the material loader 5 follows to carry out continuous feeding, which ensures the continuity of the installation process and improves the installation efficiency of the cable trench cover.

[0060] In the embodiment of the present invention, the mechanical arm assembly 3 includes a first arm module, a second arm module and a third arm module; one end of the first arm module is hinged to the rotating platform 102, and the other end of the first arm module is hinged to the second arm module; the other end of the second arm module is hinged to the third arm module; the other end of the third arm module is hinged to the end effector 4. During operation, the unfolding sequence is from the third arm module close to the end effector 4 to the first arm module far away from the end effector 4, so as to avoid top-heavy wear on the mechanical arm assembly 3.

[0061] like Figure 4 As shown, the arm module No. 1 includes a driving assembly No. 1 301 and a connecting rod No. 1 302 ; the arm module No. 2 includes a driving assembly No. 2 303 and a connecting rod No. 2 304 ; and the arm module No. 3 includes a driving assembly No. 305 and a connecting rod No. 3 306 .

[0062] The fixed end of the No. 1 driving component 301 is hinged to the rotating platform 102, and the output end of the No. 1 driving component 301 is hinged to the middle part of the connecting rod 1 302; the rear end of the connecting rod 1 302 is hinged to the base 1, and one side of the front end of the connecting rod 1 302 is hinged to the middle part of the connecting rod 2 304; the other side of the front end of the connecting rod 1 302 is hinged to the fixed end of the No. 3 driving component 305.

[0063] The upper middle part of the connecting rod 1 302 is hinged to the fixed end of the No. 2 driving assembly 303; the output end of the No. 2 driving assembly 303 is hinged to the rear end of the connecting rod 2 304, and the front end of the connecting rod 2 304 is hinged to the rear end of the connecting rod 3 306 and the end effector 4; the upper middle part of the connecting rod 2 304 is hinged to the fixed end of the No. 3 driving assembly 305; the output end of the No. 3 driving assembly 305 is hinged to the middle part of the connecting rod 3 306; the front end of the connecting rod 3 306 is hinged to the end effector 4. Wherein, drive assembly No. 1 301, drive assembly No. 2 303 and drive assembly No. 3 305 can all be hydraulic cylinders; by adopting three groups of arm modules, namely arm module No. 1, arm module No. 2 and arm module No. 3; deploy from drive assembly No. 305 to drive assembly No. 1 301 in sequence, so as to avoid the problem of top-heavy; first, drive assembly No. 3 305 close to the end effector 4 contracts, driving connecting rod three 306 to rotate; drive assembly No. 2 303 contracts, driving connecting rod two 304 to rotate; drive assembly No. 1 301 contracts, driving connecting rod one 302 to contract; where drive assembly No. 1 301, drive assembly No. 2 303 and drive assembly No. 3 305 are all hydraulically driven, which improves the carrying capacity of the robot arm assembly 3, and can be suitable for the installation of cable trench covers in various environments, with good safety performance and large carrying capacity.

[0064] In one embodiment of the present invention, there are two groups of No. 1 drive components 301, and the two groups of No. 1 drive components 301 are respectively arranged on both sides of the connecting rod 1 302; the two groups of No. 1 drive components 301 move synchronously, and the two groups of drive components synchronously extend and retract to drive the connecting rod 1 302 to rotate. The two groups of No. 1 drive components 301 are arranged on both sides of the connecting rod 1 302, which can improve the stability of the overall robotic arm assembly 3.

[0065] In one embodiment of the present invention, the connecting rod 3 306 is a "V"-shaped structure with the opening facing downward. The front end of the connecting rod 3 306 is hinged to the end effector 4, and the rear end of the connecting rod 3 306 is hinged to the front end of the connecting rod 2 304. At the same time, the front end of the connecting rod 2 304 is hinged to the end effector 4, and the specific positions where the front end of the connecting rod 2 304 is hinged to the end effector 4 and the connecting rod 3 306 are very close; the inverted "V"-shaped structure of the connecting rod 3 306 is similar to the structure connected to the end effector 4; thereby, the stability of the end effector 4 during movement can be further improved, so that the end effector 4 can install the cable trench cover more accurately.

[0066] A hydraulic station 104 is installed above the rotating platform 102, and the hydraulic station 104 is located on both sides of the rear end of the rotating platform 102. The hydraulic station 104 is connected to the first drive assembly 301 and the drive element 406 and other drive components through oil pipes to supply oil and realize hydraulic drive of the entire robot; In one embodiment of the present invention, Figure 6 The sensing and measuring unit includes a laser displacement sensor 409, a 3D camera 410 and an inclination sensor 1 411; multiple groups of the laser displacement sensors 409 are installed below the second connector 405; the 3D camera 410 is installed on the side of the second connector 405; the inclination sensor 1 411 is installed on the upper end of the second connector 405; and four groups of the laser displacement sensors 409 are installed below the second connector 405. The laser displacement sensor 409 is installed near the guide element 407 to monitor the contact distance. The 3D camera 410 can be a 3D structured light camera to monitor the current working environment. The inclination sensor 1 411 is a dual-axis inclination sensor.

[0067] During the implementation process, the laser displacement sensor 409 is installed next to the guide element 407 and is responsible for collecting the distance data between the target and the end effector 4; during the installation of the cable trench cover, the laser displacement sensor 409 measures the placement status and installation status horizontality of the cable trench cover. Taking four groups of laser displacement sensors 409 as an example, the four groups of returned distance data are used for plane fitting to obtain the posture of the cable trench cover plane in space, thereby obtaining the multi-directional angle between the cable trench cover and the horizontal plane, and then uploading the data to the upper computer in the control cabinet 2 for processing. The control cabinet 2 controls the end effector 4 to adjust the posture to better complete the grasping and installation tasks of the cable trench cover; the laser displacement sensor 409 can transmit the posture feedback information of the end effector 4 in real time to ensure the reliable installation of the cable trench cover and ensure the installation accuracy.

[0068] The 3D camera 410 is used to detect the installation gap distance of the cable trench cover after the installation is completed to ensure the installation quality of the cable trench cover. At the same time, the placement position of the cable trench cover is measured during the installation process to ensure that the end effector 4 can perform accurate grasping actions. During the cable trench cover installation task, the posture of the cable trench cover plane in space is accurately positioned by combining laser and visual sensing to ensure the accuracy and stability of the robot picking and installation process.

[0069] The inclination sensor 411 completes the measurement of the inclination angle of the end effector 4, and combines the current posture of the robot to obtain the posture of the end effector 4 in the current working state through robot kinematics, coordinate system transformation, etc., and feeds it back to the control system. After processing, the posture of the end effector 4 is adjusted according to work requirements.

[0070] The present application provides a mobile installation robot control system, the control system is integrated into the above-mentioned mobile installation robot; the control system includes an analysis system, a grasping control system and an installation control system; the analysis system is used to analyze and process information collected by a sensor measurement unit and a second inclination sensor (504); the grasping control system is used to control the installation robot to grasp a target object; the installation control system is used to control the installation robot to install a target object; the analysis system is connected to the grasping control system and the installation control system.

[0071] The present application provides a control method for a mobile installation robot, wherein the control method is a control step of controlling the mobile installation robot by the control system; specifically, the control method comprises the following steps: The distance information between the target object and the end effector and the position data of the target object are obtained through the sensor measurement unit; the position data of the target object is obtained through the analysis system; The joint control amount of the installation robot is obtained by inversely solving the target object posture data; the grasping control system controls the installation robot to grasp the target object; Then, the position and posture data of the target object installation position is obtained through the sensor measurement unit; and the installation control system controls the installation robot to perform the installation operation.

[0072] After the installation is completed, the position information of the installed target is obtained through the sensor measurement unit and fed back to the analysis system for installation quality evaluation.

[0073] If the position information of the installed target object does not meet the installation quality evaluation standard, a secondary installation is performed according to the position information of the installed target object; if the position information of the installed target object meets the installation quality evaluation standard, the next target object installation operation is performed.

[0074] The secondary installation controls the end effector 4 to move to the top of the installed target object through the installation control system; then the distance data between the installed target object and the end effector 4 is obtained through the sensor measurement unit, and after analysis by the analysis system, the grasping control system controls the installation robot to perform grasping operations; and then the installation control system controls the installation robot to perform installation operations.

[0075] The specific workflow of the present invention is as follows: like Figure 8As shown, when installing the cable trench cover, the worker places the cable trench cover tied with the packing tape on the feeding platform 502. Because the positioning block 505 is arranged on the periphery of the feeding platform 502, the cable trench cover can be fixed to ensure the stability of the cable trench cover during the movement of the material loading vehicle 5; the control cabinet 2 first controls the moving device 101 to drag the material carrier to the designated working position, and then the worker removes the packing tape; the control cabinet 2 controls the sequential extension of the mechanical arm assembly 3, from the No. 3 arm module to the No. 2 arm module and then to the No. 1 arm module; then the No. 1 actuator 402 is extended and retracted to drive the No. 2 connecting member 405 to rotate, so as to realize the pitch and rotation movement of the end effector 4 and adjust the posture of the end effector 4; The end effector 4 is moved to the top of the material loading vehicle 5 by horizontal and vertical movements to grab the cable trench cover on the material loading vehicle 5; specifically, the image is first collected by the 3D camera 410 and sent to the analysis system for processing to obtain the approximate position data of the target cable trench cover, and then the end effector 4 is controlled to move to the top of the target cable trench cover by the grabbing control system; after reaching the top of the cable trench cover, the distance data between the target cable trench cover and the end effector 4 is collected by the laser displacement sensor 409 and fed back to the analysis system, and the analysis system analyzes and processes the data and combines the current posture data of the end effector 4 to obtain four sets of point position data on the target plane, and the four sets of point position data are used to fit the target plane to obtain the plane position data of the target cable trench cover; at the same time, the 3D camera 410 collects the image of the target cable trench cover again for data analysis, obtains the position data of the target cable trench cover, and sends the obtained position data of the target cable trench cover to the analysis system; after the analysis system obtains the precise position data of the target cable trench cover after processing, it drives the end effector 4 to reach the grabbing position of the cable trench cover; the inclination sensor 1 411 collects the inclination data of the current end effector 4 and compares it with the grabbing posture of the target cable trench cover through the analysis system, and compares it with the inclination data of the current material loading vehicle 5 collected by the inclination sensor 2 504 for a second time, adjusts the posture of the end effector 4 to accurately reach the target cable trench cover picking position, and ensures that the cable trench cover grabbing work can be carried out smoothly and steadily; finally, the driving element 406 controls the grabbing element 408 to move towards each other and grab the cable trench cover at the same time; After the end effector 4 stably grasps the cable trench cover, it moves the cable trench cover to above the predetermined installation position; at this time, the 3D camera 410 starts data acquisition, collects the cable trench body position data and the position data of the last installed cable trench cover, and sends it to the analysis system. After analysis and processing by the analysis system, the installation position of the cable trench cover is revised for the second time to obtain the accurate installation position; the installation control system controls the end effector 4 to perform the installation operation, obtains the control amount of each joint through inverse solution, and drives the end effector 4 to approach the installation position; after reaching the installation position, the driving element 406 drives the grasping element 408 to move backward to release the cable trench cover, and place the cable trench cover at the target installation position.

[0076] After the installation is completed, the installation control system drives the end effector 4 to move above the cable trench cover; the 3D camera 410 collects the position data of the cable trench cover that has just been installed and the position data of the last cable trench cover that has been installed, and compares the data of the two to detect the installation gap between the two and detect the installation quality; after the installation gap detection is completed, the data is judged by the standard, and the cover that does not meet the installation quality standard is reinstalled until it meets the installation quality standard; Specifically, the installation control system controls the end effector 4 to approach the top of the cable trench cover that needs to be reinstalled. After reaching the top of the target cable trench cover, the laser displacement sensor 409 collects the distance data between the target cable trench cover and the end effector 4, and feeds it back to the analysis system. After analysis and processing by the analysis system and combined with the current posture data of the installation robot, four sets of point data on the target plane are obtained. The four sets of point data are used to fit the target plane to obtain the target plane position data. At the same time, the 3D camera 410 collects the target image again for data analysis to obtain the target object position data. The obtained target object position data is sent to the robot analysis system; after the analysis system obtains the precise position data of the target cable trench cover, the grasping control system controls the end effector 4 to reach the grasping position of the cable trench cover; the inclination sensor 411 collects the current inclination data of the end effector 4 and compares it with the grasping posture of the target cable trench cover through the analysis system, and adjusts the posture of the end effector 4 to accurately reach the grasping position of the target cable trench cover, ensuring that the grasping work of the cable trench cover can be carried out smoothly and steadily; finally, the driving element 406 controls the grasping element 408 to move towards each other and grasp the cable trench cover at the same time; After the end effector 4 stably grasps the cable trench cover, it moves the cable trench cover to the predetermined position after the gap detection result is corrected, and then the control amount of each joint is obtained through inverse solution. The installation control system controls the end effector to approach the installation position. After reaching the target installation position, the driving element 406 controls the grasping element 408 to move backward and release, and place the cable trench cover at the target installation position; after the installation is completed, the installation gap is detected again on the installation result until the installation requirements are met; during the installation of the cable trench cover, the laser displacement sensor 409 can transmit the position and posture of the end effector 4 in real time and feedback to the analysis system to ensure the installation reliability of the cable trench cover, reduce the error accumulation effect, and improve the installation accuracy of the cable trench cover.

[0077] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile installation robot, comprising a base (1), characterized in that: The base (1) is connected to a fixed end of a mechanical arm assembly (3), and the output end of the mechanical arm assembly (3) is connected to an end effector (4); The end effector (4) comprises a posture adjustment module, a gripping mechanism and a sensor measurement unit; the upper end of the posture adjustment module is connected to the mechanical arm component (3) via a No. 1 connection piece (401); the lower end of the posture adjustment module is connected to the gripping mechanism via a No. 2 connection piece (405); the gripping mechanism is used to grip the component to be installed; the sensor measurement unit is installed on the No. 2 connection piece (405); the sensor measurement unit collects data during the installation process; The posture adjustment module comprises a first actuator (402) and a second actuator (403); the fixed end of the first actuator (402) is connected to the second connecting member (405) via a mounting member (404), and the output end of the first actuator (402) is hinged to the lower end of the first connecting member (401); the lower end of the second actuator (403) is connected to the second connecting member (405) via a ball joint, and the upper end of the second actuator (403) is hinged to the first connecting member (401); The first actuator (402) comprises three groups, and the three groups of the first actuator (402) are arranged crosswise and obliquely with each other in the space between the first connecting member (401) and the second connecting member (405).

2. A mobile installation robot according to claim 1, characterized in that: It also comprises a control cabinet (2); the control cabinet (2) is mounted on the base (1); the control cabinet (2) is electrically connected to the mechanical arm assembly (3), the end effector (4), and the sensor measurement unit.

3. The mobile installation robot according to claim 1, characterized in that: The base (1) comprises a moving device (101) and a rotating platform (102); the rotating platform (102) is connected to a fixed end of a mechanical arm assembly (3).

4. The mobile installation robot according to claim 1, characterized in that: The gripping mechanism comprises a guide element (407) and a driving element (406); the guide element (407) and the driving element (406) are mounted at the lower end of the second connecting member (405); two groups of gripping elements (408) are slidably connected to the guide element (407); the driving element (406) drives the gripping elements (408) to move towards or away from each other on the guide element (407).

5. The mobile installation robot according to claim 4, characterized in that: There are two groups of driving elements (406); the output ends of the two groups of driving elements (406) are fixedly connected to the two groups of grabbing elements (408) respectively.

6. The mobile installation robot according to claim 5, characterized in that: The grabbing element (408) comprises a slider and a grabbing piece, wherein the slider is slidably connected to the guide element (407), and the grabbing piece is fixedly mounted on the slider.

7. The mobile installation robot according to claim 1, characterized in that: The second actuator (403) is a rod structure.

8. The mobile installation robot according to claim 3, characterized in that: The end of the moving device (101) opposite to the forward direction is connected to a material loading vehicle (5); the material loading vehicle (5) is signal-connected to the control cabinet (2); the material loading vehicle (5) comprises a material feeding platform (502) and a moving mechanism (503); The feeding platform (502) is installed above the moving mechanism (503); the moving mechanism (503) is connected to the first connecting part (107) of the moving device (101) via the second connecting part (501); the first connecting part (107) and the second connecting part (501) are respectively installed at one end adjacent to the moving device (101) and the moving mechanism (503); and a second inclination sensor (504) is installed at the lower end of the feeding platform (502).

9. The mobile installation robot according to claim 1, characterized in that: The mechanical arm assembly (3) comprises a first arm module, a second arm module and a third arm module; the first arm module, the second arm module and the third arm module are hinged in sequence; one end of the first arm module away from the second arm module is hinged to the rotating platform (102); and one end of the third arm module away from the second arm module is hinged to the end effector (4).

10. The mobile installation robot according to claim 9, characterized in that: The arm module No. 1 includes a drive assembly No. 1 (301) and a connecting rod No. 1 (302); the arm module No. 2 includes a drive assembly No. 2 (303) and a connecting rod No. 2 (304); the arm module No. 3 includes a drive assembly No. 3 (305) and a connecting rod No. 3 (306); The fixed end of the first drive assembly (301) is hinged to the rotating platform (102), and the output end of the first drive assembly (301) is hinged to the middle of the first connecting rod (302); the rear end of the first connecting rod (302) is hinged to the base (1), and one side of the front end of the first connecting rod (302) is hinged to the middle of the second connecting rod (304); the other side of the front end of the first connecting rod (302) is hinged to the fixed end of the third drive assembly (305); The upper middle portion of the connecting rod one (302) is hinged to the fixed end of the second drive assembly (303); the output end of the second drive assembly (303) is hinged to the rear end of the connecting rod two (304), and the front end of the connecting rod two (304) is hinged to the rear end of the connecting rod three (306) and the end effector (4); the upper middle portion of the connecting rod two (304) is hinged to the fixed end of the third drive assembly (305); the output end of the third drive assembly (305) is hinged to the middle portion of the connecting rod three (306); the front end of the connecting rod three (306) is hinged to the end effector (4).

11. The mobile installation robot according to claim 10, characterized in that: There are two groups of the first drive assembly (301), and the two groups of the first drive assembly (301) are respectively arranged on both sides of the connecting rod one (302).

12. The mobile installation robot according to claim 10, characterized in that: The connecting rod three (306) is a "V"-shaped structure with its opening facing downward.

13. The mobile installation robot according to claim 3, characterized in that: A hydraulic station (104) is installed above the rotating platform (102), and the hydraulic station (104) is located on both sides of the rear end of the rotating platform (102); the hydraulic station (104) is connected to a first drive assembly (301), a second drive assembly (303), a third drive assembly (305), and a drive element (406).

14. The mobile installation robot according to claim 8, characterized in that: A positioning block (505) is arranged on the periphery of the feeding platform (502).

15. The mobile installation robot according to claim 1, characterized in that: The sensing and measuring unit comprises a laser displacement sensor (409), a 3D camera (410) and an inclination sensor 1 (411); a plurality of groups of the laser displacement sensors (409) are installed below the second connecting piece (405); the sensing and measuring unit comprises a 3D camera (410), and the 3D camera (410) is installed on the side of the second connecting piece (405); the sensing and measuring unit comprises an inclination sensor 1 (411); and the inclination sensor 1 (411) is installed on the upper end of the second connecting piece (405).

16. A mobile installation robot control system, characterized in that: The control system is integrated into a mobile installation robot as described in any one of claims 1 to 11; the control system includes an analysis system, a grasping control system and an installation control system; The analysis system is used to analyze and process the information collected by the sensor measurement unit and the second inclination sensor (504); The grabbing control system is used to control the installation robot to perform the operation of grabbing the target object; the installation control system is used to control the installation robot to perform the operation of installing the target object; The analysis system is connected with the gripping control system and the installation control system.

17. A mobile installation robot control method, characterized in that: The control method is a control step of controlling a mobile installation robot according to any one of claims 1 to 15 by the control system according to claim 16; specifically comprising the following steps: The distance information between the target object and the end effector (4) and the position data of the target object are obtained through the sensor measurement unit; and the position data of the target object are obtained through the analysis system; Obtaining the joint control amount of the installation robot by inversely solving the target object posture data; executing the grasping control system to control the installation robot to grasp the target object; Then, the position and posture data of the target object's installation position is obtained through the sensor measurement unit; and the installation control system is executed to control the installation robot to perform the installation operation.

18. A mobile installation robot control method according to claim 17, characterized in that: After the installation is completed, the position information of the installed target is obtained through the sensor measurement unit and fed back to the analysis system for installation quality evaluation.

19. A mobile installation robot control method according to claim 18, characterized in that: If the position information of the installed target object does not meet the installation quality evaluation standard, a secondary installation is performed according to the position information of the installed target object; if the position information of the installed target object meets the installation quality evaluation standard, the next target object installation operation is performed.

20. A mobile installation robot control method according to claim 19, characterized in that: The secondary installation controls the end effector (4) to move to the position directly above the installed target object through the installation control system; Then, the distance data between the installed target object and the end effector (4) is obtained through the sensor measurement unit, and after being analyzed by the analysis system, the grasping control system controls the installation robot to perform grasping operations; The installation robot is then controlled by the installation control system to perform installation operations.

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