Z-axis adjusting method and device for cantilever building robot

Abstract

The invention discloses a Z-axis adjusting method and device for a cantilever building robot, and relates to the technical field of intelligent construction carrying robots, and the Z-axis adjusting method comprises the steps that the initial position and the target position of a building component are obtained, and a carrying motion path of the building component is formulated; inquiring working states of a first cantilever and a second cantilever of the cantilever building robot, acquiring a first motion path, a second motion path and a converged motion path of the first motion path and the second motion path, and setting a transfer point position on the converged motion path, and a first deflection angle of the first cantilever and / or the second cantilever deflecting around the Z axis is calibrated based on the transfer point position, and a first lifting distance of the first cantilever and / or the second cantilever moving along the Z axis is obtained by combining the grabbing position of the building component. And in combination with working path adjustment of the multiple cantilevers, rotation and lifting control over the Z axes of the cantilevers is achieved, and the reliability and carrying efficiency of the cantilever building robot for building component transportation are improved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of intelligent construction and handling robots, and specifically relates to a Z-axis adjustment method and device for a cantilever construction robot. Background Art

[0002] Existing cantilever construction robots are mainly used for the transportation of large building components and materials. Through robot automated transportation, the efficiency of building construction is improved. The multi-axis cantilever construction robots are used to transport materials. They have the characteristics of small footprint and flexible movement. At present, the working range covered by cantilever construction robots is small. Generally, multiple cantilever components are coordinated to achieve the work requirements of long-distance material transportation and multi-material transportation. However, the movement coordination between multiple cantilevers involves the coordinated control of the lifting and lowering movement in the Z-axis direction and the rotational movement around the Z-axis within the cantilever. The handling efficiency and transportation reliability of building components by existing cantilever construction robots need to be improved. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a Z-axis adjustment method and device for a cantilever construction robot. According to the transportation requirements of building components, combined with the working path adjustment of multiple cantilevers, the rotation and lifting control of the cantilever Z-axis is realized, thereby improving the reliability and transportation efficiency of the cantilever construction robot in transporting building components.

[0004] The present invention provides a Z-axis adjustment method for a cantilever construction robot, wherein the cantilever construction robot comprises: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably engaged with the guide rail base;

[0005] The adjustment method comprises:

[0006] Obtaining the initial position and target position of the building component, and formulating a transport movement path of the building component based on the initial position and target position;

[0007] Querying the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquiring a first motion path of the first cantilever and a second motion path of the second cantilever based on the working status and the transport motion path;

[0008] Acquire a converging motion path of the first motion path and the second motion path, set a transfer point position on the converging motion path, and adjust the first motion path and the second motion path based on the transfer point position;

[0009] Calibrate a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrate a second deflection angle of the second cantilever around the Z axis based on the position of the transition point;

[0010] A first lifting distance of the first cantilever moving along the Z axis is obtained in combination with the grasping position of the building component, and / or a second lifting distance of the second cantilever moving along the Z axis is obtained in combination with the grasping position of the building component.

[0011] Furthermore, the obtaining of the initial position and the target position of the building component and formulating a transport motion path of the building component based on the initial position and the target position includes:

[0012] Mark the grabbing position on the building component according to the model and size of the building component;

[0013] The starting position of the building component is calibrated according to the grabbing position on the building component, and the target position of the building component transportation is queried based on the model of the building component.

[0014] Further, the querying of the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquiring the first motion path of the first cantilever and the second motion path of the second cantilever based on the working status and the transport motion path includes:

[0015] Querying the working states of the first cantilever and the second cantilever, and acquiring working paths of the first cantilever and the second cantilever according to the working states of the first cantilever and the second cantilever;

[0016] The working paths of the first cantilever and the second cantilever are adjusted in combination with the transport motion path to obtain a first motion path of the first cantilever and a second motion path of the second cantilever.

[0017] Further, the querying of the working status of the first cantilever and the second cantilever, and obtaining the working paths of the first cantilever and the second cantilever according to the working status of the first cantilever and the second cantilever include:

[0018] When the first cantilever is in an idle state and the second cantilever is in a working state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set according to the working state of the second cantilever combined with the first working path;

[0019] When the first cantilever is in a working state and the second cantilever is in an idle state, a second working path of the second cantilever is set based on the transport motion path, and the first working path of the first cantilever is set according to the working state of the first cantilever combined with the second working path;

[0020] When the first cantilever and the second cantilever are both in an idle state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set based on the transport motion path.

[0021] Further, the acquiring a converging motion path of the first motion path and the second motion path, setting a transfer point position on the converging motion path, and adjusting the first motion path and the second motion path based on the transfer point position includes:

[0022] adjusting the motion parameters of the first cantilever on the first motion path according to the position of the transfer point, or adjusting the motion parameters of the second cantilever on the second motion path according to the position of the transfer point;

[0023] The waiting time of the first motion path is set according to the merging motion path, or the waiting time of the second motion path is set according to the merging motion path.

[0024] Further, the adjusting the motion parameters of the first cantilever on the first motion path according to the position of the transfer point, or adjusting the motion parameters of the second cantilever on the second motion path according to the position of the transfer point includes:

[0025] A straight transport path is set between the initial position and the target position, and the intersection between the straight transport path and the converging motion path is marked as a transfer point position, and the deflection angle of the first cantilever is adjusted according to the transfer point position, or the deflection angle of the second cantilever is adjusted according to the transfer point position.

[0026] Further, the step of setting the waiting time of the first motion path according to the merging motion path, or the step of setting the waiting time of the second motion path according to the merging motion path includes:

[0027] querying the moving speed of the first cantilever to obtain the first movement time of the first cantilever in the converging movement path;

[0028] querying the moving speed of the second cantilever to obtain the second movement time of the second cantilever in the converging movement path;

[0029] The first movement time is compared with the second movement time, and the waiting time of the first cantilever or the second cantilever is set based on the comparison result of the first movement time and the second movement time.

[0030] Further, the calibrating the first deflection angle of the first cantilever around the Z axis based on the transition point position, and / or the calibrating the second deflection angle of the second cantilever around the Z axis based on the transition point position includes:

[0031] When the first cantilever is initially in an idle state and the second cantilever is initially in a working state, setting a first deflection angle of the first cantilever around the Z axis according to the position of the transfer point;

[0032] When the initial state of the second cantilever is an idle state and the initial state of the first cantilever is a working state, a second deflection angle of the second cantilever around the Z axis is set according to the position of the transfer point.

[0033] Further, the step of acquiring a first lifting distance of the first cantilever along the Z axis in combination with the grasping position of the building component, and / or acquiring a second lifting distance of the second cantilever along the Z axis in combination with the grasping position of the building component comprises:

[0034] When the first cantilever is initially in an idle state and the second cantilever is initially in a working state, a first lifting distance of the first cantilever along the Z axis is set according to the grasping position of the building component by the first cantilever and the height of the target position;

[0035] When the second cantilever is initially in an idle state and the first cantilever is initially in a working state, a second lifting distance of the second cantilever along the Z axis is set according to the grasping position of the building component by the second cantilever and the height of the target position.

[0036] The present invention also provides a Z-axis adjustment device for a cantilever construction robot, the cantilever construction robot comprising: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably fitted on the guide rail base;

[0037] The regulating device comprises:

[0038] Path planning component: used to obtain the initial position and target position of the building component, and formulate the transportation movement path of the building component based on the initial position and target position;

[0039] A path query component: used for querying the working status of the first cantilever and the second cantilever of the cantilever construction robot, and obtaining a first motion path of the first cantilever and a second motion path of the second cantilever based on the working status and the transport motion path;

[0040] A marking component: used for obtaining a converging motion path of the first motion path and the second motion path, setting a transfer point position on the converging motion path, and adjusting the first motion path and the second motion path based on the transfer point position;

[0041] Angle calculation component: used for calibrating a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrating a second deflection angle of the second cantilever around the Z axis based on the position of the transition point;

[0042] Distance calculation component: used to obtain a first lifting distance of the first cantilever moving along the Z axis in combination with the grasping position of the building component, and / or to obtain a second lifting distance of the second cantilever moving along the Z axis in combination with the grasping position of the building component.

[0043] The present invention provides a Z-axis adjustment method and device for a cantilever construction robot. By coordinating the working paths of different cantilevers for transporting construction components, and combining the working path adjustment of multiple cantilevers according to the handling requirements of the construction components, the Z-axis offset angle and Z-axis lifting distance of each cantilever are calculated, the rotation and lifting control of the cantilever Z-axis is realized, and the reliability and handling efficiency of the cantilever construction robot for transporting construction components are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a Z-axis adjustment method of a cantilever construction robot in an embodiment of the present invention;

[0045] Figure 2 It is a schematic structural diagram of the Z-axis adjustment device of the cantilever construction robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0047] Embodiment 1:

[0048] Figure 1 A flow chart of the Z-axis adjustment method of the cantilever construction robot in an embodiment of the present invention is shown, wherein the cantilever construction robot comprises: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably engaged with the guide rail base, wherein the first cantilever and the second cantilever are both provided with a support shaft in the Z-axis direction and a transverse movement shaft in the Y-axis direction, and a drive motor is provided on the support shaft, and the drive motor can drive the support shaft to rotate along the Z-axis and to move up and down along the Z-axis.

[0049] Furthermore, a gripping mechanism is provided on the first cantilever and the second cantilever. Based on the X-axial guide rail base, the first cantilever and the second cantilever are moved in the X-axial direction in cooperation with the X-axial drive motor. Based on the Y-axial transverse axis, the first cantilever and the second cantilever are telescopically moved on the Y-axis, thereby realizing the gripping position adjustment of the cantilever construction robot in the XY plane.

[0050] Specifically, the adjustment method includes:

[0051] S11: Acquire the initial position and target position of the building component, and formulate a transport movement path of the building component based on the initial position and the target position.

[0052] Specifically, the obtaining of the initial position and the target position of the building component and formulating the transport movement path of the building component based on the initial position and the target position includes:

[0053] According to the model and size of the building component, the grasping position is marked on the building component, and based on the model and size of the building component and the grasping mechanisms arranged on the first and second cantilevers, the position points convenient for the grasping mechanisms to grasp are marked on the building component, and the position points are set as the grasping positions.

[0054] Furthermore, according to the different grasping positions of the first cantilever and the second cantilever, a first grasping position point and a second grasping position point are set on the building component, and the grasping mechanism on the first cantilever can act on the first grasping position point to realize the grasping operation of the building component, and the grasping mechanism on the second cantilever can act on the second grasping position point to realize the grasping operation of the building component.

[0055] Specifically, the starting position of the building component is calibrated according to the grabbing position on the building component. When the grabbing operation of the building component is implemented by the first cantilever, the first grabbing position point is set as the starting position of the building component; when the grabbing operation of the building component is implemented by the second cantilever, the second grabbing position point is set as the starting position of the building component.

[0056] Furthermore, the target position of the transport of the building component is queried based on the model of the building component, and the working scene position that meets the use of the building component in the construction scene is queried according to the model of the building component, and the target position of the building component is set based on the working scene position.

[0057] Furthermore, according to the actual processing requirements, the construction progress of different processing scenarios is analyzed, and the processing requirements are ranked according to the urgency of the construction progress, with priority given to the transportation of building components for processing scenarios with high urgency.

[0058] S12: Query the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquire the first motion path of the first cantilever and the second motion path of the second cantilever based on the working status and the transport motion path.

[0059] Specifically, querying the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquiring the first motion path of the first cantilever and the second motion path of the second cantilever based on the working status and the transport motion path includes:

[0060] Querying the working states of the first cantilever and the second cantilever, and obtaining working paths of the first cantilever and the second cantilever according to the working states of the first cantilever and the second cantilever, including:

[0061] When the first cantilever is in an idle state and the second cantilever is in a working state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set according to the working state of the second cantilever combined with the first working path;

[0062] Based on the first cantilever being in an idle state, the first cantilever is set to perform a transport operation on a building component, the transport path is set as a first working path of the first cantilever, the second cantilever is in a working state, the real-time position of the second cantilever is queried, and the second working path of the second cantilever is obtained based on the working state of the second cantilever.

[0063] Furthermore, a time estimate is performed on the transportation of the building component to obtain the transportation time required to complete the transportation of the building component, and a first working path of the first cantilever and a second working path of the second cantilever are set based on the transportation time.

[0064] Specifically, when the first cantilever is in a working state and the second cantilever is in an idle state, the second working path of the second cantilever is set based on the transport motion path, and the first working path of the first cantilever is set according to the working state of the first cantilever in combination with the second working path.

[0065] Furthermore, based on the second cantilever being in an idle state, the second cantilever is set to perform a transport operation on the building component, the transport path is set as a second working path of the second cantilever, the first cantilever is in a working state, the real-time position of the first cantilever is queried, and the first working path of the first cantilever is obtained based on the working state of the first cantilever.

[0066] When the first cantilever and the second cantilever are both in an idle state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set based on the transport motion path.

[0067] Furthermore, when the first cantilever and the second cantilever are both in an idle state, the building component is transported by adjusting the first cantilever and the second cantilever to cooperate with each other. Through the cooperation between the first cantilever and the second cantilever, the movement of the first cantilever and the second cantilever in the XYZ axis direction can be reduced, the change in the posture state of the first cantilever and the second cantilever can be reduced, and the building component can be avoided from being transported over a long distance on the first cantilever or the second cantilever, the vibration deviation of the first cantilever and the second cantilever can be reduced, and the transportation reliability of the building component can be improved.

[0068] Specifically, the first working path and the second working path are set according to the real-time positions of the second cantilever and the second cantilever in combination with the transport motion path, the real-time position of the grabbing mechanism of the first cantilever is queried, and the moving distance between the first cantilever and the initial position is set according to the initial position of the building component, and the working posture of the first cantilever when it is at the initial position is calculated according to the real-time working posture of the first cantilever to obtain a first initial deflection angle of the first cantilever on the Z axis.

[0069] Specifically, the real-time position of the gripping mechanism of the second cantilever is queried, and the transfer position of the first cantilever and the second cantilever is obtained by combining the first distance extended by the first cantilever on the Y-axis and the second distance extended by the second cantilever in the Y-axis direction.

[0070] Furthermore, a circular activity area of ​​the first cantilever is drawn based on a first distance of the lateral movement axis of the first cantilever as a radius, and a circular activity area of ​​the second cantilever is drawn based on a second distance of the lateral movement axis of the second cantilever as a radius. Based on the circular activity areas of the first cantilever and the second cantilever, an activity overlapping area of ​​the first cantilever and the second cantilever is obtained. Combined with the first grasping position point on the building component and the second grasping position point on the building component, a state in which the first grasping position point and the second grasping position point exist at the same time is mapped in the activity overlapping area, and the mapping position corresponding to the first grasping position point is marked as the end point of the first working path of the first cantilever, and the mapping position of the second grasping position point is marked as the starting point of the second working path of the second cantilever.

[0071] Furthermore, based on the mapping position in the activity overlapping area as the transfer position of the first cantilever and the second cantilever, the building component between the first cantilever and the second cantilever can be transferred and adjusted.

[0072] The working paths of the first cantilever and the second cantilever are adjusted in combination with the transport motion path to obtain a first motion path of the first cantilever and a second motion path of the second cantilever.

[0073] Specifically, in combination with the transport motion path and the model and size of the building component, the size of the space occupied by the posture state of the building component during the transport process is obtained, and the actual posture state of the building component at the transfer position during the actual transport process is estimated. According to the mapping point of the first cantilever grabbing position at the transfer position and the mapping point of the second cantilever grabbing position, the theoretical posture state of the building component is obtained, the actual posture state is compared with the theoretical posture state, and the posture state adjustment amount of the building component in the XYZ space is obtained. Based on the posture state adjustment amount, the motion postures of the first cantilever and the second cantilever are adjusted, thereby obtaining a first motion path of the first cantilever and a second motion path of the second cantilever.

[0074] S13: Acquire a converging motion path of the first motion path and the second motion path, set a transfer point position on the converging motion path, and adjust the first motion path and the second motion path based on the transfer point position.

[0075] The motion parameters of the first cantilever on the first motion path are adjusted according to the position of the transfer point, or the motion parameters of the second cantilever on the second motion path are adjusted according to the position of the transfer point.

[0076] Specifically, when the first cantilever participates in the transportation of the building component, that is, the first cantilever is initially in an idle state and the second cantilever is initially in a working state, a straight line transportation path is set between the initial position and the target position, and the intersection between the straight line transportation path and the converging motion path is marked as a transfer point position. According to the transfer point position, the deflection angle of the first cantilever is adjusted so that the first cantilever and the second cantilever are misaligned with each other, thereby avoiding movement interference between the building components of the first cantilever and the second cantilever.

[0077] Furthermore, when the second cantilever parameter transports the building component, that is, the initial state of the second cantilever is an idle state and the initial state of the first cantilever is a working state, the setting method of the transfer point position can refer to the situation where the first cantilever participates in the transportation of the building component, which will not be repeated here.

[0078] Furthermore, by adjusting the deflection angle of the first cantilever or the second cantilever based on the position of the transfer point, the angular offset of the first cantilever or the second cantilever can be reduced, thereby shortening the deflection transportation time of the building component, reducing the deflection of the building component during transportation, and improving the transportation stability and reliability of the building component.

[0079] Specifically, the waiting time of the first motion path is set according to the merging motion path, or the waiting time of the second motion path is set according to the merging motion path.

[0080] When the first cantilever and the second cantilever are simultaneously involved in the transportation of the building component, the converging area of ​​the first motion path and the second motion path in the XYZ space is set as the converging motion path of the first motion path and the second motion path, and the transfer point position is set on the converging motion path based on the transfer position of the first cantilever and the second cantilever.

[0081] Specifically, query the moving speed of the first cantilever to obtain the first movement time of the first cantilever in the converging movement path, query the moving speed of the second cantilever to obtain the second movement time of the second cantilever in the converging path, compare the first movement time with the second movement time, and set the waiting time of the first cantilever or the second cantilever based on the comparison result of the first movement time and the second movement time.

[0082] Furthermore, when the first movement time is less than the second movement time, the first movement time is set as the waiting time, and an interruption point is set on the second movement path, so that the second cantilever stops moving at the starting position of the converging movement path, and moves after the waiting time, thereby avoiding movement interference between the first cantilever and the second cantilever during working movement.

[0083] Furthermore, when the first movement time is greater than the second movement time, the second movement time is set as the waiting time, and an interruption point is set on the first movement path, so that the first cantilever stops moving at the starting position of the converging movement path, and moves after the waiting time, thereby avoiding movement interference between the first cantilever and the second cantilever during working movement.

[0084] Furthermore, when the first movement time is equal to the second movement time, the waiting time is set to be the same as the first movement time and the second movement time, and when the first cantilever clamps a building component, the second cantilever is set to an interrupted state, and when the second cantilever clamps a building component, the first cantilever is set to an interrupted state, thereby ensuring the transportation efficiency of the building components.

[0085] S14: Calibrate a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrate a second deflection angle of the second cantilever around the Z axis based on the position of the transition point.

[0086] Specifically, when the initial state of the first cantilever is an idle state and the initial state of the second cantilever is a working state, a first deflection angle of the first cantilever around the Z axis is set according to the position of the transfer point.

[0087] The shortest offset angle of the first cantilever is obtained based on the position of the transfer point, so that the first cantilever can move in an offset manner with the working path of the second cantilever, thereby avoiding interference between the movements of the first cantilever and the second cantilever.

[0088] When the initial state of the second cantilever is an idle state and the initial state of the first cantilever is a working state, a second deflection angle of the second cantilever around the Z axis is set according to the position of the transfer point.

[0089] The shortest offset angle of the second cantilever is obtained based on the position of the transfer point, so that the first cantilever can move in an offset manner with the working path of the second cantilever, thereby avoiding interference between the movements of the first cantilever and the second cantilever.

[0090] When the first cantilever and the second cantilever are simultaneously involved in the transportation of the building component, the angles of the first cantilever and the second cantilever are adjusted based on the position of the transfer point, a first angle deflection of the first cantilever when grabbing the building component and a second angle deflection of the second cantilever device when grabbing the building component are calculated, and based on a comparison between the first angle deflection and the second angle deflection, an angle offset adjustment of the first cantilever and the second cantilever is determined.

[0091] Furthermore, when the first angle offset is smaller than the second angle deflection, the transition point position corresponding to the first minimum deflection angle of the first cantilever is selected; when the first angle offset is larger than the second angle deflection, the transition point position corresponding to the second minimum deflection angle of the second cantilever is selected.

[0092] Furthermore, there may be a plurality of sets of transfer point positions that meet the transfer requirements of the first cantilever and the second cantilever building components in the overlapping movement area, and the transfer of the transfer point positions is performed based on the deflection angle, thereby improving the transfer reliability of the building components.

[0093] S15: Acquire a first lifting distance of the first cantilever along the Z axis in combination with the grasping position of the building component, and / or acquire a second lifting distance of the second cantilever along the Z axis in combination with the grasping position of the building component.

[0094] When the first cantilever is initially in an idle state and the second cantilever is initially in a working state, a first lifting distance of the first cantilever along the Z axis is set according to the grasping position of the building component by the first cantilever and the height of the target position.

[0095] When the second cantilever is initially in an idle state and the first cantilever is initially in a working state, a second lifting distance of the second cantilever along the Z axis is set according to the grasping position of the building component by the second cantilever and the height of the target position.

[0096] According to the different positions of the cantilever grabbing the building components, the transfer height of the building component transportation is set, so as to achieve the Z-axis height adjustment of the cantilever.

[0097] An embodiment of the present invention provides a Z-axis adjustment method for a cantilever construction robot. By coordinating the working paths of different cantilevers for transporting construction components, and combining the working path adjustment of multiple cantilevers according to the handling requirements of the construction components, the Z-axis offset angle and Z-axis lifting distance of each cantilever are calculated to achieve rotation and lifting control of the cantilever Z-axis, thereby improving the reliability and handling efficiency of the cantilever construction robot in transporting construction components.

[0098] Embodiment 2:

[0099] Figure 2 A schematic diagram of a Z-axis adjustment device of a cantilever construction robot in an embodiment of the present invention is shown, wherein the cantilever construction robot comprises: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably engaged with the guide rail base;

[0100] The regulating device comprises:

[0101] Path planning component 10: used to obtain the initial position and target position of the building component, and formulate the transportation movement path of the building component based on the initial position and target position.

[0102] The path query component 20 is used to query the working status of the first cantilever and the second cantilever of the cantilever construction robot, and obtain the first motion path of the first cantilever and the second motion path of the second cantilever based on the working status and the transport motion path.

[0103] The marking component 30 is used to obtain a converging motion path of the first motion path and the second motion path, set a transfer point position on the converging motion path, and adjust the first motion path and the second motion path based on the transfer point position.

[0104] Angle calculation component 40: used to calibrate a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrate a second deflection angle of the second cantilever around the Z axis based on the position of the transition point.

[0105] The distance calculation component 50 is used to obtain a first lifting distance of the first cantilever moving along the Z axis in combination with the grasping position of the building component, and / or to obtain a second lifting distance of the second cantilever moving along the Z axis in combination with the grasping position of the building component.

[0106] An embodiment of the present invention provides a Z-axis adjustment device for a cantilever construction robot. By coordinating the working paths of different cantilevers for transporting construction components, and combining the working path adjustment of multiple cantilevers according to the handling requirements of the construction components, the Z-axis offset angle and Z-axis lifting distance of each cantilever are calculated to achieve rotation and lifting control of the cantilever Z-axis, thereby improving the reliability and handling efficiency of the cantilever construction robot in transporting construction components.

[0107] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0108] In addition, the Z-axis adjustment method and device of a cantilever construction robot provided in an embodiment of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A Z-axis adjustment method for a cantilever construction robot, characterized in that: The cantilever construction robot comprises: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably fitted on the guide rail base; The adjustment method comprises: Obtaining the initial position and target position of the building component, and formulating a transport movement path of the building component based on the initial position and target position; Querying the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquiring a first motion path of the first cantilever and a second motion path of the second cantilever based on the working status and the transport motion path; Acquire a converging motion path of the first motion path and the second motion path, set a transfer point position on the converging motion path, and adjust the first motion path and the second motion path based on the transfer point position; Calibrate a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrate a second deflection angle of the second cantilever around the Z axis based on the position of the transition point; A first lifting distance of the first cantilever moving along the Z axis is obtained in combination with the grasping position of the building component, and / or a second lifting distance of the second cantilever moving along the Z axis is obtained in combination with the grasping position of the building component.

2. The Z-axis adjustment method of the cantilever construction robot according to claim 1, characterized in that: The obtaining of the initial position and the target position of the building component and formulating the transport movement path of the building component based on the initial position and the target position comprises: Mark the grabbing position on the building component according to the model and size of the building component; The starting position of the building component is calibrated according to the grabbing position on the building component, and the target position of the building component transportation is queried based on the model of the building component.

3. The Z-axis adjustment method of the cantilever construction robot according to claim 1, characterized in that: The querying of the working status of the first cantilever and the second cantilever of the cantilever construction robot, and acquiring the first motion path of the first cantilever and the second motion path of the second cantilever based on the working status and the transport motion path comprises: Querying the working states of the first cantilever and the second cantilever, and acquiring working paths of the first cantilever and the second cantilever according to the working states of the first cantilever and the second cantilever; The working paths of the first cantilever and the second cantilever are adjusted in combination with the transport motion path to obtain a first motion path of the first cantilever and a second motion path of the second cantilever.

4. The Z-axis adjustment method of the cantilever construction robot according to claim 3, characterized in that: The querying of the working states of the first cantilever and the second cantilever and obtaining the working paths of the first cantilever and the second cantilever according to the working states of the first cantilever and the second cantilever comprises: When the first cantilever is in an idle state and the second cantilever is in a working state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set according to the working state of the second cantilever combined with the first working path; When the first cantilever is in a working state and the second cantilever is in an idle state, a second working path of the second cantilever is set based on the transport motion path, and the first working path of the first cantilever is set according to the working state of the first cantilever combined with the second working path; When the first cantilever and the second cantilever are both in an idle state, a first working path of the first cantilever is set based on the transport motion path, and a second working path of the second cantilever is set based on the transport motion path.

5. The Z-axis adjustment method of the cantilever construction robot according to claim 1, characterized in that: The acquiring a converging motion path of the first motion path and the second motion path, setting a transfer point position on the converging motion path, and adjusting the first motion path and the second motion path based on the transfer point position comprises: adjusting the motion parameters of the first cantilever on the first motion path according to the position of the transfer point, or adjusting the motion parameters of the second cantilever on the second motion path according to the position of the transfer point; The waiting time of the first motion path is set according to the merging motion path, or the waiting time of the second motion path is set according to the merging motion path.

6. The Z-axis adjustment method of the cantilever construction robot according to claim 5, characterized in that: The step of adjusting the motion parameters of the first cantilever on the first motion path according to the position of the transfer point, or adjusting the motion parameters of the second cantilever on the second motion path according to the position of the transfer point includes: A straight transport path is set between the initial position and the target position, and the intersection between the straight transport path and the converging motion path is marked as a transfer point position, and the deflection angle of the first cantilever is adjusted according to the transfer point position, or the deflection angle of the second cantilever is adjusted according to the transfer point position.

7. The Z-axis adjustment method of the cantilever construction robot according to claim 5, characterized in that: The step of setting the waiting time of the first motion path according to the merging motion path, or setting the waiting time of the second motion path according to the merging motion path includes: querying the moving speed of the first cantilever to obtain the first movement time of the first cantilever in the converging movement path; querying the moving speed of the second cantilever to obtain the second movement time of the second cantilever in the converging movement path; The first movement time is compared with the second movement time, and the waiting time of the first cantilever or the second cantilever is set based on the comparison result of the first movement time and the second movement time.

8. The Z-axis adjustment method of the cantilever construction robot according to claim 1, characterized in that: The calibrating a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or the calibrating a second deflection angle of the second cantilever around the Z axis based on the position of the transition point includes: When the first cantilever is initially in an idle state and the second cantilever is initially in a working state, setting a first deflection angle of the first cantilever around the Z axis according to the position of the transfer point; When the initial state of the second cantilever is an idle state and the initial state of the first cantilever is a working state, a second deflection angle of the second cantilever around the Z axis is set according to the position of the transfer point.

9. The Z-axis adjustment method of the cantilever construction robot according to claim 1, characterized in that: The step of obtaining a first lifting distance of the first cantilever along the Z axis in combination with the grasping position of the building component, and / or obtaining a second lifting distance of the second cantilever along the Z axis in combination with the grasping position of the building component comprises: When the first cantilever is initially in an idle state and the second cantilever is initially in a working state, a first lifting distance of the first cantilever along the Z axis is set according to the grasping position of the building component by the first cantilever and the height of the target position; When the second cantilever is initially in an idle state and the first cantilever is initially in a working state, a second lifting distance of the second cantilever along the Z axis is set according to the grasping position of the building component by the second cantilever and the height of the target position.

10. A Z-axis adjustment device for a cantilever construction robot, characterized in that: The cantilever construction robot comprises: a guide rail base arranged along the X-axis direction and a first cantilever and a second cantilever slidably fitted on the guide rail base; The regulating device comprises: Path planning component: used to obtain the initial position and target position of the building component, and formulate the transportation movement path of the building component based on the initial position and target position; A path query component: used for querying the working status of the first cantilever and the second cantilever of the cantilever construction robot, and obtaining a first motion path of the first cantilever and a second motion path of the second cantilever based on the working status and the transport motion path; A marking component: used for obtaining a converging motion path of the first motion path and the second motion path, setting a transfer point position on the converging motion path, and adjusting the first motion path and the second motion path based on the transfer point position; Angle calculation component: used for calibrating a first deflection angle of the first cantilever around the Z axis based on the position of the transition point, and / or calibrating a second deflection angle of the second cantilever around the Z axis based on the position of the transition point; Distance calculation component: used to obtain a first lifting distance of the first cantilever moving along the Z axis in combination with the grasping position of the building component, and / or to obtain a second lifting distance of the second cantilever moving along the Z axis in combination with the grasping position of the building component.

Images