An automatic identification sensor device for an intelligent robot used in construction

Abstract

The present invention discloses an automatic identification sensor device for an intelligent robot for construction, comprising: a robot chassis; a driving assembly, which comprises a rotating seat, a sliding seat, a first electric push rod and a second electric push rod, the rotating seat is rotatably mounted on the robot chassis, the sliding seat is slidably connected to the rotating seat, the piston rod of the first electric push rod is fixedly mounted on one side of the sliding seat, and a rack is provided at the output end of the second electric push rod; a visual sensor is mounted on the sliding seat; wherein a gear is provided on one side of the visual sensor, and the gear is meshed with the rack. Compared with the prior art, the present invention solves the problem that the visual sensor of the existing intelligent robot for construction has a fixed angle and is difficult to adjust the image acquisition angle.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to an automatic identification sensor device for an intelligent robot used in construction. Background Art

[0002] In the field of construction, in order to cope with the problems of rising labor costs and low construction efficiency, construction robots will be used to replace manual construction in the fields of steel bar binding. For example, Chinese patent CN1 15420292B discloses a positioning and navigation method and system for a wheel-legged steel bar binding robot, which belongs to the field of automatic steel bar binding technology. The positioning and navigation method includes: establishing a building information node map of the steel bar mesh according to the steel bar mesh contour information at the construction site; planning the path of the wheel-legged steel bar binding robot based on the building information node map; using the extended Kalman filter algorithm, according to the displacement increment measured by the monocular camera and the ranging information of the UWB positioning base station, the wheel-legged steel bar binding robot is positioned; according to the current position and construction path, the movement direction of the wheel-legged steel bar binding robot is determined, and the binding task is performed.

[0003] When intelligent robots for construction are performing mobile operations, they usually use image acquisition equipment to acquire images of construction points or moving paths, such as using visual sensors for image acquisition. However, the visual sensors of existing intelligent robots for construction are fixed in position and image acquisition angle, which leads to blind spots in the image acquisition process and the inability to effectively acquire the required images. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic identification sensor device for an intelligent robot for construction, so as to solve the problem that the image acquisition angle of the visual sensor of the existing intelligent robot for construction is fixed and it is difficult to adjust the angle according to demand.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic identification sensor device for an intelligent robot for construction, comprising:

[0006] Robot chassis;

[0007] A driving assembly, comprising a rotating seat, a sliding seat, a first electric push rod and a second electric push rod, wherein the rotating seat is rotatably mounted on the robot chassis, the sliding seat is slidably connected to the rotating seat, a piston rod of the first electric push rod is fixedly mounted on one side of the sliding seat, the second electric push rod is fixedly mounted on the sliding seat, and a rack is provided at the output end of the second electric push rod;

[0008] A vision sensor mounted on a sliding seat;

[0009] Among them, a gear is arranged on one side of the visual sensor, and the gear is meshed with the rack.

[0010] As a further description of the above technical solution:

[0011] The rotating seat is a circular seat body, and a positioning groove for accommodating the rotating seat is arranged on the robot chassis, and one side of the rotating seat extends out of the notch on the side wall of the positioning groove.

[0012] As a further description of the above technical solution:

[0013] The thickness of the rotating seat is greater than the depth of the positioning groove.

[0014] As a further description of the above technical solution:

[0015] A plurality of strip-shaped protrusions arranged circumferentially are arranged on the side wall of the rotating seat.

[0016] As a further description of the above technical solution:

[0017] A slot with a shape matching that of the supporting seat is arranged on the back of the rotating seat.

[0018] As a further description of the above technical solution:

[0019] A supporting seat is arranged at the bottom of the positioning groove. The supporting seat is rotatably mounted on the bottom surface of the positioning groove, and the rotating seat is clamped on the supporting seat.

[0020] As a further description of the above technical solution:

[0021] A magnet is embedded on the supporting seat and is used to adsorb and fix the rotating seat.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] 1. In the present invention, when the intelligent robot for construction uses a visual sensor to collect images, if the collected images do not meet the requirements, the driving component can be used to drive the visual sensor to rotate or move horizontally, and automatically adjust the image collection angle and the range of picture collection, so that the collected pictures meet the set requirements.

[0024] 2. In the present invention, the drive assembly integrates the collection angle and position adjustment of the visual sensor. The first electric push rod drives the sliding seat to move in the horizontal direction to adjust the image collection range of the visual sensor, and the second electric push rod drives the rack to move to achieve the angle adjustment of the visual sensor. The key to automatic adjustment lies in the linkage of the first electric push rod and the second electric push rod. While the first electric push rod pulls the visual sensor backward, the second electric push rod drives the rack to move, and then drives the visual sensor to rotate upward to adjust the collection angle of the visual sensor, avoid the impact of the edge of the robot chassis on the collection picture caused by the backward position of the visual sensor, and ensure the quality of image acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 The figure is a schematic diagram of the structure of an automatic identification sensor device for an intelligent robot used in construction.

[0027] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0028] Figure 3 The present invention is a structural schematic diagram of a robot chassis in an automatic identification sensor device of an intelligent robot used in construction.

[0029] Figure 4 The present invention is a cross-sectional view of a robot chassis in an automatic identification sensor device of an intelligent robot used in construction.

[0030] Legend:

[0031] 1. Robot chassis; 11. Positioning groove; 12. Notch; 13. Support seat; 131. Magnet; 2. Driving assembly; 21. Rotating seat; 211. Strip-shaped protrusion; 22. Sliding seat; 23. First electric push rod; 24. Second electric push rod; 241. Rack; 3. Visual sensor; 31. Gear. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "upper", "inner", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Example 1

[0038] See also Figure 1-4 The present invention provides a technical solution: an automatic identification sensor device for an intelligent robot for construction, comprising:

[0039] Robot chassis 1;

[0040] The driving assembly 2 includes a rotating seat 21, a sliding seat 22, a first electric push rod 23 and a second electric push rod 24. The rotating seat 21 is rotatably mounted on the robot chassis 1. The sliding seat 22 is slidably connected to the rotating seat 21. The piston rod of the first electric push rod 23 is fixedly mounted on one side of the sliding seat 22. The second electric push rod 24 is fixedly mounted on the sliding seat 22. A rack 241 is provided at the output end of the second electric push rod 24.

[0041] A visual sensor 3, which is rotatably mounted on a sliding seat 22;

[0042] A gear 31 is disposed on one side of the visual sensor 3 , and the gear 31 is meshed with the rack 241 .

[0043] When the intelligent robot for construction uses the visual sensor 3 to collect images, if the collected images do not meet the requirements, the driving component 2 can drive the visual sensor 3 to rotate or move horizontally, automatically adjust the image collection angle and the range of picture collection, so that the collected pictures meet the set requirements. The visual sensor 3 can also be rotated horizontally through the rotating seat 21 to further adjust the image collection angle and ensure the image collection quality.

[0044] Working principle: The driving component 2 integrates the acquisition angle and position adjustment functions of the visual sensor 3. The first electric push rod 23 drives the sliding seat 22 to move in the horizontal direction to adjust the image acquisition range of the visual sensor 3, and drives the rack 241 to move through the second electric push rod 24 to achieve the angle adjustment of the visual sensor 3. The key to automatic adjustment lies in the linkage of the first electric push rod 23 and the second electric push rod 24. While the first electric push rod 23 pulls the visual sensor 3 backward, the second electric push rod 24 drives the rack 241 to move, thereby driving the visual sensor 3 to rotate upward, adjusting the acquisition angle of the visual sensor 3, avoiding the influence of the edge of the robot chassis 1 on the acquisition image due to the backward position of the visual sensor 3, and ensuring the quality of image acquisition.

[0045] Example 2

[0046] This embodiment further provides the following improved technical solutions based on the above embodiments: the rotating seat 21 is a circular seat, and the robot chassis 1 is provided with a positioning groove 11 for receiving the rotating seat 21, and one side of the rotating seat 21 extends out of the notch 12 on the side wall of the positioning groove 11. The positioning groove 11 fully positions the rotating seat 21 to ensure smooth rotation, and on the other hand, the rotating seat 21 extends out of the edge of the notch 12 to facilitate rotation.

[0047] The thickness of the rotating seat 21 is greater than the depth of the positioning groove 11, which is convenient for disassembly.

[0048] Example 3

[0049] This embodiment further provides the following improved technical solution based on the above embodiment: a plurality of strip-shaped protrusions 211 arranged circumferentially are provided on the side wall of the rotating seat 21 .

[0050] On the one hand, it is convenient to rotate the rotating seat 21 , and on the other hand, it is convenient to accurately adjust the rotation angle of the visual sensor 3 .

[0051] Example 4

[0052] The present embodiment further provides the following improved technical solutions on the basis of the above embodiments: a supporting seat 13 is provided at the bottom of the positioning groove 11, and the supporting seat 13 is rotatably mounted on the bottom surface of the positioning groove 11, and the rotating seat 21 is clamped on the supporting seat 13 to realize the rotatable installation of the rotating seat 21, and the rotating seat 21 and the driving assembly 2 and the visual sensor 3 thereon can be quickly disassembled and assembled as a whole for easy maintenance.

[0053] The rotating seat 21 extends out of the edge of the notch 12 , so that the rotating seat 21 is easy to disassemble.

[0054] A slot having a shape matching that of the supporting seat 13 is disposed on the back of the rotating seat 21 , thereby effectively ensuring the clamping and positioning quality of the rotating seat 21 .

[0055] The support seat 13 is embedded with a magnet 131, which is used to absorb and fix the rotating seat 21. This prevents the rotating seat 21 from easily detaching from the support seat 13, so that the rotating seat 21 can rotate synchronously with the support seat 13.

[0056] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic identification sensor device for an intelligent robot for construction, characterized in that: include: Robot chassis; A driving assembly, comprising a rotating seat, a sliding seat, a first electric push rod and a second electric push rod, wherein the rotating seat is rotatably mounted on the robot chassis, the sliding seat is slidably connected to the rotating seat, a piston rod of the first electric push rod is fixedly mounted on one side of the sliding seat, the second electric push rod is fixedly mounted on the sliding seat, the second electric push rod is mounted on the gear side of the sliding seat, and a rack is provided at the output end of the second electric push rod; A visual sensor mounted on the sliding seat; Wherein, a gear is provided on one side of the visual sensor, and the gear is meshed with the rack.

2. The automatic identification sensor device for an intelligent robot for construction according to claim 1, characterized in that: The rotating seat is a circular seat body, and a positioning groove for accommodating the rotating seat is arranged on the robot chassis, and one side of the rotating seat is higher than the notch on the side wall of the positioning groove.

3. The automatic identification sensor device for an intelligent robot for construction according to claim 2 is characterized in that: The thickness of the rotating seat is greater than the depth of the positioning groove.

4. The automatic identification sensor device for an intelligent robot for construction according to claim 2, characterized in that: A plurality of strip-shaped protrusions arranged circumferentially are arranged on the side wall of the rotating seat.

5. The automatic identification sensor device for an intelligent robot for construction according to claim 2, characterized in that: A supporting seat is arranged at the bottom of the positioning groove. The supporting seat is rotatably mounted on the bottom surface of the positioning groove, and the rotating seat is clamped on the supporting seat.

6. The automatic identification sensor device for an intelligent robot for construction according to claim 5, characterized in that: A slot having a shape matching that of the supporting seat is disposed on the back of the rotating seat.

7. The automatic identification sensor device for an intelligent robot for construction according to claim 5, characterized in that: A magnet is embedded on the supporting seat and is used for adsorbing and fixing the rotating seat.

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