Auxiliary mounting equipment and man-machine cooperative mounting method for fabricated building appliance

Abstract

The invention provides auxiliary mounting equipment of a fabricated building appliance and a man-machine cooperative mounting method, and relates to the technical field of fabricated building appliance mounting. The auxiliary mounting equipment comprises a robot, a visual device and a display device, wherein the robot is used for assisting mounting personnel in carrying appliances; the visual device is used for collecting features of a to-be-mounted appliance and a surrounding preset range thereof; the display device is connected with the visual device and used for displaying images collected by the visual device. The auxiliary installation equipment and the robot can assist installation personnel in carrying the to-be-installed appliance, after the to-be-installed appliance is carried to the display interface where the to-be-installed appliance appears, the installation personnel can move the to-be-installed appliance to the target position by observing the display interface, man-machine cooperation can be achieved, and the installation efficiency is improved. The labor is saved, the installation efficiency is improved, and meanwhile accurate installation can be achieved through the visual device and the display device.

Description

Technical Field

[0001] The present invention relates to the technical field of installation of prefabricated building appliances, and in particular to auxiliary installation equipment and a human-machine collaborative installation method for prefabricated building appliances. Background Art

[0002] With the advancement of technology and people's increasingly diverse needs, prefabricated buildings such as prefabricated bathrooms and prefabricated kitchens are constantly emerging. When manufacturing prefabricated buildings, the walls are usually prefabricated or the wall panels are assembled first, and then bathroom appliances such as water heaters and toilets or kitchen appliances such as range hoods are installed inside.

[0003] In the prior art, when installing equipment in a prefabricated building, several installers usually work together to move the equipment, calibrate the position, etc., which not only results in a large workload and low installation efficiency, but also low installation accuracy. Summary of the invention

[0004] The first object of the present invention is to provide an auxiliary installation device for prefabricated building equipment to solve the technical problems of low efficiency and low precision in the installation of prefabricated building equipment in the prior art.

[0005] The auxiliary installation device of the assembled building equipment provided by the present invention is used to assist the installer to install the equipment to be installed to its actual target position;

[0006] The auxiliary installation equipment includes a robot and a visual device, wherein the robot is used to assist the installation personnel in carrying the equipment to be installed; the visual device is used to collect the actual target position of the equipment to be installed and the features within a preset range around it;

[0007] The auxiliary installation equipment also includes a display device, which is connected to the visual device and is used to display the image captured by the visual device.

[0008] Furthermore, the visual device and the display device are both connected to the controller of the robot, and the controller can obtain the image captured by the visual device, identify the equipment to be installed and its actual target position in the image, calculate the distance between the equipment to be installed and its actual target position, and transmit the distance to the display device.

[0009] Furthermore, the display device is arranged on the mechanical arm of the robot.

[0010] Furthermore, the robot's mechanical arm is provided with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual posture of the mechanical arm. The controller can calculate the difference between the actual posture of the mechanical arm and its target posture, and transmit the difference to the display device.

[0011] Furthermore, a connecting device is provided at the end of the mechanical arm of the robot, and the connecting device can be connected to the transport tooling of the device to be installed.

[0012] The auxiliary installation device of the assembled building equipment provided by the present invention can produce the following beneficial effects:

[0013] In the auxiliary installation equipment of prefabricated building tools provided by the present invention, the robot can assist the installers in carrying the tools to be installed, thereby greatly saving the installers' physical strength and improving the installation efficiency; moreover, after the tools to be installed are carried to the display interface where they appear on the display device, the installers can move the tools to be installed to their actual target positions by observing the display interface, and fix the tools to be installed to their actual target positions, that is, by setting up the visual device and the display device, the installers can easily, conveniently, quickly and accurately move the tools to be installed to their actual target positions, and finally complete the accurate installation of the tools to be installed.

[0014] In summary, the auxiliary installation equipment for prefabricated building equipment provided by the present invention can achieve human-machine collaboration when installers use it to install equipment, save physical strength, improve installation efficiency, and also achieve accurate installation with the help of visual devices and display devices.

[0015] The second object of the present invention is to provide a human-machine collaborative installation method for prefabricated building equipment to solve the technical problems of low efficiency and low precision in the installation of prefabricated building equipment in the prior art.

[0016] The human-machine collaborative installation method of the prefabricated building equipment provided by the present invention, the installer uses the auxiliary installation equipment of the prefabricated building equipment to install the equipment to be installed to its actual target position, and the human-machine collaborative installation method includes the following steps:

[0017] The installer operates the robot to lift the device to be installed and moves the device to be installed to a theoretical target position of the device to be installed in the prefabricated building;

[0018] The installer uses the image captured by the visual device displayed on the display device to operate the robot to adjust the device to be installed to coincide with its actual target position;

[0019] The installer installs the appliance to be installed at its actual target location.

[0020] Furthermore, the visual device and the display device are both connected to a controller of the robot, and the controller is capable of acquiring an image captured by the visual device, identifying the device to be installed and its actual target position in the image, calculating a distance between the device to be installed and its actual target position, and transmitting the distance to the display device;

[0021] When the installer adjusts the device to be installed to its actual target position by operating the robot, the installer also makes adjustments with the help of the distance displayed by the display device.

[0022] Furthermore, the robot's mechanical arm is provided with a displacement sensor and an angle sensor, both of which are connected to the controller, and the displacement sensor and the angle sensor are used to detect the actual posture of the mechanical arm, and the controller can calculate the difference between the actual posture of the mechanical arm and its target posture, and transmit the difference to the display device;

[0023] When the installer operates the robot to carry the device to be installed to its theoretical target position, the installation personnel uses the gap displayed on the display device to carry out the operation. If all the values ​​of the gap are zero, the actual position of the robot arm is consistent with its target position, and the device to be installed reaches its theoretical target position.

[0024] Furthermore, the display device is arranged on the mechanical arm of the robot.

[0025] Furthermore, a connection device is provided at the end of the mechanical arm of the robot, and the connection device can be connected to the transport tooling of the device to be installed;

[0026] When the installer operates the robot to carry the equipment to be installed, the installer first connects the connecting device to the transport tooling of the equipment to be installed, and then operates the robot to move the equipment to be installed.

[0027] The human-machine collaborative installation method of assembled building equipment provided by the present invention can produce the following beneficial effects:

[0028] In the human-machine collaborative installation method for assembled building equipment provided by the present invention, the installer uses the above-mentioned auxiliary installation equipment to install the equipment to be installed to its actual target position. First, the installer operates the robot to carry the equipment to be installed to the theoretical target position of the equipment to be installed, and roughly positions the equipment to be installed, which can greatly save physical strength and improve installation efficiency. After the equipment to be installed is carried to the display interface where it appears on the display device, the installer moves the equipment to be installed to the actual target position of the equipment to be installed by observing the display interface, and accurately positions the position of the equipment to be installed, and finally completes the accurate installation of the equipment to be installed. In the process of accurate positioning, the installer uses the visual device and the display device, which is easy, convenient, fast and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0030] Figure 1 A structural block diagram of an auxiliary installation device for assembled building equipment provided by an embodiment of the present invention;

[0031] Figure 2 A flowchart of a human-machine collaborative installation method for assembled building equipment provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] The present embodiment provides an auxiliary installation device for assembled building equipment and a human-machine collaborative installation method for assembled building equipment, wherein the human-machine collaborative installation method is that the installer uses the auxiliary installation device to install the equipment to be installed to the target position of the equipment to be installed. More specifically, the target position includes a theoretical target position and an actual target position, wherein the theoretical target position can be set in advance, for example, through the display interface of the display device in the relevant program of the robot controller. The reason why there are theoretical target positions and actual target positions is that there is usually a relatively large error in the prefabricated structure, so the actual target position of the equipment to be installed is usually quite different from its theoretical target position. In this embodiment, the equipment to be installed is first moved to its theoretical target position, and then moved to its actual target position. Using the auxiliary installation device and the human-machine collaborative installation method can greatly reduce the workload of the installer, save the installer's physical strength, and greatly improve the installation efficiency and installation accuracy. The following is a detailed introduction to the auxiliary installation device and the human-machine collaborative installation method.

[0034] First, the auxiliary installation equipment of the prefabricated building equipment provided in this embodiment is introduced.

[0035] The auxiliary installation device of the prefabricated building equipment provided in this embodiment is used to assist the installer to install the equipment to be installed to its actual target position. Specifically, in this embodiment, taking the prefabricated toilet as an example, the equipment includes a toilet and a water heater.

[0036] Specifically, Figure 1 As shown, the auxiliary installation equipment provided in this embodiment includes a robot and a visual device, the robot is used to assist the installer in carrying the equipment; the visual device is used to collect the actual target position of the equipment to be installed and the features within the preset range around it; the auxiliary installation equipment also includes a display device, which is connected to the visual device and is used to display the image collected by the visual device. Taking the prefabricated building as an assembled toilet as an example, the equipment to be installed may include a toilet and a water heater, wherein, since the toilet has a hard pipe that needs to be connected to the outside world, the prefabricated wall of the assembled toilet has a corresponding hole position. At this time, the visual device can be set outside the prefabricated wall to collect the image of the reserved hole position and the pipe on the assembled toilet from the outside, so that the installer can quickly and accurately install the toilet to its actual target position. When installing the water heater, the visual device can be set inside the prefabricated wall so that the actual target position of the water heater and the image of the installation structure on the water heater can be collected.

[0037] In the auxiliary installation equipment of prefabricated building equipment provided in the present embodiment, the robot can assist the installers in carrying the equipment to be installed, thereby greatly saving the installers' physical strength and improving the installation efficiency; moreover, after the equipment to be installed is carried to the display interface where it appears on the display device, the installers can move the equipment to be installed to its actual target position by observing the display interface, and fix the equipment to be installed to its actual target position, that is, by setting up the visual device and the display device, the installers can move the equipment to be installed to its actual target position easily, conveniently, quickly and accurately, and finally complete the accurate installation of the equipment to be installed.

[0038] Specifically, in this embodiment, the visual device and the display device are both connected to the controller of the robot. The controller can obtain the image captured by the visual device, identify the equipment to be installed and its actual target position in the image, calculate the distance between the equipment to be installed and its actual target position, and transmit the distance to the display device. In this way, when the human-machine collaboratively installs the equipment to be installed, the display interface of the display device can display the distance between the equipment to be installed and its actual target position, or the position error, in real time. When installing a toilet, the distance can be the distance between the center of the outlet of the pipe and the center of the reserved hole; and when the installer observes that the distance values ​​in all directions are zero, it means that the equipment to be installed has been adjusted into place and the equipment to be installed has reached its actual target position, which is very intuitive and convenient.

[0039] It should be noted here that, in the present embodiment, the visual device and the display device are connected via the robot's controller, but in other embodiments of the present application, the display device may also be directly connected to the visual device to directly display the image captured by the visual device.

[0040] In this embodiment, the display device is arranged on the mechanical arm of the robot, which is convenient for installation personnel to view.

[0041] In this embodiment, the robot's mechanical arm is also provided with a displacement sensor and an angle sensor, which are both connected to the controller. The displacement sensor and the angle sensor are used to detect the actual posture of the mechanical arm. The controller can calculate the difference between the actual posture of the mechanical arm and its target posture, and transmit the difference to the display device. In this way, when the man-machine collaboratively carries the equipment to be installed, the display interface of the display device can display the difference between the actual posture of the mechanical arm and its target posture in real time, or the posture error of the mechanical arm; and when the installer observes that the distance value or angle value in each direction becomes zero, it means that the mechanical arm has reached its target posture, and it also means that the equipment to be installed has reached its theoretical target position, that is, the target posture of the mechanical arm is consistent with the theoretical target position of the equipment to be installed. Compared with the position correction by the robot itself, in this embodiment, the installer uses the visual device and the display device to adjust the position, which takes less time and is more efficient and accurate.

[0042] In this embodiment, a connection device is provided at the end of the robot's mechanical arm, and the connection device can be connected to the transport tooling of the equipment to be installed. When the installer operates the robot to carry the equipment to be installed, the installer first connects the connection device to the transport tooling of the equipment to be installed, and then operates the robot to move the equipment to be installed.

[0043] In this embodiment, the robot may be a truss robot, or an intelligent transport robot or an AGV (Automated Guided Vehicle).

[0044] Next, the human-machine collaborative installation method of the assembled building equipment provided in this embodiment is introduced.

[0045] The human-machine collaborative installation method of the assembled building equipment provided in this embodiment is that the installer uses the above-mentioned auxiliary installation equipment to install the equipment to be installed to the target position of the equipment to be installed, such as Figure 2 As shown, the human-machine collaborative installation method includes the following steps:

[0046] S100, the installer operates the robot to lift the equipment to be installed and moves the equipment to be installed to a theoretical target position of the equipment to be installed in the prefabricated building;

[0047] S200, the installer uses the image captured by the visual device displayed on the display device to operate the robot to adjust the device to be installed to coincide with its actual target position;

[0048] S300: The installer installs the device to be installed at its actual target location.

[0049] In the human-machine collaborative installation method for prefabricated building equipment provided in this embodiment, the installer uses the above-mentioned auxiliary installation equipment to install the equipment to be installed to its target position. First, the installer operates the robot to carry the equipment to be installed to the theoretical target position of the equipment to be installed, and roughly locates the equipment to be installed, which can greatly save physical strength and improve installation efficiency; after carrying the equipment to be installed to the display interface where it appears on the display device, the installer moves the equipment to be installed to the actual target position of the equipment to be installed by observing the display interface, accurately locates the position of the equipment to be installed, and finally completes the accurate installation of the equipment to be installed. In the process of accurate positioning, the installer uses the visual device and the display device, which is easy, convenient, fast and accurate.

[0050] Specifically, in this embodiment, since both the visual device and the display device are connected to the robot controller, the controller can obtain the image captured by the visual device, identify the equipment to be installed and its actual target position in the image, calculate the distance between the equipment to be installed and its actual target position, and transmit the distance to the display device; therefore, when the installer adjusts the equipment to be installed to its actual target position by operating the robot, he also uses the distance displayed by the display device, that is, adjusts the position error of the equipment to be installed. When the installer observes that the distance values ​​in all directions are zero, it means that the equipment to be installed has been adjusted into place and has reached its actual target position, which is very intuitive and convenient.

[0051] Specifically, in this embodiment, since the robot's mechanical arm is provided with a displacement sensor and an angle sensor, the displacement sensor and the angle sensor are connected to the controller, and the displacement sensor and the angle sensor are used to detect the actual posture of the mechanical arm, the controller can calculate the difference between the actual posture of the mechanical arm and its target posture, and transmit the difference to the display device; therefore, when the installer operates the robot to carry the equipment to be installed to its theoretical target position, the difference is performed with the help of the difference displayed on the display device. If all the values ​​of the difference are zero, the actual posture of the mechanical arm is consistent with its target posture, and the equipment to be installed reaches its theoretical target position. When the installer operates the robot to carry the equipment to be installed, he observes the difference between the actual posture of the mechanical arm and its target posture displayed in real time on the display interface of the display device, or the posture error of the mechanical arm. When the distance value or angle value in each direction becomes zero, it means that the mechanical arm has reached its target posture, and it also means that the equipment to be installed has reached its theoretical target position.

[0052] Specifically, in this embodiment, since a connecting device is provided at the end of the robot's mechanical arm, the connecting device can be connected to the transport tooling of the equipment to be installed; therefore, when the installer operates the robot to carry the equipment to be installed, the connecting device is first connected to the transport tooling of the equipment to be installed, and then the robot is operated to move the equipment to be installed. Of course, if a material-retrieving device, such as a clamping device or an adsorption device, is provided at the end of the mechanical arm, then the installer can operate the corresponding device to establish a fixed connection with the equipment to be installed to carry the equipment to be installed.

[0053] In summary, the auxiliary installation equipment and human collaborative installation method of prefabricated building equipment provided in this embodiment can realize human-machine collaboration, save the physical strength of the installers, improve the installation efficiency, and achieve accurate installation.

[0054] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0055] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An auxiliary installation device for assembled building equipment, used to assist installers in installing the equipment to be installed to its actual target position, characterized in that: The auxiliary installation equipment includes a robot and a visual device, wherein the robot is used to assist the installation personnel in carrying the equipment to be installed; the visual device is used to collect the actual target position of the equipment to be installed and the features within a preset range around it; The auxiliary installation equipment also includes a display device, which is connected to the visual device and is used to display the image captured by the visual device.

2. The auxiliary installation device for prefabricated building equipment according to claim 1, characterized in that: The visual device and the display device are both connected to the controller of the robot, and the controller can obtain the image captured by the visual device, identify the tool to be installed and its actual target position in the image, calculate the distance between the tool to be installed and its actual target position, and transmit the distance to the display device.

3. The auxiliary installation device for prefabricated building equipment according to claim 2, characterized in that: The display device is arranged on the mechanical arm of the robot.

4. The auxiliary installation device for prefabricated building equipment according to claim 2, characterized in that: The robot's mechanical arm is provided with a displacement sensor and an angle sensor, both of which are connected to the controller. The displacement sensor and the angle sensor are used to detect the actual posture of the mechanical arm. The controller can calculate the difference between the actual posture of the mechanical arm and its target posture, and transmit the difference to the display device.

5. The auxiliary installation device for prefabricated building equipment according to any one of claims 1 to 4, characterized in that: A connecting device is provided at the end of the mechanical arm of the robot, and the connecting device can be connected to the transport tooling of the device to be installed.

6. A human-machine collaborative installation method for assembled building equipment, characterized in that: The installer uses the auxiliary installation device of the assembled building equipment according to claim 1 to install the equipment to be installed to its actual target position, and the human-machine collaborative installation method comprises the following steps: The installer operates the robot to lift the device to be installed and moves the device to be installed to a theoretical target position of the device to be installed in the prefabricated building; The installer uses the image captured by the visual device displayed on the display device to operate the robot to adjust the device to be installed to coincide with its actual target position; The installer installs the appliance to be installed at its actual target location.

7. The human-machine collaborative installation method of prefabricated building equipment according to claim 6, characterized in that: The visual device and the display device are both connected to a controller of the robot, and the controller is capable of acquiring an image captured by the visual device, identifying the device to be installed and its actual target position in the image, calculating a distance between the device to be installed and its actual target position, and transmitting the distance to the display device; When the installer adjusts the device to be installed to its actual target position by operating the robot, the installer also makes adjustments with the help of the distance displayed by the display device.

8. The human-machine collaborative installation method of prefabricated building equipment according to claim 7, characterized in that: The robot arm is provided with a displacement sensor and an angle sensor, both of which are connected to the controller, and the displacement sensor and the angle sensor are used to detect the actual posture of the robot arm. The controller can calculate the difference between the actual posture of the robot arm and its target posture, and transmit the difference to the display device; When the installer operates the robot to carry the device to be installed to its theoretical target position, the installer uses the gap displayed on the display device to carry out the operation. If all the values ​​of the gap are zero, the actual position of the robot arm is consistent with its target position, and the device to be installed reaches its theoretical target position.

9. The human-machine collaborative installation method of prefabricated building equipment according to claim 7, characterized in that: The display device is arranged on the mechanical arm of the robot.

10. The human-machine collaborative installation method of prefabricated building equipment according to any one of claims 6 to 9, characterized in that: A connecting device is provided at the end of the mechanical arm of the robot, and the connecting device can be connected to the transport tooling of the device to be installed; When the installer operates the robot to carry the equipment to be installed, the installer first connects the connecting device to the transport tooling of the equipment to be installed, and then operates the robot to move the equipment to be installed.

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