Truss automatic assembly robot

Abstract

The invention relates to an automatic truss assembly robot, which belongs to the technical field of automation and intelligent assembly and consists of a movable chassis, a multi-degree-of-freedom mechanical arm system and an end effector. The mobile chassis adopts a track driving and positioning integrated chassis to realize accurate positioning; the multi-degree-of-freedom mechanical arm system stably carries a truss structure through a cooperative control algorithm; the end effector is integrated with a magnetic field sensing module, magnetic force parameters of connecting points are monitored in real time in the process of accurately inserting components into truss nodes, pose deviation is intelligently corrected, and the mechanical reliability of structural connection is guaranteed. Through an intelligent cooperative control framework of multiple sensors and multiple mechanical arms, the whole-process autonomous truss assembling effect is achieved, the efficiency limitation of manual operation in a complex environment is relieved, the problems that in traditional truss assembling, manual dependence is high, and quality consistency is poor are solved, the connection reliability in the assembling process is improved, and the assembling efficiency is improved. And meanwhile, the engineering adaptability under the extreme working condition is remarkably improved.

Description

Technical Field

[0001] The present invention relates to a truss automatic assembly robot, specifically an automatic assembly of trusses realized by a mobile robot system, which is applicable to truss assembly tasks in scenarios such as underground buildings, bridge structures, exhibition construction, and space stations, and belongs to the technical field of automation and intelligent assembly. Background Art

[0002] Trusses, as an important engineering structure, are widely used in fields such as construction, bridges, stage construction, and exhibition design. Its main advantages are that it can bear large loads and has good stability, so it is widely used in large-scale projects. However, the construction process of trusses usually requires a large amount of manpower and material resources. Especially in construction at high altitudes and in complex environments, the operation is difficult, the operation safety is low, and the construction period is long. Therefore, improving the automation level of truss construction, reducing manual operations, and improving efficiency and safety have become technical problems to be solved urgently.

[0003] In the prior art, during the automatic assembly process of truss structures, especially in complex environments, there are problems such as low automation level, difficult operation, and poor operation safety. Traditional manual operations are not only inefficient but also pose safety hazards. For example, in underground tunnel construction, insufficient light and narrow space make manual assembly extremely inefficient; in special environments such as space stations, it is almost impossible to complete complex truss assembly tasks manually. In addition, existing automated equipment usually relies on a fixed assembly environment and is difficult to adapt to dynamically changing complex scenarios, resulting in limited application scope. Summary of the Invention

[0004] To overcome the above problems, the present invention provides a truss automatic assembly robot, which consists of a mobile chassis, a robotic arm, and an end effector. It can autonomously complete the grasping, handling, and assembly of truss members, reduce manual intervention, and is applicable to complex environments. Due to its high degree of automation, manual operations are reduced, and safety is improved. The technical solution adopted by the present invention to solve its technical problems is:

[0005] A truss automatic assembly robot includes a mobile chassis, a robotic arm, and an end effector. Among them, the mobile chassis is located at the bottom of the robot and is used to support the robot to move in complex terrains; two robotic arms are connected to the upper part of the mobile chassis, and an advanced dual-arm cooperative control algorithm is adopted between the two robotic arms for grasping, moving, and precisely assembling truss members; end effectors are respectively arranged at the ends of the robotic arms for detecting the connection points of truss members and grasping trusses.

[0006] Furthermore, the mobile chassis includes a drive unit and a positioning unit. The drive unit adopts a crawler structure, providing strong terrain adaptability and enabling stable and efficient movement power in complex environments. The positioning unit uses lidar and a gyroscope. The lidar obtains the current position, and the high-precision gyroscope obtains the current motion state. The lidar and the gyroscope cooperate with each other to achieve precise navigation of the chassis.

[0007] Furthermore, the robotic arm includes two robotic arms with six degrees of freedom of movement. Each robotic arm includes a base rotation joint, a shoulder joint, an elbow joint, a wrist joint, and an end effector joint, supporting high-degree-of-freedom spatial positioning and attitude adjustment.

[0008] Furthermore, the end effector is equipped with servo-driven adjustable jaws. The opening width of the jaws can be adjusted in real time to adapt to different sizes of truss members. At the same time, the surface of the jaws is coated with a high-friction material to increase the grasping stability.

[0009] Furthermore, the two robotic arms can bypass obstacles and achieve complex path planning through a cooperative control algorithm, adapting to diverse truss assembly requirements.

[0010] Furthermore, the magnetic field measurement module includes a magnetic field sensor assembled on the end effector, which is used to detect the preset magnetic connection points in the truss members. By analyzing the data collected by the magnetic field sensor, the spatial position and orientation of the truss members are determined, and the magnetic force parameters of the connection points are monitored in real time during the assembly process to intelligently correct the pose deviation.

[0011] Furthermore, the magnetic field measurement module is used to detect the magnetic connection state after the truss members are assembled to verify the assembly accuracy.

[0012] Furthermore, the two robotic arm modules and the mobile chassis module are rigidly connected and work together to achieve efficient assembly and dynamic adjustment of the truss members.

[0013] Compared with the prior art, the truss automatic assembly robot of the present invention has the following beneficial effects:

[0014] 1) Improve the automation level: By integrating the mobile chassis, the robotic arm, and the magnetic field measurement module, the robot can independently complete the grasping, handling, and precise assembly of truss members, greatly reducing manual intervention, especially suitable for truss construction tasks in complex environments.

[0015] 2) High-precision positioning and assembly: The magnetic field measurement module can accurately detect the magnetic connection points and locate the assembly positions during the assembly process, ensuring the precise connection of the truss members and improving the assembly accuracy.

[0016] 3) Adapt to various environments: The robot can be flexibly configured according to task requirements and is applicable to various complex scenarios such as bridge construction, exhibition setup, and space stations. It can complete truss assembly tasks at high altitudes, in narrow spaces, or on complex terrains.

[0017] 4) Enhance operation safety: Due to the high automation of the robot, manual operations can be significantly reduced, especially in high-risk environments, thus remarkably improving operation safety and avoiding potential dangers brought by high-altitude operations and dangerous environments.

[0018] 5) Improve efficiency and shorten the construction period: Automated assembly reduces the time of manual operations. The robot can work continuously and efficiently, thereby shortening the construction period and further improving efficiency.

[0019] 6) Quality controllability: The real-time monitoring function of the magnetic field measurement module enables the quality in the assembly process to be traceable, and it can detect and correct assembly deviations in a timely manner to ensure that the final assembly quality meets the standard requirements. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the truss automatic assembly robot;

[0021] Figure 2 is the left view of the truss automatic assembly robot;

[0022] Figure 3 is the front view of the truss automatic assembly robot;

[0023] Figure 4 is the top view of the truss automatic assembly robot;

[0024] Figure 5 is a schematic structural diagram of the moving chassis of the truss automatic assembly robot;

[0025] Figure 6 is a schematic structural diagram of the gripper of the truss automatic assembly robot. Reference numerals in the figures: 1 - moving chassis, 11 - supporting wheel, 12 - driving wheel, 13 - crawler, 14 - chassis frame, 15 - navigation module, 21 - left robotic arm, 22 - right robotic arm, 31 - left gripper, 32 - right gripper, 33 - gripper mechanical structure, 34 - gripper circuit structure Detailed Embodiments

[0026] As Figures 1 to 4 shown, the bottom of the truss automatic assembly robot includes a moving chassis (1). Two six-degree-of-freedom robotic arms (21)(22) are fixedly arranged on the upper part of the moving chassis in the left-right direction. A gripper (31) is configured at the end of the robotic arm (21), and a gripper (32) is configured at the end of the robotic arm (22).

[0027] The schematic diagram of the mobile chassis (1) is shown in Figure 5 , the mobile chassis (1) provides power and positioning functions for the robot during movement, including idler wheels (11), drive wheels (12), crawlers (13), a chassis frame (14), and a navigation module (15). The idler wheels (11) are located in the middle of the crawlers and are used to support the weight of the robot body and stabilize the movement trajectory of the crawlers at the same time; the drive wheels (12) drive the crawlers (13) through a gear structure; the crawlers (13) are composed of aluminum alloy and carbon fiber, have high strength, and have protruding patterns on the surface to increase the friction with the ground; the chassis frame (14) bears the crawlers and the internal mechanical parts and is made of lightweight and high-strength aluminum alloy; the navigation module (15) integrates a 3D lidar and a high-precision gyroscope to provide a positioning function during the movement of the robot.

[0028] The schematic diagram of the grippers (31)(32) is shown in Figure 6 , which is composed of a mechanical structure (33) and a circuit structure (34). The circuit structure is composed of a driving circuit of the gripper and a magnetic field measurement module. The gripper adjusts the opening width based on the magnetic force detection result and is used to grasp truss members of different shapes and sizes.

[0029] The working process is as follows:

[0030] This is used in conjunction with a truss with magnetism at both ends and a truss ball for connecting the truss;

[0031] Randomly place the truss to be assembled near the truss automatic assembly robot without prior precise adjustment of the position and orientation of the truss; the navigation module (15) scans the environment to detect the position of the truss and its position coordinates relative to the robot; the crawlers (13) drive the robot to move along the optimal path to the vicinity of the truss to be assembled, avoiding obstacles and ensuring a smooth arrival. After reaching the vicinity of the truss, the robot uses the navigation module (15) to precisely measure the position and orientation of the truss to further determine the position and dimension parameters of the grasping point and the assembly point of the truss; the robotic arms (21)(22) and the end grippers (31)(32) are activated and operate in coordination, and are respectively adjusted to appropriate angles and positions to firmly grip the truss. The robotic arm transports the truss to the designated assembly position, and the actions of the robotic arm are adjusted in real time during path planning to ensure the stability of the transportation; after reaching the assembly point, the robot uses the navigation module (15) to assist in correcting the docking of the assembly point and the truss to ensure the alignment of the assembly point and the truss. The grippers (31)(32) apply forces according to the assembly requirements, insert and fix the truss at the target position, and complete the connection and assembly operation of the truss;

[0032] After the assembly is completed, the robot uses the magnetic field measurement module in the navigation module (15) again to detect the connection accuracy of the truss, and judges whether the assembly is firm and the docking is accurate; if the detected error exceeds the preset accuracy, the robot automatically adjusts the robotic arm for correction until the preset accuracy is achieved; after completing the assembly of one truss, the robot returns to the initial state, repeats the above work process, and gradually completes the assembly tasks of all trusses.

Claims

1. A truss automatic assembly robot, consisting of a mobile chassis, a mechanical arm and an end effector, characterized in that: The mobile chassis is installed at the bottom of the robot to support the robot to move in complex terrain structures; two robotic arms are connected to the upper part of the mobile chassis, and advanced dual-arm collaborative control algorithms are used between the two robotic arms to grasp, move and accurately assemble truss components; end effectors are respectively arranged at the ends of the two robotic arms to detect the connection points of the truss components and grasp the truss.

2. The truss automatic assembly robot according to claim 1, wherein: The mobile chassis includes: a driving unit and a positioning unit; the driving unit uses a crawler structure to provide power for movement in a complex environment; the positioning unit includes a laser radar and a gyroscope to achieve precise navigation of the chassis.

3. The truss automatic assembly robot according to claim 1, wherein: Both of the two robotic arms are six-degree-of-freedom motion-capable robotic arms. Each robotic arm includes a base rotation joint, a shoulder joint, an elbow joint, a wrist joint, and an end effector joint, supporting high-degree-of-freedom spatial positioning and posture adjustment.

4. The truss automatic assembly robot according to claim 1, wherein: The end effector comprises: a magnetic field measurement module and a clamp; the magnetic field measurement module is used to detect preset magnetic connection points in the truss member; the clamp adjusts the opening width based on the magnetic detection result, and is used to grasp truss members of different shapes and sizes.

5. The truss automatic assembly robot according to claim 1, wherein: The two mechanical arms and the mobile chassis are rigidly connected and work together to achieve efficient assembly and dynamic adjustment of truss components.

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