Wallboard mounting robot and mounting control method

Abstract

The invention provides a wallboard mounting robot and a mounting control method. The wallboard mounting robot comprises a robot base, a main control unit, a grabbing device, a lifting device, a rotating device, a pitching device and a moving device, wherein the grabbing device, the lifting device, the rotating device, the pitching device and the moving device are in communication connection with the main control unit; the main control unit is arranged at the end, away from the lifting device, of the robot base, and the moving device is arranged at the bottom of the robot base. The main control unit is used for driving the robot base to move to the position of a to-be-mounted plate component through the moving device, controlling the grabbing device to clamp and fix the to-be-mounted plate component and controlling one or more of the lifting device, the rotating device and the pitching device to achieve posture adjustment of the to-be-mounted plate component. And then the robot base is driven by the moving device to move to the preset position, and installation of the to-be-installed plate type component is completed. The wallboard mounting robot has good flexibility, the mounting stability and smoothness of the board components are improved, and the mounting efficiency of the board components is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a wall panel installation robot and its installation control method. Background Technology

[0002] Building material board components refer to various types of material boards used in construction, decoration and other fields. Specifically, they can include ALC boards, ceramsite boards, foamed ceramic boards, lightweight cement boards, wood boards, gypsum boards, aluminum alloy boards, glass boards, etc., and are commonly used in building decoration projects such as walls, floors, ceilings and exterior walls.

[0003] In existing technologies, due to the large size and weight of building material panels, relying solely on manual installation presents problems such as danger, heavy physical labor, and low efficiency. When conventional robots are used to install building material panels, they are easily limited by the confined space at the installation site, making it impossible to effectively adjust the position and posture of the panels. Complex movements are required to complete the installation, which can easily lead to poor installation stability and smoothness, as well as low efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application proposes a wall panel installation robot and its installation control method.

[0005] The first aspect of this application provides a wall panel installation robot, comprising: a robot base, a main control unit, and a gripping device, a lifting device, a rotating device, a pitching device, and a moving device communicatively connected to the main control unit; the lifting device is movably mounted on the robot base for lifting relative to the robot base; the rotating device is mounted on the lifting device for rotating relative to the lifting device; the pitching device is movably mounted on the robot base and connected to the lifting device for driving the lifting device to pitch in a direction closer to or further away from the robot base; The gripping device is mounted on the rotating device, the main control unit is mounted on the robot base at one end away from the lifting device, and the moving device is mounted at the bottom of the robot base; The main control unit is used to move the robot base to the position of the plate-like component to be installed via the mobile device, control the gripping device to clamp and fix the plate-like component to be installed, and control one or more of the lifting device, the rotating device and the pitching device to adjust the posture of the plate-like component to be installed. Then, the mobile device moves the robot base to the preset position to complete the installation of the plate-like component.

[0006] In an optional embodiment, the gripping device includes: a gripping member, a supporting member, a clamping member, a first driving member, and a second driving member; The first driving member and the second driving member are disposed on the clamping member; Multiple support members are arranged along the length direction of the clamping member. The first driving member connects the multiple support members through a synchronization mechanism so that the support members can extend out of the clamping member synchronously to support the plate-like component to be installed. The gripper is located on the side of the clamping member away from the support member. The second driving member drives the gripper to move towards the clamping member, thereby fixing the plate-like component to be installed from the top and bottom with the support member and clamping the plate-like component to be installed from the front and back with the clamping member.

[0007] In an optional embodiment, the gripper includes an abutment portion and a clamping portion; The second driving member drives the abutment part, which bends towards the clamping member to form a bent part. The bent part is movably connected to the clamping part, so that the abutment part, driven by the second driving member, fixes the plate-like component to be installed from the top and bottom with the support member, and drives the clamping part to cooperate with the clamping member to clamp the plate-like component to be installed from the front and back.

[0008] In an optional embodiment, the wall panel installation robot is further provided with a detection device, which is used to detect position-related information between the wall panel installation robot and the panel-like component to be installed; Controlling one or more of the lifting device, the rotating device, and the pitching device to adjust the posture of the plate-like component to be installed includes: The location-related information obtained in real time by the detection device is acquired. Based on the location-related information, determine whether the first angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device conforms to a preset angle; If the first included angle does not conform to the preset angle, control the lifting device and the rotating device to operate in coordination, or control the lifting device, the rotating device and the moving device to operate in coordination, so that the first included angle conforms to the preset angle; If the first included angle meets the preset angle, the lifting device and the pitching device are controlled to operate in coordination so that the projection of the center of gravity of the plate-like component to be installed on the robot base is located in the central area of ​​the wall panel installation robot.

[0009] In an optional embodiment, the detection device includes one or more of a lidar, a depth camera, and an ultrasonic sensor, and the detection device is also used for obstacle detection by the wall panel mounting robot during its movement.

[0010] In an optional embodiment, the rotating device includes a rotating fixed base, a rotating part, and a first power source; The first power source drives the rotating part, and one of the lifting device and the gripping device is provided with the rotating fixed seat, while the other is provided with a rotating part that matches the shape of the rotating fixed seat; the first power source drives the rotating part to rotate and connect with the rotating fixed seat, thereby realizing the relative rotation of the gripping device and the lifting device.

[0011] In an optional embodiment, the lifting device includes a support frame, a slide rail, a slider, and a second power source; The slider is movably mounted on the slide rail, which is located in the middle region of the support frame. The support frame is rotatably connected to the robot base. The slider is connected to the rotating device. The second power source drives the gripping device to reciprocate along the extension direction of the slide rail. The pitching device includes a linear motion mechanism, a steering component, and a third power source; The third power source drives the steering component, which is mounted on the linear motion mechanism and connected to the lifting device, to drive the lifting device to pitch in a direction closer to or further away from the robot base.

[0012] In an optional embodiment, the wall panel installation robot is further provided with a housing; The housing is recessed in a direction away from the gripping device, and the cross-sectional shape of the housing includes a U-shape, forming a clearance space to avoid the lifting device.

[0013] In an optional embodiment, the wall panel installation robot is equipped with a power supply, a power socket, and a power detection device. The power socket and the power detection device are electrically connected to the power source, which is located on the side of the robot base away from the gripping device, so that the center of gravity of the wall panel-mounted robot is located in the central area of ​​the robot base and biased towards the side where the power source is located.

[0014] The second aspect of this application provides an installation control method, applied to a wall panel installation robot as described in any one of the first aspects, comprising: The mobile device drives the robot base to move to the position of the plate-like component to be installed; Control the gripping device to clamp and fix the plate-like component to be installed; Controlling one or more of the lifting device, the rotating device, and the pitching device can achieve attitude adjustment of the plate-like component to be installed; The mobile device moves the robot base to a preset position and places the plate-like component to be installed at the preset position, thus completing the installation of the plate-like component.

[0015] Beneficial effects: This application provides a wall panel installation robot and its installation control method. The wall panel installation robot has good flexibility in the installation of panel components, can adapt to the installation requirements of panel components, improves the stability and smoothness of panel component installation, and thus improves the installation efficiency. Specifically, it is equipped with a lifting device, a rotating device, and a pitching device. On the one hand, it can adjust the appropriate angle and height during the gripping of the panel component to be installed, adapting to panel components in different placement states, making the gripping device's clamping and fixing of the panel component more stable. On the other hand, after the gripping device clamps and fixes the panel component, it can adaptively adjust the posture of the panel component under the control of the main control unit. Through the flexible cooperation between the lifting device, the rotating device, and the pitching device, the posture adjustment process is smoother and more stable, shortening the posture adjustment time and improving the installation efficiency of panel components. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 An exploded view of the wall panel installation robot as an example; Figure 2 This is a schematic diagram of the wall panel installation robot in an embodiment. Figure 3 An exploded view of the structure of the gripping device for a robot, as shown in the embodiment; Figure 4 This is a schematic diagram of the structure of a gripping device for a robot, as shown in the embodiment. Figure 1 ; Figure 5 This is a schematic diagram of the structure of a gripping device for a robot, as shown in the embodiment. Figure 2 ; Figure 6 This is a schematic diagram of the gripper structure in an embodiment; Figure 7 This is a schematic diagram of the connection relationship between the support member and the first driving member in an embodiment. Figure 8 for Figure 5 Enlarged detail view of point A in the middle; Figure 9 This is a schematic diagram of the rotating device structure in an embodiment; Figure 10 This is a schematic diagram of the lifting device structure in an embodiment; Figure 11 This is a schematic diagram of the internal structure of the wall panel installation robot in an embodiment. Figure 12 This is a flowchart of the installation control method in an embodiment; Figure 13 This is a diagram illustrating the components of a wall panel installation robot module as shown in the embodiment.

[0018] Figure label: 1-Robot base; 2-Main control unit; 3-Gripping device; 31-Gripping component; 311-Abutting part; 312-Bending part; 313-Clamping part; 314-Reinforcing structure; 32-Supporting component; 321-Connecting part; 322-Supporting part; 33-Clamping component; 34-First driving component; 35-Second driving component; 36-Synchronization mechanism; 361-Sliding component; 3611-Mounting part; 362-Guide shaft; 37-Link structure; 371-First link; 372-Second link; 373 - Third link; 38- Positioning component; 39- Buffer pad; 4- Lifting device; 41- Support frame; 42- Slide rail component; 43- Sliding block component; 44- Second power source; 5- Rotating device; 51- Rotating fixed seat; 52- Rotating part; 53- First power source; 6- Pitch device; 61- Linear movement mechanism; 62- Steering component; 63- Third power source; 7- Moving device; 8- Detection device; 9- Housing; 91- Clearance space; 92- Power supply; 93- Power socket; 94- Power detection device. Detailed Implementation

[0019] Various embodiments of this disclosure will be described more fully below. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0020] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0021] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0022] The terms used in the various embodiments of this disclosure (such as "first," "second," etc.) may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above terms do not limit the order and / or importance of the components. The above terms are only used for the purpose of distinguishing one component from others. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first component may be referred to as a second component without departing from the scope of the various embodiments of this disclosure, and similarly, a second component may also be referred to as a first component.

[0023] It should be noted that if a description is made of "connecting" one component to another, then the first component can be directly connected to the second component, and a third component can be "connected" between the first and second components. Conversely, when a component is "directly connected" to another component, it can be understood that there is no third component between the first and second components.

[0024] The term "user" as used in various embodiments of this disclosure may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0025] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this disclosure.

[0026] See Figure 1 , Figure 2 and Figure 13 As shown, this embodiment provides a wall panel installation robot, which includes: a robot base 1, a main control unit 2, and a gripping device 3, a lifting device 4, a rotating device 5, a pitching device 6, and a moving device 7 that are communicatively connected to the main control unit 2. Specifically, in some embodiments of this application, the mobile device 7 can be a caster wheel. Of course, there are no restrictions on the mobile device 7, and it can be a moving structure such as a track.

[0027] More specifically, in some embodiments of this application, the mobile device 7 has a four-wheel structure at the bottom of the robot base 1, which gives the wall panel installation robot good mobility and enables it to move 360 ​​degrees and turn around with zero radius, thus adapting to the needs of use in narrow installation spaces and significantly enhancing the application scenario adaptability of the wall panel installation robot.

[0028] The lifting device 4 is movably mounted on the robot base 1 for lifting relative to the robot base 1; the rotating device 5 is mounted on the lifting device 4 for rotating relative to the lifting device 4; the pitching device 6 is movably mounted on the robot base 1 and connected to the lifting device 4 for driving the lifting device 4 to pitch in a direction closer to or further away from the robot base 1. The gripping device 3 is mounted on the rotating device 5, the main control unit 2 is mounted on the robot base 1 at one end away from the lifting device 4, and the moving device 7 is mounted at the bottom of the robot base 1. Understandably, the coordination of the lifting device 4, the rotating device 5, and the pitching device 6 effectively combines the three degrees of freedom of motion—lifting, rotating, and flipping—giving the gripping device 3 a high degree of freedom in position and attitude control. This allows it to grip and install plate-like components at different angles and positions, greatly enhancing the adaptability and installation capability of the wall panel installation robot, thus contributing to precise installation control. Furthermore, the integration of the lifting device 4, rotating device 5, and pitching device 6 into the robot base 1 achieves a compact and integrated design. The main control unit 2, located at the end of the robot base 1 furthest from the lifting device 4, optimizes the wall panel installation robot's center of gravity, balancing the weight between the end with the gripping device 3 and the opposite end, reducing the likelihood of the robot tipping over during the installation of plate-like components.

[0029] For example, panel-type components may include autoclaved aerated concrete (ALC) partition walls, ceramsite boards, foamed ceramic boards, lightweight cement boards, wood boards, gypsum boards, aluminum alloy boards, glass boards, etc. Of course, the gripping device for robots provided in this application embodiment can be applied to different panel-type components, and no limitation is made on the panel-type components.

[0030] The main control unit 2 is used to move the robot base 1 to the position of the plate-like component to be installed via the moving device 7, and control the gripping device 3 to clamp and fix the plate-like component to be installed. It also controls one or more of the lifting device 4, rotating device 5 and pitching device 6 to adjust the posture of the plate-like component to be installed. Then, the robot base 1 is moved to the preset position via the moving device 7 to complete the installation of the plate-like component to be installed.

[0031] For example, the main control unit 2 can be a programmable logic controller (PLC), an industrial computer (IPC), a microcontroller (MCU), or a dedicated controller integrating mature navigation and motion control algorithms. Of course, there are no restrictions on the specific implementation of the main control unit 2, as long as it meets the installation control functions of the wall panel installation robot.

[0032] Understandably, the main control unit 2, by controlling one or more of the lifting device 4, rotating device 5, and pitching device 6, achieves precise attitude adjustment of the plate-like components to be installed. This ensures that the attitude of the plate-like components matches the overall shape of the wall panel installation robot, allowing it to adapt to different installation scenarios and reducing the impact of the environment on the installation of plate-like components, thus lowering the possibility of obstruction during installation. Furthermore, the coordination of the lifting device 4, rotating device 5, and pitching device 6 provides strong attitude adjustment capabilities, making the attitude adjustment process smoother and more stable. This effectively connects multiple steps such as grasping, attitude adjustment, and precise placement, reducing the attitude adjustment time of the plate-like components and thereby improving the installation efficiency.

[0033] In an optional embodiment, such as Figures 3 to 8 As shown, the gripping device 3 includes: a gripping member 31, a supporting member 32, a clamping member 33, a first driving member 34, and a second driving member 35; The first driving member 34 and the second driving member 35 are disposed on the clamping member 33; For example, the first driving component 34 and the second driving component 35 can be electric motors, pneumatic cylinders, hydraulic cylinders or stepper motors, etc. Of course, there are no restrictions on the specific implementation structure of the first driving component 34 and the second driving component 35, as long as they satisfy the driving function of the gripping component 31 and the supporting component 32.

[0034] Multiple support members 32 are arranged along the length direction of the clamping member 33. The first driving member 34 connects the multiple support members 32 through the synchronization mechanism 36 so that the support members 32 can extend out of the clamping member 33 synchronously to support the plate-like components to be installed. Specifically, in some embodiments of this application, "multiple" includes two, three, or more.

[0035] Understandably, multiple support members 32 are arranged along the length of the clamping member 33 to adapt to the shape characteristics of the building panel components, providing uniform and stable support force to the panel components and forming uniform support for the panel components. This improves the stability of the gripping device 3 in gripping the building panel components and avoids the problem of excessive local stress, thereby effectively reducing the warping or skewing of the panel components. Furthermore, the first driving member 34 connects multiple support members 32 through the synchronization mechanism 36, which enables the synchronous extension and retraction of multiple support members 32. This not only makes the pressure distribution on the panel components more uniform but also saves the overall adjustment time of multiple support members 32, thereby improving the installation efficiency of the panel components.

[0036] The gripper 31 is located on the side of the clamping member 33 away from the support member 32. The second driving member 35 drives the gripper 31 to move towards the clamping member 33, fixes the plate-like component to be installed from the top and bottom with the support member 32, and clamps the plate-like component to be installed from the front and back with the clamping member 33.

[0037] Specifically, in some embodiments of this application, the connection between any two of the gripping member 31, the support member 32, the clamping member 33, the first driving member 34, and the second driving member 35 is a rotational connection, which can be achieved, for example, through a rotating shaft structure or a hinge structure. Of course, there are no restrictions on the specific connection method between the components.

[0038] Understandably, the cooperation between the gripper 31 and the support 32 can fix the plate-like component from the top and bottom, while the cooperation between the gripper 31 and the clamping component 33 can clamp the plate-like component from the front and back. Through the combined action of the gripper 31, the support 32, and the clamping component 33, multi-directional clamping and fixing of the plate-like component is achieved, making the force on the plate-like component more uniform, reducing the problem of excessive local pressure, and effectively fixing the plate-like component. The plate-like component can maintain its initial position and posture during installation, thereby reducing the risk of damage to the plate-like component. Furthermore, the gripper 31 is set along the side of the clamping component 33 away from the support 32, which can flexibly adapt to plate-like components of different sizes and thicknesses, thereby improving the versatility of the gripping device 3 for different plate-like components.

[0039] In an optional embodiment, combined with Figures 3 to 6 As shown, the gripper 31 includes an abutting part 311 and a clamping part 313; The second driving member 35 drives the connecting abutment part 311. The abutment part 311 bends towards the clamping member 33 to form a bent part 312. The bent part 312 is movably connected to the clamping part 313, so that the abutment part 311, driven by the second driving member 35, fixes the plate-like component to be installed from the top and bottom directions with the support member 32, and drives the clamping part 313 to cooperate with the clamping member 33 to clamp the plate-like component to be installed from the front and back directions.

[0040] Understandably, on the one hand, the abutment portion 311 bends towards the clamping member 33 to form a bent portion 312, and the bent portion 312 is movably connected to the clamping portion 313, enabling the gripper 31 to achieve fixed clamping functions in both the horizontal and vertical directions, simplifying the structural volume of the gripper 31 and improving its space utilization. On the other hand, the design of the bent portion 312 also allows the gripper 31 to better conform to the shape and size of the plate-like component during clamping, reducing the problem of slippage or loosening of the plate-like component due to uneven clamping. Furthermore, the composition of the gripper 31, including the abutment portion 311, the bent portion 312, and the clamping member 33, facilitates multi-angle fixing of the plate-like component, optimizes the fixing effect of the plate-like component, and improves the stability of the plate-like component during installation.

[0041] In an optional embodiment, the length direction of the contact portion 311 is set at an angle of no more than 90° to the length direction of the bending portion 312.

[0042] Preferably, the angle between the length direction of the contact portion 311 and the length direction of the bending portion 312 is between 50° and 89°.

[0043] Understandably, the angle range between the length direction of the abutment portion 311 and the length direction of the bending portion 312 is set in such a range that, on the one hand, the structural strength of the abutment portion 311 and the bending portion 312 can be effectively improved to extend the service life of the gripper 31; on the other hand, the presence of the bending portion 312 allows the clamping portion 313 to better match the movement path of the abutment portion 311. The angle range design can more effectively transmit the clamping force evenly to the plate-like component along the front and rear directions, making the plate-like component more evenly stressed when clamped from the front and rear, thus improving the clamping effect of the gripper 3 on the plate-like component.

[0044] In an optional embodiment, an elastic reset member (not shown in the figure) is provided between the clamping part 313 and the bending part 312.

[0045] For example, the elastic reset element can be a spring; however, there are no restrictions on the specific implementation structure of the elastic reset element.

[0046] Due to the tension of the elastic reset member, the degree of freedom of the clamping part 313 is controllable. When the gripper 31, in cooperation with the support member 32, clamps the first plate of multiple side-by-side plate components, the clamping part 313 will not contact the other plates, and the clamping part 313 is horizontal to the ground. When the gripper 31 is pushed, the clamping part 313 is subjected to the squeezing force of the plate components, and the clamping part 313 clamps the plate perpendicular to the ground. After assembly, the gripper 31 is released, the elastic reset member returns to its original position, and the clamping part 313 is horizontal to the ground. At the same time, the clamping part 313 improves the error tolerance of the gripping device 3 during the material clamping process. In addition, the elastic reset member can play a certain buffering role, making the clamping part 313 clamp the plate components more stably.

[0047] In an optional embodiment, such as Figure 6 As shown, a reinforcing structure 314 is provided along the length of the gripper 31 and / or the support 32.

[0048] Specifically, in some embodiments of this application, the reinforcing structure 314 is strip-shaped or mesh-shaped, for example, it can be a reinforcing rib. Of course, there is no limitation on the specific shape of the reinforcing structure 314.

[0049] Understandably, the reinforcement structure 314 can significantly enhance the strength and rigidity of the gripping member 31 and the support member 32, and optimize the stress distribution of the gripping member 31 and the support member 32, so that the stress can be more evenly distributed and the structural bearing capacity of the gripping device 3 can be improved. In particular, the reinforcement structure 314 is set along the length direction of the gripping member 31 and / or the support member 32, which can effectively improve the bending resistance and tensile resistance of the gripping member 31 and the support member 32. The reinforcement structure 314 helps to reduce the deformation of the gripping member 31 and the support member 32 when subjected to external forces, thereby enhancing the stability of the overall structure.

[0050] In an optional embodiment, combined Figure 5 , Figure 7 and Figure 8 As shown, the synchronization mechanism 36 includes: a sliding member 361 and a guide shaft 362; The sliding member 361 is provided with a plurality of mounting portions 3611 for connecting the support member 32; The support member 32 is movably connected to the clamping member 33 and the mounting part 3611 respectively through the linkage structure 37. The guide shaft 362 is disposed on the clamping member 33, and the sliding member 361 is disposed at the output end of the first driving member 34, so that the sliding member 361 can reciprocate along the extension direction of the guide shaft 362, thereby driving all the support members 32 to extend or retract synchronously.

[0051] Understandably, the sliding member 361 drives the support member 32 to extend or retract synchronously, achieving consistency in the actions of multiple support members 32. This helps the gripping device 3 to ensure that all support members 32 can provide synchronous support when clamping or supporting plate-like components, maintaining the overall coordination and stability of the gripping device 3's operation. The synchronization mechanism 36 includes a guide shaft 362 and a sliding member 361. The guide shaft 362 and the sliding member 361 cooperate with each other, making the extension and retraction of the support member 32 smoother and improving the accuracy of the extension and retraction operation. Furthermore, the synchronization mechanism 36 reduces the number of first driving members 34, effectively lowering production costs and simplifying the structural design of the gripping device 3, saving space.

[0052] In an optional embodiment, combined with Figure 7 and Figure 8 As shown, the support member 32 includes a connecting part 321 and a supporting part 322, and the linkage structure 37 includes a first linkage 371, a second linkage 372 and a third linkage 373; One end of the connecting part 321 is movably connected to the support part 322, and the other end is movably connected to the first link 371. The first link 371 is movably connected to the mounting part 3611. The mounting part 3611 is also movably connected to the second link 372. The second link 372 is movably connected to the middle part of the connecting part 321. The third link 373 is movably connected to the mounting part 3611 and is movably connected to the middle part of the second link 372.

[0053] Understandably, the cooperation of the first link 371, the second link 372, and the third link 373 enables more precise and coordinated movement, enhancing the coordination of the support 322's movement and thus improving the system accuracy and stability of the gripping device 3. Furthermore, the combination of the first link 371, the second link 372, and the third link 373 helps to evenly distribute the load. When the support 32 is under stress, the link structure 37 can share forces of different directions and intensities, reducing the risk of system failure. The design of the link structure 37 also makes the entire system simpler, achieving complex actions such as extension, retraction, and angle adjustment simply by controlling the first drive component 34, reducing reaction time and significantly improving work efficiency.

[0054] In an optional embodiment, such as Figures 3 to 5 As shown, the clamping member 33 is also provided with a positioning member 38, which is located on the side of the clamping member 33 where the gripping member 31 is provided.

[0055] Understandably, the positioning element 38 effectively improves clamping accuracy, enabling the clamping element 33 to precisely position itself when grasping an object, avoiding instability caused by asymmetry or deviation, and improving the stability and reliability of the clamping process. Furthermore, it allows for quick and accurate alignment with the target when grasping an object, thereby reducing grasping time and errors and effectively improving overall grasping efficiency. The positioning element 38 also functions as a clamp to a certain extent; it can clamp plate-like components together with the gripping element 31 and / or the support element 32, further enhancing the stability of the gripping device 3 in clamping plate-like components.

[0056] In an optional embodiment, such as Figure 3 , Figures 5 to 8 As shown, a buffer pad 39 is provided on the clamping member 33 and / or the support member 32 and / or the gripping member 31.

[0057] For example, the cushioning pad 39 can be made of materials such as rubber, silicone, sponge, polyurethane, or fiber composite materials. Of course, there are no restrictions on the specific material of the cushioning pad 39.

[0058] Understandably, the buffer pad 39 reduces the impact force generated by direct contact when clamping plate-like components, effectively protecting the surface of the plate-like components from damage. Furthermore, during clamping, the buffer pad 39 effectively absorbs the impact force between the plate-like components and the clamping member 33, reducing the transmission of vibration and impact, thus keeping the clamped plate-like components stable and less susceptible to external forces. In addition, the buffer pad 39 also increases the friction between the holding member 33 and / or the support member 32 and / or the gripping member 31 and the contact surface with the plate-like components, thereby enhancing the stability of clamping and fixing the plate-like components.

[0059] In an optional embodiment, such as Figure 1 , Figure 2 and Figure 13 As shown, the wall panel installation robot is also equipped with a detection device 8, which is used to detect positional information between the wall panel installation robot and the panel-like components to be installed. For example, the detection device 8 includes one or more of a lidar, a depth camera, and an ultrasonic sensor, and the detection device 8 is also used for obstacle detection of the wall panel mounting robot during its movement.

[0060] Understandably, the detection device 8 can detect the relative position between the wall panel installation robot and the panel components in real time, enabling the wall panel installation robot to accurately grasp and fix the panel components, improving grasping accuracy and thus achieving a good clamping effect on the panel components. The detection device 8 can also detect the presence of obstacles during the movement of the wall panel installation robot, reducing damage to the panel components caused by collisions with obstacles during installation.

[0061] Controlling one or more of the lifting device 4, rotating device 5, and pitching device 6 to achieve attitude adjustment of the plate-like component to be installed, including: Acquire location-related information obtained in real time by detection device 8; Based on location-related information, determine whether the first angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device 4 conforms to the preset angle. If the first included angle does not conform to the preset angle, control the lifting device 4 and the rotating device 5 to operate in coordination, or control the lifting device 4, the rotating device 5 and the moving device 7 to operate in coordination, so that the first included angle conforms to the preset angle. If the first included angle meets the preset angle, the lifting device 4 and the pitching device 6 are controlled to operate in coordination so that the projection of the center of gravity of the plate-like component to be installed on the robot base 1 is located in the central area of ​​the wall panel installation robot.

[0062] For example, in some embodiments of this application, the preset angle can be between 0° and 10°, preferably 0°. If the first included angle does not conform to the preset angle, that is, the first included angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device 4 is greater than 10°, for example, the range of the first included angle is between 80° and 90°, the lifting device 4 and the rotating device 5 are controlled to operate in coordination, or the lifting device 4, the rotating device 5 and the moving device 7 are controlled to operate in coordination, so that the first included angle conforms to the preset angle; if the first included angle conforms to the preset angle, that is, the first included angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device 4 is between 0° and 10°, the lifting device 4 and the pitching device 6 are controlled to operate in coordination, so that the projection of the center of gravity of the plate-like component to be installed on the robot base 1 is located in the central area of ​​the wall panel installation robot. Of course, there is no limitation on the specific degree of the preset angle.

[0063] Understandably, adjusting the first included angle improves the posture of the plate-like components, significantly reducing the lateral space occupied by the plate-like components and the wall panel installation robot during installation. It also fully utilizes vertical space, reducing the path width requirements during installation and minimizing the impact of path obstacles on the plate-like components, thus lowering the likelihood of collisions. Furthermore, during the adjustment of the first included angle, on the one hand, coordinating the operation of the lifting device 4 and the rotating device 5, or coordinating the parallel operation of the lifting device 4, rotating device 5, and moving device 7, enables smoother and more precise posture correction, significantly shortening adjustment time and increasing posture adjustment speed, thereby improving the installation efficiency of the plate-like components. On the other hand, by controlling the movement of the lifting device 4 and the rotating device 5, or controlling the movement of the lifting device 4, rotating device 5, and moving device 7, it is possible to dynamically adapt to different spatial environments, reducing the impact of the environment on the posture adjustment of the plate-like components. For example, when lateral space is limited, the lifting device 4 can be simultaneously controlled to rise while the rotating device 5 rotates, reducing the demand for lateral space.

[0064] Understandably, once the initial angle reaches a preset value, coordinating the operation of the lifting device 4 and the pitch device 6 ensures that the projection of the center of gravity of the panel component to be installed onto the robot base 1 is located in the central area of ​​the wall panel installation robot. This helps improve system stability, provides stable support, reduces the risk of tipping over, and largely avoids tipping moments caused by the shift in the center of gravity of the panel component during robot movement, start-up, stopping, or turning. This effectively prevents equipment from shaking or even tipping over, ensuring safe installation operations. Furthermore, ensuring the projection of the center of gravity of the panel component to be installed onto the robot base 1 is located in the central area of ​​the wall panel installation robot also improves the precision of the wall panel installation robot's control, allowing for better balance of the robot's overall inertia and smoother installation operations. Similarly, coordinating the operation of the lifting device 4 and the pitch device 6 enables smoother and more precise attitude correction, significantly shortening adjustment time and increasing attitude adjustment speed, thereby improving the installation efficiency of panel components; and it allows for dynamic adaptation to different spatial environments.

[0065] In an optional embodiment, such as Figure 1 , Figure 2 and Figure 9 As shown, the rotating device 5 includes a rotating fixed base 51, a rotating part 52, and a first power source 53; The first power source 53 drives the rotating part 52. One of the lifting device 4 and the gripping device 3 is provided with a rotating fixed seat 51, and the other is provided with a rotating part 52 that matches the shape of the rotating fixed seat 51. The rotating part 52 is rotated and connected to the rotating fixed seat 51 by the first power source 53, so that the relative rotation of the gripping device 3 and the lifting device 4 can be realized.

[0066] Specifically, in some embodiments of this application, the rotating fixing seat 51 is disposed on the lifting device 4, and the rotating part 52 is disposed on the gripping device 3. Of course, there are no specific restrictions on the specific positions of the rotating fixing seat 51 and the rotating part 52, and they can be adjusted according to actual usage needs.

[0067] Understandably, the rotating device 5 significantly improves the flexibility of adjusting the relative angle between the gripping device 3 and the lifting device 4, adapting to different gripping angle requirements. Furthermore, the precise docking of the rotating fixed base 51 and the rotating part 52 enables precise angle control, making the installation process more accurate.

[0068] In an optional embodiment, such as Figure 1 , Figure 2 , Figure 10 and Figure 11 As shown, the lifting device 4 includes a support frame 41, a slide rail 42, a slider 43, and a second power source 44; The slider 43 is movably mounted on the slide rail 42, which is located in the middle area of ​​the support frame 41. The support frame 41 is rotatably connected to the robot base 1, the slider 43 is connected to the rotating device 5, and the second power source 44 drives the gripping device 3 to reciprocate along the extension direction of the slide rail 42. Understandably, the slider 43 is movably mounted on the slide rail 42, which is located in the middle area of ​​the support frame 41. This effectively distributes the load on the support frame 41 and improves the accuracy of the slider 43's reciprocating motion along the extension direction of the slide rail 42, resulting in better stability for plate-like components during posture adjustment or installation. Furthermore, it makes full use of the space occupied by the support frame 41, optimizes the structural layout, and achieves a compact design.

[0069] The pitch device 6 includes a linear motion mechanism 61, a steering component 62, and a third power source 63; The third power source 63 drives the steering component 62, which is mounted on the linear motion mechanism and connected to the lifting device 4, to drive the lifting device 4 to pitch in the direction of approaching or moving away from the robot base 1.

[0070] For example, the linear motion mechanism 61 can be a guide rail structure or a push rod structure, while the steering component 62 can be a screw structure. Of course, there are no restrictions on the specific structure of the linear motion mechanism 61 and the steering component 62.

[0071] Understandably, the steering component 62 is used to change the transmission direction of the output power of the third power source 63, enabling the lifting device 4 to not only move up and down but also to pitch relative to the robot base 1, thus improving the flexibility of multi-angle adjustment of the panel components. The steering component 62 also enhances the flexibility of the arrangement and shape of the third power source 63, further improving the compactness of the internal structure of the wall panel installation robot. In summary, the pitching device 6 enables the wall panel installation robot to achieve a compact design and extremely miniaturized size to meet the application needs of wall panel installation in confined spaces in building construction projects. Furthermore, the coordination of the pitching device 6, the lifting device 4, and the rotating device 5 effectively adjusts the position of the panel components and the wall panel installation robot, allowing the robot to adapt to confined installation spaces.

[0072] The aforementioned first power source 53, second power source 44, and third power source 63 can be motors, stepper motors, cylinders, hydraulic cylinders, etc. Of course, there are no restrictions on the specific implementation structure of the first power source 53, second power source 44, and third power source 63.

[0073] In an optional embodiment, such as Figure 1 , Figure 2 and Figure 11 As shown, the wall panel installation robot is also equipped with a housing 9; The housing 9 is recessed in the direction away from the gripping device 3, and the cross-sectional shape of the housing 9 includes a U-shape, forming a clearance space 91 for the lifting device 4.

[0074] Understandably, the recessed design of the housing 9 effectively provides clearance 91 for the lifting device 4, making it less obstructed by the housing 9 when performing lifting or pitching movements. This results in smoother pitching movements and improves the robot's operational flexibility. Furthermore, the housing 9 also provides limiting or guiding functions for the pitching movements of the lifting device 4, making these movements more precise and reducing the likelihood of damage to plate-like components or wall panels installed on the robot.

[0075] In addition, the recessed shell 9 forms an avoidance space 91, which makes full use of the limited space of the wall panel-mounted robot and avoids the problem of the robot's overall size being too large due to the large space required for the lifting device 4.

[0076] In an optional embodiment, such as Figure 1 and Figure 13 As shown, the wall panel installation robot is equipped with a power supply 92, a power socket 93, and a power detection device 94. The power socket 93, the power detection device 94 and the power supply 92 are electrically connected. The power supply 92 is located on the side of the robot base 1 away from the gripping device 3, so that the center of gravity of the wall-mounted robot is located in the central area of ​​the robot base 1 and biased towards the side where the power supply 92 is located.

[0077] Understandably, placing the power supply 92 on the side of the robot base 1 away from the gripping device 3 allows the robot's center of gravity to be closer to the center of the base and biased towards the side where the power supply 92 is located. This largely prevents the center of gravity from shifting too far towards the gripping device 3 after it grasps a plate-like component, thus avoiding instability or tipping over during operation. The placement of the power supply 92 effectively improves the stability of the wall panel installation robot, ensuring smooth operation. Furthermore, with the center of gravity located in the central area of ​​the robot base 1, precise gripping, installation, and turning operations are possible, reducing the impact of lateral swaying and energy loss due to swaying, thus improving the robot's motion accuracy and smoothness.

[0078] Integrating the power supply 92, socket, and power detection device 94 into the robot base 1 simplifies the management of the power supply 92. The power detection device 94 can monitor the battery power in real time, helping operators to understand the battery status in a timely manner and thus enabling better power scheduling and management.

[0079] This embodiment also provides an installation control method, such as... Figure 12 As shown, a wall panel installation robot applied to any of the foregoing includes: S100 uses a mobile device to move the robot base to the position where the plate-like component to be installed; S200 controls the gripping device to hold and fix plate-type components to be installed; S300 controls one or more of the lifting device, rotating device, and pitching device to achieve attitude adjustment of the plate-like components to be installed; The S400 uses a mobile device to move the robot base to a preset position and places the plate-like components to be installed at the preset position, thus completing the installation of the plate-like components to be installed.

[0080] Specifically, in some embodiments of this application, controlling the gripping device to clamp and fix the plate-like component to be installed includes: The control support extends out of the clamping member, supports the bottom of the plate-like component to be installed, and controls the lifting device to lift the plate-like component to be installed; The gripper moves toward the support member, so that the contact part comes into contact with the upper area of ​​the mounting plate component and fixes the mounting plate component with the support member, and the clamping part rotates toward the clamping member and clamps the mounting plate component with the clamping member.

[0081] Specifically, in some embodiments of this application, controlling one or more of the lifting device, rotating device, and pitching device to adjust the posture of the plate-like component to be installed includes: Acquire location-related information obtained in real time from the detection device; Based on location-related information, determine whether the first angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device conforms to the preset angle; If the first included angle does not conform to the preset angle, control the lifting device and the rotating device to operate in coordination, or control the lifting device, the rotating device and the moving device to operate in coordination, so that the first included angle conforms to the preset angle. If the first included angle meets the preset angle, the lifting device and the pitching device are controlled to operate in coordination so that the projection of the center of gravity of the plate-like component to be installed on the robot base is located in the central area of ​​the wall panel installation robot.

[0082] Among them, the movement of the wall panel installation robot between the area where the panel component to be installed is located and the preset target area can use conventional path planning algorithms, such as local obstacle avoidance algorithms: Dynamic Window Method (DWA), Artificial Potential Field Method (APF), and search-based planning algorithms: Dijkstra, A, DLite; of course, no specific restrictions are placed on the path planning algorithm.

[0083] Understandably, the installation control method provided in this application, by adjusting and controlling one or more of the lifting device, rotating device, and pitching device of the wall panel installation robot, effectively adjusts the posture of the panel components, exhibiting good adjustment smoothness and improving adjustment speed. It effectively connects with the clamping or installation steps, thereby improving the overall handling speed of the panel components. Furthermore, it ensures that the posture of the panel components matches the wall panel installation robot, enabling it to adapt to different installation environments and enhancing the stability of the panel components during installation.

[0084] The embodiments of this application have at least the following beneficial effects: This application provides a wall panel installation robot and installation control method. The wall panel installation robot has good flexibility in the installation of panel components, can adapt to the installation requirements of panel components, improves the stability and smoothness of panel component installation, and thus improves the installation efficiency of panel components. Specifically, it is equipped with a lifting device 4, a rotating device 5, and a pitching device 6. On the one hand, it can adjust the appropriate angle and height during the gripping of the panel component to be installed by the gripping device 3, adapting to the panel component in different placement states, so that the gripping device 3 can clamp and fix the panel component more stably. On the other hand, after the gripping device 3 clamps and fixes the panel component, it can adaptively adjust the posture of the panel component under the control of the main control unit 2. And through the flexible cooperation between the lifting device 4, the rotating device 5, and the pitching device 6, the posture adjustment process is smoother and more stable, shortening the posture adjustment time and improving the installation efficiency of panel components.

[0085] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0086] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0087] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0088] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A wall panel installation robot, characterized in that, The wall panel installation robot includes: a robot base, a main control unit, and a gripping device, a lifting device, a rotating device, a pitching device, and a moving device that are communicatively connected to the main control unit; the lifting device is movably mounted on the robot base for lifting relative to the robot base; the rotating device is mounted on the lifting device for rotating relative to the lifting device; the pitching device is movably mounted on the robot base and connected to the lifting device for driving the lifting device to pitch towards or away from the robot base. The gripping device is mounted on the rotating device, the main control unit is mounted on the robot base at one end away from the lifting device, and the moving device is mounted at the bottom of the robot base; The main control unit is used to move the robot base to the position of the plate-like component to be installed via the mobile device, control the gripping device to clamp and fix the plate-like component to be installed, and control one or more of the lifting device, the rotating device and the pitching device to adjust the posture of the plate-like component to be installed. Then, the mobile device moves the robot base to the preset position to complete the installation of the plate-like component.

2. The wall panel installation robot according to claim 1, characterized in that, The gripping device includes: a gripping component, a supporting component, a clamping component, a first driving component, and a second driving component; The first driving member and the second driving member are disposed on the clamping member; Multiple support members are arranged along the length direction of the clamping member. The first driving member connects the multiple support members through a synchronization mechanism so that the support members can extend out of the clamping member synchronously to support the plate-like component to be installed. The gripper is located on the side of the clamping member away from the support member. The second driving member drives the gripper to move towards the clamping member, thereby fixing the plate-like component to be installed from the top and bottom with the support member and clamping the plate-like component to be installed from the front and back with the clamping member.

3. A wall panel installation robot according to claim 2, characterized in that, The gripper includes an abutting part and a clamping part; The second driving member drives the abutment part, which bends towards the clamping member to form a bent part. The bent part is movably connected to the clamping part, so that the abutment part, driven by the second driving member, fixes the plate-like component to be installed from the top and bottom with the support member, and drives the clamping part to cooperate with the clamping member to clamp the plate-like component to be installed from the front and back.

4. A wall panel installation robot according to claim 2, characterized in that, The wall panel installation robot is also equipped with a detection device, which is used to detect positional information between the wall panel installation robot and the panel component to be installed. Controlling one or more of the lifting device, the rotating device, and the pitching device to adjust the posture of the plate-like component to be installed includes: The location-related information obtained in real time by the detection device is acquired. Based on the location-related information, determine whether the first angle formed by the length direction of the plate-like component to be installed and the extension direction of the lifting device conforms to a preset angle; If the first included angle does not conform to the preset angle, control the lifting device and the rotating device to operate in coordination, or control the lifting device, the rotating device and the moving device to operate in coordination, so that the first included angle conforms to the preset angle; If the first included angle meets the preset angle, the lifting device and the pitching device are controlled to operate in coordination so that the projection of the center of gravity of the plate-like component to be installed on the robot base is located in the central area of ​​the wall panel installation robot.

5. A wall panel installation robot according to claim 4, characterized in that, The detection device includes one or more of a lidar, a depth camera, and an ultrasonic sensor, and is also used for obstacle detection by the wall panel installation robot during its movement.

6. A wall panel installation robot according to claim 1, characterized in that, The rotating device includes a rotating fixed base, a rotating part, and a first power source; The first power source drives the rotating part, and one of the lifting device and the gripping device is provided with the rotating fixed seat, while the other is provided with a rotating part that matches the shape of the rotating fixed seat; the first power source drives the rotating part to rotate and connect with the rotating fixed seat, thereby realizing the relative rotation of the gripping device and the lifting device.

7. A wall panel installation robot according to claim 1, characterized in that, The lifting device includes a support frame, a slide rail, a slider, and a second power source; The slider is movably mounted on the slide rail, which is located in the middle region of the support frame. The support frame is rotatably connected to the robot base. The slider is connected to the rotating device. The second power source drives the gripping device to reciprocate along the extension direction of the slide rail. The pitching device includes a linear motion mechanism, a steering component, and a third power source; The third power source drives the steering component, which is mounted on the linear motion mechanism and connected to the lifting device, to drive the lifting device to pitch in a direction closer to or further away from the robot base.

8. A wall panel installation robot according to claim 7, characterized in that, The wall panel installation robot is also equipped with a housing; The housing is recessed in a direction away from the gripping device, and the cross-sectional shape of the housing includes a U-shape, forming a clearance space to avoid the lifting device.

9. A wall panel installation robot according to claim 8, characterized in that, The wall panel installation robot is equipped with a power supply, a power socket, and a power detection device. The power socket and the power detection device are electrically connected to the power source, which is located on the side of the robot base away from the gripping device, so that the center of gravity of the wall panel-mounted robot is located in the central area of ​​the robot base and biased towards the side where the power source is located.

10. An installation control method, characterized in that, Applied to a wall panel installation robot according to any one of claims 1 to 9, comprising: The mobile device drives the robot base to move to the position of the plate-like component to be installed; Control the gripping device to clamp and fix the plate-like component to be installed; Controlling one or more of the lifting device, the rotating device, and the pitching device can achieve attitude adjustment of the plate-like component to be installed; The mobile device moves the robot base to a preset position and places the plate-like component to be installed at the preset position, thus completing the installation of the plate-like component.

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