Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Robot brick paving method based on force-position hybrid control and brick paving robot
The invention relates to the technical field of industrial robots, in particular to a robot brick paving method and a brick paving robot based on force-position hybrid control, and the method comprises the following steps: determining the stress upper limit of a robot end execution mechanism and the height of a brick paving finished surface; the robot is made to take bricks, and position information and stress information of a tail end executing mechanism of the robot in six dimensions are obtained; according to the position information of the tail end executing mechanism in the six dimensions and the current to-be-paved brick position, the tail end executing mechanism moves the bricks to the to-be-paved brick position; the tail end executing mechanism is made to execute downward pressing operation, and position information and stress information of the tail end executing mechanism on the z axis are obtained in real time in the downward pressing process; and according to the position information and the stress information of the tail end executing mechanism on the z axis, the pressing operation is controlled. The brick surface can be accurately adjusted to be close to a preset brick paving finished surface, and the brick paving quality is improved.
本发明涉及工业机器人技术领域，特别涉及一种基于力位混合控制的机器人铺砖方法及铺砖机器人，其中方法包括：确定机器人末端执行机构的受力上限及铺砖完成面的高度；令机器人取砖，并获取机器人的末端执行机构在六个维度上的位置信息及受力信息；根据末端执行机构在六个维度上的位置信息及当前的待铺砖位置，令末端执行机构持砖移动至待铺砖位置；令末端执行机构执行下压操作，并在下压过程中实时获取末端执行机构在z轴上的位置信息及受力信息；根据末端执行机构在z轴上的位置信息及受力信息，对下压操作进行控制。本发明能够将砖面准确调整到预设的铺砖完成面附近，提高铺砖质量。
Robot brick paving method based on force-position hybrid control and brick paving robot
The invention relates to the technical field of industrial robots, in particular to a robot brick paving method and a brick paving robot based on force-position hybrid control, and the method comprises the following steps: determining the stress upper limit of a robot end execution mechanism and the height of a brick paving finished surface; the robot is made to take bricks, and position information and stress information of a tail end executing mechanism of the robot in six dimensions are obtained; according to the position information of the tail end executing mechanism in the six dimensions and the current to-be-paved brick position, the tail end executing mechanism moves the bricks to the to-be-paved brick position; the tail end executing mechanism is made to execute downward pressing operation, and position information and stress information of the tail end executing mechanism on the z axis are obtained in real time in the downward pressing process; and according to the position information and the stress information of the tail end executing mechanism on the z axis, the pressing operation is controlled. The brick surface can be accurately adjusted to be close to a preset brick paving finished surface, and the brick paving quality is improved.
本发明涉及工业机器人技术领域，特别涉及一种基于力位混合控制的机器人铺砖方法及铺砖机器人，其中方法包括：确定机器人末端执行机构的受力上限及铺砖完成面的高度；令机器人取砖，并获取机器人的末端执行机构在六个维度上的位置信息及受力信息；根据末端执行机构在六个维度上的位置信息及当前的待铺砖位置，令末端执行机构持砖移动至待铺砖位置；令末端执行机构执行下压操作，并在下压过程中实时获取末端执行机构在z轴上的位置信息及受力信息；根据末端执行机构在z轴上的位置信息及受力信息，对下压操作进行控制。本发明能够将砖面准确调整到预设的铺砖完成面附近，提高铺砖质量。
Robot brick paving method based on force-position hybrid control and brick paving robot
基于力位混合控制的机器人铺砖方法及铺砖机器人
JIANG TAO (Autor:in) / ZHANG RENCAI (Autor:in) / HAN SHAOXIONG (Autor:in) / LI ZHUOXIONG (Autor:in) / LIU DESHUN (Autor:in)
25.08.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E04F
FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
,
Ausbau von Bauwerken, z.B. Treppen, Fußböden
| Europäisches Patentamt | 2021