A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Bricklaying manipulator, bricklaying method and storage medium
The invention relates to the field of building automation control, and discloses a bricklaying manipulator, a bricklaying method and a storage medium. The bricklaying manipulator comprises a six-axis mechanical arm, a seventh shaft and a clamping jaw, one end of the seventh shaft is connected with the clamping jaw, the other end of the seventh shaft is perpendicularly connected with the tail end of the six-axis mechanical arm, the starting angle of the seventh shaft is marked, and when it is detected that the next bricklaying position of the bricklaying manipulator is the top layer bricklaying position, the seventh shaft is controlled to rotate till the clamping jaw is located at the side clamping position. The method comprises the steps that the clamping mode of the brick is determined based on the type of a masonry position, a seventh shaft is rotated to a corresponding angle according to the clamping mode, a six-shaft mechanical arm is controlled to move a clamping jaw to the placement position of the brick, and the brick is clamped by the clamping jaw to move to the masonry position. According to the scheme, the seventh shaft is additionally arranged, the problem that singular points appear in side clamping masonry of a six-shaft robot is solved, masonry of bricks close to the tail position of the wall and below the top layer is achieved, and the bricklaying coverage rate and the bricklaying quality of the robot are improved.
本发明涉及建筑自动化控制领域，公开了一种砌砖机械手、砌筑方法及存储介质。砌砖机械手包括六轴机械臂、第七轴和夹爪，第七轴的一端与夹爪连接，第七轴的另一端与六轴机械臂的末端垂直连接，并标记第七轴的起始角度，在检测到砌砖机械手的下一个砌筑位为顶层砌筑位时，控制第七轴旋转至夹爪位于侧夹位置。本方法包括基于砌筑位的种类确定对砖块的夹持方式，并根据夹持方式将第七轴旋转至对应的角度，控制六轴机械臂将夹爪移动至砖块的放置处，并通过夹爪夹持砖块移动至砌筑位。本方案通过增加第七轴，解决了六轴机器人侧夹砌筑出现奇异点的情况，并实现顶层、顶层以下靠墙末位砖块的砌筑，提高机器人砌砖覆盖率和砌砖质量。
Bricklaying manipulator, bricklaying method and storage medium
The invention relates to the field of building automation control, and discloses a bricklaying manipulator, a bricklaying method and a storage medium. The bricklaying manipulator comprises a six-axis mechanical arm, a seventh shaft and a clamping jaw, one end of the seventh shaft is connected with the clamping jaw, the other end of the seventh shaft is perpendicularly connected with the tail end of the six-axis mechanical arm, the starting angle of the seventh shaft is marked, and when it is detected that the next bricklaying position of the bricklaying manipulator is the top layer bricklaying position, the seventh shaft is controlled to rotate till the clamping jaw is located at the side clamping position. The method comprises the steps that the clamping mode of the brick is determined based on the type of a masonry position, a seventh shaft is rotated to a corresponding angle according to the clamping mode, a six-shaft mechanical arm is controlled to move a clamping jaw to the placement position of the brick, and the brick is clamped by the clamping jaw to move to the masonry position. According to the scheme, the seventh shaft is additionally arranged, the problem that singular points appear in side clamping masonry of a six-shaft robot is solved, masonry of bricks close to the tail position of the wall and below the top layer is achieved, and the bricklaying coverage rate and the bricklaying quality of the robot are improved.
本发明涉及建筑自动化控制领域，公开了一种砌砖机械手、砌筑方法及存储介质。砌砖机械手包括六轴机械臂、第七轴和夹爪，第七轴的一端与夹爪连接，第七轴的另一端与六轴机械臂的末端垂直连接，并标记第七轴的起始角度，在检测到砌砖机械手的下一个砌筑位为顶层砌筑位时，控制第七轴旋转至夹爪位于侧夹位置。本方法包括基于砌筑位的种类确定对砖块的夹持方式，并根据夹持方式将第七轴旋转至对应的角度，控制六轴机械臂将夹爪移动至砖块的放置处，并通过夹爪夹持砖块移动至砌筑位。本方案通过增加第七轴，解决了六轴机器人侧夹砌筑出现奇异点的情况，并实现顶层、顶层以下靠墙末位砖块的砌筑，提高机器人砌砖覆盖率和砌砖质量。
Bricklaying manipulator, bricklaying method and storage medium
砌砖机械手、砌筑方法及存储介质
HE CANHUI (author) / YANG YUEWU (author)
2024-01-23
Patent
Electronic Resource
Chinese
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