A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Scribing robot, scribing robot system, and scribing method
The invention discloses a scribing robot. The scribing robot comprises a mechanical leg set, a manipulator set, an encoder set and a scribing head. The mechanical leg group comprises a first mechanical leg and a second mechanical leg which are structurally symmetrical, the manipulator group comprises a first manipulator and a second manipulator which are structurally symmetrical, the encoder group comprises a plurality of encoders, the plurality of encoders are respectively arranged on each mechanical leg and each manipulator, and the marking head is arranged on the first manipulator and/or the second manipulator. The invention further provides a scribing robot system which comprises a data acquisition unit, a data processing unit, a judgment unit, a control unit and a storage unit. The invention further provides a lineation method. The lineation method comprises the steps of planning a path, determining an initial point position and an initial pose, transferring all the mechanical legs and all the mechanical arms for lineation, moving the lineation robot and the like. According to the scribing robot, the scribing flexibility and the scribing precision can be improved. The invention belongs to the technical field of scribing equipment.
本申请公开了一种划线机器人，包括机械腿组、机械手组、编码器组和划线头。机械腿组包括结构对称的第一机械腿和第二机械腿，机械手组包括结构对称设置的第一机械手和第二机械手，编码器组包括多个编码器，多个编码器分别设置于每个机械腿和每个机械手上，划线头设置于第一机械手和/或第二机械手上。本申请还提出一种划线机器人系统，包括数据获取单元、数据处理单元、判断单元、控制单元和存储单元。本申请还提出一种划线方法，包括路径规划、确定初始点位和初始位姿、调动各机械腿和各机械手进行划线以及移动划线机器人等步骤。本申请的划线机器人能够提高划线灵活度和划线精度。本申请用于划线设备技术领域。
Scribing robot, scribing robot system, and scribing method
The invention discloses a scribing robot. The scribing robot comprises a mechanical leg set, a manipulator set, an encoder set and a scribing head. The mechanical leg group comprises a first mechanical leg and a second mechanical leg which are structurally symmetrical, the manipulator group comprises a first manipulator and a second manipulator which are structurally symmetrical, the encoder group comprises a plurality of encoders, the plurality of encoders are respectively arranged on each mechanical leg and each manipulator, and the marking head is arranged on the first manipulator and/or the second manipulator. The invention further provides a scribing robot system which comprises a data acquisition unit, a data processing unit, a judgment unit, a control unit and a storage unit. The invention further provides a lineation method. The lineation method comprises the steps of planning a path, determining an initial point position and an initial pose, transferring all the mechanical legs and all the mechanical arms for lineation, moving the lineation robot and the like. According to the scribing robot, the scribing flexibility and the scribing precision can be improved. The invention belongs to the technical field of scribing equipment.
本申请公开了一种划线机器人，包括机械腿组、机械手组、编码器组和划线头。机械腿组包括结构对称的第一机械腿和第二机械腿，机械手组包括结构对称设置的第一机械手和第二机械手，编码器组包括多个编码器，多个编码器分别设置于每个机械腿和每个机械手上，划线头设置于第一机械手和/或第二机械手上。本申请还提出一种划线机器人系统，包括数据获取单元、数据处理单元、判断单元、控制单元和存储单元。本申请还提出一种划线方法，包括路径规划、确定初始点位和初始位姿、调动各机械腿和各机械手进行划线以及移动划线机器人等步骤。本申请的划线机器人能够提高划线灵活度和划线精度。本申请用于划线设备技术领域。
Scribing robot, scribing robot system, and scribing method
划线机器人、划线机器人系统及划线方法
JIN YU'AO (author) / XI NING (author) / CHEN HEPING (author) / LI YAONAN (author) / LI QIAOKANG (author) / FAN XINGGANG (author)
2024-02-27
Patent
Electronic Resource
Chinese
Intelligent scribing method and intelligent scribing robot
| European Patent Office | 2023