Research On The Key Technology Of A Robot System Used For Installing The Dry-Hanging Slabstone

In view of lower degree of automation, higher incidence of accident and other issues in the process of the installing of the large dimension slabstone in the dry-hanging technology, presents a robot for large dimension slabstone installing, using robot technology to complete the automatic installing process, and improve the working efficiency and safety.The paper summarizes the domestic and foreign research status on the slabstone installing robot. On the basis of inquiring upon the traditional dry-hanging process of the indoor stone wall, the automatic slabstone dry-hanging process and the required precision is determined. In view of the drawback of the vision based positioning method which cannot acquire the position relationship between the parts, the force-based approach is introduced and a method for searching the hole—plane search—is proposed, which further improve the process for automatic slabstone installation.According to the demands of high rigidity and payload capability to the robot, This robot adopts a new serial-parallel hybrid-type of six degree, the posture adjustment of the robot is realized by the 3UPS/S parallel platform with 3 rotation freedoms, and the position adjustment is realized by the serial parts with 3 translation degree. The detailed structure of the function modules of the robot is designed based on modular design approach, the sensing system constituted by a tilt sensor and dual-laser distance sensors is designed for the moving platform and the structured light vision together with the force feedback sensing system is designed for the plate position detection.To realize the positioning strategy based on vision, the calibration of the visual system and the structure light image processing is achieved in this thesis; in order to install the plate based on force information, the categories of the contact state during the searching strategy are analyzed and the approach to recognize the contact state is proposed which is based on force pattern recognition. The approach caused the searching hole strategy available and more importantly, it provide a reference for multiple contact point recognition which is a relatively universal issue.At last, the testing environment of the slabstone installing is built and a series of experiments are done, the results indicate that the structure of the robot is reasonable, and the automation of slabstone-installing can be realized.