A telescopic robot capable of detecting the inner cavity of large structural parts

Abstract

The present invention relates to a type of robot inspection equipment, specifically a telescopic robot equipment capable of inspecting the inner cavities of large structural parts. The purpose is to provide a telescopic robot equipment capable of inspecting the inner cavities of large structural parts; the telescopic robot equipment has the characteristics of high body rigidity / precision and a large detection range, can achieve highly flexible telescopic movement and complete inner cavity condition detection according to the different depths of large structural parts, and has strong adaptability. The technical solution is a telescopic robot equipment capable of inspecting the inner cavities of large structural parts, comprising a fixed platform and a plurality of mobile-driven telescopic parallel robots and a visual inspection device connected in sequence from the fixed platform; the visual inspection device is installed on a mobile-driven telescopic parallel robot that is farthest from the fixed platform.

Description

Technical Field

[0001] The present invention relates to a robot detection equipment, in particular to a telescopic robot equipment capable of realizing inner cavity detection of large structural parts. Background Art

[0002] Large structural parts have been widely used in aerospace, energy, and national defense, playing an important role in these fields. To achieve high-precision processing of the inner cavity of large structural parts, comprehensive inspection of the inner cavity is required. Since the inner cavity of large structural parts generally has the characteristics of deep cavity, complex shape, and limited internal movement space, existing inspection equipment is not suitable for inner cavity inspection. For example, inspection equipment using serial robots as carriers cannot achieve inspection deep within the inner cavity due to the limited structure of the main body, and there is also the problem of motion interference between the robots in the confined space; inspection equipment using rope-driven robots as carriers is prone to deviations in the inspection results due to insufficient body rigidity.

[0003] Unlike the above-mentioned robots, parallel robots are composed of multiple branch closed loops and have the advantages of high body structural rigidity / precision and fast response speed. They are now widely used in parts processing, material sorting and other fields.

[0004] In view of the problems existing in the existing inspection robot equipment, it is very necessary to design a telescopic robot equipment that can realize the internal cavity inspection of large structural parts by combining multiple parallel robots, so as to achieve rapid inspection and analysis of the internal cavity conditions of different depths while ensuring the accuracy and rigidity of the main body structure. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a telescopic robot equipment that can realize the internal cavity detection of large structural parts; the telescopic robot equipment has the characteristics of high body stiffness / precision and large detection range. It can realize highly flexible telescopic movement and complete internal cavity condition detection according to the different depths of large structural parts, and has strong adaptability.

[0006] The technical solution provided by the present invention is:

[0007] A telescopic robot capable of inspecting the inner cavities of large structural parts comprises a fixed platform, a plurality of mobile-driven telescopic parallel robots connected in sequence from the fixed platform, and a visual inspection device; the visual inspection device is mounted on the mobile-driven telescopic parallel robot farthest from the fixed platform;

[0008] Among the plurality of mobile-driven telescopic parallel robots:

[0009] The first mobile-driven telescopic parallel robot includes a moving platform and three first branches connected in parallel between the moving platform and the fixed platform, and the remaining mobile-driven telescopic parallel robots all include a moving platform and three first branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot; or

[0010] The first mobile-driven telescopic parallel robot includes a moving platform and three second branches connected in parallel between the moving platform and the fixed platform. The remaining mobile-driven telescopic parallel robots all include a moving platform and three second branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot.

[0011] Each first branch includes a second rotational pair, a first connecting rod, a first rotational pair, and a first translation pair, which are sequentially connected starting from the driven platform; the first translation pair of the first branch of the first mobile-driven telescopic parallel robot is connected to the fixed platform, and the first translation pairs of the first branches of the remaining mobile-driven telescopic parallel robots are connected to the first connecting rod corresponding to the first branch of the previous mobile-driven telescopic parallel robot;

[0012] Each second branch includes a fifth rotating pair, a third connecting rod, a fourth rotating pair, a second connecting rod and a third rotating pair connected in sequence starting from the driven platform; the second branch and the third rotating pair in the first mobile-driven telescopic parallel robot are connected to the fixed platform, and the second branches and the third rotating pairs in the remaining mobile-driven telescopic parallel robots are connected to the second connecting rod corresponding to the second branch in the previous mobile-driven telescopic parallel robot.

[0013] In the first branch, the rotation axis of the first rotation pair and the rotation axis of the second rotation pair are parallel to each other and perpendicular to the center line of the first connecting rod;

[0014] In the second branch, the rotation axes of the fifth rotation pair, the fourth rotation pair, and the third rotation pair are parallel to each other and perpendicular to the center lines of the second connecting rod and the third connecting rod.

[0015] In each mobile-driven telescopic parallel robot, the three second rotational pairs are symmetrically arranged about the center of the moving platform; or, the three fifth rotational pairs are symmetrically arranged about the center of the moving platform.

[0016] The first moving pair includes a first moving pair guide rail and a first moving pair slider that is slidably matched with the first moving pair guide rail.

[0017] The three first moving sub-guide rails of the first mobile driven telescopic parallel robot are all installed on the fixed platform and are arranged symmetrically about the center of the fixed platform, and the axes of the three first moving sub-guide rails intersect at the center of the fixed platform; the first moving sub-guide rails in the remaining mobile driven telescopic parallel robots are installed on the first connecting rod of the previous mobile driven telescopic parallel robot, and the axes of the first moving sub-guide rails are parallel to the center line of the first connecting rod.

[0018] In the three second branches of the first mobile-driven telescopic parallel robot, the three third rotational pairs are connected to the fixed platform through a pair of articulated ears and are arranged symmetrically about the center of the fixed platform;

[0019] In the three second branches of the remaining mobile-driven telescopic parallel robots, the third rotational pair is installed one by one on the corresponding third connecting rod of the previous mobile-driven telescopic parallel robot through a pair of hinged ears; the axis of the third rotational pair in each second branch is perpendicular to the center line of the third connecting rod.

[0020] In the first branch, the first moving pair is the driving pair, and the drivers are all ball screw mechanisms driven by motors; in the second branch, the third rotating pair is the driving pair, and the drivers all include motors and transmission gears driven by motors; when the driving pair moves, the robot can move up and down.

[0021] The visual inspection device includes a measuring base, a binocular camera, and a measuring Hooke's joint connected between the measuring base and the binocular camera:

[0022] The measuring base is installed on the moving platform of a mobile driving telescopic parallel robot farthest from the fixed platform, and the binocular camera is installed on the measuring base through a measuring Hooke's joint.

[0023] The first rotating shaft of the measuring Hooke's joint and the second rotating shaft of the measuring Hooke's joint are both drive pairs, and the driver includes a motor and a transmission gear driven by the motor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention proposes a telescopic robot equipment that can realize the internal cavity detection of large structural parts. It has the characteristics of high rigidity and precision, large detection range, strong adaptability and high flexibility. It can be used for rapid detection of internal cavities of different depths in large structural parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of embodiment 1 of the present invention.

[0027] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the first mobile-driven telescopic parallel robot.

[0028] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the first branch.

[0029] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the visual inspection device.

[0030] Figure 5 This is a schematic diagram of the three-dimensional structure when inspecting the inner cavity of a large structural component according to an embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention.

[0032] Figure 7 for Figure 6 Schematic diagram of the three-dimensional structure of the first rotation-driven telescopic parallel robot.

[0033] Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the first branch.

[0034] Figure 9 This is a schematic diagram of the three-dimensional structure when inspecting the inner cavity of a large structural component according to the second embodiment of the present invention.

[0035] Figure numerals: fixed platform 1, movable platform 2, large structural part 3, first movable secondary guide rail 11, first movable secondary slider 12, first rotating secondary 13, first connecting rod 14, second rotating secondary 15, measuring base 21, measuring Hooke's hinge 22, measuring Hooke's hinge first rotating axis 23, binocular camera 24, measuring Hooke's hinge second rotating axis 25, articulated ear 42, third rotating secondary 43, second connecting rod 44, fourth rotating secondary 45, third connecting rod 46, fifth rotating secondary 47. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings, but the present invention is not limited to the following embodiments.

[0037] Example 1

[0038] like Figure 1-4 The telescopic robot equipment shown in the figure, which can realize the internal cavity inspection of large structural parts, includes a fixed platform 1 and a plurality of mobile-driven telescopic parallel robots and a visual inspection device connected in sequence starting from the fixed platform; the visual inspection device is installed on a mobile-driven telescopic parallel robot farthest from the fixed platform.

[0039] like Figure 1-3As shown, among the multiple mobile-driven telescopic parallel robots, the first (counted from the fixed platform side) mobile-driven telescopic parallel robot includes a moving platform 2 and three first branches connected in parallel between the moving platform and the fixed platform 1; the remaining mobile-driven telescopic parallel robots all include a moving platform and three first branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot (each first branch has one end connected to the moving platform 2 and the other end connected to the previous mobile-driven telescopic parallel robot);

[0040] Each first branch includes a second rotating pair 15, a first connecting rod 14, a first rotating pair 13 and a first moving pair, which are connected in sequence starting from the driven platform 2; wherein, the first branch first rotating pair 13 in the first mobile-driven telescopic parallel robot is connected to the fixed platform through the first moving pair, and the first branch first rotating pair 13 in the remaining mobile-driven telescopic parallel robots is connected to the first connecting rod corresponding to the first branch in the previous mobile-driven telescopic parallel robot through the first moving pair (that is: in two adjacent mobile-driven telescopic parallel robots, the three first branch first connecting rods in the latter mobile-driven telescopic parallel robot are respectively connected one-to-one with the three first branch first connecting rods in the previous mobile-driven telescopic parallel robot through the first moving pair).

[0041] The first moving pair is formed by the cooperation of the first moving pair guide rail 11 and the first moving pair slider 12; one end of the first connecting rod is connected to the first moving pair slider 12 via the first rotating pair 13, and the other end of the first connecting rod is connected to the moving platform 2 via the second rotating pair 15; the rotation axis of the first rotating pair 13 and the rotation axis of the second rotating pair 15 are parallel to each other and perpendicular to the center line of the first connecting rod;

[0042] In the three first branches of the first mobile-driven telescopic parallel robot, the three first mobile sub-guide rails 11 are all installed on the fixed platform 1, and the axes of the three first mobile sub-guide rails intersect at the center of the fixed platform 2 and are arranged symmetrically about the center of the fixed platform; the first mobile sub-guide rails 11 in the remaining mobile-driven telescopic parallel robots are installed on the first connecting rod 14 of the previous mobile-driven telescopic parallel robot (that is: in two adjacent mobile-driven telescopic parallel robots, the three first branch first mobile sub-guide rails 11 of the latter mobile-driven telescopic parallel robot are all installed one by one on the three first connecting rods 14 of the previous mobile-driven telescopic parallel robot), and the axis of the first mobile sub-guide rail is parallel to the center line of the first connecting rod.

[0043] In each mobile-driven telescopic parallel robot, the three second rotational pairs 15 are symmetrically arranged about the center of the moving platform 2 .

[0044] In this embodiment, the first moving pair is a driving pair, and its driving mechanism is a motor and a ball screw mechanism driven by the motor (omitted in the figure). When the driving pair moves, the parallel robot can achieve up and down movement.

[0045] like Figure 4 As shown, the visual inspection device includes a measuring base 21 , a binocular camera 24 , and a measuring Hooke's joint 22 connected between the measuring base 21 and the binocular camera 24 .

[0046] The measuring base 21 is installed on the moving platform 2 of a mobile driven telescopic parallel robot farthest from the fixed platform; the measuring base 21 is connected to the first rotating shaft 23 of the measuring Hooke's joint, and the binocular camera 24 is connected to the second rotating shaft 25 of the measuring Hooke's joint.

[0047] By measuring the Hooke's hinge 22 and adjusting the detection range, the visual measurement device can be used for inner cavity detection of large structural parts 3.

[0048] The measuring Hooke's joint first rotating shaft 23 and the measuring Hooke's joint second rotating shaft 25 are both drive pairs, and the driver includes a motor and a transmission gear driven by the motor (omitted in the figure).

[0049] like Figure 5 As shown, the telescopic robot equipment can detect the inner cavity conditions of large structural parts 3. According to the different depths of large structural parts 3, the telescopic robot equipment can achieve highly flexible telescopic movement and complete the inner cavity condition detection, and has strong adaptability.

[0050] Example 2

[0051] like Figure 4 , 6, 7, and 8 show a telescopic robot device capable of realizing internal cavity inspection of large structural parts, comprising a fixed platform 1 and a plurality of rotation-driven telescopic parallel robots and a visual inspection device connected in sequence starting from the fixed platform; the visual inspection device is installed on a rotation-driven telescopic parallel robot that is farthest from the fixed platform.

[0052] like Figure 6-8 As shown, among the multiple mobile-driven telescopic parallel robots, the first (counted from the fixed platform side) mobile-driven telescopic parallel robot includes a moving platform 2 and three second branches connected in parallel between the moving platform and the fixed platform 1, and the remaining mobile-driven telescopic parallel robots all include a moving platform and three second branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot;

[0053] Each second branch includes a fifth rotation pair 47, a third link 46, a fourth rotation pair 45, a second link 44 and a third rotation pair 43, which are connected in sequence starting from the driven platform 2; the second link 44 of the second branch in the first mobile-driven telescopic parallel robot is connected to the fixed platform through the third rotation pair 43, and the second links of the second branches in the remaining mobile-driven telescopic parallel robots are connected to the second links corresponding to the second branches in the previous mobile-driven telescopic parallel robot through the third rotation pair 43 (that is, in two adjacent mobile-driven telescopic parallel robots, the three second branches and second links in the latter mobile-driven telescopic parallel robot are respectively connected one-to-one with the three second branches and second links in the previous mobile-driven telescopic parallel robot through the third rotation pair 43).

[0054] In the three second branches of the first mobile-driven telescopic parallel robot, the three third rotational pairs 43 are all installed on the fixed platform 1 through a pair of articulated ears 42 and are arranged symmetrically about the center of the fixed platform; in the three second branches of the remaining mobile-driven telescopic parallel robots, the third rotational pair 43 is installed on the third connecting rod corresponding to the previous mobile-driven telescopic parallel robot through a pair of articulated ears; the axis of the third rotational pair 43 is perpendicular to the center line of the third connecting rod.

[0055] In each second branch, the rotation axes of the third rotation pair 43 , the fourth rotation pair 45 and the fifth rotation pair 47 are parallel to each other and perpendicular to the center lines of the second connecting rod and the third connecting rod.

[0056] In each mobile-driven telescopic parallel robot, the three fifth rotation pairs 47 are arranged symmetrically about the center of the moving platform (2).

[0057] In this embodiment, the third rotation pair 43 is a driving pair, and the driver includes a motor and a transmission gear driven by the motor (omitted in the figure). When the driving pair moves, the parallel robot can move up and down.

[0058] like Figure 4 As shown, the visual inspection device is the same as that in the first embodiment, and will not be described in detail here. By measuring the Hooke's hinge to adjust the inspection range, the visual measurement device can be used for the inner cavity inspection of large structural parts 3.

[0059] like Figure 9 As shown, the telescopic robot equipment can detect the inner cavity conditions of large structural parts 3. According to the different depths of large structural parts 3, the telescopic robot equipment can achieve highly flexible telescopic movement and complete the inner cavity condition detection, with strong adaptability.

Claims

1. A telescopic robot device capable of realizing internal cavity inspection of large structural parts, comprising a fixed platform (1) and a plurality of mobile-driven telescopic parallel robots and a visual inspection device connected in sequence from the fixed platform; the visual inspection device is installed on a mobile-driven telescopic parallel robot that is farthest from the fixed platform; Among the plurality of mobile-driven telescopic parallel robots: The first mobile-driven telescopic parallel robot comprises a moving platform (2) and three first branches connected in parallel between the moving platform and the fixed platform, and the remaining mobile-driven telescopic parallel robots all comprise a moving platform and three first branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot; or, The first mobile-driven telescopic parallel robot includes a moving platform (2) and three second branches connected in parallel between the moving platform and the fixed platform, and the remaining mobile-driven telescopic parallel robots all include a moving platform and three second branches connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot; Each first branch includes a second rotation pair (15), a first connecting rod (14), a first rotation pair (13), and a first moving pair, which are sequentially connected starting from the driven platform; the first moving pair of the first branch in the first mobile-driven telescopic parallel robot is connected to the fixed platform, and the first moving pairs of the first branches in the remaining mobile-driven telescopic parallel robots are connected to the first connecting rod corresponding to the first branch in the previous mobile-driven telescopic parallel robot; Each second branch includes a fifth rotational pair (47), a third connecting rod (46), a fourth rotational pair (45), a second connecting rod (44) and a third rotational pair (43) connected in sequence starting from the driven platform; the second branch third rotational pair in the first mobile driven telescopic parallel robot is connected to the fixed platform, and the second branch third rotational pair in the remaining mobile driven telescopic parallel robots is connected to the second connecting rod corresponding to the second branch in the previous mobile driven telescopic parallel robot.

2. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 1, characterized in that: In the first branch, the rotation axis of the first rotation pair (13) and the rotation axis of the second rotation pair (15) are parallel to each other and perpendicular to the center line of the first connecting rod; In the second branch, the rotation axes of the fifth rotation pair (47), the fourth rotation pair (45) and the third rotation pair (43) are parallel to each other and perpendicular to the center lines of the second connecting rod and the third connecting rod.

3. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 2, characterized in that: In each mobile-driven telescopic parallel robot, the three second rotational pairs are arranged symmetrically about the center of the moving platform (2); or, the three fifth rotational pairs (47) are arranged symmetrically about the center of the moving platform (2).

4. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 3, characterized in that: The first moving pair comprises a first moving pair guide rail (11) and a first moving pair slider (12) slidably engaged with the first moving pair guide rail (11).

5. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 4, characterized in that: The three first movable sub-guide rails (11) of the first movable driven telescopic parallel robot are all installed on the fixed platform (1) and are arranged symmetrically about the center of the fixed platform, and the axes of the three first movable sub-guide rails intersect at the center of the fixed platform (1); the first movable sub-guide rails (11) in the remaining movable driven telescopic parallel robots are installed on the first connecting rod (14) of the previous movable driven telescopic parallel robot, and the axes of the first movable sub-guide rails are parallel to the center line of the first connecting rod.

6. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 5, characterized in that: In the three second branches of the first mobile driven telescopic parallel robot, the three third rotation pairs (43) are all connected to the fixed platform through a pair of hinged ears (42) and are arranged symmetrically about the center of the fixed platform; In the three second branches of the remaining mobile-driven telescopic parallel robots, the third rotational pair is installed one by one on the corresponding third connecting rod of the previous mobile-driven telescopic parallel robot through a pair of hinged ears; the axis of the third rotational pair in each second branch is perpendicular to the center line of the third connecting rod.

7. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 6, characterized in that: In the first branch, the first moving pair is the driving pair, and the drivers are all ball screw mechanisms driven by motors; in the second branch, the third rotating pair 43 is the driving pair, and its driver includes a motor and a transmission gear driven by the motor; when the driving pair moves, the robot can move up and down.

8. The telescopic robot equipment capable of realizing internal cavity inspection of large structural parts according to claim 7, characterized in that: The visual inspection device comprises a measuring base (21), a binocular camera (24), and a measuring Hooke's hinge (22) connected between the measuring base (21) and the binocular camera (24); The measuring base (21) is mounted on a moving platform (2) of a mobile drive telescopic parallel robot that is farthest from the fixed platform, and the binocular camera (24) is mounted on the measuring base (21) via a measuring Hooke's hinge (22).

9. According to the telescopic robot equipment capable of realizing the internal cavity detection of large structural parts as described in claim 8, the first rotating shaft (23) of the measuring Hooke's joint and the second rotating shaft (25) of the measuring Hooke's joint are both drive pairs, and the driver includes a motor and a transmission gear driven by the motor.

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