Multi-degree-of-freedom hybrid robot equipment for detecting inner cavity of large bent part

Abstract

The invention relates to robot detection equipment, in particular to multi-degree-of-freedom hybrid robot equipment for detecting an inner cavity of a large bent part. The invention aims to provide multi-degree-of-freedom hybrid robot equipment for detecting the inner cavity of a large bent part. The multi-degree-of-freedom hybrid robot equipment has the advantages of being large in detection range, high in body precision / rigidity and good in flexibility, rapid bending and telescopic adaptive motion can be achieved according to different bending degrees of large complex parts, and inner cavity detection and analysis operation of the large bent parts can be completed. According to the technical scheme, the multi-degree-of-freedom hybrid robot equipment for detecting the inner cavity of the large bent part is characterized by comprising a fixed platform, a plurality of movable driving type multi-degree-of-freedom parallel robots and a visual detection device, wherein the movable driving type multi-degree-of-freedom parallel robots and the visual detection device are sequentially connected from the fixed platform; and the visual detection device is mounted on the movable driving type multi-degree-of-freedom parallel robot farthest from the fixed platform.

Description

Technical Field

[0001] The invention relates to robot detection equipment, in particular to a multi-degree-of-freedom hybrid robot equipment used for inner cavity detection of large curved parts. Background Art

[0002] Large parts have been widely used in high-end manufacturing fields such as energy, national defense, aerospace, etc., and large curved parts play an important role in them. In order to achieve high-precision processing of the inner cavity of large curved parts, it is necessary to conduct a comprehensive inspection of the inner cavity. Since large curved parts have the characteristics of complex inner cavity shape, non-zero cavity curvature, and limited internal movement space, the existing inspection equipment is not suitable for its inner cavity inspection. For example, the inspection equipment with serial robots as carriers cannot realize the inspection of deep inner cavities due to the limited structure of the main body. In addition, the robot body also has the situation of motion interference in confined space, which is not suitable for the inspection of inner cavities with changing curvature; the inspection equipment with rope-driven robots as carriers can realize the inspection of the inner cavity of parts with a certain degree of bending, but the inspection results are prone to deviations due to the insufficient rigidity of the main body.

[0003] Different from 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 necessary to reasonably superimpose multiple multi-degree-of-freedom parallel robots and design a multi-degree-of-freedom hybrid robot equipment for the inner cavity inspection of large curved parts, so as to achieve rapid inspection and analysis of inner cavity conditions of different depths and curvatures while ensuring high precision / rigidity and good flexibility of the body. 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 multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity detection. The multi-degree-of-freedom hybrid robot equipment has the characteristics of large detection range, high body precision / rigidity and good flexibility. It can realize rapid bending and telescopic adaptive movement according to the different bending degrees of large and complex parts, and complete the inner cavity detection and analysis operations of large curved parts.

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

[0007] A multi-degree-of-freedom hybrid robot equipment for the inspection of the inner cavity of a large curved part, characterized in that it comprises a fixed platform and a plurality of mobile-driven multi-degree-of-freedom parallel robots and a visual inspection device connected in sequence from the fixed platform, wherein the visual inspection device is installed on a mobile-driven multi-degree-of-freedom parallel robot farthest from the fixed platform;

[0008] In the plurality of mobile-driven multi-degree-of-freedom parallel robots:

[0009] The first mobile-driven multi-degree-of-freedom parallel robot includes a moving platform and three first driving branches and one passive branch connected in parallel between the fixed platform and the moving platform. The remaining mobile-driven multi-degree-of-freedom parallel robots all include a moving platform and three first driving branches and one passive branch connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot.

[0010] The first driving branch comprises a first Hooke's joint, a first driving connecting rod, a first ball joint and a first moving pair which are sequentially connected from the driven platform; the three first Hooke's joints in the three first driving branches are symmetrically arranged about the center of the moving platform;

[0011] The passive branch includes a second Hooke's joint connected to the center of the top end of the moving platform and a passive moving pair connected to the second Hooke's joint and the center of the bottom end of the moving platform.

[0012] The first movable pair includes a first movable pair guide rail and a first movable pair slider connected to the first ball joint and slidably matched with the first movable pair guide rail; the passive movable pair includes a passive sliding sleeve connected to the second Hooke's joint and a passive sliding rod fixed to the moving platform and slidably matched with the passive sliding sleeve, and the axis of the passive sliding rod is perpendicular to the plane of the moving platform.

[0013] The first rotating shaft of the first Hooke's joint is connected to the first driving connecting rod, and the second rotating shaft of the first Hooke's joint is connected to the moving platform;

[0014] The first rotating shaft of the second Hooke's hinge is connected to the fixed platform through a pair of hinge ears, and the second rotating shaft of the second Hooke's hinge is connected to the passive sliding sleeve.

[0015] In the first mobile-driven multi-degree-of-freedom parallel robot, the three first mobile sub-guide rails 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 mobile sub-guide rails intersect at the center of the fixed platform; in the remaining mobile-driven multi-degree-of-freedom parallel robots, the first mobile sub-guide rails are all installed on the first driving link of the previous mobile-driven multi-degree-of-freedom parallel robot and are arranged parallel to the first driving link.

[0016] In the first mobile-driven multi-degree-of-freedom parallel robot, the first rotating shaft of the second Hooke's joint is connected to the fixed platform through a pair of articulated ears, and the second rotating shaft of the second Hooke's joint is connected to the passive sliding sleeve; the axis of the second rotating shaft of the second Hooke's joint is perpendicular to the passive mobile secondary axis and the axis of the first rotating shaft of the second Hooke's joint.

[0017] In the other mobile-driven multi-degree-of-freedom parallel robots, the first rotating shaft of the second Hooke's joint is connected to the top of the moving platform of the previous mobile-driven multi-degree-of-freedom parallel robot through a pair of articulated ears.

[0018] The first mobile pair is a driving pair, and its driving mechanism is a ball screw mechanism driven by a motor; when the driving pair moves, the mobile-driven multi-degree-of-freedom parallel robot can realize three-degree-of-freedom output motion, namely, rotation around the axis of the first rotating shaft of the second Hooke's joint, rotation around the axis of the second rotating shaft of the second Hooke's joint, and movement along the axis direction of the passive mobile pair.

[0019] The visual inspection device comprises a measuring base, a binocular camera and a measuring Hooke's joint connected between the measuring base and the binocular camera;

[0020] The measuring base is installed on the moving platform of the mobile drive telescopic parallel robot which is farthest from the fixed platform; the measuring base is connected to the first rotating shaft of the measuring Hooke's joint, and the binocular camera is connected to the second rotating shaft of the measuring Hooke's joint.

[0021] The first rotating shaft 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.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention proposes a multi-degree-of-freedom hybrid robot equipment for detecting the inner cavity of large curved parts. The robot equipment has the characteristics of large detection range, high body precision / rigidity, good movement flexibility, and strong adaptability to the inner cavity environment. The robot equipment can realize rapid bending and telescopic adaptive movement according to the different bending degrees of large and complex parts, and is used for rapid detection and analysis of the inner cavity conditions of large curved parts with different curvatures. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0025] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the first mobile-driven multi-degree-of-freedom parallel robot.

[0026] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the first driving branch.

[0027] Figure 4 for Figure 2 Schematic diagram of the three-dimensional structure of the passive branch.

[0028] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the visual inspection device.

[0029] Figure 6 It is a schematic diagram of the three-dimensional structure when detecting the inner cavity of a large curved part according to an embodiment of the present invention.

[0030] Numbers in the figure: fixed platform 1, moving platform 2, large curved part 4, first movable secondary guide rail 11, first movable secondary slider 12, first ball joint 13, first driving connecting rod 14, first Hooke's joint 15, first Hooke's joint first rotating shaft 16, first Hooke's joint second rotating shaft 17, hinged ear 22, second Hooke's joint first rotating shaft 23, second Hooke's joint second rotating shaft 24, second Hooke's joint 25, passive sliding sleeve 26, passive sliding rod 27, measuring base 31, measuring Hooke's joint 32, measuring Hooke's joint first rotating shaft 33, binocular camera 34, measuring Hooke's joint second rotating shaft 35. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings, but the present invention is not limited to the following embodiments.

[0032] Figure 1-5 The multi-degree-of-freedom hybrid robot equipment shown in the figure for inner cavity inspection of large curved parts includes a fixed platform 1 and a plurality of mobile-driven multi-degree-of-freedom 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 multi-degree-of-freedom parallel robot farthest from the fixed platform.

[0033] like Figure 1-4 As shown, the first (counting from the fixed platform) mobile-driven multi-degree-of-freedom parallel robot includes a moving platform 2 and three first driving branches and one first passive branch connected in parallel between the fixed platform 1 and the moving platform 2; the remaining mobile-driven multi-degree-of-freedom parallel robots all include a moving platform and three first driving branches and one passive branch connected in parallel between the moving platform and the previous mobile-driven multi-degree-of-freedom parallel robot.

[0034] The first driving branch comprises a first Hooke's joint 15, a first driving connecting rod 14, a first ball joint 13 and a first moving pair which are sequentially connected from the driven platform; the three first Hooke's joints in the three first driving branches are symmetrically arranged about the center of the moving platform (2);

[0035] In the first driving branch, the first moving pair guide rail 11 cooperates with the first moving pair slider 12 to form the first moving pair; the first rotating shaft 16 of the first Hooke's joint is connected to the first driving connecting rod 14, and the second rotating shaft 17 of the first Hooke's joint is connected to the moving platform 2.

[0036] The passive branch includes a second Hooke's joint connected to the center of the top of the moving platform and a passive moving pair connected between the second Hooke's joint and the bottom of the moving platform. The connection point between the passive moving pair and the moving platform is located at the center of the moving platform.

[0037] In the passive branch, the passive moving pair includes a passive sliding sleeve 26 connected to the second Hooke's joint and a passive sliding rod 27 fixed to the bottom end of the moving platform and slidingly matched with the passive sliding sleeve. The axis of the passive sliding rod is perpendicular to the plane of the moving platform.

[0038] In the first mobile-driven multi-degree-of-freedom parallel robot, the first mobile sub-guide rails 11 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 mobile sub-guide rails intersect at the center of the fixed platform 2; in the remaining mobile-driven multi-degree-of-freedom parallel robots, the first mobile sub-guide rails 11 are all installed on the first driving link 14 of the previous mobile-driven multi-degree-of-freedom parallel robot, and remain parallel to the first driving link.

[0039] In the first mobile-driven multi-DOF parallel robot, the first rotating shaft 23 of the second Hooke's joint is connected to the fixed platform 1 through a pair of hinged ears 22; the second rotating shaft 24 of the second Hooke's joint is connected to the passive sleeve 26; the axis of the second rotating shaft of the second Hooke's joint is perpendicular to the passive moving secondary axis and the axis of the first rotating shaft of the second Hooke's joint.

[0040] In the other mobile-driven multi-degree-of-freedom parallel robots, the first rotating shaft 23 of the second Hooke's joint is connected to the top of the moving platform 2 of the previous mobile-driven multi-degree-of-freedom parallel robot through a pair of articulated ears 22.

[0041] In this embodiment, the first mobile pair is a driving pair, and its driving mechanism is a ball screw mechanism driven by a motor (omitted in the figure). When the driving pair moves, the mobile-driven multi-DOF parallel robot can achieve three-DOF output motion, namely, rotation around the axis of the first rotating shaft of the second Hooke's joint, rotation around the axis of the second rotating shaft of the second Hooke's joint, and movement along the moving axis of the passive mobile pair.

[0042] like Figure 5 As shown, the visual inspection device comprises a measuring base 31, a binocular camera 34 and a measuring Hooke's joint 32 connected between the measuring base 31 and the binocular camera 34, and is characterized in that:

[0043] The measuring base 31 is installed on the moving platform 2 of the mobile driven multi-degree-of-freedom parallel robot which is farthest from the fixed platform; the measuring base 31 is connected to the first rotating shaft 33 of the measuring Hooke's joint, and the binocular camera 34 is connected to the second rotating shaft 35 of the measuring Hooke's joint.

[0044] By measuring the Hooke's hinge 32 and adjusting the detection range, the visual measurement device can be used for inner cavity detection of large curved parts 4.

[0045] The first rotating shaft 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 (omitted in the figure).

[0046] like Figure 6 As shown, the multi-degree-of-freedom hybrid robot equipment can detect and analyze the inner cavity conditions of large curved parts 4 under different curvatures. According to the different depths and different curvatures of the large curved parts 4, the multi-degree-of-freedom hybrid robot equipment can realize flexible bending and telescopic adaptive movement to complete the inner cavity condition detection.

Claims

1. A multi-degree-of-freedom hybrid robot equipment for the inner cavity inspection of large curved parts, characterized in that: The equipment comprises a fixed platform (1), and a plurality of mobile-driven multi-degree-of-freedom parallel robots and a visual inspection device connected in sequence from the fixed platform, wherein the visual inspection device is installed on a mobile-driven multi-degree-of-freedom parallel robot that is farthest from the fixed platform; In the plurality of mobile-driven multi-degree-of-freedom parallel robots: The first mobile-driven multi-degree-of-freedom parallel robot comprises a moving platform (2) and three first driving branches and one passive branch connected in parallel between the fixed platform and the moving platform (2); the remaining mobile-driven multi-degree-of-freedom parallel robots all comprise a moving platform and three first driving branches and one passive branch connected in parallel between the moving platform and the previous mobile-driven telescopic parallel robot.

2. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 1 is characterized in that: The first driving branch comprises a first Hooke's joint (15), a first driving connecting rod (14), a first ball joint (13) and a first moving pair which are sequentially connected from the driven platform; the three first Hooke's joints in the three first driving branches are symmetrically arranged about the center of the moving platform (2); The passive branch comprises a second Hooke's joint (25) connected to the center of the top end of the moving platform and a passive moving pair connected between the second Hooke's joint and the center of the bottom end of the moving platform.

3. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 2 is characterized in that: The first movable pair comprises a first movable pair guide rail (11) and a first movable pair slider (12) connected to the first ball joint (13) and slidably matched with the first movable pair guide rail; the passive movable pair comprises a passive sliding sleeve (26) connected to the second Hooke's joint and a passive sliding rod (27) fixed to the moving platform and slidably matched with the passive sliding sleeve, wherein the axis of the passive sliding rod is perpendicular to the plane of the moving platform.

4. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 3 is characterized in that: The first rotating shaft (16) of the first Hooke's joint is connected to the first driving connecting rod (14), and the second rotating shaft (17) of the first Hooke's joint (15) is connected to the moving platform (2).

5. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 4, characterized in that: In the first mobile-driven multi-degree-of-freedom parallel robot, three first mobile sub-guide rails (11) are all installed on a fixed platform and are arranged symmetrically about the center of the fixed platform, and the axes of the three first mobile sub-guide rails intersect at the center of the fixed platform; in the remaining mobile-driven multi-degree-of-freedom parallel robots, the first mobile sub-guide rails are all installed on the first driving connecting rod of the previous mobile-driven multi-degree-of-freedom parallel robot and are arranged parallel to the first driving connecting rod.

6. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 5, characterized in that: In the first mobile drive multi-degree-of-freedom parallel robot, the first rotating shaft (23) of the second Hooke's joint is connected to the fixed platform (1) through a pair of hinge ears (22); the second rotating shaft (24) of the second Hooke's joint is connected to the passive sliding sleeve (26); and the axis of the second rotating shaft of the second Hooke's joint is perpendicular to the passive moving secondary axis and the axis of the first rotating shaft of the second Hooke's joint.

7. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 6 is characterized in that: In the remaining mobile-driven multi-degree-of-freedom parallel robots, the first rotating shaft (23) of the second Hooke's joint is connected to the top of the moving platform (2) of the previous mobile-driven multi-degree-of-freedom parallel robot through a pair of hinged ears.

8. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 7, characterized in that: The first moving pair is a driving pair, and its driving mechanism is a ball screw mechanism driven by a motor; when the driving pair moves, the moving driven multi-degree-of-freedom parallel robot can achieve three-degree-of-freedom output movement.

9. The multi-degree-of-freedom hybrid robot equipment for inner cavity detection of large curved parts according to claim 8, characterized in that: The visual inspection device comprises a measuring base (31), a binocular camera (34), and a measuring Hooke's joint (32) connected between the measuring base (31) and the binocular camera (34); The measuring base is installed on the moving platform (2) of the mobile drive telescopic parallel robot which is farthest from the fixed platform; the measuring base is connected to the first rotating shaft (33) of the measuring Hooke's joint, and the binocular camera (34) is connected to the second rotating shaft (35) of the measuring Hooke's joint.

10. The multi-degree-of-freedom hybrid robot equipment for inner cavity inspection of large curved parts according to claim 9, characterized in that: The first rotating shaft 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.

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