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

Abstract

The present application relates to robot detection equipment, and relates to a multi-degree-of-freedom hybrid robot equipment for large curved part inner cavity detection. The purpose is to provide a multi-degree-of-freedom hybrid robot equipment for large curved part 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. According to the different bending degrees of large complex parts, the equipment can realize fast bending and stretching adaptive motion, and complete the inner cavity detection and analysis operation of large curved parts. The technical scheme is a multi-degree-of-freedom hybrid robot equipment for large curved part inner cavity detection, characterized by comprising a fixed platform, a plurality of mobile drive type multi-degree-of-freedom parallel robots connected in turn from the fixed platform, and a visual detection device. The visual detection device is installed on the mobile drive 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-freedom hybrid robot equipment for detecting the inner cavity 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 these fields. In order to achieve high-precision processing of the inner cavity of large curved parts, a comprehensive inspection of the inner cavity is required. Due to the characteristics of large curved parts such as complex inner cavity shape, non-zero cavity curvature, and limited internal movement space, existing inspection equipment is not suitable for their inner cavity inspection. For example, the inspection equipment using serial robots as carriers cannot realize inspection deep in the inner cavity due to the limited structure of the main body. In addition, the robot body also has the problem of motion interference in confined space, which is not suitable for the inspection of inner cavities with changing curvature. The inspection equipment using rope-driven robots as carriers can realize the inspection of the inner cavity of parts with a certain degree of bending, but the insufficient rigidity of the main body leads to deviations in the inspection results.

[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 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 detection and analysis of inner cavity conditions of different depths and different curvatures while ensuring high precision / rigidity and good flexibility of the body. Summary of the Invention

[0005] The present invention aims to overcome the shortcomings of the aforementioned background technology by providing a multi-degree-of-freedom hybrid robot device for inspecting the internal cavities of large curved parts. This multi-degree-of-freedom hybrid robot device features a large inspection range, high body precision and rigidity, and excellent flexibility. It can achieve rapid, adaptive bending and extension movements according to the varying degrees of curvature of large, complex parts, and can perform internal cavity inspection and analysis of large curved parts.

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

[0007] A multi-degree-of-freedom hybrid robot device for inspecting the inner cavities of large curved parts, characterized by comprising a fixed platform, a plurality of mobile-driven multi-degree-of-freedom parallel robots sequentially connected from the fixed platform, and a visual inspection device, wherein the visual inspection device is mounted on the 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 includes a first Hooke's joint, a first driving link, a first spherical joint, and a first moving pair, which are sequentially connected starting 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 moving pair includes a first moving pair guide rail and a first moving pair slider connected to the first ball joint and slidingly engaged with the first moving pair guide rail; the passive moving pair includes a passive sleeve connected to the second Hooke's joint and a passive sliding rod fixed to the moving platform and slidingly engaged 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 hinge is connected to the first driving connecting rod, and the second rotating shaft of the first Hooke's hinge 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 moving 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 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 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 moving pair.

[0019] 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;

[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 hinge 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 has the characteristics of a large detection range, high body precision / rigidity, good movement flexibility, and strong adaptability to the inner cavity environment. It 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 operations of the inner cavity conditions of large curved parts with different curvatures. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 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 This is a schematic diagram of the three-dimensional structure of an embodiment of the present invention when detecting the inner cavity of a large curved part.

[0030] Numbers in the figure: fixed platform 1, movable 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 hinge 15, first Hooke's hinge first rotating shaft 16, first Hooke's hinge second rotating shaft 17, hinged ear 22, second Hooke's hinge first rotating shaft 23, second Hooke's hinge second rotating shaft 24, second Hooke's hinge 25, passive sleeve 26, passive slide rod 27, measuring base 31, measuring Hooke's hinge 32, measuring Hooke's hinge first rotating shaft 33, binocular camera 34, measuring Hooke's hinge second rotating shaft 35. DETAILED DESCRIPTION

[0031] 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.

[0032] Figures 1-5 The multi-degree-of-freedom hybrid robot equipment shown in the figure for internal 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 Figures 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 a 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 a 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 link 14, a first spherical joint 13 and a first moving pair which are sequentially connected starting 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 hinge is connected to the first driving connecting rod 14, and the second rotating shaft 17 of the first Hooke's hinge is connected to the moving platform 2.

[0036] The passive branch includes a second Hooke's hinge connected to the center of the top of the moving platform and a passive moving pair connected between the second Hooke's hinge 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-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 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 hinge 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 degrees of freedom output motion: rotation about the axis of the first rotating axis of the second Hooke's joint, rotation about the axis of the second rotating axis 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 includes 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-DOF hybrid robotic device can detect and analyze the internal conditions of large curved parts 4 with different curvatures. According to the different depths and curvatures of large curved parts 4, the multi-DOF hybrid robotic device can achieve flexible bending and stretching adaptive motion to complete the internal condition detection.

Claims

1. A multi-degree-of-freedom hybrid robot device for internal cavity inspection of large curved parts, characterized by: The equipment comprises a fixed platform (1), a plurality of mobile-driven multi-degree-of-freedom parallel robots and a visual inspection device sequentially connected 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; 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), and 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; 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 starting 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 includes a second Hooke's hinge (25) connected to the center of the top end of the moving platform and a passive moving pair connected between the second Hooke's hinge and the center of the bottom end of the moving platform; In the first mobile-driven multi-degree-of-freedom parallel robot, the three first mobile sub-guide rails (11) 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; 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.

2. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 1 is characterized in that: The first movable pair includes a first movable pair guide rail (11) and a first movable pair slider (12) connected to the first ball joint (13) and slidingly engaged with the first movable pair guide rail; the passive movable pair includes a passive sleeve (26) connected to the second Hooke's joint and a passive slide rod (27) fixed to the movable platform and slidingly engaged with the passive sleeve, wherein the axis of the passive slide rod is perpendicular to the plane of the movable platform.

3. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 2 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).

4. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 3 is characterized in that: In the first mobile-driven multi-degree-of-freedom parallel robot, the first rotation axis (23) of the second Hooke's joint is connected to the fixed platform (1) through a pair of hinge ears (22); the second rotation axis (24) of the second Hooke's joint is connected to the passive sliding sleeve (26); and the axis of the second rotation axis of the second Hooke's joint is perpendicular to the passive moving secondary axis and the axis of the first rotation axis of the second Hooke's joint.

5. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 4 is 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.

6. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 5, characterized in that: The visual inspection device includes a measuring base (31), a binocular camera (34), and a measuring Hooke's hinge (32) connected between the measuring base (31) and the binocular camera (34); The measuring base is mounted 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.

7. The multi-degree-of-freedom hybrid robot equipment for large curved parts inner cavity inspection according to claim 6, characterized in that: The first rotating shaft and the second rotating shaft of the measuring Hooke's hinge are both drive pairs, and the driver includes a motor and a transmission gear driven by the motor.

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