Suspension type intelligent inspection machine for plant transformation

Abstract

The invention discloses a suspension type intelligent inspection machine for plant transformation, and belongs to the field of manipulator accessory devices, the suspension type intelligent inspection machine comprises an upper collection frame, the two symmetrical ends of the upper collection frame are provided with driving assemblies, the upper collection frame is arranged in an equilateral hexagon shape, and the six corner sides of the upper collection frame are hinged to top opening and closing arms through shafts. The top opening and closing arm and the bottom connecting arm which are placed in a hexagonal shape can be matched to select the rotating disc, the telescopic springs on the four side edges are adjusted to change the compression ratio of the meta-position buffer springs, and therefore when the mechanical arm rotates to change the gravity center, the inclination angle of the mechanical arm can be reduced through the meta-position buffer springs; and meanwhile, a meta-position buffer spring between a top opening and closing arm and a bottom connecting arm can also reduce the vibration amplitude of a rubber roller when the rubber roller moves on a suspension frame, so that the definition of a monitoring picture of the inspection machine is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator attachment devices, and in particular to a suspended intelligent inspection machine for factory building reconstruction. Background Art

[0002] During the renovation of the factory building, it is necessary to use an inspection device to monitor the construction safety status of each position in an irregular cycle. The existing suspended inspection machine is clamped on the suspension frame by two or more rollers for stable movement. Therefore, when the inspection machine moves, in order to facilitate the monitoring of the construction safety status, the mechanical arm will change the position of the monitoring equipment in real time. The conventional shock absorbing device cannot ensure the stability of the mechanical arm during the movement. Although the use of rubber wheels as a drive can achieve a shock absorbing effect, the mechanical arm will shake constantly due to the offset of the center of gravity of the equipment when the arm moves. In order to match the rubber wheel and the shock absorbing device to ensure the normal use of the inspection machine and improve the stability of the working state of the inspection device, a suspended intelligent inspection machine is proposed. Summary of the invention

[0003] The purpose of the present invention is to solve the problem in the prior art that a rubber wheel and a shock absorbing device are used together to improve the stability of the inspection machine, and to propose a suspended intelligent inspection machine for factory building reconstruction.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A suspended intelligent inspection machine for factory building reconstruction comprises an upper assembly frame, two symmetrical ends of the upper assembly frame are provided with drive components, the upper assembly frame is arranged in an equilateral hexagon, the six corner sides of the upper assembly frame are hinged with top opening and closing arms through shafts, the bottom end of the top opening and closing arms is hinged with bottom connecting arms through shafts, the inner walls of the cavities of the top opening and closing arms and the bottom connecting arms are hinged with suspension tubes through shafts, the inner walls of the two suspension tubes are plugged with central shaft rods, and the middle of the central shaft rods has wires opened in opposite directions. The grooves are all sleeved with adjusting rods, the sides of the top opening and closing arm and the bottom connecting arm are both provided with vertical grooves, one end of the adjusting rod is inserted into the inner wall of the vertical groove, the sides of the two adjusting rods are fixedly connected with telescopic springs, an inter-position buffer spring is sleeved between the opposite ends of the adjusting rod and the suspension tube, a universal ball shaft is fixed to the bottom of the bottom connecting arm, a protruding block is sleeved on the bottom of the universal ball shaft, the interior of the protruding block is connected to the central shaft through a driven assembly, and a selection turntable is provided between the six driven assemblies.

[0005] Preferably, the driving assembly includes a clamping rod hinged to both ends of the upper assembly frame through an axis, a driving motor is fixed to the top of the clamping rod, a rubber wheel is fixed to the output end of the driving motor, and a supporting assembly is provided between the two clamping rods.

[0006] Preferably, the support assembly comprises a flange frame fixed to a side surface of the clamping rod, and a compression spring is fixed between two flange frames.

[0007] Preferably, the driven component includes a configuration groove opened inside the protruding block, the vertical cavity of the configuration groove is plugged with a driven shaft, the bottom of the driven shaft is fixed with an engaging disk, the transverse cavity of the configuration groove is plugged with an enclosure plate, the side of the enclosure plate is engaged and connected to the side of the engaging disk, and one end of four of the enclosure plates is tightly fitted to the side of the selected turntable.

[0008] Preferably, a connecting ball head is fixed to the top end of the driven shaft rod, and the side surface of the connecting ball head is connected to the bottom end of the center shaft rod through tooth-groove cooperation.

[0009] Preferably, a bottom supporting plate is fixed to the bottom of the protruding block, and the bottom supporting plate is arranged in a hexagonal shape and is symmetrically arranged with respect to the six sides of the upper assembly frame.

[0010] Preferably, a robot arm drive motor is fixed in the middle of the shaft hole of the bottom supporting plate, and the top end of the output shaft of the robot arm drive motor is fixed to the bottom of the selected turntable.

[0011] Preferably, the tooth groove on the side of the connecting ball head is arc-shaped, the teeth at the bottom end of the central shaft rod are arc-shaped, and the tooth groove and the teeth are matched with each other.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention cooperates with the top opening and closing arm and the bottom connecting arm. The top opening and closing arm and the bottom connecting arm placed in a hexagonal position can cooperate with the selected turntable, adjust the telescopic springs on four sides, compress the inter-position buffer spring in advance to change the compression ratio of the inter-position buffer spring, so that when the mechanical arm rotates to change the center of gravity, the inclination angle of the mechanical arm can be reduced by the inter-position buffer spring, thereby affecting the monitoring stability of the inspection machine. At the same time, the inter-position buffer spring between the top opening and closing arm and the bottom connecting arm can also reduce the vibration amplitude of the rubber roller when it moves on the suspension frame, so as to improve the clarity of the monitoring picture of the inspection machine.

[0013] 2. The present invention selects the coordination setting of the turntable and the enclosure plate. When the robot arm driving motor drives the robot arm to rotate as a whole, it can drive the selected turntable to rotate, and then drive the meshing disk to rotate by moving the enclosure plate connected to the selected turntable to change the distance between the two ends of the telescopic spring, thereby adjusting the compression ratio of the inter-position buffer spring, so that after the robot arm rotates, the compression ratio of the inter-position buffer spring at the corresponding position is changed to ensure the stability of the robot arm during rotation.

[0014] 3. The present invention sets a suspension tube, which can ensure the mobility between the top opening arm and the bottom connecting arm through the intermediate buffer spring, so that it can cooperate with the rubber wheel to reduce the vibration of the inspection machine when it moves on the suspension frame, thereby improving the clarity of the image acquisition when the inspection machine is monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention; Figure 2 This is a cross-sectional structural diagram of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention; Figure 3 This is a schematic diagram of the exploded structure of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention; Figure 4 This is a structural schematic diagram of the clamping rod of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention; Figure 5 This is a schematic diagram of the explosion structure at the bottom connecting arm of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention; Figure 6 This is a schematic diagram of the explosion structure at the driving motor of the mechanical arm of a suspended intelligent inspection machine for factory building reconstruction proposed by the present invention.

[0016] In the figure: 1. upper assembly frame; 2. top opening and closing arm; 3. bottom connecting arm; 4. suspension tube; 5. middle shaft; 6. adjustment rod; 7. vertical slot; 8. telescopic spring; 9. intermediate buffer spring; 10. universal ball shaft; 11. protrusion; 12. selected turntable; 13. clamping rod; 14. driving motor; 15. rubber wheel; 16. convex frame; 17. compression spring; 18. configuration slot; 19. driven shaft; 20. meshing disk; 21. enclosure plate; 22. connecting ball head; 23. bottom bearing plate; 24. driving motor of the robot arm. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] Example, see Figures 1 to 6 A suspended intelligent inspection machine for factory building renovation includes an upper assembly rack 1, and driving components are provided at two symmetrical ends of the upper assembly rack 1. Furthermore, the driving component includes a clamping rod 13 hinged to the two ends of the upper assembly rack 1 through an axis, a driving motor 14 is fixed to the top of the clamping rod 13, and a rubber wheel 15 is fixed to the output end of the driving motor 14, and a supporting component is provided between the two clamping rods 13.

[0021] A further advantage of adopting the above method is that the distance between the two rubber wheel discs 15 can be changed by the clamping rod 13, so that the device can be applied to suspension frames of different specifications, thereby improving the practicability of the device.

[0022] Furthermore, the support assembly includes a flange frame 16 fixed to the side of the clamping rod 13, and a compression spring 17 is fixed between the two flange frames 16.

[0023] A further benefit of adopting the above method is that the two clamping rods 13 can be kept in a clamped state by compressing the spring 17, so that the two rubber wheel discs 15 are clamped on the suspension arm.

[0024] The upper assembly frame 1 is arranged in an equilateral hexagon. The six corners of the upper assembly frame 1 are all hinged with top opening and closing arms 2 through axes. The bottom end of the top opening and closing arm 2 is hinged with a bottom connecting arm 3 through axes. The inner walls of the cavities of the top opening and closing arm 2 and the bottom connecting arm 3 are hinged with suspension tubes 4 through axes. The inner walls of the two suspension tubes 4 are plugged with middle shafts 5. The wire grooves in the middle of the middle shaft 5 are opened in opposite directions. Adjustment rods 6 are sleeved. The sides of the top opening and closing arm 2 and the bottom connecting arm 3 are opened with vertical Slot 7, one end of the adjusting rod 6 is inserted into the inner wall of the vertical slot 7, the sides of the two adjusting rods 6 are fixedly connected with telescopic springs 8, an inter-position buffer spring 9 is sleeved between the adjusting rod 6 and the opposite end of the suspension tube 4, a universal ball shaft 10 is fixed to the bottom of the bottom connecting arm 3, and a protruding block 11 is sleeved at the bottom of the universal ball shaft 10, and further, a bottom bearing plate 23 is fixed to the bottom of the protruding block 11, and the bottom bearing plate 23 is hexagonally arranged and symmetrically arranged with the six sides of the upper assembly frame 1.

[0025] The further advantage of adopting the above method is that the bottom bearing plate 23 and the upper assembly frame 1 are both hexagonally arranged, so that the side arms composed of the top opening and closing arm 2 and the bottom connecting arm 3 can be distributed in a hexagonal shape, so as to improve the shock absorption and stabilization effects of the side arms, and improve the stability of the inspection machine during movement. The suspension tube 4 can drive the central shaft rod 5 to shift when the top opening and closing arm 2 and the bottom connecting arm 3 are active, so that the enclosure plate 21 in contact with it can be driven to move after the selected wheel 12 rotates, thereby driving the driven shaft rod 19 connected to the enclosure plate 21 to rotate. When the driven shaft rod 19 rotates, the central shaft rod 5 can be driven to rotate through the connecting ball head 22. After the central shaft rod 5 rotates, the two adjusting rods 6 can be prompted to move up and down through the wire grooves arranged on the side, so as to adjust the compression degree of the buffer spring 9, and then reduce the retractable length of the buffer spring 9 at four of the enclosure plates 21 after the rotation of the mechanical arm drives the center of gravity to shift, thereby reducing the shaking amplitude of the inspection machine after the rotation of the mechanical arm, so as to ensure that the monitoring picture on the mechanical arm is clear and complete.

[0026] Furthermore, a robot arm driving motor 24 is fixed in the middle of the shaft hole of the bottom supporting plate 23 , and the top end of the output shaft of the robot arm driving motor 24 is fixed to the bottom of the selected turntable 12 .

[0027] The further advantage of adopting the above method is that the working section of the robot arm at the bottom of the robot arm driving motor 24 is placed symmetrically with the large radius arc end of the selected turntable 12, so that when the selected turntable 12 rotates, the changed compression ratio of the intermediate buffer spring 9 plays a role in limiting the tilt of the device to resist the deviation of the center of gravity of the robot arm, thereby improving the stability of the device during inspection. The robot arm driving motor 24 will drive the robot arm to rotate, such as Figure 6As shown, since the movable end of the robot arm will continuously deflect and move during the monitoring process, the center of gravity of the device will also continuously change with the movement of the robot arm. Therefore, the small arc end of the turntable 12 is selected to be in the same direction as the movable end of the robot arm, and the large turntable end of the turntable 12 is selected to be set in the opposite direction to the movable end of the robot arm. In this way, by changing the compression length of the three groups of buffer springs 9 by selecting the large turntable end of the turntable 23, the shaking feeling of the inspection machine caused by the change of the center of gravity of the robot arm is limited, thereby ensuring the clarity and stability of the picture obtained by the monitoring device.

[0028] The interior of the protruding block 11 is connected to the central shaft 5 through a driven component, and a selected turntable 12 is provided between the six driven components. Furthermore, the driven component includes a configuration groove 18 opened in the interior of the protruding block 11, and the vertical cavity of the configuration groove 18 is plugged with a driven shaft 19, and a connecting ball head 22 is fixed to the top of the driven shaft 19. The tooth groove on the side of the connecting ball head 22 is arc-shaped, and the teeth at the bottom end of the central shaft 5 are arc-shaped, and the tooth groove and the teeth are matched. The side of the connecting ball head 22 is connected to the bottom end of the central shaft 5 through the tooth groove, and an engaging disk 20 is fixed to the bottom of the driven shaft 19, and the lateral cavity of the configuration groove 18 is plugged with an enclosure plate 21, and the side of the enclosure plate 21 is meshingly connected to the side of the engagement disk 20, and one end of the four enclosure plates 21 is tightly fitted to the side of the selected turntable 12.

[0029] The further advantage of adopting the above method is that the connection between the central shaft rod 5 and the connecting ball head 22 is engaged in real time. When a group of top opening and closing arms 2 and bottom connecting arms 3 are synchronously driven to tilt the bottom bearing plate 23 through the universal ball shaft 10 due to the movement of the mechanical arm, the central shaft rod 5 and the connecting ball head 22 at this position can still be engaged together through the tooth groove teeth arranged on the side in an arc surface, so as to avoid that when the connecting ball head 22 rotates, the central shaft rod 5 cannot be driven to rotate. The connecting ball head 22 will drive the driven shaft rod 19 connected thereto to tilt due to the tilt of the bottom bearing plate 23, and the central shaft rod 5 can be driven to rotate. The shaft 5 will change direction due to the change in the force angle between the top tensioning arm 2 and the bottom connecting arm 3, and the suspension tube 4 connected to it will drive the internal center shaft 5 to tilt after changing direction. However, the change in the angle between the top tensioning arm 2 and the bottom connecting arm 3 is limited by the presence of the intermediate buffer spring 9. Therefore, although the center shaft 5 and the driven shaft 19 will appear in a tilted state, the connecting ball head 22 at the top of the driven shaft 19 and the bottom end of the center shaft 5 will still remain connected, that is, the tooth teeth on its side will always be in a connected state and will not separate.

[0030] Before using the present invention, Figure 1 As shown, the clamping rod 13 is opened to clamp the rubber wheel 15 on the inner wall of the guide rail groove of the suspension arm, so that the driving motor 14 drives the rubber wheel 15 to move in the track groove of the suspension arm when it is working; The present invention is used as Figure 5and Figure 6 As shown, after the robot driving motor 24 drives the robot to rotate, the large radius end of the selected turntable 12 is kept in relative position with the working end of the robot. When the selected turntable 12 rotates, the enclosure plate 21 can be squeezed, thereby driving the driven shaft 19 connected to the enclosure plate 21 to rotate. When the driven shaft 19 rotates, the center shaft 5 can be driven to rotate through the connecting ball head 22 at the top, thereby making the two adjustment rods 6 on the side of the center shaft 5 move toward the two ends of the center shaft 5 and squeeze the intermediate buffer spring 9. Because the intermediate buffer spring 9 has been compressed, the compression amplitude of the intermediate buffer spring 9 will be greatly reduced at this time, thereby reducing the compressible angle range of the top opening and closing arm 2 and the bottom connecting arm 3, so as to ensure that the impact on the bottom bearing plate 23 is reduced when the robot rotates, thereby improving the stability of the inspection machine.

[0031] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A suspended intelligent inspection machine for factory renovation, comprising an upper assembly frame (1), characterized in that: The upper assembly frame (1) is symmetrically provided with driving components at both ends. The upper assembly frame (1) is arranged in an equilateral hexagon. The six corners of the upper assembly frame (1) are hinged with top opening and closing arms (2) through axes. The bottom end of the top opening and closing arm (2) is hinged with a bottom connecting arm (3) through axes. The inner walls of the cavities of the top opening and closing arms (2) and the bottom connecting arms (3) are hinged with suspension tubes (4) through axes. The inner walls of the two suspension tubes (4) are plugged with middle shafts (5). The wire grooves in the middle of the middle shafts (5) are opened in opposite directions and are sleeved with adjustment rods (6). The top opening and closing arms (2) and The sides of the bottom connecting arms (3) are each provided with a vertical groove (7), one end of the adjusting rod (6) is inserted into the inner wall of the vertical groove (7), the sides of two adjusting rods (6) are fixedly connected with telescopic springs (8), an inter-position buffer spring (9) is sleeved between the opposite ends of the adjusting rod (6) and the suspension tube (4), a universal ball shaft (10) is fixed to the bottom of the bottom connecting arm (3), a protruding block (11) is sleeved at the bottom of the universal ball shaft (10), the interior of the protruding block (11) is connected to the middle shaft (5) through a driven component, and a selection dial (12) is provided between the six driven components.

2. The suspended intelligent inspection machine for factory building reconstruction according to claim 1 is characterized in that: The driving assembly comprises a clamping rod (13) hinged to both ends of the upper assembly frame (1) via an axis, a driving motor (14) is fixed to the top of the clamping rod (13), a rubber wheel (15) is fixed to the output end of the driving motor (14), and a supporting assembly is provided between the two clamping rods (13).

3. The suspended intelligent inspection machine for factory building reconstruction according to claim 2 is characterized in that: The support assembly comprises a flange frame (16) fixed to the side of the clamping rod (13), and a compression spring (17) is fixed between the two flange frames (16).

4. The suspended intelligent inspection machine for factory building reconstruction according to claim 1 is characterized in that: The driven component comprises a configuration groove (18) opened inside the protruding block (11), a driven shaft (19) is inserted into the vertical cavity of the configuration groove (18), an engaging disk (20) is fixed to the bottom of the driven shaft (19), and an enclosure plate (21) is inserted into the transverse cavity of the configuration groove (18), and the side surface of the enclosure plate (21) is engaged and connected to the side surface of the engaging disk (20), wherein one end of four of the enclosure plates (21) is tightly fitted to the side surface of the selected rotating disk (12).

5. The suspended intelligent inspection machine for factory building reconstruction according to claim 4 is characterized in that: A connecting ball head (22) is fixed to the top end of the driven shaft (19), and the side surface of the connecting ball head (22) is connected to the bottom end of the middle shaft (5) through tooth-groove matching.

6. The suspended intelligent inspection machine for factory building reconstruction according to claim 1 is characterized in that: A bottom bearing plate (23) is fixed to the bottom of the protruding block (11); the bottom bearing plate (23) is arranged in a hexagonal shape and is symmetrically arranged with respect to the six sides of the upper assembly frame (1).

7. The suspended intelligent inspection machine for factory building reconstruction according to claim 6 is characterized in that: A mechanical arm driving motor (24) is fixed to the middle of the shaft hole of the bottom bearing plate (23), and the top end of the output shaft of the mechanical arm driving motor (24) is fixed to the bottom of the selected turntable (12).

8. The suspended intelligent inspection machine for factory building reconstruction according to claim 5 is characterized in that: The tooth grooves on the side of the connecting ball head (22) are arc-shaped, the teeth on the bottom end of the central shaft (5) are arc-shaped, and the tooth grooves and teeth are arranged in a matching manner.

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