A multi-degree-of-freedom inspection robot

Abstract

The invention discloses a multi-degree-of-freedom detection robot, comprising: a suspension body, wherein the suspension body enables the entire device to remain suspended in a medium and provides power for multi-directional movement, four mechanical arm units are evenly distributed at the four corners of the bottom of the suspension body, and four mechanical arm units are also evenly distributed at the four corners of the top of the suspension body, and roller assemblies are arranged at the ends of the mechanical arm units, wherein the side surfaces of the one or more roller assemblies are provided with telescopic rulers, and the front end of the suspension body is provided with a camera measurement module, and the mechanical arm units have multiple degrees of freedom to achieve bending and rotation movements, thereby driving the marked part of the telescopic ruler to remain parallel to the surface of the object to be measured in various directions, providing a reference for the measurement and shooting of the camera measurement module, and solving the technical problems in the prior art that zero-distance fitting cannot be achieved, the ruler cannot reach some special parts, and the same detection of multiple detection surfaces cannot be achieved.

Description

Technical Field

[0001] The invention belongs to the field of detection devices, and in particular relates to a multi-degree-of-freedom detection robot. Background Art

[0002] Currently, most underwater inspection robots use no or single robotic arms and fixed sensor arrays, which have the following technical pain points: 1. Unable to detect curved surfaces (such as cylinders), especially the piles of underwater bridge piers. The uneven riverbed makes it impossible for the fully enclosed inspection equipment to achieve zero-distance fit and comprehensive inspection; 2. Lack of synchronous inspection capabilities for upper and lower surfaces; 3. During the actual application of underwater robots, the measuring camera or measuring ruler cannot reach the corners or corners of underwater objects for accurate ruler measurement. 4. The existing robotic arms have insufficient degrees of freedom, resulting in poor adaptability; 5. It is difficult to maintain accurate measurement when the water is turbid. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-degree-of-freedom inspection robot to solve the technical problems in the above-mentioned prior art that zero-distance fitting cannot be achieved, some special parts cannot be reached by the ruler, and synchronous inspection of multiple inspection surfaces cannot be achieved.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A multi-degree-of-freedom detection robot comprises: a suspension body, wherein the suspension body enables the entire device to remain suspended in a medium and provides power for multi-directional movement, four mechanical arm units are evenly distributed at the four corners of the bottom of the suspension body, and four mechanical arm units are also evenly distributed at the four corners of the top of the suspension body, and roller assemblies are arranged at the ends of the mechanical arm units, wherein the side surfaces of the one or more roller assemblies are provided with telescopic scales, and the front end of the suspension body is provided with a camera measurement module, and the mechanical arm units have multiple degrees of freedom to achieve bending and rotation movements, thereby driving the marked part of the telescopic scale to remain parallel to the surface of the object to be measured in various directions, and providing a reference for the measurement and shooting of the camera measurement module.

[0006] A multi-degree-of-freedom detection robot of the present invention, the robotic arm unit includes a proximal lateral rotation mechanism, the proximal lateral rotation mechanism is hinged to the first robotic arm through a first axial rotation mechanism, the first robotic arm is hinged to the second robotic arm through a second axial rotation mechanism, the second robotic arm is hinged to the distal lateral rotation mechanism through a third axial rotation mechanism, and a roller assembly is connected to the distal lateral rotation mechanism.

[0007] The invention provides a multi-degree-of-freedom detection robot, wherein the roller assembly comprises a wheel frame, a roller is mounted on the wheel frame via a rotating shaft, and the telescopic ruler is located inside one side of the wheel frame.

[0008] The invention provides a multi-degree-of-freedom detection robot, wherein the telescopic ruler comprises a multi-stage ruler telescopic mechanism, and the end of the ruler telescopic mechanism is hinged to the transparent ruler through a ruler axial rotation mechanism.

[0009] The multi-degree-of-freedom detection robot of the present invention has a multi-stage scale telescopic mechanism that becomes shorter step by step from the transparent scale toward one side of the wheel frame.

[0010] In a multi-degree-of-freedom detection robot of the present invention, the scale telescopic mechanism comprises a fixed part, the fixed part has a telescopic part inside, and the telescopic part can be stored in the fixed part in a descending state.

[0011] The invention provides a multi-degree-of-freedom detection robot, wherein the fixed part has a driving gear, the telescopic part has a rack on the side facing the driving gear, the driving gear and the rack are meshed with each other, the upper end or the lower end of the driving gear has a balancing gear, and the balancing gear and the rack are meshed with each other.

[0012] The multi-degree-of-freedom detection robot of the present invention is provided with a laser rangefinder and a pressure sensor on the roller assembly.

[0013] The multi-degree-of-freedom detection robot of the present invention, the suspension body is a diving device or an unmanned aircraft.

[0014] The multi-degree-of-freedom inspection robot of the present invention, the camera measurement module has a telescopic and universal rotation structure.

[0015] In a multi-degree-of-freedom inspection robot of the present invention, the middle part of the one or more first mechanical arms has an auxiliary wheel assembly, and an auxiliary wheel rotating mechanism and an auxiliary wheel axial rotating mechanism are sequentially arranged between the auxiliary wheel assembly and the first mechanical arm.

[0016] The beneficial effects of the present invention are as follows: a multi-degree-of-freedom detection robot is proposed, which can hover in water or in the air by setting a suspended body; four mechanical arm units are respectively set on the bottom surface and the top surface of the suspended body to adapt to the smooth movement and support on the surface or the bottom surface at the same time, thereby providing conditions for detection; the multi-degree-of-freedom mechanical arm units can adapt to the operation of various special-shaped support surfaces such as cylinders or curved surfaces through the rotation and bending of the joints; the auxiliary wheel assembly is set to ensure that there is a certain distance between the camera measurement module and the surface to be detected, and the instability caused by the impact of turbulence on the robot from all directions is eliminated, and the forward impulse of the robot itself is reduced to stabilize the power consumed by the robot to resist interference; a telescopic ruler is set, which is stored in the wheel frame in the mobile state, and the device is extended when measurement is required, and the cooperation of the far-end lateral rotation mechanism and the ruler axial rotation mechanism is coordinated to make the transparent ruler parallel and close to the surface to be measured; and the telescopic and universal rotation structures are set on the camera measurement module to adapt to detection and shooting at various angles and near and far positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0018] Figure 1 is a schematic diagram of the detection robot of the present invention;

[0019] Figure 2 is a side view of the detection robot of the present invention;

[0020] Figure 3 is a partial schematic diagram of the roller assembly of the present invention;

[0021] Figure 4 It is a partial schematic diagram of the scale telescopic structure of the present invention;

[0022] Figure 5 is a schematic diagram of the present invention applied to a cylindrical object to be tested;

[0023] Figure 6 It is a schematic diagram of the present invention applied to a quadrangular prism object to be measured. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme 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 part of the embodiments of the present invention, rather than all the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Based on the embodiments in 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.

[0025] like Figure 1-6 As shown, a multi-degree-of-freedom detection robot comprises: a suspension body 100, wherein the suspension body 100 enables the entire device to remain suspended in a medium and provides power for multi-directional movement, four mechanical arm units 200 are evenly distributed at the four corners of the bottom of the suspension body 100, and four mechanical arm units 200 are also evenly distributed at the four corners of the top of the suspension body 100, and roller assemblies 300 are arranged at the ends of the mechanical arm units 200, wherein the side of one or more roller assemblies 300 has a telescopic ruler 400, and the front end of the suspension body 100 has a camera measurement module 500, and the mechanical arm unit 200 has multiple degrees of freedom to achieve bending and rotation movements, thereby driving the marked part of the telescopic ruler 400 to remain parallel to the surface of the object to be measured in various directions, providing a reference for the measurement and shooting of the camera measurement module 500.

[0026] It should be noted that the actions of the mechanical arm unit 200, the telescopic ruler 400 and the camera measurement module 500 and the operating state of the suspended body 100 are all controlled by the controller, and the mechanical arm unit 200 can be bent and rotated, so as to adapt to the detection of various scenes, such as the detection of the bottom surface in water, by using the four mechanical arm units 200 on the bottom as support, and the rollers at the bottom move smoothly, and the telescopic ruler 400 on one of the upper mechanical arm units 200 is parallel to the surface to be measured, so as to provide conditions for detection and shooting, and the camera measurement module 500 can also be universally swivel and telescopic to achieve the best detection effect; if the detection of the surface of the column is to be realized, the bending degree of the mechanical arm units 200 and the angle of the rollers are adjusted so that they can move smoothly on the curved surface, thereby realizing the detection. It can be simply understood that the device has multiple legs, namely, robotic arm units, which are adjusted to adapt to the detection conditions. When reaching a specific detection location, a robotic arm unit is left free to adjust the scale, thereby achieving stable movement and keeping the scale close to and relatively parallel to the surface to be tested. Then, the angle of the camera measurement module 500 is adjusted to achieve shooting.

[0027] As a preferred embodiment, the robotic arm unit 200 includes a proximal lateral rotation mechanism 210, the proximal lateral rotation mechanism 210 is hinged to the first robotic arm 230 through a first axial rotation mechanism 220, the first robotic arm 230 is hinged to the second robotic arm 250 through a second axial rotation mechanism 240, the second robotic arm 250 is hinged to the distal lateral rotation mechanism 270 through a third axial rotation mechanism 260, and the distal lateral rotation mechanism 270 is connected to a roller assembly 300.

[0028] It should be noted that the above structure is to enable the robot arm unit 200 to rotate in multiple stages around its axis and to bend and stretch like an arm.

[0029] As a preferred embodiment, the roller assembly 300 includes a wheel frame 310 , on which a roller 320 is mounted via a rotating shaft, and the telescopic ruler 400 is located inside one side of the wheel frame 310 .

[0030] As a preferred embodiment, the telescopic ruler 400 includes a multi-stage ruler telescopic mechanism 410 , and the end of the ruler telescopic mechanism 410 is hinged to the transparent ruler 430 through a ruler axial rotation mechanism 420 .

[0031] It should be noted that the structure uses a telescopic structure to allow the ruler to be retracted into one side of the wheel frame when not in use, and to be extended when measurement is required.

[0032] As a preferred embodiment, the multi-stage scale telescopic mechanism 410 becomes shorter step by step from the transparent scale 430 to the side of the wheel frame 310. Such a structure can make the entire telescopic scale shrink step by step and achieve step by step accommodation, so as not to affect the normal function of the roller when not in use. Usually, the telescopic structure is a two-stage telescopic structure.

[0033] As a preferred embodiment, the scale telescopic mechanism 410 includes a fixed portion 411 , and a telescopic portion 412 is provided inside the fixed portion 411 . The telescopic portion 412 can be stored in the fixed portion 411 in a lowered state.

[0034] As a preferred embodiment, the fixed portion 411 has a driving gear 414, the telescopic portion 412 has a rack 413 on the side facing the driving gear 414, the driving gear 414 and the rack 413 are meshed with each other, and the upper or lower end of the driving gear 414 has a balancing gear 415, and the balancing gear 415 and the rack 413 are meshed with each other.

[0035] The driving gear 414 provides the telescopic power, and the balancing gear 415 performs the balancing, so that the telescopic process of the whole device is more stable.

[0036] As a preferred embodiment, the roller assembly 300 is provided with a laser rangefinder and a pressure sensor.

[0037] As a preferred embodiment, the suspended body 100 is a diving device or an unmanned aircraft.

[0038] As a preferred embodiment, the camera measurement module 500 has a telescopic and universal rotation structure.

[0039] As a preferred embodiment, the middle part of the one or more first mechanical arms 230 has an auxiliary wheel assembly 600, and an auxiliary wheel rotation mechanism 610 and an auxiliary wheel axial rotation mechanism 620 are sequentially arranged between the auxiliary wheel assembly 600 and the first mechanical arm 230, wherein the roller of the roller assembly 300 is a driving wheel, and the roller of the auxiliary wheel assembly 600 can be a driving wheel or a driven wheel, wherein the auxiliary wheel assembly has a total of 4 wheels on one side to ensure a certain distance between the camera measurement module and the detected surface, and can also be 3 wheels. The advantage of this is that it eliminates the instability caused by the impact of turbulence on the robot from all directions, and also reduces some of the power consumed by the robot's own forward momentum to stabilize the robot's anti-interference.

[0040] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 orientation, be constructed and operate in a specific orientation, 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.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it 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. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0042] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A multi-degree-of-freedom inspection robot, characterized in that: include: A suspension body (100), wherein the suspension body (100) enables the entire device to remain suspended in a medium and provides power for multi-directional movement, four mechanical arm units (200) are evenly distributed at the four corners of the bottom of the suspension body (100), and four mechanical arm units (200) are also evenly distributed at the four corners of the top of the suspension body (100), and roller assemblies (300) are arranged at the ends of the mechanical arm units (200), wherein the sides of one or more of the roller assemblies (300) have a telescopic ruler (400), and the suspension body (100) The front end of the mechanical arm unit (200) is provided with a camera measurement module (500), the mechanical arm unit (200) having multiple degrees of freedom so as to realize bending and rotational movements, thereby driving the marked part of the telescopic ruler (400) to remain parallel to the surface of the object to be measured in various directions, and providing a reference for the measurement and shooting of the camera measurement module (500); the mechanical arm unit (200) comprises a proximal lateral rotation mechanism (210), the proximal lateral rotation mechanism (210) being articulated with a first mechanical arm (230) via a first axial rotation mechanism (220), and the first mechanical arm (230) being connected to the proximal lateral rotation mechanism (210) via a first axial rotation mechanism (220). The second mechanical arm (250) is hingedly connected to the distal lateral rotation mechanism (270) through a second axial rotation mechanism (240); the second mechanical arm (250) is hingedly connected to the distal lateral rotation mechanism (270) through a third axial rotation mechanism (260); the distal lateral rotation mechanism (270) is connected to a roller assembly (300); the telescopic ruler (400) comprises a multi-stage ruler telescopic mechanism (410); an end of the ruler telescopic mechanism (410) is hingedly connected to the transparent ruler (430) through a ruler axial rotation mechanism (420); the ruler telescopic mechanism (410) comprises a fixing portion (411), the fixed part (411) has a telescopic part (412) inside, and the telescopic part (412) can be stored in the fixed part (411) in a lowered state; the fixed part (411) has a driving gear (414) inside, and the telescopic part (412) has a rack (413) on the side facing the driving gear (414), and the driving gear (414) and the rack (413) are meshed with each other; the upper end or the lower end of the driving gear (414) has a balancing gear (415), and the balancing gear (415) and the rack (413) are meshed with each other.

2. A multi-degree-of-freedom inspection robot according to claim 1, characterized in that: The roller assembly (300) comprises a wheel frame (310), a roller (320) is mounted on the wheel frame (310) via a rotating shaft, and the telescopic ruler (400) is located inside one side of the wheel frame (310).

3. A multi-degree-of-freedom inspection robot according to claim 2, characterized in that: The multi-stage scale telescopic mechanism (410) gradually shortens from the transparent scale (430) toward one side of the wheel frame (310).

4. A multi-degree-of-freedom inspection robot according to claim 3, characterized in that: The roller assembly (300) is provided with a laser rangefinder and a pressure sensor.

5. The multi-degree-of-freedom inspection robot according to claim 1, characterized in that: The suspended main body (100) is a diving device or an unmanned aircraft; the camera measurement module (500) has a telescopic and universal rotation structure.

6. A multi-degree-of-freedom inspection robot according to claim 2, characterized in that: One or more of the first mechanical arms (230) have an auxiliary wheel assembly (600) in the middle, and an auxiliary wheel rotation mechanism (610) and an auxiliary wheel axial rotation mechanism (620) are sequentially arranged between the auxiliary wheel assembly (600) and the first mechanical arm (230).

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