Modularized reconfigurable rigid-flexible coupling flexible cable parallel robot for large-space visual scanning

Abstract

The invention discloses a modular reconfigurable rigid-flexible coupling flexible cable parallel robot for large-space visual scanning. The modular reconfigurable rigid-flexible coupling flexible cable parallel robot comprises a binocular structure light moving platform, two sets of double-screw-rod modules and four sets of cantilever assemblies. Each double-screw-rod module is provided with two sliding blocks; each cantilever assembly comprises a section bar I, a section bar II, two coiling mechanisms, two wire passing hole assemblies and two wire outlet mechanisms, the two coiling mechanisms and the two wire passing hole assemblies are all installed on the section bar I, one wire outlet mechanism is installed on the section bar I, and the other wire outlet mechanism is installed on the section bar II; the section bar I and the section bar II of each cantilever assembly are connected through a second rotating joint, and the section bars I of the four cantilever assemblies are installed on the four sliding blocks of the two double-screw-rod modules in a one-to-one correspondence mode through first rotating joints. Each cantilever assembly outputs an upper flexible cable and a lower flexible cable, and the upper flexible cables and the lower flexible cables are connected to the binocular structure light moving platform. The method can adapt to different target sizes and scanning areas.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of visual inspection robots, and particularly relates to a modular reconfigurable rigid-flexible coupling cable parallel robot for large space visual scanning. BACKGROUND

[0002] Visual inspection robots can realize full-range three-dimensional reconstruction and visual inspection of objects through multi-angle and high-precision image acquisition and measurement of target objects, and can greatly improve detection efficiency and accuracy, so they are widely used in industrial automation and quality control fields. With the increasing application of large structural parts such as aerospace equipment and large pressure vessels, the working range of visual inspection tasks is continuously expanding, and higher requirements are put forward for the working space, motion flexibility and measurement accuracy of detection equipment.

[0003] At present, existing visual inspection robots mostly adopt rigid mechanical arm structures. Such structures have high rigidity and repeatability positioning accuracy, and can perform high-precision visual inspection on small and medium-sized workpieces. However, due to the limited motion space, it is difficult for them to cover the entire surface of the object when facing large structural parts. In order to expand the working space, some research attempts to combine visual inspection equipment with mobile chassis or unmanned aerial vehicles. For example, the existing patent application number “CN202111439898.9” discloses a visual inspection robot, which can realize the omnidirectional movement of the robot by installing a Mecanum wheel on the robot chassis, and can improve the flexibility of the robot by combining a multi-degree-of-freedom mechanical arm to perform detection tasks. However, the visual inspection range of the robot is still limited by the arm span, and the system is complex and the cost is high. The existing patent application number “CN202510829330.X” discloses a steel structure crack detection equipment based on a binocular vision system, which detects steel bridge cracks by carrying a binocular camera device on an unmanned aerial vehicle. Although it can cover a larger detection range, its positioning accuracy and stability are easily affected by the environment, and it is difficult to meet the needs of large space high-precision industrial detection scenes.

[0004] In order to overcome the above limitations, cable parallel robots are gradually introduced into the field of visual inspection due to their lightweight, low cost, high dynamic performance and large working space. The existing patent application number “CN201910193057.0” discloses a suspension cable parallel robot for detecting defects on the inner wall of a coal bunker. The visual inspection platform is driven by four controllable cables to move flexibly in the internal space of the coal bunker, and a two-axis balancing mechanism and a counterweight module are used to keep the visual inspection platform always horizontal during movement, thereby improving the stability of the system. However, the attitude of the visual inspection platform cannot be controlled, and detection in any direction cannot be realized. In addition, the cable exit point position is fixed, and the obstacle avoidance problem during system operation is not considered, which makes it difficult to meet the needs of visual inspection tasks in other complex spaces.

[0005] In summary, although the existing visual detection robots have made some progress in mobility, structural flexibility and detection coverage, there are still deficiencies in comprehensive performance such as job stability, detection accuracy and environmental adaptability. The mobile or unmanned aerial vehicle detection system has a complex structure, and the detection accuracy and stability are easily affected by the environment, while the flexible cable driving mechanism has the advantages of large working space, but also has the problems of poor controllability of posture and insufficient obstacle avoidance ability, which is difficult to meet the needs of high-precision visual detection tasks in complex space. Therefore, a new type of large-space visual detection robot structure needs to be designed, which can not only expand the motion space through the flexible cable driving mechanism, but also take into account the posture flexibility and obstacle avoidance ability of the visual detection platform, so as to ensure high-precision visual detection while adapting to different sizes and complex detection scenes. SUMMARY The application provides a modular reconfigurable rigid-flexible coupling flexible cable parallel robot for large-space visual scanning, to solve the problems of limited working range, insufficient flexibility and poor detection accuracy of existing visual detection robots when facing large-space operation.

[0006] In order to achieve the above purpose, the technical scheme adopted by the application is:

[0007] A modular reconfigurable rigid-flexible coupling flexible cable parallel robot for large-space visual scanning, comprising a binocular structured light mobile platform (5), two groups of double-screw rod modules (1), and four groups of cantilever assemblies (2);

[0008] The two groups of double-screw rod modules (1) are structurally identical and symmetrically distributed, each group of double-screw rod modules (1) has two sliders (104) that can move in the same horizontal direction, and the motion directions of the sliders (104) in the two groups of double-screw rod modules (1) are the same;

[0009] The four groups of cantilever assemblies (2) are structurally identical, each group of cantilever assembly (2) includes a profile I (204) and a profile II (209) that are structurally identical, two wire winding mechanisms (203) that are structurally identical, two wire passing hole assemblies, and two wire outlet mechanisms that are structurally identical;

[0010] In each group of cantilever assembly (2), one end of the profile I (204) is connected to one end of the profile II (209) through a second rotary joint, and the profile II (209) is rotated relative to the profile I (204) around a horizontal rotary center line through the second rotary joint, thereby adjusting the arm posture of each group of cantilever assembly (2);

[0011] In each cantilever assembly (2), one wire outlet mechanism is installed on one side of profile I (204), another wire outlet mechanism is installed on one side of profile II (209), two wire winding mechanisms (203) are respectively installed on two symmetrical sides of profile I (204), and two wire passing hole assemblies are respectively installed on profile I (204); in each cantilever assembly (2), one wire winding mechanism (203) outputs the upper flexible cable (3), and the other wire winding mechanism outputs the lower flexible cable (4); the upper flexible cable (3) is outputted to the binocular structured light moving platform (5) after passing through one wire passing hole assembly on profile I (204) and then passing through the wire outlet mechanism on profile II (209); the lower flexible cable (4) is outputted to the binocular structured light moving platform (5) after passing through the other wire passing hole assembly on profile I (204) and then passing through the wire outlet mechanism on profile I (204);

[0012] In four cantilever assemblies (2), the profiles I (204) of two cantilever assemblies (2) are respectively installed on two sliders (104) of one double wire rod module (1) through first rotary joints at the other ends, and the profiles I of the other two cantilever assemblies are respectively installed on two sliders of another double wire rod module through first rotary joints at the other ends; each first rotary joint can be tilted around a horizontal rotation center line, and each first rotary joint as a whole can rotate around a vertical rotation center line on the corresponding slider (104); thus, each double wire rod module (1) can drive the corresponding two cantilever assemblies (2) to move linearly in the horizontal direction, and the first rotary joints can realize the tilting of each cantilever assembly (2) as a whole on the corresponding slider (104) in the corresponding double wire rod module (1) and the rotation of each cantilever assembly (2) around the vertical rotation center line on the corresponding slider (104) in the corresponding double wire rod module (1).

[0013] Further, in each cantilever assembly (2), each wire winding mechanism (203) includes a wire winding drum (20307) wound with a flexible cable, a motor, and a plurality of wire passing wheels, wherein the motor is in transmission connection with the wire winding drum (20307) and drives the wire winding drum (20307) to rotate, and the flexible cable on the wire winding drum (20307) passes through each wire passing wheel and is then outputted to the corresponding wire passing hole assembly.

[0014] Further, in each cantilever assembly (2), each group of winding mechanism (203) further comprises a synchronous belt mechanism, a ball screw II (20316), a guide shaft (20317), and a nut connecting seat (20315); the winding drum (20307) is drivingly connected with the ball screw II (20316) through the synchronous belt mechanism, and the ball screw II (20316), the guide shaft (20317), and the nut connecting seat (20315) form a screw sliding block mechanism, wherein the nut connecting seat (20315) serves as a sliding block in the screw sliding block mechanism;

[0015] One of the plurality of wire passing wheels is rotatably installed on the nut connecting seat (20315) and is driven to move as a whole with the sliding block and the wire passing wheel thereon through the screw sliding block mechanism, and the remaining wire passing wheels remain unchanged in position;

[0016] The flexible cable on the winding drum (20307) passes through the movable wire passing wheel and the wire passing wheels that remain unchanged in position, and is then output to the corresponding wire passing hole assembly.

[0017] Further, in each cantilever assembly (2), each group of wire passing hole assembly comprises a plurality of wire passing holes and a plurality of wire passing wheels, and the flexible cable output by each group of winding mechanism (203) passes through the plurality of wire passing holes in the corresponding wire passing hole assembly and passes through the plurality of wire passing wheels, and is then output to the corresponding wire output mechanism.

[0018] Further, in each cantilever assembly (2), each group of wire output mechanism comprises a wire output hole; the flexible cable output by each group of winding mechanism (203) passes through the corresponding wire passing hole assembly, and then passes through the wire output hole in the corresponding wire output mechanism and is then output to be connected to the binocular structured light moving platform (5).

[0019] Further, in each cantilever assembly (2), each group of wire output mechanism further comprises a screw sliding block mechanism, and the wire output hole is fixed on the sliding block in the screw sliding block mechanism and is driven to move by the screw sliding block mechanism; the flexible cable output by each group of winding mechanism (203) passes through the corresponding wire passing hole assembly, and then passes through the movable wire output hole in the corresponding wire output mechanism and is then output to be connected to the binocular structured light moving platform (5).

[0020] Further, the binocular structured light moving platform (5) comprises a sling mounting seat assembly, a rack assembly, and a binocular structured light assembly; the upper flexible cable (3) output by each group of cantilever assembly (2) is connected to the upper part of the sling mounting seat assembly, the lower flexible cable (4) output by each group of cantilever assembly (2) is connected to the lower part of the sling mounting seat assembly, and the rack assembly is connected to the sling mounting seat;

[0021] The binocular structured light assembly comprises a projector connecting plate (513) and a projector (501) mounted on the projector connecting plate (513), two industrial cameras (502), the projector connecting plate (513) is rotationally connected to the rack assembly through an axial horizontal rotating shaft, a fourth servo motor (503) is mounted on the rack assembly, the fourth servo motor (503) is connected with the rotating shaft of the projector connecting plate (513), and the whole binocular structured light assembly is driven to rotate around a horizontal center line through the fourth servo motor (503).

[0022] Further, the sling mounting seat assembly has an axial vertical fifth servo motor (508), the rack assembly is fixed on the output shaft of the fifth servo motor (508), and the whole rack assembly is driven to rotate around a vertical center line through the fifth servo motor (508).

[0023] Further, the upper flexible cables (3) output by each group of cantilever assemblies (2) are respectively connected to the upper part of the sling mounting seat assembly through springs, and the lower flexible cables (4) output by each group of cantilever assemblies (2) are respectively connected to the lower part of the sling mounting seat assembly through springs.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] 1. The present application designs a modularized cantilever assembly, each cantilever assembly comprises two rotary joints, the cantilever arm type can be flexibly adjusted by rotating the rotary joints, so as to adapt to different target sizes and scanning areas, and realize rapid reconstruction of the robot structure and task adaptation; the modularized design significantly improves the expandability, assembly convenience and environmental adaptability of the system.

[0026] 2. The present application designs a movable cable outlet mechanism, the whole mechanism adopts a screw rod-sliding block structure, the cable outlet hole is fixed on the sliding block, and the position of the cable outlet point can be changed by rotating the screw rod; at the same time, the flexible cable is wound on a winding mechanism, and the length of the flexible cable can be changed by rotating the winding drum; the variability of the cable outlet point position and the flexible cable length enables the system to flexibly adjust the direction and distribution of the flexible cable, realizes automatic obstacle avoidance, and improves the motion flexibility and safety of the robot in a complex environment.

[0027] 3. In the present application, each two groups of cantilever assemblies are mounted on a group of slide rails, the slide rails adopt a double screw rod module structure, the translation of each group of cantilever assemblies along the guide rail direction can be realized by driving the corresponding screw rod to rotate, so as to expand the working range of the robot; in addition, the cantilever assembly can rotate relative to the slide rail, and then the change of the direction of the cable outlet point is realized, and the flexibility of the robot is improved.

[0028] 4. The end double eye structure light mobile platform designed by the application has two rotation degrees of freedom, can flexibly adjust the scanning posture, realizes multi-angle high-precision scanning on complex curved surfaces and large-size workpieces, and improves the detection coverage and visual measurement precision of the system.

[0029] 5. In the application, a spring assembly is installed on the flexible cable connecting plate in the binocular structure light mobile platform, one end of the spring is connected to the flexible cable, and is used for realizing adaptive adjustment of the tension of the flexible cable, so that the flexible cable is always in a tension state, the end posture deviation caused by flexible cable relaxation is prevented, and the motion stability of the end platform is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 The figure is a structural schematic diagram of the application.

[0031] Figure 2 The figure is a structural schematic diagram of a cantilevered robot.

[0032] Figure 3 The figure is a structural schematic diagram of a cantilevered robot.

[0033] Figure 4 The figure is a structural schematic diagram of a cantilevered robot.

[0034] Figure 5 The figure is a structural schematic diagram of a double-wire rod module structure without a top cover.

[0035] Figure 6 The figure is a 45° side view of the cantilever assembly.

[0036] Figure 7 The figure is a front view of the cantilever assembly.

[0037] Figure 8 The figure is a structural schematic diagram of a winding mechanism.

[0038] Figure 9 The figure is a structural schematic diagram of a wire passing hole assembly I.

[0039] Figure 10 The figure is a structural schematic diagram of a wire passing hole assembly II.

[0040] Figure 11 The figure is a structural schematic diagram of a wire outlet mechanism I.

[0041] Figure 12 The figure is a structural schematic diagram of a binocular structure light mobile platform.

[0042] Figure 13 The figure is a structural schematic diagram of a binocular structure light mobile platform.

[0043] Figure 14 The figure is a schematic diagram of the total workspace of the robot.

[0044] Figure 15The motion control method flowchart of the present embodiment.

[0045] Reference signs:

[0046] Double wire rod module-1, cantilever assembly-2, upper flexible cable-3, lower flexible cable-4, binocular structured light moving platform-5, detection object-6, optical platform breadboard-7, double wire rod module top cover-110.

[0047] First servo motor-101, first speed reducer-102, synchronous belt mounting box-103, sliding block-104, guide rail I-105, limit stop-106, ball screw nut-107, double wire rod module base-108, ball screw I-109.

[0048] Angle adapter plate-201, rotating connection plate I-202, winding mechanism-203, profile I-204, wire passing hole assembly I-205, rotating connection plate II-206, adjusting shaft I-207, rotating connection plate III-208, profile II-209, wire outlet mechanism I-210, wire passing hole assembly II-211, wire outlet mechanism II-212, adjusting shaft II-213, wire outlet hole II-21201.

[0049] Second speed reducer-20301, second servo motor-20302, speed reducer mounting plate-20303, shaft coupling-20304, wire passing wheel I-20305, wire passing wheel II-20306, winding drum-20307, wire passing wheel III-20308, winding drum mounting plate-20309, synchronous pulley I-20310, tension pulley-20311, synchronous belt I-20312, synchronous pulley II-20313, mounting base-20314, nut connecting seat-20315, ball screw II-20316, guide shaft-20317, bearing mounting plate-20318, wire passing wheel mounting plate-20319.

[0050] Wire passing hole assembly I mounting plate-20501, wire passing hole I-20502, wire passing wheel IV-20503, wire passing wheel V-20504, wire passing wheel VI-20505, wire passing hole II-20506

[0051] Wire passing wheel VII-21101, wire passing hole III-21102, wire passing wheel VIII-21103, wire passing wheel IX-21104, wire passing wheel X-21105, wire passing wheel XI-21106, wire passing hole assembly II mounting plate-21107, wire passing hole IV-21108.

[0052] Guide rail II-21001, ball screw III-21002, synchronous pulley III-21003, synchronous belt II-21004, synchronous pulley IV-21005, third servo motor-21006, wire outlet hole I-21007, wire outlet hole slider-21008, base-21009.

[0053] Projector-501, industrial camera-502, fourth servo motor-503, rack connecting plate-504, lower cable connecting plate-505, spring-506, upper cable connecting plate-507, fifth servo motor-508, motor adapter shaft-509, rack connecting plate-510, adapter plate-511, camera connecting plate-512, projector connecting plate-513. DETAILED DESCRIPTION

[0054] In order to make the personnel in the technical field better understand the application scheme, the following will be combined with the drawings and examples to explain the embodiment of the application in detail, so that the application of technical means to solve the technical problems and achieve the corresponding technical effect can be fully understood and implemented. The embodiments of the application and the features in the examples can be combined with each other without conflict, and the formed technical solutions are within the protection scope of the application.

[0055] Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should be within the protection scope of the application.

[0056] It should be noted that the terms "include" and "have" in the specification and claims of the application and the above-mentioned drawings are intended to cover non-exclusive inclusion.

[0057] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 The embodiment discloses a modular reconfigurable rigid-flexible coupling cable parallel robot for large space visual scanning, which comprises an optical platform breadboard 7, a binocular structured light moving platform 5, two groups of double screw rod modules 1 and four groups of cantilever assemblies 2.

[0058] The two groups of double screw rod modules 1 are structurally identical, the screw rod axial directions of the two groups of double screw rod modules 1 are the same horizontal direction, and the two groups of double screw rod modules 1 are installed on the top surface of the optical platform breadboard 7 and are symmetrical.

[0059] The four groups of cantilever assemblies 2 are structurally identical, two groups of cantilever assemblies 2 are installed on one group of double-wire rod modules 1, and the other two groups of cantilever assemblies are installed on the other group of double-wire rod modules, each group of cantilever assemblies 2 can be tilted on the corresponding double-wire rod module, and each group of cantilever assemblies 2 can be rotated to adjust the arm posture, and each group of double-wire rod modules 1 drives the corresponding two groups of cantilever assemblies 2 to move horizontally and linearly.

[0060] The binocular structured light moving platform 5 is arranged above the optical platform surface breadboard 7, and each group of cantilever assemblies 2 outputs two upper and lower flexible cables, and the upper flexible cable 3 and the lower flexible cable 4 output by each group of cantilever assemblies 2 are connected to the binocular structured light moving platform 5.

[0061] The detection object 6 is placed on the top surface of the optical platform surface breadboard 7 and located between the two groups of double-wire rod modules 1, the binocular structured light moving platform 5 scans the detection object 6, the position of the binocular structured light moving platform 5 is adjusted through the horizontal linear motion of each group of cantilever assemblies and the upper flexible cable 3 and the lower flexible cable 4 output by each group of cantilever assemblies, and the binocular structured light moving platform 5 itself can adjust the posture during visual acquisition.

[0062] Specifically, as shown in Figure 5 In this embodiment, each group of double-wire rod modules 1 includes a double-wire rod module base 108, the double-wire rod module base 108 is fixed to the top surface of the optical platform surface breadboard 7, and the double-wire rod module bases 108 of the two groups of double-wire rod modules 1 are symmetrically distributed on the top surface of the optical platform surface breadboard 7.

[0063] In each group of double-wire rod modules 1, two guide rails I 105 are fixed to the top surface of the double-wire rod module base 108, the two guide rails I 105 are symmetrical to each other and extend in the same horizontal direction, and the horizontal extension directions of the guide rails I 105 in the two groups of double-wire rod modules 1 are the same.

[0064] In each group of double-wire rod modules 1, a synchronous belt mounting box 103 is fixed to the top surface of the double-wire rod module base 108 at a position outside the two ends of the two guide rails I 105, a synchronous belt mechanism is installed in each synchronous belt mounting box 103, and the driving and driven synchronous pulley shafts in the synchronous belt mechanism are axially parallel to the horizontal extension direction of the guide rail I 105. A first servo motor 101 is fixed and installed on the side edge of the double-wire rod module base 108 corresponding to each synchronous belt mounting box 103, and each first servo motor 101 is coaxially connected with the driving synchronous pulley in the synchronous belt mechanism in the corresponding synchronous belt mounting box 103 through a first speed reducer 102.

[0065] In each double-lead screw module 1, two ball screws I 109 are arranged above the double-lead screw module base 108, and the two ball screws I 109 are symmetrical. The axial direction of each ball screw I 109 is parallel to the horizontal extension direction of the guide rail I 105, and the axial directions of the ball screws I 109 in the two double-lead screw modules 1 are the same horizontal direction. In each double-lead screw module 1, one end of the first ball screw I 109 is coaxially fixedly connected to a driven synchronous pulley in the synchronous belt mechanism in one of the synchronous belt installation boxes 103. A stopper 106 is fixed to the top surface of the double-lead screw module base 108 corresponding to the position of the other end of the first ball screw I 109. The other end of the first ball screw I 109 is rotatably installed in the stopper 106 fixed to the corresponding position of the top surface of the double-lead screw module base 108. One end of the second ball screw I is coaxially fixedly connected to a driven synchronous pulley in the synchronous belt mechanism in the other synchronous belt installation box. Another stopper is fixed to the top surface of the double-lead screw module base 108 corresponding to the position of the other end of the second ball screw I. The other end of the second ball screw I is rotatably installed in the other stopper fixed to the corresponding position of the top surface of the double-lead screw module base 108.

[0066] In each double-lead screw module 1, two sliders 104 are slidably installed on the two guide rails I 105 on the double-lead screw module base 108, and each slider 104 is fixedly connected with a ball screw nut 107. The ball screw nut 107 connected with one of the sliders 104 is screw-fitted to one of the ball screws I 109 through a threaded hole. The ball screw nut connected with the other slider is screw-fitted to the other ball screw I through a threaded hole.

[0067] In each double-lead screw module 1, when the two first servo motors 101 drive the corresponding ball screws I 109 to rotate through the corresponding first speed reducers 102 and the synchronous belt mechanism, the corresponding sliders 104 can slide on the two guide rails I 105. Thus, in each double-lead screw module 1, there are two sliders 104 that can slide in the same horizontal direction, and the horizontal sliding directions of the sliders 104 in the two double-lead screw modules 1 are the same.

[0068] As shown in FIG. 1, Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11As shown, in this embodiment, each cantilever assembly 2 includes an angle adapter plate 201, a first and a second rotary joint, a profile I 204, a profile II 209, two wire winding mechanisms 203, a wire passing hole assembly I 205, a wire passing hole assembly II 211, a wire outlet mechanism I 210, and a wire outlet mechanism II 212. The profile I 204 and the profile II 209 have the same structure, the two wire winding mechanisms 203 have the same structure, and the wire outlet mechanism I 210 and the wire outlet mechanism II 212 have the same structure. Among the four cantilever assemblies 2, two cantilever assemblies 2 are respectively installed on two sliders 104 in one double-wire rod module 1, and the other two cantilever assemblies 2 are respectively installed on two sliders 104 in the other double-wire rod module 1.

[0069] In each cantilever assembly 2, the first rotary joint includes the angle adapter plate 201, an adjusting shaft II 213, and two rotary connecting plates I 202.

[0070] The angle adapter plate 201 is provided with a plurality of threaded holes, and the top surface of the corresponding slider 104 in the corresponding double-wire rod module 1 is also provided with a plurality of threaded holes. The angle adapter plate 201 is detachably and fixedly installed on the top surface of the corresponding slider 104 in the corresponding double-wire rod module 1 through a plurality of vertical bolts. By installing the angle adapter plate 201 in each cantilever assembly 2 on the corresponding slider 104 in the corresponding double-wire rod module 1, each cantilever assembly 2 can move with the corresponding slider 104 on the guide rail I 105 in the double-wire rod module 1, thereby expanding the working range of the robot. In each cantilever assembly 2, the angle adapter plate 201 and the slider 104 are both designed with mounting threaded holes. When the bolts are removed, by changing the relative positional relationship between the mounting threaded holes of the angle adapter plate 201 and the corresponding slider 104, the first rotary joint in each cantilever assembly 2 can be rotated as a whole relative to the corresponding slider 104 in the corresponding double-wire rod module 1 around a vertical rotation center line, and the rotation accuracy is 22.5 degrees. By rotating each cantilever assembly 2, the adjustment of the direction of the wire outlet point can be realized, thereby improving the flexibility of the robot.

[0071] In each cantilever assembly 2, the axial direction of the adjusting shaft II 213 is horizontal, and the bottom of the adjusting shaft II 213 is fixedly installed on the angle adapter plate 201. Each end of the two rotating connecting plates I 202 is respectively provided with a circle of mounting threaded holes, and each side of the axial direction of the adjusting shaft II 213 is respectively provided with a circle of mounting threaded holes. The respective end of the two rotating connecting plates I 202 provided with the mounting threaded holes is respectively installed on the axial direction of the adjusting shaft II 213 provided with the mounting threaded holes through bolts. When the bolts between the two rotating connecting plates I 202 and the adjusting shaft II 213 are removed, the relative position relationship between the mounting threaded holes of the two rotating connecting plates I 202 and the adjusting shaft II 213 can be changed, so that the two rotating connecting plates I 202 can rotate around the horizontal rotation center line with a rotation accuracy of 30 degrees on the adjusting shaft II 213, and then the whole cantilever assembly 2 can realize the pitching rotation around the horizontal rotation center line with a rotation accuracy of 30 degrees through the first rotation joint.

[0072] In each cantilever assembly 2, one end of the profile I 204 in the long edge direction is fixedly installed between the other ends of the two rotating connecting plates I 202 in the first rotation joint. One side of the profile I 204 parallel to the long edge of the profile I and located between the two rotating connecting plates I 202 is taken as a wire outlet side, and the wire outlet mechanism II 212 is installed on the wire outlet side of the profile I 204. The two wire winding mechanisms 203 are respectively installed on two symmetrical sides of the profile I 204 adjacent to the wire outlet side and parallel to the rotating connecting plate I 202. One of the two wire winding mechanisms 203 is used to output the upper flexible cable 3, and the other is used to output the lower flexible cable 4.

[0073] In each cantilever assembly 2, the wire hole assembly I 205 is arranged on the side of the profile I 204 where the wire winding mechanism 203 for outputting the lower flexible cable 4 is located, and the wire hole assembly I 205 is located outside the end of the wire winding mechanism 203 for outputting the lower flexible cable 4 away from the first rotation joint. The wire hole assembly I 205 is used for the lower flexible cable 4 to pass through. The wire hole assembly II 211 is arranged on the side of the profile I 204 where the wire winding mechanism 203 for outputting the upper flexible cable 3 is located, and the wire hole assembly II 211 is located outside the end of the wire winding mechanism 203 for outputting the upper flexible cable 3 away from the first rotation joint. The wire hole assembly II 211 is used for the upper flexible cable 3 to pass through. Moreover, the distance between the wire hole assembly II 211 and the first rotation joint is greater than the distance between the wire hole assembly I 205 and the first rotation joint.

[0074] The second rotating joint is arranged at the other end of the long side of the profile 204 in each cantilever assembly 2. The second rotating joint comprises an adjusting shaft 207, two rotating connecting plates 206 and two rotating connecting plates 208. The adjusting shaft 207 is horizontally arranged, and the adjusting shaft 207 is parallel to the adjusting shaft 213. One end of each of the two rotating connecting plates 206 is fixed to the side of the profile 204 corresponding to the other end of the long side of the two winding mechanisms 203, and the other end of each of the two rotating connecting plates 206 is fixed to the two sides of the adjusting shaft 207. Each of the two rotating connecting plates 208 is provided with a circle of mounting threaded holes, and each of the two rotating connecting plates 206 is provided with a circle of mounting threaded holes. The two rotating connecting plates 208 are connected to the two rotating connecting plates 206 and the adjusting shaft 207 through bolts, and the two rotating connecting plates 208 are located outside the two rotating connecting plates 206.

[0075] In each cantilever assembly 2, one end of the profile 209 is fixed between the other ends of the two rotating connecting plates 208, and the other end of the profile 209 is free to extend. One side of the profile 209 parallel to the long side of the profile 209 and located between the two rotating connecting plates 208 is used as a wire outlet side, and the wire outlet mechanism 210 is installed on the wire outlet side of the profile 209.

[0076] In each cantilever assembly 2, when the bolts between the two rotating connecting plates 208, the two rotating connecting plates 206 and the adjusting shaft 207 are removed, the relative position relationship between the mounting threaded holes of the two rotating connecting plates 208 and the two rotating connecting plates 206 can be changed, so that the two rotating connecting plates 208 can rotate relative to the two rotating connecting plates 206 with a rotation accuracy of 30 degrees around the horizontal rotation center line, and the profile 209 can rotate relative to the profile 204 with a rotation accuracy of 30 degrees around the horizontal rotation center line through the second rotating joint. Thus, through the rotation of the two rotating joints in each cantilever assembly 2, the arm type of each cantilever assembly 2 can be changed, and the robot can adapt to different working requirements. The adjusting shaft 207 fixed between the two rotating connecting plates 206 plays a supporting role in the rotation of the second rotating joint, and can make the relative rotation between the profile 209 and the profile 204 more stable.

[0077] As Figure 8As shown, each winding mechanism 203 in each cantilever assembly 2 includes a mounting base 20314, a reducer mounting plate 20303, a driving assembly, a winding drum 20307, a synchronous belt mechanism, a ball screw II 20316, a guide shaft 20317, a nut connecting seat 20315, a wire passing wheel I 20305, a wire passing wheel II 20306, and a wire passing wheel III 20308.

[0078] In each winding mechanism 203 in each cantilever assembly 2, the mounting base 20314 is fixed to the corresponding side of the profile I 204, and the long side of the mounting base 20314 is parallel to the long side of the profile I 204. The seat surface of the mounting base 20314 is fixed with a winding drum mounting plate 20309 and a bearing mounting plate 20318, both of which are perpendicular to the long side of the mounting base 20314.

[0079] In each winding mechanism 203 in each cantilever assembly 2, the winding drum 20307 is wound with a flexible cable, and the axial one end of the winding drum 20307 is rotatably installed on the bearing mounting plate 20318, and the axial other end is rotatably installed on the winding drum mounting plate 20309. The axial one end of the ball screw II 20316 is rotatably installed on the bearing mounting plate 20318, and the axial other end is rotatably installed on the winding drum mounting plate 20309. The axial one end of the guide shaft 20317 is fixedly installed on the bearing mounting plate 20318, and the axial other end is fixedly installed on the winding drum mounting plate 20309. The axial directions of the winding drum 20307, the ball screw II 20316, and the guide shaft 20317 are parallel to the long side of the mounting base 20314. The back of the winding drum mounting plate 20309 is provided with a synchronous belt mechanism.

[0080] In each wire winding mechanism 203 of each cantilever assembly 2, a reducer mounting plate 20303 is fixed to the corresponding side of the profile I 204, and a driving mechanism is mounted on the reducer mounting plate 20303. The driving mechanism includes a second servo motor 20302, a second reducer 20301, and a coupling 20304, wherein the second reducer 20301 and the coupling 20304 are fixed to the reducer mounting plate 20303. The output shaft of the second servo motor 20302 is connected to the axial one end of the bearing mounting plate 20318 through the second reducer 20301 and the coupling 20304. The axial other end of the wire winding drum 20307 is coaxially fixedly connected with the synchronous pulley I 20310 in the synchronous belt mechanism on the wire winding drum mounting plate 20309. The synchronous pulley II 20313 in the synchronous belt mechanism on the wire winding drum mounting plate 20309 is coaxially fixedly mounted on the axial other end of the ball screw II 20316 rotatably mounted on the wire winding drum mounting plate 20309, and the synchronous pulley II 20313 and the synchronous pulley I 20310 are connected through the synchronous belt I 20312, and the wire winding drum mounting plate 20309 is rotatably mounted with a tension pulley 20311 for tensioning the synchronous belt I 20312. The nut connecting seat 20315 is screwingly mounted on the ball screw II 20316 through the threaded hole, and the nut connecting seat 20315 is slidingly mounted on the guide shaft 20317 through the light hole.

[0081] In each wire winding mechanism 203 of each cantilever assembly 2, the wire passing pulley III 20308 is rotatably mounted on the nut connecting seat 20315, and the axial direction of the wire passing pulley III 20308 is perpendicular to the mounting base 20314 seat surface and the long side of the mounting base 20314. The wire passing pulley II 20306 is rotatably mounted on the bearing mounting plate 20318, and the axial direction of the wire passing pulley II 20306 is perpendicular to the mounting base 20314 seat surface and the long side of the mounting base 20314. One side of the bearing mounting plate 20318 is fixedly provided with a wire passing pulley mounting plate 20319, and the wire passing pulley I 20305 is rotatably mounted on the wire passing pulley mounting plate 20319, and the axial direction of the wire passing pulley I 20305 is perpendicular to the mounting base 20314 seat surface and the long side of the mounting base 20314.

[0082] In each wire winding mechanism 203 of each cantilever assembly 2, the wire winding drum 20307 is driven to rotate by the second servo motor 20302, and the rotation of the ball screw II 20316 is driven by the synchronous belt mechanism, and the nut connecting seat 20315 is driven to slide on the guide shaft 20317.

[0083] In each wire winding mechanism 203 of each cantilever assembly 2, the flexible cable on the wire winding drum 20307 is sequentially wound around the wire passing pulley III 20308, the wire passing pulley II 20306, and the wire passing pulley I 20305, and then output outward.

[0084] In each cantilever assembly 2, one cable 3 is output from one winding mechanism 203 as the upper cable 3, and the other cable 4 is output from the other winding mechanism as the lower cable 4. Thus, in each cantilever assembly 2, when the second servo motor 20302 in each winding mechanism 203 drives the corresponding winding drum 20307 to rotate, the upper cable 3 and the lower cable 4 can be wound and unwound. At the same time, through the design of the screw- slider mechanism and the wire passing wheel in each winding mechanism 203, the cables can be wound neatly on the corresponding winding drum 20307, and the cables can be prevented from slipping off.

[0085] As shown in Figure 9 The wire passing hole assembly I 205 in each cantilever assembly 2 includes an L-shaped wire passing hole assembly I mounting plate 20501, a wire passing hole I 20502, a wire passing wheel IV 20503, a wire passing wheel V 20504, a wire passing wheel VI 20505, and a wire passing hole II 20506. The wire passing hole assembly I mounting plate 20501 is fixed to the side of the profile I 204 where the winding mechanism 203 for outputting the lower cable 4 is located. The wire passing hole I 20502 and the wire passing hole II 20506 are fixedly arranged on the wire passing hole assembly I mounting plate 20501. The wire passing wheel IV 20503, the wire passing wheel V 20504, and the wire passing wheel VI 20505 are rotatably mounted on the wire passing hole assembly I mounting plate 20501. Among them, the wire passing hole I 20502 and the wire passing wheel IV 20503 are located on one arm of the L-shaped wire passing hole assembly I mounting plate 20501, the wire passing wheel V 20504 is located at the inflection point of the L-shaped wire passing hole assembly I mounting plate 20501, and the wire passing wheel VI 20505 and the wire passing hole II 20506 are located on the other arm of the L-shaped wire passing hole assembly I mounting plate 20501. Moreover, the axes of the wire passing hole I 20502, the wire passing wheel V 20504, and the wire passing hole II 20506 are all parallel to the long side of the profile I 204, the axis of the wire passing wheel IV 20503 is perpendicular to the long side of the profile I 204, the axis of the wire passing wheel VI 20505 is perpendicular to the long side of the profile I 204, and the axis of the wire passing wheel IV 20503 is perpendicular to the axis of the wire passing wheel VI 20505.

[0086] In each cantilever assembly 2, the lower cable 4 output from the winding mechanism 203 for outputting the lower cable 4 passes through the wire passing hole I 20502 in the wire passing hole assembly I 205, then successively passes through the wire passing wheel IV 20503, the wire passing wheel V 20504, and the wire passing wheel VI 20505, and finally enters the wire outlet mechanism II 212 on the wire outlet side of the profile I 204 after passing through the wire passing hole II 20506.

[0087] As shown in Figure 10As shown, each of the wire passing hole assembly II 211 in each of the cantilever assembly 2 includes an L-shaped wire passing hole assembly II mounting plate 21107, a wire passing wheel VII 21101, a wire passing hole III 21102, a wire passing wheel VIII 21103, a wire passing wheel IX 21104, a wire passing wheel X 21105, a wire passing wheel XI 21106, and a wire passing hole IV 21108. The wire passing hole assembly II mounting plate 21107 is fixed to the side of the profile I 204 where the wire winding mechanism 203 for outputting the upper flexible cable 3 is located. The wire passing hole III 21102 and the wire passing hole IV 21108 are fixedly arranged on the wire passing hole assembly II mounting plate 21107. The wire passing wheel VII 21101, the wire passing wheel VIII 21103, the wire passing wheel IX 21104, the wire passing wheel X 21105, and the wire passing wheel XI 21106 are rotatably arranged on the wire passing hole assembly II mounting plate 21107. Among them, the wire passing wheel VII 21101, the wire passing hole III 21102, the wire passing wheel VIII 21103, and the wire passing wheel IX 21104 are located on one arm of the L-shaped wire passing hole assembly II mounting plate 21107, the wire passing wheel X 21105 is located at the inflection point of the L-shaped wire passing hole assembly II mounting plate 21107, and the wire passing wheel XI 21106 and the wire passing hole IV 21108 are located on the other arm of the L-shaped wire passing hole assembly II mounting plate 21107. Moreover, the axial directions of the wire passing hole III 21102, the wire passing wheel X 21105, and the wire passing hole IV 21108 are parallel to the long side of the profile I 204, the axial directions of the wire passing wheel VII 21101 and the wire passing wheel IX 21104 are perpendicular to the long side of the profile I 204, the axial directions of the wire passing wheel VIII 21103 and the wire passing wheel XI 21106 are perpendicular to the long side of the profile I 204, and the axial directions of the wire passing wheel VII 21101 and the wire passing wheel IX 21104 are perpendicular to the axial directions of the wire passing wheel VIII 21103 and the wire passing wheel XI 21106.

[0088] In each of the cantilever assembly 2, the upper flexible cable 3 outputted by the wire winding mechanism is passed through the wire passing hole IV 21108 in the wire passing hole assembly II 211, and then sequentially passes around the wire passing wheel XI 21106, the wire passing wheel X 21105, the wire passing wheel IX 21104, and the wire passing wheel VII 21101, and finally enters the wire outlet mechanism I 210 on the wire outlet side of the profile II 209 after passing through the wire passing hole III 21102 and around the wire passing wheel VIII 21103.

[0089] In each of the cantilever assembly 2, the wire outlet mechanism I 210 and the wire outlet mechanism II 212 have the same structure, and in this embodiment, the wire outlet mechanism I 210 is taken as an example for description. As shown in Figure 11 The wire outlet mechanism I 210 adopts a screw-nut structure design and includes a base 21009, a guide rail II 21001, a ball screw III 21002, a synchronous pulley III 21003, a synchronous belt II 21004, a synchronous pulley IV 21005, a third servo motor 21006, a wire outlet hole I 21007, and a wire outlet hole sliding block 21008.

[0090] In the wire outlet mechanism I 210 of each cantilever assembly 2, the base 21009 is fixed on the wire outlet side of the profile II 209, and the long side of the base 21009 is parallel to the long side of the profile II 209. End plates are respectively fixed on the seat surface of the base 21009 at both ends of the long side. The guide rail II 21001 is arranged on the seat surface of the base 21009 and between the two end plates. The ball screw III 21002 is arranged above the guide rail II 21001, and the axial ends of the ball screw III 21002 are respectively rotatably connected to the two end plates. The extension direction of the guide rail II 21001 is parallel to the long side of the base 21009, and the axial direction of the ball screw III is parallel to the long side of the base 21009. The synchronous pulley III 21003 is coaxially fixedly installed at one axial end of the ball screw III, the synchronous pulley IV 21005 is rotatably installed on the end plate at one axial end of the ball screw III, and the synchronous pulley III 21003 and the synchronous pulley IV 21005 are drivingly connected by the synchronous belt II 21004. The third servo motor 21006 is fixed on the end plate at one axial end of the ball screw III, and the output shaft of the third servo motor 21006 is coaxially fixedly connected with the synchronous pulley IV 21005. The wire outlet hole slider 21008 is slidingly installed on the guide rail II 21001, and is screwingly assembled to the ball screw III 21002 through the threaded hole. The wire outlet hole I 21007 is arranged on the wire outlet hole slider 21008. The upper flexible cable 3 enters the wire outlet mechanism I 210 on the wire outlet side of the profile II 209 through the wire hole assembly II 211, and is output to the binocular structured light moving platform 5 after passing through the wire outlet hole I 21007 in the wire outlet mechanism I 210. When the third servo motor 21006 in the wire outlet mechanism I 210 drives the ball screw III 21002 to rotate through the synchronous belt mechanism, the wire outlet hole slider 21008 can slide on the guide rail II 21001, so as to change the position of the wire outlet hole I 21007, and further adjust the wire outlet position of the upper flexible cable 3.

[0091] The wire outlet mechanism II 212 is completely identical in structure to the wire outlet mechanism I 210, and both adopt a screw rod-sliding block structure design. The base of the wire outlet mechanism II 212 is fixed on the wire outlet side of the profile I 204, and the long edge of the base 21009 is parallel to the long edge of the profile I 204. The structure layout of the guide rail II, the ball screw III, the synchronous pulley III, the synchronous belt II, the synchronous pulley IV, the third servo motor, the wire outlet hole II 21201 and the wire outlet hole sliding block in the wire outlet mechanism II 212 are completely identical to the structure layout of the corresponding components in the wire outlet mechanism I 210. The lower cable 4 enters the wire outlet mechanism II 212 on the wire outlet side of the profile I 204 through the wire hole assembly I 205, and is output to the binocular structured light moving platform 5 after passing through the wire outlet hole II 21201 in the wire outlet mechanism II 212. When the third servo motor in the wire outlet mechanism II 212 drives the ball screw III to rotate through the synchronous belt mechanism, it can drive the wire outlet hole sliding block to slide on the guide rail II, thereby changing the position of the wire outlet hole II 21201 and adjusting the wire outlet position of the lower cable 4.

[0092] Therefore, in each group of cantilever assemblies 2 of the embodiment, the wire outlet positions of the upper and lower cables are variable through two wire outlet mechanisms. The variability of the wire outlet positions improves the flexibility of the robot, enabling it to have certain obstacle avoidance functions.

[0093] As shown in Figure 12 In the embodiment, the binocular structured light moving platform 5 includes a sling mounting seat assembly, a motor adapter shaft 509, a rack assembly and a binocular structured light assembly.

[0094] The sling mounting seat assembly includes an upper cable connecting plate 507 and a lower cable connecting plate 505 located below the upper cable connecting plate 507. The upper cable connecting plate 507 and the lower cable connecting plate 505 are connected by four connecting rods. The upper cable connecting plate 507 is provided with upper cable mounting holes at four corners respectively, for connecting the upper cables 3 output by each group of cantilever assemblies 2, and the top of the upper cable connecting plate 507 is provided with four springs 506 in different horizontal directions through spring fixing members. The lower cable connecting plate 505 is provided with lower cable mounting holes at four corners respectively, for connecting the lower cables 4 output by each group of cantilever assemblies 2, and the bottom of the lower cable connecting plate 505 is provided with four springs 506 in different horizontal directions through spring fixing members.

[0095] The upper flexible cable 3 outputted by each group of cantilever assembly 2 is connected to the corresponding upper flexible cable mounting hole on the upper flexible cable connecting plate 507 in the bino-structured light mobile platform 5 after passing through the cable outlet hole I 21007 in the cable outlet mechanism I 210. One end of the four springs 506 on the upper flexible cable connecting plate 507 is fixed to the hook of the corresponding spring fixing part, and the other end is connected to the corresponding upper flexible cable 3. The lower flexible cable 4 outputted by each group of cantilever assembly 2 is connected to the corresponding lower flexible cable mounting hole on the lower flexible cable connecting plate 505 in the bino-structured light mobile platform 5 after passing through the cable outlet hole II 21201 in the cable outlet mechanism II 212. One end of the four springs 506 on the lower flexible cable connecting plate 505 is fixed to the hook of the corresponding spring fixing part, and the other end is connected to the corresponding lower flexible cable 4. By using the spring 506 to pull the corresponding flexible cable, the corresponding flexible cable tension can be maintained, so that the upper and lower flexible cables 3, 4 are always in a tensioned state, thereby improving the stability of the robot.

[0096] The fifth servo motor 508 is fixed on the lower flexible cable connecting plate 505, and the output shaft of the fifth servo motor 508 passes through the lower flexible cable connecting plate 505 and is fixedly connected with one end of the motor adapter shaft 509.

[0097] The rack assembly includes a rack upper connecting plate 504 and two rack connecting plates 510. One end of each of the two rack connecting plates 510 is fixedly connected to the two sides of the rack upper connecting plate 504, respectively, and the other end of the motor adapter shaft 509 is fixedly connected with the rack upper connecting plate 504 in the rack assembly. The fourth servo motor 503 is fixed on one side of the rack connecting plate 510.

[0098] The bino-structured light assembly includes a projector connecting plate 513, two adapter plates 511, a projector 501, and two industrial cameras 502. One end of each of the two adapter plates 511 is fixedly connected to the two sides of the projector connecting plate 513, and the two adapter plates 511 are respectively rotatably installed inside the two rack connecting plates 510 in the rack assembly through the axial horizontal rotating shafts. The output shaft of the fourth servo motor 503 in the rack assembly is coaxially fixedly connected with the rotating shaft of one side of the adapter plate 511 through the adapter shaft.

[0099] The projector 501 and the two industrial cameras 502 are installed on the projector connecting plate 513. The projector 501 is fixed to the middle position of the projector connecting plate 513 through a mounting rack, and the two industrial cameras 502 are fixed to the projector connecting plate 513 through a camera connecting plate 512, and the two industrial cameras 502 are symmetrically distributed on the horizontal sides of the projector 501.

[0100] As Figure 13As shown in the binocular structured light mobile platform 5, the binocular structured light assembly is driven by the fourth servo motor 503 to rotate around the horizontal axis, and the rack assembly and the binocular structured light assembly mounted on the rack assembly are driven by the fifth servo motor 508 to rotate around the vertical axis. Thus, the binocular structured light assembly has two independent rotation degrees of freedom, and the posture during visual acquisition can be adjusted. Further, the flexibility of the binocular structured light mobile platform 5 is improved, and the scanning range is expanded.

[0101] In the embodiment, for the first rotation joint in each set of the cantilever assembly 2, the angle of the rotation connecting plate I 202 when it is vertical is defined as 0 degree. For the second rotation joint in each set of the cantilever assembly 2, the angle of the second rotation joint when the axis of the profile I 204 is collinear with the axis of the profile II 209 is defined as 0 degree. For the rotation of each set of the cantilever assembly 2 relative to the corresponding double wire rod module 1, the angle when the orientation of each set of the cantilever assembly 2 is consistent with the moving direction of the slider 104 in the corresponding double wire rod module 1 is defined as 0 degree. For all the rotation angles, the counterclockwise direction is defined as positive. Thus, in the Figure 1 As shown in the original posture of the robot, the angle of the first rotation joint in the four sets of the cantilever assembly 2 is 30 degrees, the angle of the second rotation joint is -90 degrees, and the angles of the two sets of the cantilever assembly 2 mounted on the same set of the double wire rod module 1 are 45 degrees and -45 degrees, respectively.

[0102] Figure 2 , Figure 3 , Figure 4 are structural schematic diagrams of the robot in different configurations according to the embodiment. Compared with the original posture of the robot shown in Figure 1 As shown in the original posture of the robot, Figure 2 In the original posture of the robot, the first rotation joint of the four sets of the cantilever assembly 2 remains unchanged, the second rotation joint rotates by 90 degrees, the entire cantilever assembly 2 assumes an outward inclination posture, and the angle between the cantilever assembly 2 and the double wire rod module 1 remains unchanged. Figure 3 In the original posture of the robot, the first rotation joint of the four sets of the cantilever assembly 2 rotates by -30 degrees, the second rotation joint rotates by 90 degrees, the entire cantilever assembly 2 assumes a vertical posture, and the angle between the cantilever assembly 2 and the double wire rod module 1 remains unchanged. Figure 4 In the original posture of the robot, the first rotation joint of the four sets of the cantilever assembly 2 remains unchanged, the second rotation joint rotates by 30 degrees, the two sets of the cantilever assembly 2 mounted on the same set of the double wire rod module 1 rotate by 45 degrees and -45 degrees relative to the double wire rod module 1, respectively. Thus, the two sets of the cantilever assembly 2 mounted on the same set of the double wire rod module 1 are parallel to each other and opposite to the two sets of the cantilever assembly 2 mounted on the other set of the double wire rod module 1. By adjusting the robot to different configurations, the reconstruction of the shape of the working space of the robot can be realized.

[0103] In the original posture, the movement range of the binocular structured light mobile platform 5 is relatively compact, and the work space volume is relatively small. This configuration is suitable for local fine scanning stage in large space visual scanning, and can perform high-precision supplementary measurement and detail reconstruction on key areas or complex surfaces. When the cantilever is in an outwardly inclined posture, the reachable range of the binocular structured light mobile platform 5 is greatly improved, forming a larger work space. This configuration can cover the wide-area visual scanning task of large structural parts or complex-shaped objects. When the cantilever base is rotated to the cantilever facing perpendicular to the moving direction of the double-wire rod module slider, the system configuration presents a planar feature. At this time, the binocular structured light mobile platform 5 has a wider reachable range in the horizontal direction. This configuration is suitable for scanning tasks in a plane or a locally closed space. Figure 14 The total work space of all configurations of the robot described in the embodiment is shown. In actual application, the robot can flexibly switch configurations according to different visual scanning tasks to reconstruct the work space range, thereby improving the task adaptability of the system in large space visual scanning.

[0104] As shown in Figure 15 , the motion control method of the modular reconfigurable rigid-flexible coupling cable parallel robot for large space visual scanning described in the embodiment is as follows:

[0105] (1) System initialization, check whether each function of the robot is good.

[0106] (2) Confirm the position of the detected object 6, adjust the cantilever assembly 2 to the appropriate arm type by rotating the two rotating joints on the cantilever assembly 2, drive the first servo motor 101 to move the cantilever assembly 2 on the double-wire rod module 1, adjust the cantilever assembly 2 to the appropriate position, and adjust the cantilever assembly 2 to the appropriate orientation through the rotating angle adapter plate 201.

[0107] (3) Trajectory planning for the robot scanning path, inverse kinematics solving for the robot according to the trajectory planning result.

[0108] (4) Start the second servo motor 20302 to drive the winding drum 20307 to rotate, change the lengths of the upper cable 3 and the lower cable 4, and then control the position of the binocular structured light mobile platform 5. Start the fourth servo motor 503 and the fifth servo motor 508 to drive the rotation of the binocular structured light assembly and adjust the scanning posture.

[0109] (5) In the scanning process, detect whether an obstacle is encountered. If an obstacle is encountered, drive the motor in the wire outlet mechanism to adjust the positions of the upper and lower cable outlet points to complete obstacle avoidance.

[0110] (6) After completing the current visual scanning task, it is detected whether the data of the current collected detection object 6 is complete, and if the data is not complete, the process (3) is restarted until complete data is collected.

[0111] The preferred embodiments of the present application are described in detail above with reference to the drawings. The embodiments described in the present application are merely descriptions of the preferred embodiments of the present application, and do not limit the concept and scope of the present application. In the above specific embodiments, various specific technical features described can be combined in any appropriate manner without contradiction, and such combination should also be considered as disclosed by the present disclosure, as long as it does not deviate from the technical concept of the present application. In order to avoid unnecessary repetition, various possible combinations are not described again in the present application.

[0112] The present application is not limited to the specific details described in the above embodiments, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art within the scope of the technical concept of the present application and without departing from the design idea of the present application should fall within the protection scope of the present application. The technical content claimed by the present application has been fully recorded in the claims.

Claims

1. A modular, reconfigurable, rigid-flexible coupled, cable-connected parallel robot for large-space visual scanning, characterized in that, Includes a binocular structured light mobile platform (5), two sets of dual lead screw modules (1), and four sets of cantilever components (2). The two sets of twin screw modules (1) have the same structure and are symmetrically distributed. Each set of twin screw modules (1) has two sliders (104) that can move in the same horizontal direction, and the sliders (104) in the two sets of twin screw modules (1) move in the same direction. The four cantilever assemblies (2) have the same structure. Each cantilever assembly (2) includes profile I (204) and profile II (209) with the same structure, two winding mechanisms (203) with the same structure, two wire hole assemblies, and two wire exit mechanisms with the same structure. In each cantilever assembly (2), one end of profile I (204) is connected to one end of profile II (209) through a second rotating joint. The second rotating joint enables profile II (209) to rotate relative to profile I (204) around the horizontal rotation center line, thereby adjusting the arm posture of each cantilever assembly (2). In each cantilever assembly (2), one wire exit mechanism is installed on one side of profile I (204), and the other wire exit mechanism is installed on one side of profile II (209). Two wire winding mechanisms (203) are respectively installed on two symmetrical sides of profile I (204), and two wire through hole assemblies are respectively installed on profile I (204). In each cantilever assembly (2), one wire winding mechanism (203) outputs an upper flexible cable (3), and the other wire winding mechanism outputs a lower flexible cable (4). The upper flexible cable (3) passes through one of the wire through hole assemblies on profile I (204), and then passes through the wire exit mechanism on profile II (209) before being output to the binocular structured light moving platform (5). The lower flexible cable (4) passes through the other wire through hole assembly on profile I (204), and then passes through the wire exit mechanism on profile I (204) before being output to the binocular structured light moving platform (5). In the four sets of cantilever assemblies (2), the other ends of the profile I (204) of two sets of cantilever assemblies (2) are respectively mounted on the two sliders (104) of one set of double screw modules (1) through the first rotating joint. The other ends of the profile I of the other two sets of cantilever assemblies are respectively mounted on the two sliders of another set of double screw modules through the first rotating joint. Each first rotating joint can pitch around the horizontal rotation center line, and each first rotating joint as a whole can rotate around the vertical rotation center line on the corresponding slider (104). Thus, each set of double screw modules (1) can drive the corresponding two sets of cantilever assemblies (2) to perform linear motion in the horizontal direction, and realize the pitch rotation of each set of cantilever assemblies (2) as a whole on the corresponding slider (104) in the corresponding double screw module (1) through the first rotating joint, and the rotation of each set of cantilever assemblies (2) around the vertical rotation center line on the corresponding slider (104) in the corresponding double screw module (1).

2. The modular, reconfigurable rigid-flexible coupled cable parallel robot for large-space visual scanning according to claim 1, characterized in that, In each cantilever assembly (2), each winding mechanism (203) includes a winding drum (20307) with a flexible rope wound around it, a motor, and several guide wheels. The motor is connected to the winding drum (20307) for transmission. The motor drives the winding drum (20307) to rotate. The flexible rope on the winding drum (20307) passes around each guide wheel and then outputs to the corresponding guide hole assembly.

3. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 2, characterized in that, In each cantilever assembly (2), each winding mechanism (203) also includes a timing belt mechanism, a ball screw II (20316), a guide shaft (20317), and a nut connecting seat (20315); the winding drum (20307) is connected to the ball screw II (20316) through the timing belt mechanism, and the ball screw II (20316), the guide shaft (20317), and the nut connecting seat (20315) form a screw-slider mechanism, wherein the nut connecting seat (20315) serves as the slider in the screw-slider mechanism; One of the several guide rollers is rotatably mounted on the nut connecting seat (20315), and the slider and the guide roller on it are driven to move as a whole through the screw slider mechanism, while the positions of the other guide rollers remain unchanged; The flexible cable on the spool (20307) passes around a movable guide wheel and other guide wheels that remain in the same position, and then outputs to the corresponding guide hole assembly.

4. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 1, characterized in that, In each cantilever assembly (2), each wire hole assembly includes several wire holes and several wire wheels. The flexible cable output by each winding mechanism (203) passes through several wire holes in the corresponding wire hole assembly and around several wire wheels before being output to the corresponding cable output mechanism.

5. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 1, characterized in that, In each cantilever assembly (2), each wire exit mechanism includes a wire exit hole; the flexible cable output by each winding mechanism (203) passes through the corresponding wire hole assembly, then passes through the wire exit hole in the corresponding wire exit mechanism and is output to the binocular structured light moving platform (5).

6. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 5, characterized in that, In each cantilever assembly (2), each wire exit mechanism also includes a screw-slider mechanism. The wire exit hole is fixed on the slider in the screw-slider mechanism and the wire exit hole is driven to move by the screw-slider mechanism. The flexible cable output by each winding mechanism (203) passes through the corresponding wire hole assembly and then passes through the movable wire exit hole in the corresponding wire exit mechanism before being output and connected to the binocular structured light moving platform (5).

7. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 1, characterized in that, The binocular structured light mobile platform (5) includes a sling mount assembly, a frame assembly, and a binocular structured light assembly; the upper flexible cable (3) output by each cantilever assembly (2) is connected to the upper part of the sling mount assembly, and the lower flexible cable (4) output by each cantilever assembly (2) is connected to the lower part of the sling mount assembly; the frame assembly is connected to the sling mount. The binocular structured light assembly includes a projector connection plate (513) and a projector (501) and two industrial cameras (502) mounted on the projector connection plate (513). The projector connection plate (513) is rotatably connected to the frame assembly via a horizontally axial rotating shaft. A fourth servo motor (503) is mounted on the frame assembly. The fourth servo motor (503) is connected to the rotating shaft of the projector connection plate (513). The fourth servo motor (503) drives the binocular structured light assembly to rotate around the horizontal center line.

8. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 7, characterized in that, The sling mounting bracket assembly has a fifth servo motor (508) with an axial vertical orientation. The frame assembly is fixed on the output shaft of the fifth servo motor (508) and the frame assembly is driven to rotate around the vertical center line by the fifth servo motor (508).

9. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 7, characterized in that, The upper flexible cable (3) output by each cantilever assembly (2) is connected to the upper part of the sling mounting base assembly by a spring, and the lower flexible cable (4) output by each cantilever assembly (2) is connected to the lower part of the sling mounting base assembly by a spring.

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