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

Abstract

This invention discloses a modular, reconfigurable, rigid-flexible coupled cable-connected parallel robot for large-space visual scanning, comprising a binocular structured light mobile platform, two sets of dual-screw modules, and four sets of cantilever assemblies. Each set of dual-screw modules has two sliders. Each cantilever assembly includes profile I and profile II, two wire winding mechanisms, two wire-passing hole assemblies, and two wire-exit mechanisms. The two wire winding mechanisms and wire-passing hole assemblies are mounted on profile I, and one wire-exit mechanism is mounted on profile I and the other on profile II. Profiles I and II of each cantilever assembly are connected by a second rotary joint. The profiles I of the four cantilever assemblies are respectively mounted on the four sliders of the two sets of dual-screw modules via first rotary joints. Each cantilever assembly outputs upper and lower flexible cables, which are respectively connected to the binocular structured light mobile platform. This invention can adapt to different target sizes and scanning areas.

Description

Technical Field

[0001] This invention relates to the field of visual inspection robots, specifically a modular, reconfigurable, rigid-flexible coupled cable parallel robot for large-space visual scanning. Background Technology

[0002] Visual inspection robots can achieve omnidirectional 3D reconstruction and visual inspection of target objects by acquiring and measuring images from multiple angles with high precision. This significantly improves inspection efficiency and accuracy, and is therefore widely used in fields such as industrial automation and quality control. With the increasing application of aerospace equipment and large structural components such as large pressure vessels, the operating range of visual inspection tasks is constantly expanding, placing higher demands on the workspace, movement flexibility, and measurement accuracy of inspection equipment.

[0003] Currently, most existing visual inspection robots employ rigid robotic arm structures. These structures offer high rigidity and repeatability, enabling high-precision visual inspection of small to medium-sized workpieces. However, due to limited movement space, their inspection range is insufficient to cover the entire surface of large structural components. To expand the workspace, some research attempts to combine visual inspection equipment with mobile chassis or drones. For example, patent application number "CN202111439898.9" discloses a visual inspection robot that achieves omnidirectional movement by installing Mecanum wheels on its chassis. Combined with a multi-degree-of-freedom robotic arm to perform inspection tasks, this improves the robot's flexibility, allowing it to perform visual inspection in complex environments. However, the robot's visual inspection range is still limited by its arm span, and the system is complex and costly. The existing patent application number "CN202510829330.X" discloses a steel structure crack detection device based on a binocular vision system. It uses a drone equipped with a binocular camera to detect cracks in steel bridges. Although it can cover a large detection range, its positioning accuracy and stability are easily affected by the environment, making it difficult to meet the needs of large-space, high-precision industrial inspection scenarios.

[0004] To overcome the aforementioned limitations, cable-stayed parallel robots, with their lightweight, low cost, high dynamic performance, and large workspace, are gradually being introduced into the field of visual inspection. Existing patent application number "CN201910193057.0" discloses a cable-stayed parallel robot for detecting defects on the inner walls of coal bunkers. This robot uses four controllable flexible cables to drive the visual inspection platform to move flexibly within the coal bunker's interior. A two-axis balancing mechanism and counterweight module ensure the visual inspection platform remains horizontal during movement, improving system stability. However, the posture of the visual inspection platform cannot be controlled, preventing inspection in arbitrary directions. Furthermore, the cable exit point is fixed, and obstacle avoidance during system operation is not considered, making it difficult to meet the visual inspection requirements of other complex spaces.

[0005] In summary, while existing visual inspection robots have made some progress in mobility, structural flexibility, and inspection coverage, they still have shortcomings in overall performance such as operational stability, inspection accuracy, and environmental adaptability. Mobile or unmanned aerial vehicle (UAV) inspection systems are complex in structure, and their inspection accuracy and stability are easily affected by environmental interference. While cable-driven mechanisms offer the advantage of a large workspace, they also suffer from poor posture controllability and insufficient obstacle avoidance capabilities, making it difficult to meet the demands of high-precision visual inspection tasks in complex spaces. Therefore, it is necessary to design a novel large-space visual inspection robot structure that can expand the motion space through cable-driven mechanisms while also taking into account the posture flexibility and obstacle avoidance capabilities of the visual inspection platform. This would allow for high-precision visual inspection while adapting to inspection scenarios of different sizes and complex structures. Summary of the Invention This invention provides a modular, reconfigurable, rigid-flexible coupled, 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 inspection robots when facing large-space operations.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A modular, reconfigurable rigid-flexible coupled cable parallel robot for large-space visual scanning includes a binocular structured light mobile platform (5), two sets of dual screw modules (1), and four sets of cantilever components (2).

[0008] 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.

[0009] 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.

[0010] 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).

[0011] 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).

[0012] 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).

[0013] Furthermore, 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.

[0014] Furthermore, 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;

[0015] 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;

[0016] 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.

[0017] Furthermore, 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.

[0018] Furthermore, 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, and then passes through the wire exit hole in the corresponding wire exit mechanism before being output and connected to the binocular structured light moving platform (5).

[0019] Furthermore, 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 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).

[0020] Furthermore, 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.

[0021] 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.

[0022] Furthermore, 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).

[0023] Furthermore, 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.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. This invention designs a modular cantilever assembly, each of which includes two rotating joints. By rotating the rotating joints, the cantilever arm shape can be flexibly adjusted to adapt to different target sizes and scanning areas, enabling rapid reconstruction of the robot structure and task adaptation. The modular design significantly improves the system's scalability, ease of assembly, and environmental adaptability.

[0026] 2. This invention designs a cable delivery mechanism with a movable cable delivery point. The overall structure adopts a screw-slider structure, with the cable delivery hole fixed on the slider. The position of the cable delivery point can be changed by rotating the screw. At the same time, the flexible cable is wound on the winding mechanism, and the length of the flexible cable can be changed by rotating the winding drum. The variability of the cable delivery point position and the length of the flexible cable allows the system to flexibly adjust the direction and distribution of the flexible cable, realize automatic obstacle avoidance, and improve the robot's movement flexibility and safety in complex environments.

[0027] 3. In this invention, every two sets of cantilever assemblies are mounted on a set of slide rails. The slide rails adopt a double lead screw module structure. By driving the corresponding lead screws to rotate, each set of cantilever assemblies can be translated along the guide rail direction, thereby expanding the robot's working range. In addition, the cantilever assemblies can rotate relative to the slide rails, thereby changing the orientation of the cable exit point and improving the robot's flexibility.

[0028] 4. The end-effector binocular structured light moving platform designed in this invention has two rotational degrees of freedom, which can flexibly adjust the scanning posture to achieve multi-angle high-precision scanning of complex curved surfaces and large-sized workpieces, thereby improving the detection coverage and visual measurement accuracy of the system.

[0029] 5. In this invention, a spring assembly is installed on the flexible cable connecting plate in the binocular structured light moving platform. One end of the spring is connected to the flexible cable to realize adaptive adjustment of the tension of the flexible cable, so that the flexible cable is always in a taut state, preventing end posture deviation caused by the slack of the flexible cable, and improving the motion stability of the end platform. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention.

[0031] Figure 2 This is a schematic diagram of a robot with an outward tilting cantilever.

[0032] Figure 3 This is a schematic diagram of a vertical cantilever robot structure.

[0033] Figure 4 A schematic diagram of a robot structure with a rotating cantilever base.

[0034] Figure 5 A schematic diagram of the dual lead screw module structure with the top cover removed.

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

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

[0037] Figure 8 This is a schematic diagram of the winding mechanism.

[0038] Figure 9 This is a schematic diagram of the through-hole assembly I.

[0039] Figure 10 This is a schematic diagram of the through-hole assembly II.

[0040] Figure 11 This is a schematic diagram of the outgoing line mechanism I.

[0041] Figure 12 This is a schematic diagram of the binocular structured light mobile platform.

[0042] Figure 13 This is a schematic diagram of the wiring for a binocular structured light moving platform.

[0043] Figure 14 This is a schematic diagram of the robot's overall workspace.

[0044] Figure 15This is a flowchart of the motion control method in this embodiment.

[0045] Figure label:

[0046] Dual lead screw module-1, cantilever assembly-2, upper flexible cable-3, lower flexible cable-4, binocular structured light moving platform-5, inspection object-6, optical platform breadboard-7, dual lead screw module top cover-110.

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

[0048] Angle adapter plate-201, Rotary connecting plate I-202, Winding mechanism-203, Profile I-204, Cable guide hole assembly I-205, Rotary connecting plate II-206, Adjusting shaft I-207, Rotary connecting plate III-208, Profile II-209, Cable exit mechanism I-210, Cable guide hole assembly II-211, Cable exit mechanism II-212, Adjusting shaft II-213, Cable exit hole II-21201.

[0049] Second reducer-20301, Second servo motor-20302, Reducer mounting plate-20303, Coupling-20304, Wire guide roller I-20305, Wire guide roller II-20306, Wire reel-20307, ​​Wire guide roller III-20308, Wire reel mounting plate-20309, Synchronous belt pulley I-20310, Tensioner roller-20311, Synchronous belt I-20312, Synchronous belt pulley II-20313, Mounting base-20314, Nut connecting seat-20315, Ball screw II-20316, Guide shaft-20317, Bearing mounting plate-20318, Wire guide roller mounting plate-20319.

[0050] Cable guide assembly I mounting plate-20501, cable guide I-20502, cable guide roller IV-20503, cable guide roller V-20504, cable guide roller VI-20505, cable guide hole II-20506

[0051] Wire guide roller VII-21101, wire guide hole III-21102, wire guide roller VIII-21103, wire guide roller IX-21104, wire guide roller X-21105, wire guide roller XI-21106, wire guide hole assembly II mounting plate-21107, wire guide 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, cable outlet I-21007, cable outlet slider-21008, base-21009.

[0053] Projector-501, Industrial Camera-502, Fourth Servo Motor-503, Upper Frame Connecting Plate-504, Lower Flexible Cable Connecting Plate-505, Spring-506, Upper Flexible Cable Connecting Plate-507, Fifth Servo Motor-508, Motor Adapter Shaft-509, Frame Connecting Plate-510, Adapter Plate-511, Camera Connecting Plate-512, Projector Connecting Plate-513. Detailed Implementation

[0054] To enable those skilled in the art to better understand the present invention, the embodiments will be described in detail below with reference to the accompanying drawings and examples. This will allow for a full understanding of how the present invention uses technical means to solve technical problems and achieve corresponding technical effects, and to facilitate its implementation. The embodiments of the present invention and the various features within them can be combined with each other without conflict, and all resulting technical solutions are within the protection scope of the present invention.

[0055] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion.

[0057] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, this embodiment discloses a modular, reconfigurable rigid-flexible coupled cable parallel robot for large-space visual scanning, including an optical platform breadboard 7, a binocular structured light moving platform 5, two sets of dual lead screw modules 1, and four sets of cantilever components 2.

[0058] The two sets of double lead screw modules 1 have the same structure. The lead screws in the two sets of double lead screw modules 1 are in the same horizontal direction. The two sets of double lead screw modules 1 are installed on the top surface of the optical platform breadboard 7 and are symmetrical.

[0059] The four cantilever assemblies 2 have the same structure. Two of the cantilever assemblies 2 are mounted on one of the double lead screw modules 1, and the other two cantilever assemblies are mounted on another double lead screw module. Each cantilever assembly 2 can pitch and rotate on the corresponding double lead screw module, and each cantilever assembly 2 can rotate to adjust its arm posture. The two cantilever assemblies 2 are driven to move horizontally in a straight line by each double lead screw module 1.

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

[0061] The object to be detected 6 is placed on the top surface of the breadboard 7 of the optical platform and positioned between the two sets of twin screw modules 1. The binocular structured light moving platform 5 scans the object to be detected 6. The position of the binocular structured light moving platform 5 is adjusted by the horizontal linear movement of each set of cantilever components and the upper flexible cable 3 and lower flexible cable 4 output by each set of cantilever components. The binocular structured light moving platform 5 itself can adjust its posture during visual acquisition.

[0062] Specific examples Figure 5 As shown, in this embodiment, each set of dual lead screw modules 1 includes a dual lead screw module base 108, which is fixed to the top surface of the optical platform breadboard 7. The dual lead screw module bases 108 of the two sets of dual lead screw modules 1 are symmetrically distributed on the top surface of the optical platform breadboard 7.

[0063] In each set of twin screw modules 1, two guide rails I105 are fixed on the top surface of the twin screw module base 108. The two guide rails I105 are symmetrical to each other and extend in the same horizontal direction. The horizontal extension direction of the guide rails I105 in the two sets of twin screw modules 1 is the same.

[0064] In each set of dual-screw modules 1, a timing belt mounting box 103 is fixed on the top surface of the dual-screw module base 108 at a position outside the two ends of the two guide rails I105. Each timing belt mounting box 103 contains a timing belt mechanism, and the axial directions of the driving and driven timing belt pulleys in the timing belt mechanism are parallel to the horizontal extension direction of the guide rails I105. A first servo motor 101 is fixedly mounted on the side of the dual-screw module base 108 corresponding to the position of each timing belt mounting box 103. Each first servo motor 101 is coaxially connected to the driving timing belt pulley in the timing belt mechanism in the corresponding timing belt mounting box 103 through a first reducer 102.

[0065] In each set of dual screw modules 1, two ball screws I109 are arranged above the base 108 of the dual screw module. The two ball screws I109 are symmetrical. The axial direction of each ball screw I109 is parallel to the horizontal extension direction of the guide rail I105, and the axial direction of the ball screws I109 in both sets of dual screw modules 1 is the same horizontal direction. In each set of dual-screw modules 1, one end of the first ball screw I109 is coaxially and fixedly connected to the driven synchronous pulley in the synchronous belt mechanism inside one of the synchronous belt mounting boxes 103. A limiter 106 is fixed on the top surface of the dual-screw module base 108 corresponding to the other end of the first ball screw I109. The other end of the first ball screw I109 is rotatably mounted on the limiter 106 fixed at the corresponding position on the top surface of the dual-screw module base 108. One end of the second ball screw I is coaxially and fixedly connected to the driven synchronous pulley in the synchronous belt mechanism inside another synchronous belt mounting box. Another limiter is fixed on the top surface of the dual-screw module base 108 corresponding to the other end of the second ball screw I. The other end of the second ball screw I is rotatably mounted on the other limiter 106 fixed at the corresponding position on the top surface of the dual-screw module base 108.

[0066] In each set of dual-screw modules 1, two sliders 104 are slidably mounted on the two guide rails I105 on the dual-screw module base 108. Each slider 104 is fixedly connected to a ball screw nut 107. The ball screw nut 107 connected to one slider 104 is screwed into one of the ball screws I109 through a threaded hole, and the ball screw nut connected to the other slider is screwed into the other ball screw I through a threaded hole.

[0067] In each set of dual-screw modules 1, when the two first servo motors 101 drive the corresponding ball screw I109 to rotate through the corresponding first reducer 102 and synchronous belt mechanism, the corresponding slider 104 can slide on the two guide rails I105. Thus, each set of dual-screw modules 1 has two sliders 104 that can slide in the same horizontal direction, and the horizontal sliding direction of each slider 104 in the two sets of dual-screw modules 1 is the same.

[0068] like Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11As shown, in this embodiment, each cantilever assembly 2 includes an angle transition plate 201, first and second rotating joints, profile I 204, profile II 209, two winding mechanisms 203, wire-passing hole assembly I 205, wire-passing hole assembly II 211, wire-exit mechanism I 210, and wire-exit mechanism II 212. Profile I 204 and profile II 209 have the same structure, the two winding mechanisms 203 have the same structure, and wire-exit mechanism I 210 and wire-exit mechanism II 212 have the same structure. Of the four cantilever assemblies 2, two cantilever assemblies 2 are respectively mounted on two sliders 104 in one set of double lead screw modules 1, and the other two cantilever assemblies 2 are respectively mounted on two sliders 104 in another set of double lead screw modules 1.

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

[0070] The angle adapter plate 201 has several threaded holes, and the top surface of the corresponding slider 104 in the corresponding twin-screw module 1 for each cantilever assembly 2 also has several threaded holes. The angle adapter plate 201 is detachably and securely mounted to the top surface of the corresponding slider 104 in the corresponding twin-screw module 1 by several vertical bolts. By mounting the angle adapter plate 201 in each cantilever assembly 2 onto the corresponding slider 104 in the corresponding twin-screw module 1, each cantilever assembly 2 can move along the guide rail I 105 in the twin-screw module 1 following the corresponding slider 104, thus expanding the robot's working range. In each cantilever assembly 2, the angle adapter plate 201 and the slider 104 are 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 rotating joint in each cantilever assembly 2 can be rotated relative to the corresponding slider 104 in the corresponding double screw module 1 around the vertical rotation center line. The rotation accuracy is 22.5 degrees. By rotating each cantilever assembly 2, the orientation of the cable outlet point can be adjusted, which improves the robot's flexibility.

[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 mounted on the angle transition plate 201. Each of the two rotating connecting plates I 202 has a ring of threaded holes at one end, and each of the two sides of the adjusting shaft II 213 has a ring of threaded holes. The ends of the two rotating connecting plates I 202 with threaded holes are bolted to the two sides of the adjusting shaft II 213 with threaded holes. When the bolts between the two rotating connecting plates I 202 and the adjusting shaft II 213 are removed, by changing the relative positional relationship between the threaded holes of the two rotating connecting plates I 202 and the adjusting shaft II 213, the two rotating connecting plates I 202 can achieve a rotation accuracy of 30 degrees around the horizontal rotation centerline on the adjusting shaft II 213. Thus, each cantilever assembly 2 as a whole achieves a pitch rotation accuracy of 30 degrees around the horizontal rotation centerline through the first rotating joint.

[0072] In each cantilever assembly 2, one end of profile I 204 along its long side is fixedly installed between the other ends of the two rotating connecting plates I 202 in the first rotating joint. A side of profile I 204 parallel to its long side and located between the two rotating connecting plates I 202 is designated as the cable exit side, and cable exit mechanism II 212 is installed on this side. Two winding mechanisms 203 are respectively installed on two symmetrical sides of profile I 204 adjacent to the cable exit side and parallel to the rotating connecting plates I 202. One winding mechanism 203 is used to output the upper flexible cable 3, and the other winding mechanism is used to output the lower flexible cable 4.

[0073] In each cantilever assembly 2, a wire-passing hole assembly I 205 is located on the side of the profile I 204 where the winding mechanism 203 for outputting the lower flexible cable 4 is located, and the wire-passing hole assembly I 205 is located outside the end of the winding mechanism 203 for outputting the lower flexible cable 4 away from the first rotating joint. This wire-passing hole assembly I 205 allows the lower flexible cable 4 to pass through. A wire-passing hole assembly II 211 is located on the side of the profile I 204 where the winding mechanism 203 for outputting the upper flexible cable 3 is located, and the wire-passing hole assembly II 211 is located outside the end of the winding mechanism 203 for outputting the upper flexible cable 3 away from the first rotating joint. This wire-passing hole assembly II 211 allows the upper flexible cable 3 to pass through. Furthermore, the distance between the wire-passing hole assembly II 211 and the first rotating joint is greater than the distance between the wire-passing hole assembly I 205 and the first rotating joint.

[0074] In each cantilever assembly 2, a second rotating joint is located at the other end of the long side of profile I 204. The second rotating joint includes an adjusting shaft I 207, two rotating connecting plates II 206, and two rotating connecting plates III 208. The axis of the adjusting shaft I 207 is horizontal, and the axis of the adjusting shaft I 207 is parallel to the axis of the adjusting shaft II 213. One end of each of the two rotating connecting plates II 206 is fixed to the side of profile I 204 where the two winding mechanisms 203 are located, corresponding to the other end of the long side, and the other end of each of the two rotating connecting plates II 206 is fixed to both sides of the axial direction of the adjusting shaft I 207. Each of the two rotating connecting plates Ⅲ208 has a ring of mounting threaded holes at one end. The two rotating connecting plates Ⅱ206 have a ring of mounting threaded holes at the contact end with the adjusting shaft Ⅰ207. The adjusting shaft Ⅰ207 has a ring of mounting threaded holes on both sides along its axial direction. The ends of the two rotating connecting plates Ⅲ208 with mounting threaded holes are connected to the ends of the two rotating connecting plates Ⅱ206 with mounting threaded holes and the adjusting shaft Ⅰ207 respectively by bolts. The two rotating connecting plates Ⅲ208 are located on the outside of the two rotating connecting plates Ⅱ206 respectively.

[0075] In each cantilever assembly 2, one end of profile II 209 along its long side is fixedly installed between the other ends of two rotating connecting plates III 208, while the other end of profile II 209 extends freely. A side of profile II 209 parallel to its long side and located between the two rotating connecting plates III 208 is designated as the cable exit side, and cable exit mechanism I 210 is installed on the cable exit side of profile II 209.

[0076] In each cantilever assembly 2, when the bolts between the two rotating connecting plates III 208, the two rotating connecting plates II 206, and the adjusting shaft I 207 are removed, the relative positional relationship between the mounting threaded holes of the two rotating connecting plates III 208 and II 206 can be changed. This allows the two rotating connecting plates III 208 to rotate about a horizontal rotation centerline with a rotational accuracy of 30 degrees relative to the two rotating connecting plates II 206. Consequently, the profile II 209 as a whole can rotate about a horizontal rotation centerline with a rotational accuracy of 30 degrees relative to the profile I 204 via the second rotating joint. Thus, by rotating the two rotating joints in each cantilever assembly 2, the arm shape of each cantilever assembly 2 can be changed, allowing the robot to adapt to different work requirements. The adjusting shaft I 207, fixed between the two rotating connecting plates II 206, provides support during the rotation of the second rotating joint, making the relative rotation between the profile II 209 and the profile I 204 more stable.

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

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

[0079] In each winding mechanism 203 of each cantilever assembly 2, a flexible rope is wound around a winding drum 20307. One axial end of the winding drum 20307 is rotatably mounted on a bearing mounting plate 20318, and the other axial end is rotatably mounted on a winding drum mounting plate 20309. One axial end of a ball screw II 20316 is rotatably mounted on a bearing mounting plate 20318, and the other axial end is rotatably mounted on a winding drum mounting plate 20309. One axial end of a guide shaft 20317 is fixedly mounted on a bearing mounting plate 20318, and the other axial end is fixedly mounted on a winding drum mounting plate 20309. Furthermore, the axial directions of the winding drum 20307, ​​ball screw II 20316, and guide shaft 20317 are all parallel to the long side of the mounting base 20314. A synchronous belt mechanism is also provided on the side of the winding drum mounting plate 20309 facing away from the bearing mounting plate 20309.

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

[0081] In each winding mechanism 203 of each cantilever assembly 2, the wire guide wheel III 20308 is rotatably mounted on the nut connecting seat 20315, and the axial direction of the wire guide wheel III 20308 is perpendicular to the seat surface and long side of the mounting base 20314. The wire guide wheel II 20306 is rotatably mounted on the bearing mounting plate 20318, and the axial direction of the wire guide wheel II 20306 is perpendicular to the seat surface and long side of the mounting base 20314. A wire guide wheel mounting plate 20319 is fixed to one side of the bearing mounting plate 20318, and the wire guide wheel I 20305 is rotatably mounted on the wire guide wheel mounting plate 20319, and the axial direction of the wire guide wheel I 20305 is perpendicular to the seat surface and long side of the mounting base 20314.

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

[0083] In each cantilever assembly 2, in each winding mechanism 203, the flexible cable on the winding drum 20307 passes sequentially around the guide wheel Ⅲ 20308, guide wheel Ⅱ 20306 and guide wheel Ⅰ 20305 before being output outward.

[0084] In each cantilever assembly 2, the flexible cable output by one winding mechanism 203 serves as the upper flexible cable 3, and the flexible cable output by the other winding mechanism serves as the lower flexible cable 4. Thus, in each cantilever assembly 2, when the second servo motors 20302 in the two winding mechanisms 203 drive their respective winding drums 20307 to rotate, the upper flexible cable 3 and the lower flexible cable 4 can be wound up and down. Simultaneously, the design of the lead screw-slider mechanism and the guide wheel in each winding mechanism 203 ensures that the flexible cable is neatly wound on the corresponding winding drum 20307 and prevents slippage.

[0085] like Figure 9 As shown, each cantilever assembly 2 includes a cable guide assembly I 205, comprising an L-shaped cable guide assembly I mounting plate 20501, a cable guide I 20502, a cable guide wheel IV 20503, a cable guide wheel V 20504, a cable guide wheel VI 20505, and a cable guide II 20506. The cable guide assembly I mounting plate 20501 is fixed to the side of the profile I 204 where the winding mechanism 203 for outputting the lower flexible cable 4 is located. Cable guide holes I 20502 and II 20506 are both fixedly mounted on the cable guide assembly I mounting plate 20501. Cable guide wheels IV 20503, V 20504, and VI 20505 are rotatably mounted on the cable guide assembly I mounting plate 20501. Specifically, wire guide hole I20502 and wire guide roller IV20503 are located on one arm of the L-shape of the mounting plate 20501 of the wire guide hole assembly I; wire guide roller V20504 is located at the inflection point of the L-shape of the mounting plate 20501 of the wire guide hole assembly I; and wire guide roller VI20505 and wire guide hole II20506 are located on the other arm of the L-shape of the mounting plate 20501 of the wire guide hole assembly I. Furthermore, the axial directions of wire guide hole I20502, wire guide roller V20504, and wire guide hole II20506 are the same and parallel to the long side of profile I204; the axial direction of wire guide roller IV20503 is perpendicular to the long side of profile I204; the axial direction of wire guide roller VI20505 is perpendicular to the axial direction of wire guide roller VI20505.

[0086] In each cantilever assembly 2, the lower flexible cable 4 output from the winding mechanism 203 for outputting the lower flexible cable 4 passes upward through the wire hole I20502 in the wire hole assembly I205, then passes sequentially around the wire wheel IV20503, wire wheel V20504 and wire wheel VI20505, and then passes through the wire hole II20506 before finally entering the wire exit mechanism II212 on the wire exit side of the profile I204.

[0087] like Figure 10As shown, each cantilever assembly 2 includes a wire guide assembly II 211, which comprises an L-shaped wire guide assembly II mounting plate 21107, a wire guide roller VII 21101, a wire guide hole III 21102, a wire guide roller VIII 21103, a wire guide roller IX 21104, a wire guide roller X 21105, a wire guide roller XI 21106, and a wire guide hole IV 21108. The wire guide assembly II mounting plate 21107 is fixed to the side of the profile I 204 where the winding mechanism 203 for outputting the upper flexible cable 3 is located. Wire guide holes III 21102 and IV 21108 are both fixedly mounted on the wire guide assembly II mounting plate 21107. Wire guide rollers VII 21101, VIII 21103, IX 21104, X 21105, and XI 21106 are all rotatably mounted on the mounting plate 21107 of the wire guide hole assembly II. Specifically, wire guide rollers VII 21101, wire guide hole III 21102, VIII 21103, and IX 21104 are located on one arm of the L-shape of the mounting plate 21107; wire guide roller X 21105 is located at the inflection point of the L-shape of the mounting plate 21107; and wire guide roller XI 21106 and wire guide hole IV 21108 are located on the other arm of the L-shape of the mounting plate 21107. Furthermore, the axial directions of wire guide hole Ⅲ21102, wire guide roller Ⅹ21105, and wire guide hole Ⅳ21108 are the same and parallel to the long side of profile I204; the axial directions of wire guide roller Ⅶ21101 and wire guide roller Ⅸ21104 are the same and perpendicular to the long side of profile I204; the axial directions of wire guide roller Ⅷ21103 and wire guide roller Ⅺ21106 are the same and perpendicular to the long side of profile I204; and the axial directions of wire guide roller Ⅶ21101 and wire guide roller Ⅸ21104 are perpendicular to the axial directions of wire guide roller Ⅷ21103 and wire guide roller Ⅺ21106.

[0088] In each cantilever assembly 2, the upper flexible cable 3 output from the winding mechanism for outputting the upper flexible cable 3 passes through the wire hole Ⅳ21108 in the wire hole assembly Ⅱ211, then passes around the wire wheel Ⅺ21106, wire wheel Ⅹ21105, wire wheel Ⅸ21104 and wire wheel Ⅶ21101 in sequence, then passes through the wire hole Ⅲ21102 and passes around the wire wheel Ⅷ21103, and finally the upper flexible cable 3 enters the wire exit mechanism Ⅰ210 on the wire exit side of the profile Ⅱ209.

[0089] In each cantilever assembly 2, the cable exit mechanism I 210 and the cable exit mechanism II 212 have the same structure. In this embodiment, the cable exit mechanism I 210 is used as an example for explanation. Figure 11 As shown, the cable outlet mechanism I 210 adopts a screw-slider structure design, including a base 21009, guide rail II 21001, ball screw III 21002, synchronous pulley III 21003, synchronous belt II 21004, synchronous pulley IV 21005, third servo motor 21006, cable outlet hole I 21007, and cable outlet hole slider 21008.

[0090] In the cable exit mechanism I 210 of each cantilever assembly 2, the base 21009 is fixed to the cable exit 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 fixed at both ends of the base 21009 along its long side. The guide rail II 21001 is located on the base 21009 and between the two end plates. The ball screw III 21002 is located above the guide rail II 21001, and its axial ends are 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. Synchronous pulley III 21003 is coaxially fixedly mounted on one axial end of ball screw III. Synchronous pulley IV 21005 is rotatably mounted on the end plate where the axial end of ball screw III is located, and synchronous pulleys III 21003 and IV 21005 are connected by synchronous belt II 21004. A third servo motor 21006 is fixedly mounted on the end plate where the axial end of ball screw III is located, and the output shaft of the third servo motor 21006 is coaxially fixedly connected to synchronous pulley IV 21005. A cable outlet slider 21008 is slidably mounted on guide rail II 21001, and is screwed onto ball screw III 21002 via a threaded hole. Cable outlet I 21007 is provided on cable outlet slider 21008. After passing through the wire hole assembly II211, the upper flexible cable 3 enters the wire exit mechanism I210 on the wire exit side of the profile II209, and passes through the wire exit hole I21007 in the wire exit mechanism I210 before being output to the binocular structured light moving platform 5. When the third servo motor 21006 in the wire exit mechanism I210 drives the ball screw III21002 to rotate through the synchronous belt mechanism, it can drive the wire exit hole slider 21008 to slide on the guide rail II21001, thereby changing the position of the wire exit hole I21007 and thus adjusting the wire exit position of the upper flexible cable 3.

[0091] The cable exit mechanism II212 is structurally identical to the cable exit mechanism I210, both employing a screw-slider design. The base of cable exit mechanism II212 is fixed to the cable exit side of profile I204, and the long side of the base 21009 is parallel to the long side of profile I204. The structural layout of the guide rail II, ball screw III, synchronous pulley III, synchronous belt II, synchronous pulley IV, third servo motor, cable exit hole II21201, and cable exit hole slider in cable exit mechanism II212 is identical to that of the corresponding components in cable exit mechanism I210. The lower flexible cable 4 passes through the cable through hole assembly I205 and enters the cable exit mechanism II212 on the cable exit side of profile I204, then passes through the cable exit hole II21201 in cable exit mechanism II212 before being output to the binocular structured light moving platform 5. When the third servo motor in the cable exit mechanism II212 drives the ball screw III to rotate through the synchronous belt mechanism, it can drive the cable exit hole slider to slide on the guide rail II, thereby changing the position of the cable exit hole II21201 and thus adjusting the cable exit position of the lower flexible cable 4.

[0092] Therefore, in each cantilever assembly 2 of this embodiment, the positions of the upper and lower flexible cables can be varied through two cable-leading mechanisms. This variability in cable position improves the robot's flexibility and enables it to perform certain obstacle avoidance functions.

[0093] like Figure 12 As shown, in this embodiment, the binocular structured light mobile platform 5 includes a sling mounting base assembly, a motor adapter shaft 509, a frame assembly, and a binocular structured light assembly.

[0094] The sling mounting assembly includes an upper flexible cable connecting plate 507 and a lower flexible cable connecting plate 505 located below the upper flexible cable connecting plate 507. The upper flexible cable connecting plate 507 and the lower flexible cable connecting plate 505 are connected by four connecting rods. The upper flexible cable connecting plate 507 has upper flexible cable mounting holes at its four corners for connecting the upper flexible cables 3 output from each cantilever assembly 2. Four springs 506 in different horizontal directions are mounted on the top of the upper flexible cable connecting plate 507 via spring fasteners. The lower flexible cable connecting plate 505 has lower flexible cable mounting holes at its four corners for connecting the lower flexible cables 4 output from each cantilever assembly 2. Four springs 506 in different horizontal directions are mounted on the bottom of the lower flexible cable connecting plate 505 via spring fasteners.

[0095] The upper flexible cable 3 output from each cantilever assembly 2 passes through the outlet hole I21007 in the outlet mechanism I210 and connects downwards to the corresponding upper flexible cable mounting hole on the upper flexible cable connecting plate 507 in the binocular structured light moving platform 5. 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 member, and the other end is connected to the corresponding upper flexible cable 3. The lower flexible cable 4 output from each cantilever assembly 2 passes through the outlet hole II21201 in the outlet mechanism II212 and connects upwards to the corresponding lower flexible cable mounting hole on the lower flexible cable connecting plate 505 in the binocular structured light moving platform 5. 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 member, and the other end is connected to the corresponding lower flexible cable 4. By using the springs 506 to pull the corresponding flexible cable, the tension of the corresponding flexible cable can be maintained, so that the upper and lower flexible cables 3 and 4 are always in a taut state, thereby improving the stability of the robot.

[0096] A fifth servo motor 508 is fixed on the lower flexible cable connecting plate 505. The output shaft of the fifth servo motor 508 passes through the lower flexible cable connecting plate 505 and is coaxially and fixedly connected to 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 both sides of the rack upper connecting plate 504, and the other end of the motor adapter shaft 509 is fixedly connected to the rack upper connecting plate 504 in the rack assembly. A fourth servo motor 503 with an axial horizontal direction is fixed on one of the rack connecting plates 510.

[0098] The binocular structured light assembly includes a projector connection plate 513, two adapter plates 511, a projector 501, and two industrial cameras 502. One end of each adapter plate 511 is fixedly connected to both sides of the projector connection plate 513, and the two adapter plates 511 are rotatably mounted on the inner sides of two frame connection plates 510 in the frame assembly via corresponding horizontal axial shafts. The output shaft of the fourth servo motor 503 in the frame assembly is coaxially and fixedly connected to the shaft of one of the adapter plates 511 via an adapter shaft.

[0099] The projector connection plate 513 is equipped with a projector 501 and two industrial cameras 502. The projector 501 is fixed to the middle position of the projector connection plate 513 by a mounting frame, and the two industrial cameras 502 are fixed to the projector connection plate 513 by a camera connection plate 512. The two industrial cameras 502 are symmetrically distributed on both sides of the projector 501 in the horizontal direction.

[0100] like Figure 13As shown, in the binocular structured light moving platform 5, the fourth servo motor 503 drives the binocular structured light component to rotate around the horizontal axis, and the fifth servo motor 508 drives the frame assembly and the binocular structured light component mounted on the frame assembly to rotate around the vertical axis. Thus, the binocular structured light component has two independent rotational degrees of freedom, allowing adjustment of its posture during visual acquisition. This improves the flexibility of the binocular structured light moving platform 5 and expands its scanning range.

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

[0102] Figure 2 , Figure 3 , Figure 4 These are schematic diagrams of the robot described in this embodiment under different configurations. Compared to Figure 1 The robot's original pose is shown. Figure 2 In the middle, the first rotating joint of the four sets of cantilever components 2 remains stationary, the second rotating joint rotates 90 degrees, the entire cantilever component 2 is in an outward tilting posture, and the angle between the cantilever component 2 and the double lead screw module 1 remains unchanged. Figure 3 In the process, the first rotating joint of the four cantilever components 2 rotated by -30 degrees and the second rotating joint rotated by 90 degrees, so that the entire cantilever component 2 is in a vertical posture and the angle between the cantilever component 2 and the double lead screw module 1 remains unchanged. Figure 4 In this configuration, the first rotational joint of each of the four cantilever assemblies 2 remains stationary, while the second rotational joint rotates by 30 degrees. Two cantilever assemblies 2 mounted on the same set of twin-screw modules 1 rotate by 45 degrees and -45 degrees respectively relative to the twin-screw module 1. Consequently, the two cantilever assemblies 2 mounted on the same set of twin-screw modules 1 are parallel to each other and are paired with two cantilever assemblies 2 mounted on another set of twin-screw modules 1. By adjusting the robot to different configurations, the robot's workspace can be reconstructed.

[0103] In its original orientation, the binocular structured light moving platform 5 has a relatively compact range of motion and a relatively small workspace. This configuration is suitable for the local fine scanning stage in large-space visual scanning, enabling high-precision supplementary measurement and detail reconstruction of key areas or complex surfaces. When the cantilever is tilted outward, the reach of the binocular structured light moving platform 5 is significantly increased, forming a larger workspace. This configuration can cover wide-area visual scanning tasks for large structural components or complex-shaped objects. When the cantilever is in a vertical orientation, the spatial distribution of the flexible cable tends to be uniform, and the system's motion performance in the horizontal and vertical directions is balanced. This configuration is suitable for visual scanning tasks involving multiple angles, complex curved surfaces, or irregular structures. When the cantilever base is rotated so that the cantilever orientation is perpendicular to the sliding direction of the dual-screw module, the system configuration exhibits planar characteristics. At this time, the reach of the binocular structured light moving platform 5 in the horizontal direction is wider. This configuration is suitable for scanning tasks in planar or partially enclosed spaces. Figure 14 The total workspace of all robot configurations described in this embodiment is shown. In practical applications, the robot can flexibly switch configurations according to different visual scanning tasks to reconstruct the workspace range, thereby improving the system's task adaptability in large-space visual scanning.

[0104] like Figure 15 As shown in this embodiment, the motion control method for a modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning is as follows:

[0105] (1) Initialize the system and check whether the robot’s functions are working properly.

[0106] (2) Confirm the position of the object to be detected 6, adjust the cantilever assembly 2 to a suitable arm shape 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 screw module 1, adjust the cantilever assembly 2 to a suitable position, and adjust the cantilever assembly 2 to a suitable orientation by rotating the angle adapter plate 201.

[0107] (3) Perform trajectory planning for the robot's scanning path, and solve the inverse kinematics of the robot based on the trajectory planning results.

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

[0109] (5) During the scanning process, detect whether an obstacle is encountered. If an obstacle is encountered, drive the motor in the cable exit mechanism to adjust the positions of the upper cable exit point and the lower cable exit point to avoid the obstacle.

[0110] (6) After completing the current visual scanning task, check whether the data of the currently collected object 6 is complete. If the data is incomplete, start again from process (3) until complete data is collected.

[0111] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments are merely descriptions of preferred embodiments and are not intended to limit the scope or concept of the invention. The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. Such combinations, as long as they do not violate the spirit of the present invention, should also be considered as part of this disclosure. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations.

[0112] This invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this invention and without departing from the design idea of ​​this invention, all modifications and improvements made by those skilled in the art to the technical solutions of this invention should fall within the protection scope of this invention. The technical content for which protection is sought in this invention has been fully described 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 each cantilever assembly (2), each wire exit mechanism includes a wire exit hole; 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). 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, 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.

6. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 5, 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).

7. A modular, reconfigurable rigid-flexible coupled cable-stayed parallel robot for large-space visual scanning according to claim 5, 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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