Multi-degree-of-freedom suspension type driving device

Abstract

The invention discloses a multi-degree-of-freedom suspension type driving device, and belongs to the technical field of automatic equipment. The device solves the technical problems that an existing suspension type operation device is insufficient in freedom degree, low in positioning precision and poor in operation flexibility. According to the technical scheme, the device comprises a first driving mechanism and a second driving mechanism which are arranged at an interval and used for driving a suspension point to move in a two-dimensional plane; one end of the traction rope is connected with the first driving mechanism, the other end of the traction rope is connected with the second driving mechanism, and the two driving mechanisms are used for controlling winding and unwinding of the traction rope; the suspension bracket is connected with the traction rope through the pulley block and is driven by the driving mechanism to move in the space; the terminal adjusting mechanism is installed at the bottom of the suspension support and comprises a swing assembly and an operation tool. According to the device, precise positioning of the suspension support is achieved through cooperative control of the dual-drive mechanism, and multi-degree-of-freedom adjustment of an operation tool is achieved in combination with the terminal adjusting mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery equipment, and in particular to a multi-degree-of-freedom suspension driving device. BACKGROUND

[0002] In the maintenance, construction or cleaning operation of large containers (such as boilers, storage tanks), building structures (such as building outer walls) or ships (such as hulls, ship cabins), it is often necessary to operate on large-area vertical surfaces, top surfaces or complex curved surfaces, such as internal wall rust removal, outer wall cleaning, hull welding, surface spraying, etc. At present, the common solutions for the above operation scenarios mainly include the following: (1) erecting a scaffold: this way is time-consuming and labor-intensive, with high cost, and the operation range is limited, with significant safety hazards in high-rise or enclosed spaces; (2) using a large ground mechanical arm: although this type of equipment has high automation, it requires a solid and flat ground as support, and it is difficult to enter and operate in enclosed or space-limited environments such as boiler interiors, ship cabins, etc.; (3) using a single hoist to suspend an operation platform or tool: this way can only achieve simple lifting of the tool along the rope direction, and cannot achieve precise horizontal movement, nor can it adjust the angle of the tool relative to the operation surface, resulting in poor operation quality and low efficiency, and it is difficult to meet the requirements of high-quality surface treatment.

[0003] Therefore, the prior art lacks a driving device that can achieve precise positioning of terminal equipment with multiple degrees of freedom (especially including horizontal movement and attitude adjustment) in large-scale, ground-unsupported or space-limited environments at low cost. SUMMARY

[0004] In order to solve the problem of inconvenience in the maintenance, cleaning or construction of large containers, the present application provides a multi-degree-of-freedom suspension driving device.

[0005] The multi-degree-of-freedom suspension driving device provided by the present application adopts the following technical solution: A multi-degree-of-freedom suspension driving device, comprising: a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are arranged at intervals and are used to drive a suspension point to move in a two-dimensional plane; a traction rope, one end of which is connected to the first driving mechanism and the other end of which is connected to the second driving mechanism, the first driving mechanism and the second driving mechanism are both used to control the traction rope to be wound or unwound, so as to control the position of the suspension point connected to the traction rope in the two-dimensional plane; a suspension bracket connected to the traction rope through a pulley block and driven by the first driving mechanism and the second driving mechanism to move in space; a terminal adjustment mechanism installed at the bottom of the suspension bracket, the terminal adjustment mechanism comprising a swing assembly and a work tool, the swing assembly being connected to the work tool, the swing assembly being used to adjust the angle of the work tool.

[0006] By adopting the above technical solution, the traction rope can be extended and retracted in coordination with the first and second drive mechanisms, enabling the suspension bracket to move over a wide range in a two-dimensional plane. The suspension system does not require ground support and can easily cover large-scale work surfaces such as boilers, building facades, and ship hulls, solving the problem of blind spot operations. The angle of the working tool can be adjusted by the swing component in the terminal adjustment mechanism. Combined with planar movement and spatial posture adjustment, the terminal equipment can always be aligned with the work surface at the optimal angle, improving the quality of work. In some embodiments, both the first drive mechanism and the second drive mechanism include a base, a first drive source, and a roller. The first drive source is fixedly mounted on the base, and the roller is rotatably mounted on the base. The first drive source is connected to the roller in a transmission connection, and the roller is connected to the traction rope. In some embodiments, the base is provided with a fixing assembly, which includes a fixing plate, a mounting tube, a mounting rod, and an anti-slip seat. The mounting tube is vertically installed on the fixing plate, the mounting rod passes through the mounting tube and is threadedly connected to the mounting tube, and the anti-slip seat is fixed to the bottom end of the mounting rod.

[0007] In some embodiments, an adjustment component is provided between the first drive mechanism and the second drive mechanism. The adjustment component is used to drive the first drive mechanism and the second drive mechanism to move closer to each other or further away from each other, so that the distance between the first drive mechanism and the second drive mechanism is adjustable. In some embodiments, the adjustment assembly includes a second drive source, a bidirectional lead screw, and a guide rod. The second drive source is drivenly connected to the bidirectional lead screw, and the guide rod is arranged parallel to the bidirectional lead screw. The guide rod passes through the base of the first drive mechanism and the second drive mechanism. The first drive mechanism is threadedly connected to one end of the bidirectional lead screw, and the second drive mechanism is threadedly connected to the other end of the bidirectional lead screw.

[0008] In some embodiments, the swing assembly includes a third drive source, an outer cylinder, an inner cylinder, and a rocker arm. The third drive source is mounted on the suspension bracket and is connected to the inner cylinder in a transmission manner. The outer cylinder is sleeved outside the inner cylinder. A first groove is formed on the outer cylinder, and a second groove is formed on the inner cylinder. The swing assembly also includes a linkage block, one end of which is disposed in the first groove, and the other end of which is disposed in the second groove. In some embodiments, the rocker arm is provided with a universal interface for connecting the working tool.

[0009] In some embodiments, the swing assembly is equipped with a robotic arm, which is a multi-joint arm capable of radial extension and / or multi-degree-of-freedom swing. In some embodiments, the working tool is any one of a sandblasting gun head, a welding gun head, a cleaning head, a spraying gun head, or a testing probe.

[0010] In some embodiments, a control system is also included, the control system comprising: Controller; The first position detection unit is used to detect the current position information of the suspension point or the suspension bracket; The second attitude detection unit is used to detect the current attitude information of the working tool; The controller is communicatively connected to the first drive source of the first drive mechanism, the first drive source of the second drive mechanism, the third drive source of the terminal adjustment mechanism, the first position detection unit, and the second attitude detection unit. The controller is configured to receive a target position and target attitude command, and based on the current position information, the current attitude information and the command, generate and send a control signal to drive the first drive mechanism, the second drive mechanism and the terminal adjustment mechanism to work together.

[0011] Compared with the prior art, this application includes at least one of the following beneficial technical effects: 1. By coordinating the first and second drive mechanisms to control the extension and retraction of the traction rope, the suspension bracket can move over a wide range in a two-dimensional plane. The suspension system eliminates the need for ground support and can easily cover large-scale work surfaces such as boilers, building facades, and ship hulls, solving the problem of blind spot operations. 2. By adjusting the angle of the working tool through the swing component in the terminal adjustment mechanism, combined with planar movement and spatial posture adjustment, the terminal equipment can always be aligned with the working surface at the optimal angle, improving the quality of work. Compared with large robotic arms, it mainly adopts a drive mechanism, traction rope and support structure, which significantly reduces manufacturing and maintenance costs. By changing different types of working tools, it can be quickly adapted to various work tasks such as sandblasting, welding, cleaning, spraying, and inspection, and has strong versatility.

[0012] 3. It can achieve precise positioning of terminal devices with multiple degrees of freedom (especially including horizontal movement and attitude adjustment) at low cost in large-scale, unsupported or space-constrained environments. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0014] Figure 2This is a schematic diagram showing the positional relationship between the adjustment component, the first drive mechanism, and the second drive mechanism in an embodiment of this application.

[0015] Figure 3 This is a schematic diagram of the structure of the fixed component in the embodiments of this application.

[0016] Figure 4 This is a schematic diagram of the structure of the swing component in the embodiments of this application.

[0017] In the picture: 1. First drive mechanism; 11. Base; 12. First drive source; 13. Roller; 2. Second drive mechanism; 3. Traction rope; 4. Suspension bracket; 5. Terminal adjustment mechanism; 51. Swing assembly; 52. Working tool; 54. Outer cylinder; 55. Inner cylinder; 56. Rocker arm; 57. First groove; 58. Second groove; 59. Linkage block; 6. Fixing assembly; 61. Fixing plate; 62. Mounting tube; 63. Mounting rod; 64. Anti-slip seat; 7. Adjustment assembly; 71. Second drive source; 72. Bidirectional lead screw; 73. Guide rod. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0020] Reference Figure 1 and Figure 2This application provides a multi-degree-of-freedom suspension drive device, including a first drive mechanism 1, a second drive mechanism 2, a traction rope 3, a suspension bracket 4, and an end adjustment mechanism 5. The first drive mechanism 1 and the second drive mechanism 2 are spaced apart and work together to drive the suspension point to move in a two-dimensional plane. The first drive mechanism 1 and the second drive mechanism 2 have the same structure, and each drive mechanism includes a base 11, a first drive source 12, and a roller 13. The first drive source 12 is fixedly installed on the base 11 and provides the power source for the entire drive mechanism. The roller 13 is rotatably installed on the base 11 and achieves smooth rotation through rotating connecting parts such as bearings. A transmission connection is established between the first drive source 12 and the roller 13, which can be achieved by gear transmission, belt transmission, or direct drive, to ensure that the power of the first drive source 12 can be effectively transmitted to the roller 13. The roller 13 is connected to the traction rope 3, and the forward and reverse rotation of the roller 13 realizes the winding and unwinding control of the traction rope 3. A pulley can be provided between the traction rope 3 and the first drive mechanism 1 and the second drive mechanism 2. The number and position of the pulleys can be configured according to the actual use scenario and are not limited here.

[0021] Reference Figure 3 Furthermore, to enhance the stability and adaptability of the device, a fixing assembly 6 is provided on the base 11. The fixing assembly 6 includes four components: a fixing plate 61, a mounting tube 62, a mounting rod 63, and an anti-slip seat 64. One end of the fixing plate 61 is fixed to the base 11, and the other end extends to the outside of the base 11. The mounting tube 62 is vertically mounted on the fixing plate 61, providing guidance and support for the mounting rod 63. The mounting rod 63 passes through the mounting tube 62 and is threadedly connected to the mounting tube 62. The extension length of the mounting rod 63 can be adjusted through the threaded connection to adapt to different installation environments. The anti-slip seat 64 is fixed to the bottom end of the mounting rod 63, providing a good anti-slip effect when in contact with the ground, ensuring the stability of the entire device during operation.

[0022] Reference Figure 2In some embodiments, an adjustment component 7 is provided between the first drive mechanism 1 and the second drive mechanism 2. This component is used to drive the first drive mechanism 1 and the second drive mechanism 2 to move closer or further apart, making the distance between the first drive mechanism 1 and the second drive mechanism 2 adjustable. The adjustment component 7 includes a second drive source 71, a bidirectional lead screw 72, and a guide rod 73. In this embodiment, the second drive source 71 is specifically a drive motor, which is connected to the bidirectional lead screw 72 to provide power to the adjustment component 7. The guide rod 73 is arranged parallel to the bidirectional lead screw 72, serving as a guide and preventing rotation. The guide rod 73 passes through the base 11 of the first drive mechanism 1 and the second drive mechanism 2, ensuring that the two drive mechanisms remain parallel during movement. The first drive mechanism 1 is threaded to one end of the bidirectional lead screw 72, and the second drive mechanism 2 is threaded to the other end of the bidirectional lead screw 72. Since the threads at both ends of the bidirectional lead screw 72 rotate in opposite directions, when the second drive source 71 drives the bidirectional lead screw 72 to rotate, the two drive mechanisms will simultaneously move closer to the center or simultaneously move further apart, achieving precise adjustment of the distance.

[0023] One end of the traction rope 3 is connected to the first drive mechanism 1, and the other end is connected to the second drive mechanism 2, forming a complete transmission circuit. Both the first drive mechanism 1 and the second drive mechanism 2 can control the winding and unwinding of the traction rope 3. Through the coordinated control of the first drive mechanism 1 and the second drive mechanism 2, the position of the suspension point connected to the traction rope 3 in the two-dimensional plane can be precisely controlled. When the first drive mechanism 1 winds up the rope and the second drive mechanism 2 unwinds the rope, the suspension point moves towards the first drive mechanism 1; conversely, it moves towards the second drive mechanism 2. When both drive mechanisms wind up or unwind the rope simultaneously, the suspension point moves in the vertical direction.

[0024] The suspension bracket 4 is connected to the traction rope 3 via a pulley system, which can change the direction of the traction rope 3 and provide mechanical advantages. Driven by the first drive mechanism 1 and the second drive mechanism 2, the suspension bracket 4 moves in space, providing a wide range of position adjustment capabilities for the terminal adjustment mechanism 5. The suspension bracket 4 is made of lightweight, high-strength materials, ensuring sufficient load-bearing capacity while reducing overall weight.

[0025] Reference Figure 1 and Figure 4The terminal adjustment mechanism 5 is installed at the bottom of the suspension bracket 4 and includes two main parts: a swing assembly 51 and a working tool 52. The swing assembly 51 is connected to the working tool 52 and is used to adjust the angle of the working tool 52 to achieve precise posture control. The swing assembly 51 includes a third drive source, an outer cylinder 54, an inner cylinder 55, a rocker arm 56, and a linkage block 59. In this embodiment, the third drive source 53 is specifically a drive motor, which is installed on the suspension bracket 4 and provides driving force to the swing assembly 51. The third drive source 53 is connected to the inner cylinder 55 and drives the inner cylinder 55 to rotate. The outer cylinder 54 is sleeved outside the inner cylinder 55, and the two form a coaxial sleeve structure. A first groove 57 is formed on the outer cylinder 54, and a second groove 58 is formed on the inner cylinder 55. The shape and position of the two grooves are designed. One end of the linkage block 59 is set in the first groove 57, and the other end is set in the second groove 58. When the inner cylinder 55 rotates under the drive of the third drive source 53, the second groove 58 pushes the linkage block 59 to move, and the linkage block 59 in turn pushes the first groove 57, thereby driving the outer cylinder 54 to rotate. Through the special shape design of the groove, nonlinear motion of the outer cylinder 54 relative to the inner cylinder 55 can be achieved, providing the working tool 52 with a complex swing trajectory.

[0026] The rocker arm 56 is connected to the outer cylinder 54 and swings together with the outer cylinder 54. The rocker arm 56 is equipped with a universal interface, which adopts a standardized design for connecting various types of work tools 52. The universal interface has good versatility and reliable connection performance, and can quickly change different work tools 52 to adapt to different work needs.

[0027] In a preferred embodiment, a robotic arm may also be mounted on the swing assembly 51. The robotic arm is a multi-joint arm, including multiple joints and links, each joint being equipped with an independent drive device. The robotic arm is capable of radial extension and multi-degree-of-freedom swinging, further enhancing the flexibility and working range of the terminal tool 52. Each joint of the robotic arm can be controlled independently to achieve complex spatial motion trajectories.

[0028] The work tool 52 can be selected and configured according to specific application requirements. In different application scenarios, the work tool 52 can be any one of a sandblasting gun head, welding gun head, cleaning head, spray gun head, or inspection probe. The sandblasting gun head is used for surface cleaning and roughening; the welding gun head is used for welding metal components; the cleaning head is used for high-pressure water cleaning; the spray gun head is used for spraying anti-corrosion coatings; and the inspection probe is used for non-destructive testing, etc.

[0029] The entire device also includes a control system, which includes a controller (such as a PLC), a first position detection unit, and a second attitude detection unit. The first position detection unit is used to detect the current position information of the suspension point or suspension bracket 4; the second attitude detection unit is used to detect the current attitude information of the working tool 52. The controller is communicatively connected to the first drive source 12 of the first drive mechanism 1, the first drive source 12 of the second drive mechanism 2, the third drive source of the terminal adjustment mechanism 5, the first position detection unit, and the second attitude detection unit. The controller is configured to receive target position and target attitude commands, and generate and send control signals based on the current position information, current attitude information, and commands to drive the first drive mechanism 1, the second drive mechanism 2, and the terminal adjustment mechanism 5 to work together.

[0030] The first position detection unit can be an encoder mounted on the roller 13. By calculating the difference and total number of pulses from the two encoders, the two-dimensional coordinates (X, Y) of the connector (or suspension bracket 4) on the traction rope 3 can be calculated. In other embodiments, it can also be a vision sensor or a laser tracker. The second attitude detection unit can be a tilt sensor or gyroscope mounted on the rocker arm 56 or the working tool 52, used to measure the pitch angle, yaw angle, and other attitude parameters of the working tool 52 in real time. The controller has a motion control algorithm pre-stored in it. During operation, the controller receives the target working trajectory (a series of target positions and the corresponding target tool attitude, such as keeping the spray gun perpendicular to the wall) from the host computer or the operation panel. The controller reads the feedback values ​​from the position and attitude sensors, and through a closed-loop control algorithm (such as PID control), calculates the difference and total amount of rope length to be wound and released by the first drive mechanism 1 and the second drive mechanism 2, as well as the angle to be rotated by the third drive source, and sends out corresponding pulse or analog signals to drive the motors to work together so that the working tool 52 finally arrives at the work point in the desired position and attitude.

[0031] The implementation principle of this application embodiment is as follows: The multi-degree-of-freedom suspension drive device provided in this application achieves precise positioning of the suspension point in a two-dimensional plane through the coordinated control of the first drive mechanism 1 and the second drive mechanism 2. The terminal adjustment mechanism 5 provides the fine posture adjustment capability of the working tool 52, enabling the entire device to have complete spatial posture adjustment capability. This device is particularly suitable for maintenance, cleaning, and inspection of large equipment, and can achieve high-precision automated operation in complex spatial environments.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-degree-of-freedom suspension drive device, characterized in that, include: A first driving mechanism (1) and a second driving mechanism (2) are provided at intervals to drive a suspension point to move in a two-dimensional plane. The traction rope (3) is connected at one end to the first drive mechanism (1) and at the other end to the second drive mechanism (2). Both the first drive mechanism (1) and the second drive mechanism (2) are used to control the extension and retraction of the traction rope (3) so as to control the position of the suspension point connected to the traction rope (3) in the two-dimensional plane. The suspension bracket (4) is connected to the traction rope (3) via a pulley system and is driven by the first drive mechanism (1) and the second drive mechanism (2) to move in space; The terminal adjustment mechanism (5) is installed at the bottom of the suspension bracket (4). The terminal adjustment mechanism (5) includes a swing component (51) and a working tool (52). The swing component (51) is connected to the working tool (52). The swing component (51) is used to adjust the angle of the working tool (52).

2. The multi-degree-of-freedom suspension drive device according to claim 1, characterized in that: The first drive mechanism (1) and the second drive mechanism (2) both include a base (11), a first drive source (12) and a roller (13). The first drive source (12) is fixedly installed on the base (11), and the roller (13) is rotatably installed on the base (11). The first drive source (12) is connected to the roller (13) in a transmission connection, and the roller (13) is connected to the traction rope (3).

3. The multi-degree-of-freedom suspension drive device according to claim 2, characterized in that: A fixing component (6) is provided on the base (11). The fixing component (6) includes a fixing plate (61), a mounting tube (62), a mounting rod (63), and an anti-slip seat (64). The mounting tube (62) is vertically installed on the fixing plate (61). The mounting rod (63) passes through the mounting tube (62) and is threadedly connected to the mounting tube (62). The anti-slip seat (64) is fixed to the bottom end of the mounting rod (63).

4. A multi-degree-of-freedom suspension drive device according to claim 2, characterized in that: An adjustment component (7) is provided between the first drive mechanism (1) and the second drive mechanism (2). The adjustment component (7) is used to drive the first drive mechanism (1) and the second drive mechanism (2) to move closer or further away from each other, so that the distance between the first drive mechanism (1) and the second drive mechanism (2) is adjustable.

5. A multi-degree-of-freedom suspension drive device according to claim 4, characterized in that: The adjustment assembly (7) includes a second drive source (71), a bidirectional lead screw (72), and a guide rod (73). The second drive source (71) is connected to the bidirectional lead screw (72) in a transmission manner. The guide rod (73) is arranged parallel to the bidirectional lead screw (72). The guide rod (73) passes through the base (11) of the first drive mechanism (1) and the second drive mechanism (2). The first drive mechanism (1) is threadedly connected to one end of the bidirectional lead screw (72), and the second drive mechanism (2) is threadedly connected to the other end of the bidirectional lead screw (72).

6. The multi-degree-of-freedom suspension drive device according to claim 1, characterized in that: The swing assembly (51) includes a third drive source (53), an outer cylinder (54), an inner cylinder (55), and a rocker arm (56). The third drive source (53) is mounted on the suspension bracket (4) and is connected to the inner cylinder (55) in a transmission manner. The outer cylinder (54) is sleeved on the outside of the inner cylinder (55). A first groove (57) is provided on the outer cylinder (54), and a second groove (58) is provided on the inner cylinder (55). The swing assembly (51) also includes a linkage block (59). One end of the linkage block (59) is disposed in the first groove (57), and the other end is disposed in the second groove (58).

7. A multi-degree-of-freedom suspension drive device according to claim 6, characterized in that: The rocker arm (56) is provided with a universal interface, which is used to connect the working tool (52).

8. A multi-degree-of-freedom suspension drive device according to claim 1, characterized in that: The swing assembly (51) is equipped with a robotic arm, which is a multi-joint arm capable of radial extension and / or multi-degree-of-freedom swing.

9. A multi-degree-of-freedom suspension drive device according to claim 1, characterized in that: The working tool (52) is any one of the following: sandblasting gun head, welding gun head, cleaning head, spraying gun head, or detection probe.

10. A multi-degree-of-freedom suspension drive device according to claim 1, characterized in that: It also includes a control system, which includes: Controller; The first position detection unit is used to detect the current position information of the suspension point or the suspension bracket (4); The second attitude detection unit is used to detect the current attitude information of the working tool (52); The controller is communicatively connected to the first drive source (12) of the first drive mechanism (1), the first drive source (12) of the second drive mechanism (2), the third drive source (53) of the terminal adjustment mechanism (5), the first position detection unit and the second attitude detection unit. The controller is configured to receive a target position and target attitude command, and generate and send a control signal based on the current position information, the current attitude information and the command, so as to drive the first drive mechanism (1), the second drive mechanism (2) and the terminal adjustment mechanism (5) to work together.

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