Telescopic multi-posture adjusting robot equipment for detecting inner cavity of large structural part

Abstract

The invention relates to the technical field of robot detection, in particular to telescopic multi-posture adjusting robot equipment for detecting an inner cavity of a large structural part. The invention aims to provide the telescopic multi-posture adjusting robot equipment for detecting the inner cavity of the large-scale structural member. The hybrid robot equipment can quickly execute self-adaptive movement of bending and stretching, and efficient detection and quick analysis of inner cavities of large structural parts with various curvatures can be achieved. According to the technical scheme, the telescopic multi-posture adjusting robot equipment for detecting the inner cavity of the large structural part is characterized by further comprising a telescopic posture adjusting robot; the telescopic posture adjusting robot is installed on the movable driving type multi-degree-of-freedom parallel robot farthest from the fixed platform, and the visual detection device is installed on the telescopic posture adjusting robot.

Description

Technical Field

[0001] This invention relates to the field of robot inspection technology, specifically to a retractable, multi-pose adjustable robot device for inspecting the internal cavities of large structural components. Background Technology

[0002] In high-end equipment manufacturing fields, such as aerospace, energy and chemical engineering, and large mold making, large structural components with complex curved internal cavities are widely present. The geometric accuracy and surface quality (such as cracks, corrosion, and coating peeling) of these cavities are crucial to the safety and reliability of the products. Therefore, comprehensive and high-precision non-destructive testing of the internal cavities is a key step in the production and service life cycle.

[0003] Currently, traditional methods face significant challenges in the internal inspection of large, deep-cavity, non-through structures. Manual inspection relies on tools such as endoscopes, but the inspection depth, viewing angle, and stability are limited by the operator's experience, making it difficult to achieve quantifiable, traceable, and comprehensive inspection, and is also inefficient. While fixed coordinate measuring machines or large gantry scanning systems offer high precision, they cannot adapt to the geometric constraints of complex internal cavities and suffer from poor accessibility. Existing serial articulated robots, although highly flexible, experience a significant decrease in end-effector rigidity with posture and elongation when the cantilever extends into deep cavities, leading to unstable inspection accuracy and failing to meet the demands of high-precision visual inspection.

[0004] To balance wide-range accessibility with high end-effector rigidity, CN2024115172165 places a parallel mechanism at the end-effector to provide local high rigidity, but its overall range of motion is still limited; other solutions adopt the form of "movable base + serial robotic arm", but it is essentially still a serial chain, and the rigidity and accuracy bottlenecks have not been fundamentally solved. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide a scalable multi-pose adjustable robot equipment for the inspection of the internal cavity of large structural components; this hybrid robot equipment can quickly perform adaptive motion of bending and stretching, and can realize efficient inspection and rapid analysis of the internal cavity of large structural components with various curvatures.

[0006] The technical solution provided by this invention is: A scalable, multi-pose adjustable robot for inspecting the internal cavities of large structural components includes a fixed platform, multiple mobile-driven, multi-degree-of-freedom parallel robots connected sequentially starting from the fixed platform, and a vision inspection device. The first mobile-driven multi-degree-of-freedom parallel robot includes a moving platform, three first driving branches and one first passive branch connected in parallel between the stationary platform and the moving platform; the remaining mobile-driven multi-degree-of-freedom parallel robots all include a moving platform, three first driving branches and one first passive branch connected in parallel between the moving platform and the previous mobile-driven multi-degree-of-freedom parallel robot. The feature is that the scalable multi-posture adjustable robot equipment further includes a scalable posture adjustable robot, which is installed on a mobile-driven multi-degree-of-freedom parallel robot that is furthest from the fixed platform, and is equipped with the aforementioned visual detection device. The scalable attitude-adjustable robot includes a moving platform and three second drive branches connected in parallel between the moving platform and the mobile-driven multi-degree-of-freedom parallel robot furthest from the fixed platform. The second drive branch includes a third ball joint, a second link, a second rotary joint, a third link, a first rotary joint, and a third prismatic joint, which are connected sequentially from the beginning of the automatic platform.

[0007] The first drive branch includes a second ball joint, a first connecting rod, a first ball joint, and a first sliding joint that are sequentially connected to the automatic platform.

[0008] The first passive branch includes a passive slide bar connected sequentially at the beginning of the automatic platform, a passive slide sleeve that slides with the passive slide bar, and a Hooke hinge.

[0009] The three third ball joints in the three second drive branches are arranged symmetrically about the center of the moving platform in the retractable attitude-adjustable robot.

[0010] The three third prismatic guide rails in the second drive branch are respectively set on the three first links in the previous prismatic multi-degree-of-freedom parallel robot, and the axis of the third prismatic guide rail is parallel to the axis of the first link.

[0011] In the three first branches of the mobile-driven multi-degree-of-freedom parallel robot, the three second ball joints are arranged symmetrically about the center of the moving platform; the axes of the three first sliding guide rails intersect at the center of the fixed platform, or are installed one by one on the first link of the previous mobile-driven multi-degree-of-freedom parallel robot and the axis of the first sliding guide rail is parallel to the axis of the first link.

[0012] The top of the passive slide bar of the first passive branch is fixed to the center of the moving platform and its axis is perpendicular to the plane of the moving platform. The Hooke hinge at the bottom of the first passive branch is installed at the center of the fixed platform or at the center of the moving platform of the previous mobile-driven multi-degree-of-freedom parallel robot.

[0013] The axis of the second revolute joint is perpendicular to the axis of the first revolute joint and also perpendicular to the axis of the third prismatic joint.

[0014] The first and third moving pairs are drive pairs, and their drive mechanisms are both ball screw mechanisms driven by motors.

[0015] The first rotating joint is a drive joint, and its drive mechanism is a ball screw mechanism driven by a motor or a geared motor.

[0016] Compared with the prior art, the beneficial effects of the present invention are: Thanks to the addition of a retractable posture-adjustable robot, this invention has a wider detection range, higher body accuracy and rigidity, greater motion flexibility, and outstanding adaptability to complex internal cavity environments. It can quickly perform adaptive motions of bending and stretching, enabling efficient detection and rapid analysis of the internal cavities of large structural components with various curvatures. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the first mobile-driven multi-degree-of-freedom parallel robot in China.

[0019] Figure 3 for Figure 2 A three-dimensional structural diagram of the first driving branch.

[0020] Figure 4 for Figure 2 A three-dimensional structural diagram of the first passive branch.

[0021] Figure 5 for Figure 1 A three-dimensional structural diagram of the visual inspection device.

[0022] Figure 6 This is a three-dimensional structural diagram of the extendable posture-adjustable robot in an embodiment of the present invention.

[0023] Figure 7 for Figure 6 A three-dimensional structural diagram of the second driving branch.

[0024] Figure 8 This is a schematic diagram of the usage state of an embodiment of the present invention (detecting the inner cavity of a large curved part).

[0025] Reference numerals in the attached drawings: Fixed platform 1, Moving platform 2, First sliding pair guide rail 11, First sliding pair slider 12, First ball joint 13, First connecting rod 14, Ball head of the second ball joint 15, First hinge lug 21, Second hinge lug 22, First rotation axis of the Hooke joint 23, Second rotation axis of the Hooke joint 24, Hooke joint 25, Passive sliding sleeve 26, Passive sliding rod 27, Measuring base 31, Camera frame 32, Binocular camera 33, Third sliding pair guide rail 41, Third sliding pair slider 42, First revolute joint 43, Second connecting rod 44, Second revolute joint 45, Third connecting rod 46, Ball head of the third ball joint 47. Detailed Implementation

[0026] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings, but the present invention is not limited to the following embodiments.

[0027] Figure 1 The scalable multi-pose robot equipment shown is used for internal cavity inspection of large structural components. It includes a fixed platform, multiple mobile-driven multi-degree-of-freedom parallel robots connected in sequence starting from the fixed platform, and a measurement base 31.

[0028] like Figure 1 , Figure 2 As shown, the first (starting from the fixed platform) mobile-driven multi-degree-of-freedom parallel robot includes a moving platform 2, three first driving branches and one first passive branch connected in parallel between the fixed platform and the moving platform 2; the remaining mobile-driven multi-degree-of-freedom parallel robots all include a moving platform 2, three first driving branches and one first passive branch connected in parallel between the moving platform and the previous mobile-driven multi-degree-of-freedom parallel robot.

[0029] like Figure 3 , Figure 4As shown, each first drive branch includes a second ball joint 15, a first connecting rod 14, a first ball joint 13, a first sliding pair slider 12, and a first sliding pair guide rail 11 connected sequentially starting from the automatic platform 2; the first sliding pair guide rail 11 and the first sliding pair slider 12 cooperate to form a first sliding pair; the first ball joint 13 is formed by the ball head and the ball shell of the first ball joint, the ball shell of the first ball joint is connected to the first sliding pair slider, and the ball head of the first ball joint is fixedly connected to one end of the first connecting rod 14; the second ball joint is formed by the ball head 15 and the ball shell of the second ball joint, the ball shell of the second ball joint is connected to the moving platform 2, and the ball head 15 of the second ball joint is fixedly connected to the other end of the first connecting rod 14. The first passive branch includes a passive slide bar 27, a passive sleeve 26, and a Hooke hinge 25 connected sequentially from the automatic platform 2. The second rotation axis 24 of the Hooke hinge 25 engages with a pair of first hinge ears 21 installed at the bottom of the passive sleeve 26. The lower part of the passive slide bar 27 slides and interlocks with the upper part of the passive sleeve 26 to form a second sliding pair. The top end of the passive rod 27 is fixed to the moving platform 2, and the axis of the passive rod is perpendicular to the plane of the moving platform 2. The axis of the second rotation axis of the Hooke hinge 25 is perpendicular to the axis of the second sliding pair and the axis of the first rotation axis of the Hooke hinge. In the first mobile-driven multi-degree-of-freedom parallel robot, the three first drive branches are arranged symmetrically about the center of the moving platform 2, and the three first sliding pair guide rails 11 are fixed to the fixed platform and arranged symmetrically about the center of the fixed platform 1. The two ends of the first passive branch are respectively arranged at the center of the moving platform 2 and the center of the fixed platform. The first rotation axis 23 of the Hooke hinge engages with a pair of second hinge ears 22 installed on the fixed platform.

[0030] The structures of the remaining mobile-driven multi-DOF parallel robots are basically the same as those of the first mobile-driven multi-DOF parallel robot, with the only difference being: ① In the first mobile-driven multi-degree-of-freedom parallel robot, the first mobile auxiliary guide rail 11 is ① The first moving auxiliary guide rail 11 is installed on the fixed platform 1; in the other moving-driven multi-degree-of-freedom parallel robots, the first moving auxiliary guide rail 11 is installed on the first link 14 of the previous moving-driven multi-degree-of-freedom parallel robot, and the axis of the first moving auxiliary guide rail is parallel to the axis of the first link. ② In the first moving-driven multi-degree-of-freedom parallel robot, the two ends of the first passive branch are respectively arranged at the center of the moving platform 2 and the center of the fixed platform; in the other moving-driven multi-degree-of-freedom parallel robots, the two ends of the first passive branch are respectively arranged at the center of the moving platform 2 and the center of the moving platform in the previous moving-driven multi-degree-of-freedom parallel robot. ③ In the first moving-driven multi-degree-of-freedom parallel robot, the first rotating shaft 23 of the Hooke hinge is rotatably engaged with a pair of second hinge ears 22 installed on the fixed platform; in the other moving-driven multi-degree-of-freedom parallel robots, the first rotating shaft 23 of the Hooke hinge is rotatably engaged with a pair of hinge ears 22 installed on the moving platform in the previous moving-driven multi-degree-of-freedom parallel robot.

[0031] The above structures are all similar to those in CN2024115172165.

[0032] The improvement of the present invention is that a retractable attitude adjustment robot is added to the above structure. The retractable attitude adjustment robot is connected to the mobile-driven multi-degree-of-freedom parallel robot that is furthest from the fixed platform, and is equipped with the aforementioned visual inspection device.

[0033] like Figure 6 , Figure 7 As shown: The retractable attitude adjustment robot includes a moving platform 2 and three second drive branches connected in parallel between the moving platform 2 and the previous driven multi-degree-of-freedom parallel robot. The measuring base 31 is installed on the moving platform.

[0034] The second drive branch includes a third ball joint, a second link 46, a second revolute joint 45, a third link 44, a first revolute joint 43, a third prismatic joint slider 42, and a third prismatic joint guide rail 41, which are connected sequentially starting from the automatic platform. In the second drive branch, the three third ball joints are symmetrically arranged about the moving platform 2 of the telescopic attitude-adjustable robot. The third ball joint is formed by the ball head 47 of the third ball joint engaging with the ball shell of the third ball joint. The ball shell of the third ball joint is connected to the moving platform 2, and the ball head 47 of the third ball joint is fixedly connected to one end of the second link 46. The other end of the second link 46 is connected to one end of the third link 44 through the second revolute joint 45, and the other end of the third link 44 is connected to the third prismatic joint slider 42 through the first revolute joint 43. The third prismatic joint slider 42 engages with the third prismatic joint guide rail 41 to form the third prismatic joint. The three third prismatic joint guide rails are each set on one of the three first links 14 in the previous moving-driven multi-degree-of-freedom parallel robot, and the axes of the three third prismatic joint guide rails are parallel to the axes of the first links.

[0035] The axis of the second revolute joint 45 is perpendicular to the axis of the first revolute joint 43 and also perpendicular to the axis of the second prismatic joint.

[0036] In the second drive branch, the third prismatic joint is a drive joint, and the drive mechanism is a ball screw mechanism driven by a motor (omitted in the figure); the first rotary joint 43 is also a drive joint, and the drive mechanism is a geared motor or a ball screw mechanism driven by a motor; when the drive joint moves, the detection angle of the vision detection device increases significantly and the angle adjustment becomes more flexible.

[0037] In this embodiment, the first prismatic joint is a drive joint, and its drive mechanism is a ball screw mechanism driven by a motor (omitted in the figure). When the drive joint moves, the prismatic multi-degree-of-freedom parallel robot can realize three degrees of freedom output motion, namely rotation about the first rotation axis of the Hooke hinge 25, rotation about the second rotation axis of the Hooke hinge 25, and movement along the movement direction of the second prismatic joint.

[0038] like Figure 5 As shown, the visual inspection device (existing technology) includes a measuring base 31, a camera frame 32, and a binocular camera 33; the measuring base 31 is mounted on the moving platform 2 of a telescopic posture-adjustable robot; by adjusting the detection range through the telescopic posture-adjustable robot, the visual measurement device can be used for the internal cavity inspection of large structural components 5.

[0039] like Figure 8 As shown, the retractable multi-pose adjustable robot equipment can detect and analyze the internal cavity conditions of a large structural component 5 under different curvatures. Based on the different depths and curvatures of the large structural component 5, this retractable multi-pose adjustable robot equipment can achieve flexible bending and stretching adaptive movements to complete the internal cavity condition detection.

[0040] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A scalable multi-pose adjustable robot equipment for internal cavity inspection of large structural components, comprising a fixed platform (1), multiple mobile-driven multi-degree-of-freedom parallel robots connected sequentially from the fixed platform, and a vision inspection device. The first mobile-driven multi-degree-of-freedom parallel robot includes a moving platform (2), three first driving branches and one first passive branch connected in parallel between the stationary platform and the moving platform; The remaining mobile-driven multi-degree-of-freedom parallel robots all include a moving platform (2), three first driving branches and one first passive branch connected in parallel between the moving platform and the previous mobile-driven multi-degree-of-freedom parallel robot; The feature is that the scalable multi-posture adjustable robot equipment further includes a scalable posture adjustable robot, which is installed on a mobile-driven multi-degree-of-freedom parallel robot that is furthest from the fixed platform, and is equipped with the aforementioned visual detection device. The scalable attitude-adjustable robot includes a moving platform (2) and three second drive branches connected in parallel between the moving platform and the mobile-driven multi-degree-of-freedom parallel robot furthest from the fixed platform. The second drive branch includes a third ball joint, a second link (46), a second rotary joint (45), a third link (44), a first rotary joint (43), and a third prismatic joint, which are connected sequentially from the automatic platform.

2. The extendable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 1, characterized in that: The first drive branch includes a second ball joint (15), a first link (14), a first ball joint (13), and a first sliding pair, which are connected sequentially from the automatic platform (2).

3. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 2, characterized in that: The first passive branch includes a passive slide bar (27) connected sequentially from the automatic platform (2), a passive slide sleeve (26) that slides with the passive slide bar, and a Hooke hinge (25).

4. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 3, characterized in that: The three third ball joints in the three second drive branches are arranged symmetrically about the center of the moving platform in the retractable attitude-adjustable robot.

5. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 4, characterized in that: The three third gliding guide rails (41) in the second drive branch are set on the three first links (14) in the previous gliding multi-degree-of-freedom parallel robot, and the axis of the third gliding guide rail is parallel to the axis of the first link.

6. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 5, characterized in that: In the three first drive branches of the mobile-driven multi-degree-of-freedom parallel robot, the three second ball joints are arranged symmetrically about the center of the moving platform (2); the axes of the three first moving auxiliary guide rails intersect at the center of the fixed platform, or are installed one by one on the first link (14) of the previous mobile-driven multi-degree-of-freedom parallel robot and the axis of the first moving auxiliary guide rail is parallel to the axis of the first link.

7. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 6, characterized in that: The top of the passive slide bar of the first passive branch is fixed to the center of the moving platform and its axis is perpendicular to the plane of the moving platform. The Hooke hinge at the bottom of the first passive branch is installed at the center of the fixed platform or at the center of the moving platform of the previous mobile-driven multi-degree-of-freedom parallel robot.

8. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 7, characterized in that: The axis of the second rotary joint (45) is perpendicular to the axis of the first rotary joint (43) and also perpendicular to the axis of the third sliding joint.

9. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 8, characterized in that: The first and third moving pairs are drive pairs, and their drive mechanisms are both ball screw mechanisms driven by motors.

10. The retractable multi-pose adjustable robot equipment for internal cavity inspection of large structural components according to claim 9, characterized in that: The first rotating joint is a drive joint, and its drive mechanism is a ball screw mechanism driven by a motor or a geared motor.

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