Large ellipsoid heterogeneous part molded surface detection robot

Abstract

The utility model discloses a large ellipsoid heterogeneous part molded surface detection robot, and aims to solve the technical problems of poor detection stability, low efficiency and high manual labor intensity when some large-size spatial quadric surface (such as a large ellipsoid bottom part) parts are detected by manually holding a 3D scanner at present, and the large ellipsoid heterogeneous part molded surface detection robot structurally comprises a mounting base surface, an ellipsoid bottom is mounted on the mounting base surface, the detection robot is supported by three L-shaped supporting legs, universal wheels are mounted at the bottoms of the L-shaped supporting legs through screws, the L-shaped supporting legs are connected to hinge supports through pin shafts, and the hinge supports are fixed to the upper surface of the main rack through screws; the speed reducer support is installed above the main machine frame through screws. According to the utility model, the motion trail of the 3D scanner can fit the corresponding spatial quadratic ellipsoid curved surface in the ellipsoid bottom inner molded surface scanning process, the stability is high, automatic scanning is realized, the labor intensity of workers is reduced, and the scanning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of non-destructive detection of large-scale heterogeneous workpiece surfaces, in particular to a large-scale ellipsoidal heterogeneous component surface detection robot. Background Art

[0002] The current mainstream method for inspecting the surface machining accuracy of heterogeneous workpieces is manual handheld 3D scanners. While smaller parts can be easily measured manually, larger quadratic surfaces (such as large ellipsoidal bottoms) suffer from poor stability, low efficiency, and high labor intensity when inspecting with manual handheld 3D scanners. Therefore, a new technical solution is needed to address this issue. Utility Model Content

[0003] The purpose of the utility model is to provide a large ellipsoidal component surface detection robot to solve the current technical problems of poor detection stability, low efficiency and high labor intensity when manually handheld 3D scanners are used to detect some large-sized spatial quadratic surfaces (such as large ellipsoidal bottom parts).

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a large-scale ellipsoidal component profile detection robot, comprising a mounting base, an ellipsoidal bottom mounted on the mounting base, the detection robot being supported by three L-shaped support legs, universal wheels being fixedly mounted on the bottoms of the L-shaped support legs by screws, the other ends of the L-shaped support legs being connected to hinge supports by pins, and the hinge supports being fixedly connected to the upper surface of a main frame by screws;

[0005] A reducer bracket is fixedly installed on the top of the main frame by screws, a planetary reducer is fixedly connected to the top of the reducer bracket by screws, a rotary servo motor is fixedly installed on the top of the planetary reducer by screws, an annular guide rail slider is fixedly connected to the lower part of the main frame by screws, a Z-shaped connecting plate is fixedly connected to the annular guide rail slider by screws, and a turntable is fixedly connected to the Z-shaped connecting plate by screws;

[0006] The turntable is fixedly connected to an L-shaped reducer support by screws, and the L-shaped reducer support is fixedly connected to a bottom planetary reducer by screws. The rear end of the planetary reducer is installed with a pitch servo motor by screws, and the front end of the planetary reducer is connected to the active bevel gear by a flat key and is pressed by a gland;

[0007] An L-shaped transmission shaft support is fixedly connected to both sides of the turntable by screws, a transmission shaft is installed in each L-shaped transmission shaft support through a bearing, a driven bevel gear and a swing arm are installed on the transmission shaft through a flat key, and a spacer sleeve is installed on the swing arm and the driven bevel gear along the axis direction of the transmission shaft;

[0008] The front end of the swing arm is fixedly connected to a sliding bearing by screws, the rear end of the sliding rod passes through the sliding bearing and is fixedly connected to the connecting block by threaded connection, the two sides of the connecting block are fixedly connected to the connecting rod by threads, the roller is installed on the end of the connecting rod by an elastic retaining ring, the L-shaped transmission shaft support is fixedly connected to the cam plate by screws, and the top of the end of the left and right cam plates is connected to the reinforcing rod by screws;

[0009] The front end of the sliding rod is fixedly connected to the clamping claw by screws, and the 3D scanner is held in the clamping claw, with the detection head facing the bottom of the ellipsoid.

[0010] As a preferred embodiment of the present invention, the L-shaped support leg rotates around the pin in an angle range of 0-120°, and the universal wheel at the bottom of the L-shaped support leg is connected to the installation base surface.

[0011] As a preferred embodiment of the present invention, the main frame is a hollow structure, with holes opened at the centers of the upper and lower plates, and bearings installed in the holes.

[0012] As a preferred embodiment of the present invention, the rotating shaft is fixed in the bearing through an elastic retaining ring, the upper end of the rotating shaft is connected to the planetary reducer through a coupling, and the lower end of the rotating shaft is connected to the turntable by a key.

[0013] As a preferred embodiment of the present invention, the rotary servo motor drives the turntable and the components thereon to perform rotational motion around the vertical direction via the rotating shaft.

[0014] As a preferred embodiment of the present invention, an elastic retaining ring is used on the outer side of the swing arm for axial limitation.

[0015] As a preferred embodiment of the present invention, the roller is located in the track groove of the cam plate and rolls along the track groove of the cam plate.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] The utility model can realize that during the scanning process of the inner surface of the ellipsoid bottom, the motion trajectory of the 3D scanner fits the corresponding spatial quadratic ellipsoid surface, has high stability, realizes automatic scanning, reduces manual labor intensity, and improves scanning efficiency;

[0018] Through the coordination of rotational motion, pitching motion and cam mechanism, the motion trajectory of the 3D scanner is controlled. During the scanning process, the distance between the 3D scanner and the inner surface of the ellipsoid bottom is always kept constant, thus realizing the automatic detection of the machining accuracy of the inner surface of the large ellipsoid bottom. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0020] Figure 1 This is a schematic diagram of the detection robot of the present utility model;

[0021] Figure 2 This is a schematic diagram of the detection robot's motion freedom of the present invention;

[0022] Figure 3 This is a schematic diagram of the principle of fitting quadratic surfaces for the detection robot of the present utility model;

[0023] Figure 4 This is a cross-sectional view of the detection robot structure of the present utility model;

[0024] In the figure: 1. Mounting base; 2. Ellipsoid bottom; 3. Main frame; 4. Hinge support; 5. L-shaped support leg; 6. Universal wheel; 14. Reducer bracket; 16. Rotating shaft; 18. Planetary reducer; 21. Coupling; 26. Rotary servo motor; 28. Annular guide slider; 30. Z-shaped connecting plate; 31. Turntable; 36. Transmission shaft; 37. L-shaped reducer support; 38. Pitch servo motor; 39. Driving bevel gear; 42. Driven bevel gear; 46. Swing arm; 50. Sliding bearing; 51. Link block; 52. Sliding rod; 53. Cam plate; 60. Clamp; 61. 3D scanner. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0027] Example 1: A large ellipsoidal component surface detection robot, see Figures 1 to 4 , including a mounting base 1, an ellipsoid bottom 2 is mounted on the mounting base 1, the detection robot is supported by three L-shaped support legs 5, the universal wheel 6 is mounted on the bottom of the L-shaped support leg 5 by screws, and rotates with its bottom, the L-shaped support leg 5 is connected to the hinge support 4 through a pin, both ends of the pin are fixedly connected to the periphery of the hinge support 4, one end of the L-shaped support leg 5 is rotatably connected to the outside of the pin, the hinge support 4 is fixed to the upper surface of the main frame 3 by screws, the L-shaped support leg 5 rotates around the pin in an angle range of 0-120°, the universal wheel 6 at the bottom of the L-shaped support leg 5 is connected to the mounting base 1, the L-shaped leg can rotate around the pin at a certain angle, so that the detection robot can move above the ellipsoid bottom 2, and when working, the three L-shaped legs are roughly distributed at 120°;

[0028] It is worth noting that the reducer bracket 14 is installed on the top of the main frame 3 by screws, the top planetary reducer 18 is fixed on the top of the reducer bracket 14 by screws, the rotary servo motor 26 is installed on the top of the planetary reducer 18 by screws, the annular guide rail slider 28 is installed on the lower part of the main frame 3 by screws, the three Z-shaped connecting plates 30 are fixed on the annular guide rail slider 28 by screws, and the turntable 31 is fixedly connected to the three Z-shaped connecting plates 30 by screws. The main frame 3 is a hollow structure with a hole in the center of the upper and lower plates, and a bearing is installed in the hole. The rotating shaft 16 is fixed in the bearing by an elastic retaining ring. The upper end of the rotating shaft 16 is connected to the planetary reducer 18 through the coupling 21. The lower end of the rotating shaft 16 is keyed to the turntable 31. The rotary servo motor 26 drives the turntable 31 and the components thereon to rotate around the vertical direction through the rotating shaft 16. The rotary servo motor 26 drives the turntable 31 and the components thereon to rotate around the vertical axis by a certain angle. Then, the pitch servo motor 38 drives the 3D scanner 61 to scan the cross-sectional area. The above process is repeated until the entire inner surface of the ellipsoid base 2 is scanned.

[0029] It is worth noting that the L-shaped reducer support 37 is fixed to the turntable 31 by screws, the bottom planetary reducer 18 is fixed to the L-shaped reducer support 37 by screws, the pitch servo motor 38 is installed at the rear end of the bottom planetary reducer 18 by screws, the front end of the bottom planetary reducer 18 is connected to the active bevel gear 39 by a flat key and is pressed with a pressure cover, the two L-shaped transmission shaft supports are fixed to both sides of the turntable 31 by screws, the transmission shaft 36 is installed in the two L-shaped transmission shaft supports through bearings, the driven bevel gear 42 is installed on the transmission shaft 36 by a flat key, the swing arm 46 is installed on the transmission shaft 36 by a flat key, and the swing arm 46 and the driven bevel gear 42 are aligned along the axis of the transmission shaft 36. A spacer sleeve is installed, and an elastic retaining ring is used on the outside of the swing arm 46 for axial limitation. The pitch servo motor 38 drives the transmission shaft 36 and the swing arm 46 to rotate through a pair of bevel gears. The swing arm 46 drives the connecting rods and rollers on both sides to rotate. The rollers move along the cam track groove, and drive the sliding rod 52 to move back and forth along the sliding bearing 50 through the connecting block. The motion trajectory of the 3D scanner 61 at the front end of the sliding rod 52 is controlled to be an elliptical curve. The motion trajectory of the 3D scanner 61 is controlled by the cooperation of the rotation motion, the pitch motion and the cam mechanism. During the scanning process, the distance between the 3D scanner 61 and the inner surface of the ellipsoid bottom 2 is always kept constant, so as to realize the automatic detection of the machining accuracy of the inner surface of the large ellipsoid bottom 2.

[0030] It is worth emphasizing that the sliding bearing 50 is fixed to the front end of the swing arm 46 by screws, the rear end of the sliding rod 52 passes through the sliding bearing 50 and is fixedly connected to the connecting block by threaded connection, the two sides of the connecting block are fixedly connected to the connecting rod by threads, the roller is installed on the end of the connecting rod by an elastic retaining ring, the cam plate 53 is fixedly connected to the L-shaped transmission shaft support by screws, the top of the left and right cam plates 53 and the reinforcing rod are connected by screws, the roller is located in the track groove of the cam plate 53 and rolls along the track groove of the cam plate 53. The track groove is designed through theoretical calculation. During the pitch and roll of the swing arm 46, the distance between the 3D scanner 61 at the front end of the sliding rod 52 and the inner surface of the ellipsoid bottom 2 is always kept constant;

[0031] The front end of the sliding rod 52 is fixedly connected to the clamp 60 by screws, and the 3D scanner 61 is held in the clamp 60, with the detection head facing the ellipsoid bottom 2, so that the detection head of the 3D scanner 61 can detect the surface of the large ellipsoidal component.

[0032] Working principle: During detection, the pitch servo motor 38 drives the transmission shaft 36 and the swing arm 46 to rotate through a pair of bevel gears, and the swing arm 46 drives the connecting rods and rollers on both sides to rotate. The roller moves along the cam track groove, and drives the sliding rod 52 to move back and forth along the sliding bearing 50 through the connecting block, and controls the motion trajectory of the 3D scanner 61 at the front end of the sliding rod 52 to be an elliptical curve; the track groove is designed through theoretical calculation, and during the pitch swing process of the swing arm 46, the distance between the 3D scanner 61 at the front end of the sliding rod 52 and the inner surface of the ellipsoid bottom 2 is always kept constant; after completing the vertical section scan, the rotary servo motor 26 drives the turntable 31 and the components thereon to rotate a certain angle around the vertical axis, and then the pitch servo motor 38 drives the 3D scanner 61 to scan the cross-sectional area, and repeats the above process until the entire ellipsoid bottom 2 inner surface scan is completed, so that during the scanning process of the inner surface of the ellipsoid bottom 2, the motion trajectory of the 3D scanner 61 fits the corresponding spatial quadratic ellipsoid surface, with high stability, automatic scanning, reduced labor intensity, and improved scanning efficiency.

[0033] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0034] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A large ellipsoidal component profile detection robot, comprising a mounting base (1), an ellipsoidal bottom (2) mounted on the mounting base (1), characterized in that: The detection robot is supported by three L-shaped support legs (5), the bottom of the L-shaped support legs (5) is fixed with a universal wheel (6) by screws, the other end of the L-shaped support legs (5) is connected to a hinge support (4) by a pin, and the hinge support (4) is fixed to the upper surface of the main frame (3) by screws; A reducer bracket (14) is fixedly installed on the top of the main frame (3) by screws, a planetary reducer (18) is fixedly connected to the top of the reducer bracket (14) by screws, a rotary servo motor (26) is fixedly installed on the top of the planetary reducer (18) by screws, an annular guide rail slider (28) is fixedly connected to the bottom of the main frame (3) by screws, three Z-shaped connecting plates (30) are fixedly connected to the annular guide rail slider (28) by screws, and a turntable (31) is fixedly connected to the three Z-shaped connecting plates (30) by screws; The turntable (31) is fixedly connected to an L-shaped reducer support (37) by screws, the L-shaped reducer support (37) is fixedly connected to a bottom planetary reducer (18) by screws, a pitch servo motor (38) is installed at the rear end of the planetary reducer (18) by screws, and the front end of the planetary reducer (18) is connected to the active bevel gear (39) by a flat key and is pressed by a gland; Two L-shaped transmission shaft supports are fixedly connected to both sides of the turntable (31) by screws, and a transmission shaft (36) is installed in the two L-shaped transmission shaft supports through bearings. A driven bevel gear (42) and a swing arm (46) are installed on the transmission shaft (36) through a flat key, and a spacer sleeve is installed between the swing arm (46) and the driven bevel gear (42) along the axial direction of the transmission shaft (36); The front end of the swing arm (46) is fixedly connected to a sliding bearing (50) by screws, the rear end of the sliding rod (52) passes through the sliding bearing (50) and is fixedly connected to the connecting block by threaded connection, the two sides of the connecting block are fixedly connected to the connecting rod by threads, the roller is installed on the end of the connecting rod by an elastic retaining ring, the L-shaped transmission shaft support is fixedly connected to a cam plate (53) by screws, and the top of the end of the cam plate (53) is connected to the reinforcing rod by screws; The front end of the sliding rod (52) is fixedly connected to the clamping claw (60) by screws, and the 3D scanner (61) is held in the clamping claw (60), with the detection head facing the ellipsoid bottom (2).

2. A large ellipsoidal component surface detection robot according to claim 1, characterized in that: The L-shaped support leg (5) rotates around the pin in an angle range of 0-120 degrees, and the universal wheel (6) at the bottom of the L-shaped support leg (5) is connected to the installation base surface (1).

3. The large ellipsoidal component surface detection robot according to claim 1, characterized in that: The main frame (3) is a hollow structure, with holes opened at the centers of the upper and lower plates, and bearings installed in the holes.

4. A large ellipsoidal component surface detection robot according to claim 3, characterized in that: A rotating shaft (16) is installed in the bearing, and the rotating shaft (16) is fixed in the bearing through an elastic retaining ring. The upper end of the rotating shaft (16) is connected to the planetary reducer (18) through a coupling (21), and the lower end of the rotating shaft (16) is connected to the turntable (31) through a key.

5. The large ellipsoidal component surface detection robot according to claim 4, characterized in that: The rotary servo motor (26) drives the turntable (31) and the components thereon to perform rotary motion in a vertical direction via the rotating shaft (16).

6. The large ellipsoidal component surface detection robot according to claim 1, characterized in that: The outer side of the swing arm (46) is axially limited by an elastic retaining ring.

7. The large ellipsoidal component surface detection robot according to claim 1, characterized in that: The roller is located in the track groove of the cam plate (53) and rolls along the track groove of the cam plate (53).

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