CN108481301B

CN108481301B - Vacuum leak detection robot based on five-degree-of-freedom mechanical arm

Info

Publication number: CN108481301B
Application number: CN201810597189.5A
Authority: CN
Inventors: 吴晗; 张世伟; 韩进
Original assignee: Northeastern University China
Current assignee: Northeastern University China
Priority date: 2018-06-11
Filing date: 2018-06-11
Publication date: 2021-03-02
Anticipated expiration: 2038-06-11
Also published as: CN108481301A

Abstract

A vacuum leak detection robot based on a five-degree-of-freedom mechanical arm comprises a walking mechanism, wherein a lifting mechanism is arranged at the top of the walking mechanism, a mechanical arm is arranged at the top of the lifting mechanism, and a leak detection mechanism is arranged at the wrist part of the mechanical arm; the device can enter a vacuum chamber, and the leakage detection work of a large vacuum container which cannot perform leakage detection on the outer surface is realized; the mechanical arm and the lifting mechanism are adopted to realize accurate positioning, and the leakage detection mechanism is driven to move along any direction, so that the leakage detection work on a complex surface is realized; the device of the invention not only saves space and has light weight, but also has stable and accurate motion.

Description

Vacuum leak detection robot based on five-degree-of-freedom mechanical arm

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm.

Background

With the development of industry, vacuum devices in the fields of aerospace simulation, climate environment simulation, national defense science and technology, nuclear power, high-energy physics and the like are developed in the direction of large-scale and high vacuum degree, and the length, width and height of a plurality of vacuum containers (such as vapor phase drying equipment of a power transformer) reach the level of several meters. Large vacuum installations, in addition to the need for a rational design of the vacuum pick-up system, also place higher demands on the design and manufacturing process technology of the vacuum vessels with respect to conventional vacuum installations, where leak rate control is a crucial issue. The field leak detection operation of a large vacuum container is a common problem in the vacuum industry.

Because of the complex structures such as reinforcing ribs, insulating layers or decorative plates and the like arranged outside a plurality of large vacuum containers, the conventional method for detecting the leakage of the inside and the outside of the vacuum chamber is difficult to adopt, and only the leakage of one side can be detected inside the vacuum chamber. In the leak detection method, the traditional bubble method and the vacuum gauge leak detection method are mainly used, the two methods have higher labor intensity and low leak detection sensitivity, and the quality of vacuum equipment is directly influenced. The leakage detection generally requires high sensitivity of leakage detection and short reaction and cleaning time, but the conflict between the leakage detection and the cleaning is easily generated by an overlarge container, so that the problems of leakage detection, difficulty in determining the position of a leakage hole, even incapability of leakage detection and the like are caused.

One of the leak detection methods adopted in actual leak detection is that an operator directly enters a vacuum container to perform internal leak detection operation, the method has low efficiency, only large holes can be found, and the personal safety of leak detection personnel is difficult to guarantee. The leak detection problem of large vacuum containers is always troubling vacuum workers. Especially, under specific field conditions, how to accurately and quickly find a leak point has become a hot point problem which is continuously concerned by the vacuum leak detection industry.

According to the invention patent [ CN104875176A ], a robot is used for replacing a human to perform leak detection in a vacuum chamber, and the invention provides an omnidirectional wheel train and a vacuum leak detection robot. The invention consists of a leakage detection mechanism, a telescopic mechanism and a traveling mechanism. The inner wall of the vacuum chamber is scanned through the leakage detection mechanism, and when a leakage point is scanned, the leakage point is sent out of the vacuum chamber through the camera. The invention better solves the safety problem of manual leak detection and can automatically detect the leak point in the vacuum chamber. However, the method of the invention has the following disadvantages in practical application: the leak detection mechanism only has three freedom degrees of movement, has poor flexibility, can only detect four vertical side wall planes of the vacuum container, and is easy to cause the situation that the top wall and the bottom plate of the container have local bulges, recesses or curved surfaces, and the local leak detection space is narrow, and the like, so that the leak detection cannot be carried out due to the fact that the detection mechanism cannot reach the container; the telescopic mechanism is driven by a multi-stage hydraulic cylinder, and in the telescopic motion of the hydraulic cylinder, a piston rod can bring out an oil film, so that the oil film is evaporated into oil vapor in vacuum, the pollution to the environment in a vacuum container is caused, the vacuum degree of a vacuum chamber is reduced, the weight of a hydraulic system is large, and the load of a robot is increased; the traveling mechanism has a complex structure, needs high assembly precision and has high failure rate.

Therefore, a vacuum leak detection robot which is more suitable is urgently needed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a flexible and efficient vacuum leak detection robot based on a five-degree-of-freedom mechanical arm.

In order to achieve the purpose, the invention adopts the following technical scheme:

the vacuum leak detection robot comprises a walking mechanism, wherein a lifting mechanism is arranged at the top of the walking mechanism, a mechanical arm is arranged at the top of the lifting mechanism, and a leak detection mechanism is arranged at the wrist of the mechanical arm.

The arm includes the arm base, arm base top is provided with the waist joint, waist joint top is provided with shoulder every single move joint, shoulder every single move joint end is provided with big arm, big arm end is provided with elbow every single move joint, elbow every single move joint end is provided with the forearm, the forearm end is provided with wrist every single move joint, wrist every single move joint end bottom is provided with wrist rotary joint.

Leak hunting mechanism includes constant delivery pump and mount pad, constant delivery pump bottom fixed mounting is at arm base top, constant delivery pump output and pipeline one end fixed mounting, the mount pad sets up in wrist rotary joint bottom, the mount pad horizontal part end is provided with the brush, brush inlet and pipeline other end fixed mounting, the vertical partial end of mount pad is provided with the camera.

The walking mechanism comprises a top plate and a bottom plate, outer bearings are symmetrically arranged at the left end and the right end of the bottom of the top plate, inner bearings are symmetrically arranged at the bottom of the top plate between the outer bearings, a speed reducer support is arranged at the bottom of the top plate between the inner bearings, a motor support is arranged at the bottom of the top plate between the speed reducer supports, the middle lower part of each outer bearing is rotatably installed with one end of a spline shaft through a bearing, the middle lower part of each inner bearing is rotatably installed with the other end of the spline shaft through a bearing, the spline shaft is connected with a driving wheel through a key, a flange is arranged at the extending end of the spline shaft at the inner side of the inner bearing, a harmonic speed reducer is arranged at the extending end of the spline shaft at the inner end of the flange and is, and the traveling mechanism servo motor is fixedly arranged at the middle lower part of the motor support, and universal wheels are symmetrically arranged at the middle part of the bottom of the top plate.

The lifting mechanism comprises a lifting mechanism base, the lifting mechanism is fixedly installed on the top of the walking mechanism top plate through the lifting mechanism base, a first lifting platform is arranged on the top of the lifting mechanism base, a second lifting platform is arranged on the top of the first lifting platform, a third lifting platform is arranged on the top of the second lifting platform, a first electromagnetic clutch support, a second electromagnetic clutch support and a third electromagnetic clutch support are arranged at the edge of the bottom of the third lifting platform, a first bearing seat and a second bearing seat are arranged at the bottom of the third lifting platform, a third bearing seat, a fourth bearing seat and a fifth bearing seat are uniformly arranged on the third lifting platform close to the center along the circumferential direction, a sixth bearing seat is arranged at the bottom of the third lifting platform inside the fifth bearing seat, two first guide rods and a first worm gear lifter are uniformly arranged on the edge of the lifting mechanism base along the circumferential direction, the bottom of the first worm and gear elevator is screwed on the top of the lifting mechanism base, the two first guide rods and the lead screws of the first worm and gear elevator penetrate through the edge of the top of the first lifting platform, linear bearings are arranged on the outer walls of the two first guide rods, the bottom ends of the linear bearings are screwed on the edge of the top of the first lifting platform, the extending end of the worm of the first worm and gear elevator is fixedly installed with the first transmission shaft through a coupler, the tail end of the first transmission shaft is connected with the first output shaft through a first electromagnetic clutch, the first electromagnetic clutch is fixedly installed on a first electromagnetic clutch bracket, the outer surface of the first output shaft is installed on the first bearing seat and the third bearing seat through bearings in sequence, the tail end of the first output shaft is screwed with a first driven bevel gear, and the edge of the bottom of the first lifting platform is circumferentially and uniformly provided with the two second guide rods and the second worm and gear, the bottom of a second worm gear lifter is screwed at the bottom end of a first lifting platform, two second guide rods and lead screws of the second worm gear lifter penetrate through the top edge of the second lifting platform, linear bearings are arranged on the outer walls of the two second guide rods, the bottom end of each linear bearing is screwed at the top edge of the first lifting platform, the extending end of a worm of the second worm gear lifter is fixedly installed with a second transmission shaft through a coupler, the second transmission shaft is connected with a second output shaft through a second electromagnetic clutch, the second electromagnetic clutch is fixedly installed on a second electromagnetic clutch bracket, the outer surface of the second output shaft is sequentially installed on a second bearing seat and a fourth bearing seat through bearings, a second driven bevel gear is screwed at the tail end of the second output shaft, and two third guide rods and a third worm gear lifter are uniformly arranged on the bottom edge of the second lifting platform in the circumferential direction, the bottom of a third worm gear lifter is screwed at the bottom end of a second lifting platform, two third guide rods and a lead screw of the third worm gear lifter penetrate through the top edge of the third lifting platform, linear bearings are arranged on the outer walls of the two third guide rods, the bottom ends of the linear bearings are screwed at the top edge of the third lifting platform, a worm extending end of the third worm gear lifter is fixedly installed with a third transmission shaft through a coupler, the third transmission shaft is connected with a third output shaft through a third electromagnetic clutch, a second electromagnetic clutch is fixedly installed on a third electromagnetic clutch bracket, the outer surface of the third output shaft is installed on a fifth bearing seat through a bearing, a third driven bevel gear is screwed at the end part of the third output shaft, the extending end of the third output shaft is installed on a sixth bearing seat through a bearing, and the first driven bevel gear, the second driven bevel gear and the third driven bevel gear are meshed with a driving bevel gear, the middle part of the driving bevel gear is provided with a main output shaft, the tail end of the main output shaft is fixedly installed with one end of a coupler, the bottom end of the third lifting platform is in threaded connection with a support frame, the middle part of the bottom end of the support frame is provided with a lifting mechanism servo motor, and an output shaft of the lifting mechanism servo motor penetrates through the bottom end of the support frame and is fixedly installed with the other end of the coupler.

The included angles among the first worm gear and worm lifter, the second worm gear and worm lifter and the third worm gear and worm lifter are all set to be 120 degrees.

A detection method of a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm adopts the vacuum leak detection robot based on the five-degree-of-freedom mechanical arm and comprises the following steps,

step 1, placing a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm into a vacuum chamber, and vacuumizing the container;

step 2, the wireless controller controls the walking mechanism to walk, the position of the robot relative to the inner wall of the vacuum chamber is monitored through the camera, and the specific walking mode of the step is as follows: when the robot travels linearly, the rotation directions and the rotation speeds of the servo motors of the two traveling mechanisms are the same, so that the two driving wheels are driven to rotate along the same direction, and the linear motion of the robot is realized; when the robot turns, the servo motors of the two traveling mechanisms rotate in the same direction and at different speeds, so that the two driving wheels are driven to rotate in the same direction and at different speeds, and the robot turns; when the robot rotates in situ, the servo motors of the two traveling mechanisms rotate in opposite directions and at the same rotating speed, so that the two driving wheels are driven to rotate at the same rotating speed in different directions, and the robot rotates in situ;

and 3, when the mechanical arm can not drive the leakage detection mechanism to reach the specified height, the lifting mechanism works to drive the mechanical arm to ascend or descend to reach the specified height, and the specific lifting mode of the step is as follows: during ascending movement, firstly, the first lifting platform moves, the servo motor of the lifting mechanism is switched on, the first electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the first driven gear to work through the driving bevel gear, and then the first worm gear elevator is driven to work through the first output shaft and the first transmission shaft, the first worm gear elevator drives the first lifting platform to ascend, and when the first lifting platform reaches the maximum height, the first electromagnetic clutch is switched off, and the first lifting platform stops moving; when the first lifting platform cannot reach the designated height, the second lifting platform moves, the second electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the second driven gear to work through the driving bevel gear, and further drives the second worm gear lifter to work through the second output shaft and the second transmission shaft, the second worm gear lifter drives the second lifting platform to continuously ascend, and when the second lifting platform reaches the maximum height, the second electromagnetic clutch is switched off, and the second lifting platform stops moving; when the second lifting platform cannot reach the designated height, the third lifting platform moves, the third electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the third driven gear to work through the driving bevel gear, and further drives the third worm gear lifter to work through the third output shaft and the third transmission shaft, the third worm gear lifter drives the third lifting platform to continuously ascend, and when the third lifting platform reaches the designated height, the third lifting platform stops working; during descending movement, when the lifting mechanism descends from the highest point to the lowest point, the third lifting platform moves firstly, the third electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the third driven gear to work through the driving bevel gear, and further drives the third worm gear lifter to work through the third output shaft and the third transmission shaft, the third worm gear lifter drives the third lifting platform to do descending movement, when the lowest point of the third lifting platform is reached, the third electromagnetic clutch is switched off, then the second lifting platform moves, the second electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the second driven gear to work through the driving bevel gear, and further drives the second worm gear lifter to work through the second output shaft and the second transmission shaft, the second worm gear lifter drives the second lifting platform to continue descending, and when the lowest point of the second lifting platform is reached, the second electromagnetic clutch is switched off, then the first lifting platform moves, the first electromagnetic clutch is switched on, the servo motor of the lifting mechanism drives the first driven gear to work through the driving bevel gear, and further drives the first worm and gear lifter to work through the first output shaft and the first transmission shaft, the first worm and gear lifter drives the first lifting platform to continuously descend, and when the first lifting platform reaches the lowest point of the first lifting platform, the work is finished;

step 4, after the lifting mechanism drives the leakage detection mechanism to reach the specified height, the waist joint, the shoulder pitching joint, the large arm, the elbow pitching joint, the small arm, the wrist pitching joint and the wrist rotating joint of the mechanical arm are matched with each other to drive the leakage detection mechanism to rotate by an angle so as to adjust the position of the hairbrush, and the hairbrush is opposite to the inner wall of the vacuum chamber;

and 5, starting the quantitative pump, driving the leakage indicator into the brush when the quantitative pump works, and scanning the brush on the vacuum wall by using the specific scanning mode as follows: when the scanning surface is flat, the area is large and the scanning is performed in the horizontal direction, the mechanical arm keeps a certain specific posture, and the brush is directly driven by the traveling mechanism to move so as to realize the scanning on the inner wall of the vacuum chamber; when the scanning surface is uneven, the scanning space is narrow or the vertical scanning is needed, the wireless controller plans the moving path of the brush to realize accurate positioning scanning; the leakage indicator is coated on the inner wall through the hairbrush, and because the vacuum chamber is in a vacuum state, if leakage points exist, bubbles will appear at the brushing position, the camera transmits the leakage detection result to the outside of the vacuum chamber, and if no bubbles exist, the next position is automatically detected.

The invention has the beneficial effects that:

1. the device of the invention replaces manual leak detection, thus improving the safety of leak detection work and leak detection efficiency;

2. the device can enter a vacuum chamber, and the leakage detection work of a large vacuum container which cannot perform leakage detection on the outer surface is realized;

3. the device adopts electric drive and wireless control, and cannot cause pollution to the vacuum environment;

4. the mechanical arm and the lifting mechanism are adopted to realize accurate positioning, and the leakage detection mechanism is driven to move along any direction, so that the leakage detection work on a complex surface is realized;

5. the lifting mechanism of the device is three-level lifting, so that the device saves space, has light weight and is stable and accurate in movement; the traveling mechanism is simple in structure and easy to install.

Drawings

FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention;

FIG. 2 is a schematic view of a part of the traveling mechanism of the device of the present invention;

FIG. 3 is a schematic view of a part of the lifting mechanism of the device of the present invention;

FIG. 4 is a bottom view of the lifting mechanism of the apparatus of the present invention;

1-running gear, 2-lifting gear, 3-robot arm, 4-leak-detection gear, 5-robot arm base, 6-waist joint, 7-shoulder pitch joint, 8-big arm, 9-small arm, 10-wrist rotary joint, 11-constant delivery pump, 12-mounting seat, 13-pipeline, 14-hairbrush, 15-camera, 16-top plate, 17-bottom plate, 18-outside bearing seat, 19-inside bearing seat, 20-reducer bracket, 21-motor bracket, 22-bearing, 23-spline shaft, 24-driving wheel, 25-flange, 26-harmonic reducer, 27-coupling, 28-running gear servo motor, 29-universal wheel, 30-lifting gear base, 31-a first lifting platform, 32-a second lifting platform, 33-a third lifting platform, 34-a first electromagnetic clutch carrier, 35-a second electromagnetic clutch carrier, 36-a third electromagnetic clutch carrier, 37-a first bearing seat, 38-a second bearing seat, 39-a third bearing seat, 40-a fourth bearing seat, 41-a fifth bearing seat, 42-a sixth bearing seat, 43-a first guide rod, 44-a first worm gear elevator, 45-a linear bearing, 46-a first transmission shaft, 47-a first electromagnetic clutch, 48-a first output shaft, 49-a first driven gear, 50-a second guide rod, 51-a second worm gear elevator, 52-a second transmission shaft, 53-a second electromagnetic clutch, 54-a second output shaft, 55-a second passive gear, 56-a third guide rod, 57-a third worm and gear lifter, 58-a third transmission shaft, 59-a third electromagnetic clutch, 60-a third output shaft, 61-a third passive gear, 62-a driving bevel gear, 63-a main output shaft, 64-a support frame, 65-a lifting mechanism servo motor, 66-an elbow pitch joint and 67-a wrist pitch joint.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1-4, a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm comprises a traveling mechanism 1, wherein a lifting mechanism 2 is arranged at the top of the traveling mechanism 1, a mechanical arm 3 is arranged at the top of the lifting mechanism 2, and a leak detection mechanism 4 is arranged at the bottom end of a rotary joint of a wrist of the mechanical arm 3.

The arm 3 includes

arm base

5, 5 tops of arm base are provided with

waist joint

6, 6 tops of waist joint are provided with shoulder every single move joint 7, shoulder every single move joint 7 end is provided with big arm 8, 8 ends of big arm are provided with elbow every single move joint 66, elbow every single move joint 66 end is provided with forearm 9, forearm 9 end is provided with wrist every single move joint 67, the terminal bottom of wrist every single move joint 67 is provided with wrist rotary joint 10.

Leak hunting mechanism 4 includes constant delivery pump 11 and

mount pad

12, 11 bottom fixed mounting of constant delivery pump are at 5 tops of arm base, 11 output of constant delivery pump and 13 one end fixed mounting of pipeline, mount pad 12 sets up in wrist revolute joint 10 bottoms, 12 horizontal segment ends of mount pad are provided with

brush

14, 14 inlets of brush and 13 other end fixed mounting of pipeline, 12 vertical segment ends of mount pad are provided with camera 15.

The traveling mechanism 1 comprises a top plate 16 and a bottom plate 17, outer bearings 18 are symmetrically arranged at the left end and the right end of the bottom of the top plate 16, inner bearings 19 are symmetrically arranged at the bottom of the top plate 16 between the outer bearings 18, a speed reducer support 20 is arranged at the bottom of the top plate 16 between the inner bearings 19, a motor support 21 is arranged at the bottom of the top plate 16 between the speed reducer supports 20, the middle lower part of each outer bearing 18 is rotatably installed with one end of a spline shaft 23 through a bearing 22, the middle lower part of each inner bearing 19 is rotatably installed with the other end of the spline shaft 23 through the bearing 22, the spline shaft 23 is in key connection with a driving wheel 24, a flange 25 is arranged at the extending end of the spline shaft 23 inside the inner bearing 19, a harmonic speed reducer 26 is arranged at the extending end of the spline shaft 23, the extended end of the spline shaft 23 at the right end of the harmonic reducer 26 is fixedly installed with a travelling mechanism servo motor 28 through a coupler 27, the travelling mechanism servo motor 28 is fixedly installed at the middle lower part of the motor support 21, and universal wheels 29 are symmetrically arranged in the middle of the bottom of the top plate 16.

The lifting mechanism 2 comprises a lifting mechanism base 30, the lifting mechanism 2 is fixedly installed at the top of a top plate 16 of the travelling mechanism 1 through the lifting mechanism base 30, a first lifting platform 31 is arranged at the top of the lifting mechanism base, a second lifting platform 32 is arranged at the top of the first lifting platform 31, a third lifting platform 33 is arranged at the top of the second lifting platform 32, a first electromagnetic clutch support 34, a second electromagnetic clutch support 35 and a third electromagnetic clutch support 36 are arranged at the bottom edge of the third lifting platform 33, a first bearing seat 37 and a second bearing seat 38 are arranged at the bottom of the third lifting platform 33, a third bearing seat 39, a fourth bearing seat 40 and a fifth bearing seat 41 are uniformly arranged at the position, close to the center, of the third lifting platform 33 along the circumferential direction, a sixth bearing seat 42 is arranged at the bottom of the third lifting platform 33 inside the fifth bearing seat 41, the edge of the lifting mechanism base 30 is circumferentially and uniformly provided with two first guide rods 43 and a first worm gear lifter 44, the bottom of the first worm gear lifter 44 is in threaded connection with the top of the lifting mechanism base 30, the lead screws of the two first guide rods 43 and the first worm gear lifter 44 penetrate through the top edge of the first lifting platform 31, the outer wall of the two first guide rods 43 is provided with a linear bearing 45, the bottom end of the linear bearing 45 is in threaded connection with the top edge of the first lifting platform 31, the worm extending end of the first worm gear lifter 44 is fixedly installed with a first transmission shaft 46 through a coupler 27, the tail end of the first transmission shaft 46 is connected with a first output shaft 48 through a first electromagnetic clutch 47, the first electromagnetic clutch 47 is fixedly installed on the first electromagnetic clutch support 34, the outer surface of the first output shaft 48 is installed on the first bearing seat 37 and a third bearing seat 39 through a bearing 22 in sequence, the tail end of the first output shaft 48 is in threaded connection with a first driven bevel gear 49, the bottom edge of the first lifting platform 31 is uniformly provided with two second guide rods 50 and a second worm gear lifter 51 along the circumferential direction, the bottom of the second worm gear lifter 51 is in threaded connection with the bottom end of the first lifting platform 31, the screw rods of the two second guide rods 50 and the second worm gear lifter 51 penetrate through the top edge of the second lifting platform 32, the outer walls of the two second guide rods 50 are provided with linear bearings 45, the bottom end of each linear bearing 45 is in threaded connection with the top edge of the first lifting platform 31, the extending end of the worm of the second worm gear lifter 51 is fixedly installed with a second transmission shaft 52 through a coupler 27, the second transmission shaft 52 is connected with a second output shaft 54 through a second electromagnetic clutch 53, and the second electromagnetic clutch 53 is fixedly installed on the second electromagnetic clutch bracket 35, the outer surface of the second output shaft 54 is sequentially arranged on the second bearing seat 38 and the fourth bearing seat 40 through a bearing 22, the tail end of the second output shaft 54 is in threaded connection with a second driven bevel gear 55, the bottom edge of the second lifting platform 32 is circumferentially and uniformly provided with two third guide rods 56 and a third worm gear lifter 57, the bottom of the third worm gear lifter 57 is in threaded connection with the bottom end of the second lifting platform 32, the lead screws of the two third guide rods 56 and the third worm gear lifter 57 penetrate through the top edge of the third lifting platform 33, the outer walls of the two third guide rods 56 are provided with linear bearings 45, the bottom ends of the linear bearings 45 are in threaded connection with the top edge of the third lifting platform 33, the extending ends of the worms of the third worm gear lifter 57 are fixedly arranged with a third transmission shaft 58 through a coupling 27, and the third transmission shaft 58 is connected with a third output shaft 60 through a third electromagnetic clutch 59, the second electromagnetic clutch 53 is fixedly mounted on the third electromagnetic clutch support 36, the outer surface of the third output shaft 60 is mounted on the fifth bearing seat 41 through a bearing 22, the end part of the third output shaft 60 is in threaded connection with a third driven bevel gear 61, the extending end of the third output shaft 60 is mounted on the sixth bearing seat 42 through a bearing, the first driven bevel gear 49, the second driven bevel gear 55 and the third driven bevel gear 61 are meshed with the driving bevel gear 62, the middle part of the driving bevel gear 62 is provided with a main output shaft 63, the tail end of the main output shaft 63 is fixedly mounted with one end of the coupler 27, the bottom end of the third lifting platform 33 is in threaded connection with a support frame 64, the middle part of the bottom end of the support frame 64 is provided with a lifting mechanism servo motor 65, and the output shaft of the lifting mechanism servo motor 65 penetrates through the bottom end of.

The included angles among the first worm gear lifter 44, the second worm gear lifter 51 and the third worm gear lifter 57 are all set to be 120 °.

step 1, putting a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm 3 into a vacuum chamber, and vacuumizing the container;

step 2, the wireless controller controls the traveling mechanism 1 to travel, the position of the robot relative to the inner wall of the vacuum chamber is monitored through the camera 15, and the specific traveling mode of the step is as follows: when the robot travels in a straight line, the two traveling mechanism servo motors 28 have the same rotating direction and rotating speed, so that the two driving wheels 24 are driven to rotate along the same direction, and the robot moves in a straight line; when the robot turns, the two traveling mechanism servo motors 28 have the same rotating direction and different rotating speeds, so that the two driving wheels 24 are driven to rotate in the same direction and at different speeds, and the robot turns; when the robot rotates in situ, the servo motors 28 of the two traveling mechanisms rotate in opposite directions and at the same rotating speed, so that the two driving wheels 24 are driven to rotate at the same rotating speed in different directions, and the robot rotates in situ;

step 3, reaching the specified position, when the mechanical arm 3 can not drive the leak detection mechanism 4 to reach the specified height, the lifting mechanism 2 works to drive the mechanical arm 3 to ascend or descend to reach the specified height, and the specific lifting mode of the step is as follows: during ascending movement, firstly, the first lifting platform 31 moves, the lifting mechanism servo motor 65 is switched on, the first electromagnetic clutch 47 is switched on, the lifting mechanism servo motor 65 works to drive the first driven gear 49 to work through the driving bevel gear 62, and further drive the first worm and gear elevator 44 to work through the first output shaft 48 and the first transmission shaft 46, the first worm and gear elevator 44 drives the first lifting platform 31 to ascend, when the first lifting platform 31 reaches the maximum height, the first electromagnetic clutch 47 is switched off, and the first lifting platform 31 stops moving; when the first lifting platform 31 cannot reach the designated height, the second lifting platform 32 moves, the second electromagnetic clutch 53 is switched on, the lifting mechanism servo motor 65 works to drive the second driven gear 55 to work through the driving bevel gear 62, and further drive the second worm and gear elevator 51 to work through the second output shaft 54 and the second transmission shaft 52, the second worm and gear elevator 51 drives the second lifting platform 32 to continuously ascend, and when the second lifting platform 32 reaches the maximum height, the second electromagnetic clutch 53 is switched off, and the second lifting platform 32 stops moving; when the second lifting platform 32 cannot reach the designated height, the third lifting platform 33 moves, the third electromagnetic clutch 59 is switched on, the lifting mechanism servo motor 65 works to drive the third driven gear 61 to work through the driving bevel gear 62, and further drive the third worm gear lifter 57 to work through the third output shaft 60 and the third transmission shaft 58, the third worm gear lifter 57 drives the third lifting platform 33 to continuously ascend, and when the third lifting platform 33 reaches the designated height, the third lifting platform 33 stops working; during descending movement, when the lifting mechanism 2 descends from the highest point to the lowest point, firstly the third lifting platform 33 moves, the third electromagnetic clutch 59 is switched on, the lifting mechanism servo motor 65 operates to drive the third driven gear 61 to operate through the driving bevel gear 62, and further drives the third worm gear lifter 57 to operate through the third output shaft 60 and the third transmission shaft 58, the third worm gear lifter 57 drives the third lifting platform 33 to perform descending movement, when the lowest point of the third lifting platform 33 is reached, the third electromagnetic clutch 59 is switched off, secondly the second lifting platform 32 moves, the second electromagnetic clutch 53 is switched on, the lifting mechanism servo motor 65 operates to drive the second driven gear 55 to operate through the driving bevel gear 62, further drives the second worm gear lifter 51 to operate through the second output shaft 54 and the second transmission shaft 52, and the second worm gear lifter 51 drives the second lifting platform 32 to continue descending, when the lowest point of the second lifting platform 32 is reached, the second electromagnetic clutch 53 is switched off, then the first lifting platform 31 moves, the first electromagnetic clutch 47 is switched on, the lifting mechanism servo motor 65 works and drives the first driven gear 49 to work through the driving bevel gear 62, and further drives the first worm and gear lifter 44 to work through the first output shaft 48 and the first transmission shaft 46, the first worm and gear lifter 44 drives the first lifting platform 31 to continuously descend, and when the lowest point of the first lifting platform 31 is reached, the work is finished;

step 4, after the lifting mechanism 2 drives the leak detection mechanism 4 to reach a specified height, the waist joint 6, the shoulder pitch joint 7, the large arm 8, the elbow pitch joint 66, the small arm 9, the wrist pitch joint 67 and the wrist rotation joint 10 of the mechanical arm 3 are mutually matched to drive the leak detection mechanism 4 to rotate by an angle so as to adjust the position of the hairbrush 14, so that the hairbrush 14 is opposite to the inner wall of the vacuum chamber;

and 5, starting the quantitative pump 11, driving the leakage indicator into the brush 14 when the quantitative pump 11 works, and scanning the brush 14 on the vacuum wall in a specific scanning mode as follows: when the scanning surface is flat, the area is large and the scanning is performed in the horizontal direction, the mechanical arm 3 keeps a certain specific posture, and the brush 14 is directly driven by the traveling mechanism 1 to move so as to realize the scanning on the inner wall of the vacuum chamber; when the scanning surface is uneven, the scanning space is narrow or the vertical scanning is needed, the wireless controller plans the moving path of the brush 14 to realize accurate positioning scanning; the leakage indicator is coated on the inner wall through the hairbrush 14, and because the vacuum chamber is in a vacuum state, if a leakage point exists, bubbles will appear at the painting position, the camera 15 transmits the leakage detection result to the outside of the vacuum chamber, and if no bubbles exist, the next position is automatically detected.

Claims

1. A vacuum leak detection robot based on a five-degree-of-freedom mechanical arm is characterized by comprising a walking mechanism, wherein a lifting mechanism is arranged at the top of the walking mechanism, the mechanical arm is arranged at the top of the lifting mechanism, and a leak detection mechanism is arranged at the wrist part of the mechanical arm;

2. The vacuum leak detection robot based on the five-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the arm includes the arm base, arm base top is provided with the waist joint, waist joint top is provided with shoulder every single move joint, shoulder every single move joint end is provided with big arm, big arm end is provided with elbow every single move joint, elbow every single move joint end is provided with the forearm, the forearm end is provided with wrist every single move joint, wrist every single move joint end bottom is provided with wrist rotary joint.

3. The vacuum leak detection robot based on the five-degree-of-freedom mechanical arm as claimed in claim 1, wherein: leak hunting mechanism includes constant delivery pump and mount pad, constant delivery pump bottom fixed mounting is at arm base top, constant delivery pump output and pipeline one end fixed mounting, the mount pad sets up in wrist rotary joint bottom, the mount pad horizontal part end is provided with the brush, brush inlet and pipeline other end fixed mounting, the vertical partial end of mount pad is provided with the camera.

4. The vacuum leak detection robot based on the five-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the walking mechanism comprises a top plate and a bottom plate, outer bearings are symmetrically arranged at the left end and the right end of the bottom of the top plate, inner bearings are symmetrically arranged at the bottom of the top plate between the outer bearings, a speed reducer support is arranged at the bottom of the top plate between the inner bearings, a motor support is arranged at the bottom of the top plate between the speed reducer supports, the middle lower part of each outer bearing is rotatably installed with one end of a spline shaft through a bearing, the middle lower part of each inner bearing is rotatably installed with the other end of the spline shaft through a bearing, the spline shaft is connected with a driving wheel through a key, a flange is arranged at the extending end of the spline shaft at the inner side of the inner bearing, a harmonic speed reducer is arranged at the extending end of the spline shaft at the inner end of the flange and is, and the traveling mechanism servo motor is fixedly arranged at the middle lower part of the motor support, and universal wheels are symmetrically arranged at the middle part of the bottom of the top plate.

5. The vacuum leak detection robot based on the five-degree-of-freedom mechanical arm as claimed in claim 1, wherein: the included angles among the first worm gear and worm lifter, the second worm gear and worm lifter and the third worm gear and worm lifter are all set to be 120 degrees.

6. A detection method of a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm is characterized by comprising the following steps: a vacuum leak detection robot based on a five-degree-of-freedom mechanical arm is adopted and comprises the following steps,

step 4, after the lifting mechanism drives the leakage detection mechanism to reach the specified height, the waist joint, the shoulder pitching joint, the large arm, the elbow pitching joint, the small arm, the wrist pitching joint and the wrist rotating joint of the mechanical arm are mutually matched to drive the leakage detection mechanism to rotate by an angle so as to adjust the position of the hairbrush, so that the hairbrush is opposite to the inner wall of the vacuum chamber;