CN114044067A - Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method - Google Patents
Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method Download PDFInfo
- Publication number
- CN114044067A CN114044067A CN202111417076.0A CN202111417076A CN114044067A CN 114044067 A CN114044067 A CN 114044067A CN 202111417076 A CN202111417076 A CN 202111417076A CN 114044067 A CN114044067 A CN 114044067A
- Authority
- CN
- China
- Prior art keywords
- robot
- measuring
- dual
- omnidirectional
- semi
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a four-footed omnidirectional robot for measuring a semi-closed cavity structure gap and a use method, which are applied to the technical field of quality detection devices, wherein the robot comprises a mounting rack, dual structure legs, omnidirectional wheels and a measuring device for measurement, a plurality of omnidirectional wheels are arranged at the bottom of the mounting rack, the measuring device is arranged on the mounting rack, at least four dual structure legs which are mutually spaced are arranged at the peripheral edges of the mounting rack, the dual structure legs can rotate relative to the mounting rack, the dual structure legs can support the end parts of the dual structure legs on a working area surface in a rotating mode and are in a crawling state, and all the dual structure legs can be folded at the edge of the mounting rack in a rotating mode and are in a folded state; when the omnidirectional wheel is in a folded state, only the omnidirectional wheel contacts the working area surface; the robot has small human body volume, flexible walking and obstacle crossing movement, can smoothly go deep into the semi-closed cavity to complete related measurement work, and autonomously navigates back after the measurement is finished.
Description
Technical Field
The invention relates to the technical field of quality detection devices, in particular to a four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure and a using method thereof.
Background
With the large number of new materials being used, a large number of semi-closed structures are produced during the manufacture of large components of aircraft. The semi-closed structure is internally provided with a plurality of key elements needing to be checked; for example, the gap value between the frame beam of the frame, the sheet metal part and the skin is one of the factors that must be measured in the aviation manufacturing process.
During flight of the aircraft, the skin and the frame beams of the airframe can be subjected to significant loads. When the aircraft does high maneuvering action, the skin and the frame beam of the frame can generate tiny structural deformation. If the gap between the skin and the frame girder of the frame exceeds the allowable value, the connecting part between the skin and the frame girder is subjected to huge shearing force, so that the service life of the aircraft is greatly reduced.
Because the space of the semi-closed cavity is narrow, the traditional measuring mode can not effectively measure the semi-closed cavity. The steel plate ruler, the caliper and the feeler gauge can not enter the semi-closed cavity to measure. The existing method for solving the problem is to adopt a method of applying prestress in advance to finish assembly in the process of assembling a frame beam and a skin of the frame. The method is a process guarantee method, and the gap value in the closed cavity cannot be really and effectively measured.
Disclosure of Invention
The invention aims to overcome the defect that the semi-closed cavity cannot be measured in the prior art, and provides a four-footed omnidirectional robot for measuring the structural clearance of the semi-closed cavity and a using method thereof.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a measure four-footed omnidirectional robot in semi-closed chamber structure clearance, a serial communication port, the installation rack comprises an installation rack, dual structure leg, omniwheel and measuring device, a plurality of omniwheels are installed in the installation rack bottom, measuring device establishes on the installation rack, edge all around at the installation rack is provided with four piece at least dual structure legs of mutual interval, dual structure leg can rotate for the installation rack, dual structure leg can support the tip of dual structure leg on the working area face through the pivoted mode, the robot is in the state of crawling this moment, all dual structure legs can leave the working area face and fold at the installation rack edge through the pivoted mode, the robot is in fold condition this moment, only omniwheel contact working area face.
The dual-structure legs and the omnidirectional wheels can meet the switching of the motion of the robot, the robot is contracted into a folded state through the dual-structure legs, the size of the robot is reduced, the robot is unfolded into a crawling state through the dual-structure legs through a narrow space in the state, the robot is convenient to walk, cross obstacles and flexibly move, and the robot can smoothly reach an area to be measured in the state; the robot can move flexibly, avoid and cross the obstacle through the dual structure legs and the omni wheels, and can go deep into the semi-closed cavity to complete related measurement work.
In a preferred embodiment of the present invention, the dual structure leg is a multi-segment component with a degree of freedom of 2, and adjacent segments can rotate relatively; the state switching of the dual structure legs can be realized through the multi-section composition and the rotation mode of the dual structure legs.
In a preferred embodiment of the present invention, the dual legs are rotatable in a horizontal direction with respect to the mounting frame, and the dual legs are rotatable in a vertical direction with respect to the working area surface; the dual structure legs are unfolded and folded conveniently through the rotation of the horizontal direction of the dual structure legs, the whole robot is supported and retracted conveniently through the rotation of the vertical direction of the dual structure legs, and the crawling state and the folding state are smoothly switched.
In a preferred embodiment of the invention, the dual-structure leg comprises a hip, a large arm, a steering engine and a non-slip mat, the hip is hinged to the edge of the mounting frame, the large arm is hinged to the hip, the steering engines are respectively arranged at the two hinged positions, the steering engine is used for driving the hip to rotate and the large arm to rotate, the non-slip mat is arranged at the end part of the large arm, and the non-slip mat is used for increasing the friction between the end part of the large arm and a working area surface; the rotation of the horizontal direction of the dual structure legs is realized through the hip and the connected steering engine, the rotation of the vertical direction of the dual structure legs is realized through the big arm and the connected steering engine, and the friction and the skid resistance between the robot and the working area surface are increased through the non-slip mat.
In a preferred embodiment of the invention, the large arms are provided with wedge-shaped structures, and two adjacent large arms can be matched and overlapped together through inclined surfaces of the wedge-shaped structures; the wedge-shaped structure is convenient for the adjacent big arms to occupy the space as small as possible when being folded, and the robot can more easily pass through the narrow space and the passage.
In a preferred embodiment of the present invention, the measuring apparatus includes a laser measuring module, an optical camera, an ultrasonic navigation module and a data exchange module, which are disposed on the mounting frame, the ultrasonic navigation module is used for navigation of the robot, the optical camera is used for identifying an area to be measured, the laser measuring module is used for measuring the area to be measured, and the data exchange module is used for external communication of the robot; the laser measurement module and the optical camera are used for identifying and measuring the area to be measured, the measurement accuracy is improved, the robot is navigated and kept away from obstacles through the ultrasonic navigation module, an instruction is sent to the robot through the data exchange module, data sent by the robot is received through the data exchange module, the area to be measured can be intelligently measured, and the tiny structural deformation of the area to be measured can be accurately measured.
In a preferred embodiment of the present invention, the robot further includes a dust cover, the dust cover and the mounting rack are made of a non-metallic soft material, and the dust cover covers the measuring device on the top of the mounting rack; through shield protection measuring device, prevent falling into of dust impurity, through the soft material of nonmetal, avoid producing the shielding effect, increased the pliability of structure to cause the damage to the robot inside when bumping.
In a preferred embodiment of the present invention, when the dual-structure legs are folded, the width of the robot is less than 10cm, the height of the robot is less than 10cm, and the length of the robot is less than 20 cm; the size of the folded state is limited, and the folded state can penetrate through a small space with the size of 10 x 10cm and enter a semi-closed space for measurement.
The use method of the four-footed omnidirectional robot for measuring the gap of the semi-closed cavity structure comprises the following control operations:
when the dual-structure leg support is controlled, the hip is controlled to rotate horizontally through the steering engine, and then the large arm is controlled to rotate vertically through the steering engine;
when the dual-structure legs are controlled to be folded, the steering engine is used for controlling the large arm to vertically rotate, and then the steering engine is used for controlling the hip to horizontally rotate;
when the dual-structure legs are controlled to crawl and cross obstacles, the large arm and the hip are controlled to rotate through the steering engine, and crawling actions of different dual-structure legs are asynchronously carried out.
The dual structure leg is controlled to make different actions by controlling the rotation mode of the dual structure leg through the steering engine, so that the dual structure leg is unfolded, folded, crawled and obstacle-surmounting.
In a preferred embodiment of the present invention, based on the above control operation, the method further includes the following steps:
s1, the robot is powered on for self-checking, and a measurement task instruction is sent to the robot through the data exchange module;
s2, placing the robot at the semi-closed opening of the part to be tested, controlling the dual structure legs to be supported on the working area surface through a steering engine, moving and obstacle crossing through the steering engine control, positioning and navigating the robot through the ultrasonic navigation module, and assisting navigation through the optical camera;
s3, after the standby robot reaches the area to be tested, the dual structure legs are folded by controlling the steering engine, and the robot is assisted in steering and positioning through the omnidirectional wheels;
s4, measuring the area to be measured through the optical camera and the laser measuring module;
and S5, after the measurement is finished, positioning and navigation are carried out through the ultrasonic navigation module and the optical camera, the dual structure legs are controlled by the steering engine to be supported on the working area surface, and the return voyage is controlled.
According to the method, the robot can shuttle in a narrow space through free movement and flexible movement of the robot, the micro deformation of each region to be measured is measured in the semi-closed cavity, the robot is guided to accurately navigate and avoid obstacles based on a micro mechanical electronic technology, an image recognition technology and a laser measurement technology, and the precision of measuring the micro deformation is improved.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot can meet the switching of the motion of the robot through the dual structure legs and the omnidirectional wheels, the robot is contracted into a folded state through the dual structure legs, the size of the robot is reduced, the robot is unfolded into a crawling state through the dual structure legs through a narrow space in the state, the robot is convenient to walk, cross obstacles and flexibly move, and the robot can smoothly reach an area to be measured in the state; the robot can move flexibly, avoid and cross the obstacle through the dual structure legs and the omni wheels, and can go deep into the semi-closed cavity to complete related measurement work.
2. The use method of the robot can enable the robot to move freely and flexibly, the robot can shuttle in a narrow space, the micro deformation of each region to be measured is measured in the semi-closed cavity, the robot is guided to accurately navigate and avoid the obstacle based on the micro mechanical electronic technology, the image recognition technology and the laser measurement technology, and the precision of measuring the micro deformation is improved.
Description of the drawings:
fig. 1 is a structural diagram of a four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure, which omits a measuring device in embodiment 1 of the invention;
fig. 2 is a bottom structure view of a four-footed omnidirectional robot for measuring a gap in a semi-closed cavity structure in embodiment 1 of the present invention;
FIG. 3 is a structural view of a dual leg structure of embodiment 1 of the present invention;
fig. 4 is a folded side view of a four-footed omnidirectional robot for measuring the gap of a semi-closed cavity structure in embodiment 1 of the invention;
fig. 5 is a top view of a four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure in embodiment 1 of the invention without a dust cover;
fig. 6 is a diagram illustrating steps of a method for using a four-footed omnidirectional robot for measuring a gap in a semi-closed cavity structure according to embodiment 2 of the invention;
the labels in the figure are: the device comprises a mounting frame 1, a 2-dual structure leg, a 21-hip, a 22-big ARM, a 23-steering engine, a 24-non-slip mat, a 3-omnidirectional wheel, a 4-dustproof cover, a 5-measuring device, a 51-laser measuring module, a 52-optical camera, a 53-ultrasonic navigation module, a 54-data exchange module, a 55-main board, a 56-power supply module, a 57-power supply switch, a 58-reset switch and a 59-ARM controller.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
Referring to fig. 1, the embodiment provides a four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure, which includes a mounting frame 1, dual structure legs 2, omnidirectional wheels 3, a dust cover 4 and a measuring device 5, wherein the dual structure legs 2 are connected with the edge of the mounting frame 1, the omnidirectional wheels 3 are arranged at the bottom of the mounting frame 1, the measuring device 5 is arranged on the mounting frame 1, the dust cover 4 is connected on the mounting frame 1, the measuring device 5 is used for measuring an area to be measured, the dual structure legs 2 include a hip 21, a large ARM 22, a steering engine 23 and an anti-skid pad 24, the measuring device 5 includes a laser measuring module 51, an optical camera 52, an ultrasonic navigation module 53, a data exchange module 54, a mainboard 55, a power module 56, a power switch 57, a reset switch 58 and an ARM controller 59; the robot can move flexibly, avoid and cross the obstacle through the dual structure legs 2 and the omnidirectional wheels 3, and can go deep into the semi-closed cavity to complete related measurement work.
The mounting frame 1 and the dust cover 4 are made of nonmetal soft materials, and the embodiment is made of soft plastic materials such as silica gel and rubber, so that the nonmetal soft materials are used for avoiding shielding, and increasing the flexibility of the structure so as to avoid damage to the inside of the robot when collision occurs; the mounting frame 1 is plate-shaped, the front and back positions of the two sides of the mounting frame 1 are respectively provided with a convex edge, the convex edges are used for connecting the dual structure legs 2, the dual structure legs 2 are composed of a plurality of sections with the degree of freedom of 2, the two sections are hip 21 and large arm 22 in the embodiment, the hip 21 and the large arm 22 can rotate relatively, and the state switching of the dual structure legs 2 can be realized through the multi-section composition and the rotation mode of the dual structure legs 2; shield 4 is semi-enclosed structure, also can make closed structure, only at optical module, laser measurement module 51 and supersound navigation module 53 department set up the hole that is used for surveying, measuring device 5 is established on mounting bracket 1, shield 4 protects measuring device 5, shield 4's top is the hunch-up form, shield 4's all edges all around match the card in the slot that the edge set up all around mounting bracket 1 through the mode of inlay card in edge, the dust cover covers measuring device 5 in mounting bracket 1 top like this, protect measuring device 5 through shield 4, prevent falling into of dust impurity.
Referring to fig. 2, four omnidirectional wheels 3 are further mounted at the bottom of the mounting frame 1, the omnidirectional wheels 3 of the embodiment are mecanum wheels, or omnidirectional wheels 3 of other forms, so as to facilitate the robot to move in various directions, four small motors are arranged at the bottom of the mounting frame 1 in an outward protruding manner, output shafts of the small motors are inserted into shaft holes connected to the mecanum wheels, and thus the mecanum wheels can drive the robot to move in multiple directions through the output of the small motors; when the robot is in a folded state, the robot is driven by Mecanum wheels to move, the size of the robot is shrunk to be the minimum, when the robot is in the folded state, the width of the robot is less than 10cm, the height of the robot is 8cm, the height of the robot is less than 10cm, the length of the robot is 6cm, the length of the robot is less than 20cm, the length of the robot is 15cm, at the moment, the robot can penetrate through a narrow space with the size of 10cm and enter a semi-closed space to measure, when the robot is in the folded state, all dual structure legs 2 can be folded at the edge of an installation frame 1 in a rotating mode, a large amount of operation space can be saved, only four omnidirectional wheels 3 contact and move a working area, the Mecanum wheels are convenient to drive, when the robot is in a crawling state, the dual structure legs 2 can support the end parts of the dual structure legs 2 on the working area in a rotating mode, and crawling and obstacle crossing movement is carried out through the dual structure legs 2, freely performing flexible movement in the semi-closed space.
Referring to fig. 3, at least four dual structure legs 2 are disposed at the peripheral edge of the mounting frame 1, in this embodiment, four dual structure legs are disposed, two dual structure legs are disposed at two sides of the mounting frame 1, the hip 21 is hinged to the edge of the mounting frame 1 through a steering engine 23, the large arm 22 is hinged to the hip 21, the steering engines 23 are respectively disposed at the two hinged positions, specifically, two mounting holes for mounting the steering engines 23 and the hip 21 are disposed at the convex edge of the mounting frame 1, the two steering engines 23 are disposed at two positions and respectively used for driving the hip 21 to rotate and the large arm 22 to rotate, one steering engine 23 is disposed in the mounting hole to be fixed, two ends of the hip 21 are respectively disposed in a concave shape, two ends of an output shaft of the steering engine 23 are respectively connected to and clamped at a concave position at one end of the hip 21, a concave position at the other end of the hip 21 is used for mounting another steering engine 23, the steering engine 23 is embedded in one end of the large arm 22, so that the output shaft of the steering engine 23 is connected to and clamped and fixed at a concave position at the other end of the hip 21, the other end of the big arm 22 is provided with a wedge-shaped structure, the wedge-shaped structure is formed by arranging an inclined plane towards the other end of the big arm 22, when the robot is in a folded state, two adjacent big arms 22 are matched through the inclined plane of the wedge-shaped structure and are overlapped together, the occupied space is reduced as much as possible when the adjacent big arms 22 are folded through the wedge-shaped structure, and the robot can pass through narrow space and passages more easily; the anti-slip pad 24 is arranged at the end part of the large arm 22, the anti-slip pad 24 is bent and attached to the inclined surface of the wedge-shaped structure, and the anti-slip pad 24 is used for increasing the friction between the end part of the large arm 22 and the working area surface; the horizontal direction rotation of the dual structure leg 2 is realized through the hip 21 and the connected steering engine 23, the vertical direction rotation of the dual structure leg 2 is realized through the big arm 22 and the connected steering engine 23, and the friction and the skid resistance between the robot and a working area surface are increased through the non-slip mat 24.
Referring to fig. 4, the dual structure leg 2 is rotatable with respect to the mounting frame 1 in a horizontal direction, the dual structure leg 2 is conveniently unfolded and folded by the horizontal rotation of the dual structure leg 2, the dual structure leg 2 is rotatable with respect to a working area surface in a vertical direction, the entire robot is conveniently supported and retracted by the vertical rotation of the dual structure leg 2, and the crawling state and the folding state are smoothly switched; through dual structure leg 2 and omniwheel 3, can satisfy the switching of the motion of robot, contract the robot for fold condition through dual structure leg 2, reduce the size of robot, through narrow and small space under this state, expand the robot for crawling state through dual structure leg 2, be convenient for walk, hinder more, nimble motion, reach the region that awaits measuring smoothly under this state.
Referring to fig. 5, the measuring device 5 is installed on a main board 55, the main board 55 is embedded in a groove at the top of the mounting rack 1, the laser measuring module 51, the optical camera 52, the ultrasonic navigation module 53, the data exchange module 54, the main board 55, the power module 56 and the ARM controller 59 are respectively integrated on the main board 55, the power switch 57 and the reset switch 58 are arranged at the edge of the main board 55, wherein the power module 56 respectively supplies power to the steering engine 23, the small motor, the laser measuring module 51, the optical camera 52, the ultrasonic navigation module 53, the data exchange module 54 and the ARM controller 59, the laser measuring module 51, the optical camera 52, the ultrasonic navigation module 53 and the data exchange module 54 are respectively and electrically connected to the ARM controller 59, the ultrasonic navigation module 53 is an existing module with ultrasonic transmitter and sensor and is used for the navigation of a robot, the optical camera 52 is a remote sensing instrument with a certain wavelength range, the laser measuring module 51 is an existing module for measuring distance by using an optical principle and is used for measuring the area to be measured, and the data exchange module 54 is a communication module for communication and data exchange and is used for the external communication of the robot; the control of the robot is responsible for an ARM controller 59, the path planning and navigation are responsible for an ultrasonic navigation module 53 and an optical camera 52, and the correction and measurement are responsible for a laser measurement module 51 and the optical camera 52; the laser measuring module 51 and the optical camera 52 are used for identifying and measuring the area to be measured, the measuring accuracy is improved, the robot is navigated and obstacle-avoiding through the ultrasonic navigation module 53, an instruction and data sent by the receiver robot are sent to the robot through the data exchange module 54, the area to be measured can be intelligently measured, and the micro structural deformation of the area to be measured can be accurately measured.
Example 2
Referring to fig. 6, the present embodiment provides a method for using a four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure, where the four-footed omnidirectional robot for measuring a gap of a semi-closed cavity structure of embodiment 1 includes the following steps:
s1, starting the robot for self-checking, connecting the main board 55 with a power supply, checking each module in the measuring device 5 to ensure that the robot works normally, sending an instruction to the data exchange module 54 from the mobile terminal sending the instruction through communication connection, and receiving the instruction of the measuring task by the robot;
s2, placing the robot at the semi-closed opening of the part to be tested, controlling the dual-structure legs 2 to unfold through the steering engine 23, and controlling the hip 21 to horizontally rotate through the steering engine 23 and then controlling the large arm 22 to vertically rotate through the steering engine 23 when controlling the dual-structure legs 2 to unfold; the robot is in a crawling state, and is controlled by the steering engine 23 to move and cross obstacles, when the dual-structure legs 2 are controlled to crawl and cross obstacles, the steering engine 23 is used for controlling the large arm 22 to rotate and the hip 21 to rotate, and crawling actions of different dual-structure legs 2 are asynchronously carried out; the robot is positioned and navigated through the ultrasonic navigation module 53, and the navigation is assisted through the optical camera 52;
s3, after the standby robot reaches the area to be tested, the dual structure legs 2 are folded to be folded through controlling the steering engine 23, when the dual structure legs 2 are controlled to be folded, the steering engine 23 is used for controlling the large arms 22 to vertically rotate, and then the steering engine 23 is used for controlling the hip 21 to horizontally rotate; the robot is assisted in steering positioning and omnidirectional movement through the omnidirectional wheels 3;
s4, measuring the area to be measured through the optical camera 52 and the laser measuring module 51, measuring corresponding data through the optical camera 52 and the laser measuring module 51 by using an optical principle, caching the data in the ARM controller 59, and sending the data to the mobile terminal through the data exchange module 54;
s5, after the measurement is completed, the positioning and navigation are carried out through the ultrasonic navigation module 53 and the optical camera 52, the walking is carried out according to the path planned by the ARM controller 59, the ultrasonic navigation module 53 plays a main navigation role, the optical camera 52 assists in navigation, the collision of walls and flexible obstacle crossing are avoided, and the dual structure legs 2 are controlled to be unfolded and controlled to return through the steering engine 23.
The method controls the dual-structure leg 2 to make different actions by controlling the rotation mode of the dual-structure leg 2 through the free movement and flexible movement of the robot and the steering engine 23, thereby realizing the unfolding, folding, crawling and obstacle crossing of the dual-structure leg 2; the robot can shuttle in a narrow space, the micro deformation of each region to be measured is measured in the semi-closed cavity, and the robot is guided to accurately navigate and avoid obstacles based on a micro mechanical electronic technology, an image recognition technology and a laser measurement technology, so that the precision of measuring the micro deformation is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a measure four-footed omnidirectional robot in semi-closed chamber structure clearance, a plurality of including mounting bracket, dual structure leg, omniwheel and measuring device the omniwheel is installed in the mounting bracket bottom, measuring device establishes on the mounting bracket the edge all around of mounting bracket is provided with four at least dual structure legs of mutual spaced, dual structure leg can for the mounting bracket rotates, dual structure leg can support the tip of dual structure leg on the working area face through the pivoted mode, all dual structure leg can leave the working area face through the pivoted mode and fold at the mounting bracket edge.
2. The omnidirectional quadruped robot for measuring the clearance of the semi-closed cavity structure as claimed in claim 1, wherein the dual structure leg is a multi-segment component with a degree of freedom of 2, and adjacent segments can rotate relatively.
3. A quadruped omnidirectional robot for measuring semi-enclosed cavity structural clearance according to claim 2, wherein the dual structural legs are rotatable in a horizontal direction relative to the mounting frame and the dual structural legs are rotatable in a vertical direction relative to the work area surface.
4. The omnidirectional four-footed robot for measuring the structural gap of the semi-closed cavity according to claim 3, wherein the dual structure leg comprises a hip, a large arm, a steering engine and a non-slip mat, the hip is hinged to the edge of the mounting frame, the large arm is hinged to the hip, the steering engine is respectively arranged at the two hinged parts, the steering engine is used for driving the hip to rotate and the large arm to rotate, the non-slip mat is arranged at the end part of the large arm, and the non-slip mat is used for increasing the friction between the end part of the large arm and the working area surface.
5. The omnidirectional quadruped robot for measuring the clearance of the semi-closed cavity structure according to claim 4, wherein the large arms are provided with wedge structures, and two adjacent large arms can be overlapped together in a matching way through inclined surfaces of the wedge structures.
6. The four-footed omnidirectional robot for measuring the structure gap of the semi-closed cavity according to any one of claims 1 to 5, wherein the measuring device comprises a laser measuring module, an optical camera, an ultrasonic navigation module and a data exchange module which are arranged on a mounting rack, the ultrasonic navigation module is used for the navigation of the robot, the optical camera is used for identifying the area to be measured, the laser measuring module is used for measuring the area to be measured, and the data exchange module is used for the external communication of the robot.
7. The omnidirectional robot with four feet for measuring the clearance of the semi-closed cavity structure according to claim 6, further comprising a dust cover, wherein the dust cover and the mounting rack are made of soft materials, and the dust cover covers the measuring device on the top of the mounting rack.
8. The omnidirectional quadruped robot for measuring semi-enclosed cavity structure gap according to claim 7, wherein the width of the robot is less than 10cm, the height of the robot is less than 10cm and the length of the robot is less than 20cm when the dual structure legs are folded.
9. A method for using a four-footed omnidirectional robot for measuring semi-closed cavity structure gaps, which adopts the four-footed omnidirectional robot for measuring semi-closed cavity structure gaps of any one of claims 1 to 8, and is characterized by comprising the following control operations:
when the dual-structure leg support is controlled, the hip is controlled to rotate horizontally through the steering engine, and then the large arm is controlled to rotate vertically through the steering engine;
when the dual-structure legs are controlled to be folded, the steering engine is used for controlling the large arm to vertically rotate, and then the steering engine is used for controlling the hip to horizontally rotate;
when the dual-structure legs are controlled to crawl and cross obstacles, the large arm and the hip are controlled to rotate through the steering engine, and crawling actions of different dual-structure legs are asynchronously carried out.
10. The use method of the four-footed omnidirectional robot for measuring the clearance of semi-closed cavity structures as recited in claim 9, characterized by comprising the following steps:
s1, the robot is powered on for self-checking, and a measurement task instruction is sent to the robot through the data exchange module;
s2, placing the robot at the semi-closed opening of the part to be tested, controlling the dual structure legs to be supported on the working area surface through a steering engine, moving and obstacle crossing through the steering engine control, positioning and navigating the robot through the ultrasonic navigation module, and assisting navigation through the optical camera;
s3, after the standby robot reaches the area to be tested, the dual structure legs are folded by controlling the steering engine, and the robot is assisted in steering and positioning through the omnidirectional wheels;
s4, measuring the area to be measured through the optical camera and the laser measuring module;
and S5, after the measurement is finished, positioning and navigation are carried out through the ultrasonic navigation module and the optical camera, the dual structure legs are controlled by the steering engine to be supported on the working area surface, and the return voyage is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111417076.0A CN114044067B (en) | 2021-11-25 | 2021-11-25 | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111417076.0A CN114044067B (en) | 2021-11-25 | 2021-11-25 | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114044067A true CN114044067A (en) | 2022-02-15 |
| CN114044067B CN114044067B (en) | 2023-04-07 |
Family
ID=80211112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111417076.0A Active CN114044067B (en) | 2021-11-25 | 2021-11-25 | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114044067B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| CN106864708A (en) * | 2017-01-23 | 2017-06-20 | 西北工业大学 | Underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
| CN211055414U (en) * | 2019-11-01 | 2020-07-21 | 西安航通测控技术有限责任公司 | Nondestructive testing robot system for surface defects of aircraft skin |
| CN212979770U (en) * | 2020-07-13 | 2021-04-16 | 山东科技大学 | Novel can snatch four-footed robot |
| CN113335557A (en) * | 2021-04-30 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Method and system for digitally detecting assembly quality of airplane body surface |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
| CN214565776U (en) * | 2021-05-15 | 2021-11-02 | 刘运锦 | Mobile robot capable of switching four wheels and six feet |
-
2021
- 2021-11-25 CN CN202111417076.0A patent/CN114044067B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104176145A (en) * | 2014-08-22 | 2014-12-03 | 西北工业大学 | Asymmetric wheel leg type all-directional moving chassis |
| CN106864708A (en) * | 2017-01-23 | 2017-06-20 | 西北工业大学 | Underwater operation robot and its control method that a kind of bionical knife edge leg of migration mixing is combined with omni-directional wheel |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
| CN211055414U (en) * | 2019-11-01 | 2020-07-21 | 西安航通测控技术有限责任公司 | Nondestructive testing robot system for surface defects of aircraft skin |
| CN212979770U (en) * | 2020-07-13 | 2021-04-16 | 山东科技大学 | Novel can snatch four-footed robot |
| CN113335557A (en) * | 2021-04-30 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Method and system for digitally detecting assembly quality of airplane body surface |
| CN214565776U (en) * | 2021-05-15 | 2021-11-02 | 刘运锦 | Mobile robot capable of switching four wheels and six feet |
| CN113400280A (en) * | 2021-06-22 | 2021-09-17 | 上海应用技术大学 | Robot based on mecanum wheel |
Non-Patent Citations (1)
| Title |
|---|
| 王文辉 等: ""面向飞机蒙皮对缝的移动机器人自主跟踪方法"", 《航空制造技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114044067B (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11044011B2 (en) | Automated scanning systems for non-destructive inspection of curved cylinder-like workpieces | |
| JP7232581B2 (en) | Stabilization of the tool holding end of the extended reach arm of automated equipment | |
| JP6687327B2 (en) | System and method for positioning an automated assembly tool with respect to a structure | |
| CN110340862B (en) | Autonomous mobile transfer robot | |
| JP7521891B2 (en) | Non-destructive testing using unmanned aerial vehicles | |
| JP7355500B2 (en) | Robotic system and method for operating on workpieces | |
| CN106985141B (en) | Double-arm cooperative robot | |
| CN106170371B (en) | modular mobile inspection vehicle | |
| US11077935B2 (en) | Thruster based locomotion for perched unmanned aerial vehicles | |
| KR20180066255A (en) | Method for controlling a flight body for cleaning surfaces | |
| BR112018000530B1 (en) | CLEANING DEVICE, METHOD FOR CLEANING A SURFACE AND CLEANING SYSTEM | |
| CN106739890A (en) | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode | |
| EP3048416A1 (en) | Systems, methods, and apparatus for automated predictive shimming for large structures | |
| US20140005840A1 (en) | Automated Inspection of Soft-Tooled Hollow Structure | |
| CN107398926A (en) | A kind of vibrating flexible beam measurement apparatus and method based on end vision-based detection | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN110273819A (en) | For safeguarding the device and method of wind turbine blade | |
| BR202018076808U2 (en) | APPARATUS FOR GENERATING A REPRESENTATIVE POINT CLOUD OF THE REAL FORM OF A HUMAN TRANSPORT VEHICLE. | |
| CN107036795B (en) | Multifunctional debugging platform | |
| CN114044067B (en) | Four-footed omnidirectional robot for measuring semi-closed cavity structure gap and use method | |
| CN103553369B (en) | A kind of glass gluing device | |
| CN113276091A (en) | Foldable outer limb robot | |
| CN104709474A (en) | High-precision vertical docking system of large spacecraft | |
| JP3011367B2 (en) | 3D automatic measuring device | |
| KR102135822B1 (en) | Artificial intelligent robot having autonomous driving, and autonomous driving method for artificial intelligent robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |