CN115990865B - Rigid-flexible coupling cooperative type blade defect detection robot - Google Patents

Abstract

The present invention relates to a rigid-flexible coupling collaborative blade defect detection robot, including a hoisting mechanism and a visual inspection mechanism. The hoisting mechanism includes a main frame, and the main frame includes a top plate and a bottom plate arranged in parallel in the upper and lower directions. The top plate and the bottom plate are connected by four sets of trapezoidal screws. The hoisting mechanism also includes a moving platform, a rotating platform, a synchronous motion device and a hoisting platform. The hoisting platform is connected to the flexible cable driving device through a flexible cable; the visual inspection mechanism includes a base, a joint group connected to the base, and a camera connected to the end joint of the joint group, and the camera is always parallel to the blade surface to be tested. It can be seen from the above technical scheme that the rigid-flexible coupling of the present invention has the characteristics of large working space, modular reconfiguration, high efficiency, stability and reliability; at the same time, the robot can quickly replace workpieces and can adapt to the hoisting of aviation blades of different sizes and structures.

Description

A rigid-flexible coupling collaborative blade defect detection robot

Technical Field

The invention relates to the field of defect detection robots, and in particular to a rigid-flexible coupling collaborative blade defect detection robot.

Background technique

Aircraft blades are an important part of aircraft engines, and the surface quality of aircraft blades directly affects the safety and stability of aircraft flight. Considering the complex curved surfaces of aircraft blades, traditional manual inspection requires the preparation of a large number of inspection pallets, which is laborious and time-consuming, and has low inspection accuracy; the existing automated inspection equipment takes a long time to replace the inspected workpiece, and the equipment cost is high. In terms of inspection technology, visual inspection, as a new inspection technology, has high accuracy and low cost and has been widely used. However, how to adjust the complex curved surfaces of the inspected blades and realize the rapid replacement of inspection parts is still a technical difficulty. This difficulty makes the existing blade inspection method and inspection efficiency unable to meet the needs of enterprises. For example, the Chinese document patent number "CN202210452967.8" proposes an aircraft engine blade inspection device, which tests the engine blades at different ambient temperatures through a heatable test box. During the inspection, the industrial camera is moved and the engine blades are rotated at the same time to achieve comprehensive photography of the engine blades, which greatly improves the inspection efficiency of the blades. However, this inspection method is mainly aimed at inspections under high temperatures, and the heating process is slow and energy-intensive. Another example: Chinese patent number "CN217403295U" proposes an aviation blade inspection tool. Through the displacement platform, the blade to be tested can be adjusted for horizontal and longitudinal displacement relative to the detection device, thereby realizing the transformation of the measurement point and automatic multi-point measurement of the blade, saving time and effort. However, blade replacement still requires manual operation, and only one plane of the blade can be detected each time, which makes the overall inspection of the blade more complicated. Therefore, we need an aerospace blade defect detection robot that is efficient and adapted to visual inspection technology.

Summary of the invention

The purpose of the present invention is to provide a rigid-flexible coupling collaborative blade defect detection robot, which is rigid-flexible coupling, has the characteristics of large working space, modular reconfiguration, high efficiency, stability and reliability, etc. At the same time, the robot can quickly replace workpieces and can adapt to the hoisting of aviation blades of different sizes and structures.

To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: it includes a lifting mechanism and a visual inspection mechanism, the lifting mechanism includes a main frame, the main frame includes a top plate and a bottom plate arranged in parallel in the up and down directions, the top plate and the bottom plate are connected by four groups of trapezoidal screws, the lifting mechanism also includes a mobile platform arranged on the trapezoidal screw and can move up and down, a rotating platform arranged below the bottom plate and rotatably connected to the bottom plate, a synchronous motion device arranged above the top plate for driving the four groups of trapezoidal screws to rotate synchronously, and a lifting platform suspended inside the main frame, the lifting platform is connected to the flexible cable driving device fixed on the mobile platform through a flexible cable, and the lifting platform includes a clamp for clamping the blade; the visual inspection mechanism includes a base, a joint group connected to the base, and a camera connected to the end joint of the joint group, and the camera is always parallel to the blade surface to be measured.

The flexible cable drive devices are evenly arranged in four groups along the mobile platform. The four groups of flexible cable drive devices respectively include a mounting plate fixed on the mobile platform. The mounting plate is provided with a drum for winding the flexible cable, a first motor for driving the drum to rotate, and a gear transmission group connecting the drum and the first motor. The drum is a slotted drum and the drum is fixed to the mounting plate through a bearing seat. The gear transmission group includes a first reduction gear coaxially connected to the drum and a second reduction gear connected to the first motor. The diameter of the first reduction gear is larger than that of the second reduction gear. The mounting plate is also provided with a first pulley and a second pulley for adjusting the direction of the flexible cable.

The lifting platform includes a lifting plate connected to a flexible cable and a clamp fixed under the lifting plate. The clamps are arranged in two groups in parallel. The two groups of clamps respectively include a clamp mounting plate connected to the lifting plate. The clamp mounting plate is symmetrically provided with a first clamp and a second clamp. A transmission plate connecting the first clamp and the second clamp is provided at the center of the clamp mounting plate. A transmission shaft is fixed at the center of the transmission plate. The transmission shaft is driven by a second motor installed on the lifting plate. The second motor drives the transmission shaft to rotate and drives the transmission plate to rotate synchronously to realize the opening and closing of the first clamp and the second clamp.

The transmission disc is provided with a first transmission arm connected to the first clamp and a second transmission arm connected to the second clamp. The first transmission arm and the second transmission arm are both arc-shaped. The two ends of the first transmission arm are respectively rotatably connected to the transmission disc and the first clamp, and the two ends of the second transmission arm are respectively rotatably connected to the transmission disc and the second clamp.

The first clamping jaw and the second clamping jaw are fixed on the clamping jaw mounting plate by means of a clamping groove, and rubber is adhered to the clamping surfaces of the first clamping jaw and the second clamping jaw.

The rotating platform includes a shell with a hollow structure, a one-way thrust ball bearing is provided at the center of the upper surface of the shell, the upper end surface of the one-way thrust ball bearing is in close contact with the base plate, a fourth motor and a second planetary reducer connected to the fourth motor are provided inside the shell, the motor shaft of the second planetary reducer is fixedly connected to the center of the base plate, and a first universal wheel is provided at the bottom of the shell.

The synchronous motion device includes a power device, a synchronous gear device connected to the power device, and a synchronous pulley device connected to the synchronous gear device. The power device includes a third motor and a first planetary reducer connected to the third motor. The synchronous gear device includes a gear transmission shaft, on which a driven bevel gear, a first spur gear and a second spur gear are fixed from top to bottom at intervals. The synchronous gear device also includes a driving bevel gear connected to the first planetary reducer and meshed with the driven bevel gear. The synchronous pulley device includes a first synchronous pulley, a second synchronous pulley, a third synchronous pulley and a fourth synchronous pulley which are coaxially connected to the top ends of four sets of trapezoidal screws in sequence. The first synchronous pulley, the second synchronous pulley and the first spur gear are connected through a first synchronous belt, and the third synchronous pulley and the fourth synchronous pulley are connected to the second spur gear through a second synchronous belt.

A first mounting plate is provided on the upper plane of the top plate, a second mounting plate is provided on the lower plane of the top plate, the gear transmission shaft is fixed to the first mounting plate and the second mounting plate through a deep groove ball bearing, the driven bevel gear is located above the first mounting plate, the first spur gear and the second spur gear are located between the first mounting plate and the second mounting plate, and the power device is installed on the upper plate surface of the first mounting plate.

The top plate and the movable platform are both annular structures, the bottom plate is a flat plate structure, the four sets of trapezoidal lead screws are respectively connected to the top plate and the bottom plate through deep groove ball bearings, the movable platform is located between the top plate and the bottom plate and is penetrated by the trapezoidal lead screw, the trapezoidal lead screw is provided with a lead screw nut matching with it, and the movable platform and the lead screw nut are fixedly connected by bolts.

The joint group includes a first joint, a second joint, a third joint, a fourth joint and a fifth joint which are arranged in sequence, wherein the first joint is connected to the base, the fifth joint is connected to the camera, and a second universal wheel is arranged below the base.

It can be seen from the above technical scheme that the present invention drives the trapezoidal screw to rotate synchronously through the synchronous motion device, thereby realizing the up and down displacement of the mobile platform; drives the bottom plate to rotate through the rotating platform, thereby driving the overall 360° rotation of the hoisting mechanism; drives the flexible cable to be retracted and released through the flexible cable driving device, thereby realizing the adjustment of the up and down, left and right, front and back and tilt freedom of the hoisting platform; and adjusts the position of the camera through the joint group. The present invention is rigid-flexible coupling, has the characteristics of large working space, modular reconfiguration, high efficiency, stability and reliability.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic structural diagram of the present invention;

FIG2 is a schematic structural diagram of a hoisting mechanism of the present invention;

3 is a schematic diagram of the structure of the visual detection mechanism of the present invention;

FIG4 is a schematic structural diagram of the main frame of the present invention;

FIG5 is an enlarged view of portion A of FIG4 ;

FIG6 is a schematic diagram of the structure of the mobile platform of the present invention;

FIG7 is a schematic structural diagram of a rotating platform of the present invention;

FIG8 is a schematic structural diagram of a synchronous motion device according to the present invention;

FIG9 is an enlarged view of portion B of FIG8 ;

10 is a second schematic structural diagram of the synchronous motion device of the present invention;

11 is a schematic structural diagram of the hoisting platform of the present invention;

FIG12 is a schematic diagram of the structure of the clamping jaws of the present invention;

FIG13 is a schematic diagram of the exploded structure of the clamping jaw of the present invention;

FIG. 14 is a schematic structural diagram of the flexible cable driving device of the present invention.

The marks in the above drawings are: main frame 1, top plate 11, bottom plate 12, trapezoidal screw 13, screw nut 131, first mounting plate 14, second mounting plate 15, mobile platform 2, rotating platform 3, housing 31, one-way thrust ball bearing 32, fourth motor 33, second planetary reducer 34, first universal wheel 35, synchronous motion device 4, third motor 41, first planetary reducer 42, active bevel gear 421, gear transmission shaft 43, driven bevel gear 431, first spur gear 432, second spur gear 433, first synchronous pulley 44, second synchronous pulley 45, third synchronous pulley 46, fourth synchronous pulley 47, first synchronous Belt 48, second synchronous belt 49, lifting platform 5, lifting plate 51, clamp 52, clamp mounting plate 521, first clamp 522, second clamp 523, transmission plate 524, first transmission arm 525, second transmission arm 526, second motor 53, transmission shaft 54, rubber 55, flexible cable 6, flexible cable driving device 7, mounting plate 71, reel 72, first motor 73, bearing seat 74, first reduction gear 75, second reduction gear 76, first pulley 77, second pulley 78, base 8, first joint 81, second joint 82, third joint 83, fourth joint 84, fifth joint 85, second universal wheel 86, camera 9.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

A rigid-flexible coupling collaborative blade defect detection robot as shown in Figures 1 and 2 includes a hoisting mechanism and a visual inspection mechanism. The hoisting mechanism includes a main frame 1, which includes a top plate 11 and a bottom plate 12 arranged in parallel in the vertical direction, and the top plate 11 and the bottom plate 12 are connected by four sets of trapezoidal screws 13. The hoisting mechanism also includes a mobile platform 2 arranged on the trapezoidal screw 13 and movable up and down, a rotating platform 3 arranged below the bottom plate 12 and rotatably connected to the bottom plate 12, a synchronous motion device 4 arranged above the top plate 11 for driving the four sets of trapezoidal screws 13 to rotate synchronously, and a hoisting platform 5 suspended inside the main frame 1, and the hoisting platform 5 is connected to a flexible cable driving device 7 fixed on the mobile platform 2 through a flexible cable 6, and the hoisting platform 5 includes a clamp for clamping the blade.

Further, as shown in Fig. 4 and Fig. 5, the top plate 11 and the mobile platform 2 are both annular structures, the bottom plate 12 is a flat plate structure, the four sets of trapezoidal screws 13 are respectively connected to the top plate 11 and the bottom plate 12 through deep groove ball bearings, the mobile platform 2 is located between the top plate 11 and the bottom plate 12 and is penetrated by the trapezoidal screw 13, the trapezoidal screw 13 is provided with a screw nut 131 matched therewith, the mobile platform 2 and the screw nut 131 are fixedly connected by bolts, and the mobile platform 2 can move up and down according to the rotation of the trapezoidal screw 13. The distance between the top plate 11 and the bottom plate 12 controls the height of the robot's working area, and the four trapezoidal screws 13 are evenly distributed on a circle, which controls the length and width of the robot's working area. The trapezoidal screw 13 realizes synchronous rotation under the control of the synchronous motion device 4, thereby controlling the translational freedom of the mobile platform 2 in the Z direction, and because the trapezoidal screw 13 is synchronously moved, the mobile platform 2 will always maintain a horizontal state for precise up and down movement.

Preferably, the top plate 11 and the bottom plate 12 are aluminum profiles of the same specifications, and the mobile platform 2 is made of aluminum alloy.

Further, as shown in FIG7 , the rotating platform 3 includes a hollow shell 31, a one-way thrust ball bearing 32 is provided at the center of the upper surface of the shell 31, the upper end surface of the one-way thrust ball bearing 32 is in close contact with the bottom plate 12, a fourth motor 33 and a second planetary reducer 34 connected to the fourth motor 33 are provided inside the shell 31, the motor shaft of the second planetary reducer 34 is fixedly connected to the center of the bottom plate 12, and a first universal wheel 35 is provided at the bottom of the shell 31. Specifically, the fourth motor 33 is connected to the second planetary reducer 34 to achieve the deceleration of the fourth motor 33, the third planetary reducer 34 is installed on the inner surface of the shell 31 and the motor shaft of the second planetary reducer 34 of the bottom plate 12 by bolts, so as to realize the rotation of all parts above the bottom plate 12 around the Z axis, and the first universal wheel 35 realizes the movement of the entire robot on the ground. After detecting one side of the aviation blade, the rotating platform 3 can be rotated 180° to detect the back of the aviation blade.

Furthermore, as shown in Figures 8, 9 and 10, the synchronous motion device 4 includes a power device, a synchronous gear device connected to the power device, and a synchronous pulley device connected to the synchronous gear device. The power device includes a third motor 41 and a first planetary reducer 42 connected to the third motor 41. The third motor 41 achieves motor deceleration through the first planetary reducer 42.

The synchronous gear device includes a gear transmission shaft 43, on which a driven bevel gear 431, a first spur gear 432 and a second spur gear 433 are fixed from top to bottom. The interval arrangement can prevent the first synchronous belt 48 and the second synchronous belt 49 from interfering with each other. The synchronous gear device also includes a driving bevel gear 421 connected to the first planetary reducer 42 and meshing with the driven bevel gear 431.

The synchronous pulley device includes a first synchronous pulley 44, a second synchronous pulley 45, a third synchronous pulley 46 and a fourth synchronous pulley 47 which are coaxially connected to the top ends of the four sets of trapezoidal screws 13 in sequence. The first synchronous pulley 44, the second synchronous pulley 45 and the first spur gear 432 are connected through a first synchronous belt 48, and the third synchronous pulley 46, the fourth synchronous pulley 47 and the second spur gear 433 are connected through a second synchronous belt 49. The first synchronous pulley 44, the second synchronous pulley 45, the first spur gear 432, the first synchronous belt 48 and the third synchronous pulley 46, the fourth synchronous pulley 47, the second spur gear 433 and the second synchronous belt 49 respectively form two triangular transmissions.

During operation, the third motor 41 drives the active bevel gear 421 and the driven bevel gear 431 to rotate through the first planetary reducer 42, and then drives the gear transmission shaft 43 to rotate. The gear transmission shaft 43 drives the first spur gear 432 and the second spur gear 433 to rotate synchronously. The first spur gear 432 drives the first synchronous pulley 44 and the second synchronous pulley 45 to rotate synchronously through the first synchronous belt 48. The second spur gear 433 drives the third synchronous pulley 46 and the fourth synchronous pulley 47 to rotate synchronously through the second synchronous belt 49 to obtain equal initial speeds, thereby achieving the purpose of synchronously controlling the four trapezoidal lead screws 13. This can ensure that the mobile platform 2 is not affected by the errors inside the trapezoidal lead screw 13, thereby improving the reliability and stability of the robot.

Furthermore, a first mounting plate 14 is provided on the upper plane of the top plate 11, and a second mounting plate 15 is provided on the lower plane of the top plate 11. The gear transmission shaft 43 is fixed to the first mounting plate 14 and the second mounting plate 15 through a deep groove ball bearing. The driven bevel gear 431 is located above the first mounting plate 14, the first spur gear 432 and the second spur gear 433 are located between the first mounting plate 14 and the second mounting plate 15, and the power unit is installed on the upper plate surface of the first mounting plate 14.

Furthermore, as shown in Figures 11, 12 and 13, the lifting platform 5 includes a lifting plate 51 connected to the flexible cable 6 and a clamp 52 fixed under the lifting plate 51. The clamps 52 are arranged in two groups in parallel. The two groups of clamps 52 respectively include a clamp mounting plate 521 connected to the lifting plate 51. The clamp mounting plate 521 is symmetrically provided with a first clamp 522 and a second clamp 523. A transmission disk 524 connecting the first clamp 522 and the second clamp 523 is provided at the center of the clamp mounting plate 521. A transmission shaft 54 is fixed at the center of the transmission disk 524. The transmission shaft 54 is driven by a second motor 53 installed on the lifting plate 51. The second motor 53 drives the transmission shaft 54 to rotate and drives the transmission disk 524 to rotate synchronously to realize the opening and closing of the first clamp 522 and the second clamp 523.

Furthermore, the transmission disk 524 is provided with a first transmission arm 525 connected to the first clamp 522 and a second transmission arm 526 connected to the second clamp 523. The first transmission arm 525 and the second transmission arm 526 are both arc-shaped, and the two ends of the first transmission arm 525 are rotatably connected to the transmission disk 524 and the first clamp 522 respectively, and the two ends of the second transmission arm 526 are rotatably connected to the transmission disk 524 and the second clamp 523 respectively.

Furthermore, the first clamping jaw 522 and the second clamping jaw 523 are fixed on the clamping jaw mounting plate 521 by means of a slot, and rubber 55 is adhered to the clamping surfaces of the first clamping jaw 522 and the second clamping jaw 523. That is, the rubber 55 is adhered to the inner surfaces of the first clamping jaw 522 and the second clamping jaw 523 to achieve flexible clamping of the aircraft blade to avoid scratching the blade.

During operation, the second motor 53 drives the transmission shaft 54 to rotate, thereby driving the transmission disk 524 to rotate. While the transmission disk 524 rotates, the first transmission arm 525 and the second transmission arm 526 drive the first clamp 522 and the second clamp 523 to move closer or farther away from each other along the direction specified by the slot, thereby grasping or releasing the aviation blade.

Further, as shown in Figures 6 and 14, four groups of flexible cable driving devices 7 are evenly arranged along the mobile platform 2. The four groups of flexible cable driving devices 7 respectively include a mounting plate 71 fixed on the mobile platform 2. The mounting plate 71 is provided with a reel 72 for winding the flexible cable 6, a first motor 73 for driving the reel 72 to rotate, and a gear transmission group connecting the reel 72 and the first motor 73. The reel 72 is a slotted reel and the reel 72 is fixed to the mounting plate 71 through a bearing seat 74. The gear transmission group includes a first reduction gear 75 coaxially connected to the reel 72 and a second reduction gear 76 connected to the first motor 73. The diameter of the first reduction gear 75 is larger than that of the second reduction gear 76. The mounting plate 71 is also provided with a first pulley 77 and a second pulley 78 for adjusting the steering of the flexible cable 6. Specifically, the first motor 73 controls the rotation of the second reduction gear 76, and the second reduction gear 76 meshes with the first reduction gear 75 to complete the deceleration work. The first reduction gear 75 is installed on a reel 72 with a spiral groove. The rotation of the reel 72 can accurately control the retracted length of the flexible rope 6 to achieve the desired lifting effect. The first pulley 77 and the second pulley 78 realize the steering of the flexible rope 6, so that the flexible rope 6 will not interfere in the working space and is conducive to subsequent control. In this embodiment, a total of four flexible ropes 6 are arranged, which are respectively connected to the four sides of the lifting plate 51. The flexible rope driving device 7 controls the degree of freedom of the lifting platform 5 through the flexible rope 6, so as to obtain the convenient detection of the position and posture of the aviation blade. The cooperation of the four flexible ropes 6 can realize the up and down, front and back, and left and right translation of the lifting platform 5. According to the actual detection needs, the lifting platform 5 can also be rotated within a certain angle range by changing the retracted and released lengths of the four flexible ropes 6. Four groups of flexible cable driving devices 7 are arranged, and 8 mounting holes for fixing the flexible cable driving devices 7 are arranged on the mobile platform 2, which can be adjusted and installed according to actual needs during use.

Further, as shown in FIG3 , the visual inspection mechanism includes a base 8, a joint group connected to the base 8, and a camera 9 connected to the end joint of the joint group, and the camera 9 is always parallel to the blade surface to be measured. Specifically, the joint group includes a first joint 81, a second joint 82, a third joint 83, a fourth joint 84, and a fifth joint 85 arranged in sequence, wherein: the first joint 81 is connected to the base 8, the fifth joint 85 is connected to the camera 9, and a second universal wheel 86 is provided below the base 8. Specifically, the base 8 is the load-bearing platform and also the mobile platform of the entire visual inspection mechanism, and four second universal wheels 86 are installed below the base 8. The first joint 81, the second joint 82, the third joint 83, the fourth joint 84, and the fifth joint 85 are assembled and installed in sequence through bearings and bolts. The mechanical arm formed by the joint group has translational freedom along the X, Y, and Z axes and rotational freedom around the X, Y, and Z axes, with a total of six degrees of freedom. The specific structure of the joint group can refer to the prior art and will not be repeated here. When working, the visual inspection mechanism is placed close to the side of the hoisting mechanism, and the robotic arm can well control the camera 9 to work in coordination with the hoisting mechanism to complete the visual inspection task.

The working principle and working process of the present invention are as follows:

The mobile platform of the hoisting mechanism is controlled by four trapezoidal screws driven by a synchronous motion device, which constrains the rotational freedom around X and Y while achieving horizontal translation in the Z direction. The flexible cable is connected to the hoisting platform through the retraction and extension of the drum and the guidance of the first and second pulleys. Under normal circumstances, the three translational degrees of freedom of the hoisting platform are achieved, and the clamping claws can be controlled to clamp the aviation blade to the specified inspection position. At the same time, the visual inspection mechanism controls the camera to cooperate with the hoisting mechanism for visual inspection. After one side of the aviation blade is completely inspected, the hoisting mechanism rotates the aviation blade to the back through the rotating platform, repeats the inspection steps, and completes the double-sided inspection.

The lifting platform of the present invention has 6 degrees of freedom, specifically the translational freedom along the Z axis controlled by the synchronous motion device and the flexible cable, the rotational freedom around the Z axis controlled by the rotating platform, and the translational freedom along the X and Y axes and the rotational freedom around the X and Y axes controlled by the flexible cable.

During operation, first, the four trapezoidal screws are driven to rotate through the synchronous motion device to make the mobile platform reach the specified position; secondly, the clamps clamp the aviation blades on the assembly line; thirdly, the mobile platform is controlled to rise to the specified position; thirdly, the flexible cables are retracted and released to adjust the lifting platform to the inspection position; thirdly, the mechanical arm of the visual inspection mechanism cooperates to perform single-sided inspection; after the inspection is completed, the rotating platform rotates 180° to inspect the back of the aviation blade, and after the double-sided inspection is completed, the mobile platform descends and the clamps are controlled to release and place the blade.

The beneficial effects of the present invention are:

1. The lifting mechanism of the present invention adopts a flexible cable parallel form to drive the end effector. Compared with the traditional rigid robot, the flexible cable parallel robot has the advantages of large working space and low inertia when facing the lifting work of aviation blades with heavy loads. It also has high flexibility when combined with the visual inspection mechanism.

2. The present invention adopts a synchronous motion device, which can control the synchronous movement of four trapezoidal lead screws with only a single motor, avoiding the platform tilt caused by the motion error of the four trapezoidal lead screws, so as to ensure that the end effector can smoothly control the posture of the aviation blade, thereby improving the accuracy of the shooting process and having good stability and reliability.

3. The present invention designs a complete rotating platform. When facing aviation blades with complex curved surfaces, both the front and back sides of the blades must be inspected to ensure the quality of the blades. The rotating platform can be fully inspected in one hoisting without disassembling the aviation blades for a second time, which shortens the inspection time and increases the work efficiency.

4. The present invention can ensure that the end effector of the lifting mechanism has three translational degrees of freedom and three rotational degrees of freedom in space and the visual inspection robot has six degrees of freedom in space. Lifting and inspection can be carried out collaboratively, and the plane of the blade being photographed is always ensured to be parallel to the camera, thereby performing all-round and multi-angle inspection of aviation blades with high inspection accuracy and large working space.

5. The flexible cable drive device and the mobile platform with multiple mounting holes of the present invention have the advantages of modularity and reconfigurability, and can be robot-reconfigured to meet the detection requirements of different working conditions and blades of different sizes and structures.

The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims (9)

1. A rigid-flexible coupling collaborative blade defect detection robot, characterized in that it comprises a hoisting mechanism and a visual detection mechanism, the hoisting mechanism comprises a main frame (1), the main frame (1) comprises a top plate (11) and a bottom plate (12) arranged in parallel in the vertical direction, the top plate (11) and the bottom plate (12) are connected by four sets of trapezoidal screws (13), the hoisting mechanism further comprises a moving platform (2) arranged on the trapezoidal screws (13) and movable up and down, a rotating platform (3) arranged below the bottom plate (12) and rotatably connected to the bottom plate (12), a synchronous motion device (4) arranged above the top plate (11) and used to drive the four sets of trapezoidal screws (13) to rotate synchronously, and a hoisting platform (5) suspended inside the main frame (1); The synchronous motion device (4) comprises a power device, a synchronous gear device connected to the power device, and a synchronous pulley device connected to the synchronous gear device. The power device comprises a third motor (41) and a first planetary reducer (42) connected to the third motor (41). The synchronous gear device comprises a gear transmission shaft (43). A driven bevel gear (431), a first spur gear (432), and a second spur gear (433) are fixed on the gear transmission shaft (43) from top to bottom at intervals. The synchronous gear device also comprises a first planetary reducer (42) and a second spur gear (433). The driving bevel gear (421) is meshed with the driven bevel gear (431), the synchronous pulley device comprises a first synchronous pulley (44), a second synchronous pulley (45), a third synchronous pulley (46) and a fourth synchronous pulley (47) which are coaxially connected to the top ends of the four sets of trapezoidal screws (13) in sequence, the first synchronous pulley (44), the second synchronous pulley (45) and the first spur gear (432) are connected via a first synchronous belt (48), and the third synchronous pulley (46), the fourth synchronous pulley (47) and the second spur gear (433) are connected via a second synchronous belt (49); The hoisting platform (5) is connected to a flexible cable driving device (7) fixed on the mobile platform (2) via a flexible cable (6), and the hoisting platform (5) comprises a clamping claw for clamping a blade; the visual detection mechanism comprises a base (8), a joint group connected to the base (8), and a camera (9) connected to the end joint of the joint group, and the camera (9) is always parallel to the surface of the blade to be tested. 2. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1, characterized in that: the flexible cable drive device (7) is evenly arranged in four groups along the mobile platform (2), and the four groups of flexible cable drive devices (7) respectively include a mounting plate (71) fixed on the mobile platform (2), and the mounting plate (71) is provided with a drum (72) for winding the flexible cable (6), a first motor (73) for driving the drum (72) to rotate, and a gear transmission group connecting the drum (72) and the first motor (73), the drum (72) is a slotted drum and the drum (72) is fixed to the mounting plate (71) through a bearing seat (74), the gear transmission group includes a first reduction gear (75) coaxially connected to the drum (72) and a second reduction gear (76) connected to the first motor (73), the diameter of the first reduction gear (75) is larger than that of the second reduction gear (76), and the mounting plate (71) is also provided with a first pulley (77) and a second pulley (78) for adjusting the steering of the flexible cable (6). 3. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1, characterized in that: the hoisting platform (5) comprises a hoisting plate (51) connected to the flexible cable (6) and a clamp (52) fixed below the hoisting plate (51), the clamp (52) is arranged in two groups in parallel, and the two groups of clamps (52) each comprise a clamp mounting plate (521) connected to the hoisting plate (51), and the clamp mounting plate (521) is symmetrically provided with a first clamp (522) and a second clamp (522). 23), a transmission plate (524) connecting the first clamping jaw (522) and the second clamping jaw (523) is provided at the center of the clamping jaw mounting plate (521), a transmission shaft (54) is fixed at the center of the transmission plate (524), and the transmission shaft (54) is driven by a second motor (53) installed on the lifting plate (51), and the second motor (53) drives the transmission shaft (54) to rotate and drives the transmission plate (524) to rotate synchronously to realize the opening and closing of the first clamping jaw (522) and the second clamping jaw (523). 4. The rigid-flexible coupling collaborative blade defect detection robot according to claim 3 is characterized in that: a first transmission arm (525) connected to the first clamp (522) and a second transmission arm (526) connected to the second clamp (523) are provided on the transmission disk (524), and the first transmission arm (525) and the second transmission arm (526) are both arc-shaped, and the two ends of the first transmission arm (525) are respectively rotatably connected to the transmission disk (524) and the first clamp (522), and the two ends of the second transmission arm (526) are respectively rotatably connected to the transmission disk (524) and the second clamp (523). 5. The rigid-flexible coupling collaborative blade defect detection robot according to claim 3 is characterized in that: the first clamping jaw (522) and the second clamping jaw (523) are fixed on the clamping jaw mounting plate (521) by means of a slot, and rubber (55) is adhered to the clamping surfaces of the first clamping jaw (522) and the second clamping jaw (523). 6. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1 is characterized in that: the rotating platform (3) comprises a shell (31) with a hollow structure, a one-way thrust ball bearing (32) is provided at the center of the upper surface of the shell (31), the upper end surface of the one-way thrust ball bearing (32) is in close contact with the bottom plate (12), a fourth motor (33) and a second planetary reducer (34) connected to the fourth motor (33) are provided inside the shell (31), the motor shaft of the second planetary reducer (34) is fixedly connected to the center of the bottom plate (12), and a first universal wheel (35) is provided at the bottom of the shell (31). 7. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1 is characterized in that: a first mounting plate (14) is provided on the upper plane of the top plate (11), a second mounting plate (15) is provided on the lower plane of the top plate (11), the gear transmission shaft (43) is fixed to the first mounting plate (14) and the second mounting plate (15) through a deep groove ball bearing, the driven bevel gear (431) is located above the first mounting plate (14), the first spur gear (432) and the second spur gear (433) are located between the first mounting plate (14) and the second mounting plate (15), and the power device is installed on the upper plate surface of the first mounting plate (14). 8. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1 is characterized in that: the top plate (11) and the mobile platform (2) are both annular structures, the bottom plate (12) is a flat plate structure, four sets of trapezoidal lead screws (13) are respectively connected to the top plate (11) and the bottom plate (12) through deep groove ball bearings, the mobile platform (2) is located between the top plate (11) and the bottom plate (12) and is penetrated by the trapezoidal lead screw (13), the trapezoidal lead screw (13) is provided with a lead screw nut (131) matched therewith, and the mobile platform (2) and the lead screw nut (131) are fixedly connected by bolts. 9. The rigid-flexible coupling collaborative blade defect detection robot according to claim 1, characterized in that: the joint group comprises a first joint (81), a second joint (82), a third joint (83), a fourth joint (84) and a fifth joint (85) arranged in sequence, wherein: the first joint (81) is connected to the base (8), the fifth joint (85) is connected to the camera (9), and a second universal wheel (86) is provided below the base (8).