CN115990865B - Rigid-flexible coupling cooperative type blade defect detection robot - Google Patents
Rigid-flexible coupling cooperative type blade defect detection robot Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 56
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- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims abstract description 17
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- 239000003638 chemical reducing agent Substances 0.000 claims description 19
- 238000007689 inspection Methods 0.000 claims 8
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- 238000006073 displacement reaction Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000013519 translation Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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- 230000007613 environmental effect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
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Abstract
The invention relates to a rigid-flexible coupling cooperative blade defect detection robot, which comprises a hoisting mechanism and a visual detection mechanism, wherein the hoisting mechanism comprises a main body frame, the main body frame comprises a top plate and a bottom plate which are arranged in parallel in the up-down direction, the top plate and the bottom plate are connected through four groups of trapezoidal screw rods, the hoisting mechanism also comprises a moving platform, a rotating platform, a synchronous motion device and a hoisting platform, and the hoisting platform is connected with a flexible cable driving device through a flexible cable; the visual detection mechanism comprises a base, a joint group connected with the base and a camera connected with the tail end joint of the joint group, wherein the camera is always parallel to the blade surface to be detected. According to the technical scheme, the rigid-flexible coupling device has the characteristics of large working space, modularization, reconfiguration, high efficiency, stability, reliability and the like; meanwhile, the robot can quickly replace workpieces and can be suitable for hoisting aviation blades with different sizes and structures.
Description
Technical Field
The invention relates to the field of defect detection robots, in particular to a rigid-flexible coupling cooperative type blade defect detection robot.
Background
Aviation blades are important components of an aeroengine, and the surface quality of the aviation blades directly affects the safety and stability of the aviation of an aviation aircraft. Considering the complex curved surface of the aviation blade, the traditional manual detection needs to prepare a large number of detection clamping plates, and is laborious, time-consuming and low in detection precision; the existing automatic detection equipment consumes long time for replacing the detected workpiece, and the equipment cost is high. In the aspect of detection technology, visual detection is used as a novel detection technology, the precision is high, the cost is low, the method has been widely applied, but how to adjust the complex curved surface of the detected blade and realize quick replacement of the detection piece is still a technical difficulty, and the difficulty makes the detection method and the detection efficiency of the existing blade incapable of meeting the enterprise demands. Such as: the Chinese literature patent No. CN202210452967.8 proposes an aero-engine blade detection device, and the engine blade is tested at different environmental temperatures through a heatable test box. During detection, the industrial camera and the rotary engine blade are moved simultaneously, so that the engine blade is comprehensively photographed, and the detection efficiency of the blade is greatly improved. However, the detection method is mainly aimed at detection at high temperature, and the heating process is slow and the energy consumption is high. Another example is: the patent number CN217403295U of China proposes an aviation blade detection measuring tool, and through a displacement platform, a measured blade can realize horizontal displacement and longitudinal displacement adjustment relative to a detection device, so that the change of a measuring point and the automatic multipoint measurement of the blade are realized, and time and labor are saved. However, manual operation is still required for replacing the blade, and only one plane of the blade can be detected at a time, so that the whole detection of the blade is complex. Therefore, there is a need for an aerospace blade defect detection robot that is efficient and adaptable to visual inspection techniques.
Disclosure of Invention
The invention aims to provide a rigid-flexible coupling cooperative blade defect detection robot which has the characteristics of large working space, modularization, reconfiguration, high efficiency, stability, reliability and the like. Meanwhile, the robot can quickly replace workpieces and can be suitable for hoisting aviation blades with different sizes and structures.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the device comprises a hoisting mechanism and a visual detection mechanism, wherein the hoisting mechanism comprises a main body frame, the main body frame comprises a top plate and a bottom plate which are arranged in parallel in the up-down direction, the top plate is connected with the bottom plate through four groups of trapezoidal screw rods, the hoisting mechanism also comprises a moving platform which is arranged on the trapezoidal screw rods and can move up and down, a rotating platform which is arranged below the bottom plate and is rotationally connected with the bottom plate, a synchronous motion device which is arranged above the top plate and is used for driving the four groups of trapezoidal screw rods to synchronously rotate, and a hoisting platform which is suspended in the main body frame, wherein the hoisting platform is connected with a flexible cable driving device which is fixed on the moving platform through flexible cables, and the hoisting platform comprises clamping claws which are used for clamping blades; the visual detection mechanism comprises a base, a joint group connected with the base and a camera connected with the tail end joint of the joint group, and the camera is always parallel to the blade surface to be detected.
Four groups of flexible cable driving devices are uniformly arranged along the moving platform, each four groups of flexible cable driving devices respectively comprises a mounting plate fixed on the moving platform, a winding drum for winding flexible cables, a first motor for driving the winding drum to rotate and a gear transmission group for connecting the winding drum with the first motor are arranged on the mounting plate, the winding drum is a grooved winding drum and is fixed on the mounting plate through a bearing seat, each gear transmission group comprises a first reduction gear coaxially connected with the winding drum and a second reduction gear connected with the first motor, the diameter of each first reduction gear is larger than that of each second reduction gear, and a first pulley and a second pulley for adjusting the flexible cables to turn are further arranged on the mounting plate.
The lifting platform comprises a lifting flat plate connected with a flexible rope and clamping jaws fixed below the lifting flat plate, wherein the clamping jaws are arranged in parallel, the two groups of clamping jaws respectively comprise clamping jaw mounting plates connected with the lifting flat plate, a first clamping jaw and a second clamping jaw are symmetrically arranged on the clamping jaw mounting plates, a transmission disc connected with the first clamping jaw and the second clamping jaw is arranged at the center of each clamping jaw mounting plate, a transmission shaft is fixed at the center of each transmission disc, the transmission shaft is driven by a second motor arranged on the lifting flat plate, and the second motor drives the transmission shaft to rotate and drives the transmission disc to synchronously rotate so as to realize opening and closing of the first clamping jaw and the second clamping jaw.
The transmission disc on be equipped with the first transmission arm that links to each other with first clamping jaw and the second transmission arm that links to each other with the second clamping jaw, first transmission arm and second transmission arm all be the arcuation, the both ends of first transmission arm rotate with transmission disc and first clamping jaw respectively and be connected, the both ends of second transmission arm rotate with transmission disc and second clamping jaw respectively and be connected.
The first clamping jaw and the second clamping jaw are fixed on the clamping jaw mounting plate in a clamping groove mode, and rubber is adhered to the clamping surfaces of the first clamping jaw and the second clamping jaw.
The rotary platform comprises a shell body with a hollow structure, a unidirectional thrust ball bearing is arranged at the center of the upper surface of the shell body, the upper end face of the unidirectional thrust ball bearing is in close contact with a bottom plate, a fourth motor and a second planetary reducer connected with the fourth motor are arranged inside the shell body, a motor shaft of the second planetary reducer is fixedly connected with the center of the bottom plate, and a first universal wheel is arranged at the bottom of the shell body.
The synchronous motion device comprises a power device, a synchronous gear device connected with the power device and a synchronous belt pulley device connected with the synchronous gear device, wherein the power device comprises a third motor and a first planetary reducer connected with the third motor, the synchronous gear device comprises a gear transmission shaft, a driven bevel gear, a first straight gear and a second straight gear are fixed on the gear transmission shaft from top to bottom at intervals, the synchronous belt pulley device further comprises a driving bevel gear connected with the first planetary reducer and meshed with the driven bevel gear, the synchronous belt pulley device comprises a first synchronous belt pulley, a second synchronous belt pulley, a third synchronous belt pulley and a fourth synchronous belt pulley which are coaxially connected with the top ends of four groups of trapezoidal screw rods in sequence, the first synchronous belt pulley, the second synchronous belt pulley and the first straight gear are connected through a first synchronous belt, and the third synchronous belt pulley, the fourth synchronous belt pulley and the second straight gear are connected through a second synchronous belt.
The upper plane of roof is equipped with first mounting panel, be equipped with the second mounting panel on the lower plane of roof, gear drive shaft pass through deep groove ball bearing and first mounting panel and second mounting panel fixed, driven bevel gear be located the top of first mounting panel, first straight gear and second straight gear be located between first mounting panel and the second mounting panel, power device install the face on first mounting panel.
The top plate and the moving platform are of annular structures, the bottom plate is of a flat plate structure, four groups of trapezoidal screw rods are connected with the top plate and the bottom plate through deep groove ball bearings respectively, the moving platform is located between the top plate and the bottom plate and is penetrated by the trapezoidal screw rods, screw nuts matched with the trapezoidal screw rods are arranged on the trapezoidal screw rods, and the moving platform is fixedly connected with the screw nuts through bolts.
The joint group include first joint, second joint, third joint, fourth joint and fifth joint that sets gradually, wherein: the first joint is connected with the base, the fifth joint is connected with the camera, and a second universal wheel is arranged below the base.
According to the technical scheme, the trapezoidal screw is driven to synchronously rotate by the synchronous motion device, so that the vertical displacement of the movable platform is realized; the bottom plate is driven to rotate through the rotary platform, so that the whole lifting mechanism is driven to rotate by 360 degrees; the flexible cable driving device drives the flexible cable to be retracted and released, so that the adjustment of the up-down, left-right, front-back and inclination degrees of freedom of the hoisting platform is realized; and adjusting the position of the camera through the joint group. The rigid-flexible coupling device has the characteristics of large working space, modularization, reconfiguration, high efficiency, stability, reliability and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of the hoisting mechanism of the present invention;
FIG. 3 is a schematic view of the visual inspection mechanism of the present invention;
FIG. 4 is a schematic view of the structure of the main body frame of the present invention;
fig. 5 is an enlarged view of a portion a of fig. 4;
FIG. 6 is a schematic diagram of a mobile platform according to the present invention;
FIG. 7 is a schematic view of the structure of the rotary platform of the present invention;
FIG. 8 is a schematic diagram of a synchronous motion device according to the present invention;
fig. 9 is an enlarged view of a portion B of fig. 8;
FIG. 10 is a schematic diagram of a synchronous motion device according to a second embodiment of the present invention;
FIG. 11 is a schematic view of the structure of the lifting platform of the present invention;
FIG. 12 is a schematic view of the structure of the clamping jaw of the present invention;
FIG. 13 is a schematic view of an exploded construction of the jaw of the present invention;
Fig. 14 is a schematic structural view of the cord driving apparatus of the present invention.
The marks in the above figures are: the main body frame 1, the top plate 11, the bottom plate 12, the trapezoidal screw 13, the screw nut 131, the first mounting plate 14, the second mounting plate 15, the moving platform 2, the rotating platform 3, the shell 31, the unidirectional thrust ball bearing 32, the fourth motor 33, the second planetary reducer 34, the first universal wheel 35, the synchronous motion device 4, the third motor 41, the first planetary reducer 42, the drive bevel gear 421, the gear transmission shaft 43, the driven bevel gear 431, the first spur gear 432, the second spur gear 433, the first synchronous pulley 44, the second synchronous pulley 45, the third synchronous pulley 46, the fourth synchronous pulley 47, the first synchronous belt 48, the second synchronous belt 49, the lifting platform 5, the lifting flat plate 51, the clamping jaw 52, the clamping jaw mounting plate 521, the first clamping jaw 522, the second clamping jaw 523, the driving disc 524, the first driving arm 526, the second driving arm 53, the driving shaft 54, the rubber 55, the flexible cable 6, the flexible cable driving device 7, the mounting plate 71, the winding drum 72, the first motor 73, the bearing block 74, the first reduction gear 75, the second reduction gear 76, the second pulley 77, the second pulley 78, the first joint mount 8, the second joint mount 8, the third joint mount 8, the fifth joint 81, the fifth joint mount 85, the fifth joint mount 8, the joint mount 8.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
The rigid-flexible coupling cooperative blade defect detection robot shown in fig. 1 and 2 comprises a hoisting mechanism and a visual detection mechanism. The lifting mechanism comprises a main body frame 1, the main body frame 1 comprises a top plate 11 and a bottom plate 12 which are arranged in parallel in the up-down direction, the top plate 11 is connected with the bottom plate 12 through four groups of trapezoidal screw rods 13, the lifting mechanism further comprises a moving platform 2 which is arranged on the trapezoidal screw rods 13 and can move up and down, a rotating platform 3 which is arranged below the bottom plate 12 and is rotationally connected with the bottom plate 12, a synchronous motion device 4 which is arranged above the top plate 11 and is used for driving the four groups of trapezoidal screw rods 13 to synchronously rotate, and a lifting platform 5 which is suspended in the main body frame 1, wherein the lifting platform 5 is connected with a flexible cable driving device 7 which is fixed on the moving platform 2 through a flexible cable 6, and the lifting platform 5 comprises clamping claws which are used for clamping blades.
Further, as shown in fig. 4 and 5, the top plate 11 and the moving platform 2 are both in ring structures, the bottom plate 12 is in a flat plate structure, four groups of trapezoidal screw rods 13 are respectively connected with the top plate 11 and the bottom plate 12 through deep groove ball bearings, the moving platform 2 is located between the top plate 11 and the bottom plate 12 and is penetrated by the trapezoidal screw rods 13, screw nuts 131 matched with the trapezoidal screw rods are arranged on the trapezoidal screw rods 13, the moving platform 2 and the screw nuts 131 are fixedly connected through bolts, and the moving platform 2 can move up and down according to rotation of the trapezoidal screw rods 13. The distance between the top plate 11 and the bottom plate 12 controls the height of the working area of the robot, and four trapezoidal screw rods 13 are uniformly distributed on a circle, so that the length and the width of the working area of the robot are controlled. The trapezoidal screw 13 realizes synchronous rotation under the control of the synchronous motion device 4, so that the translational degree of freedom of the mobile platform 2 in the Z direction is controlled, and the mobile platform 2 can always keep a horizontal state to perform accurate up-and-down motion because the trapezoidal screw 13 synchronously moves.
Preferably, the top plate 11 and the bottom plate 12 are aluminum profiles with the same specification, and the movable platform 2 is made of an aluminum alloy material.
Further, as shown in fig. 7, the rotary platform 3 includes a hollow casing 31, a unidirectional thrust ball bearing 32 is disposed at the center of the upper surface of the casing 31, the upper end surface of the unidirectional thrust ball bearing 32 is in close contact with the base plate 12, a fourth motor 33 and a second planetary reducer 34 connected with the fourth motor 33 are disposed in the casing 31, a motor shaft of the second planetary reducer 34 is fixedly connected with the center of the base plate 12, and a first universal wheel 35 is disposed at the bottom of the casing 31. Specifically, the fourth motor 33 is connected with the second planetary reducer 34 to achieve the speed reduction of the fourth motor 33, the third planetary reducer 34 is mounted on the inner surface of the shell 31 through bolts, the motor shaft of the second planetary reducer 34 of the base plate 12 is arranged, therefore, all parts above the base plate 12 rotate around the Z axis, and the first universal wheel 35 achieves the movement of the whole robot on the ground. When one surface of the aviation blade is detected, the rotating platform 3 can rotate 180 degrees, and the back surface of the aviation blade is detected.
Further, as shown in fig. 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, and the third motor 41 achieves motor reduction through the first planetary reducer 42.
The synchronous gear device comprises a gear transmission shaft 43, a driven bevel gear 431, a first straight gear 432 and a second straight gear 433 are fixed on the gear transmission shaft 43 from top to bottom at intervals, the first synchronous belt 48 and the second synchronous belt 49 can not interfere through interval arrangement, and the synchronous gear device further comprises a driving bevel gear 421 which is connected with the first planetary reducer 42 and 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 with the top ends of the four groups of trapezoidal screw rods 13 in sequence, wherein the first synchronous pulley 44, the second synchronous pulley 45 and the first straight gear 432 are connected through a first synchronous belt 48, and the third synchronous pulley 46, the fourth synchronous pulley 47 and the second straight gear 433 are connected through a second synchronous belt 49. The first timing pulley 44, the second timing pulley 45, the first spur gear 432, the first timing belt 48, the third timing pulley 46, the fourth timing pulley 47, the second spur gear 433, and the second timing belt 49 form two triangular transmissions, respectively.
During operation, the third motor 41 drives the driving bevel gear 421 and the driven bevel gear 431 to rotate through the first planetary reducer 42, then drives the gear transmission shaft 43 to rotate, the gear transmission shaft 43 drives the first straight gear 432 and the second straight gear 433 to synchronously rotate, the first straight gear 432 drives the first synchronous belt pulley 44 and the second synchronous belt pulley 45 to synchronously rotate through the first synchronous belt 48, and the second straight gear 433 drives the third synchronous belt pulley 46 and the fourth synchronous belt pulley 47 to synchronously rotate through the second synchronous belt 49, so that equal initial speed is obtained, the purpose of synchronously controlling the four trapezoidal screw rods 13 is achieved, the movable platform 2 can be ensured not to be influenced by errors inside the trapezoidal screw rods 13, and reliability and stability of the robot are improved.
Further, a first mounting plate 14 is disposed on the upper plane of the top plate 11, a second mounting plate 15 is disposed on the lower plane of the top plate 11, a gear transmission shaft 43 is fixed to the first mounting plate 14 and the second mounting plate 15 through deep groove ball bearings, a driven bevel gear 431 is disposed above the first mounting plate 14, a first spur gear 432 and a second spur gear 433 are disposed between the first mounting plate 14 and the second mounting plate 15, and a power device is mounted on the upper plate surface of the first mounting plate 14.
Further, as shown in fig. 11, 12 and 13, the hoisting platform 5 includes a hoisting flat plate 51 connected with the flexible cable 6 and two groups of clamping jaws 52 fixed below the hoisting flat plate 51, the clamping jaws 52 are arranged in parallel, the two groups of clamping jaws 52 respectively include a clamping jaw mounting plate 521 connected with the hoisting flat plate 51, a first clamping jaw 522 and a second clamping jaw 523 are symmetrically arranged on the clamping jaw mounting plate 521, a transmission disc 524 connected with the first clamping jaw 522 and the second clamping jaw 523 is arranged at the center of the clamping jaw mounting plate 521, a transmission shaft 54 is fixed at the center of the transmission disc 524, the transmission shaft 54 is driven by a second motor 53 mounted on the hoisting flat plate 51, and the second motor 53 drives the transmission shaft 54 to rotate and drives the transmission disc 524 to synchronously rotate so as to realize opening and closing of the first clamping jaw 522 and the second clamping jaw 523.
Further, a first driving arm 525 connected to the first clamping jaw 522 and a second driving arm 526 connected to the second clamping jaw 523 are disposed on the driving disc 524, the first driving arm 525 and the second driving arm 526 are arc-shaped, two ends of the first driving arm 525 are respectively connected with the driving disc 524 and the first clamping jaw 522 in a rotating manner, and two ends of the second driving arm 526 are respectively connected with the driving disc 524 and the second clamping jaw 523 in a rotating manner.
Further, the first clamping jaw 522 and the second clamping jaw 523 are fixed on the clamping jaw mounting plate 521 by means of clamping grooves, 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, so that flexible clamping of the aviation blade is realized, and the blade is prevented from being scratched.
When the air vane grabbing device works, the second motor 53 drives the transmission shaft 54 to rotate, so that the transmission disc 524 is driven to rotate, and the first transmission arm 525 and the second transmission arm 526 drive the first clamping jaw 522 and the second clamping jaw 523 to be close to or far away from each other along the direction defined by the clamping groove while the transmission disc 524 rotates, so that grabbing or loosening of the air vane is realized.
Further, as shown in fig. 6 and 14, four groups of flexible cable driving devices 7 are uniformly arranged along the moving platform 2, the four groups of flexible cable driving devices 7 respectively comprise a mounting plate 71 fixed on the moving platform 2, a winding drum 72 for winding the flexible cable 6, a first motor 73 for driving the winding drum 72 to rotate and a gear transmission group for connecting the winding drum 72 and the first motor 73 are arranged on the mounting plate 71, the winding drum 72 is a grooved winding drum, the winding drum 72 is fixed on the mounting plate 71 through a bearing seat 74, the gear transmission group comprises a first reduction gear 75 coaxially connected with the winding drum 72 and a second reduction gear 76 connected with the first motor 73, the diameter of the first reduction gear 75 is larger than that of the second reduction gear 76, and a first pulley 77 and a second pulley 78 for adjusting the steering of the flexible cable 6 are further arranged on the mounting plate 71. Specifically, the first motor 73 controls the rotation of the second reduction gear 76, the second reduction gear 76 is meshed with the first reduction gear 75 to complete the reduction work, the first reduction gear 75 is installed on the winding drum 72 with the spiral groove, and the winding drum 72 can accurately control the winding and unwinding length of the flexible cable 6 to achieve the expected hoisting effect. The first pulley 77 and the second pulley 78 realize the steering of the flexible cable 6, so that the flexible cable 6 does not interfere in the working space and is beneficial to the subsequent control. In this embodiment, four flexible wires 6 are provided and are respectively connected with four edges of the lifting flat plate 51, and the flexible wire driving device 7 controls the degree of freedom of the lifting platform 5 through the flexible wires 6, so that the position and the posture of the aviation blade can be conveniently detected. The coordination of four flexible wires 6 can realize the vertical, front and back and left and right translation of the hoisting platform 5, and according to the actual detection needs, the hoisting platform 5 can be rotated in a certain rotation angle range by changing the winding and unwinding of the four flexible wires 6 with different lengths. Four groups of flexible cable driving devices 7 are arranged, and 8 mounting holes for fixing the flexible cable driving devices 7 are formed in the mobile platform 2, so that the flexible cable driving devices can be adjusted and mounted according to actual requirements during use.
Further, as shown in fig. 3, the visual detection mechanism includes a base 8, a joint group connected with the base 8, and a camera 9 connected with a terminal joint of the joint group, where the camera 9 is always parallel to the blade surface to be detected. 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 that are sequentially set, wherein: the first joint 81 is connected with the base 8, the fifth joint 85 is connected with the camera 9, and a second universal wheel 86 is arranged below the base 8. Specifically, the base 8 is a bearing platform of the whole visual detection mechanism and is also a moving platform, 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 sequentially assembled and installed through bearings and bolts in sequence, the mechanical arm formed by the joint group has translational degrees of freedom along the X, Y, Z axis and rotational degrees of freedom around the X, Y, Z axis, six degrees of freedom are shared, and the specific structure of the joint group can refer to the prior art and is not described herein. During operation, visual detection mechanism closely puts in hoist mechanism side, and control camera 9 that the arm can be fine carries out collaborative work with hoist mechanism, accomplishes visual detection task.
The working principle and working process of the invention are as follows:
The movable platform of the hoisting mechanism is controlled by driving four trapezoidal screw rods by a synchronous motion device, and the translation in the Z direction is always kept horizontal while the rotation freedom degree of the winding X, Y is restrained. The flexible cable is connected to the hoisting platform through winding and unwinding of the winding drum and guiding of the first pulley and the second pulley, and under the conventional condition, 3 translational degrees of freedom of the hoisting platform are realized, and the clamping jaw can be controlled to clamp the aviation blade to reach the appointed detection position. Meanwhile, the visual detection mechanism controls the camera to cooperate with the hoisting mechanism to carry out visual detection, after one side of the aerial blade is completely detected, the hoisting mechanism rotates the aerial blade to the back through the rotary platform, the detection steps are repeated, and double-sided detection is completed.
The hoisting platform has 6 degrees of freedom, in particular to a translational degree of freedom along a Z axis controlled by a synchronous motion device and a flexible rope, a rotational degree of freedom about the Z axis controlled by a rotating platform, a translational degree of freedom along a X, Y axis controlled by the flexible rope and a rotational degree of freedom about a X, Y axis.
When the device works, the four trapezoidal screw rods are driven to rotate through the synchronous motion device, so that the movable platform reaches a designated position; secondly, clamping the aviation blade on the assembly line by the clamping jaw; thirdly, controlling the mobile platform to ascend to a designated position; thirdly, the flexible cable is retracted and released to adjust the hoisting platform to the detection pose; thirdly, the mechanical arms of the visual detection mechanism cooperatively perform single-sided detection; after the detection is completed, the rotary platform rotates 180 degrees, the back surface of the aviation blade is detected, after the double-sided detection is completed, the movable platform descends, and the clamping jaw is controlled to loosen to place the blade.
The invention has the beneficial effects that:
1. Compared with the traditional rigid robot, the flexible cable parallel robot faces to aviation blade hoisting work with larger load, has the advantages of large space work, low inertia and the like, and also has high flexibility in cooperation with the visual detection mechanism.
2. The invention adopts the synchronous motion device, and can control the four trapezoidal screw rods to synchronously move by only using a single motor, so that the inclination of the platform caused by motion errors of the four trapezoidal screw rods is avoided, the end effector can be ensured to stably control the gesture of the aviation blade, and the precision of the shooting process is improved, and the stability and the reliability are good.
3. The invention designs a complete machine rotating platform, and when the complete machine rotating platform faces an aviation blade with a complex curved surface, the front side and the back side of the blade are detected to ensure the qualification of the blade. The rotating platform can realize complete detection by once hoisting under the condition that the aviation blade is not dismounted for the second time, and has short detection time and high working efficiency.
4. According to the invention, 3 translational degrees of freedom, 3 rotational degrees of freedom of an end effector of the hoisting mechanism and 6 degrees of freedom of a visual detection robot in space can be ensured, hoisting and detection can be cooperatively performed, and the photographed plane of the blade is always ensured to be parallel to the camera, so that the aviation blade is detected in an omnibearing and multi-angle manner, the detection precision is high, and the working space is large.
5. The flexible cable driving device and the mobile platform with a plurality of mounting holes have the advantages of modularization and reconfigurability, and can reconstruct a robot under the detection requirements of different working conditions, different sizes and structures of blades.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. A rigid-flexible coupling cooperative blade defect detection robot is characterized in that: the device comprises a hoisting mechanism and a visual detection mechanism, wherein the hoisting mechanism comprises a main body frame (1), the main body frame (1) comprises a top plate (11) and a bottom plate (12) which are arranged in parallel in the vertical direction, the top plate (11) and the bottom plate (12) are connected through four groups of trapezoidal screw rods (13), the hoisting mechanism further comprises a movable platform (2) which is arranged on the trapezoidal screw rods (13) and can move up and down, a rotary platform (3) which is arranged below the bottom plate (12) and is rotationally connected with the bottom plate (12), a synchronous motion device (4) which is arranged above the top plate (11) and used for driving the four groups of trapezoidal screw rods (13) to synchronously rotate, and a hoisting platform (5) which is suspended inside the main body frame (1);
The synchronous motion device (4) comprises a power device, a synchronous gear device connected with the power device and a synchronous pulley device connected with the synchronous gear device, the power device comprises a third motor (41) and a first planetary reducer (42) connected with the third motor (41), the synchronous gear device comprises a gear transmission shaft (43), a driven bevel gear (431), a first straight gear (432) and a second straight gear (433) are fixed on the gear transmission shaft (43) from top to bottom at intervals, the synchronous pulley device further comprises a driving bevel gear (421) connected with the first planetary reducer (42) and 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 with the top ends of four groups of trapezoidal screw rods (13), the first synchronous pulley (44), the second synchronous pulley (45) and the first straight gear (432) are connected through a first synchronous belt (48), and the third synchronous pulley (46) are connected with the second synchronous pulley (433) through a first synchronous belt (49);
the lifting platform (5) is connected with a flexible cable driving device (7) fixed on the mobile platform (2) through a flexible cable (6), and the lifting platform (5) comprises clamping jaws for clamping blades; the visual detection mechanism comprises a base (8), a joint group connected with the base (8) and a camera (9) connected with the tail end joint of the joint group, wherein the camera (9) is always parallel to the blade surface to be detected.
2. The rigid-flexible coupled collaborative blade defect inspection robot of claim 1, wherein: four groups of flexible cable driving devices (7) are evenly arranged along the moving platform (2), each four groups of flexible cable driving devices (7) respectively comprises a mounting plate (71) fixed on the moving platform (2), a winding drum (72) used for winding a flexible cable (6), a first motor (73) used for driving the winding drum (72) and a gear transmission group used for connecting the winding drum (72) with the first motor (73) are arranged on the mounting plate (71), the winding drum (72) is a grooved winding drum and the winding drum (72) is fixed on the mounting plate (71) through a bearing seat (74), each gear transmission group comprises a first reduction gear (75) coaxially connected with the winding drum (72) and a second reduction gear (76) connected with the first motor (73), the diameter of each 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) used for adjusting the steering of the flexible cable (6).
3. The rigid-flexible coupled collaborative blade defect inspection robot of claim 1, wherein: the lifting platform (5) comprises a lifting flat plate (51) connected with a flexible rope (6) and clamping jaws (52) fixed below the lifting flat plate (51), wherein the clamping jaws (52) are arranged in parallel, the two groups of clamping jaws (52) respectively comprise clamping jaw mounting plates (521) connected with the lifting flat plate (51), the clamping jaw mounting plates (521) are symmetrically provided with a first clamping jaw (522) and a second clamping jaw (523), a transmission disc (524) connected with the first clamping jaw (522) and the second clamping jaw (523) is arranged at the center of the clamping jaw mounting plates (521), a transmission shaft (54) is fixed at the center of the transmission disc (524), and the transmission shaft (54) is driven by a second motor (53) arranged on the lifting flat plate (51), and the second motor (53) drives the transmission shaft (54) to rotate and drives the transmission disc (524) to synchronously rotate so as to realize the opening and closing of the first clamping jaw (522) and the second clamping jaw (523).
4. The rigid-flexible coupled collaborative blade defect inspection robot of claim 3, wherein: the transmission disc (524) on be equipped with first transmission arm (525) that link to each other with first clamping jaw (522) and with second clamping jaw (523) second transmission arm (526), first transmission arm (525) all be the arcuation with second transmission arm (526), the both ends of first transmission arm (525) are connected with transmission disc (524) and first clamping jaw (522) rotation respectively, the both ends of second transmission arm (526) are connected with transmission disc (524) and second clamping jaw (523) rotation respectively.
5. The rigid-flexible coupled collaborative blade defect inspection robot of claim 3, wherein: the first clamping jaw (522) and the second clamping jaw (523) are fixed on the clamping jaw mounting plate (521) in a clamping groove mode, 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 coupled collaborative blade defect inspection robot of claim 1, wherein: the rotary platform (3) including being hollow structure's casing (31), the center department of casing (31) upper surface is equipped with one-way thrust ball bearing (32), the up end and the bottom plate (12) in close contact with of one-way thrust ball bearing (32), the inside of casing (31) is equipped with fourth motor (33) and second planetary reducer (34) that link to each other with fourth motor (33), the motor shaft and the bottom plate (12) center department fixed connection of second planetary reducer (34), the bottom of casing (31) is equipped with first universal wheel (35).
7. The rigid-flexible coupled collaborative blade defect inspection robot of claim 1, wherein: be equipped with first mounting panel (14) on the last plane of roof (11), be equipped with second mounting panel (15) on the lower plane of roof (11), gear drive shaft (43) pass through deep groove ball bearing and first mounting panel (14) and second mounting panel (15) are fixed, driven bevel gear (431) be located the top of first mounting panel (14), first straight gear (432) and second straight gear (433) be located between first mounting panel (14) and second mounting panel (15), power device install the last face at first mounting panel (14).
8. The rigid-flexible coupled collaborative blade defect inspection robot of claim 1, wherein: the top plate (11) and the moving platform (2) are of annular structures, the bottom plate (12) is of a flat plate structure, four groups of trapezoidal screw rods (13) are respectively connected with the bottom plate (12) through deep groove ball bearings and the top plate (11), the moving platform (2) is located between the top plate (11) and the bottom plate (12) and is penetrated by the trapezoidal screw rods (13), screw nuts (131) matched with the trapezoidal screw rods are arranged on the trapezoidal screw rods (13), and the moving platform (2) is fixedly connected with the screw nuts (131) through bolts.
9. The rigid-flexible coupled collaborative blade defect inspection robot of claim 1, wherein: the joint group include first joint (81), second joint (82), third joint (83), fourth joint (84) and fifth joint (85) that set gradually, wherein: the first joint (81) is connected with the base (8), the fifth joint (85) is connected with the camera (9), and a second universal wheel (86) is arranged below the base (8).
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| CN202310217222.8A CN115990865B (en) | 2023-03-08 | 2023-03-08 | Rigid-flexible coupling cooperative type blade defect detection robot |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114146849A (en) * | 2021-11-19 | 2022-03-08 | 合肥工业大学 | Spraying robot based on multi-gear-set composite driving and control method thereof |
| CN115184002A (en) * | 2022-08-25 | 2022-10-14 | 芜湖中科飞机制造有限公司 | Clamping device for detecting turbine blade of aero-engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2492147A1 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| DE102010029784B3 (en) * | 2010-06-08 | 2011-07-28 | Beckhoff Automation GmbH, 33415 | Cable robot for use in manufacturing and packaging system to pack food in food industry, has transmission gear implementing rotation of attachment group into rotation of actuator group according to predetermined ratio |
| CN115648249B (en) * | 2022-11-14 | 2024-06-11 | 北方民族大学 | Rigid-flexible coupling driven 3D printing robot and control method thereof |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114146849A (en) * | 2021-11-19 | 2022-03-08 | 合肥工业大学 | Spraying robot based on multi-gear-set composite driving and control method thereof |
| CN115184002A (en) * | 2022-08-25 | 2022-10-14 | 芜湖中科飞机制造有限公司 | Clamping device for detecting turbine blade of aero-engine |
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