CN113442122A - Large-surface detection operation robot system - Google Patents
Large-surface detection operation robot system Download PDFInfo
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- CN113442122A CN113442122A CN202110943885.9A CN202110943885A CN113442122A CN 113442122 A CN113442122 A CN 113442122A CN 202110943885 A CN202110943885 A CN 202110943885A CN 113442122 A CN113442122 A CN 113442122A
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- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 230000007704 transition Effects 0.000 claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000007689 inspection Methods 0.000 claims description 14
- 210000001503 joint Anatomy 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 6
- 239000011521 glass Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 208000032369 Primary transmission Diseases 0.000 description 2
- 208000032370 Secondary transmission Diseases 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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Abstract
The invention discloses a large-surface detection operation robot system which comprises a plurality of passive mechanical arms laid on a working surface and connected in sequence, a revolute pair mechanism connected between the end parts of two adjacent passive mechanical arms, fixed slide rails arranged on the passive mechanical arms and distributed along the length direction of the passive mechanical arms, transition slide rails arranged on the revolute pair mechanism in a deflecting way and butted with two adjacent sections of the fixed slide rails, and a movable operation platform which is arranged on the fixed slide rails and the transition slide rails in a sliding way and used for performing tracking detection operation on the working surface, wherein a detection module is loaded on the movable operation platform. Therefore, the invention utilizes the revolute pair mechanism to flexibly adjust the extension direction of the driven mechanical arm according to the specific shape of the working surface, so that the detection module carried by the movable working platform can carry out detection operation along the sliding rail, the detection operation range of the detection module is ensured to cover the whole working surface, the adaptability to the working surfaces of different shapes is improved, and the omission of operation areas is avoided.
Description
Technical Field
The invention relates to the technical field of civil engineering, in particular to a large-surface detection operation robot system.
Background
The overhaul of large-scale infrastructure has important meaning to the security, the stability of ensureing equipment structure. For example: in a series of scenes such as dams, cooling towers of thermal power plants, large building glass curtain walls, large tunnels, bridge bottom surfaces and the like, regular detection and defect-oriented maintenance operation are often required after the large building glass curtain walls, the large tunnels, the bridge bottom surfaces and the like are put into use, so that the safe application of the large building glass curtain walls is guaranteed. These large infrastructures generally have the characteristics of wide coverage area, severe environmental conditions, large height drop and the like, so that the overhaul operation of the large infrastructures is difficult.
The conventional detection operation mode is that the auxiliary structures such as a climbing ladder, a scaffold, a suspension crane and the like are built at the working surface, and then manual detection operation is performed on the auxiliary structures on a manual station. However, the detection operation mode has the disadvantages of huge workload, high working strength, long working period, high labor cost and potential safety hazard of falling from high altitude when the working surface is higher. Moreover, due to the lack of rigid structural support and the limited observation field, problems of incomplete examination, missing detection results and the like can be caused.
In the prior art, a part of improved detection operation modes use an unmanned aerial vehicle to carry out detection operation on working surfaces such as bridge bottoms and the like, and although the detection operation modes are high in efficiency, the method is based on remote observation of an unmanned aerial vehicle platform and also lacks rigid support, so that the difficulties of difficult positioning, poor image stability, low precision and the like are still difficult to overcome. Moreover, the unmanned aerial vehicle can only move according to a track preset by a program, the operation radius is small, the flexibility is poor, the unmanned aerial vehicle is difficult to adapt to a working surface with a complex shape, and a partially omitted operation area may exist. In addition, because unmanned aerial vehicle's load capacity is limited, lead to its work items such as can only be used for shooting usually, do not can do all the best to work items such as maintenance operation, the limitation is great.
Therefore, how to safely and efficiently realize the surface detection operation of large-surface facilities, improve the adaptability to working surfaces with different shapes and avoid omitting operation areas is a technical problem faced by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a large-surface detection operation robot system which can safely and efficiently realize surface detection operation on large-surface facilities, improve adaptability to working surfaces of different shapes and avoid omission of operation areas.
In order to solve the technical problem, the invention provides a large-surface detection operation robot system, which comprises a plurality of passive mechanical arms laid on a working surface and connected in sequence, a revolute pair mechanism connected between the end parts of two adjacent passive mechanical arms, fixed slide rails arranged on each passive mechanical arm and distributed along the length direction of the passive mechanical arm, transition slide rails arranged on the revolute pair mechanism in a deflecting manner and butted with two adjacent sections of the fixed slide rails, and a moving operation platform which is arranged on the fixed slide rails and the transition slide rails in a sliding manner and used for performing rail-following detection operation on the working surface, wherein a detection module is loaded on the moving operation platform.
Preferably, the revolute pair mechanism comprises a primary revolving wheel arranged at the end of the adjacent primary passive mechanical arm and a secondary revolving wheel arranged at the end of the adjacent secondary passive mechanical arm, and the rim of the secondary revolving wheel is connected with the rim surface of the primary revolving wheel in a circumferential meshing manner.
Preferably, the transition sliding rail comprises a first transition section and a second transition section, the first transition section is rotatably arranged on the end face of the primary rotating wheel, the second transition section is rotatably arranged on the end face of the secondary rotating wheel, and the opposite end portions of the first transition section and the second transition section are mutually butted after rotating to a preset angle.
Preferably, the end surface of the first transition section and the end surface of the corresponding fixed slide rail are both arc surfaces matched with each other, and the end surface of the second transition section and the end surface of the corresponding fixed slide rail are both arc surfaces matched with each other.
Preferably, a primary rotating shaft, a primary rotating disk sleeved on the primary rotating shaft, and a primary mounting bracket erected on the surface of the primary rotating disk and used for mounting the first transition section are further arranged on the end surface of the primary rotating wheel.
Preferably, a secondary rotating shaft, a secondary rotating disk sleeved on the secondary rotating shaft, and a secondary mounting bracket erected on the surface of the secondary rotating disk and used for mounting the second transition section are further arranged on the end surface of the secondary rotating wheel.
Preferably, the fixed slide rails are distributed in parallel on each side surface of each passive mechanical arm; the mechanical arm assembly further comprises rotary joint arms which can be circumferentially and rotatably connected in series to the end faces of the driven mechanical arms, and reversing slide rails which are arranged on the side surfaces of the rotary joint arms and are used for being in butt joint with the corresponding fixed slide rails.
Preferably, the rotary joint arm and the passive mechanical arm are rectangular bodies with the same cross-sectional shapes.
Preferably, the mobile operation platform comprises a frame, a sliding gear train arranged on the frame and sliding in cooperation with the fixed slide rail, the transition slide rail and the reversing slide rail, and a driver arranged on the frame and used for respectively driving the revolute pair mechanism to rotate, driving the transition slide rail to deflect and driving the rotary joint arm to rotate when sliding to a corresponding position.
Preferably, the detection module comprises a connecting rod which is connected with the frame and is telescopic, and a plurality of detection sensors which are arranged at the tail end of the connecting rod.
The invention provides a large-surface detection operation robot system which mainly comprises a plurality of passive mechanical arms, a revolute pair mechanism, a fixed sliding rail, a transition sliding rail, a movable operation platform and a detection module. The driven mechanical arms are arranged in a plurality of numbers and are laid on the working surface according to a certain extending direction, the specific laying range covers the whole working surface, and the driven mechanical arms are connected in sequence according to the extending direction, so that the long mechanical arms are formed by splicing. The revolute pair mechanism is arranged between the end parts of two adjacent driven mechanical arms, is respectively connected with the two adjacent driven mechanical arms, and is mainly used for realizing the relative rotation of the two adjacent driven mechanical arms and realizing the deflection of the extending direction (in a working surface) of the driven mechanical arms. The fixed slide rails are arranged on the driven mechanical arms and distributed along the length direction (namely the extending direction) of the driven mechanical arms. The transition sliding rails are arranged on the revolute pair mechanism, can perform deflection motion (in a working surface) on the revolute pair mechanism, and are mainly used for butting the fixed sliding rails on two adjacent driven mechanical arms after the fixed sliding rails are deflected by the revolute pair mechanism with each other so that the two adjacent fixed sliding rails are kept continuous. The movable operation platform is arranged on the driven mechanical arm and slides along the fixed sliding rail and the transition sliding rail, and meanwhile, the movable operation platform is provided with the detection module and is mainly used for carrying out tracking detection operation along the line on the working surface in the sliding process, so that the detection operation in the full range of the working surface is gradually completed. Therefore, the large-surface detection operation robot system provided by the invention is paved on a working surface through a plurality of driven mechanical arms connected in sequence, the extending direction of the driven mechanical arms is flexibly adjusted according to the specific shape of the working surface by using the revolute pair mechanism, and meanwhile, all sections of fixed slide rails are connected by using the transition slide rails to form a complete slide rail, so that a detection module carried by the movable working platform can carry out detection operation along the slide rail, and the detection operation range of the detection module is ensured to cover the whole working surface. Compared with the prior art, the invention can safely and efficiently realize the surface detection operation of large-surface facilities, improve the adaptability to working surfaces of different shapes and avoid omitting operation areas.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
Fig. 2 is a schematic diagram of a specific structure of the passive mechanical arm.
Fig. 3 is a schematic diagram of a specific structure of the revolute pair mechanism.
Fig. 4 is a sectional view of the primary or secondary rotating wheel.
Fig. 5 is a schematic view of a specific structure of the rotary joint arm.
Fig. 6 is a schematic view of the mounting structure of the revolute pair mechanism and the rotary joint arm on the passive mechanical arm.
Fig. 7 is a schematic structural diagram of the mobile work platform.
Wherein, in fig. 1-7:
the device comprises a driven mechanical arm-1, a revolute pair mechanism-2, a fixed slide rail-3, a transition slide rail-4, a mobile operation platform-5, a detection module-6, a rotary joint arm-7 and a reversing slide rail-8;
a primary rotating wheel-21, a secondary rotating wheel-22, a first transition section-41, a second transition section-42, a frame-51, a sliding wheel train-52, a driver-53, a connecting rod-61 and a detection sensor-62;
a primary rotation axis-211, a primary rotation disc-212, a primary mounting bracket-213, a secondary rotation axis-221, a secondary rotation disc-222, and a secondary mounting bracket-223.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
In a specific embodiment provided by the invention, the large-surface detection operation robot system mainly comprises a plurality of passive mechanical arms 1, a revolute pair mechanism 2, a fixed slide rail 3, a transition slide rail 4, a mobile operation platform 5 and a detection module 6.
The passive mechanical arms 1 are arranged in a plurality and are laid on the working surface according to a certain extending direction, the specific laying range covers the whole working surface, and the passive mechanical arms 1 are connected in sequence according to the extending direction, so that the long mechanical arms are formed by splicing. In general, a long robot arm formed by connecting a plurality of passive robot arms 1 usually has redundant degrees of freedom in multi-dimensional motion.
The revolute pair mechanism 2 is arranged between the end parts of two adjacent driven mechanical arms 1, is respectively connected with the two adjacent driven mechanical arms 1, and is mainly used for realizing the relative rotation of the two adjacent driven mechanical arms 1 and realizing the deflection of the extending directions (in a working surface) of the driven mechanical arms 1.
The fixed slide rails 3 are disposed on each of the passive mechanical arms 1 and distributed along the length direction (i.e., the extending direction) of the passive mechanical arm 1.
The transition slide rail 4 is arranged on the revolute pair mechanism 2, can perform deflection motion (in a working surface) on the revolute pair mechanism 2, and is mainly used for butting the fixed slide rails 3 on two adjacent passive mechanical arms 1 after the deflection of the revolute pair mechanism 2 with each other so that the two adjacent fixed slide rails 3 are kept continuous.
The movable operation platform 5 is arranged on the driven mechanical arm 1 and slides along the fixed slide rail 3 and the transition slide rail 4, and meanwhile, the movable operation platform 5 is provided with a detection module 6 which is mainly used for carrying out tracking detection operation along the line on a working surface in the sliding process, so that the detection operation in the whole range of the working surface is gradually completed.
In this way, the robot system for large surface inspection provided by this embodiment lays the passive mechanical arms 1 connected in sequence on the working surface, and during this period, the revolute pair mechanism 2 is used to flexibly adjust the extending direction of the passive mechanical arms 1 according to the specific shape of the working surface, and meanwhile, the transitional slide rails 4 are used to connect the fixed slide rails 3 of each segment to form a complete slide rail, so that the inspection module 6 carried by the movable working platform 5 can perform inspection along the slide rail, and the inspection range of the inspection module 6 is ensured to cover the whole working surface.
Compared with the prior art, the embodiment can safely and efficiently realize the surface detection operation of large-surface facilities, improve the adaptability to working surfaces of different shapes and avoid omitting operation areas.
As shown in fig. 2, fig. 2 is a schematic structural diagram of the passive mechanical arm 1.
In a preferred embodiment of the passive mechanical arm 1, the passive mechanical arm 1 is a rectangular parallelepiped structure, and includes a plurality of long transverse rods, short longitudinal rods and inclined rods, and a truss structure is integrally formed. Wherein, each passive arm 1 is the modularized design, but the length of the long beam in the passive arm 1 of difference can be different as required to lay on the working surface in a flexible way.
As shown in fig. 3, fig. 3 is a schematic structural diagram of the revolute pair mechanism 2.
In a preferred embodiment with respect to the revolute pair mechanism 2, the revolute pair mechanism 2 mainly includes a primary rotary wheel 21 and a secondary rotary wheel 22. Wherein, the primary rotating wheel 21 is arranged on the end of the primary driven mechanical arm 1 (based on the extending direction) of the adjacent two-stage (or two) driven mechanical arms 1, the secondary rotating wheel 22 is arranged on the end of the secondary driven mechanical arm 1 of the adjacent two-stage driven mechanical arm 1, and the secondary rotating wheel 22 and the primary rotating wheel 21 are opposite to each other. At the same time, the rim of the secondary rotor 22 forms a meshing-type rotational connection with the rim of the primary rotor 21, wherein the primary rotor 21 remains stationary and the secondary rotor 22 can perform a circumferential rotational movement along the rim of the primary rotor 21 by means of a meshing transmission.
Generally, the primary rotating wheel 21 is semicircular, the secondary driving wheel is also semicircular, arcs of the primary rotating wheel and the secondary driving wheel are meshed with each other, so that the secondary driving wheel can be theoretically meshed gradually along one end of the diameter of the primary driving wheel and rotates to the other end of the diameter, the maximum rotation angle can reach 180 degrees, and the change from left-turning extension to right-turning extension of the upper-stage driven mechanical arm 1 is equivalently realized.
In a preferred embodiment of the transitional slide 4, considering that the revolute pair mechanism 2 is a split structure including the primary rotating wheel 21 and the secondary rotating wheel 22, correspondingly, the transitional slide 4 is also a split structure, and specifically includes the first transitional section 41 and the second transitional section 42. Wherein the first transition section 41 is arranged on an end face (or surface) of the primary rotor 21 and is rotatably movable on the end face of the primary rotor 21 for adjusting the orientation. Similarly, the second transition 42 is provided on an end face (or surface) of the secondary drive wheel and is capable of rotational movement on the end face of the secondary drive wheel for adjustment of the orientation. With this arrangement, when the secondary rotating wheel 22 is deflected relative to the primary rotating wheel 21, the first transition section 41 and the second transition section 42 can also adjust their respective orientations independently, so that the first transition section 41 is abutted with the fixed slide rail 3, or the first transition section 41 is abutted with the second transition section 42, or the second transition section 42 is abutted with the fixed slide rail 3.
Generally, the first transition section 41 is disposed on the end surface of the primary transmission wheel along a certain diameter direction, and the second transition section 42 is disposed on the end surface of the secondary transmission wheel along a certain diameter direction, and the rotation axis of the first transition section is located at the axis of the primary transmission wheel, and the rotation axis of the second transition section 42 is located at the axis of the secondary transmission wheel.
Further, for being convenient for the butt joint of the fixed slide rail 3 that corresponds after the rotatory certain angle of first changeover portion 41 to and for being convenient for the butt joint of the fixed slide rail 3 that corresponds after the rotatory certain angle of second changeover portion 42, in this embodiment, the terminal surface of first changeover portion 41 all is the arc surface that matches each other with the terminal surface of the fixed slide rail 3 that corresponds, and in the same way, the terminal surface of second changeover portion 42 all is the arc surface that matches each other with the terminal surface of the fixed slide rail 3 that corresponds, thereby form complete, continuous slip track when the butt joint.
As shown in fig. 4, fig. 4 is a sectional view of the primary rotor 21 or the secondary rotor 22.
Further, in order to facilitate the rotational movement of the first transition section 41 on the end surface of the primary rotating wheel 21, the primary rotating shaft 211, the primary rotating disk 212 and the primary mounting bracket 213 are added in this embodiment.
The primary rotating shaft 211 is vertically disposed on an end surface of the primary rotating wheel 21, and has a certain height (or length), and a connecting structure, such as a coupling, is disposed on a top end surface of the primary rotating shaft 211, and is mainly used for connecting with a driver 53 on the subsequent mobile working platform 5, so that after the mobile working platform 5 moves onto the first transition section 41, the driver 53 drives the primary rotating shaft 211 to perform a rotating motion. The primary rotary disk 212 is fitted over the primary rotary shaft 211 to rotate in synchronization therewith. The primary mounting bracket 213 stands on the surface of the primary rotating disk 212, and is mainly used for mounting the first transition section 41. Generally, since the fixed rail 3 and the transitional rail 4 each include two (or more) rails arranged in parallel, the primary mounting bracket 213 may be specifically shaped like a "Y" to mount two first transitional sections 41 arranged in parallel at the same time. With this arrangement, when the mobile working platform 5 drives the primary rotating shaft 211 to rotate, the primary rotating disk 212 drives the primary mounting bracket 213 and the first transition section 41 to rotate synchronously.
Similarly, in order to facilitate the rotational movement of the second transition section 42 on the end face of the secondary turning wheel 22, the secondary rotational shaft 221, the secondary rotational disk 222 and the secondary mounting bracket 223 are added in the present embodiment.
The secondary rotating shaft 221 is vertically disposed on an end surface of the secondary rotating wheel 22, and has a certain height (or length), and a connecting structure, such as a coupling or the like, is disposed on a top end surface of the secondary rotating shaft 221, and is mainly used for connecting with the driver 53 on the subsequent mobile working platform 5, so that after the mobile working platform 5 moves onto the second transition section 42, the secondary rotating shaft is driven by the driver 53 to perform a rotating motion. The secondary rotating disk 222 is fitted over the secondary rotating shaft 221, rotating in synchronization therewith. A secondary mounting bracket 223 stands on the surface of the secondary rotary disk 222, primarily for mounting the second transition section 42. In general, the secondary mounting bracket 223 is also generally "Y" shaped to simultaneously mount two parallel second transition sections 42. With this arrangement, when the movable work platform 5 drives the secondary rotating shaft 221 to rotate, the secondary rotating disk 222 drives the secondary mounting bracket 223 and the second transition section 42 to rotate synchronously.
As shown in fig. 5 and 6, fig. 5 is a schematic diagram showing a specific structure of the rotary joint arm 7, and fig. 6 is a schematic diagram showing a mounting structure of the revolute pair mechanism 2 and the rotary joint arm 7 on the passive robot arm 1.
In another embodiment provided by the invention, the large surface detection operation robot system comprises a rotary joint arm 7 and a reversing slide rail 8 in addition to a plurality of passive mechanical arms 1, a revolute pair mechanism 2, a fixed slide rail 3, a transition slide rail 4, a mobile operation platform 5 and a detection module 6.
The rotary joint arm 7 is connected in series to the end face of each passive mechanical arm 1, and is generally separated from the revolute pair mechanism 2 at both ends of each passive mechanical arm 1, and the rotary joint arm 7 can perform circumferential rotation (autorotation) motion relative to the passive mechanical arm 1. The reversing slide rails 8 are provided on respective side surfaces (4 side walls) of the rotary joint arm 7 and are distributed along the length direction thereof.
Accordingly, in the present embodiment, the fixed slide rails 3 are simultaneously distributed on the respective side surfaces (4 side walls) of the passive mechanical arm 1. And the specific distribution position of each reversing slide rail 8 on each side surface of the rotary joint arm 7 corresponds to the specific distribution position of each fixed slide rail 3 on each side surface of the driven mechanical arm 1, so that each reversing slide rail 8 and each fixed slide rail 3 can be in butt joint.
With such an arrangement, after the mobile operation platform 5 moves to the reversing slide rail 8 of the rotary joint arm 7, if a work area or a work position needs to be changed, the rotary joint arm 7 can be driven to rotate by the driver 53 in the mobile operation platform 5, so that the mobile operation platform 5 is rotated to a target position, and the cross-plane reversing operation of the mobile operation platform 5 on the driven mechanical arm 1 is realized.
In general, the overall structure of the rotary joint arm 7 is similar to that of the passive mechanical arm 1, and is a rectangular truss structure, and the cross-sectional shape of the rotary joint arm 7 is the same as that of the passive mechanical arm 1, but the length of the rotary joint arm 7 is generally smaller than that of the passive mechanical arm 1.
As shown in fig. 7, fig. 7 is a schematic diagram of a specific structure of the mobile work platform 5.
In a preferred embodiment with respect to the mobile work platform 5, the mobile work platform 5 mainly comprises a carriage 51, a sliding gear train 52 and an actuator 53. The frame 51 is a main structure of the mobile work platform 5, and is mainly used for mounting other parts. The sliding gear train 52 is arranged on the frame 51 and is mainly used for matching and sliding with a complete continuous sliding track formed by the fixed slide rail 3, the transition slide rail 4 and the reversing slide rail 8. The driver 53 is arranged on the vehicle frame 51, is a core component and a power source of the robot system, and is mainly used for respectively driving the secondary turning wheel 22 in the revolute pair mechanism 2 to deflect relative to the primary turning wheel 21 and driving the first transition section 41 and the second transition section 42 in the transition sliding rail 4 to deflect respectively and driving the rotary joint arm 7 to rotate relative to the driven mechanical arm 1 when the vehicle frame 51 slides to a corresponding position, wherein the driven component generates corresponding action only when driven by the driver 53, and the self-locking state or the latest state is kept in the rest states.
In a preferred embodiment with respect to the detection module 6, the detection module 6 mainly comprises a connecting rod 61 and a detection sensor 62. Wherein, the connecting rod 61 is arranged on the frame 51 and can be adjusted telescopically, and the detecting sensor 62 is arranged at the tail end of the connecting rod 61, and generally a plurality of detecting sensors can be arranged at the same time to perform a plurality of detecting operations at the same time, such as a camera, a laser sensor and the like.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a big surface inspection work robot system which characterized in that, including lay in work surface and a plurality of passive arm (1) that the order links to each other, connect in adjacent two revolute pair mechanism (2) between the tip of passive arm (1), set up in each on passive arm (1) and along its length direction distribution fixed slide rail (3), deflectably set up in revolute pair mechanism (2) and with adjacent two sections transition slide rail (4) that fixed slide rail (3) dock to and set up slidable in fixed slide rail (3) and on transition slide rail (4), be used for right work surface carries out tracking detection operation's removal operation platform (5), it detects module (6) to carry on the load on removal operation platform (5).
2. The large surface inspection work robot system according to claim 1, characterized in that the revolute pair mechanism (2) includes a primary turning wheel (21) provided at an end of the adjacent primary passive robot arm (1), and a secondary turning wheel (22) provided at an end of the adjacent secondary passive robot arm (1), and a rim of the secondary turning wheel (22) is connected in a circumferentially engageable manner in a rim surface of the primary turning wheel (21).
3. The large surface inspection work robot system according to claim 2, characterized in that the transition slide (4) comprises a first transition section (41) rotatably provided on an end surface of the primary turning wheel (21), and a second transition section (42) rotatably provided on an end surface of the secondary turning wheel (22), and facing ends of the first transition section (41) and the second transition section (42) are butted against each other after being rotated to a preset angle.
4. The robot system for large surface inspection work according to claim 3, characterized in that the end surface of the first transition section (41) and the corresponding end surface of the fixed slide rail (3) are matched with each other in arc shape, and the end surface of the second transition section (42) and the corresponding end surface of the fixed slide rail (3) are matched with each other in arc shape.
5. The robot system for large surface inspection work according to claim 3, characterized in that a primary rotation axis (211), a primary rotation disc (212) sleeved on the primary rotation axis (211), and a primary mounting bracket (213) erected on the surface of the primary rotation disc (212) and used for mounting the first transition section (41) are further arranged on the end surface of the primary rotation wheel (21).
6. The robot system for large surface inspection work according to claim 3, wherein a secondary rotating shaft (221), a secondary rotating disc (222) sleeved on the secondary rotating shaft (221), and a secondary mounting bracket (223) erected on the surface of the secondary rotating disc (222) and used for mounting the second transition section (42) are further arranged on the end surface of the secondary rotating wheel (22).
7. A large surface inspection work robot system according to any of the claims 1-6, characterized in that the fixed slide rails (3) are distributed in parallel on the respective side surface of each passive robot arm (1); the mechanical arm assembly is characterized by further comprising rotary joint arms (7) which can be circumferentially and rotatably connected in series to the end faces of the driven mechanical arms (1), and reversing slide rails (8) which are arranged on the side surfaces of the rotary joint arms (7) and used for being in butt joint with the corresponding fixed slide rails (3).
8. A robot system for large surface inspection operations according to claim 7, characterized in that the articulated arm (7) and the passive arm (1) are each rectangular bodies with the same cross-sectional shape.
9. The large surface inspection work robot system according to claim 7, characterized in that the mobile work platform (5) comprises a frame (51) and a sliding wheel train (52) arranged on the frame (51) and sliding in cooperation with the fixed slide rail (3), the transitional slide rail (4), the reversing slide rail (8), and a driver (53) arranged on the frame (51) and used for driving the revolute pair mechanism (2) to rotate, the transitional slide rail (4) to deflect and the articulated arm (7) to rotate respectively when sliding to the corresponding positions.
10. Robot system according to claim 9, characterised in that the detection module (6) comprises a telescopic connecting rod (61) connected to the carriage (51), several detection sensors (62) arranged at the ends of the connecting rod (61).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943885.9A CN113442122A (en) | 2021-08-17 | 2021-08-17 | Large-surface detection operation robot system |
| PCT/CN2021/141908 WO2023019855A1 (en) | 2021-08-17 | 2021-12-28 | Large surface inspection operation robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943885.9A CN113442122A (en) | 2021-08-17 | 2021-08-17 | Large-surface detection operation robot system |
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| Publication Number | Publication Date |
|---|---|
| CN113442122A true CN113442122A (en) | 2021-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110943885.9A Pending CN113442122A (en) | 2021-08-17 | 2021-08-17 | Large-surface detection operation robot system |
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| CN (1) | CN113442122A (en) |
| WO (1) | WO2023019855A1 (en) |
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| WO2023019855A1 (en) * | 2021-08-17 | 2023-02-23 | 香港中文大学（深圳） | Large surface inspection operation robot system |
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