CN111634442B - A suspended robot structure for aircraft assembly quality inspection - Google Patents

Abstract

Translated fromChinese

本发明公开了一种用于飞机装配质量检测的悬挂式机器人结构，由路程测量装置、导向机构、驱动机构、控制模块和云台组成。驱动机构通过型材角件安装在云台上；控制模块位于云台上方，并通过铝型材角码与前、后驱动机构连接；导向机构固定在驱动机构的中间，其上部固定有两个滑块可沿驱动机构内侧的滑轨滑动，导向机构下部通过型材角件与驱动机构连接；路程测量装置安装在机器人后侧驱动机构的上方；机器人结构紧凑，可在绳索上以较快的速度移动。且可调高度的导向机构具有夹紧绳索的功能，减少机器人在绳索上的滑动与晃动，机器人可高效率执行较大空间中的检测任务，相机可从不同角度观测获取待检测部位图像，并提高检测准确率。

The invention discloses a suspended robot structure for aircraft assembly quality inspection, which is composed of a distance measuring device, a guiding mechanism, a driving mechanism, a control module and a pan/tilt head. The driving mechanism is installed on the pan/tilt through the profile corner pieces; the control module is located above the pan/tilt and is connected with the front and rear driving mechanisms through the aluminum profile corner code; the guiding mechanism is fixed in the middle of the driving mechanism, and two sliders are fixed on the upper part of the driving mechanism It can slide along the slide rail inside the driving mechanism, and the lower part of the guiding mechanism is connected with the driving mechanism through the profile angle piece; the distance measuring device is installed above the driving mechanism on the rear side of the robot; the robot has a compact structure and can move at a faster speed on the rope. And the height-adjustable guiding mechanism has the function of clamping the rope, reducing the sliding and shaking of the robot on the rope. The robot can efficiently perform detection tasks in a large space, and the camera can observe and obtain images of the parts to be detected from different angles. Improve detection accuracy.

Description

Translated fromChinese

一种用于飞机装配质量检测的悬挂式机器人结构A suspended robot structure for aircraft assembly quality inspection

技术领域technical field

本发明涉及飞机装配质量自动检测技术领域，具体地说，涉及一种用于飞机装配质量自动检测的悬挂式机器人结构。The invention relates to the technical field of automatic inspection of aircraft assembly quality, in particular to a suspended robot structure used for automatic inspection of aircraft assembly quality.

背景技术Background technique

在航空航天领域，飞机各部件的装配是产品总装的关键工序，也是产品生命周期的一个重要环节，产品的可装配性和装配质量直接影响着产品的开发成本和使用性能。同时，产品装配通常占用的手工劳动量大、费用高且属于产品研制的后端，提高装配过程生产率和可靠性所带来的经济效益远比简单的降低零件生产成本所带来的经济效益更加显著。而在真实的装配过程中，由于装配工人的素质、技术水平和注意力等问题，可能导致在装配过程中出现一些难以发现的错误。因此为保证装配质量，实现飞机装配质量的自动检测在飞机装配领域中显得尤为重要。In the field of aerospace, the assembly of aircraft components is a key process in product assembly and an important link in the product life cycle. The product's assemblability and assembly quality directly affect the product's development cost and performance. At the same time, product assembly usually occupies a large amount of manual labor, high cost and belongs to the back end of product development. The economic benefits brought by improving the productivity and reliability of the assembly process are far greater than the economic benefits brought by simply reducing the production cost of parts. Significantly. In the real assembly process, due to the quality, technical level and attention of the assembly workers, some difficult-to-find errors may occur in the assembly process. Therefore, in order to ensure the assembly quality, it is particularly important to realize the automatic detection of aircraft assembly quality in the field of aircraft assembly.

在现有技术中，发明专利CN102866201A以蒙皮吸附式爬行机器人的方式实现了对飞机蒙皮质量的监测，但吸附式爬行的运动方式不适用于存在框、肋等障碍物的机舱内表面；且其运动速度慢，控制难度较大。发明专利CN107576503A以固定机械臂为手段实现了对航空发动机高精度装配质量的检测，但对飞机装配检测而言，机器人需要从不同角度获取待检测部位的图像，机械臂有限的运动空间使其并不适合大尺寸范围下的飞机装配质量检测工作。发明专利CN109244934A公开了一种地线悬挂巡检机器人结构，该机器人通过三只与箱体相连的可伸缩手臂及可开合的驱动机构实现了机器人在地线上的运动及越障。但对于飞机装配质量检测来说，越障的机构是不必要的，且三条手臂会遮挡放置在箱体上的摄像头的部分视野，导致其可能存在无法检测区域。In the prior art, the invention patent CN102866201A realizes the monitoring of the skin quality of the aircraft by means of a skin adsorption crawling robot, but the movement mode of the adsorption crawling is not suitable for the inner surface of the cabin where there are obstacles such as frames and ribs; And its movement speed is slow and control is difficult. The invention patent CN107576503A realizes the inspection of the high-precision assembly quality of the aero-engine by means of the fixed manipulator, but for the aircraft assembly inspection, the robot needs to obtain the images of the parts to be inspected from different angles, and the limited movement space of the manipulator makes it possible. It is not suitable for the inspection of aircraft assembly quality in a large size range. Invention patent CN109244934A discloses a ground wire suspension inspection robot structure. The robot realizes the movement of the robot on the ground wire and the obstacle crossing through three retractable arms connected to the box body and a drive mechanism that can be opened and closed. However, for the inspection of aircraft assembly quality, the obstacle-crossing mechanism is unnecessary, and the three arms will block part of the field of view of the camera placed on the box, which may cause undetectable areas.

在航空航天领域，飞机各部件的装配是产品总装的关键工序，也是产品生命周期的一个重要环节，产品的可装配性和装配质量直接影响着产品的开发成本和使用性能。同时，产品装配通常占用的手工劳动量大、费用高且属于产品研制的后端，提高装配过程生产率和可靠性所带来的经济效益远比简单的降低零件生产成本所带来的经济效益更加显著。而在真实的装配过程中，由于装配工人的素质、技术水平和注意力等问题，可能导致在装配过程中出现一些难以发现的错误。因此为保证装配质量，实现飞机装配质量的自动检测在飞机装配领域中显得尤为重要。In the field of aerospace, the assembly of aircraft components is a key process in product assembly and an important link in the product life cycle. The product's assemblability and assembly quality directly affect the product's development cost and performance. At the same time, product assembly usually occupies a large amount of manual labor, high cost and belongs to the back end of product development. The economic benefits brought by improving the productivity and reliability of the assembly process are far greater than the economic benefits brought by simply reducing the production cost of parts. Significantly. In the real assembly process, due to the quality, technical level and attention of the assembly workers, some difficult-to-find errors may occur in the assembly process. Therefore, in order to ensure the assembly quality, it is particularly important to realize the automatic detection of aircraft assembly quality in the field of aircraft assembly.

在发明专利CN102866201A以蒙皮吸附式爬行机器人的方式实现了对飞机蒙皮质量的监测，但吸附式爬行的运动方式不适用于存在框、肋等障碍物的机舱内表面；且其运动速度慢，控制难度较大。发明专利CN107576503A以固定机械臂为手段实现了对航空发动机高精度装配质量的检测，但对飞机装配检测而言，机器人需要从不同角度获取待检测部位的图像，机械臂有限的运动空间使其并不适合大尺寸范围下的飞机装配质量检测工作。发明专利CN109244934A公开了一种地线悬挂巡检机器人结构，该机器人通过三只与箱体相连的可伸缩手臂及可开合的驱动机构实现了机器人在地线上的运动及越障。但对于飞机装配质量检测来说，越障的机构是不必要的，且三条手臂会遮挡放置在箱体上的摄像头的部分视野，导致其可能存在无法检测区域。In the invention patent CN102866201A, the monitoring of the aircraft skin quality is realized by means of a skin adsorption crawling robot, but the movement mode of the adsorption crawling is not suitable for the inner surface of the cabin where there are obstacles such as frames and ribs; and its movement speed is slow , it is difficult to control. The invention patent CN107576503A realizes the inspection of the high-precision assembly quality of the aero-engine by means of the fixed manipulator, but for the aircraft assembly inspection, the robot needs to obtain the images of the parts to be inspected from different angles, and the limited movement space of the manipulator makes it possible. It is not suitable for the inspection of aircraft assembly quality in a large size range. Invention patent CN109244934A discloses a ground wire suspension inspection robot structure. The robot realizes the movement of the robot on the ground wire and the obstacle crossing through three retractable arms connected to the box body and a drive mechanism that can be opened and closed. However, for the inspection of aircraft assembly quality, the obstacle-crossing mechanism is unnecessary, and the three arms will block part of the field of view of the camera placed on the box, which may cause undetectable areas.

发明内容SUMMARY OF THE INVENTION

为了避免现有技术存在的不足，本发明提出一种用于飞机装配质量检测的悬挂式机器人结构。In order to avoid the deficiencies in the prior art, the present invention proposes a suspended robot structure for inspection of aircraft assembly quality.

本发明解决其技术问题所采用的技术方案是:包括驱动机构、导向机构、云台、控制模块和路程测量装置；驱动机构通过型材角件安装在云台上；控制模块位于云台上部，并通过铝型材角件与前、后驱动机构连接；导向机构安装在驱动机构的中间，导向机构上方固定有两个滑块，可沿驱动机构内侧的滑轨滑动，导向机构下部通过型材角件与驱动机构连接；路程测量装置安装在机器人后侧驱动机构的上方，其特征在于所述驱动机构包括铝型材角件、同步轮、同步带、电机支架、减速电机、滑轨、聚氨酯轮、轴承座和钢轴，所述驱动机构上部固定有轴承座，两个轴承座上通过钢轴安装有聚氨酯轮，同步轮固定在钢轴的端部；滑轨位于驱动机构中部两侧；减速电机通过电机支架安装在驱动机构下部，减速电机输出轴与钢轴端部的同步轮通过同步带将扭矩传输至钢轴上；The technical scheme adopted by the present invention to solve the technical problem is as follows: including a driving mechanism, a guiding mechanism, a pan-tilt, a control module and a distance measuring device; the driving mechanism is installed on the pan-tilt through a profile angle piece; the control module is located on the upper part of the pan-tilt, and It is connected with the front and rear drive mechanisms through aluminum profile corner pieces; the guide mechanism is installed in the middle of the drive mechanism, and two sliders are fixed above the guide mechanism, which can slide along the slide rail inside the drive mechanism, and the lower part of the guide mechanism is connected with the profile corner pieces through the profile corner pieces. The driving mechanism is connected; the distance measuring device is installed above the driving mechanism on the rear side of the robot, and it is characterized in that the driving mechanism includes an aluminum profile angle piece, a synchronous wheel, a synchronous belt, a motor bracket, a deceleration motor, a slide rail, a polyurethane wheel, and a bearing seat. and steel shaft, the upper part of the drive mechanism is fixed with a bearing seat, the two bearing seats are installed with polyurethane wheels through the steel shaft, and the synchronous wheel is fixed at the end of the steel shaft; the slide rails are located on both sides of the middle of the driving mechanism; The bracket is installed at the lower part of the drive mechanism, and the output shaft of the reduction motor and the synchronous wheel at the end of the steel shaft transmit the torque to the steel shaft through the synchronous belt;

所述导向机构包括导向轮、滑块、支座底板、固定板角码、导向机构固定板、手柄、螺母压紧件和滚针轴承，所述支座底板位于导向机构固定板上方，两个导向轮同向固定支座底板上部，两个滑块固定在支座底板两侧，滑块可沿驱动机构上的滑轨滑动；导向机构固定板位于支座底板下方，导向机构固定板与驱动机构通过固定板角码连接，导向机构固定板中间部位有六边形孔，螺母压紧件将六角螺母压紧在六边形孔中，手柄与螺母压紧件螺旋配合，手柄杆上端通过滚针轴承与支座底板相连，转动手柄可调节导向轮的高度；The guide mechanism includes a guide wheel, a sliding block, a support base plate, a fixed plate angle code, a guide mechanism fixed plate, a handle, a nut pressing piece and a needle roller bearing. The support base plate is located above the guide mechanism fixed plate, and the two The guide wheels fix the upper part of the support base plate in the same direction, and the two sliders are fixed on both sides of the support base plate, and the sliders can slide along the slide rails on the drive mechanism; The mechanism is connected by the corner code of the fixed plate. There is a hexagonal hole in the middle part of the fixed plate of the guiding mechanism. The nut pressing part presses the hexagonal nut in the hexagonal hole, the handle is screwed with the nut pressing part, and the upper end of the handle rod is rolled The needle bearing is connected with the base plate of the support, and the height of the guide wheel can be adjusted by turning the handle;

所述云台与驱动机构通过铝型材角件相连接；所述云台包括云台安装板、铝型材、铝型材角件、俯仰舵机、转向舵机和相机摇臂，控制相机的转向舵机安装在云台安装板上，相机摇臂与转向舵机的舵盘连接，相机摇臂末端安装有控制相机的俯仰舵机，俯仰舵机的舵盘与相机连接；The pan/tilt and the drive mechanism are connected by aluminum profile angle pieces; the pan/tilt head includes pan/tilt mounting plate, aluminum profile, aluminum profile corner pieces, pitch steering gear, steering steering gear and camera rocker arm, which controls the steering rudder of the camera The camera is installed on the gimbal mounting plate, the camera arm is connected to the steering wheel of the steering servo, the end of the camera arm is equipped with a pitch servo that controls the camera, and the pitch servo is connected to the camera;

所述路程测量装置包括立式轴承座、编码器支架、拉紧弹簧、编码器和编码器轮，所述路程测量装置通过立式轴承座固定在驱动机构上，编码器支架位于立式轴承座，编码器支架与编码器通过拉紧弹簧连接，编码器支架上的拉紧弹簧使编码器轮压紧在绳索上，保证路程测量装置准确。The distance measuring device includes a vertical bearing seat, an encoder bracket, a tension spring, an encoder and an encoder wheel, the distance measuring device is fixed on the driving mechanism through the vertical bearing seat, and the encoder bracket is located in the vertical bearing seat. , The encoder bracket is connected with the encoder through a tension spring, and the tension spring on the encoder bracket makes the encoder wheel press tightly on the rope to ensure the accuracy of the distance measuring device.

所述控制模块包括安装板、控制板、降压板、电池和安装板角码，所述控制模块通过安装板角码与驱动机构连接，电池固定在安装板上，控制板和降压板通过六角塑料柱和塑料螺钉与安装板连接。The control module includes a mounting board, a control board, a step-down board, a battery and a mounting board corner code, the control module is connected with the drive mechanism through the mounting board corner code, the battery is fixed on the mounting board, and the control board and the step-down board pass through. Hexagonal plastic posts and plastic screws are attached to the mounting plate.

所述手柄用于调节导向轮的高度，手柄为工程塑料压制成型。The handle is used to adjust the height of the guide wheel, and the handle is press-molded by engineering plastics.

有益效果beneficial effect

本发明提出的一种用于飞机装配质量检测的悬挂式机器人结构，由路程测量装置、导向机构、驱动机构、云台、控制模块组成；驱动机构通过型材角件安装在云台上；控制模块位于云台上方与驱动机构安装连接；导向机构安装在驱动机构的中间，其上方固定有两个滑块可沿安装在内侧的滑轨滑动，驱动机构下方通过型材角码与驱动模块连接；路程测量装置安装在机器人后侧驱动机构的上方。相机可从不同角度获取待检测部位图像，且可调高度的导向模块具有夹紧绳索的功能，可减少机器人在绳索上的滑动与晃动，整个机器人结构紧凑，可在绳索上以较快的速度移动，机器人可高效率执行检测任务，并且机器人具有更大的载荷。机器人结构支持较大空间中的检测任务，相机可从不同角度观测待检测部位，从而提高检测准确率。A suspended robot structure for aircraft assembly quality inspection proposed by the present invention is composed of a distance measuring device, a guiding mechanism, a driving mechanism, a pan-tilt and a control module; the driving mechanism is installed on the pan-tilt through a profile angle piece; the control module It is installed and connected to the driving mechanism above the pan/tilt; the guiding mechanism is installed in the middle of the driving mechanism, and two sliders are fixed above it to slide along the slide rail installed on the inner side, and the lower part of the driving mechanism is connected with the driving module through the profile angle code; The measuring device is installed above the drive mechanism on the rear side of the robot. The camera can obtain images of the part to be inspected from different angles, and the height-adjustable guide module has the function of clamping the rope, which can reduce the sliding and shaking of the robot on the rope. Mobile, the robot can perform inspection tasks efficiently, and the robot has a larger payload. The robot structure supports detection tasks in a larger space, and the camera can observe the parts to be detected from different angles, thereby improving the detection accuracy.

附图说明Description of drawings

下面结合附图和实施方式对本发明一种用于飞机装配质量检测的悬挂式机器人结构作进一步详细说明。A suspended robot structure for aircraft assembly quality inspection of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

图1为本发明用于飞机装配质量检测的悬挂式机器人结构示意图。FIG. 1 is a schematic structural diagram of a suspended robot used for aircraft assembly quality inspection according to the present invention.

图2为本发明的驱动机构示意图。FIG. 2 is a schematic diagram of the driving mechanism of the present invention.

图3为本发明的导向模块示意图。FIG. 3 is a schematic diagram of a guide module of the present invention.

图4为本发明的云台示意图。FIG. 4 is a schematic diagram of a pan/tilt according to the present invention.

图5为本发明的控制模块示意图。FIG. 5 is a schematic diagram of a control module of the present invention.

图6为本发明的路程测量装置示意图。FIG. 6 is a schematic diagram of the distance measuring device of the present invention.

图中pictured

1.路程测量装置 2.导向机构 3.驱动机构 4.云台 5.控制模块 6.铝型材角件7.同步轮 8.同步带 9.电机支架 10.减速电机 11.滑轨 12.聚氨酯轮 13.轴承座 14.钢轴 15.导向轮 16.滑块 17.支座底板 18.固定板角码 19.导向机构固定板 20.手柄 21.螺母压紧件 22.滚针轴承 23.型材上角件 24.俯仰舵机 25.铝型材 26.云台安装板 27.相机摇臂 28.转向舵机 29.安装板角码 30.电池 31.安装板 32.控制板 33.降压板 34.立式轴承座 35.编码器支架 36.拉紧弹簧 37.编码器 38.编码器轮1.Distance measuring device 2.Guiding mechanism 3. Driving mechanism 4. Pan/tilt 5.Control module 6. Aluminumprofile angle piece 7.Synchronous wheel 8.Synchronous belt 9.Motor bracket 10.Geared motor 11.Slide rail 12.Polyurethane Wheel 13. Bearingseat 14.Steel shaft 15.Guide wheel 16.Slider 17.Support base plate 18. Fixedplate angle code 19. Guide mechanism fixedplate 20.Handle 21.Nut pressing piece 22.Needle roller bearing 23. Profileupper corner piece 24.Tilt servo 25.Aluminum profile 26. Pan/tilt mounting plate 27.Camera rocker 28.Steering servo 29. Mountingplate corner code 30.Battery 31. Mountingplate 32.Control board 33. Step downPlate 34. Vertical bearingseat 35.Encoder bracket 36.Tension spring 37.Encoder 38. Encoder wheel

具体实施方式Detailed ways

本实施例是一种用于飞机装配质量检测的悬挂式机器人结构。This embodiment is a suspended robot structure used for aircraft assembly quality inspection.

参阅图1～图6，本实施例用于飞机装配质量检测的悬挂式机器人结构，由驱动机构3、导向机构2、云台4、控制模块5和路程测量装置1组成；驱动机构3通过通过铝型材角件23安装在云台上；控制模块5位于云台4上部，并通过铝型材角码与前、后两驱动机构连接；导向机构2安装在驱动机构3的中间，导向机构2上方固定有两个滑块，可沿驱动机构3内侧的滑轨滑动，导向机构2下部通过型材角码与驱动机构3连接；路程测量装置1安装在机器人后侧驱动机构3的上方。其中，驱动机构3包括铝型材角件6、同步轮7、同步带8、电机支架9、减速电机10、滑轨11、聚氨酯轮12、轴承座13和钢轴14，驱动机构3上部固定有轴承座13，两个轴承座13上通过钢轴14安装有聚氨酯轮12，同步轮7固定在钢轴14的端部；滑轨11位于驱动机构3中部两侧；减速电机10通过电机支架9安装在驱动机构3下部，减速电机输出轴与钢轴14端部的同步轮7通过同步带8将扭矩传输至钢轴14上。Referring to FIGS. 1 to 6 , the suspended robot structure used for aircraft assembly quality inspection in this embodiment is composed of adrive mechanism 3, aguide mechanism 2, a pan-tilt 4, acontrol module 5 and adistance measuring device 1; thedrive mechanism 3 passes through The aluminumprofile angle piece 23 is installed on the PTZ; thecontrol module 5 is located on the upper part of the PTZ 4 and is connected to the front and rear driving mechanisms through the aluminum profile corner code; theguiding mechanism 2 is installed in the middle of thedriving mechanism 3, above theguiding mechanism 2 Two sliding blocks are fixed, which can slide along the slide rail inside thedriving mechanism 3. The lower part of theguiding mechanism 2 is connected with thedriving mechanism 3 through the profile angle code; thedistance measuring device 1 is installed above thedriving mechanism 3 on the rear side of the robot. Among them, thedriving mechanism 3 includes an aluminumprofile angle piece 6, asynchronous wheel 7, asynchronous belt 8, amotor bracket 9, areduction motor 10, aslide rail 11, apolyurethane wheel 12, a bearingseat 13 and asteel shaft 14. The upper part of thedriving mechanism 3 is fixed with Bearingseat 13,polyurethane wheels 12 are installed on the two bearingseats 13 through thesteel shaft 14, thesynchronizing wheel 7 is fixed on the end of thesteel shaft 14; the slide rails 11 are located on both sides of the middle of thedriving mechanism 3; Installed on the lower part of thedrive mechanism 3 , the output shaft of the reduction motor and thesynchronous pulley 7 at the end of thesteel shaft 14 transmit torque to thesteel shaft 14 through thesynchronous belt 8 .

本实施例中，驱动机构3由四根长度分别为420mm、100mm、110mm和235mm的2020铝型材通过2020铝型材角件6拼接而成。驱动机构3右侧开有缺口，可以方便将整个机器人结构挂上绳索或从绳索上取下。为了降低重心，减速电机10布置在整体框架的靠下方，减速电机10通过电机支架9与整体框架相连接，减速电机10输出的扭矩通过同步带7和同步轮8传递至上方的钢轴14，钢轴14使用两个轴承座13支承，钢轴14上固定有聚氨酯轮12。减速电机10转动时，带动聚氨酯轮12转动，聚氨酯轮12与绳索之间的摩擦力使整个机器人产生运动。In this embodiment, thedriving mechanism 3 is formed by splicing four 2020 aluminum profiles with lengths of 420 mm, 100 mm, 110 mm, and 235 mm respectively through 2020 aluminumprofile corner pieces 6 . There is a gap on the right side of thedriving mechanism 3, so that the entire robot structure can be easily hung on the rope or removed from the rope. In order to lower the center of gravity, thedeceleration motor 10 is arranged below the overall frame, thedeceleration motor 10 is connected to the overall frame through themotor bracket 9, and the torque output by thedeceleration motor 10 is transmitted to theupper steel shaft 14 through thesynchronous belt 7 and thesynchronous pulley 8, Thesteel shaft 14 is supported by two bearingseats 13 , and apolyurethane wheel 12 is fixed on thesteel shaft 14 . When thedeceleration motor 10 rotates, it drives thepolyurethane wheel 12 to rotate, and the frictional force between thepolyurethane wheel 12 and the rope makes the whole robot move.

导向机构2包括导向轮15、滑块16、支座底板17、固定板角码18、导向机构固定板19、手柄20、螺母压紧件21和滚针轴承22，导向机构固定板19通过四个固定板角码18与驱动机构3连接，支座底板17位于导向机构固定板19上方，两个导向轮15同向固定支座底板17上部，两个滑块固定有支座底板17两侧，滑块可沿驱动机构3上的滑轨11滑动；导向机构固定板19位于支座底板17下方，导向机构固定板19与驱动机构3通过固定板角码18连接，导向机构固定板19中间部位有六边形孔，螺母压紧件21将M8六角螺母压紧在六边形孔中，手柄与螺母压紧件21螺旋配合，手柄杆上端通过滚针轴承22与支座底板17相连，转动手柄可调节导向轮的高度；手柄20为梅花形手柄，用于调节导向轮的高度。在转动梅花手柄20时，M8螺母依然保持固定，而梅花手柄由于与M8螺母之间是螺旋配合，将会在上下方向产生位移，梅花手柄上端使用两个M8防松螺母和滚轴轴承22与导向轮支座17连接。在转动梅花手柄时，固定在导向轮支座17上的导向轮15将会向上运动压紧绳索或者向下运动便于从绳索上取下机器人。Theguide mechanism 2 includes aguide wheel 15, a slidingblock 16, asupport base plate 17, a fixedplate angle code 18, a guide mechanism fixedplate 19, ahandle 20, anut pressing member 21 and aneedle roller bearing 22. The guide mechanism fixedplate 19 passes through four. A fixedplate corner 18 is connected to thedrive mechanism 3 , thesupport base plate 17 is located above the guide mechanism fixedplate 19 , the twoguide wheels 15 are fixed to the upper part of thesupport base plate 17 in the same direction, and the two sliders are fixed on both sides of thesupport base plate 17 , the slider can slide along theslide rail 11 on thedrive mechanism 3; the guidemechanism fixing plate 19 is located under thesupport base plate 17, the guidemechanism fixing plate 19 is connected with thedrive mechanism 3 through the fixingplate angle code 18, and the guidemechanism fixing plate 19 is in the middle There is a hexagonal hole in the part, thenut pressing member 21 presses the M8 hexagonal nut in the hexagonal hole, the handle is screwed with thenut pressing member 21, and the upper end of the handle rod is connected with thesupport base plate 17 through theneedle roller bearing 22, Rotating the handle can adjust the height of the guide wheel; thehandle 20 is a plum-shaped handle, which is used to adjust the height of the guide wheel. When the torx handle 20 is turned, the M8 nut is still fixed, and the torx handle is screwed with the M8 nut and will be displaced in the up and down direction. The upper end of the torx handle uses two M8 lock nuts androller bearings 22 and 22. Theguide wheel support 17 is connected. When the quincunx handle is rotated, theguide wheel 15 fixed on theguide wheel support 17 will move upward to compress the rope or move downward to facilitate the removal of the robot from the rope.

云台4与前后两侧的驱动机构3通过铝型材角件23相连接；云台4包括云台安装板26、铝型材25、铝型材角件23、俯仰舵机24、转向舵机28和相机摇臂27，控制相机转向的转向舵机28安装在云台安装板26上，相机摇臂27与转向舵机28的舵盘连接，相机摇臂27末端安装有控制相机俯仰的俯仰舵机24，俯仰舵机24的舵盘与相机连接。The gimbal 4 is connected with the drivingmechanisms 3 on the front and rear sides through aluminumprofile angle pieces 23; the pan/tilt head 4 includes a pan/tilt mounting plate 26, aluminum profiles 25, aluminumprofile corner pieces 23,pitch steering gear 24, steeringgear 28 and Thecamera rocker 27, the steeringservo 28 that controls the steering of the camera is installed on thepan-tilt mounting plate 26, thecamera rocker 27 is connected to the steering wheel of thesteering servo 28, and the end of thecamera rocker 27 is installed with a pitch servo that controls the pitch of thecamera 24. The steering wheel of thepitch servo 24 is connected to the camera.

控制模块5包括安装板31、控制板32、降压板33、电池30和安装板角码29，控制模块5通过四个2020铝型材安装板角码29与前后两侧的驱动机构3连接，电池30使用魔术贴固定在安装板31上，控制板32和降压板33通过六角塑料柱和塑料螺钉与安装板31连接。Thecontrol module 5 includes a mountingboard 31, acontrol board 32, a step-downboard 33, abattery 30 and a mountingboard corner 29. Thecontrol module 5 is connected to thedrive mechanism 3 on the front and rear sides through four 2020 aluminum profile mountingboard corners 29, Thebattery 30 is fixed on the mountingplate 31 using Velcro, and thecontrol board 32 and thevoltage reducing plate 33 are connected to the mountingplate 31 through hexagonal plastic posts and plastic screws.

路程测量装置1包括立式轴承座34、编码器支架35、拉紧弹簧36、编码器37和编码器轮38，路程测量装置1通过立式轴承座34固定在驱动机构3上方，编码器支架35位于立式轴承座34一侧，编码器支架35与编码器37通过拉紧弹簧36连接，编码器支架35上的拉紧弹簧36使编码器轮始终压紧在绳索上；将编码器轮压紧在绳索上保证路程测量装置1准确。Thedistance measuring device 1 includes avertical bearing seat 34, anencoder bracket 35, atension spring 36, anencoder 37 and anencoder wheel 38. Thedistance measuring device 1 is fixed above thedriving mechanism 3 through the vertical bearingseat 34, and theencoder bracket 35 is located on the side of the vertical bearingseat 34, theencoder bracket 35 and theencoder 37 are connected by atension spring 36, and thetension spring 36 on theencoder bracket 35 keeps the encoder wheel pressed on the rope all the time; Press firmly on the rope to ensure that thedistance measuring device 1 is accurate.

本实施例悬挂式机器人在工作时，首先需要将转动驱动模块的梅花手柄，使导向轮向下运动，然后利用驱动模块的缺口将机器人挂在绳索上，再转动梅花手柄，使导向轮压紧绳索，确保机器人不会从绳索上滑落。机器人结构的相机视野不会被机器人自身结构遮挡，相机可从不同角度获取待检测部位图像，且可调高度的导向模块具有夹紧绳索的功能，可减少机器人在绳索上的滑动与晃动；由于省略了越障机构，使机器人结构紧凑，整体尺寸仅为30×15×50cm。机器人可以在绳索上以较快的速度移动，所以机器人可以以更高的效率执行检测任务，并且机器人具有更大的载荷。机器人结构支持较大空间中的检测任务，且由于机器人可以在绳索上运动，相机可以从不同角度观测待检测部位，从而提高检测准确率。When the suspended robot of this embodiment is working, it is first necessary to rotate the plum blossom handle of the drive module to make the guide wheel move downward, then use the gap of the drive module to hang the robot on the rope, and then turn the plum blossom handle to press the guide wheel tightly. ropes to make sure the robot does not slip off the ropes. The camera field of view of the robot structure will not be blocked by the robot's own structure, the camera can obtain images of the part to be detected from different angles, and the height-adjustable guide module has the function of clamping the rope, which can reduce the sliding and shaking of the robot on the rope; The obstacle crossing mechanism is omitted, making the robot compact, and the overall size is only 30×15×50cm. The robot can move at a faster speed on the rope, so the robot can perform inspection tasks with higher efficiency, and the robot has a larger payload. The robot structure supports detection tasks in a larger space, and because the robot can move on the rope, the camera can observe the part to be detected from different angles, thereby improving the detection accuracy.

Claims (3)

1. A suspension type robot structure for detecting the assembly quality of an airplane comprises a driving mechanism, a guide mechanism, a holder, a control module and a distance measuring device; the driving mechanism is arranged on the holder through a section bar corner piece; the control module is positioned at the upper part of the holder and is connected with the front and rear driving mechanisms through an aluminum profile corner piece; the guide mechanism is arranged in the middle of the driving mechanism, two sliding blocks are fixed above the guide mechanism and can slide along a sliding rail on the inner side of the driving mechanism, and the lower part of the guide mechanism is connected with the driving mechanism through a section bar corner piece; the distance measuring device is arranged above a driving mechanism at the rear side of the robot and is characterized in that the driving mechanism comprises an aluminum profile corner piece, a synchronizing wheel, a synchronous belt, a motor bracket, a speed reducing motor, a slide rail, polyurethane wheels, bearing seats and a steel shaft, the bearing seats are fixed at the upper part of the driving mechanism, the polyurethane wheels are arranged on the two bearing seats through the steel shaft, and the synchronizing wheel is fixed at the end part of the steel shaft; the slide rails are positioned on two sides of the middle part of the driving mechanism; the speed reducing motor is arranged at the lower part of the driving mechanism through a motor bracket, and an output shaft of the speed reducing motor and a synchronous wheel at the end part of the steel shaft transmit torque to the steel shaft through a synchronous belt;

The guide mechanism comprises guide wheels, slide blocks, a support base plate, a fixing plate corner connector, a guide mechanism fixing plate, a handle, a nut pressing piece and a needle bearing, the support base plate is positioned above the guide mechanism fixing plate, the two guide wheels are fixed on the upper part of the support base plate in the same direction, the two slide blocks are fixed on two sides of the support base plate, and the slide blocks can slide along a slide rail on the driving mechanism; the guide mechanism fixing plate is positioned below the support base plate and connected with the driving mechanism through a fixing plate corner connector, a hexagonal hole is formed in the middle of the guide mechanism fixing plate, a hexagonal nut is pressed in the hexagonal hole by a nut pressing piece, the handle is in spiral fit with the nut pressing piece, the upper end of the handle rod is connected with the support base plate through a needle bearing, and the height of the guide wheel can be adjusted by rotating the handle;

the cradle head is connected with the driving mechanism through an aluminum profile corner piece; the tripod head comprises a tripod head mounting plate, an aluminum profile corner piece, a pitching steering engine, a steering engine and a camera rocker arm, wherein the steering engine for controlling the camera is mounted on the tripod head mounting plate;

The distance measuring device comprises a vertical bearing seat, an encoder support, a tensioning spring, an encoder and an encoder wheel, the distance measuring device is fixed on the driving mechanism through the vertical bearing seat, the encoder support is located on the vertical bearing seat, the encoder support is connected with the encoder through the tensioning spring, the tensioning spring on the encoder support enables the encoder wheel to be tightly pressed on a rope, and the accuracy of the distance measuring device is guaranteed.

2. The suspended robot structure for detecting the assembly quality of the airplane as claimed in claim 1, wherein the control module comprises a mounting plate, a control plate, a pressure reducing plate, a battery and a mounting plate corner connector, the control module is connected with the driving mechanism through the mounting plate corner connector, the battery is fixed on the mounting plate, and the control plate and the pressure reducing plate are connected with the mounting plate through hexagonal plastic columns and plastic screws.

3. The suspended robot structure for the aircraft assembly quality detection as claimed in claim 1, wherein the handle is used for adjusting the height of the guide wheel, and the handle is formed by pressing engineering plastics.

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