CN113978761B

CN113978761B - Aircraft fuselage detection robot

Info

Publication number: CN113978761B
Application number: CN202111362174.9A
Authority: CN
Inventors: 魏永超; 敖良忠; 邓春艳; 邓毅; 李锦�
Original assignee: Civil Aviation Flight University of China
Current assignee: Civil Aviation Flight University of China
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2023-04-21
Anticipated expiration: 2041-11-17
Also published as: CN113978761A

Abstract

The invention discloses an aircraft fuselage detection robot, which structurally comprises a multi-rotor unmanned aerial vehicle, a sucker type wall climbing robot and a flexible transmission device, wherein the sucker type wall climbing robot is arranged under the multi-rotor unmanned aerial vehicle, the flexible transmission device is arranged on the sucker type wall climbing robot, and the integral rapid fuselage scanning detection can be carried out under different environment light conditions because a camera additionally arranged on the unmanned aerial vehicle is loaded with infrared, video and three-dimensional scanning cameras, so that the quality of video information acquisition is ensured, the prepositioning function is achieved, the purpose of close non-contact nondestructive detection is achieved, when a detection ring slides along the surface of a detected fuselage, the detection ring can smoothly slide along tiny peaks and valleys on the surface of the detected surface under the cooperation of a deviation correcting piece and a control body, namely the detection ring can do up-down motion along the peaks and valleys, namely the detection ring can relatively analyze head telescoping motion, and the relative deviation is avoided.

Description

Aircraft fuselage detection robot

Technical Field

The invention relates to the technical field of detection, in particular to an aircraft body detection robot.

Background

The detection robot generally comprises a multi-rotor unmanned aerial vehicle, a sucker type wall climbing robot and a flexible transmission device, the unmanned aerial vehicle is used for detecting a whole body rapidly, the sucker type wall climbing robot is matched for being adsorbed on a key detection area, then the flexible transmission device is controlled for detecting body damage, and the following defects can occur when the existing aircraft body detection robot is used:

because the flexible transmission device generally comprises an analysis head and a detection ring, the detection ring is arranged on the analysis head to analyze the damage degree of the machine body, when the detection ring slides across the peak valley of the measured surface of the machine body, the contact sliding route of the detection ring can possibly generate curve offset to a certain extent due to the peak valley with different sizes, if the offset is too large, whether the subsequent movement route is in the measured area or not is difficult to ensure, and larger deviation occurs between the detection ring and the measured contour, so that the data analysis effect of the analysis head is influenced.

Disclosure of Invention

The invention provides an aircraft body detection robot, which structurally comprises a multi-rotor unmanned aerial vehicle, a sucker type wall climbing robot and a flexible transmission device, wherein the sucker type wall climbing robot is installed below the multi-rotor unmanned aerial vehicle, and the flexible transmission device is arranged on the sucker type wall climbing robot.

As a further improvement of the invention, the multi-rotor unmanned aerial vehicle comprises a camera, a propeller and a driving rotating shaft, wherein the camera and the propeller are matched in an electric connection mode through the driving rotating shaft to perform low-altitude close-range non-contact nondestructive detection.

As a further improvement of the invention, the sucker type wall climbing robot comprises an adsorption disc, a hook claw, a main board and wheels, wherein the adsorption disc is indirectly matched with the flexible transmission device through the main board and the wheels, the main board and the wheels are hinged on a driving rotating shaft and act on the body to be tested to be adsorbed, and the detection robot is fixed.

As a further improvement of the invention, the flexible transmission device comprises a booster body, an analysis head, a telescopic spacer bush and a contact type detection ring, wherein the spacer bush is arranged between the analysis head and the contact type detection ring, the analysis head is fixedly connected to the telescopic spacer bush, and the telescopic spacer bush is in clearance fit with a main board and a wheel through an adsorption disc.

As a further improvement of the invention, the booster comprises a top bag, a connecting rod, a vertical cone, a deviation rectifying piece and a control body, wherein the top bag is fixedly connected to the connecting rod and is in transition fit with the outer side of the contact type detecting ring, the connecting rod is welded and connected under the vertical cone, more than three deviation rectifying pieces are arranged on the vertical cone, and the deviation rectifying pieces are in clearance fit with the inner side of the contact type detecting ring through the control body.

As a further improvement of the invention, the deviation correcting piece comprises a directional passage, a pushing handle, a twisting cloth, a ball and a chuck, wherein the directional passage is fixedly connected to the twisting cloth, the pushing handle is hinged to the twisting cloth, the pushing handle is in sliding fit on the vertical cone, the twisting cloth is welded to the chuck and the vertical cone, and the chuck is in rotating fit in the directional passage through the ball.

As a further improvement of the invention, the inner end of the directional path is in rolling fit with a ball, and a power point is further provided by twisting and clearance fit on the chuck, so that the chuck is lifted from the surface of the vertical cone.

As a further improvement of the invention, the control body comprises a frame, an air cushion, a propping handle, a coupler and swing arms, wherein the two frames are hinged on the swing arms, the swing arms are in rotary fit between the air cushion through the propping handle and the coupler, and the air cushion is in clearance fit on the vertical cone

Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, as the camera additionally arranged on the unmanned aerial vehicle is loaded with the infrared, video and three-dimensional scanning cameras, the whole rapid body scanning detection can be carried out under different ambient light conditions, the quality of video information acquisition is ensured, the pre-positioning function is achieved, and the purpose of close-range non-contact nondestructive detection is achieved.

2. The wall climbing robot is guided by the unmanned aerial vehicle, and is adsorbed to the found suspected damage area or the position where the important damage area needs to be detected by means of movement of the hook claw, the main board and the wheels, so that the important condition of the fixed detection robot is formed to serve the subsequent working process.

3. When the detection ring slides along the surface of the detected machine body, the detection ring can smoothly slide on the tiny peaks and valleys on the detected surface under the cooperation of the deviation correcting piece and the control body and can move up and down along the peaks and valleys, namely, the detection ring can move in a telescopic way relative to the analysis head, so that the detection ring is prevented from generating relative deviation with the detected surface.

4. Because the top support handle is of a rectangular structure, one third of the top support handle is penetrated by the coupler, the rest part forms a tension area, the swing arm which is being released is guided in a single direction, and the top support handle is used as an aid for centering and sliding of the contact type detection ring, so that the smoothness of matching between the structures is enhanced.

Drawings

Fig. 1 is a schematic structural view of an aircraft fuselage inspection robot according to the present invention.

Fig. 2 is an enlarged schematic view of the structure a in fig. 1 according to the present invention.

Fig. 3 is a schematic plan view of the booster of the present invention.

Fig. 4 is a schematic top view of the deviation correcting device according to the present invention.

FIG. 5 is a schematic cross-sectional view of a control body according to the present invention.

In the figure: the multi-rotor unmanned aerial vehicle-1, sucking disc type wall climbing robot-2, flexible transmission device-3, camera-11, propeller-12, driving rotating shaft-13, sucking disc-21, hook claw-22, main board and wheel-23, booster body-31, analyzing head-32, telescopic spacer-33, contact type probe ring-34, top bag-311, connecting rod-312, vertical cone-313, deviation rectifying piece-314, control body-315, direction channel-141, pushing handle-142, twisting cloth-143, ball-144, chuck-145, frame-151, air cushion-152, top supporting handle-153, coupling-154 and swing arm-155.

Detailed Description

All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As shown in fig. 1-2, the invention provides an aircraft fuselage inspection robot, which structurally comprises a multi-rotor unmanned aerial vehicle 1, a sucker type wall climbing robot 2 and a flexible transmission device 3, wherein a resolving pad 4 is arranged below the multi-rotor unmanned aerial vehicle 1, the sucker type wall climbing robot 2 is provided with the flexible transmission device 3, the multi-rotor unmanned aerial vehicle 1 comprises a camera 11, a propeller 12 and a driving rotating shaft 13, the camera 11 and the propeller 12 are matched in an electric connection manner through the driving rotating shaft 13 to perform low-altitude close-range non-contact nondestructive inspection, the sucker type wall climbing robot 2 comprises an adsorption disc 21, a hook claw 22, a main board and wheels 23, the adsorption disc 21 is indirectly matched with the flexible transmission device 3 through the main board and the wheels 23, the main board and the wheels 23 are hinged on the driving rotating shaft 13 to be adsorbed on a tested aircraft, the flexible transmission device 3 comprises a booster 31, an analysis head 32, a telescopic spacer 33 and a contact type detection ring 34, wherein the spacer 31 is arranged between the analysis head 32 and the contact type detection ring 34, the analysis head 32 is fixedly connected to the telescopic spacer 33, the telescopic spacer 33 is in clearance fit on a main board and wheels 23 through an adsorption disc 21, the camera additionally arranged on the unmanned aerial vehicle is loaded with infrared, video and three-dimensional scanning cameras, the integral rapid airframe scanning detection can be carried out under different ambient light conditions, the quality of video information acquisition is ensured, the function of pre-positioning is achieved, the aim of short-distance non-contact nondestructive detection is achieved, the wall climbing robot is guided by the unmanned aerial vehicle, is adsorbed to the found suspected damaged area or the position to be detected in a key way by means of the movement of the hook claw, the main board and the wheels, the important conditions of the fixed detection robot are formed to serve the subsequent working process, when the detection ring slides along the surface of the detected machine body, the detection ring can smoothly slide on tiny peaks and valleys on the detected surface under the cooperation of the deviation correcting piece 314 and the control body 315, and can move up and down along the peaks and valleys, namely, the detection ring can move in a telescopic manner relative to the analysis head, so that relative deviation between the detection ring and the detected surface is avoided.

Example 2

As shown in fig. 3-5, on the basis of the embodiment 1, the invention combines the mutual matching of the following structural components, the booster 31 comprises a top bag 311, a connecting rod 312, a vertical cone 313, a deviation correcting piece 314 and a control body 315, the top bag 311 is fixedly connected on the connecting rod 312 and is in transition fit with the outer side of the contact type probe ring 34, the connecting rod 312 is welded under the vertical cone 313, more than three deviation correcting pieces 314 are arranged on the vertical cone 313, the deviation correcting pieces 314 are in clearance fit with the inner part of the contact type probe ring 34 through the control body 315, the deviation correcting pieces 314 comprise a pointing channel 141, a pushing handle 142, a twisting cloth 143, a ball 144 and a chuck 145, the pointing channel 141 is fixedly connected on the twisting cloth 143, the pushing handle 142 is connected in a hinged manner, the pushing handle 142 is in sliding fit on the vertical cone 313, the twisting cloth 143 is welded on the chuck 145 and the vertical cone 313, the chuck 145 is rotationally matched in the directing way 141 through the balls 144, the balls 144 are rotationally matched at the inner end of the directing way 141 and are in clearance fit on the chuck 145 through the twisting cloth 143, a power point is further provided for lifting the chuck 145 from the surface of the vertical cone 313, the control body 315 comprises a frame 151, an air cushion 152, a shoring handle 153, a coupler 154 and a swinging arm 155, the frame 151 is provided with two swinging arms which are both hinged and connected with the swinging arm 155, the swinging arm 155 is rotationally matched between the air cushion 152 through the shoring handle 153 and the coupler 153, the air cushion 152 is in clearance fit on the vertical cone 313, one third of the position of the shoring handle 153 is penetrated by the coupler 153 due to the rectangular structure, the rest part forms a tension zone, the swinging arm 155 which is being released is used as an aid for centering sliding of the contact type detection ring 34, enhancing the smoothness of the fit between the structures.

The working principle of an aircraft body detection robot in the technical scheme is described as follows:

in the use process of the invention, firstly, the multi-rotor unmanned aerial vehicle 1 flies to the tested fuselage at low altitude by virtue of the rotary propeller 12 on the driving rotary shaft 13, the tested fuselage is subjected to rapid fuselage scanning detection by virtue of the infrared, video and three-dimensional scanning cameras of the camera 11, short-distance non-contact nondestructive detection and real-time discovery of regional damage problem of the fuselage are implemented, then the multi-rotor unmanned aerial vehicle is electrically conducted to the main board and the wheels 23 of the sucker type wall climbing robot 2 by the driving rotary shaft 13, the main board and the wheels 23 are driven to drop to the tested fuselage and advance towards the position where the damage suspected area or the focus needs to be detected, the hook claw 22 is used for pre-positioning, the suction disc 21 is controlled to turn to the position where the damage suspected area or the focus needs to be detected by the main board and the wheels 23, so that the suction disc 21 can be pulled to the area together by the telescopic spacer 33 of the flexible transmission device 3 at the position where the damage suspected area or the focus needs to be detected, the telescopic spacer 33 swings in the same direction, so that the bottommost contact probe ring 34 contacts to the peak valley on the top bag 311, the top bag 311 lifts the frame 151 along the two sides of the top support handle 153, the air cushion 152 approaches to the surface of the vertical cone 313, the push handle 142 can be contacted, the clamped top support handle 153 can be released, the top support handle 153 is influenced by the coupler 154, the swing arm 155 is driven to swing reciprocally in one direction along the opening space of the frame 151, the vertical cone 313 is wholly sunk, the gravity center position of the self is changed, the contact probe ring 34 is effectively controlled to move on the irregular peak valley in a centered state, when the vertical cone 313 is wholly sunk into the contact probe ring 34, the air cushion 152 approaching to the surface of the vertical cone 313 is pulled close to the analysis head 32, the data transmission time between the analysis head 32 is shortened, pushing the pushing handle 142 leaning on the connecting rod 312 drives the pushing handle 142 to push the directional channel 141 to mutually approach along the outer circumference of the chuck 145 through the balls 144, screws the two twisting cloth 143 together in the same direction to serve as a supporting point of a larger arc opening of the directional channel 141, pushes the chuck 145 upwards to incline upwards to clamp and hold between the analysis head 32 and the contact probe ring 34, ensures stability between the analysis head 32 and the contact probe ring 34, omnidirectionally regulates and controls sliding balance feeling of the contact probe ring 34 on peaks and valleys, avoids the contacted sliding route of the probe ring 34, influences the directional walking position of the probe ring 34, effectively ensures the subsequent movement route of the probe ring 34 to be in a detected area, and smoothly detects damage such as internal cracks of a machine body.

In the description of the present invention, it should be understood that the terms "center", "side", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

Claims

1. An aircraft fuselage inspection robot, characterized in that: the multi-rotor type wall climbing robot structurally comprises a multi-rotor unmanned aerial vehicle (1), a sucker type wall climbing robot (2), a flexible transmission device (3) and an analysis pad (4), wherein the sucker type wall climbing robot (2) is installed under the multi-rotor unmanned aerial vehicle (1), and the flexible transmission device (3) is arranged on the sucker type wall climbing robot (2);

the multi-rotor unmanned aerial vehicle (1) comprises a camera (11), a propeller (12) and a driving rotating shaft (13), wherein the camera (11) and the propeller (12) are matched in an electric connection mode through the driving rotating shaft (13);

the sucker type wall climbing robot (2) comprises an adsorption disc (21), a hook claw (22), a main board and wheels (23), wherein the adsorption disc (21) is indirectly matched with the flexible transmission device (3) through the main board and the wheels (23), and the main board and the wheels (23) are connected to a driving rotating shaft (13);

the flexible transmission device (3) comprises a booster body (31), an analysis head (32), a telescopic spacer bush (33) and a contact type detection ring (34), wherein the booster body (31) is arranged between the analysis head (32) and the contact type detection ring (34), the analysis head (32) is connected to the telescopic spacer bush (33), and the telescopic spacer bush (33) is in clearance fit on a main board and a wheel (23) through an adsorption disc (21);

the power assisting body (31) comprises a top bag (311), a connecting rod (312), a vertical cone (313), a deviation rectifying piece (314) and a control body (315), wherein the top bag (311) is connected to the connecting rod (312) and is in transition fit with the outer side of the contact type detection ring (34), the connecting rod (312) is connected under the vertical cone (313), the deviation rectifying piece (314) is arranged on the vertical cone (313), and the deviation rectifying piece (314) is in clearance fit with the inner part of the contact type detection ring (34) through the control body (315);

the deviation correcting piece (314) comprises a pointing channel (141), a pushing handle (142), a twisting cloth (143), balls (144) and a chuck (145), wherein the pointing channel (141) is connected to the twisting cloth (143) and is connected with the pushing handle (142), the pushing handle (142) is in sliding fit on a vertical cone (313), the twisting cloth (143) is connected to the chuck (145) and the vertical cone (313), the chuck (145) is in rotating fit in the pointing channel (141) through the balls (144), the balls (144) are in rolling fit in the pointing channel (141), and the chuck (145) is in clearance fit through the twisting cloth (143);

the control body (315) comprises a frame (151), an air cushion (152), a top support handle (153), a coupler (154) and a swing arm (155), wherein the frame (151) is connected to the swing arm (155), the swing arm (155) is in rotating fit between the air cushion (152) through the top support handle (153) and the coupler (154), and the air cushion (152) is in clearance fit on the vertical cone (313);

in the use process, firstly, the multi-rotor unmanned aerial vehicle (1) is utilized to fly to a tested body at low altitude by virtue of the rotary propeller (12) on the driving rotary shaft (13), then the rotary propeller is electrically conducted to the main board and the wheels (23) of the sucker type wall climbing robot (2) through the driving rotary shaft (13), the main board and the wheels (23) are driven to fall to the tested body, advance towards the suspected damaged area or the position needing detection of the key point, the hook claw (22) is utilized to pre-position, the main board and the wheels (23) are utilized to control the suction disc (21) to turn to the suspected damaged area or the position needing detection of the key point, so that the suction disc (21) can be pulled to the area together by the telescopic spacer sleeve (33) of the flexible transmission device (3), the telescopic spacer sleeve (33) swings in the same direction, the bottommost contact probe ring (34) is contacted to the valley on the top bag (311), the top bag (311) is lifted up along the two sides of the top support (153), the top cone (153) is lifted along the top support (153), the top cone (153) is pushed down towards the vertical support (153) to the position needing detection, the whole body (153) can be pushed down towards the inner side of the vertical support (153) to the space (313) to be influenced by the vibration joint (153) to be opened, and the vibration can be released to the inner side of the top cone (153) to be influenced by the vertical support (153) to the whole body (313) to be closed to the vertical position to be closed, changing the gravity center position of the contact probe ring (34) to effectively control the contact probe ring (34) to move on irregular peaks and valleys in an centering state, and when the vertical cone (313) integrally sinks into the contact probe ring (34), the analysis head (32) and the contact probe ring (34) are pulled to shorten the data transmission time between the analysis heads (32), meanwhile, an air cushion (152) approaching to the surface of the vertical cone (313) is pushed to lean against a pushing handle (142) on a connecting rod (312), the pushing handle (142) is driven to push the pointing channel (141) to mutually approach along the outer circumference of the chuck (145) through a ball (144), the twisting cloth (143) between the pushing handle and the ball is screwed together in the same direction to serve as a supporting point of a larger arc opening of the pointing channel (141), and the chuck (145) is pushed upwards to incline upwards to clamp and hold between the analysis head (32) and the contact probe ring (34).