CN112977878A - Military machine flexible adsorption creeping type automatic detection and repair robot - Google Patents
Military machine flexible adsorption creeping type automatic detection and repair robot Download PDFInfo
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- CN112977878A CN112977878A CN202110275515.2A CN202110275515A CN112977878A CN 112977878 A CN112977878 A CN 112977878A CN 202110275515 A CN202110275515 A CN 202110275515A CN 112977878 A CN112977878 A CN 112977878A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0007—Movable machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Transportation (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a creeping type automatic detection and repair robot for a military and civil aircraft, and relates to the technical field of quick and automatic removal of composite materials and the technical field of robots. The crawling robot consists of a six-foot robot device and a six-axis mechanical arm device. The crawling robot is small and portable, convenient to use, can carry out path planning according to programming control, and through little and many sucking discs, six little sucking discs rotate freely totally, stably adsorb in the surface of the army and civil aircraft that the camber is complicated, and can move gradually to realize the damage detection discernment and the repair work of polishing of the surface composite material of the complete machine of the army and civil aircraft of full independence. The six-axis mechanical arm device is provided with a nondestructive testing head, a laser polishing head and a conventional polishing head so as to adapt to polishing repair work of damaged structures with different requirements. The crawling robot greatly improves polishing efficiency and precision, and improves overall operational efficiency of military aircraft or economic benefits of civil aircraft operation.
Description
Name of invention patent
The army and civil aircraft is a skillful adsorption crawling type automatic detection and repair robot.
Technical Field
The invention belongs to the technical field of rapid and automatic removal of composite materials, and particularly relates to a flexible adsorption crawling type automatic detection and repair robot for military and civil aircrafts.
Background
With the mass use of airplanes in the modern military field, skin abrasion caused by various factors occurs in the flying process, and in the civil aviation field, the mass use of composite materials also faces the problem of polishing and repairing the composite material structure of daily civil aircrafts. When daily aircraft overhauls, the damage detection and restoration are all carried out through the manual work to the tradition mode, lead to personnel's ability requirement and time cost all too high, do not conform to characteristics such as high efficiency, the high rate of utilization that army and civilian aircraft required. A large number of patent technologies have been developed in succession, for example: chinese patent application No. CN201921863171.1 discloses a nondestructive testing robot system for the surface defects of the skin of an airplane, which can meet the application requirements of the intelligent, automatic and high-precision three-dimensional measurement of the surface defects of the skin of the airplane; chinese patent application No. CN201922240318.8 discloses an automatic flexible grinding device for composite materials for aircraft repair, which realizes semi-automatic or automatic grinding, excavating, polishing and other operation processes related to composite material repair. The manual operation intensity is reduced, and the repair quality is improved; china patent application No. CN202010297944.5 discloses an intelligent polishing system of robot for composite material members of airplane bodies, which improves polishing quality and efficiency and reduces dust hazards. These patents protect the machine equipment special for detecting or repairing the surface damage of the airplane and improve the working efficiency.
Obviously, the patent technologies only need to detect or repair, other aspects still need manual treatment, and the intelligent requirements are slightly insufficient, so that the labor and time cost are still relatively consumed, the equipment is not easy to be directly applied in an external field, and the repair work of the whole machine cannot be automatically completed. Also, these patented techniques have low applicability in military aircraft due to the complexity of the surface material and curvature variation of the military aircraft. Therefore, it is of great significance to design an intelligent mechanical system integrating functions of damage detection, repair and the like for the surfaces of civil and military aircraft, and the civil aircraft is also applicable as a simple case of the civil aircraft.
Disclosure of Invention
1. Objects of the invention
The invention aims to overcome the problems of low efficiency of traditional manual detection, polishing or polishing of the existing machinery in the maintenance of a composite material structure on the surface of a military and civil aircraft and the problem of complex curvature of the surface of the military aircraft, and provides a creeping type automatic detection and repair robot for the military and civil aircraft, which is suitable for military aircraft with a plurality of curvature changes and is also suitable for the civil aircraft to improve the operational efficiency of the military aircraft or the economic benefit of the civil aircraft.
2. Technical scheme of the invention
The purpose of the invention patent is realized by adopting the following technical scheme:
a military machine flexible adsorption crawling type automatic detection and repair robot comprises a six-foot robot device and a six-axis mechanical arm device.
The hexapod robot apparatus includes: hexagonal base, six mechanical legs, camera device, steering wheel, sucking disc etc.. Wherein the hexagonal base is connected with each mechanical leg through a gear. And a camera device is arranged on one side of the hexagonal base, namely the side is the front part of the whole crawling robot. The camera device is used for polishing the whole plane for planning the path of the crawling robot. The mechanical legs are five-bar mechanisms, the tail end of each mechanical leg is provided with a sucker device, the angle of each sucker device can be adjusted, the sucker can point to and adapt to the surface of the military civil aircraft, and the effect that the hexapod robot is better adsorbed on the surface of the military civil aircraft is achieved.
The six-axis mechanical arm device is mounted on a hexagonal base of the hexapod robot device. The six-axis mechanical arm device has six degrees of freedom, can cover the surface of a military machine with the radius of one meter, and can perform nondestructive testing and polishing work. The tail end of the six-axis mechanical arm device is provided with a nondestructive testing camera, a conventional polishing head and a laser polishing head. Wherein the nondestructive testing camera uses an ultrasonic C-scan technique.
The crawling robot can realize the following functions:
(1) the robot device can freely move on the surface of the military and civil aircraft, is suitable for the surfaces with various complex curvatures of the military and civil aircraft, fixes the whole crawling robot through a sucker, can be adsorbed on the side surface and the bottom of the military and civil aircraft, and carries out path planning through a camera at the front end of the hexapod robot device. When the surface of the civil and military aircraft works, the six-axis mechanical arm device has multiple degrees of freedom and can rotate freely in 360 degrees.
(2) The nondestructive testing camera is used for carrying out autonomous damage identification and positioning, and the nondestructive testing device has two polishing modes of conventional polishing and laser polishing and can be used in a matched mode.
In conclusion, the invention discloses a climbing type automatic detection and repair robot capable of flexibly adsorbing military and civil aircrafts. The six-foot robot device and the sucker thereof realize the functions of completely autonomous path planning, nondestructive testing, polishing and the like on the surface of the civil-military machine with complex curvature. The efficiency and the precision of military and civil aircraft maintenance are greatly improved.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
the invention combines the functions of nondestructive testing and polishing repair on a crawling robot, and programs and plans the crawling robot, so that the crawling robot can autonomously complete the nondestructive testing and polishing repair of military and civil aircraft, and the efficiency of maintenance work of the composite material on the surface of the military and civil aircraft is greatly improved.
The crawling robot disclosed by the invention adopts six mechanical legs which are small and many suckers, and the crawling robot can adapt to and be adsorbed on the surface of a military and civil aircraft with complex curvature to work through the rotation angle of the mechanical legs and the rotation angle of the sucker device, and can move autonomously on the surface of the military and civil aircraft. The military aircraft can be repaired in time due to small size and portability, so that the combat efficiency is greatly improved; for civil aircraft, the method can be regarded as a simple form of military aircraft, is also applicable, and improves the economic benefit of civil aircraft operation.
Drawings
FIG. 1 is an overall structure diagram of the patent crawling robot of the invention;
FIG. 2 is a schematic structural diagram of the hexapod robot device of the present invention;
FIG. 3 is a detailed view of the mechanical legs of the hexapod robot device of the present invention;
fig. 4 is a detailed view of the suction cup of the hexapod robot.
FIG. 5 is a schematic structural view of a six-axis robot apparatus according to the present invention;
FIG. 6 is a block diagram of the work flow of the patent crawling robot of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples:
a military machine smart adsorption crawling type automatic detection and repair robot (shown in figure 1) comprises a six-foot robot device and a six-axis mechanical arm device.
Further, the hexapod robot apparatus (as shown in FIG. 2)
The hexapod robot device is provided with a hexagonal base 14 which plays a role in connecting six mechanical legs and installing a motor, wherein one mechanical leg 10 is of a five-link structure and is controlled by two steering engines, and when the mechanical legs are completely extended, the diameter is one meter wide. The tail ends of the mechanical legs are provided with the suckers 12 with the radius of 5cm, so that the crawling robot can not fall off when the five mechanical legs stably adsorb. The front part of the hexagonal base 14 is provided with a camera 13 which is used for planning the path of the crawling robot when the crawling robot works on the surface of the military and civil aircraft, and only one mechanical leg 10 is lifted when the crawling robot moves each time, and the direction opposite to the camera 13 is taken as the forward direction.
Detailed view of mechanical leg of hexapod robot device (as shown in figure 3)
The mechanical leg 10 is a five-link mechanism, two steering gears 20 are arranged to control the telescopic length of the mechanical leg, and a gear is arranged at the root of each mechanical leg and is controlled by a steering gear 24, so that the direction of the mechanical leg can be changed. The tail ends of the mechanical legs are provided with suckers 12 which are controlled by two steering engines 11 to rotate a certain angle, so that the problem of adsorption on the surface of a military aircraft with complex curvature is solved.
Sucker detail view of hexapod robot (as shown in figure 4)
The radius of the sucker 12 is 5cm, the rotation direction of the sucker is controlled by one big ball 21 and two small balls 22, the two small balls 22 are controlled by two steering engines 11 respectively, and the sucker can rotate by a certain angle through stretching the two connecting rods and rotating the big ball to be adsorbed on the surface of a military civil aircraft with complex curvature.
Six-shaft mechanical arm device (as shown in figure 5)
The six-axis mechanical arm device is composed of an all-metal rotary base motor 9, a 180-degree rotary main arm 8, a 180-degree rotary small arm 6, a 360-degree cylinder rotating arm 7, an overturning arm 3, a polishing head rotating shaft 23, a mechanical arm camera 4, a nondestructive testing camera 2, a conventional polishing head 1 and a laser polishing head 5, and when the six-axis mechanical arm device is completely straightened, the polishing range with the radius of one meter can be covered.
The all-metal base motor 9 can freely rotate for 360 degrees under the condition allowed by the working environment, and can stop at any angle to meet the working requirement; the nondestructive testing camera 2, the conventional polishing head 1 with the radius of 6cm and the laser polishing head 5 can reach the position meeting the best work through the coordinated matching rotation of the 180-degree rotating main arm 8, the 180-degree rotating small arm 6, the 360-degree cylinder rotating arm 7, the turnover arm 3 and the polishing head rotating shaft 23, so that the polishing of the composite material in the corner area of the surface of a civil aircraft can be realized, and the mechanical arm camera 4 is used for accurately positioning the polishing position.
Further, the work flow of the crawling robot is installed (as shown in figure 6)
The crawling robot is placed on the surface of the back of the military and civil aircraft, a working switch of the crawling robot is turned on, and the sucking disc devices at the tail ends of the six mechanical arms are stably adsorbed to fix the current position.
The six-axis mechanical arm device conveys the nondestructive testing camera, the conventional polishing head and the laser polishing head to the surface of the military and civil aircraft through the rotation of each joint, firstly uses the nondestructive testing camera to carry out damage detection work on the composite material on the surface of the military and civil aircraft through an ultrasonic C scanning technology, and if the damage of a part needs to be repaired, firstly uses the laser polishing head to polish, and then uses the conventional polishing head to carry out cleaning work.
If the robot is not damaged in the coverage area of the mechanical arm at the position of the robot, path planning is carried out according to a written program, the next step of movement is carried out, the direction of the camera is taken as the forward direction, the mechanical leg at the front left is lifted up, the robot moves forwards, and then the mechanical legs at the front right, the middle left, the middle right, the rear left and the rear right move forwards.
After the six mechanical legs are completely moved and stably adsorbed, the six mechanical arms are rotated again to enable the nondestructive testing camera, the conventional polishing head and the laser polishing head to fall on the surface of the military machine to work.
And (4) repeatedly executing the steps 3) and 4) through programming a path, carrying out the grinding work of the whole machine body, including the side surface and the bottom of the military aircraft, and finally returning to the initial position.
And closing the switch of the crawling robot, and withdrawing the switch to complete the detection, polishing and repair work of the military and civil aircraft.
In conclusion, the military and civil aircraft crawling type automatic detection and repair robot disclosed by the invention is small and portable as a whole, convenient and simple to use, has the advantages of capability of crawling and adsorbing on the surface of a military and civil aircraft with complex curvature, strong adaptability, capability of installing a plurality of crawling robots to work simultaneously and capability of independently polishing and repairing by mainly depending on a programmed program. Compared with manual grinding and semi-mechanical grinding, the crawling robot has high working efficiency and high working precision, provides great help for repairing the composite material on the surface of the military and civil aircraft, and improves the combat efficiency of military aircraft troops; for civil aircraft, the method can be regarded as a simple form of military aircraft, is also applicable, and improves the economic benefit of civil aircraft operation.
Claims (3)
1. Army and civilian aircraft dexterously adsorbs crawl-type automated inspection and repair robot, its characterized in that: the robot consists of a six-foot robot device and a six-axis mechanical arm device, and the tail ends of the six mechanical legs are provided with a sucker device which can be adsorbed, crawled and fixed on the surface of a military and civil aircraft.
2. The robot for automatic detection and repair of military and civil aircraft clever adsorption crawling type according to claim 1, wherein: the tail end of the six-axis mechanical arm device is provided with three tools, namely a nondestructive testing head, a laser polishing head and a conventional polishing head.
3. The robot for automatic detection and repair of military and civil aircraft clever adsorption crawling type according to claim 1, wherein: the front end of the hexagonal base of the hexapod robot device is provided with a camera device which is used for programming to realize path planning of the crawling robot.
The control of the robot can be remotely controlled by a mobile phone or a PC through a local area network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110275515.2A CN112977878A (en) | 2021-03-15 | 2021-03-15 | Military machine flexible adsorption creeping type automatic detection and repair robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110275515.2A CN112977878A (en) | 2021-03-15 | 2021-03-15 | Military machine flexible adsorption creeping type automatic detection and repair robot |
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| Publication Number | Publication Date |
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| CN112977878A true CN112977878A (en) | 2021-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110275515.2A Pending CN112977878A (en) | 2021-03-15 | 2021-03-15 | Military machine flexible adsorption creeping type automatic detection and repair robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114701580A (en) * | 2022-03-22 | 2022-07-05 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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2021
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| US20100161100A1 (en) * | 2008-12-19 | 2010-06-24 | Phillip John Crothers | Component repair using reverse engineering |
| EP3045394A1 (en) * | 2015-01-16 | 2016-07-20 | The Boeing Company | Method and system for repairing a structure |
| CN105290931A (en) * | 2015-10-28 | 2016-02-03 | 江苏基业信息技术有限公司 | Storage tank wall maintenance robot and control system thereof |
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| CN114701580A (en) * | 2022-03-22 | 2022-07-05 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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