CN220430338U - Mecanum wheel wall climbing robot for cleaning aircraft - Google Patents

Abstract

The utility model relates to a Mecanum wheel wall climbing robot for aircraft cleaning, which comprises a front negative pressure adsorption robot body, a rear negative pressure adsorption robot body, a coaxial rotation module and a cleaning module, wherein the front negative pressure adsorption robot body is connected with the rear negative pressure adsorption robot body; the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body are connected through a coaxial rotation module, and the coaxial rotation module is used for realizing relative rotation between the two negative pressure adsorption robot bodies and lifting and falling of the two negative pressure adsorption robot bodies, so that the robot can span a large curvature wall surface of the aircraft body; and each negative pressure adsorption robot body is provided with a cleaning module for spraying a cleaning agent and cleaning the body of the aircraft. The robot improves the automation and intelligent level of the cleaning of the aircraft, and reduces the potential safety hazard; the coaxial rotating module can span the large curvature surface at the joint of the aircraft body and the wing, and the spraying module and the cleaning rolling brush of the cleaning module are respectively adjusted in position through the cleaning arm, so that the cleaning efficiency is improved; the omnidirectional movement realized by the Mecanum wheel obviously improves the travelling efficiency.

Description

Mecanum wheel wall climbing robot for cleaning aircraft

Technical Field

The utility model belongs to the technical field of wall climbing robots, and particularly relates to a Mecanum wheel wall climbing robot for cleaning an aircraft.

Background

After the aircraft works for a period of time, dirt such as dust and greasy dirt can be deposited on the aircraft body, excessive dirt can not only increase the weight of the aircraft and improve the fuel consumption of the aircraft, but also corrode the aircraft, and the flight safety of the aircraft is seriously threatened, so that the surface of the aircraft needs to be cleaned at intervals. The existing aircraft surface cleaning generally uses a mode of mixing large cleaning equipment and manual cleaning, the problems of large volume of the used equipment, complex operation, large water consumption, high manual cleaning risk and the like exist, an aircraft is taken as an example, each time the aircraft is cleaned in a traditional cleaning mode, the aircraft is required to be transferred to a station or a hangar with a water pump from an air pad, the process is time and labor-consuming, the cleaning efficiency of the existing large cleaning equipment is low, more cleaning dead areas exist during cleaning, and the corners which cannot be cleaned need to be manually matched with cleaning, so that the intelligent level and the automatic level of the aircraft cleaning are required to be improved.

The wall climbing robot has a unique adsorption structure, can carry out mobile operation on most wall surfaces, has strong adaptability, but when walking on an aircraft, has a stepped cambered surface structure due to larger curvature change of the surface of the aircraft body and the surface of the wing, and the traditional single wall climbing robot can only travel in the same plane and cannot cross the wall surfaces at the joint of the aircraft wing and the aircraft body, and the turning process can be completed in the direction of rotation of the body, so that the robot is long in time consumption and is not suitable for cleaning the aircraft.

Therefore, the Mecanum wheel wall climbing robot for cleaning the aircraft can efficiently travel and move on the surface of the aircraft by combining the Mecanum wheel with the coaxial rotating module, can finish the actions of advancing, moving, rotating and the like of the robot without rotating the direction of the robot, greatly expands the application range of the mobile robot and has good application prospect.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a Mecanum wheel wall climbing robot suitable for cleaning an aircraft. The robot can travel on the surface of the aircraft with the stepped cambered surface, and the Mecanum wheel enables the robot to move omnidirectionally, so that steering action is omitted, and cleaning efficiency is improved.

In order to achieve the above purpose, the technical scheme provided by the utility model is as follows:

the Mecanum wheel wall climbing robot for cleaning the aircraft is characterized by comprising a front negative pressure adsorption robot body, a rear negative pressure adsorption robot body, a coaxial rotation module and a cleaning module; the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body are connected through a coaxial rotation module, and the coaxial rotation module is used for realizing relative rotation between the two negative pressure adsorption robot bodies and lifting and falling of the two negative pressure adsorption robot bodies, so that the robot can span a large curvature wall surface of the aircraft body; and each negative pressure adsorption robot body is provided with a cleaning module for spraying a cleaning agent and cleaning the body of the aircraft.

Further, the cleaning module comprises a steering engine cradle head, a U-shaped piece, a steering engine No. seven, a steering engine No. eight, a cleaning arm connecting piece, a cleaning arm, a spraying module and a cleaning rolling brush; an output shaft of the No. eight steering engine is connected with a rotating table of the steering engine holder, the No. seven steering engine is located on the rotating table of the steering engine holder, one end of the No. five U-shaped piece is connected with an output shaft of the No. seven steering engine, the other end of the No. five U-shaped piece is connected with one end of the cleaning arm connecting piece, two cleaning arms are arranged on the cleaning arm connecting piece, and the spraying module and the cleaning rolling brush are respectively installed on the respective cleaning arms.

Further, the cleaning arm comprises a first U-shaped piece, a second U-shaped piece, a first steering engine, a second steering engine and a third steering engine; one end of the second U-shaped part is fixedly connected with the cleaning arm connecting piece, the other end of the second U-shaped part is fixedly connected with the output shaft of the third steering engine, the body of the third steering engine is fixedly connected with one end of the first U-shaped part, the other end of the first U-shaped part is fixedly connected with the output shaft of the second steering engine, and the output shaft of the second steering engine is parallel to the output shaft of the third steering engine; the machine body of the first steering engine is fixedly connected with the machine body of the second steering engine, an output shaft of the first steering engine is perpendicular to an output shaft of the second steering engine, and an output shaft of the first steering engine is connected with a spraying module or a cleaning rolling brush; the cleaning arm is provided with a camera.

Further, the coaxial rotating module comprises a nine steering engine, a six U-shaped piece, a rotating connector and a coaxial rotating rod; the two ends of the coaxial rotating rod are respectively connected with a rotating connector in a rotating mode, the other end of each rotating connector is fixedly connected with one end of a corresponding U-shaped piece, the other end of each U-shaped piece is rotationally connected with an output shaft of a corresponding No. nine steering engine, and a machine body of the No. nine steering engine is connected with the front negative pressure adsorption robot body or the rear negative pressure adsorption robot body through a steering engine support.

Further, the coaxial rotation module further comprises a limiting rod for limiting the relative rotation angle of the two coaxial connectors; one end of each limiting rod is fixedly connected with the corresponding U-shaped piece with six numbers, and the other end of each limiting rod extends to the upper part of the other coaxial connector.

Further, the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body comprise a negative pressure adsorption upper shell, a negative pressure adsorption lower shell, an impeller motor, a hollow impeller, an encoder motor and a Mecanum wheel; the negative pressure adsorption upper shell is connected with one end of the coaxial rotary module, the negative pressure adsorption lower shell is positioned at the bottom of the negative pressure adsorption upper shell, and a hollow cavity is formed between the negative pressure adsorption upper shell and the negative pressure adsorption lower shell; a gap is arranged at the contact position of the negative pressure adsorption lower shell and the two sides of the negative pressure adsorption upper shell, and a diversion cavity is formed between the negative pressure adsorption lower shell and an air inlet at the center of the negative pressure adsorption lower shell; the impeller motor is arranged on the negative pressure adsorption upper shell, an output shaft of the impeller motor extends into the hollow cavity and is connected with the hollow impeller, and the hollow impeller is opposite to an air inlet at the center of the negative pressure adsorption lower shell; two encoder motors are respectively arranged at two sides of the negative pressure adsorption upper shell, and an output shaft of each encoder motor is connected with a Mecanum wheel.

Furthermore, the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body adopt independent control units, and the control units comprise raspberry pies, a singlechip, an encoder motor driving module and brushless electric regulators; the raspberry pie is used as a main control center and sends signals to the singlechip, and the singlechip respectively controls the encoder motor and the impeller motor of the negative pressure adsorption robot body through the encoder motor driving module and the brushless electric control.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the robot, the Mecanum wheels are arranged on the robot body, so that the robot can finish the actions of forward movement, backward movement, left translation, right forward movement, right backward movement, left forward movement, left backward movement and the like under the condition that the direction of the robot body is not changed, the problem that the traditional wall climbing robot can turn only by moving the body in the direction when turning is solved, and the omnidirectional movement of the robot obviously improves the travelling efficiency and can finish cleaning tasks more quickly.

2. The robot provided by the utility model is connected with two negative pressure adsorption robot bodies with the same structure by using the coaxial rotating module, and the angle between the two negative pressure adsorption robots can be adjusted according to different radians of the surface of the aircraft, so that the robot is in close contact with the surface of the aircraft body with large curvature, and the adaptability of the wall climbing robot to the surface with large curvature of the aircraft and the motion stability of the robot are improved. When the wall climbing robot spans the wall surface connection position between the machine body and the wings, the two steering engines of the coaxial rotating module can enable the two negative pressure adsorption robot bodies to have a relative rotating angle of 0-180 degrees, so that the robot can smoothly complete the spanning action, and the application scene of the wall climbing robot is expanded.

3. The robot adopts the five-degree-of-freedom driving structure a to control the movement of the spraying module, so that the spraying module sprays dry cleaning detergent at a designated position, and then adopts the five-degree-of-freedom driving structure b to control the movement of the cleaning rolling brush, so that the robot cleans a machine body, the cleaning rolling brush collects pollutants such as dust on the surface of an aircraft and the dry cleaning detergent after cleaning, a hose connected with the cleaning rolling brush conveys the pollutants to a cleaning pollutant storage box, the complete cleaning action of the aircraft is accurately completed, the cleaning efficiency is very high, cleaning staff are not needed, potential safety hazards are reduced, and in addition, when the robot adopts the dry cleaning detergent, anhydrous cleaning can be performed, and water resources are saved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present utility model;

FIG. 2 is an exploded view of the front negative pressure adsorption robot body of the present utility model;

FIG. 3 is a schematic view of the structure of the cleaning module of the present utility model;

FIG. 4 is a schematic view of the coaxial rotary module of the present utility model;

fig. 5a and fig. 5b are control connection diagrams of the raspberry pie, the singlechip and each component of the utility model;

FIG. 6 is a block diagram of a stepped camber at the junction of an aircraft wing and fuselage;

in the figure: 1. front negative pressure adsorption robot body; 2. a rear negative pressure adsorption robot body; 3. a coaxial rotation module; 4. a cleaning module; 5. a detergent storage box; 6. cleaning a pollutant storage box; 7. raspberry pie; 8. a first singlechip; 9. a second singlechip; 10. a third singlechip; 11. an encoder motor drive module; 12. brushless electric tuning; 13. a fuselage surface; 14. a wing surface;

101. negative pressure adsorption of the upper shell; 102. negative pressure adsorption lower shell; 103. an impeller motor; 104. a hollow impeller; 105. an encoder motor; 106. mecanum wheel; 107. a universal wheel; 301. steering engine bracket; 302. a ninth steering engine; 303. a U-shaped piece; 304. a limit rod; 305. rotating the connector; 306. a coaxial rotating rod; 401. a spray module driver; 402. steering engine I; 403. a steering engine II; 404. a steering engine III; 405. a cleaning roller brush driver; 406. a steering engine IV; 407. a fifth steering engine; 408. a steering engine No. six; 409. a seventh steering engine; 410. a steering engine No. eight; 411. a U-shaped piece; 412. a U-shaped piece II; 413. a U-shaped piece III; 414. a U-shaped piece; 415. a fifth U-shaped piece; 416. a rectangular connector; 417. a first camera; 418. a second camera; 419. steering engine cradle head; 420. copper columns; 421. a spraying module; 422. and cleaning the rolling brush.

Detailed Description

The following describes the technical scheme of the present utility model in detail with reference to the accompanying drawings, but does not limit the protection scope of the present application.

The utility model relates to a Mecanum wheel wall climbing robot (robot for short, see figures 1-6) for aircraft cleaning, which comprises a front negative pressure adsorption robot body 1, a rear negative pressure adsorption robot body 2, a coaxial rotation module 3 and a cleaning module 4; the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 are connected through the coaxial rotary module 3, the coaxial rotary module 3 is used for enabling the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 to rotate relatively, the fact that the robot can be tightly adsorbed on the surface of an aircraft is guaranteed, and the cleaning modules 4 are arranged on the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 and used for spraying cleaning agents and cleaning the body of the aircraft.

The front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 have the same structure, and the front negative pressure adsorption robot body 1 comprises a negative pressure adsorption upper shell 101, a negative pressure adsorption lower shell 102, an impeller motor 103, a hollow impeller 104, an encoder motor 105, a Mecanum wheel 106 and universal wheels 107; the rear side of the negative pressure adsorption upper shell 101 is fixedly connected with one end of the coaxial rotary module 3, the negative pressure adsorption lower shell 102 is arranged at the bottom of the negative pressure adsorption upper shell 101, an air inlet is arranged at the center of the negative pressure adsorption lower shell 102, and a hollow cavity is formed between the negative pressure adsorption upper shell 101 and the negative pressure adsorption lower shell 102; the contact part of the negative pressure adsorption lower shell 102 and the two sides of the negative pressure adsorption upper shell 101 is provided with a relative gap, and a diversion cavity is formed with an air inlet at the center of the negative pressure adsorption lower shell 102; the impeller motor 103 is arranged on the negative pressure adsorption upper shell 101, an output shaft of the impeller motor 103 extends into the hollow cavity and is fixedly connected with the hollow impeller 104, and the hollow impeller 104 is opposite to an air inlet of the negative pressure adsorption lower shell 102; two encoder motors 105 are respectively installed in the both sides of negative pressure adsorption upper shell 101 front end, and the output shaft and the first microphone wheel 106 fixed connection of every encoder motor 105, and the middle part of negative pressure adsorption upper shell 101 rear end is equipped with universal wheel 107, and universal wheel 107 and aircraft fuselage direct contact play supporting role to preceding negative pressure adsorption robot body 1 jointly with two microphone wheels 106 to universal wheel 107 is driven under the drive of microphone wheel 106, realizes the omnidirectional movement of robot through four microphone wheels 106.

The cleaning module 4 comprises a spraying module driver 401, a first steering engine 402, a second steering engine 403, a third steering engine 404, a cleaning rolling brush driver 405, a fourth steering engine 406, a fifth steering engine 407, a sixth steering engine 408, a seventh steering engine 409, a eighth steering engine 410, a first U-shaped piece 411, a second U-shaped piece 412, a third U-shaped piece 413, a fourth U-shaped piece 414, a fifth U-shaped piece 415, a rectangular connecting piece 416, a first camera 417, a second camera 418, a steering engine cradle head 419, a copper column 420, a spraying module 421 and a cleaning rolling brush 422;

the lower part of the steering engine cradle head 419 is fixedly arranged on the negative pressure adsorption upper shell 101, a rotary table is arranged on the upper part of the steering engine cradle head 419, the machine body of the No. eight steering engine 410 is fixedly arranged on the negative pressure adsorption upper shell 101, and an output shaft of the No. eight steering engine 410 is fixedly connected with the rotary table to drive the rotary table to rotate 360 degrees in a horizontal plane; the machine body of the No. seven steering engine 409 is fixedly arranged on a rotary table of the steering engine cradle head 419, an output shaft of the No. seven steering engine 409 is vertical to an output shaft of the No. eight steering engine 410, an output shaft of the No. seven steering engine 409 is fixedly connected with one end of a No. five U-shaped piece 415, the other end of the No. five U-shaped piece 415 is fixedly connected with one end of a copper column 420, the other end of the copper column 420 is fixedly connected with the middle part of a rectangular connecting piece 416, one end of a No. two U-shaped piece 412 is fixedly connected with one end of the rectangular connecting piece 416, the other end of the No. two U-shaped piece 412 is fixedly connected with an output shaft of a No. three steering engine 404, an output shaft of the No. three steering engine 404 is parallel to an output shaft of the No. seven steering engine 409, the machine body of the No. three steering engine 404 is fixedly connected with one end of the No. U-shaped piece 411, the other end of the No. U-shaped piece 411 is fixedly connected with an output shaft of the No. two steering engine 403, and an output shaft of the No. 403 is parallel to an output shaft of the No. three steering engine 404; the body of the first steering engine 402 is fixedly connected with the body of the second steering engine 403, and the output shaft of the first steering engine 402 is vertical to the output shaft of the second steering engine 403; the spraying module 421 is fixedly connected with the output shaft of the first steering engine 402 through a connecting piece and is used for spraying cleaning agent to the surface of the aircraft, and the spraying module driver 401 is positioned on the connecting piece and is used for controlling the starting and stopping of the spraying module 421; the first camera 417 is fixed on the body of the first steering engine 402, and the second steering engine 403, the first steering engine 410, the seventh steering engine 409, the third steering engine 404, the first steering engine 402 form a five-degree-of-freedom driving structure a for moving the spraying module 421 to a specified position. One end of a U-shaped piece 414 is fixedly connected with the other end of a rectangular connecting piece 416, the other end of the U-shaped piece 414 is fixedly connected with an output shaft of a steering engine No. 408, the output shaft of the steering engine No. 408 is parallel to the output shaft of a steering engine No. 409, the body of the steering engine No. 408 is fixedly connected with one end of a U-shaped piece 413, the other end of the U-shaped piece 413 is fixedly connected with the output shaft of a steering engine No. 407, and the output shaft of the steering engine No. 407 is parallel to the output shaft of the steering engine No. 408; the body of the fourth steering engine 406 is fixedly connected with the body of the fifth steering engine 407, and an output shaft of the fourth steering engine 406 is vertical to an output shaft of the fifth steering engine 407; the cleaning rolling brush 422 is fixedly connected with the output shaft of the fourth steering engine 406 through a connecting piece and is used for rolling and cleaning the surface of the aircraft; the cleaning roller brush driver 405 is located on the connection piece and is used for controlling the start and stop of the cleaning roller brush 422; the second camera 418 is fixed on the body of the fourth steering engine 406; the steering engine 410, the steering engine 409, the steering engine 408, the steering engine 407 and the steering engine 406 form a five-degree-of-freedom driving structure b for moving the cleaning rolling brush 422 to a designated position. The first camera 417 and the second camera 418 are used for acquiring images of the surface of the aircraft in real time, and determining the parts to be cleaned, so that the robot can more accurately complete cleaning work, and meanwhile, identify obstacles, and damage to components on the aircraft, such as an antenna, a pressure probe and the like, in the running process of the robot is avoided.

After the robot reaches the position where the surface of the aircraft needs to be cleaned, the five-degree-of-freedom driving structure a of the cleaning module 4 controls the spraying module 421 to reach a proper position, dry cleaning detergent in the detergent storage box 5 is sprayed on the surface of the aircraft through the spraying module 421, then the cleaning rolling brush 422 rolls reciprocally on the surface of the aircraft body under the control of the five-degree-of-freedom driving structure b of the cleaning module 4 so as to clean the dirt of the aircraft, and after the cleaning is finished, the cleaning rolling brush 422 collects the dirt on the surface of the aircraft and the dry cleaning detergent and conveys the dirt and the dry cleaning detergent to the cleaning contaminant storage box 6 through a hose (not shown in the figure) connected to the cleaning rolling brush 422, so that the cleaning work at the current position is completed.

The coaxial rotating module 3 comprises a front coaxial connector, a rear coaxial connector and a coaxial rotating rod 306, the front coaxial connector and the rear coaxial connector have the same structure, the front coaxial connector is fixedly connected with the front negative pressure adsorption robot body 1, and the rear coaxial connector is fixedly connected with the rear negative pressure adsorption robot body 2. The front coaxial connector comprises a steering engine bracket 301, a nine steering engine 302, a six U-shaped piece 303, a limiting rod 304 and a rotary connector 305; the body of the No. nine steering engine 302 is fixedly arranged at the rear side of the negative pressure adsorption upper shell 101 through a steering engine bracket 301, an output shaft of the No. nine steering engine 302 is fixedly connected with one end of a No. six U-shaped piece 303, the other end of the No. six U-shaped piece 303 is fixedly connected with one end of a rotary connector 305, the other end of the rotary connector 305 is rotationally connected with one end of a coaxial rotary rod 306, and the other end of the coaxial rotary rod 306 is rotationally connected with one end of the rotary connector 305 of the rear coaxial connector, so that relative rotation between the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 is realized; one end of the limiting rod 304 is fixedly connected with the U-shaped piece 303, the other end of the limiting rod extends to the upper side of the U-shaped piece 303, and the limiting rod 304 is used for limiting the relative rotation angle between the front coaxial connector and the rear coaxial connector to be 0 to 30, so that the robot can adapt to the large curvature wall surface of the aircraft, can be better adsorbed on the surface of the aircraft, improves the advancing stability of the robot and reduces vibration.

Elastic materials such as rubber are arranged at the air inlet and the side wall of the bottom of the negative pressure adsorption lower shell 102.

The cleaning roller brush 422 is made of special cloth for cleaning the aircraft, such as high-density compressed melamine foam composite raised cloth, so that damage to the surface of the aircraft is avoided.

The front negative pressure adsorption robot body 1 and/or the rear negative pressure adsorption robot body 2 are provided with a cleaning agent storage box 5 and a cleaning pollutant storage box 6.

The front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 adopt independent control units, wherein the control units comprise raspberry pie 7, a first singlechip 8, a second singlechip 9, a third singlechip 10, an encoder motor driving module 11 and a brushless electric regulator 12; the first singlechip 8 is connected with the spraying module driver 401 and each steering engine so as to control the spraying module 421 and the five-degree-of-freedom driving structure to work; the second singlechip 9 is connected with the cleaning rolling brush driver 405 and controls the cleaning rolling brush 422 to work; the third singlechip 10 controls the impeller motor 103 through the brushless electric regulator 12, is connected with the two encoder motors 105 through the encoder motor driving module 11, controls the movement of the Mecanum wheel 106, and controls the movement of the coaxial rotating module 3 through the ninth steering engine 302; the raspberry pie 7 is used as a general control center to cooperatively control the first singlechip 8, the second singlechip 9 and the third singlechip 10, so as to finish the advancing and cleaning work of the robot.

The feasibility model of each component in the robot is given below, other models can be selected according to actual working conditions, and the related components can be obtained through network commercial purchase; the model of the first singlechip 8, the second singlechip 9 and the third singlechip 10 is STM32F407, the rated current of the brushless electric regulator 12 is 25A, and the model of the Raspberry pie 7 is Raspberry Pi 4; the impeller motor 103 is an A2212/13T high-speed brushless motor, the model of the encoder motor 105 is GB31-3540, and the model of all steering engines is DS5160. The GPIO2, GPIO3, GPIO5, GPIO6, GPIO14 and GPIO15 pins of the raspberry group 7 are respectively connected with the pins of the first singlechip 8, the second singlechip 9 and the PC10, the PD3, the PC11, the PD4, the PC12 and the PD2 of the third singlechip 10, the GND pin of the raspberry group 7 is respectively connected with the' ends of the first singlechip 8, the second singlechip 9 and the third singlechip 10, the HDMI1 and HDMI2 of the raspberry group 7 are respectively connected with the first camera 417 and the second camera 418, the PE1, the PE2, the PE3, the PE4, the PE5, the PE6, the PE7 and the PE8 of the first singlechip 8 are respectively connected with the first steering engine 402, the second steering engine 403, the third steering engine 404, the fourth steering engine 406, the fifth steering engine 407, the sixth steering engine 408, the seventh steering engine 409 and the eighth steering engine 410, and the PF1, PF2, PF3 and PF4 of the first singlechip 8 are respectively connected with the module driver 401 and the cleaning and rolling brush driver 405; pins of PA11, PA12, PC9, PA8, PB5, PC8, PB1, PB0, PC7, PA4, PA5 and PC6 of the third singlechip 10 are respectively connected with pins AIN1, AIN2, PWMA, BIN1, BIN2, PWMB, CIN1, CIN2, PWMC, DIN1, DIN2 and PWMD of the encoder motor driving module 11, and the encoder motor driving module 11 is connected with the encoder motor 105.

The working principle and the working process of the utility model are as follows:

the robot can walk on the surface of the aircraft and can span a stepped cambered surface at the joint of the wing and the fuselage of the aircraft.

When the robot normally advances on the surface of the aircraft, the impeller motor 103 and the encoder motor 105 respectively provide adsorption force and advancing power for the robot, and the coaxial rotating module 3 can provide a rotating angle of 0-30, so that the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 of the robot can be completely adsorbed on the large-angle arc surface of the aircraft, and the robot can do omnidirectional actions such as advancing, retreating, left translation, right translation and the like without rotating the direction of the body due to the adoption of the Mecanum wheel 106, thereby improving the cleaning efficiency of the robot.

When the robot spans the stepped cambered surface of the aircraft as shown in fig. 6, the initial position of the robot is the wing surface 14 and advances towards the fuselage surface 13, when the negative pressure adsorption lower shell 102 of the front negative pressure adsorption robot body 1 reaches the transition position of the wing surface 14 and the fuselage surface 13, the impeller motor 103 and the encoder motor 105 of the front negative pressure adsorption robot body 1 stop rotating, the adsorption state between the front negative pressure adsorption robot body 1 and the aircraft is relieved, the coaxial rotation module 3 adjusts the angle between the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2, so that the front negative pressure adsorption robot 1 vacates and is gradually parallel to the fuselage surface 13, and at the moment, the impeller motor 103 and the Mecanum wheel 106 of the rear negative pressure adsorption robot body 2 continuously work forwards to drive the front negative pressure adsorption robot 1 in the vacation state to advance, and simultaneously, the nine steering engines 302 of the front coaxial connector and the nine steering engines 302 of the rear coaxial connector rotate to adjust the angle, so as to ensure complete fitting of the front negative pressure adsorption robot 1 and the fuselage surface 13 after falling; when the rear negative pressure adsorption robot 2 continues to move on the wing surface 14 until the whole body of the falling front negative pressure adsorption robot body 1 can fall on the body surface 13, and the front negative pressure adsorption robot body 1 slowly falls on the body surface 13 from a position flush with the body surface 13 under the action of the coaxial rotation module 3; then, the impeller motor 103 and the encoder motor 105 of the front negative pressure adsorption robot body 1 continue to work, the impeller motor 103 and the encoder motor 105 of the rear negative pressure adsorption robot body 2 stop working, the No. nine steering engine 302 of the rear coaxial connector rotates to empty the rear negative pressure adsorption robot body 2, the current negative pressure adsorption robot 1 continues to move on the machine body surface 13 until the whole falling rear negative pressure adsorption robot body 2 can fall on the machine body surface 13, the No. nine steering engine 302 of the rear coaxial connector rotates again to enable the rear negative pressure adsorption robot body 2 to fall completely, and the whole spanning process is completed. After that, the impeller motor 103 and the encoder motor 105 of the rear negative pressure adsorption robot body 2 continue to operate, and the front negative pressure adsorption robot body 1 and the rear negative pressure adsorption robot body 2 move forward synchronously and continue to travel on the body surface 13.

After the robot reaches the position where the surface of the aircraft needs to be cleaned, the five-degree-of-freedom driving structure a of the cleaning module 4 controls the spraying module 421 to reach a proper position, dry cleaning detergent is sprayed on the surface of the aircraft, then the cleaning rolling brush 422 reaches a designated position under the control of the five-degree-of-freedom driving structure b of the cleaning module 4, the cleaning rolling brush driver 405 controls the cleaning rolling brush 422 to roll reciprocally to clean the surface of the aircraft, and after cleaning, the cleaning rolling brush 422 collects pollutants such as dust on the surface of the aircraft and the dry cleaning detergent, and the pollutants are conveyed into the cleaning pollutant storage box 6 through a hose (not shown in the figure) connected with the cleaning rolling brush 422, so that cleaning work of the position is completed.

The utility model is applicable to the prior art where it is not described.

Claims (7)

1. The Mecanum wheel wall climbing robot for cleaning the aircraft is characterized by comprising a front negative pressure adsorption robot body, a rear negative pressure adsorption robot body, a coaxial rotation module and a cleaning module; the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body are connected through a coaxial rotation module, and the coaxial rotation module is used for realizing relative rotation between the two negative pressure adsorption robot bodies and lifting and falling of the two negative pressure adsorption robot bodies, so that the robot can span a large curvature wall surface of the aircraft body; and each negative pressure adsorption robot body is provided with a cleaning module for spraying a cleaning agent and cleaning the body of the aircraft.

2. The wall climbing robot for aircraft cleaning of claim 1, wherein the cleaning module comprises a steering engine cradle head, a U-shaped member, a seven steering engine, an eight steering engine, a cleaning arm connector, a cleaning arm, a spray module, and a cleaning roller brush; an output shaft of the No. eight steering engine is connected with a rotating table of the steering engine holder, the No. seven steering engine is located on the rotating table of the steering engine holder, one end of the No. five U-shaped piece is connected with an output shaft of the No. seven steering engine, the other end of the No. five U-shaped piece is connected with one end of the cleaning arm connecting piece, two cleaning arms are arranged on the cleaning arm connecting piece, and the spraying module and the cleaning rolling brush are respectively installed on the respective cleaning arms.

3. The mecanum wheel wall climbing robot for aircraft cleaning of claim 2, wherein the cleaning arm comprises a U-shaped piece, a steering engine and a steering engine No. three; one end of the second U-shaped part is fixedly connected with the cleaning arm connecting piece, the other end of the second U-shaped part is fixedly connected with the output shaft of the third steering engine, the body of the third steering engine is fixedly connected with one end of the first U-shaped part, the other end of the first U-shaped part is fixedly connected with the output shaft of the second steering engine, and the output shaft of the second steering engine is parallel to the output shaft of the third steering engine; the machine body of the first steering engine is fixedly connected with the machine body of the second steering engine, an output shaft of the first steering engine is perpendicular to an output shaft of the second steering engine, and an output shaft of the first steering engine is connected with a spraying module or a cleaning rolling brush; the cleaning arm is provided with a camera.

4. The wall climbing robot for aircraft cleaning of claim 1, wherein the coaxial rotation module comprises a nine-steering engine, a six-U-shaped piece, a rotation connector, and a coaxial rotation rod; the two ends of the coaxial rotating rod are respectively connected with a rotating connector in a rotating mode, the other end of each rotating connector is fixedly connected with one end of a corresponding U-shaped piece, the other end of each U-shaped piece is rotationally connected with an output shaft of a corresponding No. nine steering engine, and a machine body of the No. nine steering engine is connected with the front negative pressure adsorption robot body or the rear negative pressure adsorption robot body through a steering engine support.

5. The wall climbing robot for aircraft cleaning of claim 4, wherein the coaxial rotation module further comprises a stop lever for limiting the relative rotation angle of the two coaxial connectors; one end of each limiting rod is fixedly connected with the corresponding U-shaped piece with six numbers, and the other end of each limiting rod extends to the upper part of the other coaxial connector.

6. The wall climbing robot for aircraft cleaning of claim 1, wherein the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body each comprise a negative pressure adsorption upper shell, a negative pressure adsorption lower shell, an impeller motor, a hollow impeller, an encoder motor, and a mecanum wheel; the negative pressure adsorption upper shell is connected with one end of the coaxial rotary module, the negative pressure adsorption lower shell is positioned at the bottom of the negative pressure adsorption upper shell, and a hollow cavity is formed between the negative pressure adsorption upper shell and the negative pressure adsorption lower shell; a gap is arranged at the contact position of the negative pressure adsorption lower shell and the two sides of the negative pressure adsorption upper shell, and a diversion cavity is formed between the negative pressure adsorption lower shell and an air inlet at the center of the negative pressure adsorption lower shell; the impeller motor is arranged on the negative pressure adsorption upper shell, an output shaft of the impeller motor extends into the hollow cavity and is connected with the hollow impeller, and the hollow impeller is opposite to an air inlet at the center of the negative pressure adsorption lower shell; two encoder motors are respectively arranged at two sides of the negative pressure adsorption upper shell, and an output shaft of each encoder motor is connected with a Mecanum wheel.

7. The wall climbing robot for aircraft cleaning according to any one of claims 1-6, wherein the front negative pressure adsorption robot body and the rear negative pressure adsorption robot body employ independent control units, the control units comprising raspberry pie, a single chip microcomputer, an encoder motor driving module and brushless electric control; the raspberry pie is used as a main control center and sends signals to the singlechip, and the singlechip respectively controls the encoder motor and the impeller motor of the negative pressure adsorption robot body through the encoder motor driving module and the brushless electric control.