An inlet inspection robot

Abstract

The present invention provides an air intake inspection robot, comprising: a mobile vehicle body, an industrial camera module, a clamping mechanism, a lever mechanism, an actuating motor, a motor bracket and a coupling: there is an industrial camera module above the rear end of the mobile vehicle body, there is a lever mechanism at the front end of the mobile vehicle body, and there is a clamping mechanism on the lever mechanism. This application proposes an air intake inspection robot, aiming to solve the problems of low human detection efficiency, high labor cost in the narrow engine interior, potential safety hazards in the maintenance work due to the high-temperature and high-pressure environment inside the engine, and easy damage to the air intake duct wall and blades caused by manual operation. At the same time, in view of some existing manual operation tools, the operation of the present invention is simpler and more intelligent, can be adapted to different models of engines, and the transmitted detection information is more comprehensive and rich.

Description

Technical Field

[0001] The present invention relates to the field of intake duct inspection equipment, and particularly to an intake duct inspection robot. Background Art

[0002] The interior of a large engine has a large number of precision components. Among them, the rotor blades located in the intake duct are particularly crucial for the engine. During the operation of the engine, a high-temperature and high-pressure internal environment will occur. Long-term operation may cause damage or deformation to the surface of the rotor blades, affecting the normal operation of the engine. At the same time, there are safety hazards, and in severe cases, it may cause huge economic losses and casualties. Therefore, it is necessary to regularly detect the stator blades of the intake duct.

[0003] Traditional detection methods mainly rely on manual inspection. Maintenance personnel need to enter the interior of the intake duct for inspection. The working environment is harsh, the efficiency is low, and there are great safety hazards. At the same time, when people work inside the intake duct, it may cause damage to the internal pipe wall and components.

[0004] Chinese Patent (Application No.: 202110629183.3) "Crawling Robot for Detecting Aeroengine Blades" provides a robot that can crawl on the engine blades to perform detection tasks. This device can judge the surface damage condition of the blades by collecting strain data on the engine blades. However, this device needs to crawl between the blades for detection, with low efficiency. At the same time, it cannot detect the deformation and foreign object conditions of the engine blades.

[0005] Chinese Patent (Application No.: 201610669630.7) "Aeroengine Fan Blade Lever Device" provides a manually operated detection device. This device can help maintenance personnel manually move the stator blades remotely, facilitating the inspection of each blade one by one. However, this device still requires operators to go deep into the site for maintenance, unable to eliminate safety hazards. At the same time, the low efficiency caused by manual operation still exists. This device may cause damage to the intake duct during use and lacks an adaptation design for different engine models. Summary of the Invention

[0006] To solve the above problems, the present application proposes an intake duct inspection robot, aiming to solve the problems of low efficiency and high labor cost of manual detection in the narrow engine interior, safety hazards in the maintenance work due to the high-temperature and high-pressure environment inside the engine, and easy damage to the intake duct wall and blades caused by manual operation. At the same time, for some existing manual operation tools, the present invention is more simple and intelligent to operate, can be adapted to different models of engines, and the transmitted detection information is more comprehensive and rich.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] The present invention provides an air intake inspection robot, comprising: a moving vehicle body, an industrial camera module, a clamping mechanism, a lever mechanism, an actuating motor, a motor bracket and a coupling:

[0009] Above the rear end of the moving vehicle body is an industrial camera module, at the front end of the moving vehicle body is a lever mechanism, and on the lever mechanism is a clamping mechanism;

[0010] The industrial camera module includes a rear industrial camera, a camera mounting bracket, a swing rod, a rocker, an electric push rod A, a push rod connecting piece and a swing rod connecting piece. The push rod connecting piece and the two swing rod connecting pieces are respectively fixedly connected to the rear outer cover of the moving vehicle body by screws. One ends of the swing rod and the rocker are respectively hinged to the two swing rod connecting pieces, and the other ends are fixedly connected together by bolts. One end of the electric push rod A is hinged to the push rod connecting piece, and the other end is hinged to the swing rod and the rocker through a shoulder bolt. The end of the swing rod is fixedly connected to the camera mounting bracket by a screw, and the rear industrial camera is fixed on the camera mounting bracket by a screw. After the electric push rod A is powered on, it can control the telescopic movement of the end output shaft, drive the swing rod and the rocker to rotate, and then realize the lifting of the rear industrial camera. In a narrow space, the rear industrial camera can be lowered to ensure smooth passage. When performing inspection and shooting tasks, the rear industrial camera is raised to obtain a better field of view for easy shooting. In addition, since a triangle is formed between the electric push rod A and the swing rod during the movement process, good operating stability can be obtained;

[0011] The clamping mechanism includes an electric push rod B, a push rod mounting bracket, a connecting rod, a clamping rod and a connecting block; the electric push rod B and the push rod mounting bracket are fixedly connected together by screws, the push rod mounting bracket is fixedly connected to the machine frame by screws, and the mechanisms on both sides of the electric push rod B are symmetrically distributed. The connecting rods are respectively hinged to the push rod mounting bracket and one end of the clamping rod, and the other end of the clamping rod is fixedly connected to the connecting block by a screw. One end of the connecting block is hinged to the end of the electric push rod B. When the connecting block extends, the distance between the left and right ends of the two clamping rods is the smallest, and during the retraction process of the electric push rod B, the clamping rods gradually open;

[0012] The lever mechanism includes an output shaft, a bearing seat, a frame, a reversing gearbox, a crank, a guide rod, a guide rod sleeve, a bearing bracket and a terminal lever head; the output shaft is connected to the rotating shaft of the actuating motor through a coupling, passes through the bearing seat with bearings, and the bearing seat is fixed to the front outer cover and the frame by screws. The torque transmitted by the actuating motor is reversed and output to the crank at the other end of the reversing gearbox through a right-angle reversing gearbox equipped with a pair of bevel gears at the end of the output shaft, driving the crank to rotate. The crank is hinged to the guide rod, and the end of the guide rod is fixedly connected to the terminal lever head with a roller, and the other end can slide freely in the guide rod sleeve. The bearing bracket is fixed to the frame by screws, the bearing is embedded in the bearing bracket, and the guide rod sleeve is connected to the bearing bracket through a bearing, and the guide rod sleeve rotates freely along the bearing bracket; each part of the lever mechanism is convenient to disassemble and can be repaired and replaced at any time.

[0013] The torque of the lever mechanism is provided by the actuating motor. The actuating motor is covered in the front outer cover. The motor bracket is fixedly connected to the chassis by screws. The actuating motor is connected to the motor bracket by screws, and the output shaft of the actuating motor is connected to the output shaft of the lever mechanism through a coupling.

[0014] As a further improvement of the present invention, the mobile vehicle body includes a chassis, a rear outer cover and a front outer cover. The front outer cover and the chassis are fixedly connected together by screws. The rear outer cover is connected to the chassis through a hinge. Electrical components are loaded in the rear outer cover and the front outer cover. The rear outer cover can be opened backward to facilitate the installation and maintenance of internal components.

[0015] As a further improvement of the present invention, the chassis is of a crawler structure and is powered by two motors, one in the front and the other in the rear.

[0016] As a further improvement of the present invention, the electrical components in the rear outer cover and the front outer cover include a battery, an actuating motor, a main control board and a video transmission module.

[0017] As a further improvement of the present invention, the surface of the clamping rod is covered with a soft rubber material, which can be stably clamped in the air inlet duct when opened, so as to fix the entire inspection robot.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] (1) The robot can be remotely controlled, replacing traditional manual inspection, saving labor costs, avoiding the occurrence of maintenance accidents, and at the same time, preventing damage to the internal components of the air inlet duct;

[0020] (2) The robot can simultaneously transmit panoramic and local inspection information, improving the accuracy of inspection;

[0021] (3) The height of the robot camera is adjustable, and the size of the clamping mechanism is adjustable, so that it can enter narrow spaces and can be adapted to various models of air inlet ducts;

[0022] (4) Modular design, and all parts can be disassembled, facilitating maintenance and replacement.

[0023] (5) The guide bar mechanism can automatically and continuously rotate the rotor blades, enabling all blades to be detected in a single time, with high operation efficiency. Description of the Drawings

[0024] Figure 1 This is the architecture diagram of a specific implementation manner of an intake duct inspection robot according to the present invention.

[0025] Figure 2 This is a schematic diagram of the mobile vehicle body.

[0026] Figure 3 This is a schematic diagram of the industrial camera module.

[0027] Figure 4 This is a schematic diagram of the clamping mechanism.

[0028] Figure 5 This is a schematic diagram of the lever mechanism.

[0029] Figure 6 This is a schematic diagram of the connection relationship between the mobile vehicle body and the lever mechanism.

[0030] Figure 7 This is the derived diagram of the movement track of the end pick head.

[0031] Reference numerals in the drawings:

[0032] 1. Mobile vehicle body; 101. Chassis; 102. Rear outer cover; 103. Front outer cover;

[0033] 2. Industrial camera module; 201. Rear industrial camera; 202. Camera mounting bracket; 203. Swing rod; 204. Rocker; 205. Electric push rod A; 206. Push rod connecting piece; 207. Swing rod connecting piece;

[0034] 3. Clamping mechanism; 301. Electric push rod B; 302. Push rod mounting bracket; 303. Link; 304. Clamping rod; 305. Connecting block;

[0035] 4. Lever mechanism; 401. Output shaft; 402. Bearing seat; 403. Frame; 404. Reversing gearbox; 405. Crank; 406. Guide bar; 407. Sleeve; 408. Bearing bracket; 409. End pick head;

[0036] 5. Actuating motor; 6. Motor bracket; 7. Coupling. Specific Embodiment

[0037] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments:

[0038] Embodiment

[0039] Figure 1 This is a schematic diagram of a specific implementation of a robot for inspecting an air intake duct according to the present invention.

[0040] In this embodiment, as Figure 1 shown, a robot for inspecting an air intake duct according to the present invention includes: a mobile vehicle body 1, an industrial camera module 2, a positioning mechanism 3, and a lever mechanism 4.

[0041] As Figure 2 shown: The mobile vehicle body 1 includes a chassis 101, a rear outer cover 102, and a front outer cover 103. The chassis 101 is of a crawler structure and is powered by two motors at the front and rear. The front outer cover 103 and the chassis 101 are fixedly connected together by screws. The rear outer cover 102 is connected to the chassis 101 through a hinge. Electrical components such as a battery, an actuator motor, a main control board, and a video transmission module are loaded in the vehicle cover. The rear vehicle cover 102 can be turned backward to facilitate the installation and maintenance of internal components.

[0042] As Figure 3 shown: The industrial camera module 2 includes a rear industrial camera 201, a camera mounting bracket 202, a swing rod 203, a rocker 204, an electric push rod A 205, a push rod connecting member 206, and a swing rod connecting member 207. The push rod connecting member 206 and the two swing rod connecting members 207 are respectively fixedly connected to the rear outer cover 102 of the mobile vehicle body 1 by screws. One ends of the swing rod 203 and the rocker 204 are respectively hinged to the two swing rod connecting members 207, and the other ends are fixedly connected together by bolts. One end of the electric push rod A 205 is hinged to the push rod connecting member 206, and the other end is hinged to the swing rod 203 and the rocker 204 through a shoulder bolt. The end of the swing rod 203 is fixedly connected to the camera mounting bracket 202 by screws. The rear industrial camera 201 is fixed to the camera mounting bracket 202 by screws. After the electric push rod A 205 is powered on, it can control the telescopic movement of the end output shaft, drive the swing rod 203 and the rocker 204 to rotate, and thus realize the lifting of the rear industrial camera 201. In a narrow space, the rear industrial camera 201 can be lowered to ensure smooth passage. When performing inspection and shooting tasks, the rear industrial camera 201 is raised to obtain a better field of view for easy shooting. In addition, since the electric push rod A 205 forms a triangle with the swing rod 203 during the movement process, good running stability can be obtained;

[0043] As Figure 4As shown in the figure: The clamping mechanism 3 includes an electric push rod B301, a push rod mounting frame 302, a connecting rod 303, a clamping rod 304, and a connecting block 305; the electric push rod B301 and the push rod mounting frame 302 are fixedly connected into one body by screws, and the push rod mounting frame 302 is fixedly connected to the machine frame 403 by screws. The mechanisms on both sides of the electric push rod B301 are symmetrically distributed. The connecting rod 303 is hinged to one end of the push rod mounting frame 302 and the clamping rod 304 respectively. The other end of the clamping rod 304 is fixedly connected to the connecting block 305 by screws. One end of the connecting block 305 is hinged to the end of the electric push rod B301. When the electric push rod 305 extends, the distance between the left and right ends of the two clamping rods 304 is the smallest. During the retraction process of the electric push rod B301, the clamping rods 304 gradually open. The surface of the clamping rod 304 is covered with a soft rubber material, which can be stably clamped in the air inlet passage when it opens, thereby fixing the entire inspection robot;

[0044] As Figure 5 shown in the figure: The lever mechanism 4 includes an output shaft 401, a bearing seat 402, a machine frame 403, a reversing gearbox 404, a crank 405, a guide rod 406, a guide rod sleeve 407, a bearing bracket 408, and a terminal lever 409; the output shaft 401 is connected to the rotating shaft of the actuator motor 5 through a coupling 7, passes through the bearing seat 402 with bearings, and the bearing seat 402 is fixed to the front outer cover 103 and the machine frame 403 by screws. The torque transmitted by the actuator motor 5 is reversed and output to the crank 405 at the other end of the reversing gearbox 404 through a right-angle reversing gearbox 404 equipped with a pair of bevel gears at the end of the output shaft 401, driving the crank 405 to rotate. The crank 405 is hinged to the guide rod 406. The end of the guide rod 406 is fixedly connected to the terminal lever 409 with rollers, and the other end can slide freely in the guide rod sleeve 407. The bearing bracket 408 is fixed to the machine frame 403 by screws, the bearing is embedded in the bearing bracket 408, and the guide rod sleeve 407 is connected to the bearing bracket 408 through a bearing. The guide rod sleeve 407 can rotate freely along the bearing bracket 408. Each part of the lever mechanism is convenient to disassemble and can be repaired and replaced at any time.

[0045] As Figure 6 shown in the figure: The lever mechanism 4 is provided with torque by the actuator motor. The actuator motor 5 is covered in the front outer cover 103. The motor frame 6 is fixedly connected to the chassis 101 by screws. The actuator motor 5 is connected to the motor frame 6 by screws. The output shaft of the actuator motor 5 is connected to the output shaft 301 of the lever mechanism 3 through a coupling 7.

[0046] As Figure 7As shown: the motion trajectory of the end dial head 409 is a compound motion of the guide rod sliding along the guide rod sleeve 407 and rotating around the bearing frame 408, which is elliptical. When the end dial head 409 moves, it can penetrate into the gap between the inlet blades, and at the same time, it can turn the blades, and then withdraw. The circular motion can realize the function of turning the inlet blades, ensuring that the front industrial camera located at the front end of the robot front cover 103 can capture each blade; at the same time, by replacing the crank and the guide rod in the lever mechanism and changing the size, different motion trajectories of the end dial head 409 can be obtained to adapt to engine blades of different models.

[0047] The air intake inspection robot is mainly used to inspect the rotor blades in the air intake. When working, the rear industrial camera and the front industrial camera located at the front of the front cover take pictures and send back image information. The operator can remotely control the robot. When passing through a narrow space, the rear industrial camera is lowered and the positioning mechanism is retracted to ensure normal movement. When it is a certain distance away from the rotor blade, the rear industrial camera rises to take a panoramic image of the rotor. After that, the robot continues to move and approaches the rotor blade. At this time, the positioning mechanism is controlled to open to fix the robot in the working position, and the lever mechanism is controlled to move so that the end lever connected to the lever moves the rotor blade. During the rotation of the rotor, the front industrial camera takes the image information of each rotor blade in turn. According to the comparison and recognition of the panoramic and local images, the damage, deformation and foreign matter on the surface of the rotor blade can be detected. After the inspection is completed, the rear industrial camera is controlled to be lowered and the positioning mechanism is retracted, and the robot withdraws backwards to complete the device recovery.

[0048] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. An intake duct inspection robot, comprising: A mobile vehicle body (1), an industrial camera module (2), a clamping mechanism (3), a lever mechanism (4), an actuator motor (5), a motor mount (6) and a coupling (7), characterized in that: There is an industrial camera module (2) above the rear end of the mobile vehicle body (1), a lever mechanism (4) at the front end of the mobile vehicle body (1), and a clamping mechanism (3) on the lever mechanism (4); The industrial camera module (2) includes a rear industrial camera (201), a camera mounting bracket (202), a swing rod (203), a rocker (204), an electric push rod A (205), a push rod connecting piece (206) and a swing rod connecting piece (207). The push rod connecting piece (206) and two swing rod connecting pieces (207) are respectively fixedly connected to the rear outer cover (102) of the mobile vehicle body (1) by screws. One end of the swing rod (203) and the rocker (204) are respectively hinged to the two swing rod connecting pieces (207), and the other ends are fixedly connected together by bolts. One end of the electric push rod A (205) is hinged to the push rod connecting piece (206), and the other end is hinged to the swing rod (203) and the rocker (204) by a shoulder bolt. The end of the swing rod (203) is fixedly connected to the camera mounting bracket (202) by screws, and the rear industrial camera (201) is fixed to the camera mounting bracket (202) by screws; The clamping mechanism (3) includes an electric push rod B (301), a push rod mounting bracket (302), a connecting rod (303), a clamping rod (304) and a connecting block (305); the electric push rod B (301) and the push rod mounting bracket (302) are fixedly connected together by screws, the push rod mounting bracket (302) is fixedly connected to the machine frame (403) by screws, and the mechanisms on both sides of the electric push rod B (301) are symmetrically distributed. The connecting rod (303) is respectively hinged to one end of the push rod mounting bracket (302) and the clamping rod (304). The other end of the clamping rod (304) is fixedly connected to the connecting block (305) by screws, and one end of the connecting block (305) is hinged to the end of the electric push rod B (301); The lever mechanism (4) comprises an output shaft (401), a bearing seat (402), a frame (403), a reversing gear box (404), a crank (405), a guide rod (406), a guide rod sleeve (407), a bearing frame (408) and an end shift head (409); the output shaft (401) is connected to the rotating shaft of the actuator motor (5) through a coupling (7), passes through a bearing seat (402) with a bearing, and the bearing seat (402) is fixed to the front cover (103) and the frame (403) by screws. The end of the output shaft (401) passes through a right-angle reversing gear box (404) equipped with a pair of bevel gears. , the torque transmitted by the execution motor (5) is commutated and output to the crank (405) at the other end of the reversing gear box (404), driving the crank (405) to rotate, the crank (405) is hinged with the guide rod (406), the end of the guide rod (406) is fixedly connected to the end dial head (409) with a roller, and the other end can slide freely in the guide rod sleeve (407), the bearing frame (408) and the frame (403) are fixed by screws, the bearing is embedded in the bearing frame (408), the guide rod sleeve (407) and the bearing frame (408) are connected by bearings, and the guide rod sleeve (407) rotates freely along the bearing frame (408); The lever mechanism (4) is provided with torque by an actuator motor, the actuator motor (5) is housed in a front outer cover (103), the motor frame (6) is fixedly connected to the chassis (101) by screws, the actuator motor (5) is connected to the motor frame (6) by screws, and the output shaft of the actuator motor (5) is connected to the output shaft (401) of the lever mechanism (4) by a coupling (7).

2. The air intake inspection robot according to claim 1, characterized in that: The mobile vehicle body (1) comprises a chassis (101), a rear outer cover (102) and a front outer cover (103); the front outer cover (103) and the chassis (101) are fixed together by screws; the rear outer cover (102) is connected to the chassis (101) by hinges; and electrical components are loaded in the rear outer cover (102) and the front outer cover (103).

3. The intake duct inspection robot according to claim 2, characterized in that: The chassis (101) is a crawler-type structure, and is powered by two front and rear motors.

4. The intake duct inspection robot according to claim 2, characterized in that: The electrical components in the rear outer cover (102) and the front outer cover (103) include a battery, an actuator motor, a main control board and an image transmission module.

5. The intake duct inspection robot according to claim 1, wherein: The surface of the locking rod (304) is covered with a soft rubber material.

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