Aero-engine inlet passage vane detection robot and detection method

Abstract

Disclosed are an aero-engine air inlet passage blade detection robot and a detection method, the aero-engine air inlet passage blade detection robot comprising: a screw rod and a lever mechanism, which realizes the reciprocating pushing and turning function of the lever through the back-and-forth movement of the ball screw rod and the assistance of the limiting screw; the lever in the screw rod and lever mechanism is installed above the screw rod sliding table through screw connection; the screw rod and lever mechanism is provided with a spring in a compressed state, which abuts against the lever so that the lever is always in close contact with the front and rear limiting cylindrical rods during the stroke; a mechanical arm supporting device, which is driven by a rudder to open a pair of linked mechanical arms in parallel to fix the position of the robot; the mechanical arm supporting device adopts the principle of parallelogram, is installed at the front end of the chassis and is located below the screw rod and lever mechanism; a walking chassis, which overcomes the obstacles to walk into the engine; the walking chassis is controlled by double motors; and a control device, which remotely controls or intelligently controls the actions of the robot through radar and a camera.

Description

Technical Field

[0001] This invention relates to the field of aero-engine inlet inspection technology, and in particular to an aero-engine inlet blade inspection robot and inspection method. Background Technology

[0002] As the "heart" of an aircraft, the aero-engine consists of tens of thousands of parts, providing powerful kinetic energy for continuous flight. Its safe and reliable operation has always been a focus of industry attention. Aero-engine blades are the primary components providing power for aircraft flight. They withstand harsh operating environments and external forces, including high-temperature shocks, aerodynamic loads, and mechanical loads, converting combustion gases into mechanical energy to provide powerful lift for the engine. Under harsh operating conditions, blades are far more likely to fail than other components; therefore, the quality and overall performance of the blades affect the overall performance of the engine and are crucial to aircraft flight safety.

[0003] In existing technologies, the inspection of engine intake blades mainly relies on inspectors climbing into the intake to manually rotate the blades and visually inspect them. This method poses certain safety hazards to inspectors and is cumbersome, time-consuming, and labor-intensive. Furthermore, due to design limitations, inspectors cannot climb into the intake blades on some aircraft engines. Therefore, miniaturized intelligent inspection robots are a promising solution to address these issues.

[0004] Utility model CN217586311U proposes a transposed aircraft engine blade inspection lever, which uses a chip-controlled four-bar linkage to move the blade and detect it in real time via a detection device. However, this utility model, which uses a motor output shaft to directly drive the lever, suffers from insufficient torque and limited actuation width.

[0005] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To address the shortcomings or defects of existing technologies, this invention provides a robot and method for inspecting aero-engine inlet blades. This solves the problems of wasted human resources, low efficiency, human error, and space constraints in current aero-engine maintenance and repair. The robot provided by this invention offers numerous advantages such as miniaturization, high thrust, and intelligence, effectively solving the challenge of engine blade inspection.

[0007] The objective of this invention is achieved through the following technical solutions.

[0008] A robot for inspecting air intake blades of an aero-engine includes,

[0009] A mobile chassis that is movably mounted in the air intake of an aircraft engine;

[0010] A lead screw mechanism, fixed to the traveling chassis, includes...

[0011] The lead screw module includes,

[0012] A motor bracket, which is fixed to the walking chassis;

[0013] The motor is mounted on the motor bracket;

[0014] A coupling that connects to the output end of the motor;

[0015] The lead screw rear stop is fixed to the chassis.

[0016] A lead rod, one end of which is fixedly connected to the lead screw back stop and extends horizontally away from the motor;

[0017] The lead screw front stop is fixedly connected to the other end of the lead rod;

[0018] A lead screw, which rotatably connects the lead screw front stop and the lead screw rear stop and is power-connected to the coupling;

[0019] A lead screw platform, which is connected to the lead screw and whose bottom is adapted to be movably connected to the lead rod;

[0020] The toggle module includes,

[0021] A limiting bracket is bolted to the chassis, and two limiting bolts are installed on the limiting bracket;

[0022] A lever platform is fixed to the top of the lead screw platform. The center of the lever platform has three threaded holes and two mounting holes. The mounting holes are divided into a platform first hole and a platform second hole.

[0023] The lever has two mounting holes at its center, which are divided into a first hole and a second hole. It is bolted to the lever platform via the first hole and the first hole of the platform. The lever includes a Z-shaped rod located between two limiting bolts and a straight rod at a predetermined angle to the Z-shaped rod. The Z-shaped rod is movable between the two limiting bolts.

[0024] An auxiliary rotating rod is installed on the lever via the second hole of the lever. The auxiliary rotating rod has a limiter installed in the second hole of the platform and a compression spring located between the lever and the limiter and sleeved on the auxiliary rotating rod. The second hole of the lever is coaxially engaged with the through hole at the head of the auxiliary rotating rod through a cylindrical pin to form a rotating pair. The second hole of the platform is coaxially engaged with the bottom cylinder of the limiter to form a rotating pair.

[0025] In the aforementioned aero-engine inlet blade inspection robot, the robotic arm support device is located below the lead screw mechanism, and the robotic arm support device includes...

[0026] A servo motor, which is mounted on the chassis via a servo motor support plate;

[0027] A pair of left and right gear claws that mesh with each other and drive the servo motor;

[0028] A pair of left and right robotic arms, which are respectively connected to the pair of left and right gear claws;

[0029] A pair of fixed links, one of which connects the left robotic arm and the chassis and forms a parallelogram structure with the left gear claw, and the other of which connects the right robotic arm and forms a parallelogram structure with the right gear claw. Driven by the servo motor, the left and right robotic arms open outward to support the air intake of the aircraft engine.

[0030] Control equipment, which includes,

[0031] Radar, configured to measure and generate positioning information for the inlet blades;

[0032] A camera configured to generate image information;

[0033] The circuit board, with one end connected to the radar and camera and the other end connected to the servo motor and motor, responds to the positioning information, the chassis reaches a stop position and drives the servo motor to open the left and right robotic arms, and responds to the image information, the motor drives the lead screw and lever to repeatedly move the intake duct blades.

[0034] In the aforementioned aircraft engine inlet blade inspection robot, the walking chassis is a tracked walking chassis, which is equipped with staggered dual motors. The dual motors are connected to the circuit board to start and stop in response to positioning information.

[0035] In the aforementioned aircraft engine inlet blade inspection robot, the predetermined angle is 80 degrees.

[0036] In the aforementioned aero-engine inlet blade inspection robot, the lever platform is provided with four symmetrically arranged limiting cylinders. The Z-shaped lever is located between two limiting cylinders in the direction of the lead screw's forward movement, and the straight lever is located between two limiting cylinders in the direction perpendicular to the direction of the lead screw's forward movement.

[0037] In the aforementioned aero-engine inlet blade inspection robot, the symmetrical center points of the four limiting cylinders are located 5.5mm above the center of the lever platform, and the distance between the centers of the four limiting cylinders is 35mm and 29mm.

[0038] In the aforementioned aircraft engine inlet blade inspection robot, the parallelogram mechanism has side lengths of 19mm and 30mm.

[0039] In the aforementioned aero-engine inlet blade inspection robot, the limiting bracket is a Z-shaped cantilever beam with reinforcing ribs.

[0040] In the aforementioned aircraft engine inlet blade inspection robot, the Z-shaped cantilever beam has a 140mm long double round-headed through hole.

[0041] In the aforementioned aero-engine inlet blade inspection robot, the parallel opening distance between the left and right robotic arms ranges from 100mm to 160mm.

[0042] In the aforementioned aircraft engine inlet blade inspection robot, the radar is connected to the walking chassis via a Z-shaped radar bracket.

[0043] The inspection method of the aforementioned aero-engine inlet blade inspection robot includes...

[0044] The walking chassis moves through the first stage stator blades of the aero engine until the front end of the robot enters the second stage stator blades of the engine and then stops.

[0045] The left and right robotic arms are driven to open to fix the robot body. The Z-shaped rod of the lever is in the initial position close to the upper limit cylinder. The motor causes the lead screw slide and the lever to move forward until the Z-shaped rod of the lever contacts the limit bolt and begins to rotate under its action. While the lead screw is continuously fed, the lever is passively rotated. The straight rod contacts the blade, and then the straight rod begins to move the blade until the limit position. At this time, the Z-shaped rod of the lever is in the position close to the lower limit cylinder.

[0046] The motor reverses, retracting the lead screw and lever, and continues to retract until it returns to its initial state under the action of another limit bolt. This cycle repeats continuously, turning the blades.

[0047] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0048] This disclosure overcomes the insufficient thrust of the motor itself by using a ball screw-driven lever mechanism, increasing the thrust by tens of times with the reduction ratio. An auxiliary rotating rod with a spring, possessing energy storage capabilities, is used to restrict the lever's freedom to a certain degree, preventing arbitrary rotation and ensuring the lever is tangent to the upper and lower limiting cylindrical rods. Through the ingenious cooperation of the upper and lower limiting cylindrical rods and the front and rear limiting bolts, this mechanism can achieve repeated turning under the drive of a single motor. The opening of the mechanical support device enables the robot to return to its correct position and prevents tipping under high thrust. This invention is miniaturized in width, with a compact and reasonable layout, meeting the requirements for accessing the engine intake.

[0049] The description provided is merely an overview of the technical solution of this invention. In order to make the technical means of this invention clearer and more understandable, so that those skilled in the art can implement it according to the contents of the specification, and to make the described and other objects, features and advantages of this invention more obvious and understandable, specific embodiments of this invention are described below. Attached Figure Description

[0050] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0051] In the attached diagram:

[0052] Figure 1 This is a schematic diagram of a structure for an aero-engine inlet blade inspection robot, which is assembled on an engine blade to perform blade inspection, according to an embodiment of the present disclosure.

[0053] Figure 2 A schematic diagram illustrating the process of an aero-engine inlet blade inspection robot performing inspection work according to an embodiment of this disclosure;

[0054] Figure 3 A schematic diagram of the structure of an aero-engine inlet blade inspection robot provided in one embodiment of this disclosure;

[0055] Figure 4 This is a schematic diagram of the lead screw mechanism of an aero-engine inlet blade inspection robot provided in one embodiment of the present disclosure.

[0056] Figure 5 A perspective view and an exploded view of a portion of the lead screw mechanism of an aero-engine inlet blade inspection robot provided in an embodiment of this disclosure;

[0057] Figure 6 This is a top view of the robotic arm support device for an aero-engine inlet blade inspection robot according to an embodiment of the present disclosure.

[0058] Figure 7 This is a schematic diagram of the structure of the robotic arm support device for an aero-engine inlet blade inspection robot provided in one embodiment of the present disclosure.

[0059] Figure 8This is a top view of the lever structure of an aero-engine inlet blade inspection robot provided in one embodiment of the present disclosure;

[0060] Figure 9 This is a schematic diagram of the structure of a limiting bracket for an aero-engine inlet blade inspection robot provided in one embodiment of the present disclosure;

[0061] Figure 10 This is a schematic diagram of the lever platform of an aero-engine inlet blade inspection robot provided in one embodiment of the present disclosure.

[0062] Figure 11 This is a schematic diagram of the structure of the robotic arm of an aero-engine inlet blade inspection robot provided in one embodiment of this disclosure.

[0063] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0064] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0065] It should be noted that certain terms are used in the specification and claims to refer to predetermined components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0066] To facilitate understanding of the embodiments of the present invention, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments, and the accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0067] To better understand, such as Figures 1 to 11 As shown, a robot for inspecting the inlet blades of an aero-engine includes,

[0068] The traveling chassis 3 is movably arranged in the air intake of the aircraft engine;

[0069] A lead screw lever mechanism 1 is fixed to the traveling chassis 3. The lead screw lever mechanism 1 includes...

[0070] The lead screw 14 module includes,

[0071] The motor bracket 18 is fixed to the walking chassis 3;

[0072] Motor 19 is mounted on motor bracket 18;

[0073] Coupling 17, which is connected to the output end of the motor;

[0074] The lead screw rear stop 16 is fixed on the chassis.

[0075] The lead rod 13 has one end fixedly connected to the lead screw back stop 16 and extends horizontally away from the motor;

[0076] The lead screw front stop 15 is fixedly connected to the other end of the lead rod 13;

[0077] A lead screw 14, which is rotatably connected to the lead screw front stop 15 and the lead screw rear stop 16 and is poweredly connected to the coupling 17;

[0078] A lead screw 14 platform is connected to the lead screw 14, and the bottom of the lead screw 14 platform is adapted to be movably connected to the lead rod 13;

[0079] The lever 5 module includes,

[0080] A limiting bracket 11 is bolted to the walking chassis 3, and two limiting bolts 12 are installed on the limiting bracket 11.

[0081] The lever platform 6 is fixed to the top of the lead screw 14 platform. The center of the lever platform 6 is provided with three threaded holes and two mounting holes. The mounting holes are divided into a platform first hole 61 and a platform second hole 62.

[0082] The lever 5 has a first hole 51 and a second hole 52. The first hole 51 and the first hole 61 of the platform are installed on the lever platform 6 by M6 bolts. The lever 5 includes a Z-shaped rod 54 located between two limit bolts 12 and a straight rod 53 at a predetermined angle to the Z-shaped rod.

[0083] An auxiliary rotating rod 10 is installed on the lever 5 via the second hole 52 of the lever. The auxiliary rotating rod 10 has a limiter 9 installed in the second hole 62 of the platform and a compression spring 8 located between the lever 5 and the limiter 9 and sleeved on the auxiliary rotating rod 10. The second hole 52 of the lever is coaxially engaged with the through hole at the head of the auxiliary rotating rod 10 through a cylindrical pin 7 to form a rotating pair. The second hole 62 of the platform is coaxially engaged with the bottom cylindrical part of the limiter 9 to form a rotating pair.

[0084] A robotic arm support device 2 is located below the lead screw mechanism 1. The robotic arm support device 2 includes...

[0085] Servo motor 27 is mounted on the chassis 3 via servo motor support plate 26;

[0086] A pair of left and right gear claws 22 mesh with each other and drive the servo motor 27;

[0087] A pair of left and right robotic arms 24, which are respectively connected to the pair of left and right gear claws 22;

[0088] A pair of fixed links 23, one fixed link 23 connects the left robotic arm and the traveling chassis 3, and forms a parallelogram structure with the left gear claw, the other fixed link 23 connects the right robotic arm, and forms a parallelogram structure with the right gear claw. Driven by the servo motor 27, the left and right robotic arms 24 open outward to support the air intake of the aircraft engine.

[0089] Control device 4, which includes,

[0090] Radar, configured to measure and generate positioning information for the inlet blades;

[0091] A camera configured to generate image information;

[0092] The circuit board is connected to the radar and camera at one end and to the servo motor 27 and the motor at the other end. In response to the positioning information, the walking chassis 3 reaches the stop position and drives the servo motor 27 to open the left and right robotic arms 24. In response to the image information, the motor drives the lead screw 14 and the lever 5 to repeatedly move the intake duct blades.

[0093] In a preferred embodiment of the aircraft engine inlet blade inspection robot, the walking chassis 3 is a tracked walking chassis 3, which is equipped with staggered dual motors, and the dual motors are connected to the circuit board to start and stop in response to positioning information.

[0094] In a preferred embodiment of the aircraft engine inlet blade inspection robot, the predetermined angle is 80 degrees.

[0095] In a preferred embodiment of the aero-engine inlet blade inspection robot, the lever platform 6 is provided with four symmetrically arranged limiting cylinders 63 and 64.

[0096] In a preferred embodiment of the aero-engine inlet blade inspection robot, the symmetrical center points of the four limiting cylinders 63 and 64 are located 5.5 mm above the center of the lever platform 6, and the distance between the centers of the four limiting cylinders 63 and 64 is 35 mm and 29 mm, respectively.

[0097] In a preferred embodiment of the aero-engine inlet blade inspection robot, the parallelogram mechanism has side lengths of 19mm and 30mm.

[0098] In a preferred embodiment of the aero-engine inlet blade inspection robot, the limiting bracket 11 is a Z-shaped cantilever beam with reinforcing ribs.

[0099] In a preferred embodiment of the aero-engine inlet blade inspection robot, the Z-shaped cantilever beam has a 140mm long double round-headed through hole.

[0100] In a preferred embodiment of the aero-engine inlet blade inspection robot, the parallel opening distance of the left and right robotic arms 24 ranges from 100mm to 160mm.

[0101] In a preferred embodiment of the aero-engine inlet blade inspection robot, the radar is connected to the walking chassis 3 via a Z-shaped radar bracket.

[0102] In one embodiment, the aero-engine inlet blade inspection robot includes a lead screw mechanism 1, a robotic arm support device 2, a tracked chassis 3, and a control device 4. The lead screw mechanism 1 has a lever 5 module mounted above the lead screw slide 20, connected by screws. The lever 5 is bolted to the first platform hole 61 of the lever platform 6 via the first hole 51, with a washer at the top and bottom, coaxially fitted. The second platform hole 62 is coaxially fitted with the through hole at the head of the auxiliary rotating rod 10 via a cylindrical pin 7, forming a rotating pair. The tail of the auxiliary rotating rod 10 is coaxially fitted with the through hole on the cube-shaped limiter 9, possessing a certain degree of axial freedom. The auxiliary rotating rod 10 has a compression spring 8 that is always in a compressed state, with a washer at each end. The limiter bracket 11 is bolted to the chassis 3, and the limiter bracket 11 has a through hole... Two limiting bolts 12 are installed in the hole; the robotic arm support device 2 drives a pair of linked left and right robotic arms 24 to open outwards in parallel through a servo motor 27 to fix the robot position. The robotic arm support device 2 adopts the principle of a parallelogram mechanism. The servo motor 27 is installed below the robot chassis and is bolted to the walking chassis 3 through a servo motor support plate 26. The robotic arm support device 2 is bolted to the front end of the chassis, located below the lead screw mechanism 1; the tracked walking chassis 3 is equipped with staggered dual motors to drive the robot to walk according to a predetermined stroke. A Z-shaped radar bracket is bolted to the middle of the tracked walking chassis 3; the control device 4 coordinates the movement of each motor through feedback to complete the entire process. Preferably, two cameras are bolted to the front end and rear end of the lead screw 14, respectively.

[0103] The lead screw mechanism 1 achieves the reciprocating rotation function of the lever 5 through the reciprocating motion of the ball screw 14 and the assistance of the limiting bolt 12. The lever 5 in the lead screw mechanism 1 is installed above the lead screw slide 20 and connected by screws. The lead screw mechanism 1 has a compression spring 8 that is always in a compressed state, which abuts against the lever 5, so that the lever 5 is always in a position close to the front and rear limiting cylindrical rods 63 and 64 during its stroke. The robotic arm support device 2 drives a pair of linked left and right robotic arms 24 to open outward in parallel through the servo motor 27 to fix the position of the robot. The robotic arm support device 2 adopts the principle of parallelogram and is installed at the front end of the walking chassis 3, located below the lead screw mechanism 1. The tracked walking chassis 3 overcomes obstacles to walk into the engine. The tracked walking chassis 3 is controlled by dual motors. The control device 4 remotely controls or intelligently controls the robot's movement through radar and cameras. The aero-engine intake blade inspection robot uses a ball screw 14 to drive the lever 5, which greatly improves the thrust of the robot lever 5 and avoids the contradiction between insufficient torque and large size of the servo motor. At the same time, a high-torque servo motor 27 is used to drive the robotic arm support device 2, which improves the stability of the robot while maintaining the requirement of miniaturization.

[0104] In one embodiment, the aero-engine inlet blade inspection robot includes: a lead screw mechanism 1, a robotic arm support device 2, a tracked chassis 3, and a control device 4. The lead screw mechanism 1 consists of a lead screw module composed of a lead rod 13, a lead screw 14, a lead screw front stop 15, a lead screw back stop 16, a coupling 17, a motor bracket 18, a motor 19, and a lead screw slide 20; and a lever module composed of a lever 5, a lever platform 6, a cylindrical pin 7, a compression spring 8, a cube-shaped limiter 9, an auxiliary rotating rod 10, a limit bracket 11, a limit bolt 12, and a lever rubber sleeve 21. The robotic arm support device 2 consists of left and right gear claws 22, a fixed connecting rod 23, left and right robotic arms 24, a robotic arm rubber sleeve 25, a servo motor support plate 26, and a servo motor 27. In a preferred embodiment, except for the limiting bracket 11 and the limiting bolt 12, all the lever modules are installed above the lead screw slide 20. The lever platform 6 and the lead screw slide 20 are connected by three screws to fix the lever module and the lead screw module relatively.

[0105] As a preferred embodiment, the lever 5 is fixed to the lever platform 6 by bolts, with a washer at the top and bottom, coaxially fitted, which facilitates reducing the contact area between the lever 5 and the lever platform 6, thereby greatly reducing the frictional resistance during rotation.

[0106] As a preferred embodiment, a portion of the middle of the second hole 52 of the lever is horizontally cut off so that it fits precisely with the head of the auxiliary rotating rod 10. Then, the second hole of the lever, the through hole at the head of the auxiliary rotating rod 10, and the cylindrical pin 7 are coaxially fitted together. The tail of the auxiliary rotating rod 10 passes through the through hole of the limiter 9 of the cube. Furthermore, a compression spring 8 is placed on the body of the auxiliary rotating rod 10, and the compression spring is always in a compressed state so that the elastic force of the compression spring always maintains the direction of the lever, thereby preventing the lever from rotating due to some unavoidable small external forces.

[0107] As a preferred embodiment, the limiting bracket 11 is bolted to the walking chassis 3 and located on the side of the lever 5. Two limiting bolts 12 are installed on the limiting bracket through the through hole. The limiting bolts 12 and the limiting cylinder of the lever platform 6 work together to realize the single motor 19 controlling the lever 5 to cyclically move the blade.

[0108] As a preferred embodiment, one end of the lever 5 is a Z-shaped lever 54, and the other end is a straight lever 53. The two ends of the lever 5 are arranged circumferentially and spaced 80 degrees apart to meet the distance for moving the blade.

[0109] As a preferred embodiment, the lever platform 6 has four symmetrically arranged limiting cylinders 63 and 64, with the center point of the four limiting cylinders 63 and 64 located 5.5mm above the center of the lever platform 6, and the distance between the centers of the four limiting cylinders 63 and 64 is 35mm and 29mm, respectively.

[0110] As a preferred embodiment, the limiting bracket 11 is a Z-shaped cantilever beam with reinforcing ribs. The limiting bracket 11 has a 140mm long double round head through hole on its high side for placing the adjustable stroke limiting bolt 12, which facilitates flexible selection of distance according to the actual air intake parameters.

[0111] As a preferred embodiment, the servo motor 27 is installed below the chassis 3 and connected by bolts through the servo motor support plate 26, thereby avoiding interference with the lead screw mechanism 1.

[0112] As a preferred embodiment, the parallelogram formed by the left and right gear claws 22, the left and right fixed connecting rods 23 and the left and right robotic arms 24 has side lengths of 19mm and 30mm, respectively, to ensure that the left and right robotic arms 24 can open in parallel under the drive of the servo motor 27. At the same time, while opening to fix the position of the robot, it also has the ability to straighten the robot.

[0113] As a preferred embodiment, the straight end of the lever 5 and the left and right robotic arms are respectively fitted with lever rubber sleeves 21 and robotic arm rubber sleeves 25, so that the rigid materials do not directly collide with the internal structure of the engine, thus providing protection and a certain degree of adjustment.

[0114] As a preferred embodiment, the tracked chassis is controlled by staggered dual motors to reduce its width, enabling the robot to feed along a predetermined path.

[0115] As a preferred embodiment, the intelligent control device includes, but is not limited to, radar, camera, control board, and circuit board of Jetson Nano development board.

[0116] Working principle:

[0117] When using the engine intake inspection robot, first place the robot at the engine intake inlet. The robot will be autonomously controlled by the Jetson Nano development board to move the chassis 3 according to the feedback from the radar and camera, passing through the first stage stator blades of the engine, until the front end of the robot enters the second stage stator blade 28 of the engine and stops.

[0118] Afterwards, the chassis motor remains stationary, and the control servo motor 27 drives the left and right robotic arms 24 to open to fix the robot body, while simultaneously correcting the robot's position. At this point, the robot is fixed in the second-stage stator blades, and the Z-shaped lever 54 of the lever 5 is in the initial position close to the upper limit cylinder 63. The initial posture is shown in the appendix. Figure 2 (1);

[0119] The development board then controls motor 19, causing the lead screw slide 20 and lever 5 to move forward until the Z-shaped rod 54 of lever 5 contacts the limit bolt 12, at which point it begins to rotate. The state at this point is shown in the attached diagram. Figure 2 (2);

[0120] While the lead screw 14 is continuously fed, the lever 5 rotates passively, and its straight rod 53 contacts the blade. The state at this time is shown in the appendix. Figure 2 (3);

[0121] Then, the straight rod 53 begins to move the blade until it reaches the limit position. At this point, the Z-shaped rod 54 of the lever 5 is located close to the lower limit cylinder 64. The state at this time is shown in the appendix. Figure 2 (4);

[0122] Then, the motor 19 reverses, retracting the lead screw 14 and the lever 5, and continues to retract until it returns to its initial state under the action of another limit bolt 12. This cycle repeats continuously, turning the blades. At the same time, the camera at the front end of the lead screw and the motor bracket uses an intelligent detection algorithm to detect blade faults in real time, thus realizing the entire process.

[0123] The inspection method of the aforementioned aero-engine inlet blade inspection robot includes...

[0124] The walking chassis moves through the first stage stator blades of the aero engine until the front end of the robot enters the second stage stator blades of the engine and then stops.

[0125] The left and right robotic arms are driven to open and fix the robot body. The Z-shaped lever of the lever is initially positioned close to the upper limit cylinder. The motor causes the lead screw slide and the lever to move forward until the Z-shaped lever contacts the limit bolt and begins to rotate under its action. While the lead screw is continuously fed, the lever rotates passively. The straight rod contacts the blade, and then the straight rod begins to move the blade until it reaches the limit position. At this time, the Z-shaped lever of the lever is positioned close to the lower limit cylinder.

[0126] The motor reverses, retracting the lead screw and lever, and continues to retract until it returns to its initial state under the action of another limit bolt. This cycle repeats continuously, turning the blades.

[0127] Industrial applicability

[0128] The air intake blade inspection robot and inspection method described in this invention can be manufactured and used in the field of aero-engine manufacturing.

[0129] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0130] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A robot for inspecting air intake blades of an aero-engine, characterized in that, It includes: A mobile chassis that is movably mounted in the air intake of an aircraft engine; A lead screw mechanism, fixed to the traveling chassis, includes... The lead screw module includes, A motor bracket, which is fixed to the walking chassis; The motor is mounted on the motor bracket; A coupling that connects to the output end of the motor; The lead screw rear stop is fixed to the traveling chassis; A lead rod, one end of which is fixedly connected to the lead screw back stop and extends horizontally away from the motor; The lead screw front stop is fixedly connected to the other end of the lead rod; A lead screw, which rotatably connects the lead screw front stop and the lead screw rear stop and is power-connected to the coupling; A lead screw platform, which is connected to the lead screw and whose bottom is adapted to be movably connected to the lead rod; The toggle module includes, A limiting bracket is bolted to the chassis, and two limiting bolts are installed on the limiting bracket; A lever platform is fixed to the top of the lead screw platform. The center of the lever platform has three threaded holes and two mounting holes. The mounting holes are divided into a platform first hole and a platform second hole. A lever, which has a first hole and a second hole, is bolted to the lever platform. The lever includes a Z-shaped rod located between two limiting bolts and a straight rod at a predetermined angle to the Z-shaped rod. The Z-shaped rod is movable between the two limiting bolts. An auxiliary rotating rod is installed on the lever via the second hole of the lever. The auxiliary rotating rod has a limiter installed in the second hole of the platform and a compression spring located between the lever and the limiter and sleeved on the auxiliary rotating rod. The second hole of the lever is coaxially engaged with the through hole at the head of the auxiliary rotating rod through a cylindrical pin to form a rotating pair. The second hole of the platform is coaxially engaged with the bottom cylinder of the limiter to form a rotating pair. The lever platform has four symmetrically arranged limit cylinders. The Z-shaped rod is located between two limit cylinders in the direction of the lead screw's forward movement, and the straight rod is located between two limit cylinders in the direction perpendicular to the direction of the lead screw's forward movement. The lead screw lever mechanism realizes the reciprocating rotation function of the lever through the reciprocating motion of the ball screw and the assistance of the limit bolts. In the lead screw lever mechanism, the lever is installed above the lead screw slide. The lead screw lever mechanism has a compression spring that is always in a compressed state to hold the lever in place, so that the lever is always in close contact with the front and rear limit cylinders during its stroke. The robotic arm support device is located below the lead screw mechanism, and the robotic arm support device includes, A servo motor, which is mounted on the chassis via a servo motor support plate; A pair of left and right gear claws that mesh with each other and drive the servo motor; A pair of left and right robotic arms, which are respectively connected to the pair of left and right gear claws; A pair of fixed links, one of which connects the left robotic arm and the chassis and forms a parallelogram structure with the left gear claw, and the other of which connects the right robotic arm and forms a parallelogram structure with the right gear claw. Driven by the servo motor, the left and right robotic arms open outward to support the air intake of the aircraft engine. Control equipment, which includes, Radar, configured to measure and generate positioning information for the inlet blades; A camera configured to generate image information; The circuit board, with one end connected to the radar and camera and the other end connected to the servo motor and motor, responds to the positioning information, the chassis reaches a stop position and drives the servo motor to open the left and right robotic arms, and responds to the image information, the motor drives the lead screw and lever to repeatedly move the intake duct blades.

2. The aero-engine inlet blade inspection robot according to claim 1, characterized in that, The predetermined angle is 80 degrees.

3. The aero-engine inlet blade inspection robot according to claim 1, characterized in that, The center points of the four limiting cylinders are located 5.5mm above the center of the lever platform, and the distance between the centers of the four limiting cylinders is 35mm and 29mm.

4. The aero-engine inlet blade inspection robot according to claim 3, characterized in that, The parallelogram mechanism has side lengths of 19mm and 30mm.

5. The aero-engine inlet blade inspection robot according to claim 1, characterized in that, The limiting bracket is a Z-shaped cantilever beam with reinforcing ribs.

6. The aero-engine inlet blade inspection robot according to claim 5, characterized in that, The Z-shaped cantilever beam has a 140mm long double-rounded through hole.

7. The aero-engine inlet blade inspection robot according to claim 1, characterized in that, The parallel opening distance between the left and right robotic arms ranges from 100mm to 160mm.

8. The inspection method of the aero-engine inlet duct blade inspection robot according to any one of claims 1-7, characterized in that, It includes, The walking chassis moves through the first stage stator blades of the aero engine until the front end of the robot enters the second stage stator blades of the engine and then stops. The left and right robotic arms are driven to open to fix the robot body. The Z-shaped rod of the lever is in the initial position close to the upper limit cylinder. The motor causes the lead screw slide and the lever to move forward until the Z-shaped rod of the lever contacts the limit bolt and begins to rotate under its action. While the lead screw is continuously fed, the lever is passively rotated. The straight rod contacts the blade, and then the straight rod begins to move the blade until the limit position. At this time, the Z-shaped rod of the lever is in the position close to the lower limit cylinder. The motor reverses, retracting the lead screw and lever, and continues to retract until it returns to its initial state under the action of another limit bolt. This cycle repeats continuously, turning the blades.

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