Micro-robot for aero-engine detection

Abstract

The invention discloses a micro-robot for aero-engine detection. The micro-robot comprises a load joint, a power joint, an electric rotating shaft and a rotary driving part, a detection device is mounted on the load joint; a power supply control system is mounted on the power joint; the electric rotating shaft is installed between the load joint and the power joint and used for adjusting the included angle between the load joint and the power joint. One end of the electric rotating shaft is fixedly connected with the power joint through a telescopic assembly; the number of the rotary driving parts is two, the fixed ends of the two rotary driving parts are fixedly connected with the load joint and the power joint correspondingly, and electrostatic chucks are installed at the output ends of the rotary driving parts. Wherein the detection equipment, the electric rotating shaft, the telescopic assembly, the two rotary driving parts and the two electrostatic chucks are all electrically connected with the power supply control system. According to the invention, the flexibility and operability in a narrow space are improved, flexible transfer between wall surfaces at different angles can be realized, wall-attached movement is ensured, and rapid in-situ nondestructive testing of an aero-engine and comprehensive coverage of a detection range are realized.

Description

Technical Field

[0001] The invention relates to the technical field of micro robots, in particular to a micro robot used for aircraft engine detection. Background Art

[0002] Nondestructive testing technology is a technology that uses the changes in the response to sound, light, magnetism, etc. caused by abnormal internal structure or defects of the material to detect internal and surface defects of raw materials, various parts, structural parts, etc. without destroying or damaging the object being tested, and makes judgments and evaluations on the type, nature, quantity, shape, location, size, distribution and changes of defects. The in-situ nondestructive testing technology applied to in-service aircraft engines is borescope technology, which can be divided into image detection, ultrasonic detection, and eddy current detection according to the type of detector. Although nondestructive testing can be achieved, since the borescope needs to be transmitted with a wire and the lens is manually controlled to enter the engine, it is difficult to conduct in-depth detection at the intermediate level of the impeller machinery, and the detection range is limited. Traditional engines need to be disassembled for overhaul, which is a large workload and time-consuming, and multiple disassembly and assembly may affect the engine performance.

[0003] In the existing technology, industrial endoscopes can detect and measure defects farther away. Although their imaging effect is relatively good, their characteristic of only one bending movement limits their detection range after entering the interior of the aircraft engine through the borehole, and the detection range is relatively limited. At the same time, due to the lack of a motion mechanism, they can only detect single-stage blades near the borehole, and the tooling fixtures need to be customized according to the detection site, so their adaptability is not strong and cannot fully meet the needs of in-situ non-destructive testing of aircraft engines. The limitation of X-ray detection technology is that it cannot detect all types of defects, and the aircraft engine needs to be disassembled to a certain extent during detection, which is inefficient. Micro-robot technology has major problems such as difficulty in reducing size, single movement mode, and inability to achieve adsorption, making it difficult to ensure effective wall-attaching movement.

[0004] Therefore, a micro robot for aircraft engine inspection is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a micro robot for aircraft engine inspection, aiming to solve or improve at least one of the above-mentioned technical problems.

[0006] To achieve the above object, the present invention provides the following solution: The present invention provides a micro robot for aircraft engine detection, comprising:

[0007] A load section, on which a detection device is installed;

[0008] A power section, on which a power supply control system is installed;

[0009] An electric rotating shaft, which is installed between the load joint and the power joint and is used to adjust the angle between the load joint and the power joint; one end of the electric rotating shaft is fixedly connected to the power joint through a telescopic assembly;

[0010] A rotating drive unit, wherein two rotating drive units are provided, the fixed ends of the two rotating drive units are respectively fixedly connected to the load joint and the power joint, and an electrostatic chuck is installed at the output end of the rotating drive unit;

[0011] Wherein, the detection device, the electric shaft, the telescopic assembly, the two rotation drive parts and the two electrostatic suction cups are all electrically connected to a power supply control system.

[0012] According to a micro robot for aircraft engine inspection provided by the present invention, the electric rotating shaft comprises:

[0013] A coil sleeve, the coil sleeve being mounted on the telescopic end of the telescopic assembly;

[0014] a first rotating motor, the first rotating motor being rotatably connected to the coil sleeve, and an output shaft of the first rotating motor being fixedly connected to the coil sleeve;

[0015] Wherein, the first rotating motor is electrically connected to the power supply control system, and the first rotating motor is fixedly connected to one end of the load node.

[0016] According to a micro robot for aircraft engine inspection provided by the present invention, the telescopic component includes a linear motor electrically connected to the power supply control system, the linear motor is fixedly mounted on the power joint, and the telescopic end of the linear motor is fixedly connected to the coil sleeve.

[0017] According to a micro robot for aircraft engine inspection provided by the present invention, the rotation drive unit includes a second rotating motor electrically connected to the power supply control system, the two second rotating motors are respectively fixed to the load node and the power node, and the electrostatic suction cup is fixedly mounted on the output shaft of the second rotating motor.

[0018] According to a micro robot for aircraft engine inspection provided by the present invention, a plurality of slide grooves are provided at one end of the power section close to the load section, a plurality of plug blocks are fixedly installed at one end of the coil sleeve close to the power section, and the plurality of plug blocks are slidably connected to the plurality of slide grooves respectively.

[0019] According to a micro robot for aircraft engine inspection provided by the present invention, the inspection device includes a camera, and the camera is installed on the top surface of the load node.

[0020] According to a micro robot for aircraft engine inspection provided by the present invention, a receiving groove is provided at one end of the power section close to the load section, and the linear motor is fixedly installed in the receiving groove.

[0021] According to a micro robot for aircraft engine inspection provided by the present invention, the number of the containing slots and the number of the linear motors are both two, and the two linear motors are arranged side by side with intervals.

[0022] According to the micro robot for aircraft engine inspection provided by the present invention, the distance between the two second rotating motors is 5 mm to 6 mm.

[0023] The present invention discloses the following technical effects:

[0024] The micro robot of the present invention can adjust the angle between the load section and the power section through an electric rotating shaft, thereby providing the ability to climb an arc or an angled wall surface; the load section and the power section are driven to rotate by two rotating drive parts, thereby providing the ability to turn, the ability to move forward in a rotating mode, and the ability to climb an angled wall surface; the robot is driven to move forward as a whole through a telescopic component, and the electrostatic suction cup is powered on or off through a power supply control system to achieve the adsorption and release of the two electrostatic suction cups; through the coordinated use of the electric rotating shaft, the rotating drive part, the telescopic component, and the electrostatic suction cup, the robot can achieve stable adsorption on vertical, inverted and arc-shaped wall surfaces, and can flexibly transfer between walls of different angles;

[0025] The micro robot of the present invention has five different motion modes, including fast rotation forward, slow telescopic forward, curved motion, circular motion and vertical plane transfer motion. It not only improves the adaptability of the robot in different environments, but also ensures its efficient movement and precise positioning in complex structures, thereby improving the detection efficiency and accuracy; it solves the problems of the existing micro robot technology, such as the difficulty in reducing the size, the single motion mode, and the inability to achieve adsorption, realizes multiple motion modes, and can ensure wall-adhering motion;

[0026] The microrobot of the present invention has a compact size and a high degree of integration, which improves flexibility and operability in a small space. It is particularly suitable for the complex and compact environment inside an aircraft engine and can easily penetrate and detect areas that are difficult to reach with traditional detection methods. Detection equipment is installed on the load node to enter the interior of the aircraft engine for detection, thereby realizing rapid in-situ non-destructive testing of the aircraft engine and achieving comprehensive coverage of the detection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is an axonometric view of the present invention;

[0029] Figure 2 It is a front view of the present invention;

[0030] Figure 3 It is a rear view of the present invention.

[0031] Among them, 1. load section; 2. power section; 3. electrostatic suction cup; 4. coil sleeve; 5. first rotating motor; 6. linear motor; 7. second rotating motor; 8. plug-in block. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figure 1-Figure 3 The present invention provides a micro robot for aircraft engine detection, comprising:

[0035] Load section 1, on which a detection device is installed;

[0036] Power section 2, on which a power supply control system is installed;

[0037] An electric rotating shaft is installed between the load section 1 and the power section 2 and is used to adjust the angle between the load section 1 and the power section 2; one end of the electric rotating shaft is fixedly connected to the power section 2 through a telescopic assembly;

[0038] Rotary drive unit, two rotary drive units are provided, the fixed ends of the two rotary drive units are respectively fixedly connected to the load section 1 and the power section 2, and the output end of the rotary drive unit is installed with an electrostatic chuck 3;

[0039] Among them, the detection equipment, the electric shaft, the telescopic assembly, the two rotating drive parts and the two electrostatic chucks 3 are all electrically connected to the power supply control system;

[0040] With such arrangement, the micro robot of the present invention can adjust the angle between the load section 1 and the power section 2 through the electric shaft, thereby providing the ability to climb an arc or an angled wall surface; the load section 1 and the power section 2 are driven to rotate by two rotating drive parts, thereby providing the ability to turn, the ability to move forward in a rotating mode, and the ability to climb an angled wall surface; the robot is driven to move forward as a whole through the telescopic component, and the electrostatic suction cup 3 is powered on or off through the power supply control system to achieve the adsorption and release of the two electrostatic suction cups 3; through the coordinated use of the electric shaft, the rotating drive part, the telescopic component and the electrostatic suction cup 3, the robot can achieve stable adsorption on vertical, inverted and arc-shaped wall surfaces, and can flexibly transfer between walls of different angles;

[0041] The micro robot of the present invention has five different motion modes, including fast rotation forward, slow telescopic forward, curved motion, circular motion and vertical plane transfer motion. It not only improves the adaptability of the robot in different environments, but also ensures its efficient movement and precise positioning in complex structures, thereby improving the detection efficiency and accuracy; it solves the problems of the existing micro robot technology, such as the difficulty in reducing the size, the single motion mode, and the inability to achieve adsorption, realizes multiple motion modes, and can ensure wall-adhering motion;

[0042] The microrobot of the present invention has a compact size and a high degree of integration, which improves flexibility and operability in a small space. It is particularly suitable for the complex and compact environment inside an aircraft engine and can easily penetrate and detect areas that are difficult to reach with traditional detection methods. Detection equipment is installed on the load node to enter the interior of the aircraft engine for detection, thereby realizing rapid in-situ non-destructive testing of the aircraft engine and achieving comprehensive coverage of the detection range.

[0043] Further optimization scheme, the electric shaft includes:

[0044] A coil sleeve 4, which is mounted on the telescopic end of the telescopic assembly;

[0045] A first rotating motor 5, the first rotating motor 5 is rotatably connected to the coil sleeve 4, and an output shaft of the first rotating motor 5 is fixedly connected to the coil sleeve 4;

[0046] The first rotating motor 5 is electrically connected to the power supply control system, and the first rotating motor 5 is fixedly connected to one end of the load section 1;

[0047] In this arrangement, when the power supply control system sends a command to the first rotating motor 5, the first rotating motor 5 starts to work, and drives the coil sleeve 4 to rotate through the output shaft, thereby adjusting the angle between the load section 1 and the power section 2, so that the robot can adapt to walls of different curvatures and enhance its adaptability in complex environments.

[0048] Further optimizing the scheme, the telescopic assembly includes a linear motor 6 electrically connected to the power supply control system, the linear motor 6 is fixedly mounted on the power section 2, and the telescopic end of the linear motor 6 is fixedly connected to the coil sleeve 4;

[0049] In this arrangement, when the power supply control system sends a command to the linear motor 6, the telescopic end of the linear motor 6 begins to extend or retract, thereby driving the coil sleeve 4 and the load node 1 fixed thereto to move in a straight line, so that the robot can move forward or backward, thereby realizing the detection of different areas inside the aircraft engine.

[0050] Further optimizing the scheme, the rotary drive unit includes a second rotary motor 7 electrically connected to the power supply control system, the two second rotary motors 7 are respectively fixed to the load section 1 and the power section 2, and the electrostatic chuck 3 is fixedly mounted on the output shaft of the second rotary motor 7;

[0051] In this arrangement, when the power supply control system sends a command to the second rotating motor 7, the second rotating motor 7 starts to work, driving the load section 1 or the power section 2 to rotate. Since the electrostatic suction cup 3 has adsorption capacity, it can maintain stable contact with the wall during rotation, thereby achieving comprehensive detection of the complex internal structure of the aircraft engine.

[0052] According to a further optimization scheme, a plurality of slide grooves are provided at one end of the power section 2 close to the load section 1, and a plurality of plug blocks 8 are fixedly installed at one end of the coil sleeve 4 close to the power section 2. The plurality of plug blocks 8 are respectively slidably connected to the plurality of slide grooves to achieve smooth movement.

[0053] Further optimizing the scheme, the detection equipment includes a camera, and the camera is installed on the top surface of the load node 1;

[0054] The detection device also includes a sensor, which is installed on the load section 1;

[0055] Cameras and sensors are used to capture and detect images and data inside aircraft engines in real time. These detection devices are connected to the power supply control system and can transmit detection information in real time, providing strong support for detection work.

[0056] To further optimize the solution, the power supply control system includes a battery, a power supply device and a control element. The battery, the power supply device and the control element are all installed on the power section 2. The battery, the power supply device, the sensor, the camera, the second rotating motor 7, the linear motor 6, the first rotating motor 5 and the electrostatic suction cup 3 are all electrically connected to the control element to realize intelligent control.

[0057] According to a further optimized solution, a receiving groove is provided at one end of the power section 2 close to the load section 1, and the linear motor 6 is fixedly installed in the receiving groove.

[0058] According to a further optimized solution, the number of the accommodating slots and the number of the linear motors 6 are both two, and the two linear motors 6 are arranged side by side with intervals.

[0059] According to a further optimization scheme, the spacing between the two second rotating motors 7 is 5mm to 6mm; the overall size of the micro robot of the present invention is less than 60mm×30mm×25mm; the self-weight including the load is not more than 30g; in this embodiment, the overall size is preferably 28mm×15mm×8.3mm, and the self-weight is 3.87g.

[0060] Working principle:

[0061] The micro robot of the present invention has five different motion modes, including fast rotation forward, slow telescopic forward, curved motion, circular motion and vertical plane transfer motion. The specific principles are as follows:

[0062] 1. Rapid rotation forward mode:

[0063] The rapid rotation forward mode is aimed at rapid movement in the air inlet and tail nozzle, and its implementation logic is:

[0064] ① The electrostatic chuck 3 on the load node 1 is released, and the electrostatic chuck 3 on the power node 2 is attracted.

[0065] The micro robot as a whole rotates 180° around the electrostatic chuck 3 of the power section 2 .

[0066] ② The electrostatic chuck 3 on the load node 1 is adsorbed, and the electrostatic chuck 3 on the power node 2 is released.

[0067] The micro robot as a whole rotates 180° around the electrostatic chuck 3 on the load section 1 .

[0068] The single cycle of the fast rotation forward mode moves the electrostatic chuck 3 center distances forward twice as a whole, and the moving efficiency is high, but the space required for movement is large, and the load is not easy to work during movement.

[0069] 2. Low-speed telescopic forward mode:

[0070] The low-speed telescopic forward mode is aimed at the shuttle motion between the blades, and its implementation logic is as follows:

[0071] ① The electrostatic chuck 3 on the load section 1 is released, the linear motor 6 is extended, and the load section 1 is pushed out.

[0072] ② The electrostatic chuck 3 on the load node 1 is adsorbed, and the electrostatic chuck 3 on the power node 2 is released.

[0073] The linear motor 6 contracts and the power section 2 is retracted.

[0074] The low-speed telescopic forward mode single cycle moves the linear motor forward 6 strokes once, and the movement efficiency is low, but the required lateral space is small, and it can enter a smaller space; at the same time, because the robot pointing direction is always consistent with the movement direction, the load is easier to work during movement.

[0075] 3. Curve motion:

[0076] The curvilinear motion mode is aimed at the shuttle motion between the blades, and there are two implementation logics:

[0077] ① The robot only uses the second rotary motor 7 to perform curved motion, and the robot's rotation direction is opposite to the macro-steering direction.

[0078] ② The robot uses the second rotary motor 7 to adjust its direction and uses the linear motor to move forward, thereby achieving curved motion together. The robot's rotation direction is the same as the macro-steering direction.

[0079] 4. Circular motion:

[0080] The circular motion mode aims at the movement along the tangential direction of the casing. While performing telescopic linear motion, the micro robot actively adjusts the angle between the power section 2 and the load section 1 through the first rotating motor 5 to adapt to the curvature of the wall, ensuring that the front, middle and rear parts of the robot do not touch the wall; the electrostatic suction cup 3 has a certain flexibility and can adhere to and adsorb the curved wall.

[0081] 5. Transfer movement between vertical planes:

[0082] The vertical plane transfer motion mode is for the motion from the casing to the blade, and its motion logic is:

[0083] ① The electrostatic chuck 3 of the power section 2 is released, and the electrostatic chuck 3 on the load section 1 is attracted.

[0084] The first rotating motor 5 drives the power section 2 and the load section 1 to fold inward relative to each other.

[0085] ② The electrostatic chuck 3 of the power node 2 is released, and the electrostatic chuck 3 on the load node 1 is attracted.

[0086] The micro robot rotates 180° around the electrostatic chuck 3 on the load section 1 .

[0087] ③ The electrostatic chuck 3 of the power node 2 is adsorbed, and the electrostatic chuck 3 on the load node 1 is released.

[0088] The micro robot rotates 180° around the electrostatic chuck 3 of the power section 2 .

[0089] 4 The electrostatic chuck 3 of the power node 2 is adsorbed, and the electrostatic chuck 3 on the load node 1 is adsorbed,

[0090] The first rotating motor 5 is driven to restore the power section 2 and the load section 1 to be level.

[0091] The present invention can realize the switching of different motion modes through the control element, and can control the MEMS linear motor 6, the first rotary motor 5, and the second rotary motor 7 to move to a specific position.

[0092] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0093] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For ordinary technical users in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A micro robot for aircraft engine inspection, characterized in that: include: A load section (1), wherein a detection device is installed on the load section (1); A power section (2), wherein a power supply control system is installed on the power section (2); An electric rotating shaft, the electric rotating shaft being installed between the load section (1) and the power section (2) and being used for adjusting the angle between the load section (1) and the power section (2); one end of the electric rotating shaft being fixedly connected to the power section (2) via a telescopic assembly; A rotating drive unit, wherein two rotating drive units are provided, the fixed ends of the two rotating drive units are respectively fixedly connected to the load section (1) and the power section (2), and an electrostatic chuck (3) is installed at the output end of the rotating drive unit; Wherein, the detection device, the electric rotating shaft, the telescopic assembly, the two rotating drive parts and the two electrostatic suction cups (3) are all electrically connected to a power supply control system.

2. The micro robot for aircraft engine inspection according to claim 1 is characterized in that: The electric shaft comprises: A coil sleeve (4), the coil sleeve (4) being mounted on the telescopic end of the telescopic assembly; A first rotating motor (5), the first rotating motor (5) being rotatably connected to the coil sleeve (4), and an output shaft of the first rotating motor (5) being fixedly connected to the coil sleeve (4); Wherein, the first rotating motor (5) is electrically connected to the power supply control system, and the first rotating motor (5) is fixedly connected to one end of the load section (1).

3. The micro robot for aircraft engine testing according to claim 2 is characterized in that: The telescopic assembly comprises a linear motor (6) electrically connected to the power supply control system, the linear motor (6) is fixedly mounted on the power section (2), and the telescopic end of the linear motor (6) is fixedly connected to the coil sleeve (4).

4. The micro robot for aircraft engine testing according to claim 1 is characterized in that: The rotary drive unit comprises a second rotary motor (7) electrically connected to the power supply control system, the two second rotary motors (7) are respectively fixedly connected to the load section (1) and the power section (2), and the electrostatic suction cup (3) is fixedly mounted on the output shaft of the second rotary motor (7).

5. The micro robot for aircraft engine testing according to claim 3 is characterized in that: A plurality of slide grooves are provided at one end of the power section (2) close to the load section (1), and a plurality of plug blocks (8) are fixedly installed at one end of the coil sleeve (4) close to the power section (2), and the plurality of plug blocks (8) are respectively slidably connected to the plurality of slide grooves.

6. The micro robot for aircraft engine testing according to claim 1, characterized in that: The detection device comprises a camera, which is mounted on the top surface of the load joint (1).

7. The micro robot for aircraft engine testing according to claim 3 is characterized in that: An accommodating groove is provided at one end of the power section (2) close to the load section (1), and the linear motor (6) is fixedly mounted in the accommodating groove.

8. The micro robot for aircraft engine testing according to claim 7, characterized in that: The number of the accommodating slots and the number of the linear motors (6) are both two, and the two linear motors (6) are arranged side by side and spaced apart.

9. The micro robot for aircraft engine inspection according to claim 4, characterized in that: The distance between the two second rotating motors (7) is 5 mm to 6 mm.

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