Flying type aircraft skin grinding and polishing robot

Abstract

The invention relates to the technical field of aircraft maintenance equipment, and discloses a flying type aircraft skin grinding and polishing robot which comprises a rack. The flight unit is arranged at the top of the rack; the telescopic polishing unit is arranged at the bottom of the rack; the multiple auxiliary cleaning units are arranged at the bottom of the rack and located on one side of the telescopic polishing unit. The landing motion units are arranged on the periphery of the rack, first adsorption mechanisms are arranged on the landing motion units, the first adsorption mechanisms are used for being adsorbed to an aircraft skin, and the landing motion units can drive the first adsorption mechanisms to rotate and position at any angle; the control and communication unit is arranged on the rack and connected with the flying unit, the telescopic grinding unit, the multiple auxiliary cleaning units and the multiple rising and falling motion units, self-driven climbing can be achieved, the labor intensity of workers is relieved, the grinding stability is enhanced, and the grinding efficiency is improved. The requirement for dead-corner-free grinding and polishing operation of the whole skin profile can be met, operation is easy, and the grinding operation efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft maintenance equipment, in particular to a flying aircraft skin grinding and polishing robot. Background Art

[0002] The surface quality of aircraft skin directly affects the drag coefficient and vibration of the aircraft, which seriously affects the overall life and economic benefits of the aircraft. Through skin grinding, various surface damage and rust spots can be effectively removed, the expansion of cracks on the aircraft surface can be inhibited, and the accumulation rate of aircraft surface fatigue can be slowed down, thereby greatly improving the manufacturing accuracy and service life of the aircraft, improving the stability and safety of the aircraft operation, and reducing the maintenance and operation costs of the aircraft.

[0003] At present, in the field of aerospace, the grinding and polishing of key parts are still done manually, and the workers' skills and experience are required to be high. The process of grinding and polishing itself is very difficult and the degree of automation is low. The aircraft skin area is large and the grinding requirements are high. Traditional manual grinding is time-consuming and labor-intensive, and it is difficult to ensure the quality and efficiency of the work.

[0004] The current grinding and polishing robots on the market still need to be manually transported to the designated workstations during grinding, which has a low degree of automation, weak ergonomics, and poor safety. At present, during the grinding process, manual assistance is also used to operate the grinding machine to move in the work area, which has high labor intensity and low grinding efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a flying aircraft skin grinding and polishing robot, 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 flying aircraft skin grinding and polishing robot, comprising:

[0007] frame;

[0008] A flight unit, arranged on the top of the frame;

[0009] A telescopic grinding unit is arranged at the bottom of the frame;

[0010] A plurality of auxiliary cleaning units are arranged at the bottom of the frame and located on one side of the telescopic polishing unit;

[0011] A plurality of lifting and lowering motion units are arranged around the frame, and a first adsorption mechanism is arranged on the lifting and lowering motion unit. The first adsorption mechanism is used to be adsorbed on the aircraft skin, and the lifting and lowering motion unit can drive the first adsorption mechanism to rotate and position at any angle;

[0012] A control and communication unit is arranged on the frame, and the control and communication unit is connected with the flight unit, the telescopic polishing unit, a plurality of the auxiliary cleaning units and a plurality of the lifting and lowering motion units.

[0013] Optionally, the lifting and lowering motion unit includes:

[0014] A bevel gear transmission box is arranged on the frame;

[0015] A first motor is arranged on the bevel gear transmission box, and the first motor is connected to the internal gear of the bevel gear transmission box;

[0016] An open-chain mechanical arm has one end connected to the internal gear of the bevel gear transmission box and the other end connected to the first adsorption mechanism.

[0017] Optionally, a damping spring is arranged between the open-chain robotic arm and the first adsorption mechanism.

[0018] Optionally, the first adsorption mechanism includes:

[0019] A soft suction cup cavity connected to the lifting and lowering motion unit;

[0020] A fish soft sucker connected to the soft sucker cavity;

[0021] Iris mechanism swing door, arranged on the The inside of the fish's soft suction cup.

[0022] Optionally, the flight unit includes:

[0023] A fuselage, arranged on the top of the frame;

[0024] A power supply compartment, arranged at the bottom of the fuselage;

[0025] A sensor is arranged on the fuselage;

[0026] Communication equipment, arranged on the fuselage;

[0027] A plurality of wing shafts are rotatably connected to the four sides of the fuselage, a second motor is fixedly connected to the wing shaft, an output shaft of the second motor is perpendicular to the wing shaft, and the output shaft of the second motor is fixedly connected to a lifting wing.

[0028] Optionally, the telescopic grinding unit comprises:

[0029] A third motor is arranged on the frame;

[0030] A plurality of telescopic members are arranged on the frame, and a grinding head is arranged at the output end of the telescopic member;

[0031] The gear set is transmission-connected between the third motor and the plurality of grinding heads.

[0032] Optionally, a second adsorption mechanism is provided at the bottom of the frame.

[0033] Optionally, the auxiliary cleaning unit includes:

[0034] A protective shell is arranged on the frame;

[0035] a fourth motor, disposed in the protective shell;

[0036] A dust suction brush connected to the output shaft of the fourth motor;

[0037] The dust suction flow channel is arranged on the protective shell, and the dust suction flow channel is connected with the dust suction brush.

[0038] Optionally, it also includes a fan swing frame, which is arranged on the frame and located on one side of the auxiliary cleaning unit. The fan swing frame is rotatably connected to a fan cradle, the fan cradle is fixedly connected to a turbine positioning frame, and the turbine positioning frame is equipped with a fan turbine.

[0039] Optionally, a monitoring and detection device is provided on the rack.

[0040] The present invention discloses the following technical effects: by arranging a flying unit to facilitate high-altitude operations and transporting the entire machine from a distribution center to a large aircraft to be polished, the polishing machine can be quickly put into place, thereby reducing costs; a take-off and landing motion unit is used to drive the first adsorption mechanism to rotate and position at any angle and cooperate with the adsorption-type fixing method of the first adsorption mechanism to achieve self-driven climbing, reduce the labor intensity of workers, enhance the stability of polishing, and achieve that the telescopic polishing unit can be fixed at any angle to perform envelope polishing on the aircraft skin, thereby achieving the requirement of polishing and polishing operations without dead angles for the entire skin profile, with simple operation and high polishing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0042] Figure 1 It is a front view of the present invention;

[0043] Figure 2 A bottom view of the present invention;

[0044] Figure 3 A top view of the frame of the present invention;

[0045] Figure 4A bottom view of the frame of the present invention;

[0046] Figure 5 It is a structural schematic diagram of the flight unit of the present invention;

[0047] Figure 6 It is a structural schematic diagram of the lifting and lowering motion unit of the present invention;

[0048] Figure 7 A bottom view of the telescopic grinding unit of the present invention;

[0049] Figure 8 It is a front view of the shrinkage grinding unit of the present invention;

[0050] Fig. 9 It is a structural schematic diagram of the first adsorption mechanism of the present invention;

[0051] Fig.10 A bottom view of the first adsorption mechanism of the present invention;

[0052] Fig.11 It is a structural schematic diagram of the auxiliary cleaning unit of the present invention;

[0053] Fig.12 is an assembly diagram of a fan turbine of the present invention;

[0054] Fig.13 A flow chart of the working steps of the present invention;

[0055] Fig.14 This is a working schematic diagram of the first working environment of the present invention;

[0056] Fig.15 This is a schematic diagram of working in the second working environment of the present invention;

[0057] Fig.16 It is a schematic diagram of working in the third working environment of the present invention.

[0058] In the figure: 1, frame; 2, flight unit; 3, take-off and landing motion unit; 4, telescopic grinding unit; 5, auxiliary cleaning unit; 6, control and communication unit; 7, first installation position; 8, fourth installation position; 9, positioning hole; 10, second installation position; 11, third installation position; 12, fifth installation position; 13, sixth installation position; 14, fuselage; 15, lifting wing; 16, sensor; 17, communication equipment; 18, power supply compartment; 19, wing shaft; 20, second motor; 21, open chain mechanical arm; 22, first adsorption mechanism; 23, first motor; 24, bevel gear transmission box; 25, damping spring; 26, third motor; 27, hydraulic cylinder; 28, hydraulic lock; 29, telescopic guide rod; 30, grinding head; 31, gear set; 32, seventh installation position; 33, second adsorption mechanism; 34, Fish soft suction cup; 35. Iris mechanism swing door; 36. Soft suction cup cavity; 37. Eighth installation position; 38. Protective shell; 39. Dust suction channel; 40. Fourth motor; 41. Dust suction brush; 42. Fan turbine; 43. Turbine positioning frame; 44. Fan rocker frame; 45. Fan swing frame. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] Reference Figure 1-Figure 16 The present invention provides a flying aircraft skin grinding and polishing robot, comprising:

[0062] Rack 1;

[0063] The flight unit 2 is arranged on the top of the frame 1;

[0064] A telescopic grinding unit 4 is arranged at the bottom of the frame 1;

[0065] A plurality of auxiliary cleaning units 5 are arranged at the bottom of the frame 1 and located on one side of the telescopic polishing unit 4;

[0066] A plurality of lifting and lowering motion units 3 are arranged around the frame 1. A first adsorption mechanism 22 is arranged on the lifting and lowering motion unit 3. The first adsorption mechanism 22 is used to be adsorbed on the aircraft skin. The lifting and lowering motion unit 3 can drive the first adsorption mechanism 22 to rotate and position at any angle.

[0067] The control and communication unit 6 is disposed on the frame 1 , and is connected to the flight unit 2 , the telescopic polishing unit 4 , a plurality of auxiliary cleaning units 5 and a plurality of take-off and landing motion units 3 .

[0068] By setting up the flying unit 2, it is convenient for high-altitude operations and transporting the entire machine from a distribution center to a large aircraft to be polished and polished, the polishing machine can be quickly put into place to reduce costs. The lifting and landing motion unit 3 is used to drive the first adsorption mechanism 22 to rotate and position at any angle and cooperate with the adsorption fixing method of the first adsorption mechanism 22 to achieve self-driven climbing, reduce the labor intensity of workers, and enhance the stability of polishing. The telescopic polishing unit 4 can be fixed at any angle to perform envelope polishing on the aircraft skin, which can achieve the requirements of polishing and polishing operations without dead angles for the entire skin profile. The operation is simple and the polishing operation efficiency is high.

[0069] In one embodiment of the present invention, the flight control system in the control and communication unit 6 is based on the ESP32 single-chip microcomputer, and according to the characteristics of each sensor, GPS control and attitude control are superimposed to perform PID control of the motor of the flight unit 2.

[0070] In one embodiment of the present invention, the frame 1 is a completely symmetrical structure, with a first mounting position 7 provided in the middle of the top for mounting the flight unit 2, second mounting positions 10 provided on both sides of the frame 1 for mounting the landing motion unit 3, and positioning holes 9 provided at the bottom for mounting the bottom cover.

[0071] Furthermore, the rack 1 is provided with a third mounting position 11 for mounting a custom robot arm.

[0072] In one embodiment of the present invention, the lifting and lowering motion unit 3 comprises:

[0073] A bevel gear transmission box 24 is arranged on the frame 1;

[0074] The first motor 23 is disposed on the bevel gear transmission box 24, and the first motor 23 is connected to the internal gear of the bevel gear transmission box 24;

[0075] The open-chain mechanical arm 21 has one end connected to the internal gear of the bevel gear transmission box 24 , and the other end connected to the first adsorption mechanism 22 .

[0076] The open-chain robot arm 21 includes a transverse hip joint, a pitch hip joint, a knee joint and an ankle joint. The power of the first motor 23 is transmitted to the transverse hip joint through a bevel gear transmission box 24 to rotate it. The other end of the transverse hip joint is connected to the pitch hip joint by a bolt to adjust the movement posture. The driving mode is a servo motor. The knee joint is driven by a stepper motor and connects the thigh and calf connecting rods to adjust the position of the robot body. The ankle joint adopts a ball and pin mechanism, which enables the foot to rotate at multiple angles in space. The first adsorption mechanism 22 is efficiently adsorbed during climbing, ensuring the stability of the overall mechanism. The foot sensor is used for coordinate positioning of the working area.

[0077] In one embodiment of the present invention, a damping spring 25 is provided between the open-chain robot arm 21 and the first adsorption mechanism 22 .

[0078] The damping spring 25 can reduce the impact and vibration during take-off and landing, and plays the role of a flight landing gear.

[0079] In one embodiment of the present invention, the first adsorption mechanism 22 includes:

[0080] The soft suction cup cavity 36 is connected to the lifting and lowering motion unit 3;

[0081] The fish soft sucker 34 is connected to the soft sucker cavity 36;

[0082] Iris mechanism rotary door 35, arranged at Inside the fish soft suction cup 34.

[0083] The fish soft sucker 34 is provided with an eighth mounting position 37 so that The fish soft suction cup 34, the iris mechanism rotary door 35 and the soft suction cup cavity 36 cooperate to form a whole.

[0084] The opening and closing of the iris mechanism rotary door 35 simulates the contraction of muscles, reduces the volume inside the soft suction cup cavity 36, and thus forms a negative pressure inside the soft suction cup cavity 36. The surface of a fish sucker usually has some tiny bumps or textures, creating a The fish soft suction cup 34 increases the friction between the suction cup and the target surface of the aircraft skin. Even on relatively complex surfaces, these protrusions can provide additional grip to ensure the stability of grinding and climbing.

[0085] In one embodiment of the present invention, the flight unit 2 comprises:

[0086] The body 14 is arranged on the top of the frame 1;

[0087] A power supply compartment 18 is disposed at the bottom of the body 14;

[0088] A sensor 16 is disposed on the body 14;

[0089] Communication equipment 17, arranged on the body 14;

[0090] A plurality of wing shafts 19 are rotatably connected to the fuselage 14 , and a second motor 20 is fixedly connected to the wing shaft 19 . The output shaft of the second motor 20 is perpendicular to the wing shaft 19 , and the output shaft of the second motor 20 is fixedly connected to the lifting wing 15 .

[0091] When turning, the wing shaft 19 controls the lift wing 15 to rotate, thereby changing the flying position. The fuselage 14 is equipped with a sensor 16, a communication device 17, and a power supply compartment 18, which are installed on the fuselage 14 and connected to the communication device 17 to realize the path planning and detection of flight and climbing.

[0092] In one embodiment of the present invention, the telescopic grinding unit 4 comprises:

[0093] A third motor 26 is disposed on the frame 1;

[0094] A plurality of telescopic members are arranged on the frame 1, and a grinding head 30 is arranged at the output end of the telescopic member;

[0095] The gear set 31 is transmission-connected between the third motor 26 and the plurality of grinding heads 30 .

[0096] Further, the gear set 31 includes a driving gear, a plurality of driven gears and a plurality of free gears;

[0097] Furthermore, the telescopic member includes a telescopic guide rod 29 , a hydraulic cylinder 27 and a hydraulic lock 28 .

[0098] The driving gear is connected to the output shaft of the third motor 26, the driving gear is meshed with the driven gear, and the multiple driven gears are connected to the multiple hydraulic cylinders 27 in a one-to-one correspondence. Specifically, the hydraulic cylinder 27 is connected to the driven gear through a key, and the hydraulic cylinder 27 is rotatably connected to the frame 1. The multiple telescopic guide rods 29 are connected to the multiple grinding heads 30 in a one-to-one correspondence. Then, the third motor 26 drives the hydraulic cylinder, the telescopic guide rod, and the grinding head to rotate as a whole through the driving gear and the driven gear to achieve the grinding operation. The grinding heads with different hardness and roughness and the position distribution of the grinding heads can be adjusted according to the application scenarios. The free gear is rotatably connected to the frame 1 through the rotating shaft and meshes with the driving gear. The free gear is the prime mover for users to match other customized mechanisms to enhance user experience and universality.

[0099] The grinding head 30 is driven to rotate by the gear set 31 to achieve the grinding operation.

[0100] The lifting and lowering is controlled by the telescopic guide rod 29, and the hydraulic pressure is provided by the liquid in the hydraulic cylinder 27. The stability of grinding and polishing is increased by the action of the hydraulic lock 28. The grinding head 30 is hinged to the telescopic guide rod, and the feedback from the control and communication unit 6 is used to control the lifting and lowering of the grinding disc position and the grinding force and speed in real time.

[0101] Furthermore, the multiple grinding heads 30 are respectively flexible monitoring grinding heads or traditional grinding heads.

[0102] In one embodiment of the present invention, a second adsorption mechanism 33 is disposed at the bottom of the frame 1 .

[0103] The bottom cover is also provided with a fourth mounting position 8 for mounting a second adsorption mechanism 33. The second adsorption mechanism 33 has the same structure as the first adsorption mechanism 22 and is used for positioning and fixing in the early stage of work.

[0104] Furthermore, a seventh mounting position 32 is provided on the bottom cover for mounting the auxiliary cleaning unit 5 .

[0105] In one embodiment of the present invention, the auxiliary cleaning unit 5 comprises:

[0106] A protective shell 38 is disposed on the frame 1;

[0107] The fourth motor 40 is disposed in the protective shell 38;

[0108] A dust collecting brush 41 connected to an output shaft of the fourth motor 40;

[0109] The dust suction channel 39 is disposed on the protective shell 38 , and the dust suction channel 39 is connected to the dust suction brush 41 .

[0110] During the grinding process, the fourth motor 40 rotates to generate airflow negative pressure suction, and the grinding dust is cleaned with the assistance of the dust suction brush 41 and collected through the dust suction channel 39 to prevent the dust from entering the air and affecting the environment.

[0111] In one embodiment of the present invention, a fan swing frame 45 is further included, which is arranged on the frame 1 and located on one side of the auxiliary cleaning unit 5. The fan swing frame 45 is rotatably connected to a fan cradle 44, the fan cradle 44 is fixedly connected to a turbine positioning frame 43, and the turbine positioning frame 43 is equipped with a fan turbine 42.

[0112] The fan cradle 44 and the fan swing frame 45 can rotate in multiple postures to control the direction of the airflow and assist the dust collection brush 41 in completing dust collection or cleaning.

[0113] Furthermore, a sixth mounting position 13 is provided at the rear of the frame 1 for mounting a dust suction channel 39 to allow waste to enter and exit.

[0114] In one embodiment of the present invention, a monitoring and detection device is provided on the rack 1 .

[0115] Furthermore, the rack 1 is provided with a fifth installation position 12 for installing monitoring and detection equipment.

[0116] Working steps:

[0117] Step 1: The flight unit 2 receives the task information issued by the control and communication unit 6, wherein the task information includes the task target, task items, task address and task time. The master control and communication unit can accept manual direct input and network information and can remotely control the flight unit 2, the landing and take-off unit 3, the telescopic polishing unit 4 and the auxiliary cleaning unit 5.

[0118] Step 2: According to the task items, the control and communication unit 6 independently configures the flight unit 2, the take-off and landing motion unit 3, the telescopic grinding unit 4 and the auxiliary cleaning unit 5, that is, configures the grinding and polishing system in a targeted manner.

[0119] Step 3: After the configuration is completed, the flight unit 2 flies to the mission address according to the mission requirements, and at the same time hovers to configure the take-off and landing motion unit 3, the telescopic polishing unit 4 and the auxiliary cleaning unit 5.

[0120] Step 4, the lifting and lowering motion unit 3 and the telescopic polishing unit 4 perform operations such as climbing, fixing, polishing, etc. on the task target according to the task items. The fixing includes the fixing of the first adsorption mechanism 22 and the second adsorption mechanism 33, and the polishing includes flexibility or rigidity.

[0121] Furthermore, the telescopic grinding unit 4 and the auxiliary cleaning unit 5 of the present application perform grinding and polishing operations on the task target according to the task items, specifically:

[0122] Step 4.1, the control and communication unit 6 formulates grinding and polishing parameters according to the task items, specifically, through detection, formulates grinding and polishing parameters; the detection includes machine vision detection and sensor detection, etc.;

[0123] Step 4.2, the telescopic grinding unit 4 and the auxiliary cleaning unit 5 perform grinding, polishing and post-processing on the task target according to the process route, specifically: through the telescopic grinding unit 4, relying on the flight unit 2 and the take-off and landing motion unit 3, the grinding and polishing processing task is completed. The telescopic grinding unit 4 includes one or more process functions, such as mechanical grinding and polishing, chemical polishing, electrolytic polishing, jet polishing, ultrasonic polishing, magnetic grinding polishing, etc.

[0124] Step 5: After the auxiliary cleaning unit 5 completes the operation, the completion status of the task items is evaluated on-site at the task target and the evaluation results are sent to the control and communication unit 6: the evaluation results need to be stored; the control and communication unit 6 determines whether the evaluation results are qualified, and if so, sends a return message to the flight unit 2: the flight unit 2 retracts the landing and take-off motion unit 3, telescopic polishing unit 4 and auxiliary cleaning unit 5 configured thereon, and autonomously returns to the waiting work area according to the path planning system.

[0125] Furthermore, after the configured flight unit 2 flies to the mission address according to the mission time, it also includes:

[0126] Step 3→4, the flight unit 4 hovers around the work area for guided positioning, and the landing and moving unit 3, the telescopic grinding unit 4 and the auxiliary cleaning unit 5 are all adjusted to a quasi-working state; the quasi-working state is hovering to the task address or parking according to the terrain of the task address, specifically: after the flight unit 2 arrives at the construction site, the flight unit 2 undergoes appropriate changes, and the landing and moving unit 3 implements in-situ positioning, landing and fixing or landing and fixing and climbing work, and the appropriate changes include the extension and support of the workstation under the support of the flight unit 2 itself, and the conversion of the telescopic grinding unit 4 and the auxiliary cleaning unit 5 from the dense transportation state to the quasi-working state: positioning and clamping include positioning and clamping forms based on terrain and directly hovering in the air. The positioning and clamping form based on terrain uses the first adsorption mechanism 22 and the second adsorption mechanism 33 that can flexibly adapt to the undulations of the terrain, and controls the opening and closing of the first adsorption mechanism 22 and the second adsorption mechanism 33 to change the adsorption state; the positioning and clamping form of hovering in the air, in addition to single-machine hovering, also includes the hovering enhancement form of a multi-machine array, and the multiple machines can communicate with each other. After the flight unit, manufacturing unit and auxiliary unit are adjusted to the quasi-manufacturing state, enter step 4, that is, the landing and take-off motion unit 3, telescopic grinding unit 4 and auxiliary cleaning unit 5 perform grinding, polishing, cleaning or other surface treatment work on the task target according to the task items.

[0127] First working environment: When the present invention is used to grind and polish the skin surface of the aircraft window area, Fig.14 As shown, after receiving the working command of the control and communication unit 6, it flies to the sky above the porthole, locates the fault area through the monitoring and detection equipment, climbs and fixes through the first adsorption mechanism 22 on the lifting and landing motion unit 3, uses the telescopic grinding unit 4 to grind and polish the working area and perform surface treatment, and finally the auxiliary cleaning unit 5 adsorbs the grinding debris into the flow channel, and finally detects the working area to complete the task. The feedback device sends the information of the completion of the task to the control and communication unit 6. Specifically, the grinding and polishing process includes the control of the telescopic guide rod 29 by the hydraulic cylinder 27, the stability of the system by the hydraulic lock 28; and the speed regulation of the grinding head 30 by the third motor 26.

[0128] Second working environment: When the present invention is used to polish the wings of an aircraft, Fig.15 As shown, the telescopic grinding unit 4 is a small grinding head 30. After the UAV hovers in multiple working areas for guidance and positioning, the first adsorption mechanism 22 has the characteristics of efficient adsorption and high flexibility, so that it can be stably fixed on the complex wing surface. After grinding a working area, it can rely on the flexible take-off and landing motion unit 3 to climb freely on the wing surface, and grind and polish the wing skin without dead angles.

[0129] The third working environment: When the present invention is used to polish the wear of a service aircraft by a multi-robot array, such as Fig.16As shown, through the control and communication unit 6, the robots can communicate with each other in Ad Hoc communication mode, plan the path and work, and improve work efficiency and work robustness. The specific working method is: when arriving above the aircraft to be polished, the control and communication unit 6 makes a decision and allocates tasks. After a single position completes the task, it can climb to the other positions to assist the other positions to continue to complete the task, and perform dynamic energy optimization. After completing the work, the robot array returns to the waiting work area to wait for the start of the next round of tasks.

[0130] 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.

[0131] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A flying aircraft skin grinding and polishing robot, characterized in that: include: Rack (1); A flight unit (2) is arranged on the top of the frame (1); A telescopic grinding unit (4) is arranged at the bottom of the frame (1); A plurality of auxiliary cleaning units (5) are arranged at the bottom of the frame (1) and located on one side of the telescopic polishing unit (4); A plurality of lifting and lowering motion units (3) are arranged around the frame (1); a first adsorption mechanism (22) is arranged on the lifting and lowering motion unit (3); the first adsorption mechanism (22) is used to be adsorbed on the aircraft skin; the lifting and lowering motion unit (3) can drive the first adsorption mechanism (22) to rotate and position at any angle; A control and communication unit (6) is arranged on the frame (1), and the control and communication unit (6) is connected to the flight unit (2), the telescopic polishing unit (4), a plurality of the auxiliary cleaning units (5), and a plurality of the lifting and lowering motion units (3).

2. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The lifting and lowering motion unit (3) comprises: A bevel gear transmission box (24) is arranged on the frame (1); A first motor (23) is arranged on the bevel gear transmission box (24), and the first motor (23) is connected to the internal gear of the bevel gear transmission box (24) by transmission; An open-chain mechanical arm (21) has one end connected to the internal gear of the bevel gear transmission box (24) and the other end connected to the first adsorption mechanism (22).

3. The flying aircraft skin grinding and polishing robot according to claim 2, characterized in that: A damping spring (25) is provided between the open-chain mechanical arm (21) and the first adsorption mechanism (22).

4. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The first adsorption mechanism (22) comprises: A soft suction cup cavity (36) connected to the lifting and lowering motion unit (3); A fish soft sucker (34), connected to the soft sucker cavity (36); The iris mechanism revolving door (35) is arranged on the Inside the fish soft sucker (34).

5. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The flight unit (2) comprises: A body (14) is arranged on the top of the frame (1); A power supply compartment (18), arranged at the bottom of the body (14); A sensor (16) is arranged on the body (14); A communication device (17) is arranged on the body (14); A plurality of wing shafts (19) are rotatably connected to the fuselage (14) on all sides; a second motor (20) is fixedly connected to the wing shaft (19); an output shaft of the second motor (20) is perpendicular to the wing shaft (19); and the output shaft of the second motor (20) is fixedly connected to a lifting wing (15).

6. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The telescopic grinding unit (4) comprises: A third motor (26) is arranged on the frame (1); A plurality of telescopic members are arranged on the frame (1), and a grinding head (30) is arranged at the output end of the telescopic member; A gear set (31) is transmission-connected between the third motor (26) and the plurality of grinding heads (30).

7. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: A second adsorption mechanism (33) is provided at the bottom of the frame (1).

8. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The auxiliary cleaning unit (5) comprises: A protective shell (38) is arranged on the frame (1); a fourth motor (40) disposed in the protective shell (38); A dust suction brush (41) connected to the output shaft of the fourth motor (40); A dust suction flow channel (39) is arranged on the protective shell (38), and the dust suction flow channel (39) is connected to the dust suction brush (41).

9. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: It also comprises a fan swing frame (45) which is arranged on the frame (1) and located on one side of the auxiliary cleaning unit (5); the fan swing frame (45) is rotatably connected to a fan cradle (44); the fan cradle (44) is fixedly connected to a turbine positioning frame (43); and the turbine positioning frame (43) is equipped with a fan turbine (42).

10. The flying aircraft skin grinding and polishing robot according to claim 1, characterized in that: The frame (1) is provided with monitoring and detection equipment.

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