A flying aircraft skin grinding and polishing robot

Abstract

The present invention relates to the technical field of aircraft maintenance equipment, and discloses a flying aircraft skin grinding and polishing robot, comprising a frame; a flight unit is arranged on the top of the frame; a telescopic grinding unit is arranged at the bottom of the frame; a plurality of auxiliary cleaning units are arranged at the bottom of the frame, located on one side of the telescopic grinding unit; a plurality of lifting and landing motion units are arranged around the frame, and a first adsorption mechanism is provided on the lifting and landing motion unit, the first adsorption mechanism is used to be adsorbed on the aircraft skin, and the lifting and landing motion unit can drive the first adsorption mechanism to rotate and position at any angle; a control and communication unit is arranged on the frame, and the control and communication unit is connected to the flight unit, the telescopic grinding unit, the plurality of auxiliary cleaning units and the plurality of lifting and landing motion units. The present invention can realize self-driven climbing, reduce the labor intensity of workers, enhance the stability of grinding, and can realize the grinding and polishing operation requirements of the entire skin profile without dead angles, with simple operation and high grinding operation efficiency.

Description

Technical Field

[0001] The present 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 skins directly impacts the drag coefficient and vibration during flight, severely impacting the overall lifespan and economic benefits of the aircraft. Skin polishing effectively removes surface damage and rust, inhibits surface crack propagation, and slows the accumulation of surface fatigue. This significantly improves aircraft manufacturing precision and service life, enhances operational stability and safety, and reduces maintenance and operating costs.

[0003] Currently, the grinding and polishing of key components in the aerospace industry is still done manually, requiring high levels of skill and experience. The process itself is complex and requires little automation. Given the large surface area of ​​aircraft skins and the high polishing requirements, traditional manual polishing is time-consuming and labor-intensive, making it difficult to guarantee quality and efficiency.

[0004] Current grinding and polishing robots on the market still require manual transport to designated workstations, resulting in a low degree of automation, poor ergonomics, and poor safety. Currently, during the grinding process, manual assistance is also used to move the grinding machine around the work area, which is labor-intensive and inefficient. 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-mentioned 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 provided at the bottom of the frame;

[0010] A plurality of auxiliary cleaning units are provided 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, each of which is provided with a first adsorption mechanism, the first adsorption mechanism being used to be adsorbed on the aircraft skin, and the lifting and lowering motion units can drive the first adsorption mechanism to rotate and position at any angle;

[0012] A control and communication unit is provided on the frame, and is connected to the flight unit, the telescopic polishing unit, a plurality of the auxiliary cleaning units, and a plurality of the lifting and landing 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 provided 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 robotic 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 provided 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 remora soft sucker connected to the soft sucker cavity;

[0021] The iris mechanism swing door is arranged inside the remora soft sucker.

[0022] Optionally, the flight unit includes:

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

[0024] A power supply compartment is provided at the bottom of the fuselage;

[0025] A sensor is provided 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. The output shaft of the second motor is perpendicular to the wing shaft. The output shaft of the second motor is fixedly connected to the lifting wing.

[0028] Optionally, the telescopic grinding unit includes:

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

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

[0036] a dust collection 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 to the dust suction brush.

[0038] Optionally, a fan swing frame is further included, 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, 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 the ability to fix the telescopic polishing unit at any angle to perform envelope polishing on the aircraft skin, thereby achieving the requirement of polishing and polishing the entire skin profile without dead angles, simple operation, and high polishing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying 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 4 A 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 Schematic diagram of the structure 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 shrinking grinding unit of the present invention;

[0050] Figure 9 Schematic diagram of the structure of the first adsorption mechanism of the present invention;

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

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

[0053] Figure 12 is an assembly diagram of a fan turbine according to the present invention;

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

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

[0056] Figure 15 This is a schematic diagram of the working environment of the present invention;

[0057] Figure 16 This is a schematic diagram of the working environment of 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 mounting position; 8, fourth mounting position; 9, positioning hole; 10, second mounting position; 11, third mounting position; 12, fifth mounting position; 13, sixth mounting position; 14, fuselage; 15, lifting wing; 16, sensor; 17, communication equipment; 18, power supply compartment; 19, wing shaft; 20, second motor; 21, open chain robot arm; 22, first adsorption mechanism; 23, first 1st motor; 24. Bevel gear transmission box; 25. Damping spring; 26. 3rd motor; 27. Hydraulic cylinder; 28. Hydraulic lock; 29. ​​Telescopic guide rod; 30. Grinding head; 31. Gear set; 32. 7th mounting position; 33. 2nd adsorption mechanism; 34. Soft suction cup for remora; 35. Iris mechanism swing door; 36. Soft suction cup cavity; 37. 8th mounting position; 38. Protective shell; 39. Dust suction channel; 40. 4th motor; 41. Dust brush; 42. Fan turbine; 43. Turbine positioning bracket; 44. Fan cradle; 45. Fan swing bracket. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 Figures 1-16 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] The telescopic grinding unit 4 is arranged at the bottom of the frame 1;

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

[0066] Multiple lifting and lowering motion units 3 are arranged around the frame 1. The lifting and lowering motion units 3 are provided with first adsorption mechanisms 22. The first adsorption mechanisms 22 are used to be adsorbed on the aircraft skin. The lifting and lowering motion units 3 can drive the first adsorption mechanisms 22 to rotate and position at any angle.

[0067] The control and communication unit 6 is arranged on the frame 1 and is connected to the flight unit 2 , the telescopic polishing unit 4 , the plurality of auxiliary cleaning units 5 and the 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 the distribution center to the large aircraft to be polished, so that the polishing machine can be quickly put into place and the cost can be reduced. 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, enhance the stability of polishing, and realize that 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 without dead angles of the entire skin profile, simple operation and high polishing efficiency.

[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. 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 take-off and 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 robotic arm.

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

[0073] Bevel gear transmission box 24, arranged on the frame 1;

[0074] The first motor 23 is provided 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] One end of the open-chain robotic arm 21 is connected to the internal gear of the bevel gear transmission box 24 , and the other end is connected to the first adsorption mechanism 22 .

[0076] The open-chain robotic 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 the 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. When climbing, the first adsorption mechanism 22 is efficiently adsorbed to ensure 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 robotic 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 remora soft suction cup 34 is connected to the soft suction cup cavity 36;

[0082] The iris mechanism rotary door 35 is arranged inside the remora soft suction cup 34.

[0083] An eighth mounting position 37 is provided on the remora soft suction cup 34 so that the remora 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's swing door 35 simulates muscle contraction, reducing the volume within the soft suction cup cavity 36 and creating negative pressure within the soft suction cup. The surface of a real remora sucker, manufactured through cutting or additive manufacturing, typically features small protrusions or textures. This creates the soft remora sucker 34, increasing friction between the sucker and the target surface of the aircraft skin. Even on relatively complex surfaces, these protrusions provide additional grip, ensuring stability during 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 provided at the bottom of the body 14;

[0088] a sensor 16 , disposed on the body 14 ;

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

[0090] Multiple wing shafts 19 are rotatably connected to the four sides of the fuselage 14 . 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 . 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 elevator wing 15 to rotate, thereby changing the flight position. The fuselage 14 is equipped with sensors 16, communication equipment 17, and power supply compartment 18. These are installed on the fuselage 14 and connected to the communication equipment 17 to realize flight and climbing path planning and detection.

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

[0093] The third motor 26 is provided on the frame 1;

[0094] A plurality of telescopic members are provided on the frame 1, and a grinding head 30 is provided 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] Furthermore, 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 multiple driven gears are connected to multiple hydraulic cylinders 27 in a one-to-one manner. 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. Multiple telescopic guide rods 29 are connected to multiple grinding heads 30 in a one-to-one manner. Then, the third motor 26 drives the hydraulic cylinder, telescopic guide rod, and grinding head to rotate as a whole through the driving gear and the driven gear to realize 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 requirements of the application scenario. 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, the hydraulic pressure is provided by the liquid in the hydraulic cylinder 27, and 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 wheel 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 provided at the bottom of the frame 1 .

[0103] The bottom cover is further 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 installation position 32 is provided on the bottom cover for installing 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 provided on the frame 1;

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

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

[0109] The dust suction flow channel 39 is provided on the protective shell 38 , and the dust suction flow 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 swing frame 44, and the fan swing frame 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 installing 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: Flight unit 2 receives mission information from control and communication unit 6, which includes mission objectives, mission items, mission address, and mission time. The master control and communication unit accepts both manual input and network information and can remotely control flight unit 2, landing and takeoff unit 3, telescopic polishing unit 4, and 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 climbing, fixing, polishing and other operations on the task target according to the task items. The fixing includes fixing 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 the grinding and polishing parameters according to the task items, specifically, the grinding and polishing parameters are formulated based on the inspection; the inspection includes machine vision inspection and sensor inspection, etc.;

[0123] In step 4.2, the telescopic grinding unit 4 and auxiliary cleaning unit 5 perform grinding, polishing, and post-processing on the target according to the process route. Specifically, the telescopic grinding unit 4, relying on the flight unit 2 and the take-off and landing motion unit 3, completes the grinding and polishing task. 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, and magnetic abrasive polishing.

[0124] Step 5: After the auxiliary cleaning unit 5 completes the operation, it evaluates the completion status of the task items on-site at the task target and sends the evaluation results 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. If so, it sends a return message to the flight unit 2: the flight unit 2 retracts the take-off and landing 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] In steps 3 to 4, the flight unit 2 hovers around the work area for guided positioning. The landing unit 3, telescopic sanding unit 4, and auxiliary cleaning unit 5 are all adjusted to a quasi-operating state. The quasi-operating state involves hovering at the task address or parking according to the terrain at the task address. Specifically, after the flight unit 2 arrives at the construction site, it undergoes appropriate changes, with the landing unit 3 performing in-situ positioning, landing, and securing, or landing and securing, climbing. These changes include extending and supporting the workstation under the support of the flight unit 2 itself, and transitioning the telescopic sanding unit 4 and auxiliary cleaning unit 5 from a dense transport state to a quasi-operating state. Positioning and clamping include terrain-dependent and direct hovering. Terrain-dependent positioning and clamping utilizes a first suction mechanism 22 and a second suction mechanism 33 that can flexibly adapt to the undulating terrain, controlling the opening and closing of the first suction mechanism 22 and the second suction mechanism 33 to change the suction state. Positioning and clamping in mid-air, in addition to single-unit hovering, also includes enhanced hovering for multiple units, enabling communication between the units. After the flight unit, manufacturing unit and auxiliary unit are adjusted to the quasi-manufacturing state, step 4 is entered, that is, the take-off and landing 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, Figure 14 As shown, after receiving a work command from the control and communication unit 6, the aircraft flies above the porthole, locates the faulty area using monitoring and detection equipment, climbs and secures itself via the first suction mechanism 22 on the lifting and landing motion unit 3, and uses the telescopic grinding unit 4 to grind and polish the work area and perform surface treatment. Finally, the auxiliary cleaning unit 5 absorbs the grinding debris into the flow channel. Finally, the work area is inspected, and the feedback device sends the task completion information to the control and communication unit 6. Specifically, the grinding and polishing process includes hydraulic cylinder 27 controlling telescopic guide rod 29, hydraulic lock 28 stabilizing the system, and third motor 26 regulating the speed of grinding head 30.

[0128] Second working environment: When the present invention is used to polish the wings of an aircraft, Figure 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, it is stably fixed on the complex wing surface through the efficient adsorption and high flexibility of the first adsorption mechanism 22. 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 the aircraft in service by a multi-robot array, Figure 16 As shown, through the control and communication unit 6, the robots can communicate with each other using an ad hoc communication mode, planning their routes and tasks, improving work efficiency and robustness. Specifically, upon reaching the aircraft to be polished, the control and communication unit 6 makes a decision and allocates tasks. After completing a task at a single station, the robot can climb to other stations to assist them in completing their tasks, performing dynamic energy optimization. After completing their work, the robot array returns to the waiting area to await the start of the next round of tasks.

[0130] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0131] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined 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 provided 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 provided on the frame (1), and the control and communication unit (6) is connected to the flight unit (2), the telescopic polishing unit (4), the plurality of auxiliary cleaning units (5), and the plurality of take-off and landing motion units (3); The first adsorption mechanism (22) comprises: A soft suction cup cavity (36) connected to the lifting and lowering motion unit (3); A remora soft sucker (34) connected to the soft sucker cavity (36); An iris mechanism rotary door (35) is arranged inside the remora soft sucker (34); The telescopic grinding unit (4) comprises: a third motor (26) disposed on the frame (1); A plurality of telescopic members are arranged on the frame (1), and a grinding head (30) is provided at the output end of the telescopic member; a gear set (31) drivingly connected between the third motor (26) and the plurality of grinding heads (30); A second adsorption mechanism (33) is provided at the bottom of the frame (1); The auxiliary cleaning unit (5) comprises: A protective shell (38) is arranged on the frame (1); a fourth motor (40) disposed in the protective housing (38); A dust collection brush (41) connected to the output shaft of the fourth motor (40); A dust suction flow channel (39) is provided on the protective shell (38), and the dust suction flow channel (39) is connected to the dust suction brush (41); The invention also includes a fan swing frame (45) which is arranged on the frame (1) and is 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).

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 provided 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); 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 flight unit (2) comprises: A body (14) is arranged on top of the frame (1); A power supply compartment (18) is provided at the bottom of the body (14); A sensor (16) is provided on the body (14); A communication device (17) is provided on the body (14); A plurality of wing shafts (19) are rotatably connected to the periphery of the fuselage (14); 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 the lifting wing (15).

5. 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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