Modularized tensioning-adjustable aero-engine blade detection robot

Abstract

The invention discloses a modularized tensioning-adjustable aero-engine blade detection robot, and relates to the technical field of robots. The continuum is convenient to replace, the high-precision requirement can be met, the good stability is achieved, and the detection requirements of different scenes can be met. The robot comprises a mounting frame, a plurality of motor driving mechanisms, a plurality of first driving ropes, a plurality of second driving ropes and a continuum, the plurality of motor driving mechanisms are connected to the mounting frame and are uniformly distributed in the circumferential direction; the first ends of the first driving ropes are connected to the corresponding motor driving mechanisms, and the second ends of the first driving ropes penetrate through the tensioning mechanisms and then are connected with the first ends of the second driving ropes through the rope quick connecting mechanisms. The second end of the second driving rope is connected with the continuum. The performance of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a modular, tension-adjustable aero-engine blade inspection robot. Background Art

[0002] As one of the core components of aircraft engines, aircraft engine blades face harsh conditions such as high temperature, pressure and vibration in extreme working environments. Therefore, they are very prone to cracks, corrosion, wear and other problems, which seriously affect the operating performance and safety of the engine. In order to ensure the efficient operation and safety of the engine, regular inspection of the blades is particularly important.

[0003] Traditional blade inspection methods usually rely on manual inspection or inspection systems based on large mechanical equipment. Although these methods are effective in some applications, they often cannot meet the needs of precision inspection on complex surfaces or in small spaces due to their large size, low flexibility and lack of adaptability to complex environments. In addition, traditional inspection methods have low detection accuracy and are greatly affected by manual operation errors, so they cannot meet the high requirements of modern aircraft engines for blade inspection accuracy and reliability.

[0004] At present, there are some aviation engine blade inspection systems based on robot technology. They usually adopt rigid or semi-rigid structures. Although they can improve the inspection efficiency to a certain extent, there are still problems such as inconvenience in replacing continua, difficulty in achieving high-precision requirements and poor stability. Summary of the invention

[0005] The embodiments of the present application provide a modular, tension-adjustable aircraft engine blade inspection robot, which is not only easy to replace the continuum, but also can meet high-precision requirements and has good stability, and can adapt to the inspection needs of different scenarios.

[0006] To achieve the above-mentioned objectives, an embodiment of the present application provides a modular tension-adjustable aircraft engine blade inspection robot, comprising a mounting frame, multiple motor drive mechanisms, multiple first drive ropes, multiple second drive ropes and a continuum; the multiple motor drive mechanisms are all connected to the mounting frame and are evenly distributed along the circumferential direction; the first ends of the multiple first drive ropes are connected to the corresponding motor drive mechanisms, and the second ends pass through the tensioning mechanism and are connected to the first ends of the second drive ropes through a rope quick-connect mechanism; the second ends of the second drive ropes are connected to the continuum.

[0007] Furthermore, the rope quick-connect mechanism includes a male head and a female head; the male head is a cylinder; a male tenon is provided on the outer circumferential surface of the male head; the female head is also a cylinder; the interior of the female head is axially arranged in sequence to the plug-in hole and the annular groove; a mortise groove penetrating along the axial direction is provided on the hole wall of the plug-in hole; a tenon groove is also provided inside the female head; a part of the tenon groove is provided on the hole wall of the plug-in hole, and the other part is provided on the hole wall of the annular groove; the sizes of the mortise groove and the tenon groove are both adapted to the male tenon.

[0008] Furthermore, the tensioning mechanism includes an outer shell and a first tensioning mechanism and a second tensioning mechanism arranged in the outer shell; the first tensioning mechanism includes a tensioning spring box, a tensioning guide wheel, a tensioning spring, a tensioning spring shaft, a tensioning wheel shaft and a tensioning nut; the tensioning spring box is connected to the outer shell; the tensioning guide wheel is located on the side of the tensioning spring box and is slidably connected to the outer shell through the tensioning wheel shaft; one end of the tensioning spring shaft is connected to the inner wall of the tensioning spring box, and the other end is connected to the outer shell after extending out of the tensioning spring box; the tensioning spring is sleeved on the tensioning spring shaft, and the two ends of the tensioning spring are respectively connected to the tensioning spring box and the tensioning wheel shaft; the tensioning nut is located outside the outer shell and is threadedly connected to the end of the tensioning wheel shaft; the second tensioning mechanism is located below the first tensioning mechanism and is opposite to the setting direction of the first tensioning mechanism.

[0009] Furthermore, two opposite side walls of the shell are provided with sliding grooves extending in the horizontal direction, and two ends of the tensioning wheel shaft are mounted on the corresponding sliding grooves and can slide along the sliding grooves.

[0010] Furthermore, the continuum includes an end effector, a single-degree-of-freedom continuum and an adsorbable continuum; the end effector is connected to the adsorbable continuum.

[0011] Furthermore, the single-degree-of-freedom continuum includes a plurality of first connection disks connected by alloy wires; two first tenons are provided on the upper surface of the first connection disk, and two first mortises matched with the first tenons are provided on the lower surface; the two first tenons and the two first mortises are symmetrically arranged relative to the axis of the first connection disk, and the first mortises are located below the corresponding first tenons; the upper surface of the first connection disk is a chamfered surface symmetrically arranged relative to the axis of the first connection disk; a first rope threading hole group for two second drive ropes to pass through is provided on the first connection disk; the adsorbable continuum includes a plurality of joints, two adjacent The joints are connected by adsorbable units or quick-connect connection plates; the joints include multiple second connection plates connected by alloy wires; two second tenons are provided on the upper surface of the second connection plate, and two second mortises matched with the second tenons are provided on the lower surface; the two second tenons and the two second mortises are symmetrically arranged relative to the axis of the second connection plate, and the center line of the second tenon and the center line of the second mortise are perpendicular to each other; the upper surface and the lower surface of the second connection plate are both chamfered surfaces symmetrically arranged relative to the axis of the second connection plate; the second connection plate is provided with multiple groups of second rope threading holes for the remaining second drive ropes to pass through.

[0012] Furthermore, the adsorbable unit includes a disc body, a hose connecting disc and a plurality of suction cups; the hose connecting disc is arranged in the disc body; the plurality of suction cups are evenly distributed on the side wall of the disc body along the circumferential direction; a plurality of air holes are arranged in the hose connecting disc, and the number of the air holes is the same as the number of the suction cups; the upper ends of the air holes are connected with the corresponding suction cups, and the lower ends are connected to the air pump through air pipelines; two third tenons are arranged on the upper surface of the disc body of the adsorbable unit, and two third mortises are arranged on the lower surface; the structure of the third tenon is the same as that of the second tenon; the structure of the third mortise is the same as that of the second mortise; the upper surface of the disc body of the adsorbable unit is an oblique section symmetrically arranged relative to the axis of the disc body; a plurality of groups of third rope threading holes for the remaining second driving ropes to pass through are arranged on the disc body of the adsorbable unit.

[0013] Furthermore, the motor drive mechanism includes a servo motor, a screw-nut assembly and a guide rod; the screw-nut assembly includes a nut slider and a screw; the screw is connected to the output end of the servo motor, and both ends of the screw are connected to the mounting frame through nut seats; the guide rod is arranged between the two nut seats; the nut slider is provided with a guide hole for the guide rod to pass through and a drive rope connecting portion for connecting the first drive rope; the air pump is arranged on the mounting frame.

[0014] Furthermore, the mounting frame includes a first circular mounting plate, a second circular mounting plate and a third circular mounting plate which are arranged in sequence; the first circular mounting plate, the second circular mounting plate and the third circular mounting plate are all arranged in the vertical direction; there are six motor drive mechanisms; the driving motor in the motor drive mechanism is connected to the first circular mounting plate, and the two nut seats are connected to the second circular mounting plate or the third circular mounting plate; a bowl-shaped cover is provided on the outer side of the third circular mounting plate; the bottoms of the second circular mounting plate and the third circular mounting plate are connected to the linear feed mechanism through a support platform.

[0015] Furthermore, the modular tension-adjustable aircraft engine blade inspection robot also includes a control unit; the control unit is connected to both the servo motor and the air pump; the control unit can control the servo motor and the air pump to start or stop synchronously, and control the servo motor to rotate forward and reverse.

[0016] Compared with the prior art, this application has the following beneficial effects:

[0017] 1. The rope quick-connect mechanism in the embodiment of the present application adopts a male-female mortise and tenon structure, which realizes the rapid disassembly and assembly of the continuum and the driving rope. The continuum can be replaced without changing other driving components, which greatly improves the maintenance efficiency.

[0018] 2. The tensioning mechanism in the embodiment of the present application adopts a combination of a movable pulley and a nut locking method, which not only supports the precise adjustment of the rope length, but also maintains the stability of the tensioning force during long-term use, and can adapt to the rope requirements of different scenarios.

[0019] 3. The single-degree-of-freedom continuum in the embodiment of the present application has high flexibility and can adapt to complex curved surface environments. The adsorption unit set in the adsorbable continuum can achieve stable attachment and improve task reliability.

[0020] 4. The control unit in the embodiment of the present application can control the servo motor and the air pump to start or stop synchronously, thereby realizing the coordinated work of the continuum movement and the adsorption operation, increasing the stiffness of the continuum, and ensuring the stability and accuracy of the robot in high vibration or complex curved surface environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the present application;

[0023] Figure 2This is a schematic diagram of the three-dimensional structure of the embodiment of the present application after removing a quarter of the bowl-shaped cover;

[0024] Figure 3 is a schematic diagram of the three-dimensional structure of the motor drive mechanism in the embodiment of the present application;

[0025] Figure 4 A schematic diagram of the three-dimensional structure of the tensioning mechanism in an embodiment of the present application at one angle;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the tensioning mechanism in the embodiment of the present application from another angle;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the tensioning mechanism in the embodiment of the present application after removing one side of the outer shell;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the rope quick connection mechanism in the embodiment of the present application;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the male plug in the embodiment of the present application;

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the female head in the embodiment of the present application;

[0031] Fig.10 is a cross-sectional view of a female connector in an embodiment of the present application;

[0032] Fig.11 This is a schematic diagram of the structure of a single-degree-of-freedom continuum in an embodiment of the present application;

[0033] Fig.12 This is a schematic diagram of the three-dimensional structure of the first connecting disk in the embodiment of the present application;

[0034] Fig.13 This is a schematic diagram of the three-dimensional structure of the adsorbable continuum in the embodiment of the present application;

[0035] Fig.14 This is a schematic diagram of the three-dimensional structure of the second connecting disk in the embodiment of the present application;

[0036] Fig.15 This is a schematic diagram of the three-dimensional structure of the adsorbable unit in the embodiment of the present application;

[0037] Fig.16 It is a front cross-sectional view of the adsorbable unit in the embodiment of the present application. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "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 application and simplifying the description, 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 application.

[0040] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0042] Reference Figures 1 to 16 An embodiment of the present application provides a modular tension-adjustable aircraft engine blade inspection robot, comprising a mounting frame 1, six motor drive mechanisms 2, six first drive ropes 3, six tensioning mechanisms 4, six rope quick-connect mechanisms 5, six second drive ropes 6, a continuum 7, a linear feed mechanism 8 and a control unit.

[0043] Reference Figure 1 and Figure 2The mounting frame 1 includes a first circular mounting plate 11, a second circular mounting plate 12, a third circular mounting plate 13 and a support platform 14. The first circular mounting plate 11, the second circular mounting plate 12 and the third circular mounting plate 13 are all arranged in the vertical direction, and the first circular mounting plate 11 is located on the left side of the second circular mounting plate 12, the third circular mounting plate 13 is located on the right side of the second circular mounting plate 12, and a bowl-shaped cover 15 is provided on the outer side of the third circular mounting plate 13. The bottoms of the second circular mounting plate 12 and the third circular mounting plate 13 are connected to the linear feed mechanism 8 through the support platform 14. The linear feed mechanism 8 includes a linear motor 81 and a feed slider 82 connected to the output end of the linear motor 81, and the support platform 14 is connected to the feed slider 82.

[0044] Reference Figure 1 and Figure 3 , six motor drive mechanisms 2 are connected to the mounting frame 1 and are evenly distributed along the circumferential direction. The motor drive mechanism 2 includes a servo motor 21, a coupling 22, a lead screw nut assembly 23, a guide rod 24 and two nut seats 25. The servo motor 21 is connected to the mounting hole of the first circular mounting plate 11, and the two nut seats 25 are respectively connected to the mounting holes of the second circular mounting plate 12 and the third circular mounting plate 13.

[0045] The lead screw nut assembly 23 includes a nut slider 231 and a lead screw 232. The lead screw 232 is connected to the output end of the servo motor 21 through a coupling 22, and both ends of the lead screw 232 are supported on a nut seat 25. The guide rod 24 is mounted between the two nut seats 25, and the nut slider 231 is provided with a guide hole for the guide rod 24 to pass through and a drive rope connecting portion for connecting the first drive rope 3. The guide rod 24 can prevent the nut slider 231 from rotating. The first end of the first drive rope 3 is connected to the nut slider 231, and the second end passes through the tensioning mechanism 4 and is connected to the first end of the second drive rope 6 through the rope quick connection mechanism 5, and the second end of the second drive rope 6 is connected to the continuum 7.

[0046] The servo motor 21 drives the lead screw 232 to rotate through the coupling 22. Since the guide rod 24 limits the rotation of the nut slider 231, the nut slider 231 moves axially. The nut slider 231 is connected to the continuum 7 through the first drive rope 3 and the second drive rope 6, transmitting traction to achieve precise movement of the continuum 7.

[0047] Reference Figures 4 to 6 The tensioning mechanism 4 includes a housing 41 and a first drive rope tensioning mechanism and a second drive rope tensioning mechanism arranged in the housing 41. The housing 41 has only front, rear, left and right side walls, and is hollowed out at the top and bottom.

[0048] The first drive rope tensioning mechanism includes a spring box 42 , a tensioning guide wheel 43 , a tensioning spring 44 , a spring shaft 45 , a tensioning wheel shaft 46 and a tensioning nut 47 .

[0049] The spring box 42 is connected to the rear side wall of the housing 41. The tensioning guide wheel 43 is located on the right side of the spring box 42 and is slidably connected to the housing 41 through the tensioning wheel shaft 46. Specifically, the left end of the spring shaft 45 is connected to the inner wall of the spring box 42, and the right end is connected to the right side wall of the housing 41 after extending out of the spring box 42. The tensioning spring 44 is sleeved on the spring shaft 45, and the two ends of the tensioning spring 44 are respectively connected to the left side wall of the spring box 42 and the tensioning wheel shaft 46. The front and rear side walls of the housing 41 are both provided with a slide groove 411 extending in the horizontal direction, and the two ends of the tensioning wheel shaft 46 are mounted on the corresponding slide groove 411 and can slide left and right along the slide groove 411. The tensioning nut 47 is located outside the outer shell 41 and is threadedly connected to the end of the tensioning wheel shaft 46. After the tensioning guide wheel 43 and the tensioning spring 44 tension the first drive rope 3, the tensioning nut 47 is tightened. The friction force between the tensioning nut 47 and the outer shell 41 can be used to provide tensioning force to keep the first drive rope 3 taut.

[0050] The second drive rope tensioning mechanism has the same structure as the first drive rope tensioning mechanism. The second drive rope tensioning mechanism is located below the first drive rope tensioning mechanism and is opposite to the setting direction of the first drive rope tensioning mechanism, that is, the tensioning guide wheel in the second drive rope tensioning mechanism is located below the spring box 42 in the first drive rope tensioning mechanism, and the spring box in the second drive rope tensioning mechanism is located below the tensioning guide wheel 43 in the first drive rope tensioning mechanism. Therefore, the first drive rope 3 does not extend in the same direction after the two tensioning guide wheels are changed, and the adjustment range is larger. In addition, the bowl-shaped cover 15 installed on the outside of the third circular mounting plate 13 can provide protection for the tensioning mechanism 4 to prevent the tensioning nut 47 from being accidentally loosened.

[0051] Reference Figures 7 to 10 The rope quick-connect mechanism 5 includes a male head 51 and a female head 52. The male head 51 is a cylinder, and the second driving rope 6 is connected to the right end surface of the male head 51. Two male tenons 511 are arranged on the outer circumferential surface of the male head 51, and the two male tenons 511 are arranged near the left end of the male head 51 and symmetrically arranged relative to the axis of the cylinder, and the male tenons 511 are semi-cylindrical.

[0052] The female head 52 is also a cylinder, and the first drive rope 3 is connected to the left end face of the female head 52. The interior of the female head 52 is provided with a plug hole 521 and an annular groove 522 in sequence along the axial direction. The annular groove 522 is provided close to the first drive rope 3, and two mortise grooves 523 are provided on the hole wall of the plug hole 521. The two mortise grooves 523 are symmetrically provided with respect to the axis of the female head 52, and penetrate the plug hole 521 along the axial direction and communicate with the annular groove 522. Two tenon grooves 524 are also provided inside the female head 52, and the tenon grooves 524 are provided on the hole wall of the plug hole 521. The positions and sizes of the mortise grooves 523 and the tenon grooves 524 are adapted to the tenon 511. Thus, the male head 51 and the female head 52 are connected by the mortise and tenon structure. After the male tenon 511 is inserted into the mortise groove 523 of the female head, the male tenon 511 is rotated so that it rotates in the annular groove 522 until it is completely fitted with the tenon slot 524. Thus, the male tenon 511 and the tenon slot 524 are tightly connected to form a stable mechanical joint, which not only ensures the reliability of the rope connection, but also realizes the quick plug-in and locking of the male head 51 and the female head 52, facilitating modular operation.

[0053] Reference Figure 1 and Figure 2 The continuum 7 includes a single-degree-of-freedom continuum, an adsorbable continuum, and an end effector 75. The end effector 75 is connected to the adsorbable continuum. The single-degree-of-freedom continuum is driven by two of the second driving ropes 6, and the adsorbable continuum is driven by the remaining four second driving ropes 6.

[0054] Reference Fig.11 and Fig.12 The single-degree-of-freedom continuum includes a plurality of first connection disks 71 connected by alloy wires. Two first tenons 711 are provided on the upper surface of the first connection disk 71, and two first mortises 712 matched with the first tenons 711 are provided on the lower surface. The two first tenons 711 and the two first mortises 712 are symmetrically arranged relative to the axis of the first connection disk 71, and the first mortises 712 are located below the corresponding first tenons 711. The upper surface of the first connection disk 71 is a chamfered surface symmetrically arranged relative to the axis of the first connection disk 71. Twelve first rope threading holes 713 are provided on the first connection disk 71, of which two second drive ropes 6 pass through two of the first rope threading holes 713. The two first rope threading holes 713 are symmetrically arranged relative to the axis of the first connection disk 71. The two second drive ropes 6 pass through the first rope threading holes 713 of all the first connection disks 71, and their ends are connected to the first connection disk 71 located at the end.

[0055] The first connecting disk 71 is provided with four first threading holes 714 for passing the alloy wire. The four first threading holes 714 are evenly distributed along the circumference of the first connecting disk 71, and two of the first threading holes 714 respectively penetrate the corresponding first tenons 711. Specifically, the first threading holes 714 include a first vertical hole 715 and a first radial hole 716 that are interconnected. The alloy wire passes through the first threading holes 714 of two adjacent first connecting disks 71 to fasten the two first connecting disks 71. As a result, the first tenon 711 and the first mortise 712 enable the single-degree-of-freedom continuum to form multiple flexible units, ensuring that the second drive rope 6 smoothly transmits the tension through the first threading hole 713, and the first alloy wire hole 414 is used to insert high-strength alloy wire to enhance the mechanical properties of the flexible unit while retaining its bending characteristics.

[0056] Reference Fig.13 and Fig.14 The adsorbable continuum includes five joints, and two adjacent joints are connected by an adsorbable unit 73 or a quick-connect connection plate 74. Each joint includes a plurality of second connection plates 72 connected by alloy wires. Two second tenons 721 are provided on the upper surface of the second connection plate 72, and two second mortises 722 adapted to the second tenons 721 are provided on the lower surface. The two second tenons 721 and the two second mortises 722 are symmetrically arranged relative to the axis of the second connection plate 72, and the center line of the second tenon 721 and the center line of the second mortise 722 are perpendicular to each other.

[0057] The second connecting disk 72 is provided with four second threading holes 724 for passing the alloy wire. The four second threading holes 724 are evenly distributed along the circumference of the second connecting disk 72, and two of the second threading holes 724 respectively penetrate the corresponding second tenons 721. Specifically, the second threading holes 724 include a second vertical hole 725 and a second radial hole 726 that are interconnected. The second tenon 721 and the second mortise 722 enable the adsorbable continuum to also form a plurality of flexible units. The alloy wire passes through the second threading holes 724 of the two adjacent second connecting disks 72 to fasten the two second connecting disks 72. The second threading holes 724 are used to enhance the stability of the flexible unit, and the alloy wire can provide structural support for the adsorbable unit 73 in the working state to ensure a balance between flexibility and rigidity.

[0058] All the second connecting disks 72 are divided into three groups, each group is a section of the continuum. The second connecting disks 72 are provided with three groups of second threading holes for the second drive rope 6 to pass through. Each group of second threading holes includes four second threading holes 723 evenly distributed along the circumference of the second connecting disk 72, that is, there are a total of twelve threading holes on the second connecting disk 72, and each four centrally symmetrical holes form a group, which can drive a section of the adsorbable continuum. The remaining four second drive ropes 6 pass through the second threading holes 724 of the corresponding groups of second connecting disks 72, and their ends are connected to the second connecting disks 72 located at the ends.

[0059] It should be noted that no matter whether there is an adsorption unit 73 or a quick-connection plate 74 on the section of the continuum, the section is where the continuum turns, not where the adsorption unit 73 or the quick-connection plate 74 is located, that is, the second connection plate 72 in the same joint may not belong to the same section of the continuum.

[0060] The upper surface and the lower surface of the second connection disk 72 are both chamfered surfaces symmetrically arranged relative to the axis of the second connection disk 72, and the chamfered surface on the upper surface is a convex surface, and the chamfered surface on the lower surface is a concave surface. Thus, two adjacent second connection disks 72 form symmetrical chamfered surfaces, which can be physically locked after contacting each other, thereby limiting the movement of the continuum robot, so that the flexible part can be prevented from producing excessive yield deformation, and the joint end can have a larger load capacity.

[0061] Reference Figure 1 , the number of adsorbable units 73 is two, and the number of air pumps 9 is also two. Both air pumps 9 are connected to the first circular mounting plate 11, and the two air pumps 9 drive all the suction cups in a corresponding adsorbable unit 73. Fig.15 and Fig.16 The adsorbable unit 73 includes a disc body 731, a hose connection disc 732 and four suction cups 733. The hose connection disc 732 is arranged in the disc body 731, and the four suction cups 733 are evenly distributed on the side wall of the disc body 731 along the circumferential direction. The suction cup 733 is a silicone suction cup. Four air holes 734 are arranged in the hose connection disc 732. The upper end of the air hole 734 is connected to the corresponding suction cup 733 through a pipeline, and the lower end is provided with a hose quick connector 735, and the hose quick connector 735 is connected to the air pump 9 through an air pipeline.

[0062] Two third tenons 737 are provided on the upper surface of the disk body 731, and two third mortises 738 are provided on the lower surface. The structure of the third tenon 737 is the same as that of the second tenon 721, and the structure of the third mortise 738 is the same as that of the second mortise 722. The upper surface of the disk body 731 is a beveled surface symmetrically arranged relative to the axis of the disk body 731. Three groups of third rope threading holes 739 for the second drive rope 6 to pass through are provided on the disk body 731. The position and aperture of the third rope threading hole 739 are the same as those of the second rope threading hole 723. Each adsorbable unit 73 is connected to the main connecting disk 11 in the same section of the continuum through the same group of second drive ropes 6.

[0063] The control unit is connected to both the servo motor 21 and the air pump 9. The control unit can control the servo motor 21 and the air pump 9 to start or stop synchronously, and control the servo motor to rotate forward and reverse, so as to realize the coordinated work of the continuum movement and the adsorption operation, increase the rigidity of the continuum, and ensure the stability and accuracy of the robot in a high vibration or complex curved surface environment.

[0064] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A modular tension-adjustable aircraft engine blade inspection robot, characterized in that: It includes a mounting frame, multiple motor drive mechanisms, multiple first drive ropes, multiple second drive ropes and a continuum; the multiple motor drive mechanisms are all connected to the mounting frame and evenly distributed along the circumferential direction; the first ends of the multiple first drive ropes are connected to the corresponding motor drive mechanisms, and the second ends pass through the tensioning mechanism and are connected to the first ends of the second drive ropes through the rope quick connection mechanism; the second ends of the second drive ropes are connected to the continuum.

2. The modular tension-adjustable aircraft engine blade inspection robot according to claim 1 is characterized in that: The rope quick-connect mechanism includes a male head and a female head; the male head is a cylinder; a male tenon is arranged on the outer circumferential surface of the male head; the female head is also a cylinder; the interior of the female head is axially arranged to a plug-in hole and a ring groove in sequence; a mortise groove penetrating along the axial direction is arranged on the hole wall of the plug-in hole; a tenon groove is also arranged inside the female head; a part of the tenon groove is arranged on the hole wall of the plug-in hole, and the other part is arranged on the hole wall of the ring groove; the sizes of the mortise groove and the tenon groove are both adapted to the male tenon.

3. The modular tension-adjustable aircraft engine blade inspection robot according to claim 1 is characterized in that: The tensioning mechanism comprises a housing and a first tensioning mechanism and a second tensioning mechanism arranged in the housing; the first tensioning mechanism comprises a tensioning spring box, a tensioning guide wheel, a tensioning spring, a tensioning spring shaft, a tensioning wheel shaft and a tensioning nut; The tensioning spring box is connected to the outer shell; the tensioning guide wheel is located on the side of the tensioning spring box and is slidably connected to the outer shell through the tensioning wheel shaft; one end of the tensioning spring shaft is connected to the inner wall of the tensioning spring box, and the other end is connected to the outer shell after extending out of the tensioning spring box; the tensioning spring is sleeved on the tensioning spring shaft, and the two ends of the tensioning spring are respectively connected to the tensioning spring box and the tensioning wheel shaft; the tensioning nut is located outside the outer shell and is threadedly connected to the end of the tensioning wheel shaft; the second tensioning mechanism is located below the first tensioning mechanism and is opposite to the setting direction of the first tensioning mechanism.

4. The modular tension-adjustable aircraft engine blade inspection robot according to claim 3 is characterized in that: Two opposite side walls of the shell are provided with sliding grooves extending in the horizontal direction, and two ends of the tensioning wheel shaft are mounted on the corresponding sliding grooves and can slide along the sliding grooves.

5. The modular tension-adjustable aircraft engine blade inspection robot according to claim 4 is characterized in that: The continuum comprises an end effector, a single-degree-of-freedom continuum and an adsorbable continuum; the end effector is connected to the adsorbable continuum.

6. The modular tension-adjustable aircraft engine blade inspection robot according to claim 5, characterized in that: The single-degree-of-freedom continuum comprises a plurality of first connection disks connected by alloy wires; two first tenons are arranged on the upper surface of the first connection disk, and two first mortises matched with the first tenons are arranged on the lower surface; the two first tenons and the two first mortises are symmetrically arranged relative to the axis of the first connection disk, and the first mortises are located below the corresponding first tenons; the upper surface of the first connection disk is a chamfered surface symmetrically arranged relative to the axis of the first connection disk; the first connection disk is provided with a first rope threading hole group for two second drive ropes to pass through; The adsorbable continuum includes a plurality of joints, and two adjacent joints are connected by adsorbable units or quick-connect connection plates; the joints include a plurality of second connection plates connected by alloy wires; two second tenons are provided on the upper surface of the second connection plate, and two second mortises matched with the second tenons are provided on the lower surface; the two second tenons and the two second mortises are symmetrically arranged relative to the axis of the second connection plate, and the center line of the second tenon is perpendicular to the center line of the second mortise; the upper surface and the lower surface of the second connection plate are both chamfered surfaces symmetrically arranged relative to the axis of the second connection plate; and a plurality of groups of second rope threading holes for the remaining second drive ropes to pass through are provided on the second connection plate.

7. The modular tension-adjustable aircraft engine blade inspection robot according to claim 6, characterized in that: The adsorbable unit comprises a disc body, a hose connection disc and a plurality of suction cups; the hose connection disc is arranged in the disc body; the plurality of suction cups are evenly distributed on the side wall of the disc body along the circumferential direction; a plurality of air holes are arranged in the hose connection disc, and the number of the air holes is the same as the number of the suction cups; the upper end of the air hole is connected to the corresponding suction cup, and the lower end is connected to the air pump through the air pipeline; Two third tenons are provided on the upper surface of the disk body of the adsorbable unit, and two third mortises are provided on the lower surface; the structure of the third tenon is the same as that of the second tenon; the structure of the third mortise is the same as that of the second mortise; the upper surface of the disk body of the adsorbable unit is an oblique section symmetrically arranged relative to the axis of the disk body; the disk body of the adsorbable unit is provided with a plurality of groups of third rope threading holes for the remaining second drive ropes to pass through.

8. The modular tension-adjustable aircraft engine blade inspection robot according to claim 7, characterized in that: The motor drive mechanism includes a servo motor, a screw-nut assembly and a guide rod; the screw-nut assembly includes a nut slider and a screw; the screw is connected to the output end of the servo motor, and both ends of the screw are connected to the mounting frame through nut seats; the guide rod is arranged between the two nut seats; the nut slider is provided with a guide hole for the guide rod to pass through and a drive rope connecting part for connecting the first drive rope; the air pump is arranged on the mounting frame.

9. The modular tension-adjustable aircraft engine blade inspection robot according to claim 8, characterized in that: The mounting frame includes a first circular mounting plate, a second circular mounting plate and a third circular mounting plate which are arranged in sequence; the first circular mounting plate, the second circular mounting plate and the third circular mounting plate are all arranged in the vertical direction; there are six motor drive mechanisms; the driving motor in the motor drive mechanism is connected to the first circular mounting plate, and the two nut seats are connected to the second circular mounting plate or the third circular mounting plate; a bowl-shaped cover is provided on the outer side of the third circular mounting plate; the bottoms of the second circular mounting plate and the third circular mounting plate are connected to the linear feed mechanism through a support platform.

10. The modular tension-adjustable aircraft engine blade inspection robot according to claim 9, characterized in that: It also includes a control unit; the control unit is connected to the servo motor and the air pump; the control unit can control the servo motor and the air pump to start or stop synchronously, and control the servo motor to rotate forward and reverse.

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