Modular tension-adjustable aero-engine blade inspection robot

Abstract

The application discloses a modular tension-adjustable aero-engine blade detection robot, and relates to the technical field of robots. The robot is not only convenient to replace the continuum, but also can meet high-precision requirements and has good stability, and can adapt to detection requirements in different scenes. 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. First ends of the plurality of first driving ropes are connected to corresponding motor driving mechanisms, second ends of the plurality of first driving ropes pass through a tensioning mechanism and are connected to first ends of the plurality of second driving ropes through a rope quick connection mechanism. Second ends of the plurality of second driving ropes are connected to the continuum. The application is used for improving the performance of the robot.

Description

Technical Field

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

[0002] As one of the core components of an aircraft engine, aero-engine blades face harsh conditions such as high temperature, pressure, and vibration in extreme operating environments. Therefore, they are highly susceptible to problems such as cracking, corrosion, and wear, which seriously affect the engine's operational performance and safety. To ensure the efficient and safe operation of the engine, regular blade inspection is of paramount importance.

[0003] Traditional blade inspection methods typically rely on manual inspection or inspection systems based on large mechanical equipment. While these methods are effective in some applications, their large size, low flexibility, and insufficient adaptability to complex environments often fail to meet the demands for precision inspection on complex curved surfaces or in confined spaces. Furthermore, traditional inspection methods have low accuracy and are significantly affected by human error, thus failing to meet the high precision and reliability requirements of modern aero-engine blade inspection.

[0004] Currently, there are some aero-engine blade inspection systems based on robotics technology. These systems typically employ rigid or semi-rigid structures, which can improve inspection efficiency to some extent, but still suffer from problems such as inconvenience in replacing the continuum, difficulty in achieving high precision requirements, and poor stability. Summary of the Invention

[0005] The embodiments of this application provide a modular, tension-adjustable aero-engine blade inspection robot, which not only facilitates continuous body replacement but also meets high precision requirements and has good stability, adapting to inspection needs in different scenarios.

[0006] To achieve the above objectives, embodiments of this application provide a modular, tension-adjustable aero-engine blade inspection robot, comprising a mounting frame, multiple motor drive mechanisms, multiple first drive ropes, multiple second drive ropes, and a continuous body; the multiple motor drive mechanisms are all connected to the mounting frame and are evenly distributed circumferentially; 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 continuous body.

[0007] Furthermore, the rope quick-connect mechanism includes a male head and a female head; the male head is cylindrical; a male tenon is provided on the outer circumference of the male head; the female head is also cylindrical; the interior of the female head is provided with a insertion hole and an annular groove along the axial direction; a mortise groove is provided on the wall of the insertion hole along the axial direction; a tenon slot is also provided inside the female head; part of the tenon slot is provided on the wall of the insertion hole, and another part is provided on the wall of the annular groove; the dimensions of the mortise groove and the tenon slot are adapted to the male tenon.

[0008] Further, the tensioning mechanism includes a housing and a first tensioning mechanism and a second tensioning mechanism disposed within the housing; the first tensioning mechanism includes a tension spring box, a tension guide wheel, a tension spring, a tension spring shaft, a tension wheel shaft, and a tension nut; the tension spring box is connected to the housing; the tension guide wheel is located to the side of the tension spring box and is slidably connected to the housing via the tension wheel shaft; one end of the tension spring shaft is connected to the inner wall of the tension spring box, and the other end extends out of the tension spring box and is connected to the housing; the tension spring is sleeved on the tension spring shaft, and both ends of the tension spring are respectively connected to the tension spring box and the tension wheel shaft; the tension nut is located outside the housing and is threadedly connected to the end of the tension wheel shaft; the second tensioning mechanism is located below the first tensioning mechanism and is disposed in the opposite direction to the first tensioning mechanism.

[0009] Furthermore, horizontally extending grooves are provided on both opposite side walls of the housing, and the two ends of the tensioning wheel shaft are mounted on the corresponding grooves and can slide along the 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 multiple first connecting discs connected by alloy wires; the upper surface of the first connecting disc is provided with two first tenons, and the lower surface is provided with two first mortises adapted to the first tenons; the two first tenons and the two first mortises are symmetrically arranged with respect to the axis of the first connecting disc, and the first mortises are located below the corresponding first tenons; the upper surface of the first connecting disc is a beveled surface symmetrically arranged with respect to the axis of the first connecting disc; the first connecting disc is provided with a first rope-passing hole group for two of the second drive ropes to pass through; the adsorbable continuum includes multiple joints, two adjacent joints... The joints are connected by an adsorption unit or a quick-connecting disc; the joint includes multiple second connecting discs connected by alloy wires; the upper surface of the second connecting disc is provided with two second tenons, and the lower surface is provided with two second mortises that are adapted to the second tenons; the two second tenons and the two second mortises are symmetrically arranged with respect to the axis of the second connecting disc, and the center line of the second tenon is perpendicular to the center line of the second mortis; the upper and lower surfaces of the second connecting disc are both oblique cut surfaces symmetrically arranged with respect to the axis of the second connecting disc; the second connecting disc is provided with multiple sets of second rope holes for the other second drive ropes to pass through.

[0012] Furthermore, the adsorption unit includes a disc body, a hose connection disc, and multiple suction cups; the hose connection disc is disposed within the disc body; the multiple suction cups are evenly distributed circumferentially on the side wall of the disc body; the hose connection disc has multiple air holes, the number of which is the same as the number of suction cups; the upper end of each air hole communicates with the corresponding suction cup, and the lower end is connected to an air pump via an air pipeline; the upper surface of the disc body of the adsorption unit has two third tenons, and the lower surface has two third mortises; the structure of the third tenons is the same as the structure of the second tenons; the structure of the third mortises is the same as the structure of the second mortises; the upper surface of the disc body of the adsorption unit is a symmetrically arranged oblique section relative to the axis of the disc body; the disc body of the adsorption unit has multiple sets of third rope-passing holes for the remaining second drive ropes to pass through.

[0013] Furthermore, the motor drive mechanism includes a servo motor, a lead screw and nut assembly, and a guide rod; the lead screw and nut assembly includes a nut slider and a lead screw; the lead screw is connected to the output end of the servo motor, and both ends of the lead screw are connected to the mounting frame through nut seats; the guide rod is disposed between two nut seats; the nut slider is provided with a guide hole for the guide rod to pass through and a drive rope connection part for connecting the first drive rope; the air pump is disposed 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 arranged sequentially; the first circular mounting plate, the second circular mounting plate, and the third circular mounting plate are all arranged vertically; there are six motor drive mechanisms; the drive motors in the motor drive mechanisms are 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 both connected to the linear feed mechanism through a support platform.

[0015] Furthermore, the modular, tension-adjustable aero-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 backward.

[0016] This application has the following advantages over the prior art:

[0017] 1. The rope quick-connect mechanism in this embodiment adopts a male and female tenon and mortise structure, which realizes quick assembly and disassembly of the continuous body and the drive rope. The continuous body can be replaced without modifying other drive components, which greatly improves maintenance efficiency.

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

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

[0020] 4. The control unit in this embodiment can control the servo motor and the air pump to start or stop synchronously, thereby realizing the coordinated work of continuous body motion and adsorption operation, increasing the stiffness of the continuous body, and ensuring the stability and accuracy of the robot in high vibration or complex curved surface environments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of an embodiment of this application;

[0023] Figure 2This is a three-dimensional structural diagram of an embodiment of this application after removing the quarter-bowl cover;

[0024] Figure 3 This is a three-dimensional structural diagram of the motor drive mechanism in the embodiments of this application;

[0025] Figure 4 This is a three-dimensional structural diagram of the tensioning mechanism in one of the embodiments of this application;

[0026] Figure 5 This is a three-dimensional structural diagram of the tensioning mechanism in the embodiments of this application from another angle;

[0027] Figure 6 This is a three-dimensional structural diagram of the tensioning mechanism in the embodiments of this application after removing one of the outer shells;

[0028] Figure 7 This is a three-dimensional structural diagram of the rope quick-connect mechanism in the embodiments of this application;

[0029] Figure 8 This is a three-dimensional structural diagram of the male connector in an embodiment of this application;

[0030] Figure 9 This is a three-dimensional structural diagram of the female head in an embodiment of this application;

[0031] Figure 10 This is a cross-sectional view of the female head in an embodiment of this application;

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

[0033] Figure 12 This is a three-dimensional structural diagram of the first connecting disk in an embodiment of this application;

[0034] Figure 13 This is a schematic diagram of the three-dimensional structure of the adsorbable continuum in the embodiments of this application;

[0035] Figure 14 This is a three-dimensional structural diagram of the second connecting disk in an embodiment of this application;

[0036] Figure 15 This is a three-dimensional structural diagram of the adsorbable unit in the embodiments of this application;

[0037] Figure 16 This is a front cross-sectional view of the adsorbable unit in the embodiments of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connection, detachable connection, or integral connection; for those skilled in the art, the specific meaning 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 construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] Reference Figures 1 to 16 The embodiments of this application provide a modular tension-adjustable aero-engine blade inspection robot, including 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 vertically, with the first circular mounting plate 11 located to the left of the second circular mounting plate 12 and the third circular mounting plate 13 located to the right of the second circular mounting plate 12. 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 both connected to the linear feed mechanism 8 via 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. The support platform 14 is connected to the feed slider 82.

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

[0045] The lead screw and 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 via a coupling 22, and both ends of the lead screw 232 are supported on the nut base 25. A guide rod 24 is mounted between the two nut bases 25. The nut slider 231 has a guide hole for the guide rod 24 to pass through and a drive rope connection part 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 via the rope quick-connect mechanism 5. 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 via the coupling 22. Because the guide rod 24 restricts the rotation of the nut slider 231, the nut slider 231 moves axially. The nut slider 231 is connected to the continuous body 7 via the first drive rope 3 and the second drive rope 6, transmitting traction force to achieve precise movement of the continuous body 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 disposed within the housing 41. The housing 41 has only front, back, 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 outer casing 41. The tension guide wheel 43 is located on the right side of the spring box 42 and is slidably connected to the outer casing 41 via the tension 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 extends out of the spring box 42 and is connected to the right side wall of the outer casing 41. The tension spring 44 is sleeved on the spring shaft 45, and both ends of the tension spring 44 are connected to the left side wall of the spring box 42 and the tension wheel shaft 46, respectively. Horizontally extending grooves 411 are provided on both the front and rear side walls of the outer casing 41. The two ends of the tension wheel shaft 46 are mounted on the corresponding grooves 411 and can slide left and right along the grooves 411. The tension nut 47 is located outside the housing 41 and is threaded to the end of the tension wheel shaft 46. After the tension guide wheel 43 and the tension spring 44 tension the first drive rope 3, the tension nut 47 is tightened. The friction between the tension nut 47 and the housing 41 can be used to provide tension force, so that the first drive rope 3 remains 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 in the opposite direction. Specifically, 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 extension direction of the first drive rope 3 remains unchanged after being reversed by the two tensioning guide wheels, and the adjustment range is larger. In addition, the bowl-shaped cover 15 installed on the outside of the third circular mounting plate 13 provides protection for the tensioning mechanism 4, preventing 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 drive rope 6 is connected to the right end face of the male head 51. Two male tenons 511 are provided on the outer circular surface of the male head 51. The two male tenons 511 are located near the left end of the male head 51 and are symmetrically arranged with respect to the axis of the cylinder. The male tenons 511 are semi-cylinders.

[0052] The female head 52 is also cylindrical, with the first drive rope 3 connected to its left end face. The interior of the female head 52 extends axially to the insertion hole 521 and the annular groove 522. The annular groove 522 is positioned close to the first drive rope 3, and two mortise grooves 523 are formed on the wall of the insertion hole 521. These two mortise grooves 523 are symmetrically arranged with respect to the axis of the female head 52, and axially penetrate the insertion hole 521 and communicate with the annular groove 522. The female head 52 also contains two tenon slots 524, which are formed on the wall of the insertion hole 521. The positions and dimensions of the mortise grooves 523 and the tenon slots 524 are adapted to the tenon 511. Thus, the male head 51 and the female head 52 are connected by a mortise and tenon structure. After the male head tenon 511 is inserted into the mortise groove 523 of the female head, the male head tenon 511 is rotated so that it rotates in the annular groove 522 until it is completely engaged with the tenon slot 524. Thus, the male head tenon 511 and the tenon slot 524 are tightly connected to form a stable mechanical joint. This not only ensures the reliability of the rope connection, but also enables the quick insertion and locking of the male head 51 and the female head 52, facilitating modular operation.

[0053] Reference Figure 1 and Figure 2 The continuous body 7 includes a single-degree-of-freedom continuous body, a snap-in continuous body, and an end effector 75. The end effector 75 is connected to the snap-in continuous body. The single-degree-of-freedom continuous body is driven by two of its second drive ropes 6, and the snap-in continuous body is driven by the remaining four second drive ropes 6.

[0054] Reference Figure 11 and Figure 12 The single-degree-of-freedom continuum includes multiple first connecting discs 71 connected by alloy wires. The upper surface of each first connecting disc 71 has two first tenons 711, and the lower surface has two first mortises 712 that mate with the first tenons 711. The two first tenons 711 and the two first mortises 712 are symmetrically arranged with respect to the axis of the first connecting disc 71, and the first mortises 712 are located below the corresponding first tenons 711. The upper surface of the first connecting disc 71 is a beveled surface symmetrically arranged with respect to the axis of the first connecting disc 71. The first connecting disc 71 has twelve first rope holes 713, through which two second drive ropes 6 pass. The two first rope holes 713 are symmetrically arranged with respect to the axis of the first connecting disc 71. The two second drive ropes 6 pass through all the first rope holes 713 of the first connecting discs 71, and their ends are connected to the first connecting disc 71 located at the end.

[0055] The first connecting plate 71 has four first threading holes 714 for passing alloy wires. The four first threading holes 714 are evenly distributed circumferentially around the first connecting plate 71, and two of the first threading holes 714 pass through corresponding first tenons 711. Specifically, each first threading hole 714 includes a first vertical hole 715 and a first radial hole 716 that are interconnected. After the alloy wire passes through the first threading holes 714 of two adjacent first connecting plates 71, the two first connecting plates 71 are fastened together. Thus, the first tenons 711 and the first mortises 712 form multiple flexible units within the single-degree-of-freedom continuum, ensuring that the second drive rope 6 smoothly transmits tension through the first threading hole 713, and the first alloy wire hole 414 is used to insert high-strength alloy wires to enhance the mechanical properties of the flexible units while retaining their bending characteristics.

[0056] Reference Figure 13 and Figure 14 The adsorption continuum comprises five joints, with adjacent joints connected by adsorption units 73 or quick-connect discs 74. Each joint includes multiple second connecting discs 72 connected by alloy wires. The upper surface of each second connecting disc 72 has two second tenons 721, and the lower surface has two second mortises 722 that mate with the second tenons 721. The two second tenons 721 and the two second mortises 722 are symmetrically arranged with respect to the axis of the second connecting disc 72, and the center lines of the second tenons 721 and the second mortises 722 are perpendicular to each other.

[0057] The second connecting plate 72 has four second threading holes 724 for passing alloy wires. The four second threading holes 724 are evenly distributed circumferentially around the second connecting plate 72, and two of the second threading holes 724 pass through corresponding second tenons 721. Specifically, the second threading holes 724 include interconnected second vertical holes 725 and second radial holes 726. The second tenons 721 and second mortises 722 allow the adsorbable continuum to also form multiple flexible units. After the alloy wire passes through the second threading holes 724 of two adjacent second connecting plates 72, the two second connecting plates 72 are fastened together. The second threading holes 724 enhance the stability of the flexible units; the alloy wire provides structural support for the adsorbable unit 73 in the working state, ensuring a balance between flexibility and rigidity.

[0058] All the second connecting discs 72 are divided into three groups, each group being a section of the continuous body. Each second connecting disc 72 has three groups of second rope-threading holes for the second drive ropes 6 to pass through. Each group of second rope-threading holes includes four second rope-threading holes 723 evenly distributed along the circumference of the second connecting disc 72, meaning there are a total of twelve rope-threading holes on the second connecting disc 72. Each group of four holes is centrally symmetrical and can drive one section of the adsorbable continuous body. The remaining four second drive ropes 6 pass through the second thread-threading holes 724 of the corresponding group of second connecting discs 72, and their ends are connected to the second connecting disc 72 located at the end.

[0059] It should be noted that regardless of whether there is an adsorption unit 73 or a quick-connecting disc 74 on the continuous section, the segmentation point is at the bend of the continuous section, not at the location of the adsorption unit 73 or the quick-connecting disc 74. In other words, the second connecting disc 72 in the same joint may not belong to the same continuous section.

[0060] The upper and lower surfaces of the second connecting disk 72 are both oblique surfaces symmetrically arranged with respect to the axis of the second connecting disk 72, with the oblique surface on the upper surface being convex and the oblique surface on the lower surface being concave. Thus, two adjacent second connecting disks 72 form symmetrical oblique surfaces, which can achieve physical locking after contacting each other, thereby restricting the movement of the continuum robot. This can prevent excessive yielding deformation of the flexible parts and enable the joint ends to have a large load capacity.

[0061] Reference Figure 1 There are two adsorption units 73 and two air pumps 9. Both air pumps 9 are connected to the first circular mounting plate 11, and each air pump 9 drives all the suction cups in its corresponding adsorption unit 73. (Refer to...) Figure 15 and Figure 16 The adsorption unit 73 includes a disc body 731, a hose connection disc 732, and four suction cups 733. The hose connection disc 732 is disposed within the disc body 731, and the four suction cups 733 are evenly distributed circumferentially on the sidewalls of the disc body 731. The suction cups 733 are silicone suction cups. The hose connection disc 732 has four air holes 734. The upper end of each air hole 734 is connected to a corresponding suction cup 733 via a pipeline, and the lower end is provided with a hose quick-connect fitting 735, which is connected to an air pump 9 via an air pipeline.

[0062] The upper surface of the disc 731 has two third tenons 737, and the lower surface has two third mortises 738. The structure of the third tenons 737 is the same as that of the second tenons 721, and the structure of the third mortises 738 is the same as that of the second mortises 722. The upper surface of the disc 731 is a beveled surface symmetrically arranged with respect to the axis of the disc 731. The disc 731 has three sets of third rope holes 739 for the second drive rope 6 to pass through. The position and diameter of the third rope holes 739 are the same as those of the second rope holes 723. Each adsorption unit 73 is connected to the main body connecting disc 11 in the same continuous section via the same set 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 forward and reverse rotation of the servo motor to achieve coordinated operation of continuous body motion and adsorption operation, increase the stiffness of the continuous body, and ensure the stability and accuracy of the robot in high vibration or complex curved surface environments.

[0064] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A modular tension-adjustable aeroengine blade inspection robot, characterized in that, The installation frame, a plurality of motor driving mechanisms, a plurality of first driving ropes, a plurality of second driving ropes and a continuum are included; the plurality of motor driving mechanisms are connected to the installation frame and are uniformly distributed in the circumferential direction; the first ends of the plurality of first driving ropes are connected to the corresponding motor driving mechanisms, and the second ends pass through a tensioning mechanism and are connected to the first ends of the second driving ropes through a rope quick connection mechanism; the second ends of the second driving ropes are connected to the continuum; The rope quick connection mechanism includes a male head and a female head; the male head is a cylinder; a tenon is arranged on the outer cylindrical surface of the male head; the female head is also a cylinder; a plug-in hole and a ring groove are sequentially arranged in the female head along the axial direction; a mortise recess is arranged on the hole wall of the plug-in hole and extends along the axial direction; a tenon clamping groove is further arranged in the female head; one part of the tenon clamping 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 recess and the tenon clamping groove are matched with the tenon of the male head; The tensioning mechanism includes an outer shell and first and second tensioning mechanisms 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 extends out of the tensioning spring box and is connected to the outer shell; 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 arranged in the opposite direction to the first tensioning mechanism; The motor driving mechanism includes a servo motor, a screw nut assembly and a guide rod; the screw nut assembly includes a nut block and a screw; the screw is connected to the output end of the servo motor, and the two ends of the screw are connected to the installation frame through nut seat tables; the guide rod is arranged between the two nut seat tables; the nut block is provided with a guide hole through which the guide rod passes and a driving rope connecting part for connecting the first driving rope; a gas pump is arranged on the installation frame.

2. The modular tension adjustable aeroengine blade inspection robot of claim 1, wherein, Sliding grooves extending in the horizontal direction are arranged on the two opposite side walls of the outer shell, and the two ends of the tensioning wheel shaft are arranged on the corresponding sliding grooves and can slide along the sliding grooves.

3. The modular, tension-adjustable, aeroengine blade inspection robot of claim 2, wherein, 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.

4. The modular, tension-adjustable, aeroengine blade inspection robot of claim 3, wherein, The single-degree-of-freedom continuum includes a plurality of first connecting discs connected by alloy wires; two first tenons are arranged on the upper surface of the first connecting disc, and two first mortises matched with the first tenons are arranged on the lower surface of the first connecting disc; the two first tenons and the two first mortises are symmetrically arranged with respect to the axis of the first connecting disc, and the first mortises are located below the corresponding first tenons; the upper surface of the first connecting disc is a chamfer surface symmetrically arranged with respect to the axis of the first connecting disc; the first connecting disc is provided with a first rope passing hole group for two of the second driving ropes to pass through; The adsorbable continuum comprises a plurality of joints, two adjacent joints are connected by an adsorbable unit or a quick connection disc; the joint comprises a plurality of second connection discs connected by alloy wires; the upper surface of the second connection disc is provided with two second tenons, and the lower surface is provided with two second mortises matched with the second tenons; the two second tenons and the two second mortises are symmetrically arranged relative to the axis of the second connection disc, 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 disc are both chamfered surfaces symmetrically arranged relative to the axis of the second connection disc; the second connection disc is provided with a plurality of second rope passing hole groups for the second driving ropes to pass through.

5. The modular, tension-adjustable, aeroengine blade inspection robot of claim 4, wherein, 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; a plurality of suction cups are uniformly distributed on the side wall of the disc body in the circumferential direction; a plurality of air holes are arranged in the hose connection disc, and the number of air holes is the same as that of suction cups; the upper end of the air hole is communicated with the corresponding suction cup, and the lower end is connected with the air pump through the air pipe line; The upper surface of the disc body of the adsorbable unit is provided with two third tenons, and the lower surface is provided with two third mortises; 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 a chamfered surface symmetrically arranged relative to the axis of the disc body; the disc body of the adsorbable unit is provided with a plurality of third rope passing hole groups for the second driving ropes to pass through.

6. The modular, tension-adjustable, aeroengine blade inspection robot of claim 5, wherein, The mounting frame comprises a first circular mounting plate, a second circular mounting plate and a third circular mounting plate arranged in sequence; the first circular mounting plate, the second circular mounting plate and the third circular mounting plate are arranged in the vertical direction; the motor driving mechanism comprises six driving motors; the driving motor in the motor driving mechanism is connected with the first circular mounting plate, and the two nut seat tables are connected with the second circular mounting plate or the third circular mounting plate; the outer side of the third circular mounting plate is provided with a bowl-shaped cover; the bottom of the second circular mounting plate and the third circular mounting plate is connected with the linear feeding mechanism through the supporting platform.

7. The modular, tension-adjustable, aeroengine blade inspection robot of claim 6, wherein, The control unit is also included; the control unit is connected with the servo motor and the air pump; the control unit can control the synchronous starting or stopping of the servo motor and the air pump, and control the forward and reverse rotation of the servo motor.

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