Miniature bionic robot for in-situ detection of aero-engine blade

Abstract

The invention discloses a miniature bionic robot for in-situ detection of aero-engine blades, and relates to the technical field of aero-engine detection, the miniature bionic robot comprises a rigid movement mechanism, a flexible bending segment, a dual-mode adsorption system and an environment sensing system; the head and the tail of the rigid movement mechanism are connected with the driving foot, the flexible bending section is integrated with the shape memory material and the driving module, and wriggling is achieved through thermal deformation. The dual-mode adsorption system comprises an electrostatic adsorption module, a capillary adsorption module and a self-adaptive supporting structure and is used for stable adsorption; the environment sensing system is provided with an antenna sensor, a micro camera, a photoelectric sensor and a sliding displacement sensor and used for sensing the surrounding environment. According to the robot, disassembly-free in-situ detection of the aero-engine blade is achieved, the detection efficiency and precision are improved, the detection cost is remarkably reduced, the comprehensive performance index is 2-5 times higher than the industrial standard, and the robot has wide application prospects and important engineering value.

Description

Technical Field

[0001] The present invention belongs to the technical field of aero-engine detection, and in particular relates to a micro-bionic robot for in-situ detection of aero-engine blades, which is used for in-situ non-destructive detection of aero-engine turbine blades without disassembly. Background Art

[0002] As the core component of an aircraft, the health of its turbine blades is directly related to flight safety. Traditional inspection methods (such as industrial endoscopes and white light interferometers) require the engine to be disassembled, which has problems such as long inspection cycles, high costs, and the inability to monitor internal defects in real time.

[0003] In recent years, with the development of bionic robot technology, researchers have tried to apply micro-robots to closed space detection, but existing technologies still face many challenges. For example, although cockroach bionic robots have the potential to pass through narrow slits in concept, they have problems with insufficient motion stability and poor adaptability to complex surfaces in practical applications. Although rope-driven continuum robots can adapt to narrow spaces, they have the defects of high control complexity, slow movement speed, and easy overturning due to load imbalance.

[0004] In addition, the lack of environmental adaptability of adsorption technology is also one of the limiting factors. Electrostatic adsorption works well on smooth surfaces, but is prone to failure in oily or high-humidity environments; negative pressure adsorption requires a complex piping system, which limits the miniaturization of robots; and magnetic adsorption is limited to the application scenarios of non-magnetic materials in engines.

[0005] Existing detection technologies also have limitations. Industrial endoscopes rely on manual operation, have low detection efficiency and blind spots; drone-mounted detection equipment is limited by the internal space size of the engine and the airflow environment, and there is a risk of collision. At the same time, the contradiction between miniaturization and functional integration is prominent, and existing bionic robots mostly use a single bionic structure, resulting in limited functions.

[0006] In summary, the core contradiction faced by the current field of aero-engine inspection is how to achieve the unity of robot miniaturization, high load and strong environmental adaptability. Specifically, the motion mechanism cannot take into account the requirements of rapid propulsion and flexible deformation; the adsorption technology is limited by the environmental medium; the sensor integration is low and lacks real-time dynamic feedback capabilities. Summary of the invention

[0007] Currently, in-situ inspection of aircraft engines mainly relies on industrial endoscopes and white light interferometry technology, which has problems such as limited environmental adaptability, insufficient flexibility, the need to disassemble the engine, and many blind spots in inspection.

[0008] In view of the above problems, the present invention integrates the bionic movement mechanism of cockroach and inchworm, combines the rigid-flexible coupling structure and dual-mode adsorption technology, and proposes a miniaturized and highly adaptable micro bionic robot for in-situ detection of aircraft engine blades, aiming to break through the bottleneck of existing technology.

[0009] To achieve the above-mentioned purpose, the present invention provides the following scheme: a micro-bionic robot for in-situ detection of aircraft engine blades, comprising a rigid motion mechanism, a flexible bending segment, a dual-mode adsorption system and an environmental perception system; the rigid motion mechanism comprises a motion mechanism head and a motion mechanism tail, and the motion mechanism head and the motion mechanism tail are respectively movably connected with driving feet; the flexible bending segment connects the motion mechanism head and the motion mechanism tail, and the flexible bending segment integrates shape memory materials and driving modules inside, and realizes bionic creeping through thermal deformation; the dual-mode adsorption system comprises an adsorption mechanism arranged at the bottom of the motion mechanism head and the motion mechanism tail, and the adsorption mechanism comprises an electrostatic adsorption module, a capillary adsorption module and an adaptive support structure; the environmental perception system comprises a feeler sensor, a micro camera, a photoelectric sensor and a sliding displacement sensor.

[0010] The above structure aims to propose a micro-bionic robot for in-situ detection of aero-engine blades. By analyzing the biological motion mechanisms of cockroaches (high-speed movement and flexible steering) and inchworms (flexible body creeping and narrow slit crossing), its kinematic model and mechanical characteristic mathematical model are established; based on the principle of biological collaborative bionics, a rigid-flexible coupling micro-robot prototype is proposed, which integrates the cockroach bionic quadruped mechanism and the inchworm bionic soft body drive module, and determines the structural parameters through a multi-objective optimization algorithm to achieve efficient and stable motion and detection task adaptation on complex curved surfaces and narrow spaces inside aero-engines. The micro-bionic robot faces a complex and closed walking environment, integrates the bionic motion mechanism, adopts electrostatic suction cups and oil capillary adsorption technology, has a miniaturized product structure and connection relationship, and can achieve rigid-flexible collaborative motion and disassembly-free in-situ detection.

[0011] Optionally, the motion mechanism head and the motion mechanism tail both include a motion mechanism body, a transmission cantilever connecting rod symmetrically hinged on both sides of the motion mechanism body, and a driving foot movably connected to the end of the transmission cantilever connecting rod, and the driving foot is connected to an electromagnetic driver for controlling its gait.

[0012] Optionally, the antenna sensor is arranged at the front end of the motion mechanism head, the micro camera is arranged at the top of the motion mechanism head, and the photoelectric sensor is arranged at the bottom of the motion mechanism head.

[0013] Optionally, an ultrasonic probe is installed below the tail of the motion mechanism.

[0014] Optionally, the foot end of the driving foot has an angled wedge-shaped bend.

[0015] Optionally, the flexible bending segment includes a flexible body, in which a plurality of shape memory alloy wires are evenly distributed along the circumference, each shape memory alloy wire is arranged coaxially with the flexible body, and each shape memory alloy wire is respectively connected to an independent driving module.

[0016] Optionally, the flexible bending segment further includes a light grating sensor distributed in the flexible body to monitor the deformation of the flexible body.

[0017] Optionally, in the adsorption mechanism, the electrostatic adsorption module comprises a support layer, a dielectric layer and interdigital electrodes, and generates a normal adsorption force through an electrostatic field when powered on; the oil capillary adsorption module comprises a capillary adsorption plate and a polyimide auxiliary adhesion pad adhered to the bottom of the capillary adsorption plate.

[0018] Optionally, in the adsorption mechanism, the adaptive support structure includes two elastic brackets fixedly connected above the capillary adsorption plate, an elastic connecting rod is connected between the two elastic brackets, and the top ends of the two elastic brackets are connected to the rigid motion mechanism through elastic support sheets; the adaptive support structure also includes two elastic brackets fixedly connected above the supporting layer, the top ends of the two elastic brackets are connected to a fixed seat structure through soft silicone, and the fixed seat structure is connected to the rigid motion mechanism.

[0019] Optionally, a micro-movement sheet is provided between the polyimide auxiliary adhesion pad and the capillary adsorption disk, and the micro-movement sheet is connected to the photoelectric sensor and the sliding displacement sensor.

[0020] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0021] The micro-bionic robot of the present invention has significant beneficial effects. First, it realizes the in-situ detection of aircraft engine blades without disassembly, breaks through the limitation of traditional detection technology that requires disassembly of the engine, greatly shortens the detection cycle, and reduces the detection cost. Secondly, the robot integrates the bionic movement mechanism of cockroaches and loopers, and combines the rigid-flexible coupling structure, so that it can move efficiently and stably on complex curved surfaces and narrow spaces, and has strong adaptability. At the same time, the dual-mode adsorption technology (electrostatic adsorption and oil capillary adsorption) enables it to maintain stable adsorption in complex environments such as smooth, oily or high humidity, effectively solving the problem of insufficient environmental adaptability of existing adsorption technology. In addition, the robot is equipped with a variety of sensors, has real-time dynamic feedback capabilities, high detection accuracy and no blind spots. Its miniaturized design (centimeter-level size) enables it to easily enter the interior of the aircraft engine and complete high-precision detection tasks. On the whole, the bionic robot not only improves the detection efficiency and accuracy, but also significantly reduces the detection cost, and has the characteristics of high efficiency, low cost and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a front view of the micro-bionic robot of the present invention;

[0024] Figure 2 A top view of the micro bionic robot of the present invention;

[0025] Figure 3 It is a right side view of the micro bionic robot of the present invention;

[0026] Figure 4 is an axonometric diagram of the micro-bionic robot of the present invention;

[0027] Figure 5 A schematic diagram of an action of the micro-bionic robot of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the head of the motion mechanism of the micro-bionic robot of the present invention;

[0029] Figure 7 It is a schematic structural diagram of the tail of the motion mechanism in the micro-bionic robot of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the flexible bending segment in the micro-bionic robot of the present invention;

[0031] Fig. 9 This is a schematic diagram of the structure of the micro-bionic robot of the present invention after the flange is removed from the flexible bending segment;

[0032] Fig.10 It is a front view of the adsorption mechanism in the micro-bionic robot of the present invention;

[0033] Fig.11 A top view of the adsorption mechanism in the micro-bionic robot of the present invention;

[0034] Fig.12 Axonometric view of the adsorption mechanism in the micro-bionic robot of the present invention Figure 1 ;

[0035] Fig.13 Axonometric view of the adsorption mechanism in the micro-bionic robot of the present invention Figure 2 ;

[0036] Fig.14 This is a motion trajectory diagram of the micro-bionic robot of the present invention when detecting engine blades;

[0037] Fig.15 for Fig.14 A partial enlarged view of point A in the middle.

[0038] Among them, 1. transmission cantilever connecting rod; 2. micro camera; 3. antenna sensor; 4. front foot; 5. electromagnetic drive; 6. photoelectric sensor; 7. front adsorption mechanism; 8. memory alloy wire group; 9. flexible body; 10. rear adsorption mechanism; 11. battery; 12. ultrasonic probe; 13. rear foot; 14. connecting ring; 15. memory alloy wire one; 16. memory alloy wire two; 17. memory alloy wire three; 18. memory alloy wire four; 19. fiber grating sensor; 20. silicone matrix; 21. fixed seat structure; 22. elastic support sheet; 23. soft silicone; 24. elastic bracket; 25. elastic connecting rod; 26. capillary adsorption disk; 27. polyimide auxiliary adhesion pad; 28. support layer; 29. ​​dielectric layer; 30. turbine blade group. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The embodiment of the present invention specifically discloses a micro robot system based on the principle of bionics, which is used for in-situ non-destructive testing of aircraft engine turbine blades without disassembly, covering robot structure design, drive control, adsorption mechanism and environmental perception technology. It aims to solve the problems that traditional aircraft engine testing requires disassembly of equipment, resulting in high testing costs, long cycles and inability to monitor internal defects in real time.

[0041] 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.

[0042] Reference Figures 1 to 15 As shown, an embodiment of the present invention provides a micro-bionic robot for in-situ detection of aircraft engine blades, including a rigid motion mechanism, a flexible bending segment, a dual-mode adsorption system and an environmental perception system. The rigid motion mechanism includes a motion mechanism head and a motion mechanism tail, which are respectively connected to the two ends of the flexible bending segment, and the dual-mode adsorption system includes a front adsorption mechanism 7 arranged at the bottom of the motion mechanism head and a rear adsorption mechanism 10 arranged at the bottom of the motion mechanism tail. Figures 1 to 4 shown.

[0043] In the above embodiment, connecting rings 14 are installed at both ends of the flexible bending segment, and the head of the motion mechanism and the tail of the motion mechanism are rotatably connected to the two connecting rings 14 respectively, so as to realize the integrated connection of the micro bionic robot.

[0044] like Figure 6 As shown, in the above embodiment, the motion mechanism head includes a motion mechanism body and two transmission cantilever connecting rods 1 rotatably connected to the two sides of the motion mechanism body, the two transmission cantilever connecting rods 1 are arranged opposite to each other, and the ends are respectively connected to the two sides of the connecting ring 14; the front end of the motion mechanism body is movably connected to the driving feet, i.e., feet, on both sides, and the two front feet 4 are respectively equipped with miniature electromagnetic drivers 5, and are hinged to the transmission cantilever connecting rod 1 through ball bearings; the motion mechanism body is screwed to the flexible bending segment through the connecting ring 14.

[0045] In a specific embodiment, two contour-matching feeler sensors 3 are connected to the front end of the motion mechanism body. When the micro robot encounters an obstacle, the feeler sensors 3 provide feedback to the controller to make corresponding avoidance actions.

[0046] In a specific embodiment, a micro camera 2 is installed above the motion mechanism body, and the micro camera 2 is connected to the controller signal for collecting image information and transmitting it to the controller.

[0047] In a specific embodiment, a photoelectric sensor 6 is connected below the motion mechanism body.

[0048] In a specific embodiment, the driving foot adopts an angled wedge-shaped foot end structure, specifically, the foot end of the driving foot has an angled wedge-shaped bend, which imitates the four legs of a cockroach, can quickly propel the gait, and cooperate with the robot to complete flexible steering.

[0049] like Figure 7 As shown, in the above embodiment, the tail of the motion mechanism adopts a structural design that is almost symmetrical with the head of the motion mechanism, including a motion mechanism body and two transmission cantilever connecting rods 1 that are rotatably connected to the two sides of the motion mechanism body. The two transmission cantilever connecting rods 1 are arranged opposite to each other, and the ends are respectively connected to the two sides of the connecting ring 14; the end of the transmission cantilever connecting rod 1 away from the connecting ring 14 is movably connected with a driving foot, that is, a rear foot 13, and the two rear feet 13 are respectively equipped with a miniature electromagnetic driver 5 and are hinged to the transmission cantilever connecting rod 1 through a ball bearing; the motion mechanism body is screwed to the flexible bending segment through the connecting ring 14. Unlike the head of the motion mechanism, the tail of the motion mechanism includes a battery 11 and an ultrasonic probe 12. Among them, the battery 11 is fixed above the motion mechanism body, and the ultrasonic probe 12 is installed at the bottom of the ultrasonic probe 12.

[0050] like Figure 5As shown, the movement mechanism head and the movement mechanism tail imitate the head and tail of the cockroach respectively, and the front leg 4 and the rear leg 13 are like the front jaw and rear jaw of the cockroach.

[0051] like Figure 1 As shown, the head and tail of the motion mechanism are both connected to adsorption mechanisms, wherein the bottom of the motion mechanism body is connected to the front adsorption mechanism 7, and the bottom of the motion mechanism body is connected to the rear adsorption mechanism 10. The two adsorption mechanisms can ensure that the suction cup of the micro robot maintains a relatively unchanged position with respect to the inner wall of the curved surface when the body shape of the micro robot changes, thereby maintaining adhesion stability.

[0052] In a specific embodiment, the front adsorption mechanism 7 and the rear adsorption mechanism 10 have the same structure, both including an electrostatic adsorption module, an oil capillary adsorption module and an adaptive support structure. Figures 10 to 13 As shown, the adaptive support structure includes a fixed seat structure 21, an elastic support sheet 22, a soft silica gel 23, an elastic bracket 24, an elastic connecting rod 25 and a capillary adsorption disk 26. Among them, the fixed seat structure 21 and the elastic support sheet 22 are used to connect with the motion mechanism body or the motion mechanism body to form a support. Two elastic brackets 24 are fixed to the capillary adsorption disk 26, and the two elastic brackets 24 are arranged opposite to each other. The two elastic brackets 24 are respectively fixed to the elastic sheets, and the elastic connecting rod 25 is threadedly connected between the two elastic brackets 24 connected with the elastic sheets. The bottom of the fixed seat structure 21 is connected to another two elastic brackets 24 through the soft silica gel 23. The other two elastic brackets 24 are arranged opposite to each other, and the bottom is connected to the electrostatic adsorption module. The electrostatic adsorption module passes through the capillary adsorption disk 26. Specifically, an opening is opened in the center of the capillary adsorption disk 26 to accommodate the electrostatic adsorption module to pass freely. The electrostatic adsorption module can pass through the opening to achieve electrostatic adsorption on the surface of the object.

[0053] In a specific embodiment, the electrostatic adsorption module includes a support layer 28, a dielectric layer 29 and interdigital electrodes. When high voltage is applied, an electrostatic field is formed between the electrodes, and a normal adsorption force is generated through electron migration on the conductive surface (conductive interface) or polarization effect on the non-conductive surface (non-conductive interface). After power is cut off, the adsorption force disappears to achieve controllable desorption. A two-degree-of-freedom adaptive suction cup structure is adopted (the elastic support layer 28 provides X / Y-axis rotation freedom) to ensure that the suction cup remains parallel to the inner wall of the curved surface when the robot's posture changes.

[0054] In a specific embodiment, the oil capillary adsorption module includes a capillary adsorption disk 26 and a polyimide auxiliary adhesion pad 27 attached to the bottom of the capillary adsorption disk 26. The photoelectric sensor 6 detects the oil film (triggered by the change in reflected light intensity), and the memory alloy wire in the flexible bending segment is energized to contract and release the polyimide auxiliary adhesion pad 27, and the oil surface tension is used to generate a normal adsorption force, while the oil film lubrication reduces the friction force; during dynamic movement, the fluid inertia force and the viscosity force resist separation and maintain adhesion stability.

[0055] In a specific embodiment, a micro-movement sheet is also provided between the polyimide auxiliary adhesion pad 27 and the capillary adsorption disk 26. The micro-movement sheet is connected to the photoelectric sensor 6 and the sliding displacement sensor, and is controlled by the photoelectric sensor 6 and the sliding displacement sensor to ensure that the adsorption mode is switched as needed. For example, when the photoelectric sensor 6 detects the oil film, the polyimide auxiliary adhesion pad 27 is released through the micro-movement sheet, and the adsorption is enhanced by combining the surface tension of the oil film; when the adsorption is completed, the micro-movement sheet is reset to recycle the polyimide auxiliary adhesion pad 27 to avoid residual adsorption resistance.

[0056] In the above structure, the electrostatic adsorption module and the polyimide auxiliary adhesion pad 27 constitute the terminal adsorption structure, and the two cooperate to achieve electrostatic adsorption and oil capillary adsorption. The oil film detection signal preferentially triggers the release of the polyimide auxiliary adhesion pad 27 (mainly the photoelectric sensor 6), and the monitoring of the sliding amount is used as a supplementary trigger. The polyimide auxiliary adhesion pad 27 is recovered, and the memory alloy is cooled and reset to avoid residual adsorption resistance. Through the precise triggering and resetting of the micro-moving piece, the dual-mode switching of electrostatic adsorption (high voltage electric field) and capillary adsorption (adsorbent release) is realized, and the adaptability to complex surfaces such as oil stains is enhanced.

[0057] In a specific embodiment, the sliding amount is monitored by a sliding displacement sensor, which can be arranged on the front adsorption mechanism 7 and the rear adsorption mechanism 10 .

[0058] like Figure 8 and Fig. 9 As shown, the flexible bending segment integrates shape memory materials and a driving module to achieve bionic creeping through thermal deformation. Specifically, it includes a memory alloy wire group 8, a flexible body 9 and a fiber grating sensor 19. The thermal contraction of the memory alloy wire is controlled by current to achieve bending. In this embodiment, four memory alloy wires extending along the axial direction are arranged in the flexible body 9, such as Fig. 9 The memory alloy wire 1 15 , the memory alloy wire 2 16 , the memory alloy wire 3 17 and the memory alloy wire 4 18 are evenly distributed around the circumference of the flexible body 9 to form a memory alloy wire group 8 .

[0059] In a specific embodiment, the flexible body 9 can use silicone material as the silicone base 20, and adopt a corrugated, layered or thin sheet structure design to enhance flexibility and adaptability. It should be understood that in practical applications, the flexible body 9 can also use other materials and shapes with elasticity and deformation ability.

[0060] In this embodiment, the environment perception system includes a feeler sensor 3, a micro camera 2, a photoelectric sensor 6 and a sliding displacement sensor distributed in the above structure, which are used for obstacle detection, image acquisition, oil film detection and adsorption stability monitoring.

[0061] In a specific embodiment, the size of the microrobot is designed to be centimeter-level. For example, in an optional embodiment, the total width of the microrobot is only 3.3 cm and the height is 1 cm, which is suitable for the spacing between aircraft engine blades.

[0062] Aiming at the complex space environment inside the aircraft engine, the robot walking analysis is carried out for the following related scenes:

[0063] 1. Analysis of walking on the horizontal surface directly above the axis

[0064] (I) Cross-axis step gap

[0065] The soft bending section is driven by the memory alloy wires that are symmetrically distributed around the circumference. By controlling the power of the memory alloy wires, the upward bending and erecting action is realized, and the suction control of the front and rear feet 13 suction cups is combined to simulate the bending of the inchworm to cross obstacles. Figure 5 shown.

[0066] (II) Analysis of S-shaped surrounding path for blade group detection

[0067] By driving the flexible section of the abdomen to bend left and right through the electrified memory alloy wire, combined with the rapid propulsion gait of the cockroach's four legs, the robot can flexibly turn and complete the S-shaped surround detection of the compressor and turbine blade group 30, significantly improving the movement efficiency in complex gaps. Fig.14 and Fig.15 shown.

[0068] 2. Analysis of the side surface walking of the shaft

[0069] (I) Walking on a curved and slippery path

[0070] Adopting electrostatic adsorption technology: After the electrostatic adsorption module is connected to high voltage, an equipotential field is formed between the electrodes, and a vertical adsorption force is generated through polarization or charge transfer. The two-degree-of-freedom adaptive suction cup ensures that the electrode layer fits parallel to the curved surface, effectively preventing slippage.

[0071] (II) Walking on oily roads

[0072] After the photoelectric sensor 6 detects the oil film, it triggers the memory alloy wire group 8 to contract and release the dry adhesive pad. The surface tension of the oil film generates normal adhesion force, and the lubrication effect reduces friction. The ratio of the polyimide adhesive pad radius to the oil film thickness is optimized, combined with the dynamic control of the memory alloy, to enhance the adaptability to the oily environment.

[0073] According to the above embodiments and the records of the corresponding analysis, the working principle of this embodiment can be obtained:

[0074] 1. Principle of Bionic Motion

[0075] The robot imitates the cockroach's quadrupedal movement and achieves rapid propulsion and flexible steering through a rigid motion mechanism. Each of the four legs is equipped with a micro-electromagnetic drive 5, which can complete complex gait control;

[0076] The flexible bending segments imitate the creeping motion of an inchworm, and achieve bending and stretching motions through the thermal contraction of the memory alloy wire, allowing the robot to flexibly move through a narrow space.

[0077] The rigid motion mechanism is combined with the flexible bending segment to achieve the dual functions of rapid propulsion and narrow slot crossing, adapting to the complex space environment inside the aircraft engine.

[0078] 2. Dual-mode adsorption technology

[0079] The robot adopts electrostatic adsorption technology, and achieves adsorption through the electrostatic adsorption module of the front adsorption mechanism 7 and the rear adsorption mechanism 10. The electrostatic adsorption module is provided with a support layer 28, a dielectric layer 29 and interdigital electrodes. When high voltage is passed, an electrostatic field is formed to generate a normal adsorption force; the two-degree-of-freedom adaptive suction cup structure (the elastic support layer 28 provides the X / Y axis rotational freedom) ensures that the suction cup remains parallel to the inner wall of the curved surface, thereby maintaining a stable adsorption force on the complex curved surface.

[0080] The robot also uses oil capillary adsorption technology, using the surface tension of the oil film to generate normal adsorption force. At the same time, the lubricating effect of the oil film reduces friction and enhances the robot's adaptability in oily environments.

[0081] 3. Flexible drive and environmental perception

[0082] The flexible bending segment is driven by the memory alloy wire group 8, and the thermal contraction of the memory alloy wire is controlled by electric current to achieve the bending and stretching of the segment. The flexible body 9 adopts a silicone matrix to enhance flexibility and adaptability, and can adapt to the complex curved surface inside the aircraft engine.

[0083] The front end is equipped with a feeler sensor 3 for detecting obstacles and feeding back signals to achieve avoidance actions; the micro camera 2 is used to collect image information and transmit it to the controller to achieve visual detection; the photoelectric sensor 6 is used to detect the oil film and trigger the corresponding adsorption mode switching; the sliding displacement sensor is used to monitor the sliding amount during the adsorption process to ensure the adsorption stability; environmental perception and real-time feedback are achieved through a variety of sensors to automatically complete the detection task.

[0084] The embodiments of the present invention have the following technical effects:

[0085] The micro-bionic robot of the present invention realizes the leap from "disassembly-high cost-low efficiency" to "in-situ-low cost-high precision" in aviation engine detection through technical innovations such as bionic structure, dual-mode adsorption, and flexible sensing. Its comprehensive performance indicators are 2-5 times higher than the industry standards.

[0086] The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0087] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0088] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A micro bionic robot for in-situ detection of aircraft engine blades, characterized in that: The invention comprises a rigid motion mechanism, a flexible bending segment, a dual-mode adsorption system and an environmental perception system; the rigid motion mechanism comprises a motion mechanism head and a motion mechanism tail, and the motion mechanism head and the motion mechanism tail are respectively movably connected with a driving foot; the flexible bending segment connects the motion mechanism head and the motion mechanism tail, and the flexible bending segment integrates a shape memory material and a driving module inside, and realizes bionic creeping through thermal deformation; the dual-mode adsorption system comprises an adsorption mechanism arranged at the bottom of the motion mechanism head and the motion mechanism tail, and the adsorption mechanism comprises an electrostatic adsorption module, a capillary adsorption module and an adaptive support structure; the environmental perception system comprises a feeler sensor (3), a micro camera (2), a photoelectric sensor (6) and a sliding displacement sensor.

2. The micro bionic robot for in-situ detection of aircraft engine blades according to claim 1 is characterized in that: The head and tail of the movement mechanism both comprise a movement mechanism body, a transmission cantilever connecting rod (1) symmetrically hinged on both sides of the movement mechanism body, and a driving foot movably connected to the end of the transmission cantilever connecting rod (1), wherein the driving foot is connected to an electromagnetic driver (5) for controlling its gait.

3. The micro bionic robot for in-situ detection of aero-engine blades according to claim 2 is characterized in that: The antenna sensor (3) is arranged at the front end of the head of the motion mechanism, the micro camera (2) is arranged at the top of the head of the motion mechanism, and the photoelectric sensor (6) is arranged at the bottom of the head of the motion mechanism.

4. The micro bionic robot for in-situ detection of aero-engine blades according to claim 2 is characterized in that: An ultrasonic probe (12) is installed below the tail of the motion mechanism.

5. The micro bionic robot for in-situ detection of aero-engine blades according to claim 2, 3 or 4, characterized in that: The foot end of the driving foot has an angled wedge-shaped bend.

6. The micro bionic robot for in-situ detection of aircraft engine blades according to claim 1, characterized in that: The flexible bending segment comprises a flexible body (9), wherein a plurality of shape memory alloy wires are evenly distributed along the circumference of the flexible body (9), each shape memory alloy wire is arranged coaxially with the flexible body (9), and each shape memory alloy wire is respectively connected to an independent driving module.

7. The micro bionic robot for in-situ detection of aero-engine blades according to claim 6, characterized in that: The flexible bending segment also includes a light grating sensor distributed in the flexible body (9) for monitoring the deformation of the flexible body (9).

8. The micro bionic robot for in-situ detection of aircraft engine blades according to claim 1, characterized in that: In the adsorption mechanism, the electrostatic adsorption module comprises a support layer (28), a dielectric layer (29) and interdigital electrodes, and generates a normal adsorption force through an electrostatic field after power is supplied; the oil and dirt capillary adsorption module comprises a capillary adsorption disk (26) and a polyimide auxiliary adhesion pad (27) adhered to the bottom of the capillary adsorption disk (26).

9. The micro bionic robot for in-situ detection of aircraft engine blades according to claim 8, characterized in that: In the adsorption mechanism, the adaptive support structure comprises two elastic supports (24) fixedly connected above the capillary adsorption disk (26), an elastic connecting rod (25) is connected between the two elastic supports (24), and the top ends of the two elastic supports (24) are connected to the rigid motion mechanism through elastic support sheets (22); the adaptive support structure also comprises two elastic supports (24) fixedly connected above the support layer (28), the top ends of the two elastic supports (24) are connected to a fixed seat structure (21) through soft silica gel (23), and the fixed seat structure (21) is connected to the rigid motion mechanism.

10. The micro-bionic robot for in-situ detection of aircraft engine blades according to claim 8, characterized in that: A micro-movement sheet is arranged between the polyimide auxiliary adhesion pad (27) and the capillary adsorption disk (26), and the micro-movement sheet is connected to the photoelectric sensor (6) and the sliding displacement sensor.

Images