Piezoelectric micro-detection device for quick and detailed scanning of aircraft skin after vulnerability test

Abstract

This invention provides a piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing. A first piezoelectric stack is interference-fitted into the inner cavity of a first corrugated ring of the base, and a second piezoelectric stack is interference-fitted into the inner cavity of a second corrugated ring. An inertial mass block is bonded to the free end of the corrugated rings and suspended above the base. A non-destructive testing instrument is mounted on the lower surface of the base away from the inertial mass block, with the testing surface of the instrument facing downwards and parallel to the bottom surface of the base. An electrostatic adsorption plate is fixedly bonded to the bottom of the base. The device is compact, lightweight, responsive, highly accurate in motion, and features simple and controllable drive control. It can switch between rapid scanning of areas without abnormalities and detailed scanning of suspected damaged areas. It can reduce the risk of secondary damage to the aircraft skin surface while improving the efficiency, positioning accuracy, and engineering applicability of aircraft skin damage investigation after vulnerability testing.

Description

Technical Field

[0001] This invention belongs to the technical field of non-destructive testing devices for aircraft skin, specifically relating to a piezoelectric micro-testing device for rapid and detailed scanning of aircraft skin after vulnerability testing. Background Technology

[0002] Following aircraft vulnerability testing, damage inspection and result verification of the skin surface often need to be completed within a short period. During this stage, the skin may exhibit damage or abnormal signs such as cracks, dents, scratches, fastener anomalies, and localized corrosion. The damage distribution is typically characterized by a large coverage area, dispersed locations, and small local feature scale. Unlike conventional fixed-point inspections, post-vulnerability testing inspections emphasize a rapid-inspection followed by detailed verification – a combination of rapid and meticulous approaches. This involves first performing a rapid scan of a large area of ​​the skin, then conducting a fine-grained, high-resolution scan and locating of suspected abnormal areas. Therefore, the inspection equipment used in this scenario not only needs high inspection accuracy but also must simultaneously meet requirements such as small and lightweight structure, good adaptability to aircraft skin curvature, adjustable movement speed, precise position control, minimal additional load on the skin surface, and minimal risk of introducing secondary damage.

[0003] Current non-destructive testing (NDT) operations for aircraft skin mainly include handheld inspection, manual inspection based on lifting platforms or ropes, and automated inspection using drones or wall-climbing robots. Among these, manual handheld inspection and lifting platform / rope-assisted methods rely heavily on personnel experience, resulting in low inspection efficiency, a high risk of missed or false positives, and insufficient adaptability to narrow areas, complex curved surfaces, and high-altitude locations. While drone platforms offer good wide-area inspection capabilities, they are generally more suitable for carrying lightweight non-contact sensors such as vision sensors, and have limitations for close-range precision inspections requiring stable contact and high positioning accuracy. In existing wall crawling inspection devices, magnetic adsorption is only applicable to ferromagnetic surfaces, while aircraft wings and fuselage skins largely use non-ferromagnetic materials such as aluminum alloys and composite materials, limiting its applicability. In existing wall crawling inspection devices, vacuum adsorption or negative pressure adsorption methods usually require vacuum pumps, sealed cavities, or pneumatic components, which can easily lead to problems such as bulky structure, increased energy consumption and noise, and sensitivity to surface sealing conditions. Furthermore, the adsorption performance is prone to decrease when there are gaps, pores, or local undulations. In existing wall crawling inspection devices, crawling devices using motors, gears, tracks, or multi-link mechanisms are often large in size and complex in structure, making it difficult to meet the requirements of miniaturization, rapid response, and high-precision controllable motion, and failing to meet the requirements of rapid and detailed scanning of aircraft skin after vulnerability testing. Summary of the Invention

[0004] To address the limitations of existing technologies where manual and automated inspections cannot meet the requirements for rapid and detailed scanning of aircraft skin after vulnerability testing, this invention provides an electrostatic adsorption piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing. This device achieves stable adhesion to the aircraft skin surface based on the electrostatic adsorption effect, and uses a dual piezoelectric stack to collaboratively drive the movement of an inertial mass block. Under the combined action of inertial impact force and surface friction, the device achieves forward, backward, and turning movements. The device features a compact structure, light weight, rapid response, high motion accuracy, simple drive control, and controllable direction. Furthermore, by adjusting the piezoelectric drive parameters and electrostatic adsorption parameters, it allows switching between rapid scanning of areas without abnormalities and detailed scanning of suspected damaged areas. The device integrates a miniaturized non-destructive testing unit at its front end, adaptable to eddy current, ultrasonic, infrared, or visual imaging detection methods. This reduces the risk of secondary damage to the aircraft skin surface while improving the efficiency, positioning accuracy, and engineering applicability of damage investigation after vulnerability testing. The technical solution is as follows: A piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing includes a first piezoelectric stack 1-1, a second piezoelectric stack 1-2, a base 2, a non-destructive testing instrument 3, a first inertial mass block 4-1, a second inertial mass block 4-2, and an electrostatic adsorption plate 5. The first piezoelectric stack 1-1 is interference-fitted into the inner cavity of the first corrugated ring 2-1 of the base 2, and the second piezoelectric stack 1-2 is interference-fitted into the inner cavity of the second corrugated ring 2-2. The first inertial mass block 4-1 is bonded to the free end of the first corrugated ring 2-1, and the second inertial mass block 4-2 is bonded to the free end of the second corrugated ring 2-2. Both the first inertial mass block 4-1 and the second inertial mass block 4-2 are suspended above the base 2. A non-destructive testing instrument 3 is fixedly installed on the lower surface of the end of the base 2 away from the first inertial mass block 4-1 and the second inertial mass block 4-2. The testing working surface of the non-destructive testing instrument 3 faces downward and is parallel to the bottom surface of the base 2. The non-destructive testing instrument 3 performs testing on the aircraft skin after the vulnerability test based on the testing principle of eddy current, ultrasonic or micro visual inspection. An electrostatic adsorption plate 5 is fixedly bonded to the bottom of the base 2.

[0005] The base 2 consists of a first corrugated ring 2-1, a second corrugated ring 2-2, a sensing platform 2-3, and an L-shaped support 2-4. The long side of the L-shaped support 2-4 is placed horizontally, and the right side of the long side extends upwards to the vertical side of the short side. The first corrugated ring 2-1 and the second corrugated ring 2-2 are arranged horizontally on the left side of the vertical side of the short side, and the sensing platform 2-3 is arranged horizontally on the right side of the vertical side of the short side. The first inertial mass block 4-1 and the second inertial mass block 4-2 are both suspended above the L-shaped support 2-4. A non-destructive testing instrument 3 is fixedly installed on the lower surface of the sensing platform 2-3, and the testing working surface of the non-destructive testing instrument 3 is parallel to the long side of the L-shaped support 2-4. An electrostatic adsorption plate 5 is fixedly bonded to the bottom of the long side of the L-shaped support 2-4. The first corrugated ring 2-1 and the second corrugated ring 2-2 generate elastic deformation and elastic force due to interference fit. This elastic force acts on the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 respectively, thereby providing a preload force along the actuation direction for the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2. This is beneficial for the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 to respond quickly after being driven by voltage, while preventing damage due to tensile load during the response process.

[0006] The electrostatic adsorption plate 5 is composed of an upper insulating dielectric layer 5-1, a comb electrode 5-2 and a lower insulating dielectric layer 5-3. The upper insulating dielectric layer 5-1 is fixedly bonded to the bottom of the long side plane of the L-shaped support 2-4, and the lower insulating dielectric layer 5-3 is electrostatically adsorbed onto the surface of the aircraft skin after the vulnerability test. The effect of this design is that the testing device is small in size, can conform to the curved surface of the aircraft skin, and has strong adaptability to aircraft skin materials.

[0007] Among them, the upper insulating dielectric layer 5-1 and the lower insulating dielectric layer 5-3 are made of materials with high wear resistance and high hardness; the comb electrode 5-2 is made of materials with high conductivity and corrosion resistance, and is made of micromachining with high precision and high efficiency.

[0008] The process of controlling the piezoelectric micro-detection device to move forward on the aircraft skin surface is as follows: When no power is applied, the voltage of the comb electrode 5-2 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following two steps are performed: The first step involves rapidly energizing the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 from zero voltage to full-stroke voltage. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 rapidly extend along their long axis, and respectively drive the first inertial mass block 4-1 and the second inertial mass block 4-2 to move rapidly away from the short side of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to a forward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Since the acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2 is large, the corresponding inertial impact force is much greater than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. This drives the detection device carrying the non-destructive testing instrument 3 to slide forward relative to the aircraft skin surface and generate a forward movement step. In the second step, the voltage of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 is slowly reduced from the full-stroke voltage to zero. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 slowly contract along the long axis, and respectively drive the first inertial mass block 4-1 and the second inertial mass block 4-2 to slowly move vertically toward the short side of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to the backward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Since the motion acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2 is small, the corresponding inertial impact force is much smaller than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft body surface and retains the forward movement step distance generated in the first step. Repeat steps one and two to make the testing device carry the non-destructive testing instrument 3 forward continuously.

[0009] The process of controlling the piezoelectric micro-detection device to move backward on the aircraft skin surface is as follows: When no power is applied, the voltage of the comb electrode 5-2 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following two steps are performed: The first step involves slowly energizing the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 from zero voltage to full-stroke voltage. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 slowly extend along their long axis, causing the first inertial mass block 4-1 and the second inertial mass block 4-2 to slowly move away from the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to forward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Since the acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2 is small, the corresponding inertial impact force is much smaller than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface. In the second step, the voltage of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 is rapidly reduced from the full-stroke voltage to zero. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 rapidly contract along the long axis direction, and respectively drive the first inertial mass block 4-1 and the second inertial mass block 4-2 to move rapidly toward the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to the backward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Since the motion acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2 is large, the corresponding inertial impact force is much greater than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. This drives the detection device carrying the non-destructive testing instrument 3 to slide backward relative to the aircraft skin surface and generate a backward movement step. Repeating the first and second steps allows the testing device to continuously move backward carrying the non-destructive testing instrument 3.

[0010] The process of controlling the piezoelectric micro-detection device to rotate leftward on the aircraft skin surface is as follows: When not energized, the voltage of the comb electrode 5-2 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following steps are performed: The first step involves rapidly energizing the second piezoelectric stack 1-2 from zero voltage to full-stroke voltage. The second piezoelectric stack 1-2 rapidly extends along its long axis, causing the second inertial mass block 4-2 to move rapidly away from the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to a forward inertial impact force from the second inertial mass block 4-2, and the point of application of this inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a leftward inertial impact torque in the counterclockwise direction. Since the second inertial mass block 4-2 has a large acceleration, the leftward inertial impact torque is much greater than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface, driving the detection device carrying the non-destructive testing instrument 3 to rotate to the left relative to the aircraft skin surface and generate a leftward step distance. In the second step, the voltage of the second piezoelectric stack 1-2 is slowly reduced from full-stroke voltage to zero voltage. The second piezoelectric stack 1-2 slowly contracts along its long axis, and drives the second inertial mass block 4-2 to slowly move towards the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to an inertial impact force from the second inertial mass block 4-2, and the point of application of this inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a left-turning and reversing inertial impact torque in the clockwise direction. Since the acceleration of the second inertial mass block 4-2 is small, the left-turning and reversing inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface and retains the left-turning step distance generated in the first step. Repeat steps one and two to make the testing device carrying the non-destructive testing instrument 3 turn left continuously.

[0011] The process of controlling the piezoelectric micro-detection device to rotate to the right on the aircraft skin surface is as follows: When not energized, the voltage of the comb electrode 5-2 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following steps are performed: The first step involves rapidly energizing the first piezoelectric stack 1-1 from zero voltage to full-stroke voltage. The first piezoelectric stack 1-1 rapidly extends along its long axis, causing the first inertial mass block 4-1 to move rapidly away from the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to an inertial impact force from the first inertial mass block 4-1 moving forward. The point of application of this inertial impact force is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a clockwise forward inertial impact torque. Since the first inertial mass block 4-1 has a large acceleration, the forward inertial impact torque is much greater than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface. This drives the detection device, carrying the non-destructive testing instrument 3, to rotate to the right relative to the aircraft skin surface and generate a right-turn step distance. In the second step, the voltage of the first piezoelectric stack 1-1 is slowly reduced from full-stroke voltage to zero voltage. The first piezoelectric stack 1-1 slowly contracts along its long axis and drives the first inertial mass block 4-1 to slowly move towards the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to an inertial impact force from the first inertial mass block 4-1. The point of application of this inertial impact force is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a right-turning back inertial impact torque in the counterclockwise direction. Since the acceleration of the first inertial mass block 4-1 is small, the right-turning back inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface and retains the right-turning step distance generated in the first step. Repeat steps one and two to make the testing device carrying the non-destructive testing instrument 3 turn right continuously.

[0012] In the rapid scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 are increased, and the adsorption voltage of the comb electrode 5-2 is adjusted to a lower level that meets the requirements for stable adhesion and continuous sliding of the detection device, so as to increase the single-step movement distance and the scanning area per unit time of the detection device. In the fine scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 are reduced, and the adsorption voltage of the comb electrode 5-2 is increased, so as to reduce the single-step movement distance of the detection device and improve the adhesion stability, position control accuracy and defect area retention capability of the detection device on the aircraft skin surface.

[0013] During the rapid scanning process, when the defect characterization signal output by the non-destructive testing instrument 3 exceeds a preset threshold, the testing device switches to a fine scanning mode and performs a local rescan centered on the suspected damaged area. The local rescan adopts any one of reciprocating scanning, grid scanning, or spiral scanning, and by reducing the step distance and increasing the detection point density, it repeatedly detects and finely locates cracks, pits, or local damage. When the defect characterization signal output by the non-destructive testing instrument 3 is lower than the preset threshold within multiple consecutive detection steps, the testing device returns to the rapid scanning mode and continues to perform a large-scale inspection.

[0014] The beneficial effects of this invention are at least as follows: 1) This invention uses electrostatic adsorption to achieve stable adhesion of the detection device to the surface of the aircraft skin. During a single translation or turning movement, there is no need to periodically switch the adsorption force, which helps to maintain a continuous and stable adhesion between the device and the surface of the aircraft skin and avoids the risk of decreased motion performance or falling due to fluctuations in adsorption force.

[0015] 2) This invention uses two sets of piezoelectric stacks for coordinated drive, requiring only two drive voltage signals to achieve four degrees of freedom of movement: forward, backward, left turn, and right turn. The drive control method is simple, which can effectively reduce the complexity of mechanism design and control system, and is conducive to the miniaturization, weight reduction and integration of the detection device.

[0016] 3) The present invention has a compact overall structure and light weight, and causes less mechanical disturbance to the surface of the aircraft skin during the testing process. It can reduce the risk of secondary damage to the surface of the skin caused by the weight of the testing device, contact pressure or motion impact, and is particularly suitable for damage investigation scenarios after vulnerability testing.

[0017] 4) The piezoelectric drive method used in the detection device of the present invention has the characteristics of rapid response, high repeatability and no electromagnetic interference. It can effectively avoid the problem of electromagnetic noise interfering with the non-destructive testing signal, so that the detection device can carry out non-destructive testing simultaneously during translation and turning, which significantly improves the efficiency and quality of non-destructive testing. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional view of the structure of the present invention.

[0020] Figure 2 This is a perspective view of the base of the present invention.

[0021] Figure 3 This is a three-dimensional view of the electrostatic adsorption plate of the present invention.

[0022] Figure 4 This is a timing diagram of the driving voltage for the forward translation and leftward rotation movements of the present invention.

[0023] Figure 5 This is a timing diagram of the driving voltage for the backward translation and right turn motion of the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.

[0026] The combination of piezoelectric actuation and electrostatic adsorption technology has significant application potential in miniaturized aircraft skin inspection devices. Piezoelectric actuation offers advantages such as compact structure, fast response speed, high motion resolution, and strong resistance to electromagnetic interference, making it suitable for achieving high-precision inertial actuation within limited spaces. Electrostatic adsorption, on the other hand, features compact structure, low power consumption, good material adaptability, and finely adjustable adsorption force via electrical parameters, providing a gentle and controllable adhesion capability for miniaturized devices and reducing additional load on the inspected skin surface. Combining the two technologies promises to achieve stable adhesion, rapid movement, precise positioning, and flexible switching between fast and fine modes on curved areas of aircraft skin while maintaining a small and lightweight device. Therefore, it is particularly suitable for scenarios involving large-scale inspection and localized fine-tuning of aircraft skin damage after vulnerability testing.

[0027] This invention provides a piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing. The device comprises a base, a piezoelectric stack, an inertial mass block, an electrostatic adsorption plate, and a miniature non-destructive testing unit. The base has a double-layer structure. The upper layer cantilevered piezoelectric stack drives the inertial mass block to generate translational and steering driving forces, achieving precise movement with minute step distances. The driving parameters can be adjusted to achieve rapid scanning of areas without abnormalities and detailed scanning of suspected damaged areas. The lower layer is equipped with an electrostatic adsorption plate, which has the advantages of small adhesion area, light weight, and strong adaptability to curved surfaces. This provides adsorption force for stable adhesion and reliable crawling of the device on the aircraft skin surface, reducing the risk of secondary damage. The front end of the base can integrate eddy current, ultrasonic, or miniature visual inspection units to locate and identify cracks, dents, and localized damage, improving the efficiency and accuracy of damage screening of aircraft skin after testing.

[0028] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a piezoelectric micro-inspection device for quick and detailed scanning of aircraft skin after vulnerability testing. The detection device has a symmetrical structure and includes a first piezoelectric stack 1-1, a second piezoelectric stack 1-2, a base 2, a non-destructive testing instrument 3, a first inertial mass block 4-1, a second inertial mass block 4-2, and an electrostatic adsorption plate 5. The base 2 consists of a first corrugated ring 2-1, a second corrugated ring 2-2, a sensing platform 2-3, and an L-shaped support 2-4. The long side plane of the L-shaped support 2-4 is placed horizontally, and the right side of the long side plane extends upward to the short side vertical plane. The first corrugated ring 2-1 and the second corrugated ring 2-2 are horizontally arranged on the left side of the short side vertical plane, and the sensing platform 2-3 is horizontally arranged on the right side of the short side vertical plane. The first piezoelectric stack 1-1 is interference-fitted into the inner cavity of the first corrugated ring 2-1, and the second piezoelectric stack 1-2 is interference-fitted into the inner cavity of the second corrugated ring 2-2. Due to the interference fit, the first corrugated ring 2-1 and the second corrugated ring 2-2 generate elastic deformation and elastic force. This elastic force acts on the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 respectively, thereby providing preload for the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 along the actuation direction. This facilitates the rapid response of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 after being driven by voltage, while preventing damage due to tensile load during the response process; the first inertial mass block 4-1 is bonded to the free end of the first corrugated ring 2-1, and the second inertial mass block 4-2 is bonded to the free end of the second corrugated ring 2-2, and both the first inertial mass block 4-1 and the second inertial mass block 4-2 are suspended above the L-shaped support 2-4; a non-destructive testing instrument 3 is fixedly installed on the lower surface of the sensing platform 2-3, the testing working surface of the non-destructive testing instrument 3 faces downward and is parallel to the long side plane of the L-shaped support 2-4; an electrostatic adsorption plate 5 is fixedly bonded to the bottom of the long side plane of the L-shaped support 2-4, the electrostatic adsorption plate 5 is composed of an upper insulating dielectric layer 5-1, a comb electrode 5-2 and a lower insulating dielectric layer 5-3.

[0029] In one embodiment, the nondestructive testing instrument 3 can be selected from eddy current, ultrasonic, or micro vision inspection units, and can detect defects in aircraft structures through various methods, including using eddy current to detect surface and near-surface defects in metallic materials, such as fatigue cracks, corrosion pits, and coating thickness changes, and identifying defects by changes in induced current; or using ultrasonic pulse reflection method to detect delamination of composite materials and cracks and corrosion in heterogeneous materials, and identifying the location and size of defects by waveform changes; or using high-definition visual imaging to detect surface cracks, corrosion, and external damage, acquiring images through a high-resolution camera and using image processing technology to identify and locate defects.

[0030] In one embodiment, the upper insulating dielectric layer 5-1 and the lower insulating dielectric layer 5-3 of the electrostatic adsorption plate 5 can be made of materials with high wear resistance and high hardness, such as polyimide or silicon nitride; the comb electrode 5-2 can be made of materials with high conductivity and corrosion resistance, such as graphene, gold-plated copper or aluminum, and a micromachining method with high precision and high efficiency can be selected, such as photolithography and deep reactive ion etching.

[0031] See Figure 4The horizontal axis represents time, and the vertical axis represents the voltage waveforms of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2. The working principle of the forward translation of the piezoelectric micro-detection device for rapid fine scanning of aircraft skin after vulnerability testing provided by this invention is as follows: When not energized, the voltage of the electrostatic adsorption plate 5 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface. The position of the non-destructive testing instrument 3 in the detection device is defined as the front end, and the movement of the detection device with the front end as the starting point is defined as... The testing device moves forward. To ensure the testing device carries the non-destructive testing instrument 3 continuously forward, the first step is to rapidly energize the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 from zero voltage to full-stroke voltage. This causes the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 to rapidly extend along their long axes, respectively driving the first inertial mass block 4-1 and the second inertial mass block 4-2 to move rapidly away from the short side of the L-shaped support 2-4 perpendicularly. At this time, the L-shaped support 2-4 experiences a forward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Due to the forward inertial impact force from the first inertial mass block... The large acceleration of the first piezoelectric stack 1-1 and the second inertial mass block 4-2 results in an inertial impact force far greater than the static friction between the electrostatic adsorption plate 5 and the aircraft skin surface. This drives the testing device, carrying the non-destructive testing instrument 3, to slide forward relative to the aircraft skin surface, generating a forward movement step. In the second step, the voltage of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 is slowly reduced from full-stroke voltage to zero. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 slowly contract along their long axis, respectively driving the first inertial mass block 4-1 and the second inertial mass block 4-2 slowly towards the L-shaped support 2. -4 moves vertically along its short side. At this time, the L-shaped support 2-4 is subjected to a backward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Since the acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2 is small, the corresponding inertial impact force is much smaller than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface and retains the forward movement step distance generated in the first step. Repeating the first and second steps enables the detection device carrying the non-destructive testing instrument 3 to move forward continuously.

[0032] See Figure 5The horizontal axis represents time, and the vertical axis represents the voltage waveforms of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2. The working principle of the piezoelectric micro-inspection device for rapid fine scanning of aircraft skin after vulnerability testing, provided by this invention, is as follows: The position of the first inertial mass block 4-1 and the second inertial mass block 4-2 in the inspection device is defined as the rear end, and the movement of the inspection device with the rear end as the starting point is defined as the rearward movement of the inspection device. Therefore, to enable the inspection device to continuously move backward carrying the non-destructive testing instrument 3, the first step is to... The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 are slowly energized from zero voltage to full-stroke voltage. As they extend along their long axes, they cause the first inertial mass block 4-1 and the second inertial mass block 4-2 to slowly move away from the short-side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 experiences a forward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Due to the acceleration of the motion of the first inertial mass block 4-1 and the second inertial mass block 4-2... The small angle results in a much smaller inertial impact force than the static friction between the electrostatic adsorption plate 5 and the aircraft skin surface. The testing device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface. In the second step, the voltage of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 is rapidly reduced from full-stroke voltage to zero. The first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 rapidly contract along their long axis, respectively driving the first inertial mass block 4-1 and the second inertial mass block 4-2 to rapidly move towards the short side vertical plane of the L-shaped support 2-4. At this time, the L... The support 2-4 is subjected to a backward inertial impact force from the first inertial mass block 4-1 and the second inertial mass block 4-2. Due to the large acceleration of the first inertial mass block 4-1 and the second inertial mass block 4-2, the corresponding inertial impact force is much greater than the static friction force between the electrostatic adsorption plate 5 and the aircraft skin surface. This drives the testing device carrying the non-destructive testing instrument 3 to slide backward relative to the aircraft skin surface and generate a backward movement step. By repeating the first and second steps, the testing device carrying the non-destructive testing instrument 3 can move backward continuously.

[0033] See Figure 4The horizontal axis represents time, and the vertical axis represents the voltage waveform of the second piezoelectric stack 1-2. The working principle of the piezoelectric micro-detection device for rapid fine scanning of aircraft skin after vulnerability testing, provided by this invention, is as follows: When not energized, the voltage of the electrostatic adsorption plate 5 is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface. The non-destructive testing instrument 3 is positioned at the front end, and the first piezoelectric stack 1-1, the first corrugated ring 2-1, and the first inertial mass block 4-1 are positioned at the left side. Furthermore, the detection device moves with its front end as the leader. To ensure the detection device, carrying the non-destructive testing instrument 3, continuously turns to the left, the first step is to rapidly energize the second piezoelectric stack 1-2 from zero voltage to its full-stroke voltage. The second piezoelectric stack 1-2 rapidly extends along its long axis, causing the second inertial mass block 4-2 to rapidly move away from the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 experiences a forward inertial impact force from the second inertial mass block 4-2, and the point of application of this inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, this inertial impact force is converted into a counter-clockwise... The left-turning forward inertial impact torque is much greater than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface due to the large acceleration of the second inertial mass block 4-2. This drives the detection device carrying the non-destructive testing instrument 3 to rotate to the left relative to the aircraft skin surface, generating a left-turning step. In the second step, the voltage of the second piezoelectric stack 1-2 is slowly reduced from full-stroke voltage to zero voltage. The second piezoelectric stack 1-2 slowly contracts along its long axis, causing the second inertial mass block 4-2 to slowly move towards the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to the force from the second inertial mass block 4- The inertial impact force 2 is applied backward, and the point of application of this inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a left-turning and reversing inertial impact torque in the clockwise direction. Since the acceleration of the second inertial mass block 4-2 is small, the left-turning and reversing inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface and retains the left-turning step distance generated in the first step. By repeating the first and second steps, the detection device carrying the non-destructive testing instrument 3 can continuously turn to the left.

[0034] See Figure 5The horizontal axis represents time, and the vertical axis represents the voltage waveform of the first piezoelectric stack 1-1. The working principle of the right-turn corresponding to the piezoelectric micro-inspection device for rapid fine scanning of aircraft skin after vulnerability testing provided by this invention is as follows: The non-destructive testing instrument 3 is positioned at the front end of the inspection device, while the second piezoelectric stack 1-2, the second corrugated ring 2-2, and the second inertial mass block 4-2 are positioned at the right side. The inspection device moves with the front end as the starting point. Therefore, to make the inspection device carrying the non-destructive testing instrument 3 continuously turn right, the first step is to... When the voltage is rapidly increased from zero to full-stroke voltage, the first piezoelectric stack 1-1 rapidly extends along its long axis, causing the first inertial mass block 4-1 to move rapidly away from the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to a forward inertial impact force from the first inertial mass block 4-1, and the point of application of this inertial impact force is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a clockwise forward inertial impact torque. Due to the large acceleration of the first inertial mass block 4-1, the rightward forward inertial impact torque... The impact torque is much greater than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface, driving the testing device carrying the non-destructive testing instrument 3 to rotate to the right relative to the aircraft skin surface and generate a right-turn step; in the second step, the voltage of the first piezoelectric stack 1-1 is slowly reduced from full-stroke voltage to zero voltage. The first piezoelectric stack 1-1 slowly contracts along its long axis, and drives the first inertial mass block 4-1 to slowly move towards the short side vertical plane of the L-shaped support 2-4. At this time, the L-shaped support 2-4 is subjected to an inertial impact force from the first inertial mass block 4-1, and this inertial impact force acts as a force... The point is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a right-turning and reversing inertial impact torque in the counterclockwise direction. Since the acceleration of the first inertial mass block 4-1 is small, the right-turning and reversing inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate 5 and the aircraft skin surface. The detection device carrying the non-destructive testing instrument 3 remains stationary relative to the aircraft skin surface and retains the right-turning step distance generated in the first step. By repeating the first and second steps, the detection device carrying the non-destructive testing instrument 3 can continuously turn to the right.

[0035] This invention provides a piezoelectric micro-detection device for rapid and detailed scanning of aircraft skin after vulnerability testing. It can perform a rapid scanning mode in areas without abnormalities and a detailed scanning mode in areas suspected of damage, and can quickly switch between different modes. The device coordinates the voltage adjustment of the first piezoelectric stack 1-1, the second piezoelectric stack 1-2, and the electrostatic adsorption plate 5 according to the scanning task and different modes, as detailed below: In the rapid scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 are increased, and the adsorption voltage of the electrostatic adsorption plate 5 is adjusted to a lower level that meets the requirements for stable adhesion and continuous sliding of the detection device, so as to increase the single-step movement distance and scanning area per unit time of the detection device. In the fine scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack 1-1 and the second piezoelectric stack 1-2 are reduced, and the adsorption voltage of the electrostatic adsorption plate 5 is increased, so as to reduce the single-step movement distance of the detection device and improve the adhesion stability, position control accuracy and defect area dwell capability of the detection device on the aircraft skin surface.

[0036] During rapid scanning, when the defect characterization signal output by the non-destructive testing instrument 3 exceeds a preset threshold, the testing device switches to fine scanning mode and performs local rescanning centered on the suspected damaged area. The local rescanning adopts any one of reciprocating scanning, grid scanning, or spiral scanning, and by reducing the step distance and increasing the detection point density, cracks, pits, or local damage are repeatedly detected and finely located. When the defect characterization signal output by the non-destructive testing instrument 3 is lower than the preset threshold within multiple consecutive detection steps, the testing device returns to rapid scanning mode and continues to perform large-scale inspection.

Claims

1. A piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, characterized in that, It includes a first piezoelectric stack (1-1), a second piezoelectric stack (1-2), a base (2), a non-destructive testing instrument (3), a first inertial mass block (4-1), a second inertial mass block (4-2), and an electrostatic adsorption plate (5). The first piezoelectric stack (1-1) is interference-fitted in the inner cavity of the first corrugated ring (2-1) of the base (2), and the second piezoelectric stack (1-2) is interference-fitted in the inner cavity of the second corrugated ring (2-2). The first inertial mass block (4-1) is bonded to the free end of the first corrugated ring (2-1), and the second inertial mass block (4-2) is bonded to the free end of the second corrugated ring (2-2). Both the first inertial mass block (4-1) and the second inertial mass block (4-2) are suspended above the base (2). A non-destructive testing instrument (3) is fixedly installed on the lower surface of the base (2) away from the first inertial mass block (4-1) and the second inertial mass block (4-2). The testing working surface of the non-destructive testing instrument (3) faces downward and is parallel to the bottom surface of the base (2). The non-destructive testing instrument (3) performs testing on the aircraft skin after the vulnerability test based on the testing principles of ultrasonic, eddy current, infrared or visual imaging. An electrostatic adsorption plate (5) is fixedly bonded to the bottom of the base (2).

2. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 1, is characterized in that... The base (2) consists of a first corrugated ring (2-1), a second corrugated ring (2-2), a sensing platform (2-3), and an L-shaped support (2-4). The long side plane of the L-shaped support (2-4) is placed horizontally, and the right side of the long side plane extends upward to the short side vertical plane. The first corrugated ring (2-1) and the second corrugated ring (2-2) are arranged horizontally on the left side of the short side vertical plane, and the sensing platform (2-3) is arranged horizontally on the right side of the short side vertical plane. The first inertial mass block (4-1) and the second inertial mass block (4-2) are both suspended above the L-shaped support (2-4). A non-destructive testing instrument (3) is fixedly installed on the lower surface of the sensing platform (2-3). The testing working surface of the non-destructive testing instrument (3) is parallel to the long side plane of the L-shaped support (2-4). An electrostatic adsorption plate (5) is fixedly bonded to the bottom of the long side plane of the L-shaped support (2-4).

3. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 1, is characterized in that... The electrostatic adsorption plate (5) consists of an upper insulating dielectric layer (5-1), a comb-tooth electrode (5-2), and a lower insulating dielectric layer (5-3); The upper insulating dielectric layer (5-1) is fixedly bonded to the bottom of the long side plane of the L-shaped support (2-4), and the lower insulating dielectric layer (5-3) is electrostatically adsorbed onto the surface of the aircraft skin after the vulnerability test.

4. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... The upper insulating dielectric layer (5-1) and the lower insulating dielectric layer (5-3) are made of materials with high wear resistance and high hardness; the comb electrode (5-2) is made of materials with high conductivity and corrosion resistance, and is made of micromachining with high precision and high efficiency.

5. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... The process of controlling the piezoelectric micro-detection device to move forward on the aircraft skin surface is as follows: When no power is applied, the voltage of the comb electrode (5-2) is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following two steps are performed: First, the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) are rapidly energized from zero voltage to full stroke voltage. The first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) are rapidly extended along the long axis, and respectively drive the first inertial mass block (4-1) and the second inertial mass block (4-2) to move rapidly away from the short side of the L-shaped support (2-4) vertically. At this time, the L-shaped support (2-4) is subjected to the forward inertial impact force from the first inertial mass block (4-1) and the second inertial mass block (4-2). Since the motion acceleration of the first inertial mass block (4-1) and the second inertial mass block (4-2) is large, the corresponding inertial impact force is much greater than the static friction force between the electrostatic adsorption plate (5) and the aircraft skin surface. The driving detection device carrying the non-destructive testing instrument (3) slides forward relative to the aircraft skin surface and generates a forward movement step. In the second step, the voltage of the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) is slowly reduced from the full stroke voltage to zero voltage. The first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) slowly contract along the long axis direction, and respectively drive the first inertial mass block (4-1) and the second inertial mass block (4-2) to slowly move vertically toward the short side of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to the backward inertial impact force from the first inertial mass block (4-1) and the second inertial mass block (4-2). Since the motion acceleration of the first inertial mass block (4-1) and the second inertial mass block (4-2) is small, the corresponding inertial impact force is much smaller than the static friction force between the electrostatic adsorption plate (5) and the aircraft skin surface. The detection device carrying the non-destructive testing instrument (3) remains stationary relative to the aircraft mechanism surface and retains the forward motion step distance generated in the first step. Repeat steps one and two to make the testing device carry the non-destructive testing instrument (3) forward continuously.

6. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... The process of controlling the piezoelectric micro-detection device to move backward on the aircraft skin surface is as follows: When no power is applied, the voltage of the comb electrode (5-2) is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following two steps are performed: In the first step, the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) are slowly energized from zero voltage to full stroke voltage. The first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) slowly extend along the long axis, and respectively drive the first inertial mass block (4-1) and the second inertial mass block (4-2) to move slowly away from the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to the forward inertial impact force from the first inertial mass block (4-1) and the second inertial mass block (4-2). Since the motion acceleration of the first inertial mass block (4-1) and the second inertial mass block (4-2) is small, the corresponding inertial impact force is much smaller than the static friction force between the electrostatic adsorption plate (5) and the aircraft skin surface. The detection device carrying the non-destructive testing instrument (3) remains stationary relative to the aircraft skin surface. In the second step, the voltage of the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) is rapidly reduced from the full stroke voltage to zero voltage. The first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) rapidly contract along the long axis direction, and respectively drive the first inertial mass block (4-1) and the second inertial mass block (4-2) to move rapidly toward the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to the backward inertial impact force from the first inertial mass block (4-1) and the second inertial mass block (4-2). Since the motion acceleration of the first inertial mass block (4-1) and the second inertial mass block (4-2) is large, the corresponding inertial impact force is much greater than the static friction force between the electrostatic adsorption plate (5) and the aircraft skin surface. This drives the detection device to carry the non-destructive testing instrument (3) to slide backward relative to the aircraft skin surface and generate a backward movement step. Repeating the first and second steps enables the testing device to carry the non-destructive testing instrument (3) to move backward continuously.

7. A piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... The process of controlling the piezoelectric micro-detection device to rotate to the left on the aircraft skin surface is as follows: When not energized, the voltage of the comb electrode (5-2) is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following steps are performed: First, the second piezoelectric stack (1-2) is rapidly energized from zero voltage to full stroke voltage. The second piezoelectric stack (1-2) rapidly extends along its long axis and drives the second inertial mass block (4-2) to move rapidly away from the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to an inertial impact force from the second inertial mass block (4-2) moving forward. The point of application of this inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a left-turning forward inertial impact torque in the counterclockwise direction. Since the second inertial mass block (4-2) has a large acceleration, the left-turning forward inertial impact torque is much greater than the static friction torque between the electrostatic adsorption plate (5) and the aircraft skin surface. This drives the detection device to carry the non-destructive testing instrument (3) to rotate to the left relative to the aircraft skin surface and generate a left-turning step. In the second step, the voltage of the second piezoelectric stack (1-2) is slowly reduced from full stroke voltage to zero voltage. The second piezoelectric stack (1-2) slowly contracts along the long axis and drives the second inertial mass block (4-2) to slowly move towards the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to the inertial impact force from the second inertial mass block (4-2) backward. The point of action of the inertial impact force is located on the right side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a left-turning and reversing inertial impact torque in the clockwise direction. Since the acceleration of the second inertial mass block (4-2) is small, the left-turning and reversing inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate (5) and the aircraft skin surface. The detection device carrying the non-destructive testing instrument (3) remains stationary relative to the aircraft skin surface and retains the left-turning step distance generated in the first step. Repeat steps one and two to make the testing device carrying the non-destructive testing instrument (3) turn left continuously.

8. The piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... The process of controlling the piezoelectric micro-detection device to rotate to the right on the aircraft skin surface is as follows: When no power is applied, the voltage of the comb electrode (5-2) is adjusted to regulate the adsorption force between the detection device and the aircraft skin surface. At this time, the detection device is adsorbed on the aircraft skin surface and is stationary relative to the aircraft skin surface; then the following steps are performed: First, the first piezoelectric stack (1-1) is rapidly energized from zero voltage to full stroke voltage. The first piezoelectric stack (1-1) rapidly extends along its long axis and drives the first inertial mass block (4-1) to move rapidly away from the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to an inertial impact force from the first inertial mass block (4-1) moving forward. The point of action of this inertial impact force is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a clockwise forward inertial impact torque. Since the first inertial mass block (4-1) has a large acceleration, the forward inertial impact torque is much greater than the static friction torque between the electrostatic adsorption plate (5) and the aircraft skin surface. This drives the detection device to carry the non-destructive testing instrument (3) to rotate to the right relative to the aircraft skin surface and generate a right-turn step distance. In the second step, the voltage of the first piezoelectric stack (1-1) is slowly reduced from the full stroke voltage to zero voltage. The first piezoelectric stack (1-1) slowly contracts along the long axis and drives the first inertial mass block (4-1) to slowly move towards the short side vertical plane of the L-shaped support (2-4). At this time, the L-shaped support (2-4) is subjected to the inertial impact force from the first inertial mass block (4-1) backward. The point of action of the inertial impact force is located on the left side of the detection device. Under the combined action of the inertial impact force and the inertial impact arm, the inertial impact force is converted into a right-turning back inertial impact torque in the counterclockwise direction. Since the acceleration of the first inertial mass block (4-1) is small, the right-turning back inertial impact torque is much smaller than the static friction torque between the electrostatic adsorption plate (5) and the aircraft skin surface. The detection device carrying the non-destructive testing instrument (3) remains stationary relative to the aircraft skin surface and retains the right-turning step distance generated in the first step. Repeat steps one and two to make the testing device carrying the non-destructive testing instrument (3) turn right continuously.

9. A piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 3, is characterized in that... In the rapid scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) are increased, and the adsorption voltage of the comb electrode (5-2) is adjusted to a lower level that meets the requirements of stable adhesion and continuous sliding of the detection device, so as to increase the single-step movement distance and scanning area per unit time of the detection device. In the fine scanning mode, the driving voltage amplitude and driving frequency of the first piezoelectric stack (1-1) and the second piezoelectric stack (1-2) are reduced, and the adsorption voltage of the comb electrode (5-2) is increased, so as to reduce the single-step movement distance of the detection device and improve the adhesion stability, position control accuracy and defect area dwell capability of the detection device on the aircraft skin surface.

10. A piezoelectric miniature inspection device for rapid and detailed scanning of aircraft skin after vulnerability testing, as described in claim 9, is characterized in that... During the rapid scanning process, when the defect characterization signal output by the non-destructive testing instrument (3) exceeds the preset threshold, the testing device switches to the fine scanning mode and performs local rescanning centered on the suspected damage area. The local rescanning adopts any one of reciprocating scanning, grid scanning or spiral scanning. By reducing the step distance and increasing the density of detection points, cracks, pits or local damage are repeatedly detected and finely located. When the defect characterization signal output by the non-destructive testing instrument (3) is lower than the preset threshold within multiple consecutive detection steps, the testing device returns to the rapid scanning mode and continues to perform large-scale inspection.

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