A micro vehicle to assist aircraft maintenance

Abstract

The application discloses a kind of micro-carriers for assisting aircraft maintenance, belong to mechanical design and nondestructive testing technical field.The carrier is used to carry detection device or probe, including first movable leg, second movable leg, third movable leg, first driving rod and second driving rod connecting each leg and control center.Each movable leg is provided with axial driver, connecting piece and carrier foot;Driving rod includes first connecting rod and second connecting rod driven by first actuator to rotate, and second connecting rod and third connecting rod driven by second actuator to pitch, and the spatial pose adjustment of carrier foot is realized by multi-degree-of-freedom connecting rod mechanism.The application solves the problem that traditional detection equipment is difficult to fix and move in complex and narrow cabin of aircraft, can stably "crawl" on horizontal, vertical and complex curved surface, and significantly improves the detection efficiency and coverage of aircraft fatigue crack and other hidden troubles.

Description

Technical Field

[0001] This invention belongs to the fields of mechanical design and non-destructive testing technology, and specifically relates to a miniature vehicle for assisting aircraft maintenance. Background Technology

[0002] Aircraft, ships, and other structures mostly operate under randomly varying loads, and fatigue failure is a major form of damage. During long-term service, timely detection and treatment of fatigue cracks in aircraft structures are crucial for ensuring safety. If cracks are not detected and monitored in their early stages to meet operational requirements, small cracks can expand to the point of affecting flight safety. Crack inspection is paramount to ensuring flight safety. However, some aircraft structures are difficult to inspect due to limitations in structural dimensions, load transmission requirements, and assembly. Conventional non-destructive testing methods include magnetic particle testing, penetrant testing, eddy current testing, ultrasonic testing, and X-ray testing. These methods are often impractical or impossible to implement in certain aircraft compartments. Summary of the Invention

[0003] To address the aforementioned problems, this application provides a miniature vehicle for assisting aircraft maintenance, used to carry detection devices or probes, comprising:

[0004] The system comprises a first movable leg, a second movable leg, a third movable leg, a first drive rod connecting the first movable leg and the second movable leg, a second drive rod connecting the second movable leg and the third movable leg, and a control center.

[0005] The first movable leg, the second movable leg, and the third movable leg each have a connector (2), an axial actuator (1) for axial movement of the connector (2), and a carrier foot (8) connected to the connector (2).

[0006] Both the first drive linkage and the second drive linkage have a first link (5), a second link (6), a third link (7), a first actuator (4), and a second actuator (3); the first link (5) and the second link (6) are coaxially connected to the first actuator (4), and the first actuator (4) drives the second link (6) to rotate relative to the first link (5) around its axis;

[0007] The second link (6) is hinged to the third link (7), and the second actuator (3) drives the second link (6) and the third link (7) to rotate around the hinge point;

[0008] The third link (7) is fixedly connected to the axial actuator (1); the first link (5) of the first drive rod and the second drive rod are respectively hinged to the axial actuator (1) of the second movable leg.

[0009] An electromagnet is provided on the vehicle foot (8), and the electromagnet, axial drive (1), first actuator (4) and second actuator (3) are all electrically connected to the control center.

[0010] Preferably, the vehicle foot (8) includes a cylindrical section and several polygonal prisms located within the cylindrical section. Each polygonal prism has a degree of freedom to move along the axial direction of the cylindrical section. When the several polygonal prisms press on the protruding object, the corresponding polygonal prisms retract axially to adapt to the shape of the protruding object and restrict the rotational degree of freedom of the vehicle foot (8) relative to the protruding object.

[0011] Preferably, the control center is integrated into the control handle and connected to the miniature vehicle via a cable.

[0012] Preferably, the control center is integrated on the second movable leg, and the control handle controls the control center via remote control.

[0013] Preferably, the axial drive (1) and the connector (2) are connected by a gear rack or a threaded screw.

[0014] Preferably, the electromagnets on the vehicle feet (8) are energized and de-energized via an electromagnetic relay. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a tripod micro-vehicle kit;

[0016] Figure 2 This is a schematic diagram of a polygonal prism group;

[0017] Figure 3 This is a schematic diagram of horizontal and vertical bolts;

[0018] Figure 4 This is a schematic diagram of a common aircraft structure;

[0019] Figure 5 This is a schematic diagram of one implementation method. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0021] This miniature vehicle for assisting aircraft maintenance includes a first movable leg, a second movable leg, and a third movable leg. For ease of description, the second movable leg is defined as the active support leg, and the first and third movable legs are defined as the driven support legs.

[0022] Each movable leg includes an axial driver (1), a connector (2), and a carrier foot (8). The axial driver (1) is a miniature lead screw stepper motor, and its internal lead screw is connected to the connector (2) via a threaded screw (corresponding to claim 5). The rotation of the motor drives the connector (2) and the carrier foot (8) to perform telescopic movements along the axial direction (i.e., perpendicular to the skin surface).

[0023] An electromagnet is built into the end of the vehicle foot (8). The electromagnet is connected to an external power source through an electromagnetic relay. The control center controls the attraction and release of the electromagnet by controlling the on and off of the relay (corresponding to claim 6).

[0024] The linkage mechanism includes a first driving link and a second driving link. Taking the first driving link as an example, it consists of a first connecting rod (5), a second connecting rod (6), a third connecting rod (7), a first actuator (4), and a second actuator (3). The first connecting rod (5) and the second connecting rod (6) are coaxially hinged to the output end of the first actuator (4). The first actuator (4) drives the second connecting rod (6) to rotate relative to the first connecting rod (5) around its own axis (i.e., deflection motion). The second connecting rod (6) is hinged to the third connecting rod (7), and the second actuator (3) drives both to rotate around the hinge point (i.e., pitch motion). The end of the third connecting rod (7) is fixedly connected to the housing of the axial actuator (1). The first connecting rod (5) of the first driving link and the second driving link are respectively hinged to the housing of the axial actuator (1) of the second movable leg, forming a parallel or series support structure.

[0025] Example 1: The control center is integrated into the control handle (wired mode, corresponding to claim 3).

[0026] In this embodiment, the control center is integrated into the handheld control handle and connected to the miniature vehicle via a multi-core cable, responsible for power supply and transmission of control signals.

[0027] The specific operation process is as follows:

[0028] Step A: Initial positioning and adsorption

[0029] The operator places the miniature vehicle into the aircraft cabin through the access port. At this time, the three movable legs are in the extended position. The operator operates the control handle to start the axial drive (1) of the three movable legs and adjusts the length so that the three vehicle feet (8) are aligned with the first bolt, the second bolt and the third bolt on the skin (or in direct contact with the skin).

[0030] The control center issues a command to close the circuit of the electromagnetic relay, and the electromagnet inside the vehicle foot (8) is energized to generate magnetic force. Since the aircraft skin and bolts are mostly made of ferromagnetic materials, the vehicle foot (8) quickly adheres to the target position. At this time, the longitudinal linear degree of freedom and the rotational degree of freedom around the longitudinal axis of the connecting piece (2) are locked.

[0031] Step B: Single-leg movement (gait planning)

[0032] Suppose that the third movable leg needs to be moved from the current first bolt to the second bolt above it.

[0033] Leg lifting: The control center de-energizes and demagnetizes the electromagnetic relay of the third movable leg. Then, the axial drive (1) of the third movable leg is activated, driving the lead screw to rotate forward, which in turn lifts the connecting piece (2) and the carrier foot (8) upward, disengaging them from the first bolt.

[0034] Spatial attitude adjustment: The control center drives the second drive rod connecting the third movable leg. The second actuators (3) of the first and second movable legs are activated respectively, and the angle between the second link (6) and the third link (7) is adjusted so that the third movable leg moves horizontally to directly above the second bolt. When the new connecting plane of the third movable leg, that is, the plane where the second bolt is located, has an angle with the original connecting plane, the first actuator is driven to move to adapt to the new plane.

[0035] Lowering and securing: Activate the axial drive (1) of the third movable leg, reverse the drive screw, and cause the carrier foot (8) to extend downwards until it presses against the second bolt. Reactivate the electromagnetic relay of the third movable leg, and the carrier foot (8) is attracted and secured to the second bolt.

[0036] Step C: Adapting to Irregular Surfaces

[0037] During the lowering process in step B, the vehicle foot (8) contacts the bolt head (protrusion). The vehicle foot (8) includes a cylindrical section and several polygonal prisms inside (as shown in the attached diagram). Figure 2 (As shown). When the carrier foot (8) is pressed down on the bolt head, the bolt head squeezes the corresponding polygonal prism, forcing the prism to retract axially along the cylinder section (compressing the internal spring), while other uncontacted prisms remain in place. This adaptive retraction allows the carrier foot (8) to closely fit the irregular contour of the bolt head, greatly increasing the friction of the contact surface, effectively limiting the rotational freedom of the carrier foot (8) relative to the bolt head, and preventing slippage.

[0038] Step D: Overall displacement

[0039] After the third movable leg has moved, the first and second movable legs are moved sequentially according to the same principle (leg lift-move-lower-adhere). Throughout this process, at least two movable legs are kept in an adhered and fixed state to ensure the stability of the vehicle in zero-gravity or microgravity environments. By alternately controlling the coordinated movement of the three movable legs, the miniature vehicle can "crawl" on the skin surface, transporting the X-ray detector or non-destructive testing probe mounted on the vehicle body to the target inspection area.

[0040] Example 2: Control center integrated into the vehicle

[0041] In this embodiment, the control center is highly integrated and fixedly mounted on the housing of the axial drive (1) of the second movable leg. The operator controls the vehicle using a separate wireless control handle (remote control).

[0042] The specific operation process is as follows:

[0043] The operator sends a wireless signal (such as WiFi or ZigBee signal) via a remote control. The control center on the second movable leg receives and analyzes the signal, and then controls the axial actuators (1), the first actuator (4), and the second actuator (3).

[0044] Example of vertical climbing:

[0045] When it is necessary to move across the fuselage structure from a horizontal plane to a vertical plane:

[0046] The control center controls the first and second movable legs to remain attached and fixed, serving as a support base.

[0047] Control the third movable leg to lift up, and use the large angle rotation of the first actuator (4) to swing the third movable leg to the skin area of ​​the vertical plane.

[0048] The axial actuator (1) of the third movable leg extends, causing the vehicle foot (8) to fit tightly against the vertical skin, and the electromagnet is energized to attract it.

[0049] Subsequently, the control center controlled the first movable leg to lift, and through the linkage mechanism, the center of gravity of the entire vehicle was transferred to the vertical plane.

[0050] Repeat the above gait to achieve continuous climbing from the horizontal plane to the vertical plane. Due to the use of a polygonal pyramid structure, even on the vertical plane, the vehicle feet (8) can firmly lock the rotational degrees of freedom to prevent loss of posture due to gravity.

[0051] Example 3: Operation with Equipped Equipment

[0052] After the miniature vehicle reaches the designated testing location, the control center stops all actuators and maintains the strong adhesion of the three vehicle feet (8) to provide a stable platform for the mounted equipment. At this time, the mounted fiber optic endoscope or ultrasonic probe can be activated to collect data. The data is transmitted back to the ground control terminal via cable or wireless module for ground crew to analyze the fatigue cracks in the aircraft structure.

[0053] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

[0054] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A miniature vehicle for assisting aircraft maintenance, used to carry detection devices or probes, characterized in that, include: The system comprises a first movable leg, a second movable leg, a third movable leg, a first drive rod connecting the first movable leg and the second movable leg, a second drive rod connecting the second movable leg and the third movable leg, and a control center. The first movable leg, the second movable leg, and the third movable leg each have a connector (2), an axial actuator (1) for axial movement of the connector (2), and a carrier foot (8) connected to the connector (2). Both the first drive linkage and the second drive linkage have a first link (5), a second link (6), a third link (7), a first actuator (4), and a second actuator (3); the first link (5) and the second link (6) are coaxially connected to the first actuator (4), and the first actuator (4) drives the second link (6) to rotate relative to the first link (5) around its axis; The second link (6) is hinged to the third link (7), and the second actuator (3) drives the second link (6) and the third link (7) to rotate around the hinge point; The third link (7) is fixedly connected to the axial actuator (1); the first link (5) of the first drive rod and the second drive rod are respectively hinged to the axial actuator (1) of the second movable leg. An electromagnet is provided on the vehicle foot (8), and the electromagnet, axial drive (1), first actuator (4) and second actuator (3) are all electrically connected to the control center.

2. The miniature vehicle for assisting aircraft maintenance as described in claim 1, characterized in that, The vehicle foot (8) includes a cylindrical section and several polygonal prisms located within the cylindrical section. Each polygonal prism has a degree of freedom to move along the axial direction of the cylindrical section. When several polygonal prisms press on the protruding object, the corresponding polygonal prisms retract axially to adapt to the shape of the protruding object and restrict the rotational degree of freedom of the vehicle foot (8) relative to the protruding object.

3. The miniature vehicle for assisting aircraft maintenance as described in claim 1, characterized in that, The control center is integrated into the control handle and connected to the miniature vehicle via a cable.

4. The miniature vehicle for assisting aircraft maintenance as described in claim 1, characterized in that, The control center is integrated on the second movable leg, and the control handle controls the control center remotely.

5. The miniature vehicle for assisting aircraft maintenance as described in claim 1, characterized in that, The axial drive (1) and the connector (2) are connected by a gear rack or a threaded screw.

6. The miniature vehicle for assisting aircraft maintenance as described in claim 1, characterized in that, The electromagnets on the vehicle feet (8) are powered on and off via an electromagnetic relay.

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