Auxiliary borescope device

Abstract

The utility model provides a borescope auxiliary device, which belongs to the technical field of aero-engine detection and is used for solving the problems of high difficulty and high cost of internal detection of an aero-engine. The borescope auxiliary device comprises a base and a joint arm. The articulated arm is rotatably arranged on the base. The articulated arm is used for carrying the borescope. The articulated arm comprises at least two unit joints and at least one drive-by-wire assembly. Every two adjacent unit sections are meshed with each other through a tooth-shaped structure and can be bent in the meshing direction of the tooth-shaped structures. And the pair of connecting lines is telescopically connected between two adjacent unit sections. The driving device drives the connecting lines to stretch out and draw back, and then the two adjacent unit sections are driven to be bent in the meshing direction of the tooth-shaped structures. The borescope is carried on the joint arm, the posture of the joint arm is flexibly adjusted along with rotation and bending of the joint arm, the detection end of the borescope extends into the aero-engine of a complex structure, and the detection cost and difficulty are effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of aviation engine detection, and in particular relates to a borescope auxiliary device. Background Art

[0002] The interior of an aircraft engine contains multiple precision rotating and stationary parts, such as compressors, turbine blades, and shafts. In addition, aircraft engines are under high temperature, high pressure, and high speed working conditions for a long time, which makes it easy for various damages to occur inside the engine, such as cracks, falling blocks, tears, pits, ablation, curling, etc. Since the internal structure of an aircraft engine is very complex and narrow, these damages are often hidden and difficult to observe directly, and direct disassembly for maintenance will incur a large time and economic cost. Therefore, borescopes are generally used during the maintenance process. This process is difficult and has great requirements on the size of the borescope auxiliary device. It needs to meet the operation under the premise of small size and is highly dependent on expert knowledge. It is time-consuming and lacks recognition of small-scale features, which may lead to detection errors. The design of common snake-like robots is mainly based on three-wire driven unit segments. However, as the number of robot unit segments increases, the number of required drives also increases, which not only poses challenges to the layout of the drives, but also significantly increases the production cost. For many small and medium-sized projects with borescope needs, such a cost burden seems too heavy. In addition, in specific bore detection tasks, traditional borescope equipment often cannot reach the target location, which makes it necessary to customize borescope auxiliary devices for specific types of aircraft engines. Due to the needs of different types of aircraft and specific flight missions, the size of aircraft engines varies greatly. Therefore, the cost of designing a borescope auxiliary device for a certain type of engine is relatively high. This customized solution is often accompanied by high design and manufacturing costs, which is not conducive to large-scale promotion and application. From the perspective of economic benefits, this high-cost customization method is not widely applicable because it may lead to excessive investment of resources with limited benefits, thus affecting the overall return on investment of the project. Utility Model Content

[0003] Therefore, the technical problem to be solved by the utility model is to provide a borescope auxiliary device that can reduce project costs and difficulty, improve the flexibility and efficiency of engineering implementation, and thus better serve various detection and inspection tasks.

[0004] In order to solve the above problems, the utility model provides a borescope auxiliary device, including: a base and an articulated arm. The articulated arm is rotatably arranged on the base. The articulated arm is used to carry the borescope. The articulated arm includes: at least two unit sections and at least one wire control assembly. Two adjacent unit sections are meshed with each other through a toothed structure, and can bend along the meshing direction of the toothed structure. Each wire control assembly includes a pair of connecting wires and a pair of driving devices. A pair of connecting wires are telescopically connected between two adjacent unit sections. A pair of connecting wires are distributed on both sides of the unit section along the bending direction of the unit section. The driving device is arranged on the base. Each connecting wire is connected to a driving device. The driving device drives the connecting wire to bend along the meshing direction of the toothed structure by driving the connecting wire to bend.

[0005] Optionally, the unit section is cylindrical. The two ends of the unit section are respectively a first end and a second end. The cylindrical wall of the unit section includes: a pair of first side walls and a pair of second side walls. The pair of first side walls are opposite to each other. The pair of second side walls are opposite to each other. The toothed structure is arranged at the first end of the pair of first side walls and / or the second end of the pair of second side walls. The second end of the pair of first side walls and / or the first end of the pair of second side walls are provided with a guide rail. The connecting wire is wound between the guide rails of two adjacent unit sections. The two ends of the connecting wire extend from the inside of the unit section to the base and are connected to the driving device.

[0006] Optionally, a plurality of guide grooves are sequentially arranged on the side wall of the unit section along the extension direction of the guide rail, and the connecting wire passes through the plurality of guide grooves sequentially and is wound around the guide rails of two adjacent unit sections.

[0007] Optionally, the unit section further includes a connecting plate. The connecting plate is located inside the unit section. The connecting plate is connected between a pair of first side walls and a pair of second side walls. The connecting plate includes a pair of first through holes. The pair of first through holes are respectively used to accommodate a connecting line and a borescope.

[0008] Optionally, the unit section further includes a reinforcing beam connected between the first ends of the pair of first side walls and / or between the second ends of the pair of second side walls.

[0009] Optionally, the edges of the first ends of the pair of first side walls and / or the second ends of the pair of second side walls are arc-shaped. The toothed structure includes a plurality of teeth. The plurality of teeth are evenly distributed on the arc-shaped edges.

[0010] Optionally, weight-reducing holes are provided on the unit sections.

[0011] Optionally, a rotating shaft is provided at one end of the articulated arm close to the base. The articulated arm is rotatably arranged on the base via the rotating shaft. A worm wheel is provided on the rotating shaft. The base includes a worm and a driving motor. The worm and the worm wheel are meshed for transmission. The output end of the driving motor is connected to the worm. The driving motor drives the worm to rotate, thereby driving the worm wheel to rotate, and then the articulated arm rotates.

[0012] Optionally, the base includes: a bottom plate, a lifting structure and a support platform. The lifting structure is arranged on the bottom plate. The support platform is arranged on the top of the lifting structure. The articulated arm is arranged on the support platform.

[0013] Optionally, a clamp is provided at one end of the articulated arm away from the base, and the clamp is used to fix the detection end of the borescope.

[0014] Beneficial Effects

[0015] The borescope auxiliary device provided by the utility model comprises a base and an articulated arm. The articulated arm is rotatably arranged on the base. The articulated arm comprises at least two unit sections and at least one wire control assembly. Two adjacent unit sections are meshed with each other through a tooth structure and can be bent along the meshing direction of the tooth structure. Each wire control assembly comprises a pair of connecting wires and a pair of driving devices. The pair of connecting wires are respectively located on both sides of the bending direction of the two adjacent unit sections. The driving device can make the unit section bend to the side where the connecting wire is contracted by driving the connecting wire on one side to extend and driving the connecting wire on the other side to contract. The borescope is mounted on the articulated arm, and the posture of the articulated arm is flexibly adjusted as the articulated arm rotates and bends, so that the detection end of the borescope is extended into the interior of the aircraft engine with a complex structure. In addition, since the driving devices are all arranged on the base, only the articulated arm enters the interior of the engine for actual detection operations, which reduces the volume and complexity of the equipment entering the interior of the engine, reduces the interference with the internal structure of the engine, and also reduces the difficulty of operation and safety risks of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the three-dimensional structure of a borescope auxiliary device according to an embodiment of the utility model;

[0017] Figure 2 A schematic diagram of the structure of a unit section of an embodiment provided by the utility model;

[0018] Figure 3 A schematic diagram of a connection method of two adjacent unit sections according to an embodiment of the utility model;

[0019] Figure 4 A schematic diagram of the internal structure of a unit section of an embodiment provided by the utility model;

[0020] Figure 5 A schematic diagram of a worm gear structure according to an embodiment of the present invention;

[0021] Figure 6 A schematic diagram of the structure of a base according to an embodiment of the present invention;

[0022] Figure 7A schematic diagram of the structure of a clamp provided by an embodiment of the utility model;

[0023] Figure 8 A schematic structural diagram of an articulated arm according to an embodiment of the present invention;

[0024] Fig. 9 A schematic structural diagram of an articulated arm in another embodiment of the present invention;

[0025] Fig.10 A schematic diagram of a posture of a borescope auxiliary device according to an embodiment of the utility model;

[0026] Fig.11 A schematic diagram of another posture of a borescope auxiliary device according to an embodiment of the utility model;

[0027] Fig.12 A schematic diagram of another posture of a borescope auxiliary device according to an embodiment of the utility model.

[0028] The reference numerals are:

[0029] 1. Base; 2. Joint arm; 3. Worm gear structure; 4. Protective cover; 5. Clamp;

[0030] 11. Bottom plate; 12. Lifting structure; 13. Support platform;

[0031] 121, first slide groove; 122, connecting rod; 123, second slide groove; 124, lifting rod;

[0032] 21. Unit section; 22. Line control assembly;

[0033] 211, first side surface; 212, second side surface; 213, toothed structure; 214, guide rail; 215, guide groove; 216, reinforcing beam; 217, weight-reducing hole; 218, connecting plate; 219, top plate;

[0034] 221, connecting line; 222, driving device;

[0035] 31. rotating shaft; 32. worm gear; 33. worm; 34. driving motor;

[0036] 51. fixed plate; 52. limiting ring;

[0037] 21a, first end; 21b, second end; 218a, first through hole; 219a, second through hole. DETAILED DESCRIPTION

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element 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.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0042] This embodiment provides a borescope auxiliary device. Figure 1 A schematic diagram of the three-dimensional structure of a borescope auxiliary device provided in this embodiment.

[0043] like Figure 1As shown, the borescope auxiliary device of this embodiment includes: a base 1 and an articulated arm 2. The articulated arm 2 is rotatably arranged on the base 1. The articulated arm 2 is used to carry the borescope. The articulated arm 2 includes: at least two unit sections 21 and at least one wire control assembly 22. Two adjacent unit sections 21 are meshed with each other through a tooth structure 213, and can bend along the meshing direction of the tooth structure 213. Each wire control assembly 22 includes a pair of connecting wires 221 and a pair of driving devices 222. The pair of connecting wires 221 are telescopically connected between two adjacent unit sections 21. The pair of connecting wires 221 are distributed on both sides of the unit section 21 along the bending direction of the unit section 21. The driving device 222 is arranged on the base 1. Each connecting wire 221 is connected to a driving device 222. The driving device 222 drives the connecting wire 221 to extend and retract, thereby driving the two adjacent unit sections 21 to bend along the meshing direction of the tooth structure 213.

[0044] In some examples, such as Figure 1 As shown, a protective cover 4 is provided at the connection between the base 1 and the articulated arm 2. The device for driving the articulated arm 2 to rotate is provided in the protective cover 4. Such a configuration can prevent the entry of debris into the device for driving the articulated arm 2 to rotate, and make the appearance of the borescope auxiliary device neater.

[0045] In some examples, such as Figure 1 As shown, the articulated arm 2 includes four unit sections 21 and three wire control components 22. With such a configuration, the articulated arm 2 can not only rotate on the base 1, but also has three joints in the length direction of the articulated arm 1, and can flexibly adjust the posture to adapt to the complex structure inside the aircraft engine.

[0046] For example, Figures 10-12 As shown, the articulated arm 2 can have a variety of different postures. The specific posture can be adjusted arbitrarily according to the use requirements during the detection process. It should be noted that when the articulated arm 2 is in a non-working state, the connecting line 221 between two adjacent unit sections 21 must also maintain a certain tension to ensure that the toothed structures 213 between the two adjacent unit sections 21 are engaged with each other to prevent the two adjacent unit sections 21 from being disconnected.

[0047] In some examples, such as Figure 1 As shown, there are multiple unit sections 21, and the lengths of each unit section 21 may be the same or different. When used, unit sections 21 of suitable lengths may be selected for assembly according to actual use requirements to form an articulated arm 2 that meets the use requirements.

[0048] For example, Figure 8 and Fig. 9As shown, the unit sections 21 of equal length can be used for assembly, or the unit sections 21 of different lengths can be used for assembly. As long as the use requirements are met, this embodiment does not impose too many restrictions on this.

[0049] The borescope auxiliary device of this embodiment includes a base 1 and an articulated arm 2. The articulated arm 1 is rotatably arranged on the base 2. The articulated arm 2 includes at least two unit sections 21 and at least one wire control assembly 22. Two adjacent unit sections 21 are meshed with each other through a tooth structure 213, and can bend along the meshing direction of the tooth structure 213. Each wire control assembly 22 includes a pair of connecting wires 221 and a pair of driving devices 222. The pair of connecting wires 221 are respectively located on both sides of the bending direction of two adjacent unit sections 21. The driving device 222 can bend the unit section 21 to the side where the connecting wire 221 is contracted by driving the connecting wire 221 on one side to extend and the connecting wire 221 on the other side to contract. The borescope is mounted on the articulated arm 2, and as the articulated arm 2 rotates and bends, the posture of the articulated arm 2 can be flexibly adjusted, and the detection end of the borescope is extended into the interior of an aircraft engine with a complex structure. The wire control assembly 22 of this embodiment not only simplifies the driving structure of the articulated arm 2, but also maintains the motion function of the articulated arm 2, and simplifies the structure of the control system while reducing the number of drivers. In addition, since the driving devices 222 are all arranged on the base 1, only the multiple unit sections 21 of the articulated arm 2 enter the interior of the engine for actual detection operations, which reduces the volume and complexity of the equipment entering the interior of the engine, reduces interference with the internal structure of the engine, and also reduces the difficulty of operation and safety risks of the operator.

[0050] In order to avoid relative slippage between two adjacent unit sections 21 during movement, thereby affecting the control and overall performance of the device, a toothed structure 213 is designed in this embodiment. This structure ensures the close fit and synchronous movement between the two adjacent unit sections 21 through the meshing mechanism between the two unit sections 21. The design of the toothed structure 213 not only improves the connection strength between the two adjacent unit sections 21, but also increases the overall stability of the articulated arm 2 and the accuracy of movement. The design of the toothed structure 213 also takes into account the need for easy assembly and maintenance. Through a simplified connection method, the unit sections 21 can be quickly assembled and disassembled, which is convenient for daily maintenance and overhaul work, which not only improves the convenience of operation, but also reduces the maintenance cost in long-term operation.

[0051] Figure 2 A schematic diagram of the structure of a unit section provided in this embodiment. In some embodiments, Figure 2As shown, the unit section 21 is cylindrical. The two ends of the unit section 21 are respectively a first end 21a and a second end 21b. The cylindrical wall of the unit section 21 includes: a pair of first side walls 211 and a pair of second side walls 212. The pair of first side walls 211 are opposite to each other. The pair of second side walls 212 are opposite to each other. The tooth structure 213 is arranged at the first end 21a of the pair of first side walls 211 and / or the second end 21b of the pair of second side walls 212. The second end 21b of the pair of first side walls 211 and / or the first end 21a of the pair of second side walls 212 are provided with a guide rail 214. The connecting line 221 is wound between the guide rails 214 of two adjacent unit sections 21. The two ends of the connecting line 221 extend from the inside of the unit section 21 to the base 1 and are connected to the driving device 222.

[0052] In some examples, such as Figure 2 As shown in the figure, the upper end of the unit section 21 is the first end 21a, and the lower end is the second end 21b. The first end 21a of the pair of first side walls 211 and the second end 21b of the pair of second side walls 212 of the unit section 21 are respectively provided with tooth structures 213, and the second end 21b of the first side wall 211 and the first end 21a of the second side wall 212 are provided with guide rails 214. The unit section 21 configured in this way can be used as the middle section of the articulated arm 2, and its upper and lower ends can be connected to other unit sections 21. Furthermore, since the toothed structure 213 on the first end 21a of the first side wall 211 of the unit segment 21 is arranged along the width direction of the first side wall 211, and the toothed structure 213 on the second end 21b of the pair of second side walls 212 is arranged along the width direction of the second side wall 212, that is, the toothed structures 213 at the upper and lower ends of the unit segment 21 are engaged in different directions, therefore, when the upper and lower ends of the unit segment 21 are connected to other unit segments 21, the unit segments 21 at the upper and lower ends of the unit segment 21 can swing in different directions, which can make the posture of the articulated arm 2 more flexible and changeable, see Figure 8 and Fig. 9 .

[0053] In some examples, such as Figure 5 As shown in the figure, the upper end of the unit section 21 is the first end 21a. The first end 21a of a pair of first side walls 211 of the unit section 21 is provided with a toothed structure 213, and the first end 21a of a pair of second side walls 212 is provided with a guide rail. With such a configuration, the unit section 21 can be used as the bottom section of the articulated arm 2. The lower end of this unit section 21 is used to connect to the base 1, and the top end can be connected to other unit sections 21.

[0054] In some examples, such as Figure 7As shown in the figure, the lower end of the unit section 21 is the second end 21b. The second ends 21b of a pair of second side walls 212 of the unit section 21 are respectively provided with tooth structures 213, and the second ends 21b of a pair of first side walls 211 are provided with guide rails 214. With such a configuration, the unit section 21 can be used as the top section of the articulated arm 2. The upper end of this unit section 21 is provided with a clamp 5 for fixing the detection end of the borescope, and the lower end is used to connect to other unit sections 21.

[0055] In some examples, such as Figure 2 As shown, the unit segment 21 is cylindrical, has four sides, and the outer peripheral contour surrounded by the four sides is square. Such a configuration can not only enable two adjacent unit segments 21 to swing along the meshing direction of the tooth structure 213, but also be suitable for a relatively narrow detection space.

[0056] The unit section 21 of this embodiment is cylindrical and hollow inside, so it has a smaller weight, and it is more convenient to drive the unit section 21 to swing, and the required power is smaller. Not only does it reduce the weight of the unit section 21, but it also maintains sufficient mechanical strength and stability, ensuring the reliability and durability of the articulated arm 2 during the execution of the task. And the inside of the unit section 21 can be used to accommodate the main part of the borescope and related circuits, and the connecting line 221 can be routed inside the unit section 21 and connected to the driving device 222 on the base 1, so there is no redundant structure outside the articulated arm 2, and it can adapt to the complex structure inside the aircraft engine. In addition, the connecting line 221 of this embodiment is wound between the guide rails 214 of two adjacent unit sections 21. The two ends of the connecting line 221 extend from the inside of the unit section 21 to the base 1 and are connected to the driving device 222. When the driving device 222 simultaneously tightens the two ends of the connecting line 221 on one side of the unit section 21, the connecting line 221 between the guide rails 214 on the side of the two adjacent unit sections 21 is tightened, and the two guide rails 214 are forced to approach each other. If the two ends of the connecting line 221 on the other side of the unit segment 21 are loosened at this time, the two adjacent unit segments 21 can bend toward the side where the connecting line 221 is tightened, thereby achieving the adjustment of the posture of the articulated arm 2.

[0057] Figure 3 A schematic diagram of a connection method of two adjacent unit sections provided in this embodiment. In some embodiments, Figure 3 As shown, a plurality of guide grooves 215 are sequentially arranged on the side wall of the unit segment 21 along the extension direction of the guide rail 214. The connection line 221 sequentially passes through the plurality of guide grooves 215 and is wound around the guide rails 214 of two adjacent unit segments 21.

[0058] In some examples, such as Figure 3 As shown, the guide groove 215 extends from the side wall edge of the unit section 21 to the middle of the unit section 21. Such an arrangement can further reduce the weight of the unit section 21.

[0059] In some examples, the guide rail 214 is configured as an integral structure, which sequentially passes through a plurality of guide slots 215. Such a configuration can ensure the coaxiality of the guide rail 214, making the posture control of the articulated arm 2 more accurate. However, it is understandable that in other embodiments, the guide rail 214 can also be configured as a split structure, that is, the guide rail 214 adopts a multi-section structure, and each section of the guide rail 214 is arranged between two opposite side walls of a guide slot 215.

[0060] Since the connecting wire 221 needs to be wound multiple times when it is wound on the guide rails 214 of two adjacent unit sections 21, in order to avoid overlapping interference when the connecting wire 221 is wound between two adjacent guide rails 214, the present embodiment sequentially provides multiple guide grooves 215 in the extending direction of the guide rails 214. The connecting wire 221 alternates up and down and sequentially passes through the multiple guide grooves 215, and each guide groove 215 only passes through the connecting wire 221 once, thus limiting the connecting wire 221 and avoiding overlapping when the connecting wire 221 is wound between the two guide rails 214, thereby making the posture adjustment smoother.

[0061] Figure 4 A schematic diagram of the internal structure of a unit node provided in this embodiment. In some embodiments, Figure 4 As shown, the unit section 21 further includes a connecting plate 218. The connecting plate 218 is located inside the unit section 21. The connecting plate 218 is connected between a pair of first side walls 211 and a pair of second side walls 212. The connecting plate 218 includes a pair of first through holes 218a. The pair of first through holes 218a are used to accommodate the connecting wire 221 and the borescope, respectively.

[0062] For some examples, see Figure 4 The connecting plate 218 is connected to the pair of first side walls 211 and the pair of second side walls 212 by welding. Such an arrangement can not only make the connection between the connecting plate 218 and the inner wall of the unit section 21 firm and effective, but also omit other fixing structures, which is conducive to light weight.

[0063] In this embodiment, a connecting plate 218 is provided inside the unit section 21, connected between a pair of first side walls 211 and a pair of second side walls 212, so as to improve the structural strength of the unit section 21. A pair of first through holes 218a are provided on the connecting plate 218 to avoid obstructing the connection line 221 and the borescope from passing through the unit section 21, and a pair of first through holes 218a are provided to shunt the connection line 221 and the borescope, so as to avoid interference of the borescope with the movement of the connection line 221.

[0064] In some embodiments, Figure 2 and 3As shown, the unit section 21 further includes a reinforcing beam 216. The reinforcing beam 216 is connected between the first ends 21a of the pair of first side walls 211 and / or between the second ends 21b of the pair of second side walls 212.

[0065] In some examples, such as Figure 2 As shown, a reinforcing beam 216 is connected between the first ends 21a of a pair of first side walls 211, and a reinforcing beam 216 is connected between the second ends 21b of a pair of second side walls 212. Such an arrangement can form a support between the tooth structures 213 at both ends of the unit section 21, making the structure of the articulated arm 2 more solid.

[0066] In this embodiment, a reinforcing beam 216 is arranged between the first ends 21a of a pair of first side walls 211 and / or between the second ends 21b of a pair of second side walls 212, that is, a reinforcing beam 216 is arranged at one end of a pair of first side walls 211 and / or a pair of second side walls 212 where a toothed structure 213 is provided, so as to play a supporting role between the pair of first side walls 211 and / or the pair of second side walls 212 and prevent the first side walls 211 and / or the second side walls 212 from deforming and affecting the engagement of the toothed structure 213 between two adjacent unit sections 21.

[0067] In some embodiments, Figure 2 As shown, the edges of the first ends 21a of the pair of first side walls 211 and / or the second ends 21b of the pair of second side walls 212 are arc-shaped. The tooth structure 213 includes a plurality of teeth. The plurality of teeth are evenly distributed on the arc-shaped edges.

[0068] In some examples, such as Figure 2 As shown, the edges of the first end 21a of the pair of first side walls 211 and the second end 21b of the pair of second side walls 212 are both arc-shaped. In this way, the first end 21a and the second end 21b of the unit segment 21 can be connected to other unit segments 21, and the unit segments 21 connected to the first end 21a and the second end 21b of the unit segment 21 can swing along the meshing direction of the tooth structure 213.

[0069] It is understandable that in other embodiments, only the first ends 21a of the pair of first side walls 211 may be designed to be arc-shaped, such as Figure 5 Alternatively, only the second ends 21b of the pair of second side walls 212 may be designed to be arc-shaped, such as Figure 7 shown.

[0070] The unit segment 21 of the present embodiment sets the edge of the first end 21a of a pair of first side walls 211 and / or the second end 21b of a pair of second side walls 212 to an arc shape, and the multiple teeth of the tooth structure 213 are distributed on the arc edge of the first end 21a of a pair of first side walls 211 and / or the second end 21b of a pair of second side walls 212. Such a setting enables two adjacent unit segments 21 to be engaged through the tooth structure 213 while being able to swing in the direction of engagement. The tooth structure 213 can also guide the swing of the unit segment 21, thereby making the posture adjustment process of the articulated arm 2 more stable and accurate.

[0071] In some embodiments, Figures 1 to 3 As shown, a weight-reducing hole 217 is provided on the unit segment 21 .

[0072] In some examples, such as Figure 3 As shown, a pair of first side walls 211 are provided with weight-reducing holes 217, and the weight-reducing holes 217 are located between the tooth-shaped structure 231 on the first side wall 211 and the guide groove 215; a pair of second side walls 212 are provided with weight-reducing holes 217, and the weight-reducing holes 217 are located between the tooth-shaped structure 231 on the second side wall 212 and the guide groove 214. Such an arrangement reduces the weight of the unit section 21 to the greatest extent, and ensures the structural strength of the unit section 21.

[0073] However, it should be noted that the weight reduction hole 217 may also be provided only on the first side wall 211. Figure 5 The weight-reducing hole 217 may also be provided only on the second side wall 212, as shown in FIG. Figure 7 shown.

[0074] In some examples, such as Figure 3 As shown, two weight-reducing holes 217 are provided on one side wall of the unit section 21, and the two weight-reducing holes 217 are symmetrically arranged with a gap between them. Such an arrangement can effectively reduce the weight of the unit section 21 and ensure the structural strength of the side wall of the unit section 21.

[0075] In this embodiment, a weight-reducing hole 217 is provided on the unit segment 21 , which can further reduce the weight of the unit segment 21 , is beneficial to reducing the power requirement for driving the unit segment 21 to swing, and is beneficial to achieving the overall lightweight of the articulated arm 2 .

[0076] Figure 5 A schematic diagram of a worm gear structure provided in this embodiment. Figure 5As shown, a rotating shaft 31 is provided at one end of the articulated arm 2 close to the base 1. The articulated arm 2 is rotatably arranged on the base 1 through the rotating shaft 31. A worm wheel 32 is provided on the rotating shaft 31. The base 1 includes a worm 33 and a driving motor 34. The worm 33 is meshed with the worm wheel 32 for transmission. The output end of the driving motor 34 is connected to the worm 33. The driving motor 34 drives the worm 33 to rotate, drives the worm wheel 32 to rotate, and then rotates the articulated arm 2.

[0077] In some examples, such as Figure 5 As shown, the worm gear structure 3 includes a rotating shaft 31, a worm wheel 32, a worm 33 and a driving motor 34, and the worm gear structure 3 is arranged inside the protective cover 4. Such an arrangement can not only protect the worm gear structure 3, but also make the structure of the device more compact.

[0078] This embodiment utilizes the worm gear structure 3 to drive the articulated arm 2 to rotate on the base 1, so that the rotation of the articulated arm 2 can be stabilized and the rotation angle can be more controllable.

[0079] Figure 6 A schematic diagram of the structure of a base provided in this embodiment. Figure 1 and 6 As shown, the base 1 includes: a bottom plate 11, a lifting structure 12 and a support platform 13. The lifting structure 12 is arranged on the bottom plate 11. The support platform 13 is arranged on the top of the lifting structure 12. The articulated arm 2 is arranged on the support platform 13.

[0080] In some examples, such as Figure 1 and 6 As shown, the lifting structure 12 is arranged on both sides of the bottom plate 11, and each side of the lifting structure 12 includes: a first slide groove 121 arranged on the side of the bottom plate 11; two pairs of connecting rods 122, each pair of connecting rods 122 is hinged in an X shape; and a second slide groove 123 arranged on the side of the support platform 13. The two pairs of connecting rods 122 are hinged to each other. In the pair of connecting rods 122 close to the bottom plate 11, the bottom end of one connecting rod 122 is hinged to the side of the bottom plate 11, and the bottom end of the other connecting rod 122 is slidably arranged in the first slide groove 121. In the pair of connecting rods 122 close to the support platform 13, the top end of one connecting rod 122 is hinged to the side of the support platform 13, and the top end of the other connecting rod 122 is slidably arranged in the second slide groove 123. The lifting mechanism 12 also includes a lifting rod 124, which is connected between the bottom plate 11 and the support platform 13. When the lifting rod 124 is extended, the angle between each pair of X-shaped hinged connecting rods 122 becomes smaller, and the support platform 13 rises. When the lifting rod 124 is shortened, the angle between each pair of X-shaped hinged connecting rods 122 becomes larger, and the support platform 13 falls. The lifting rod 124 can be hydraulically driven or pneumatically driven.

[0081] The base 1 of this embodiment includes a base plate 11, a lifting structure 12 and a support platform 13. Under the action of the lifting structure 12, the support platform 13 can rise or fall relative to the base plate 11. Therefore, the height of the support platform 13 can be adjusted according to the height of the aircraft engine, and then the working height of the articulated arm 2 can be adjusted, which is more convenient to use.

[0082] Figure 7 A schematic diagram of the structure of a clamp provided in this embodiment. Figure 7 As shown, a clamp 5 is provided at one end of the articulated arm 2 away from the base 1. The clamp 5 is used to fix the detection end of the borescope.

[0083] In some examples, such as Figure 7 As shown, the clamp 5 includes a fixing plate 51 and a limiting ring 52. A top plate 219 is provided on the unit section 21 at one end of the articulated arm 2 away from the base 1, and the top plate 219 has a second through hole 219a. The fixing plate 51 is arranged on one side of the second through hole 219a. The limiting ring 52 is arranged on the plate surface of the fixing plate 51 and is located above the second through hole 219a. The detection end of the borescope can extend from the second through hole 219a and be fixed in the limiting ring 52. In this way, the detection end of the borescope is located at the top of the articulated arm 2, and the borescope can be sent into the interior of an aircraft engine with a complex structure.

[0084] In this embodiment, a clamp 5 is provided at one end of the section arm 2 away from the base 1, which can effectively fix the detection end of the borescope, thereby facilitating the improvement of the clarity and accuracy of the detection result.

[0085] The above is an introduction to the boresight assisting device of this embodiment. In the boresight task of aircraft engines, facing the differences in structure and size of engines of different models, traditional boresight robots often require customized design, which not only increases the R&D cycle, but also increases the manufacturing cost. The articulated arm 2 of the boresight assisting device of this embodiment adopts multiple unit sections 21, and two adjacent unit sections 21 are meshed through a tooth structure 213 and driven by a wire control component 22, which realizes the modularization and detachability of the articulated arm 2 and improves the flexibility and economy of the device.

[0086] The borescope auxiliary device of the present embodiment is composed of a plurality of detachable unit sections 21, and the length of each unit section 21 can be adjusted according to the specific detection task and the size requirements of the engine, so that the borescope auxiliary device of the present embodiment can quickly adapt to engines of different specifications without large-scale design changes or remanufacturing, which greatly improves the applicability and flexibility of the device.

[0087] In addition, the modular design can also quickly assemble or disassemble the articulated arm 2 as needed when performing bore detection tasks, thereby reducing dependence on professional technicians, shortening preparation time, and improving work efficiency. At the same time, it also reduces long-term operating costs, because when a unit section 21 has a problem, only the unit section 21 needs to be replaced, without replacing the entire device, thereby maximizing cost-effectiveness.

[0088] By performing finite element analysis on the unit nodes 21 of the borescope auxiliary device of the above embodiment, the maximum stress curve and the maximum stress point of each unit node 21 are obtained. By analyzing the stress cloud map, it is found that the maximum stress value of each unit node 21 is within the yield strength, meeting the design requirements and without stress concentration.

[0089] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0090] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. The above are only preferred implementations of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. A borescope auxiliary device, characterized in that: include: A base (1) and an articulated arm (2); The articulated arm (2) is rotatably arranged on the base (1); The articulated arm (2) is used for carrying a borescope; The articulated arm (2) comprises: At least two unit sections (21), two adjacent unit sections (21) meshing with each other via a toothed structure (213), and being able to bend along the meshing direction of the toothed structure (213); At least one wire control component (22), each of the wire control components (22) comprising a pair of connecting wires (221) and a pair of driving devices (222); the pair of connecting wires (221) are retractably connected between two adjacent unit sections (21); the pair of connecting wires (221) are distributed on both sides of the unit section (21) along the bending direction of the unit section (21); the driving device (222) is arranged on the base (1); each connecting wire (221) is connected to one driving device (222); the driving device (222) drives the connecting wire (221) to retract and retract, thereby driving the two adjacent unit sections (21) to bend along the meshing direction of the toothed structure (213).

2. The borescope auxiliary device according to claim 1, characterized in that: The unit section (21) is cylindrical; the two ends of the unit section (21) are respectively a first end (21a) and a second end (21b); the cylindrical wall of the unit section (21) comprises: a pair of first side walls (211) and a pair of second side walls (212); the pair of first side walls (211) are opposite to each other; the pair of second side walls (212) are opposite to each other; The tooth-like structure (213) is arranged at the first end (21a) of the pair of first side walls (211) and / or the second end (21b) of the pair of second side walls (212); The second ends (21b) of the pair of first side walls (211) and / or the first ends (21a) of the pair of second side walls (212) are provided with guide rails (214); the connecting wire (221) is wound between the guide rails (214) of two adjacent unit sections (21); the two ends of the connecting wire (221) extend from the inside of the unit section (21) to the base (1), and are connected to the driving device (222).

3. The borescope auxiliary device according to claim 2, characterized in that: A plurality of guide grooves (215) are sequentially arranged on the side wall of the unit section (21) along the extension direction of the guide rail (214); The connecting wire (221) passes through the plurality of guide grooves (215) in sequence and is wound around the guide rails (214) of two adjacent unit sections (21).

4. The borescope auxiliary device according to claim 2, characterized in that: The unit section (21) further comprises: A connecting plate (218) is located inside the unit section (21); the connecting plate (218) is connected between the pair of first side walls (211) and the pair of second side walls (212); the connecting plate (218) includes a pair of first through holes (218a); the pair of first through holes (218a) are used to accommodate the connecting wire (221) and the borescope, respectively.

5. The borescope auxiliary device according to claim 2, characterized in that: The unit section (21) further comprises: A reinforcing beam (216) is connected between the first ends (21a) of the pair of first side walls (211) and / or between the second ends (21b) of the pair of second side walls (212).

6. The borescope auxiliary device according to claim 2, characterized in that: The edges of the first ends (21a) of the pair of first side walls (211) and / or the second ends (21b) of the pair of second side walls (212) are arc-shaped; The toothed structure (213) comprises a plurality of teeth; the plurality of teeth are evenly distributed on the arc-shaped edge.

7. The borescope auxiliary device according to any one of claims 1 to 6, characterized in that: The unit section (21) is provided with a weight-reducing hole (217).

8. The borescope auxiliary device according to claim 1, characterized in that: A rotating shaft (31) is provided at one end of the articulated arm (2) close to the base (1); the articulated arm (2) is rotatably arranged on the base (1) via the rotating shaft (31); a worm gear (32) is provided on the rotating shaft (31); The base (1) comprises a worm (33) and a drive motor (34); the worm (33) is meshed with the worm wheel (32) for transmission; the output end of the drive motor (34) is connected to the worm (33); The driving motor (34) drives the worm (33) to rotate, thereby driving the worm wheel (32) to rotate, thereby causing the articulated arm (2) to rotate.

9. The borescope auxiliary device according to claim 1, characterized in that: The base (1) comprises: Bottom plate (11); A lifting structure (12) is arranged on the bottom plate (11); A supporting platform (13) is arranged on the top of the lifting structure (12); and the articulated arm (2) is arranged on the supporting platform (13).

10. The borescope auxiliary device according to claim 1, characterized in that: A clamp (5) is provided at one end of the articulated arm (2) away from the base (1); the clamp (5) is used to fix the detection end of the borescope.

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