Visual inspection robot for curved orifice

Abstract

The utility model discloses a visual inspection robot for a curved cavity, which is characterized by comprising a robot main body, a plurality of leg mechanisms and a visual inspection tool, the leg mechanisms are respectively arranged on two sides of the robot main body, the visual inspection tool is arranged above the robot main body, and the visual inspection tool comprises an industrial camera and a universal serial bus (USB) camera. A six-foot single-mechanical-arm structure of the crawling robot is modularly designed, and the robot has multiple degrees of freedom, high terrain adaptability and motion robustness; the defect that a wheeled robot and a crawler-type robot are not flexible in steering in a narrow bent cavity in an airplane is overcome; the defect that an adsorption type robot cannot move in a cavity channel with holes and grids is overcome; the device is suitable for flexible movement in a narrow curved cavity in an airplane.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to a visual inspection robot used for curved cavities. Background Art

[0002] With the rapid development of aviation technology, the structure of aircraft is becoming more and more complex, and maintenance has become more difficult. In. Aircraft air inlets and engine tail nozzles need to be regularly inspected and maintained to ensure their normal operation and prevent malfunctions. It is also one of the key items of ground inspection, mainly including checking whether the rivets are complete, whether there are loose parts, whether there are foreign objects, whether the first-stage rotor blades are abnormal, etc., so as to avoid accidents caused by being sucked into the engine. Traditional aircraft maintenance often requires maintenance personnel to wear air inlet work clothes and carry tools to enter the air inlet and engine tail nozzle for visual inspection. The space is narrow and closed, the temperature is high and humid, and the air is polluted, which leads to problems such as high labor intensity, fatigue, and even induced diseases for maintenance personnel, and there are human errors. Especially in some models of aircraft, due to the narrow space and tortuous cavities, maintenance personnel cannot get close to the inspection area, and it is difficult to observe directly, which affects the accuracy of the inspection. Utility Model Content

[0003] The utility model aims to provide a device for preventing the valve internal parts from loosening, which has good anti-loosening effect, simple structure, convenient installation and use, and low production cost.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A visual inspection robot for curved cavities, characterized in that it includes a robot body, a leg mechanism, and a visual inspection tool, wherein there are multiple leg mechanisms, which are respectively arranged on both sides of the robot body; the visual inspection tool is arranged above the robot body; and the visual inspection tool includes an industrial camera 7 and a USB camera 6.

[0006] Preferably, the robot body includes an upper mounting plate 20 and a lower mounting plate 16, which are connected and fixed by a support plate 15. A main board 13 is also provided on the upper mounting plate 20, and a power module is provided on the main board 13. An ultrasonic module 19 is also provided at the front end of the robot body, and a protective cover 14 is also provided on the outside of the main board 13.

[0007] Preferably, there are six leg mechanisms in total, which are divided into three pairs and are symmetrically arranged on both sides of the robot body.

[0008] Preferably, each leg mechanism is provided with three joints, namely a heel joint, a hip joint and a knee joint, wherein each joint includes a rotation pair with one degree of freedom.

[0009] Preferably, the heel joint is composed of a robot body and a base joint link 17, which are connected by a servo; the hip joint is composed of a base joint link 17 and a thigh link 18, which are connected by a servo; the knee joint is composed of a thigh link 18 and a calf link 3, which are connected by a servo, the end of the calf link 3 is bolted to the foot end link 2, the end of the foot end link 2 is integrally connected to the foot end 1, and a thicker claw-like rubber pad is installed at the bottom of the foot end 1.

[0010] Preferably, the axes of the two revolute pairs of the heel joint and the hip joint are perpendicular to each other, the axes of the two revolute pairs of the hip joint and the knee joint are parallel to each other, and the axis of the revolute pair of the heel joint is vertically arranged relative to the upper mounting plate 20 and the lower mounting plate 16.

[0011] Preferably, the steering gear adopts a serial port dual-axis steering gear 4.

[0012] Preferably, a driven steering wheel 21 and an active steering wheel 22 are respectively provided at both ends of the rotating shaft of the serial port dual-axis servo 4, wherein the serial port dual-axis servo 4 connecting the base link 17 and the robot body has a driven steering wheel 21 arranged at the bottom and an active steering wheel 22 arranged at the top.

[0013] Preferably, the industrial camera 7 is connected to the upper mounting plate 20 via a mechanical arm, and the USB camera 6 is connected to the upper mounting plate 20 via a two-degree-of-freedom pan-tilt head 5 .

[0014] Preferably, the robotic arm includes an industrial camera bracket 8, a multi-function bracket 10, a long U bracket 11, and a small U bracket 12, wherein the industrial camera 7 is arranged on the industrial camera bracket 8, the industrial camera bracket 8 is connected to the multi-function bracket 10 through a digital servo 9, the multi-function bracket 10 is connected to the long U bracket 11 through a digital servo 9, the other end of the long U bracket 11 is integrally connected with a small U bracket 12, the small U bracket 12 is connected to a fixed bracket through a serial port dual-axis servo 4, and the fixed bracket is bolted to the upper mounting plate 20.

[0015] Compared with the prior art, the utility model has the following advantages:

[0016] The modularly designed six-legged single-arm structure of the crawling robot has multiple degrees of freedom, strong terrain adaptability and motion robustness; it overcomes the shortcomings of wheeled robots and tracked robots that are not flexible in turning in the narrow and curved cavities of aircraft; it overcomes the deficiency that adsorption robots cannot move in cavities with holes and grids; and it can adapt to the flexible movement in the narrow and curved cavities of aircraft.

[0017] In addition to the crawling function, the six legs of the crawling robot can also be connected to the detection tools to form inspection tentacles, realizing multi-functional operations such as levers, without the need to design an inspection arm separately, thereby greatly simplifying the mechanical structure and reducing the size and weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The left side view of a visual inspection robot for curved cavities;

[0019] Figure 2 A front view of a visual inspection robot for curved cavities;

[0020] In the figure: 1-foot end, 2-foot end connecting rod, 3-calf connecting rod, 4-serial port dual-axis servo, 5-two-degree-of-freedom gimbal, 6-USB camera, 7-industrial camera, 8-industrial camera bracket, 9-digital servo, 10-multi-function bracket, 11-long U bracket, 12-small U bracket, 13-mainboard, 14-protective cover, 15-support plate, 16-lower mounting plate, 17-base link, 18-thigh link, 19-ultrasonic module, 20-upper mounting plate, 21-driven steering wheel, 22-active steering wheel. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0022] like Figure 1 , 2 As shown, a visual inspection robot for curved cavities includes a robot body, three pairs of leg mechanisms symmetrically arranged on both sides of the robot body, and a visual inspection tool arranged above the robot body, wherein the visual inspection tool includes an industrial camera 7 and a USB camera 6.

[0023] The robot body is composed of an upper mounting plate 20 and a lower mounting plate 16, which are connected and fixed by a support plate 15. A main board 13 is also arranged on the upper mounting plate 20, a power supply is arranged on the main board 13, a protective cover 14 is arranged on the outside of the main board 13, and an ultrasonic module 19 is also arranged directly in front of the robot body.

[0024] There are six leg mechanisms in total, which are divided into three pairs and symmetrically arranged on both sides of the robot body. Each leg mechanism includes a foot end 1, a foot end connecting rod 2, a shank connecting rod 3, a thigh connecting rod 18, and a base connecting rod 17, wherein a thick claw-like rubber pad is installed at the bottom of the foot end 1 and is integrally connected with the foot end connecting rod 2, the foot end connecting rod 2 is bolted to the shank connecting rod 3, the shank connecting rod 3 is connected to the thigh connecting rod 18 through a serial port dual-axis steering gear 4, the rotating shaft of the serial port dual-axis steering gear 4 is in the horizontal direction, the thigh connecting rod 18 is connected to the base connecting rod 17 through the serial port dual-axis steering gear 4, the rotating shaft of the serial port dual-axis steering gear 4 is in the horizontal direction, the base connecting rod 17 is connected to the robot body through the serial port dual-axis steering gear 4, the serial port dual-axis steering gear 4 is arranged between the upper mounting plate 20 and the lower mounting plate 16, and the rotating shaft of the serial port dual-axis steering gear 4 is in the vertical direction.

[0025] The USB camera 6 is connected to the upper mounting plate 20 through the two-degree-of-freedom pan / tilt 5, the industrial camera 7 is connected to the upper mounting plate 20 through a robotic arm, an industrial camera bracket 8 is provided on the robotic arm, the industrial camera 7 is provided on the industrial camera bracket 8, the industrial camera bracket 8 is connected to the multi-function bracket 10 through a digital servo 9, the multi-function bracket 10 is connected to the long U bracket 11 through the digital servo 9, the other end of the long U bracket 11 is integrally connected with a small U bracket 12, the small U bracket 12 is connected to the fixed bracket through the serial port dual-axis servo 4, and the fixed bracket is connected to the upper mounting plate 20 through bolts.

[0026] A driven steering wheel 21 and an active steering wheel 22 are respectively arranged at both ends of the rotating shaft of the serial port dual-axis servo 4. Among them, the six serial port dual-axis servos 4 connecting the leg mechanism and the robot body have the driven steering wheel 21 arranged at the bottom and the active steering wheel 22 arranged at the top.

[0027] When inspecting the aircraft's air intake and tail nozzle, technicians control the movement of the bionic crawling robot and monitor the images captured by the camera. During the movement, the robot's leg structure contacts the surface of the narrow and curved cavity inside the aircraft and adapts to the surrounding environment, such as curved ramps, pits and bumps, grids, etc.

[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A visual inspection robot for curved cavities, characterized in that: The robot comprises a robot body, a leg mechanism, and a visual inspection tool, wherein the leg mechanism is provided in plurality and arranged on both sides of the robot body respectively; the visual inspection tool is arranged above the robot body; and the visual inspection tool comprises an industrial camera (7) and a USB camera (6).

2. A visual inspection robot for curved cavities according to claim 1, characterized in that: The robot body comprises an upper mounting plate (20) and a lower mounting plate (16), the upper mounting plate (20) and the lower mounting plate (16) being connected and fixed via a support plate (15), a main board (13) being arranged on the upper mounting plate (20), a power supply module being arranged on the main board (13), an ultrasonic module (19) being arranged at the front end of the robot body, and a protective cover (14) being arranged on the outside of the main board (13).

3. A visual inspection robot for curved cavities according to claim 1, characterized in that: There are six leg mechanisms in total, which are divided into three pairs and are symmetrically arranged on both sides of the robot body.

4. A visual inspection robot for curved cavities according to claim 1, characterized in that: The leg mechanism is provided with three joints, namely a heel joint, a hip joint and a knee joint, wherein each joint includes a rotation pair with one degree of freedom.

5. A visual inspection robot for curved cavities according to claim 4, characterized in that: The heel joint is composed of a robot body and a base link (17), and the robot body and the base link (17) are connected via a steering gear; the hip joint is composed of a base link (17) and a thigh link (18), and the base link (17) and the thigh link (18) are connected via a steering gear; the knee joint is composed of a thigh link (18) and a shank link (3), and the thigh link (18) and the shank link (3) are connected via a steering gear; the end of the shank link (3) is bolted to a foot end link (2), and the end of the foot end link (2) is integrally connected to a foot end (1), and a thick claw-like rubber pad is installed at the bottom of the foot end (1).

6. A visual inspection robot for curved cavities according to claim 5, characterized in that: The axes of the two revolving pairs of the heel joint and the hip joint are perpendicular to each other, the axes of the two revolving pairs of the hip joint and the knee joint are parallel to each other, and the axes of the revolving pairs of the heel joint are vertically arranged relative to the upper mounting plate (20) and the lower mounting plate (16).

7. A visual inspection robot for curved cavities according to claim 5, characterized in that: The steering gear adopts a serial port dual-axis steering gear (4).

8. A visual inspection robot for curved cavities according to claim 7, characterized in that: A driven steering wheel (21) and an active steering wheel (22) are respectively arranged at both ends of the rotating shaft of the serial port dual-axis steering gear (4), wherein the driven steering wheel (21) of the serial port dual-axis steering gear (4) connecting the base joint connecting rod (17) and the robot body is arranged at the bottom, and the active steering wheel (22) is arranged at the top.

9. A visual inspection robot for curved cavities according to claim 1, characterized in that: The industrial camera (7) is connected to the upper mounting plate (20) via a mechanical arm, and the USB camera (6) is connected to the upper mounting plate (20) via a two-degree-of-freedom pan / tilt (5).

10. A visual inspection robot for curved cavities according to claim 9, characterized in that: The mechanical arm comprises an industrial camera bracket (8), a multifunctional bracket (10), a long U bracket (11), and a small U bracket (12), wherein the industrial camera (7) is arranged on the industrial camera bracket (8), the industrial camera bracket (8) is connected to the multifunctional bracket (10) via a digital servo (9), the multifunctional bracket (10) is connected to the long U bracket (11) via a digital servo (9), the other end of the long U bracket (11) is integrally connected to the small U bracket (12), the small U bracket (12) is connected to the fixed bracket via a serial port dual-axis servo (4), and the fixed bracket is bolted to the upper mounting plate (20).

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