Aircraft surface coating maintenance operation robot

Abstract

The utility model relates to the technical field of spraying robots, and discloses an aircraft surface coating maintenance operation robot which comprises a movable frame platform and a telescopic mechanical arm fixed to the bottom of the movable frame platform, a steering gear is fixed to the bottom of the telescopic mechanical arm, and a tail end converter is fixed to the bottom of the steering gear. The telescopic mechanical arm comprises a first mechanical arm body and a second mechanical arm body which are connected with each other, and a first telescopic device is arranged in the first mechanical arm body. According to the telescopic mechanical arm, the three parallel lead screws are driven by the motor, the telescopic rod is controlled to stretch out and draw back, stress is more uniform through the design of the three lead screws, transmission of a triangular structure of the three lead screws is more stable, meanwhile, centering can be better achieved, transmission is more accurate through gear speed reduction, and the service life of the telescopic mechanical arm is prolonged. Compared with a hydraulically-driven mechanical arm, the mechanical arm has higher precision and control performance, more accurate position control and repeatability can be provided, and the mechanical arm can execute finer tasks.

Description

Technical Field

[0001] The utility model relates to the technical field of spraying robots, in particular to an aircraft surface coating maintenance and inspection robot. Background Art

[0002] In the aviation industry, civil aircraft operate in complex environments. In addition to fatigue damage caused by daily operation, long-term exposure to the natural environment can also cause structural corrosion and other damage. Fatigue damage and structural corrosion will destroy the integrity of the aircraft structure and reduce the structural strength. At present, aircraft maintenance is mainly carried out manually, and manual maintenance has problems such as high labor intensity, long detection time, poor working environment, and high error rate. According to the information, traditional rigid robots have a small working space and are difficult to maintain a large range of large-area aircraft surfaces. The control performance and accuracy of the hydraulically driven mechanical arm are poor, and it is difficult to maintain complex curved surfaces; traditional flexible mechanisms have relatively insufficient rigidity such as ropes and pneumatic drives. In particular, the traction ropes in the hoisting form are easily disturbed by external disturbances during movement and have large vibrations, which directly affects the accuracy of the motion trajectory of the end effector and has poor load capacity. It is difficult to ensure reliability when applied in industrial sites; wall-climbing robots are difficult to cope with skin walls with large curvatures and uneven rivet structures for installation. The existing whole machine structures such as frame-type, cross-type, and multi-legged types have significant advantages and disadvantages.

[0003] In order to solve the above problems and expand the working range of the spraying robot under the premise of ensuring accuracy and flexibility, the present invention proposes an aircraft surface coating maintenance and inspection robot, designs a mobile frame platform, the end of which is installed on a truss so that it can move in a large range, and designs a multi-first joint telescopic multi-degree-of-freedom mechanical arm. It is driven to retract and retract by three lead screws at the same time, which ensures both accuracy and rigidity, improves load capacity, and can realize the inspection and maintenance of curved surfaces with large curvature of the aircraft. It also increases the movement space of the device, and sets a self-locking device to ensure the stability of the telescopic mechanical arm during operation. The steering knuckle is designed to give the end working device a higher degree of freedom, so as to better adapt to the inspection of complex curved surfaces. The end converter is designed to integrate the detection, laser cleaning of the aircraft surface skin and the aircraft surface spraying, so as to achieve multi-purpose use of one machine and greatly improve work efficiency. Utility Model Content

[0004] The utility model aims to solve one of the technical problems in the related art to at least a certain extent. To this end, one purpose of the utility model is to propose an aircraft surface coating maintenance and inspection robot, design a mobile frame platform, the end of which is installed on a truss so that it can move in a large range, and design a multi-first joint telescopic multi-degree-of-freedom mechanical arm, which is driven to be telescopic by three lead screws at the same time, which ensures both accuracy and rigidity, improves load capacity, can realize the inspection and maintenance of curved surfaces with large curvature of aircraft, and also increases the movement space of the device. At the same time, a self-locking device is set to ensure the stability of the telescopic mechanical arm during operation.

[0005] According to the aircraft surface coating maintenance and inspection robot proposed in the utility model, the aircraft surface coating maintenance and inspection robot is characterized in that it includes a mobile frame platform and a retractable mechanical arm fixed at the bottom thereof, a steering gear is fixed at the bottom of the retractable mechanical arm, an end converter is fixed at the bottom of the steering gear, the retractable mechanical arm includes a first mechanical arm and a second mechanical arm connected to each other, a first retractable device is arranged inside the first mechanical arm, a first joint is arranged on one side of the first retractable device, and the first joint is used to connect the first mechanical arm and the second mechanical arm; a second retractable device is arranged inside the second mechanical arm, a second joint is arranged on one side of the second retractable device, and the second joint is used to connect the second mechanical arm and the steering gear.

[0006] Preferably, the first telescopic device includes an outer sleeve, a second motor is fixed on the top of the outer sleeve, a pinion is fixed on the output shaft of the second motor, a plurality of screw rods are movably installed in a circular array inside the outer sleeve, a large gear is fixed on the surface of each screw rod and on the end surface close to the second motor, the large gear and the pinion are meshed for transmission, a telescopic rod is threadedly connected to the bottom of the screw rod, a locking device is fixed on the top of the telescopic rod; the locking device includes a cylinder installed inside the telescopic rod, the telescopic end of the cylinder is fixed on the cylinder rod, and the surface of the cylinder rod is fixed with a second A connecting rod, a cylinder rod is fixed on the upper surface of the telescopic rod, and the cylinder rod is fixedly connected to the second connecting rod, and a plurality of outer support blocks are fixed on the surface of the second connecting rod, and a first joint is arranged on one side of the locking device; the locking device is connected to the first joint at one end away from the first telescopic device, and the first joint includes a rod, a third motor is fixed inside the telescopic rod, and the output end of the third motor is fixedly connected to the rod, the inside of the rod is movably connected to the first servo via an output shaft, and a fixed shaft fixed between the connecting shaft and the first servo is placed between the first servo.

[0007] Preferably, the mobile frame platform includes a plurality of groove-shaped support members, the upper and lower ends of the plurality of groove-shaped support members are fixed with a triangular outer frame by bolts, the tops of the plurality of groove-shaped support members are fixed with connecting blocks, a plurality of groove-shaped support members are detachably provided with a lead screw, the top of the lead screw is connected to a first motor through a coupling, the outer side of the lead screw is sleeved with a slider nut threadedly connected thereto, the slider nut is connected to a first connecting rod, the ends of the plurality of first connecting rods away from the slider nut are connected to a connecting plate, and the connecting plate is connected to a telescopic robotic arm.

[0008] Preferably, the steering gear includes an end connecting rod, a second steering gear, a steering connecting seat, a middle connecting rod, a fourth steering gear, and a fixed seat, the bottom of the second joint is fixedly connected to the fixed seat, the second steering gear is fixed to the bottom of the end connecting rod, a first fixing rod is movably connected between the end connecting rod and its adjacent second steering gear, a plurality of planetary gears are movably installed inside the steering connecting seat, the second steering gear is meshed with the planetary gears for transmission, a third steering gear is fixed to the lower surface of the steering connecting seat, a third fixing rod is movably installed between the third steering gear and the middle connecting rod, a fourth steering gear is fixed to the lower surface of the middle connecting rod, and a second fixing rod is movably installed between the fourth steering gear and the fixed seat.

[0009] Preferably, the end converter includes a circular motor fixed to the end connecting rod, a base is fixed to the output end of the circular motor, a plurality of infrared scanners are installed on the upper surface of the base, a plurality of short connecting rods are movably connected to the inner side of the base, a long connecting rod is movably connected to the other side of each short connecting rod, a spray gun is fixed between each of the long connecting rods, and a laser cleaning gun is installed inside each of the spray guns.

[0010] Preferably, both ends of the screw rod are sleeved with bearings fixed thereto, and the bearings are movably mounted inside the outer sleeve in a circular array.

[0011] Preferably, a locking disk is installed inside the base, and a ball is placed inside the groove of the locking disk.

[0012] Preferably, the locking device comprises several connecting rod shafts and several connecting rod intermediate shafts, several second connecting rods are movably connected through the connecting rod shafts, and one ends of several second connecting rods are movably connected to the outer support block through the connecting rod intermediate shafts.

[0013] Preferably, the outer surface of the outer support block is designed to be arc-shaped and serrated.

[0014] The beneficial effects of the utility model are as follows: the telescopic manipulator arm drives three parallel screws through a motor to control the telescopic rod extension and retraction. The design of the three screws makes the force more uniform, and the transmission of the three screw triangle structure is more stable. At the same time, it can be better centered. Through gear reduction, the transmission is more precise. Compared with the hydraulically driven manipulator arm, it has higher precision and control performance, can provide more precise position control and repeatability, and enables the manipulator arm to perform more delicate tasks. The first joint connection between the manipulator arms increases the degree of freedom and makes the manipulator arm more flexible. The multi-degree-of-freedom robot is capable of complex motion trajectory planning and execution, so it can perform precise inspection and maintenance operations on different areas of the aircraft surface, including hard-to-reach curved surfaces and recessed areas.

[0015] The locking device inside the robot arm is designed. The cylinder drives the cylinder rod to extend and retract through the cylinder, and the connecting rod is controlled to make the outer support block move radially in the slide groove at the end of the telescopic rod, so that it contacts the inner wall of the outer sleeve. The arc-shaped serrated design on the surface of the outer support block can better increase the friction force and lock it. The locking device enables the inspection and maintenance robot to automatically lock when it does not need to be extended during work, improves work safety, ensures precise positioning, and increases operational stability. This device can keep the robot arm stationary when necessary.

[0016] The overall structure of the steering device uses a servo for precise angle steering at a macro level, and is fixed with a fixed shaft, which is convenient for disassembly and assembly and combined with the telescopic mechanical arm of the present invention. A gear mechanism is used for transmission to achieve the purpose of increasing torque and carrying capacity; at a micro level, the rudder controls the fixed seat and the connecting seat to move in the Y-axis and Z-axis directions, and the steering connecting seat uses an embedded planetary gear device to complete stable and precise angle control and XY plane load rotation. The overall structure is compact and space-saving. Therefore, the present invention combines the macro and micro levels to complete precise angle control while also achieving large load, stable transmission, easy disassembly and assembly, and multi-scenario application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The utility model is a schematic diagram of the three-dimensional structure of the aircraft surface coating maintenance and inspection robot.

[0018] Figure 2 The present invention is a schematic diagram of the structure of the mobile frame platform of the aircraft surface coating maintenance and inspection robot proposed by the present invention.

[0019] Figure 3 The utility model is a schematic diagram of the exploded decomposition structure of the mobile frame platform of the aircraft surface coating maintenance and inspection robot.

[0020] Figure 4 The present invention is a schematic diagram of the telescopic mechanical arm structure of the aircraft surface coating maintenance and inspection robot proposed by the present invention.

[0021] Figure 5 The utility model is a schematic diagram of the exploded structure of the telescopic mechanical arm of the aircraft surface coating maintenance and inspection robot.

[0022] Figure 6 The utility model is a schematic diagram of the locking device structure of the aircraft surface coating maintenance and inspection robot.

[0023] Figure 7 This is a schematic diagram of the first joint structure of the aircraft surface coating maintenance and inspection robot proposed by the utility model.

[0024] Figure 8 The utility model is a schematic diagram of the exploded decomposition structure of the steering gear of the aircraft surface coating maintenance and inspection robot.

[0025] Fig. 9 This is a schematic structural diagram of the end converter of the aircraft surface coating maintenance and inspection robot proposed by the utility model.

[0026] Fig.10 This is a schematic diagram of the exploded decomposition structure of the end converter of the aircraft surface coating maintenance and inspection robot proposed by the utility model.

[0027] In the figure: 1. mobile frame platform; 111. connecting block; 112. triangular outer frame; 113. grooved support; 121. first motor; 122. coupling; 123. lead screw; 124. slider nut; 131. first connecting rod; 132. connecting plate; 2. telescopic mechanical arm; 21. first mechanical arm; 211. first telescopic device; 2111. outer sleeve; 2112. lead screw; 2113. large gear; 2114. small gear; 2115. bearing; 2116. second motor; 212. locking device; 2121. telescopic rod; 2122. upper cylinder rod; 2123. lower cylinder rod; 2124. second connecting rod; 2125. outer support block; 2126. connecting rod shaft; 2127. connecting rod intermediate shaft; 2128. cylinder; 213. A joint; 2131, rod; 2132, connecting shaft; 2133, fixed shaft; 2134, first servo; 2135, third motor; 22, second robotic arm; 221, second telescopic device; 223, second joint; 3, steering gear; 311, end connecting rod; 312, second servo; 313, planetary gear; 314, steering connecting seat; 321, third servo; 322, middle connecting rod; 323, fourth servo; 324, fixed seat; 325, first fixed rod; 326, second fixed rod; 327, third fixed rod; 4, end converter; 411, base; 412, locking disk; 413, ball; 42, short connecting rod; 43, long connecting rod; 44, laser cleaning gun; 45, spray gun; 46, circular motor; 47, infrared scanning. DETAILED DESCRIPTION

[0028] Reference Figure 1 and Figure 4 The aircraft surface coating maintenance and inspection robot comprises a mobile frame platform 1 and a retractable mechanical arm 2 fixed at the bottom thereof, a steering gear 3 is fixed at the bottom of the retractable mechanical arm 2, an end converter 4 is fixed at the bottom of the steering gear 3, the retractable mechanical arm 2 comprises a first mechanical arm 21 and a second mechanical arm 22 connected to each other, a first retractable device 211 is arranged inside the first mechanical arm 21, a first joint 213 is arranged on one side of the first retractable device 211, and the first joint 213 is used to connect the first mechanical arm 21 and the second mechanical arm 22; a second retractable device 221 is arranged inside the second mechanical arm 22, a second joint 223 is arranged on one side of the second retractable device 221, and the second joint 223 is used to connect the second mechanical arm 22 and the steering gear 3.

[0029] Reference Figure 5 As a preferred solution of the utility model, the first telescopic device 211 includes an outer sleeve 2111, a second motor 2116 is fixed to the top of the outer sleeve 2111, a pinion 2114 is fixed to the output shaft of the second motor 2116, a plurality of screw rods 2112 are movably installed in a circular array inside the outer sleeve 2111, both ends of the screw rods 2112 are sleeved with bearings 2115 fixed thereto, and the bearings 2115 are movably installed in the outer sleeve 2111 in a circular array, and the surface of each screw rod 2112 and A large gear 2113 is fixed to one end surface close to the second motor 2116, and the large gear 2113 and the small gear 2114 are meshed for transmission. The output shaft of the second motor 2116 cooperates with the small gear 2114, and the small gear 2114 and the large gear 2113 rotate, and at the same time drive the screw rod 2112 to rotate and move the telescopic rod 2121 threadedly connected thereto, so that the telescopic rod 2121 can move along the screw rod 2112, thereby realizing the telescopic function, and a locking device 212 is fixed to the top of the telescopic rod 2121;

[0030] In addition, refer to Figure 5 and Figure 6The locking device 212 includes a cylinder 2128 installed inside the telescopic rod 2121, a cylinder rod upper 2122 is fixed to the telescopic end of the cylinder 2128, a second connecting rod 2124 is fixed to the surface of the cylinder rod upper 2122, a cylinder rod lower 2123 is fixed to the top of the telescopic rod 2121, the cylinder rod lower 2123 is fixedly connected to the second connecting rod 2124, a plurality of outer support blocks 2125 are fixed to the outer side of the second connecting rod 2124, and the plurality of second connecting rods 2124 are movably connected to each other through a connecting rod intermediate shaft 2127. One end of the rod 2124 is movably connected to the outer support block 2125 through the connecting rod shaft 2126, and the cylinder 2128 drives the cylinder rod 2122 to move, and the movement of the cylinder rod 2122 drives the second connecting rod 2124 to move, and the movement of the second connecting rod 2124 drives the outer support block 2125 to contract and expand, so that the locking device 212 can contract and expand. The outer surface of the outer support block 2125 is designed in an arc-shaped serrated shape to increase the friction force, so that the outer support block 2125 and the outer sleeve 2111 come into contact with each other and realize the locking function through the friction force;

[0031] Reference Figure 5 and Figure 7 , one end of the locking device 212 away from the first telescopic device 211 is connected to the first joint 213, the first joint 213 includes a rod 2131, a third motor 2135 is fixed inside the telescopic rod 2121, and the output end of the third motor 2135 is fixedly connected to the rod 2131, and the rod 2131 is driven to rotate by the third motor 2135, the interior of the rod 2131 is movably connected to the first steering gear 2134 through the output shaft, a fixed shaft 2133 is fixed between the connecting shaft 2132 placed between the first steering gears 2134 and the first steering gears 2134, and the two first steering gears 2134 cooperate with the two rods 2131 through the output shaft, so that the first joint 213 can rotate.

[0032] Reference Figure 2 and Figure 3 The mobile frame platform 1 includes a plurality of groove-shaped support members 113, and the upper and lower ends of the plurality of groove-shaped support members 113 are fixed with a triangular outer frame 112 by bolts, and the tops of the plurality of groove-shaped support members 113 are fixed with connecting blocks 111, and the mobile frame platform 1 can be installed on the truss through the connecting blocks 111, and the three groove-shaped support members 113 are detachably provided with lead screws 123, and the top of the lead screw 123 is connected to the first motor 121 through a coupling 122, and the outer side of the lead screw 123 is sleeved with a slider nut 124 threadedly connected thereto, and the slider nut 124 is connected to a first connecting rod 131, and the ends of the plurality of first connecting rods 131 away from the slider nut 124 are connected to a connecting plate 132, and the connecting plate 132 is connected to a telescopic mechanical arm 2, and the position and angle of the overall mechanism can be adjusted arbitrarily.

[0033] Reference Figure 8 As a preferred solution of the utility model, the steering gear 3 includes an end connecting rod 311 fixedly docked with the bottom of the second joint 223, a second steering gear 312, a steering connecting seat 314, a middle connecting rod 322, a fourth steering gear 323, and a fixing seat 324. The second steering gear 312 is fixed below the end connecting rod 311, and a first fixing rod 325 is movably connected between the end connecting rod 311 and its adjacent second steering gear 312. A plurality of planetary gears 313 are movably mounted on the upper surface of the steering connecting seat 314, and the second steering gear 312 is connected to the plurality of planetary gears 313. The third steering gear 321 and the fourth steering gear 323 are fixed to the lower surface of the middle-end connecting rod 322, and the second steering gear 326 is movably installed between the fourth steering gear 323 and the fixing seat 324. The third steering gear 321 and the fourth steering gear 323 are movably connected to the steering connecting seat 314 and the fixing seat 324 through the middle-end connecting rod 322, so that the steering gear 3 is rotated and deviated.

[0034] Reference Fig. 9 and Fig.10 As a preferred solution of the utility model, the end converter 4 includes a base 411, and a plurality of infrared scanners 47 are installed on the upper surface of the base 411. The plurality of infrared scanners 47 can scan and detect the surface of the aircraft. A locking disk 412 is installed inside the base 411, which can lock the device working in the middle position. A ball 413 is placed inside the groove of the locking disk 412. A plurality of short connecting rods 42 are movably connected to the inner side of the base 411, and a long connecting rod 43 is movably connected to the other side of each short connecting rod 42. A spray gun 45 is fixed between each long connecting rod 43, and a laser cleaning gun 44 is installed inside each spray gun 45, so that the laser cleaning gun 44 and the spray gun 45 can be moved from the outside of the base 411 to the middle working position. A circular motor 46 is fixed to the bottom 411 of the base.

[0035] When the device is used, the mobile frame platform 1 is moved on the truss to the surface above the part to be inspected through the connecting block 111, and then the part to be inspected is scanned by the infrared scanner 47. Then, the mobile frame platform 1, the telescopic mechanical arm 2 and the steering gear 3 are adjusted in sequence to adapt to the complex curved surface. The mobile frame platform 1 can ensure that the tool or equipment is accurately positioned at the required position by accurately controlling the movement of the platform. The first motor 121 drives the slider nut 124 to realize the movement of the connecting plate 132, which provides a higher degree of freedom of the mechanism as a whole and makes it better adaptable to the inspection and maintenance work of complex curved surfaces; the telescopic mechanical arm 2 drives the small gear 2114 and the large gear 2113 meshing with it to rotate through the motor, and the rotation of the large gear 2113 causes the three parallel screw rods 2112 to rotate, and the rotation of the screw rod 2112 controls the extension and retraction of the telescopic rod 2121; the cylinder rod 2122 is driven to extend and retract by the cylinder 2128, and the cylinder rod 2122 drives the second connecting rod 2124 to extend and retract. When the connecting rod 2124 moves, the outer support block 2125 expands to make it contact with the inner wall of the outer sleeve 2111 to lock it; the steering gear 3 adjusts the second servo 312 and the third servo 321 to accurately steer the steering gear 3, and by rotating the end connecting rod 311, the end connecting rod 311 is stably and accurately controlled in angle, and the fixed seat 324 and the steering connecting seat 314 are loaded to rotate, so that the end converter 4 is facing the curved surface of the inspection part; then according to the program settings, the infrared scanner 47 is used for detection, the laser cleaning gun 44 is used for laser cleaning, and the spray gun 45 is used for spraying tasks, and finally the infrared scanner 47 is used to scan and obtain the quality evaluation of the work completion.

Claims

1. Aircraft surface coating maintenance and inspection robot, characterized by: It includes a mobile frame platform and a retractable mechanical arm fixed at the bottom thereof, a steering gear is fixed at the bottom of the retractable mechanical arm, an end converter is fixed at the bottom of the steering gear, the retractable mechanical arm includes a first mechanical arm and a second mechanical arm connected to each other, a first telescopic device is arranged inside the first mechanical arm, a first joint is arranged on one side of the first telescopic device, and the first joint is used to connect the first mechanical arm and the second mechanical arm; a second telescopic device is arranged inside the second mechanical arm, a second joint is arranged on one side of the second telescopic device, and the second joint is used to connect the second mechanical arm and the steering gear.

2. The aircraft surface coating maintenance and inspection robot according to claim 1, characterized in that: The first telescopic device includes an outer sleeve, a second motor is fixed on the top of the outer sleeve, a pinion is fixed on the output shaft of the second motor, a plurality of screw rods are movably installed in a circular array inside the outer sleeve, a large gear is fixed on the surface of each screw rod and on the end surface close to the second motor, the large gear and the pinion are meshed for transmission, a telescopic rod is threadedly connected to the bottom of the screw rod, a locking device is fixed on the top of the telescopic rod; the locking device includes a cylinder installed inside the telescopic rod, the telescopic end of the cylinder is fixed on the cylinder rod, and the surface of the cylinder rod is fixed with a second connecting Rod, a cylinder rod is fixed on the upper surface of the telescopic rod, the cylinder rod is fixedly connected to the second connecting rod, a plurality of outer support blocks are fixed on the surface of the second connecting rod, a first joint is arranged on one side of the locking device; the locking device is connected to the first joint at one end away from the first telescopic device, the first joint comprises a rod, a third motor is fixed inside the telescopic rod, and the output end of the third motor is fixedly connected to the rod, the inside of the rod is movably connected to the first steering gear through the output shaft, and a fixed shaft fixed between the connecting shaft and the first steering gear is placed between the first steering gear.

3. The aircraft surface coating maintenance and inspection robot according to claim 1, characterized in that: The mobile frame platform includes multiple groove-shaped support members, and the upper and lower ends of the multiple groove-shaped support members are fixed with triangular outer frames by bolts, and the tops of the multiple groove-shaped support members are fixed with connecting blocks. The multiple groove-shaped support members are detachably provided with lead screws, and the tops of the lead screws are connected to the first motor through a coupling. The outer sides of the lead screws are sleeved with slider nuts threadedly connected to the lead screws, and the slider nuts are connected to the first connecting rods. The ends of the multiple first connecting rods away from the slider nuts are connected to connecting plates, and the connecting plates are connected to the telescopic mechanical arms.

4. The aircraft surface coating maintenance and inspection robot according to claim 1, characterized in that: The steering gear includes an end connecting rod, a second steering gear, a steering connecting seat, a middle connecting rod, a fourth steering gear, and a fixed seat. The bottom of the second joint is fixedly connected to the fixed seat. The second steering gear is fixed to the bottom of the end connecting rod. A first fixing rod is movably connected between the end connecting rod and its adjacent second steering gear. A plurality of planetary gears are movably installed inside the steering connecting seat. The second steering gear meshes with the planetary gears for transmission. A third steering gear is fixed to the lower surface of the steering connecting seat. A third fixing rod is movably installed between the third steering gear and the middle connecting rod. The fourth steering gear is fixed to the lower surface of the middle connecting rod. A second fixing rod is movably installed between the fourth steering gear and the fixed seat.

5. The aircraft surface coating maintenance and inspection robot according to claim 1, characterized in that: The end converter includes a circular motor fixed to the end connecting rod, a base is fixed to the output end of the circular motor, a plurality of infrared scanners are installed on the upper surface of the base, a plurality of short connecting rods are movably connected to the inner side of the base, a long connecting rod is movably connected to the other side of each short connecting rod, a spray gun is fixed between each of the long connecting rods, and a laser cleaning gun is installed inside each of the spray guns.

6. The aircraft surface coating maintenance and inspection robot according to claim 2, characterized in that: Both ends of the screw rod are sleeved with bearings fixed thereto, and the bearings are movably installed inside the outer sleeve in a circular array.

7. The aircraft surface coating maintenance and inspection robot according to claim 5, characterized in that: A locking disc is installed inside the base, and a ball is placed inside the groove of the locking disc.

8. The aircraft surface coating maintenance and inspection robot according to claim 2, characterized in that: The locking device comprises several connecting rod shafts and several connecting rod intermediate shafts, several second connecting rods are movably connected through the connecting rod shafts, and one ends of several second connecting rods are movably connected to the outer support block through the connecting rod intermediate shafts.

9. The aircraft surface coating maintenance and inspection robot according to claim 2, characterized in that: The outer surface of the outer support block is designed in an arc-shaped sawtooth shape.

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