Aircraft surface defect nondestructive testing robot

Abstract

The utility model discloses an aircraft surface defect nondestructive detection robot, which relates to the technical field of aircraft surface detection and comprises an AGV (automatic guided vehicle), a six-degree-of-freedom mechanical arm and a detection mechanism. The six-degree-of-freedom mechanical arm is installed on the AGV, the detection mechanism is arranged at the arm end of the six-degree-of-freedom mechanical arm, and the protection mechanism is installed on the detection mechanism; the protection mechanism comprises a light shield, an anti-interference layer and baffles, the light shield is installed at the end of the detection mechanism, the anti-interference layer is arranged in the light shield, the two baffles are symmetrically and rotationally installed on the inner wall of the light shield, and the light shield, the anti-interference layer and the baffles are used in cooperation, so that interference of ambient light to the detection mechanism can be reduced through the light shield; and external electromagnetic waves can be effectively screened for interference resistance through the anti-interference layer, the interior of the light shield is in a closed state through the baffle, the detection mechanism can be protected, and therefore the accuracy of aircraft surface detection by the robot can be improved.

Description

Technical Field

[0001] This utility model relates to the field of aircraft surface inspection technology, and in particular to a robot for non-destructive testing of aircraft surface defects. Background Technology

[0002] With the rapid development of information technology application in my country's aviation equipment research and development, the continuous improvement of aircraft equipment performance has put forward higher requirements for its testing technology. The cause of surface damage and defects on aircraft is that the aircraft undergoes a pressurization and depressurization process every time it takes off and lands, which causes micro-cracks to form in some parts of the aircraft surface material due to fatigue. The occurrence of these defects will affect the safety performance of the aircraft, so it is necessary to use inspection robots to detect defects on the outer surface of the aircraft.

[0003] Non-destructive testing (NDT) robots can be used to detect defects on aircraft surfaces. Existing NDT robots generally use laser scanners to scan and inspect aircraft surfaces. During the scanning process, if the laser scanner is interfered with by factors such as ambient light, reflection, and scattering, strong sunlight or other light sources may interfere with the laser signal, causing the laser signal to become unstable or submerged in the background light, making it difficult to accurately identify and interpret the signal. This results in inaccurate scanning results and affects the robot's ability to detect defects on aircraft surfaces. Utility Model Content

[0004] To overcome the shortcomings of existing technologies, such as difficulty in accurately identifying and analyzing defects, which leads to inaccurate scanning results and affects the robot's ability to detect defects on aircraft surfaces, this utility model provides a non-destructive testing robot for aircraft surface defects.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a non-destructive testing robot for aircraft surface defects, including an AGV trolley, a six-degree-of-freedom robotic arm, and a testing mechanism; the six-degree-of-freedom robotic arm is mounted on the AGV trolley, the testing mechanism is set at the end of the six-degree-of-freedom robotic arm, and a protective mechanism is installed on the testing mechanism; the protective mechanism includes a light shield, an anti-interference layer, and baffles, the light shield is installed at the end of the testing mechanism, the anti-interference layer is set inside the light shield, and two sets of baffles are symmetrically rotated and installed on the inner wall of the light shield.

[0006] As a further improvement of this utility model, the testing mechanism includes a fixed frame, which is installed at the end of a six-degree-of-freedom robotic arm. A telescopic rod is installed inside the fixed frame, and a non-destructive testing device is provided at the moving end of the telescopic rod.

[0007] As a further improvement of this utility model, two sets of abutments are installed on the outer surface of the detection end of the non-destructive testing device, and the two sets of abutments are symmetrically arranged on the detection end of the non-destructive testing device.

[0008] As a further improvement of this utility model, a blower plate is installed on the outside of the fixed frame, and a blower device is installed on one side of the blower plate.

[0009] As a further improvement of this utility model, a connecting frame is installed inside the sunshade near the baffle, and spring rods are installed at both ends of the connecting frame. A connecting plate is installed at the top of the baffle near the spring rods and away from the connecting frame.

[0010] As a further improvement of this utility model, a connecting rod is rotatably mounted on the outer side of the AGV trolley, and a bracket is installed inside the end of the connecting rod away from the AGV trolley by means of threads.

[0011] As a further improvement of this utility model, rollers are installed at the bottom of the bracket.

[0012] Compared with the prior art, the present invention has the following advantages: 1. The present invention uses a light shield, an anti-interference layer, and a baffle in combination. The light shield can reduce the interference of ambient light on the detection mechanism, the anti-interference layer can effectively filter and resist external electromagnetic waves, and the baffle makes the inside of the light shield closed, which can protect the detection mechanism, thereby improving the accuracy of the robot's detection of the aircraft surface; 2. The present invention uses a blower plate and a blower device in combination. When the blower device is working, the air generated is blown from the air inlet inside the blower plate to the outer surface of the aircraft, which can pre-treat the outer surface of the aircraft and avoid the foreign matter temporarily adhering to the outer surface of the aircraft, which would cause errors in the subsequent detection results of the non-destructive testing device on the outer surface of the aircraft, thereby further improving the accuracy of the robot's detection of defects on the outer surface of the aircraft. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0014] Figure 1 This is a three-dimensional view of the non-destructive testing robot for aircraft surface defects according to this utility model.

[0015] Figure 2 This is a schematic diagram of the protective mechanism of this utility model.

[0016] Figure 3 This is a partial internal structural diagram of the protective mechanism of this utility model.

[0017] Figure 4 This utility model Figure 3 A magnified schematic diagram of part A in the diagram.

[0018] Figure 5 This is a partial internal structural diagram of the testing mechanism of this utility model.

[0019] In the diagram: 1. AGV trolley; 101. Linkage; 102. Bracket; 103. Roller; 2. Six-DOF robotic arm; 3. Detection mechanism; 301. Fixed frame; 302. Telescopic rod; 303. Non-destructive testing device; 4. Protective mechanism; 401. Sunshade; 402. Anti-interference layer; 403. Baffle; 5. Connecting frame; 501. Spring rod; 502. Connecting plate; 6. Blowing plate; 601. Blowing device; 7. Support rod. Detailed Implementation

[0020] To make the technical solution and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments.

[0021] Example 1:

[0022] Please see Figures 1 to 5 Please refer to the non-destructive testing robot for aircraft surface defects provided in this application. Figure 1 and Figure 2 The system includes an AGV (Automated Guided Vehicle) 1, a six-degree-of-freedom robotic arm 2, and a detection mechanism 3. The six-degree-of-freedom robotic arm 2 is mounted on the top of the AGV 1, and the detection mechanism 3 is mounted on the end of the robotic arm 2. A protective mechanism 4 is mounted on one end of the detection mechanism 3. The protective mechanism 4 includes a light shield 401, an anti-interference layer 402, and baffles 403. The light shield 401 is mounted on one end of the detection mechanism 3. An anti-interference layer 402 is provided inside the light shield 401. The anti-interference layer 402 is composed of anti-interference material, which is a metal mesh. Two sets of baffles 403 are symmetrically and rotatably mounted on the inner wall of the light shield 401. The baffles 403 are connected to the light shield 401 through a hinge structure.

[0023] Specifically, the AGV trolley 1 can drive the six-degree-of-freedom robotic arm 2 and the detection mechanism 3 to move. The six-degree-of-freedom robotic arm 2 can change the detection position of the detection mechanism 3 on the outer surface of the aircraft. The detection mechanism 3 can detect damage to the outer surface of the aircraft. The protective mechanism 4 is used to detect the detection end of the detection mechanism 3. The light shield 401 can reduce the interference of ambient light on the detection mechanism 3. The anti-interference layer 402 can effectively filter electromagnetic waves based on its reflection, absorption and scattering effect, thereby achieving the purpose of shielding. The baffle 403 can make the inside of the light shield 401 closed, thus protecting the detection mechanism 3.

[0024] Please refer to this carefully. Figure 3 , Figure 4 and Figure 5The testing mechanism 3 includes a fixed frame 301, a telescopic rod 302, and a non-destructive testing device 303. The fixed frame 301 is installed at the end of the six-degree-of-freedom robotic arm 2. The telescopic rod 302 is installed inside the fixed frame 301. The telescopic rod 302 is a 12V miniature electric push rod. The non-destructive testing device 303 is installed at the moving end of the telescopic rod 302. The non-destructive testing device 303 is a laser scanner. Two sets of abutments 7 are installed on the outer surface of the testing end of the non-destructive testing device 303. The two sets of abutments 7 are symmetrically arranged at the testing end of the non-destructive testing device 303. A connecting frame 5 is installed inside the light shield 401 near the baffle 403. Spring rods 501 are installed at both ends of the connecting frame 5. A connecting plate 502 is installed at the top of the baffle 403 near the spring rod 501 and away from the connecting frame 5. One end of the spring rod 501 is connected to the light shield 401 through the connecting frame 5. The other end of the spring rod 501 is connected to the baffle 403 through the connecting plate 502.

[0025] Specifically, to detect defects on the aircraft surface, the fixed frame 301 protects the internal non-destructive testing device 303. The telescopic rod 302 moves the non-destructive testing device 303 out of the fixed frame 301. At this time, the non-destructive testing device 303 emits a laser beam to the aircraft surface and receives the reflected light to obtain information about the object. This information is then analyzed to detect whether defects exist on the aircraft's outer surface. When the non-destructive testing device 303 moves out of the fixed frame 301, the abutment 7 first engages with the baffle 40. 3. When the pressure is applied, the connection between the baffle 403 and the anti-interference layer 402 rotates, and the spring on the outside of the spring rod 501 deforms. When the non-destructive testing device 303 completes the inspection of the outer surface of the aircraft, the non-destructive testing device 303 is reset under the action of the telescopic rod 302. The baffle 403 will also be reset under the action of the spring rod 501, so that the inside of the light shield 401 is in a closed state to protect the non-destructive testing device 303, preventing the non-destructive testing device 303 from being exposed to the outside for a long time when not in use and causing damage, thereby extending the service life of the non-destructive testing device 303.

[0026] Please refer to this carefully. Figure 1 A blower plate 6 is installed on the outside of the fixed frame 301. A blower device 601 is installed on one side of the blower plate 6. The blower device 601 is a fan. Its output end is connected to the inside of the blower plate 6. The inside of the blower plate 6 is a cavity. Multiple air inlets are evenly distributed inside the blower plate 6 near the detection surface.

[0027] Specifically, in order to perform pretreatment on the aircraft surface before inspection and to avoid foreign objects on the aircraft's outer surface affecting the inspection results of the non-destructive testing device 303, the blowing device 601 is activated. The blowing device 601 sends air into the interior of the blowing plate 6, and then the air is blown from the air inlet inside the blowing plate 6 to the aircraft's outer surface to perform pretreatment on the aircraft's outer surface, so as to avoid errors in the subsequent inspection results of the non-destructive testing device 303 due to foreign objects temporarily adhering to the aircraft's outer surface.

[0028] Please refer to this carefully. Figure 1 A connecting rod 101 is rotatably mounted on the outside of the AGV trolley 1. A bracket 102 is threadedly mounted inside the end of the connecting rod 101 away from the AGV trolley 1. A roller 103 is mounted on the bottom of the bracket 102. Connecting rods 101 are provided on all four sides of the outside of the AGV trolley. The connecting rods 101 are fixed to the AGV trolley 1 by bolts.

[0029] Specifically, to prevent the AGV trolley 1 from tipping over during movement and damaging the detection device, before use, the operator rotates the connecting rod 101 to position it at the four corners of the AGV trolley 1. Then, the bracket 102 is rotated, causing it to move inside the connecting rod 101 via a threaded structure until the roller 103 contacts the ground. When the AGV trolley 1 moves, the roller 103 rolls along with it. The bracket 102 and the roller 103 improve the support stability of the AGV trolley 1, making it less likely to tip over.

[0030] Working principle: The AGV trolley 1 drives the six-degree-of-freedom robotic arm 2 and the inspection mechanism 3 to move. The six-degree-of-freedom robotic arm 2 drives the inspection mechanism 3 to be located on the outer surface of the aircraft to be inspected. Then, the telescopic rod 302 works. The moving end of the telescopic rod 302 drives the non-destructive testing device 303 to move out of the fixed frame 301. At this time, the non-destructive testing device 303 emits a laser beam to the surface of the aircraft and receives the reflected light to obtain information about the object. The information is then analyzed to detect whether there are defects on the outer surface of the aircraft.

[0031] It should be understood that the specific embodiments described herein are for understanding the present invention only and are not intended to limit the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

Claims

1. A non-destructive testing robot for aircraft surface defects, characterized in that: It includes an AGV trolley (1), a six-degree-of-freedom robotic arm (2), and a detection mechanism (3); the six-degree-of-freedom robotic arm (2) is mounted on the AGV trolley (1), the detection mechanism (3) is set at the end of the six-degree-of-freedom robotic arm (2), and a protective mechanism (4) is installed on the detection mechanism (3); the protective mechanism (4) includes a light shield (401), an anti-interference layer (402), and a baffle (403). The light shield (401) is installed at the end of the detection mechanism (3), the anti-interference layer (402) is set inside the light shield (401), and two sets of baffles (403) are symmetrically rotated on the inner wall of the light shield (401).

2. The non-destructive testing robot for aircraft surface defects according to claim 1, characterized in that: The testing mechanism (3) includes a fixed frame (301), which is installed at the end of the arm of the six-degree-of-freedom robotic arm (2). A telescopic rod (302) is installed inside the fixed frame (301), and a non-destructive testing device (303) is provided at the moving end of the telescopic rod (302).

3. The non-destructive testing robot for aircraft surface defects according to claim 2, characterized in that: Two sets of abutments (7) are installed on the outer surface of the detection end of the non-destructive testing device (303). The two sets of abutments (7) are symmetrically arranged on the detection end of the non-destructive testing device (303).

4. The non-destructive testing robot for aircraft surface defects according to claim 3, characterized in that: A blower plate (6) is installed on the outside of the fixed frame (301), and a blower device (601) is installed on one side of the blower plate (6).

5. The non-destructive testing robot for aircraft surface defects according to claim 1, characterized in that: A connecting frame (5) is installed inside the sunshade (401) near the baffle (403). Spring rods (501) are installed at both ends of the connecting frame (5). A connecting plate (502) is installed at the top of the baffle (403) near the spring rods (501) and away from the connecting frame (5).

6. The non-destructive testing robot for aircraft surface defects according to claim 1, characterized in that: A connecting rod (101) is rotatably mounted on the outside of the AGV (1), and a bracket (102) is threadedly mounted inside the end of the connecting rod (101) away from the AGV (1).

7. The non-destructive testing robot for aircraft surface defects according to claim 6, characterized in that: The bottom of the bracket (102) is fitted with rollers (103).

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