Nondestructive testing device for aircraft wing

Abstract

Disclosed in the present invention is a nondestructive testing device for an aircraft wing. The nondestructive testing device comprises an X-ray emitting end device, and an X-ray receiving end device having an imaging portion, wherein the X-ray receiving end device is configured to be positioned relative to a plurality of wing regions to be tested of an aircraft wing and to allow the imaging portion to be held above each wing region for performing X-ray imaging on each wing region; and the X-ray emitting end device comprises: a first automated guided vehicle having a position tracker; and a turntable and an X-ray machine fixed onto the turntable, the turntable being mounted on the first automated guided vehicle and being capable of rotating within a preset range. The present invention can help implement X-ray nondestructive testing of an aircraft wing by means of coordinated cooperation between an X-ray emitting end and an X-ray receiving end, thereby reducing or avoiding the problem of X-ray image distortion.

Description

Non-destructive testing equipment for aircraft wings Technical Field

[0001] This disclosure relates to the technical field of aircraft assembly and maintenance, and more particularly to a non-destructive testing device for aircraft wings. Background Technology

[0002] Foreign objects and missing screws are persistent and difficult-to-detect problems during aircraft assembly and maintenance. These issues are particularly pronounced in the aircraft wing area. For example, foreign objects can clog fuel lines, and missing screws can compromise the aircraft's structural integrity; both can lead to serious aircraft quality incidents. Currently, foreign object control and missing screw inspection in the aircraft wing area rely on manual inspection or X-ray inspection. The former is less efficient and susceptible to human error, while the latter is costly in terms of labor and prone to errors or omissions due to X-ray image distortion.

[0003] Current X-ray inspection methods typically involve manually placing film at the X-ray receiver. This manual placement is time-consuming, and inconsistent placement can significantly impact image quality. Similarly, the X-ray machine itself is usually placed manually at the X-ray transmitter. Overall, existing X-ray inspection methods for non-destructive testing of aircraft wings have the following drawbacks: difficulty in adjusting the shooting angle and height; inconsistent placement significantly affects film quality; and it introduces interference for subsequent digital comparisons of films from the same location.

[0004] More specifically, existing X-ray inspection methods often suffer from image distortion due to film misalignment, failing to accurately reflect the condition of areas such as aircraft wings and horizontal stabilizers. Film placement is affected by on-site factors, time-consuming, inefficient, and prone to misalignment. Furthermore, some images exhibit slant shadows due to X-ray machine misalignment. Additionally, different aircraft models have different X-ray shooting angles due to variations in aircraft structure; some models have engines located under the wings, causing the X-ray shooting position to be too far from the film placement position, also contributing to image distortion. In other cases, problems such as the X-ray machine being too close to the film placement position can create X-ray blind spots, resulting in unclear images.

[0005] Therefore, there is an urgent need to provide a new non-destructive testing device for aircraft wings to at least partially alleviate or solve the aforementioned problems and defects of existing solutions. Summary of the Invention

[0006] One objective of this disclosure is to propose a new non-destructive testing device for aircraft wings in order to overcome some or all of the aforementioned deficiencies in existing non-destructive testing schemes for aircraft wings.

[0007] This disclosure provides a non-destructive testing apparatus for aircraft wings, characterized in that the non-destructive testing apparatus includes an X-ray emitting device and an X-ray receiving device with an imaging unit, wherein the X-ray receiving device is configured to be positioned relative to multiple wing regions to be inspected on the aircraft wing, and the imaging unit is held above each wing region for X-ray imaging of each wing region, and the X-ray emitting device includes:

[0008] The first automated guided vehicle is equipped with a position tracker and is configured to move sequentially along a set route to the corresponding positions under each wing area by means of the position tracker.

[0009] A turntable and an X-ray machine fixed on the turntable. The turntable is mounted on the first automated guided vehicle and can rotate within a preset range so that the X-ray machine can capture images of the wing region at the corresponding position and at the shooting angle within the preset range, and form an X-ray image of the wing region at the imaging unit.

[0010] According to some embodiments of this disclosure, the X-ray emitting device further includes:

[0011] A turntable control device is configured to operably adjust the tilt angle and azimuth angle of the turntable relative to a vertical axis, and record the tilt angle and the azimuth angle.

[0012] With the non-destructive testing device described above, especially the X-ray emitting device therein, this disclosure allows for multi-angle X-ray imaging at key locations or particularly important locations (such as the frame) of the aircraft wing, using methods such as oblique and side views. This makes the non-destructive testing more comprehensive and detailed, and avoids the possibility of certain blind spots in imaging at some key locations being overlooked or missed during the inspection.

[0013] According to some embodiments of the present disclosure, the X-ray receiving device is a film fixture, which has a mounting part and a flat surface. The mounting part is configured to fix the film fixture to the aircraft wing and make the flat surface close to the wing surface. The flat surface is pre-attached with a plurality of X-ray films, which correspond one by one to each wing region.

[0014] According to some embodiments of this disclosure, the film fixture is mainly made of lightweight materials, including inflatable materials or foam materials.

[0015] According to some embodiments of this disclosure, the X-ray receiving device includes:

[0016] A crawling robot equipped with a control device, the crawling robot being configured to move along the set route and follow the movement of the first automated guided vehicle to the vicinity of each wing area on the aircraft wing by means of the control device;

[0017] X-ray imaging screen;

[0018] The robotic arm has its proximal and distal ends connected to the crawling robot and the X-ray imaging screen, respectively, and is configured to place the X-ray imaging screen close to each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

[0019] It should be understood that the control device of the crawling robot may include, for example, a position tracker similar to that of the X-ray transmitter, and enable the crawling robot and the X-ray transmitter to be set in a unified coordinate system. This allows the crawling robot to work in sync with the X-ray transmitter and its first automated guided vehicle to perform synchronous movement and imaging, thereby further improving imaging quality and reliability and avoiding image distortion.

[0020] According to some embodiments of this disclosure, the X-ray receiving device includes:

[0021] A second automated guided vehicle equipped with a control device;

[0022] X-ray imaging screen;

[0023] A robotic arm, the proximal end of which is connected to the second automated guided vehicle and the X-ray imaging screen respectively, wherein the robotic arm is configured to place the X-ray imaging screen above the wing of the aircraft.

[0024] The second automated guided vehicle is configured to, with the aid of the control device and the robotic arm, follow the movement of the first automated guided vehicle to place the X-ray imaging screen above the aircraft wing and close to each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

[0025] According to some embodiments of this disclosure, the X-ray receiving device is a track-type automatic guidance device, which includes:

[0026] A base with guide rails;

[0027] A suction cup, the suction cup being configured to allow the base to be attached to the aircraft wing;

[0028] A movable carrier equipped with an imaging unit is capable of moving along the guide rail and being positioned on each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

[0029] According to some embodiments of this disclosure, the base has guide rails in two directions perpendicular to each other, thereby allowing the movable vehicle to move and be positioned in the two directions within a plane defined by the guide rails.

[0030] According to some embodiments of this disclosure, the mobile vehicle is equipped with a control device and is configured to move along the predetermined route to the vicinity of each wing area by means of the control device, following the movement of the first automated guided vehicle.

[0031] According to some embodiments of this disclosure, the first automated guided vehicle is further configured to record, by means of the position tracker, the corresponding position previously moved to under each wing region and the corresponding position repositioned to under each wing region.

[0032] This disclosure also provides a non-destructive testing device for aircraft wings, characterized in that the non-destructive testing device includes:

[0033] The third automated guided vehicle is equipped with a position tracker, and the first automated guided vehicle is configured to move sequentially along a set route to corresponding positions below multiple wing areas to be detected on the aircraft wing by means of the position tracker.

[0034] The C-shaped support has an upper part, a lower part, and a longitudinal connecting part connecting the two. An X-ray imaging screen is fixedly installed on the upper part of the support, and an X-ray machine is fixedly installed on the lower part of the support. The upper part and the lower part of the support are arranged opposite to each other and a predetermined space is left between them to allow the aircraft wing to pass through.

[0035] A longitudinal robotic arm, the lower end of which is fixedly connected to the automated guided vehicle, and a longitudinal connecting part attached to the upper part of the longitudinal robotic arm.

[0036] According to some embodiments of this disclosure, the third automated guided vehicle is also configured to record, by means of the position tracker, the corresponding position previously moved to under each wing region and the corresponding position repositioned to under each wing region.

[0037] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present disclosure.

[0038] The positive and progressive effects of this disclosure are as follows:

[0039] The non-destructive testing device for aircraft wings according to this disclosure can help achieve non-destructive X-ray testing of aircraft wings by coordinating the X-ray transmitter and receiver, thereby reducing or avoiding the problem of X-ray image distortion. Attached Figure Description

[0040] Figure 1 schematically illustrates a schematic diagram of an X-ray emitting device in a non-destructive testing apparatus according to a preferred embodiment of the present disclosure.

[0041] Figure 2 schematically illustrates a film fixture in a non-destructive testing apparatus according to a first embodiment of the present disclosure.

[0042] Figure 3 schematically illustrates an X-ray receiver device with a crawling robot in a non-destructive testing apparatus according to a second embodiment of the present disclosure.

[0043] Figure 4 schematically illustrates an X-ray receiver device with a second automated guided vehicle in a non-destructive testing apparatus according to a third embodiment of the present disclosure.

[0044] Figure 5 schematically illustrates a track-type automatic guidance device in a non-destructive testing apparatus according to a fourth embodiment of the present disclosure.

[0045] Figure 6 schematically illustrates a non-destructive testing apparatus for an aircraft wing according to a fifth embodiment of the present disclosure.

[0046] Explanation of reference numerals: 100: Wing; 21: First automated guided vehicle; 22: Turntable; 23: X-ray machine; 3: Film fixture; 41: X-ray imaging screen; 42: Crawling robot; 43: Robotic arm; 44: Crawling support; 51: Second automated guided vehicle; 52: Robotic arm; 61: Base; 62: Guide rail; 63: Movable carrier; 71: Third automated guided vehicle; 72: Longitudinal robotic arm; 73: C-shaped support. Detailed Implementation

[0047] The preferred embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The following description is exemplary and not intended to limit the present invention. Any other similar situations also fall within the protection scope of the present invention.

[0048] In the following detailed description, directional terms such as "left," "right," "up," "down," "front," and "back" are used with reference to the directions described in the accompanying drawings. Components of embodiments of the invention may be positioned in a variety of different orientations; the directional terms are for illustrative purposes and not limiting.

[0049] First Embodiment

[0050] The non-destructive testing apparatus for aircraft wings according to the first embodiment of this disclosure and the various embodiments described below all include an X-ray emitting device and an X-ray receiving device with an imaging unit. The X-ray receiving device is configured to be positioned relative to a plurality of wing regions to be inspected on the aircraft wing, such that the imaging unit is held above each wing region for X-ray imaging of each wing region.

[0051] Referring to Figure 1, the X-ray transmitting device includes a first automated guided vehicle 21, a turntable 22, and an X-ray machine 23 fixed on the turntable 22. The first automated guided vehicle 21 is equipped with a position tracker and is configured to sequentially move along a predetermined route to corresponding positions below each wing region using the position tracker. The turntable 22 is mounted on the first automated guided vehicle 21 and can rotate within a preset range, allowing the X-ray machine 23 to capture images of the wing region at the corresponding positions and within a preset shooting angle, forming an X-ray image of the wing region at the imaging unit.

[0052] Preferably, the X-ray emitting device further includes a turntable control device configured to operably adjust the tilt angle and azimuth angle of the turntable 22 relative to the vertical axis, and record the tilt angle and azimuth angle. It is understood that the control device and position tracker are not shown in the accompanying drawings of this disclosure.

[0053] With the non-destructive testing device described above, especially the X-ray emitting device therein, this disclosure allows for multi-angle X-ray imaging at key locations or particularly important locations (such as the frame) of the aircraft wing, using methods such as oblique and side views. This makes the non-destructive testing more comprehensive and detailed, and avoids the possibility of certain blind spots in imaging at some key locations being overlooked or missed during the inspection.

[0054] In this embodiment, the X-ray receiving device is the film fixture 3 schematically shown in FIG2. The film fixture 3 has a mounting part and a flat surface. The mounting part is configured to fix the film fixture 3 to the aircraft wing and make the flat surface close to the wing surface. Multiple X-ray films are pre-attached on the flat surface, and the multiple X-ray films correspond to each wing area.

[0055] Preferably, the film fixture 3 is made of lightweight materials, such as inflatable materials or foam materials.

[0056] According to the embodiment shown in Figures 1 and 2, a film-assisted fixing method can be used in conjunction with the AGV / DGV trolley. The films are numbered (Figure 2 schematically shows numbers 115, 114, 113, 215, etc.), and each film is fixed to a lightweight film fixture. The films are pasted onto the fixture according to their numbers, based on different areas. Before X-ray imaging, the film fixture 3 is directly installed on the wing. The first automated guided vehicle 21, equipped with a position tracker, moves step-by-step along a planned path, and the X-ray machine carried by the first automated guided vehicle 21 images the wing.

[0057] Preferably, the first automated guided vehicle 21 can also record, by means of the position tracker, the corresponding positions previously moved to under each wing region and the corresponding positions repositioned to under each wing region, thereby allowing the re-execution or repetition of the X-ray imaging process for the aircraft wings that has already been performed. This preferred configuration is also optionally applicable to other embodiments described below.

[0058] Second Embodiment

[0059] The X-ray transmitter device in the non-destructive testing apparatus of this embodiment is basically the same as that described in the first embodiment. The main difference between this embodiment and the first embodiment lies in the X-ray receiver device.

[0060] Referring to Figure 3, the X-ray receiving device of this embodiment includes a crawling robot 42 with a control device, an X-ray imaging screen 41, and a robotic arm 43.

[0061] The crawling robot 42 is configured to move along a predetermined route, following the movement of the first automated guided vehicle 21, to the vicinity of each wing region on the aircraft wing, aided by a control device. The proximal and distal ends of the robotic arm 43 are connected to the crawling robot 42 and the X-ray imaging screen 41, respectively, and are configured to position the X-ray imaging screen 41 close to each wing region, thereby cooperating with the X-ray machine 23 to capture X-ray images of the wing regions. Figure 3 also shows the two crawling legs 44 of the crawling robot in this embodiment, providing stable and controllable support and mobility.

[0062] It should be understood that the control device of the crawling robot 42 may include, for example, a position tracker similar to that of the X-ray transmitter, and enable the crawling robot 42 and the X-ray transmitter to have a unified coordinate system. This allows the crawling robot 42 to work in sync with the X-ray transmitter and its first automated guided vehicle to perform synchronous movement and imaging, thereby further improving imaging quality and reliability and avoiding image distortion.

[0063] According to the embodiment shown in Figures 1 and 3, by installing an X-ray imaging screen 41 on the robotic arm 43 connected to the crawling robot 42, the relative positions of the X-ray machine on the first automated guided vehicle 21 and the imaging screen on the robot are precisely positioned (so that the two remain consistent or move synchronously) with a certain location on site as a reference. Thus, the first automated guided vehicle 21, equipped with a position tracker, moves step by step along the planned path, while the crawling robot 42 crawls synchronously on the wing, following the first automated guided vehicle 21 below the wing, and the X-ray machine carried by the first automated guided vehicle 21 takes pictures of the wing.

[0064] Third Embodiment

[0065] The X-ray transmitter device in the non-destructive testing apparatus of this embodiment is basically the same as that described in the first embodiment. The main difference between this embodiment and the first embodiment lies in the X-ray receiver device.

[0066] Referring to Figure 4, the X-ray receiving device of this embodiment includes a second automated guided vehicle 51 with a control device, an X-ray imaging screen 41, and a robotic arm 52. The proximal and distal ends of the robotic arm 52 are connected to the second automated guided vehicle 51 and the X-ray imaging screen 41, respectively. The robotic arm 52 is configured to place the X-ray imaging screen 41 above the aircraft wing. It should be understood that to place the X-ray imaging screen 41 above the aircraft wing, the distal end of the robotic arm 52 needs to be positioned at a relatively high height. This can be achieved either by having the automated guided vehicle 51 raise the proximal end of the robotic arm 52 to a higher height, or by having a relatively long robotic arm 52 itself, thereby raising the height of the distal end of the robotic arm 52, as long as the X-ray imaging screen 41 can be raised above the aircraft wing.

[0067] The second automated guided vehicle 51 is configured to follow the movement of the first automated guided vehicle 21 with the aid of a control device and a robotic arm 52 to place the X-ray imaging screen 41 above the aircraft wing and close to each wing area, thereby cooperating with the X-ray machine 23 to capture X-ray images of the wing area.

[0068] According to the embodiment shown in Figures 1 and 4, a multi-functional robotic arm 52 is installed on another AGV (second automated guided vehicle 51), and an X-ray imaging screen 41 is installed on the robotic arm 52. Using a certain location on site as a reference, the relative positions of the X-ray machine on the first automated guided vehicle 21 and the imaging screen on the AGV are precisely located. Both AGVs are equipped with position trackers and move under the wing. The first automated guided vehicle 21 with the X-ray machine moves step-by-step along a planned path, and the AGV with the imaging screen moves synchronously with the first automated guided vehicle 21, using the X-ray machine carried by the first automated guided vehicle 21 to image the wing.

[0069] Fourth embodiment

[0070] The X-ray transmitter device in the non-destructive testing apparatus of this embodiment is basically the same as that described in the first embodiment. The main difference between this embodiment and the first embodiment lies in the X-ray receiver device.

[0071] Referring to Figure 5, the X-ray receiving device in this embodiment is a track-type automatic guidance device. This track-type automatic guidance device can be installed above the aircraft wing in an inverted manner compared to the direction shown in the figure, so that the imaging unit on the movable vehicle, such as the X-ray imaging screen, can be positioned above the aircraft wing surface and have approximately the same height difference as the aircraft wing surface during movement.

[0072] Specifically, as shown in Figure 5, the track-type automatic guidance device includes a base 61 with a guide rail 62, a suction cup (not shown), and a movable carrier 63 with an imaging unit. The suction cup is configured to allow the base 61 to be attached to the aircraft wing, and the movable carrier 63 can move along the guide rail 62 and be positioned on various wing areas, thereby cooperating with the X-ray machine 23 to capture X-ray images of the wing areas.

[0073] Preferably, the base 61 has guide rails 62 in two directions perpendicular to each other, thereby allowing the movable carrier 63 to move and be positioned in two directions within the plane defined by the guide rails 62.

[0074] More preferably, the mobile vehicle 63 is equipped with a control device and is configured to move along a set route to the vicinity of each wing area on the aircraft wing by means of the control device, following the movement of the first automated guided vehicle 21.

[0075] According to the embodiment shown in Figures 1 and 5, the first automated guided vehicle 21, which is equipped with an X-ray machine, moves step by step along the planned path. The X-ray machine carried by the first automated guided vehicle 21 takes pictures of the wings. During the taking pictures, the movable vehicle can move synchronously with the first automated guided vehicle 21 via the guide rail 62.

[0076] Fifth embodiment

[0077] Referring to Figure 6, the non-destructive testing device for aircraft wings in this embodiment uses a single automated guided vehicle as a platform for mounting the X-ray transmitter and X-ray receiver, and the non-destructive testing device includes the following parts:

[0078] The third automated guided vehicle 71 is equipped with a position tracker, and the first automated guided vehicle is configured to move sequentially along a set route to corresponding positions under multiple wing areas to be detected on the aircraft wing by means of the position tracker.

[0079] C-shaped bracket 73 has an upper bracket, a lower bracket, and a longitudinal connecting part connecting the two. An X-ray imaging screen 41 is fixedly installed on the upper bracket, and an X-ray machine 23 is fixedly installed on the lower bracket. The upper bracket and the lower bracket are arranged opposite to each other and a predetermined space is left between them to allow the aircraft wing to pass through.

[0080] A longitudinal robotic arm 72, the lower end of which is fixedly connected to the automated guided vehicle, and a longitudinal connecting part attached to the upper part of the longitudinal robotic arm 72.

[0081] According to the embodiment shown in Figure 6, the X-ray imaging screen 41 and the X-ray machine 23 are respectively installed on the upper and lower parts of the C-shaped bracket 73, which is sufficient to ensure the synchronous movement and imaging of the X-ray transmitter and the X-ray receiver. For example, it can move step by step according to the planned path to complete the X-ray imaging of the wing.

[0082] Preferably, the third automated guided vehicle 71 can also record, by means of the position tracker, the corresponding position under each wing region previously moved to and the corresponding position under each wing region after repositioning, thereby allowing the re-execution or repetition of the X-ray imaging process for the aircraft wing that has already been performed.

[0083] The non-destructive testing apparatus for aircraft wings according to the above-described preferred embodiments of this disclosure can help achieve coordinated X-ray non-destructive testing of aircraft wings by the X-ray transmitter and receiver, reducing or avoiding X-ray image distortion problems. Furthermore, the non-destructive testing apparatus of the above-described preferred embodiments helps testing personnel save labor costs, improves imaging accuracy, and reduces X-ray image distortion by controlling X-ray machine movement, taking pictures from multiple angles, reducing X-ray machine offset, and minimizing the influence of human factors, thereby improving the reliability of the testing.

[0084] Furthermore, at least some of the above preferred embodiments can also configure a unified coordinate system for the transmitting and receiving ends based on a certain location on site, so that the robots or other forms of mobile carriers at both ends can move and take pictures synchronously, further improving the imaging quality and reliability and avoiding the generation of image distortion.

[0085] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A non-destructive testing device for aircraft wings, characterized in that, The non-destructive testing device includes an X-ray emitting device and an X-ray receiving device with an imaging unit. The X-ray receiving device is configured to be positioned relative to multiple wing regions to be inspected on the aircraft wing, such that the imaging unit is held above each wing region for X-ray imaging of that region. The X-ray emitting device includes: The first automated guided vehicle is equipped with a position tracker and is configured to move sequentially along a set route to the corresponding positions under each wing area by means of the position tracker. A turntable and an X-ray machine fixed on the turntable. The turntable is mounted on the first automated guided vehicle and can rotate within a preset range so that the X-ray machine can capture images of the wing region at the corresponding position and at the shooting angle within the preset range, and form an X-ray image of the wing region at the imaging unit.

2. The non-destructive testing device for aircraft wings as described in claim 1, characterized in that, The X-ray emitting device also includes: A turntable control device is configured to operably adjust the tilt angle and azimuth angle of the turntable relative to a vertical axis, and record the tilt angle and the azimuth angle.

3. The non-destructive testing device for aircraft wings as described in claim 1, characterized in that, The X-ray receiving device is a film fixture, which has a mounting part and a flat surface. The mounting part is configured to fix the film fixture to the aircraft wing and make the flat surface close to the wing surface. The flat surface is pre-attached with a plurality of X-ray films, each corresponding to a different wing region.

4. The non-destructive testing device for aircraft wings as described in claim 3, characterized in that, The film fixture is mainly made of lightweight materials, including inflatable materials or foam materials.

5. The non-destructive testing device for aircraft wings as described in claim 1, characterized in that, The X-ray receiver device includes: A crawling robot equipped with a control device, the crawling robot being configured to move along the set route and follow the movement of the first automated guided vehicle to the vicinity of each wing area on the aircraft wing by means of the control device; X-ray imaging screen; The robotic arm has its proximal and distal ends connected to the crawling robot and the X-ray imaging screen, respectively, and is configured to place the X-ray imaging screen close to each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

6. The non-destructive testing device for aircraft wings as described in claim 1, characterized in that, The X-ray receiver device includes: A second automated guided vehicle equipped with a control device; X-ray imaging screen; A robotic arm, the proximal end of which is connected to the second automated guided vehicle and the X-ray imaging screen respectively, wherein the robotic arm is configured to place the X-ray imaging screen above the wing of the aircraft. The second automated guided vehicle is configured to, with the aid of the control device and the robotic arm, follow the movement of the first automated guided vehicle to place the X-ray imaging screen above the aircraft wing and close to each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

7. The non-destructive testing device for aircraft wings as described in claim 1, characterized in that, The X-ray receiving device is a track-type automatic guidance device, which includes: A base with guide rails; A suction cup, the suction cup being configured to allow the base to be attached to the aircraft wing; A movable carrier equipped with an imaging unit is capable of moving along the guide rail and being positioned on each wing region, thereby cooperating with the X-ray machine to capture X-ray images of the wing region.

8. The non-destructive testing device for aircraft wings as described in claim 7, characterized in that, The base has guide rails in two directions perpendicular to each other, thereby allowing the movable vehicle to move and be positioned in the two directions within a plane defined by the guide rails.

9. The non-destructive testing device for aircraft wings as described in claim 8, characterized in that, The mobile vehicle is equipped with a control device and is configured to move along the predetermined route to the vicinity of each wing area of ​​the aircraft by means of the control device, following the movement of the first automated guided vehicle.

10. The non-destructive testing apparatus for aircraft wings as described in any one of claims 1-9, characterized in that, The first automated guided vehicle is also configured to record, by means of the position tracker, the corresponding position under each wing region where it was previously moved and the corresponding position under each wing region where it is repositioned.

11. A non-destructive testing device for aircraft wings, characterized in that, The non-destructive testing device includes: The third automated guided vehicle is equipped with a position tracker, and the first automated guided vehicle is configured to move sequentially along a set route to corresponding positions below multiple wing areas to be detected on the aircraft wing by means of the position tracker. The C-shaped support has an upper part, a lower part, and a longitudinal connecting part connecting the two. An X-ray imaging screen is fixedly installed on the upper part of the support, and an X-ray machine is fixedly installed on the lower part of the support. The upper part and the lower part of the support are arranged opposite to each other and a predetermined space is left between them to allow the aircraft wing to pass through. A longitudinal robotic arm, the lower end of which is fixedly connected to the automated guided vehicle, and a longitudinal connecting part attached to the upper part of the longitudinal robotic arm.

12. The non-destructive testing device for aircraft wings as described in claim 11, characterized in that, The third automated guided vehicle is also configured to record, by means of the position tracker, the corresponding position under each wing area where it was previously moved and the corresponding position under each wing area when it is repositioned.

Images