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CN-116968041-B - Aeroengine air inlet channel blade detection robot and detection method

CN116968041BCN 116968041 BCN116968041 BCN 116968041BCN-116968041-B

Abstract

The invention discloses an aeroengine air inlet vane detection robot and a detection method, wherein the aeroengine air inlet vane detection robot comprises a screw rod deflector rod mechanism, a walking chassis, a control device and a robot arm supporting device, wherein the screw rod deflector rod mechanism realizes the reciprocating rotation function of a deflector rod through the back and forth movement of a ball screw rod and the assistance of a limit screw, the deflector rod is arranged above a screw rod sliding table, the screw rod deflector rod mechanism is connected through a screw, a spring which is always in a compressed state is arranged on the screw rod deflector rod mechanism to support the deflector rod so that the deflector rod is always in a position close to a front limit cylinder rod and a rear limit cylinder rod in a stroke, the robot arm supporting device drives a pair of linked robot arms to stretch outwards in parallel through a steering engine so as to fix the position of the robot, the robot arm supporting device adopts the principle of a parallelogram, the robot arm supporting device is arranged at the front end of the chassis, the walking chassis overcomes the obstruction of walking to the inside the engine, the walking chassis is controlled by a double motor, and the control device remotely controls or intelligently controls the robot action through a radar and a camera.

Inventors

  • Yang Laihao
  • ZHENG YI
  • Peng Yinchong
  • SUN YUXUAN
  • SUN YU
  • CHEN XUEFENG

Assignees

  • 西安交通大学

Dates

Publication Date
20260512
Application Date
20230620

Claims (8)

  1. 1. An aeroengine inlet duct blade detection robot, characterized in that it comprises: A walking chassis movably arranged in the aeroengine inlet duct; A screw rod deflector rod mechanism fixed on the walking chassis, the screw rod deflector rod mechanism comprises, A screw rod module, which comprises a screw rod, The motor bracket is fixed on the walking chassis; The motor is arranged on the motor bracket in a supporting way; The coupler is connected with the output end of the motor; A screw rod rear gear fixed on the walking chassis; one end of the lead rod is fixedly connected with the rear gear of the screw rod and horizontally extends towards the direction far away from the motor; a lead screw front gear fixedly connected with the other end of the lead rod; the screw rod is rotatably connected with the screw rod front gear and the screw rod rear gear and is in power connection with the coupler; the screw rod platform is connected with the screw rod, and the bottom of the screw rod platform is adaptively and movably connected with the lead rod; A shift lever module, which comprises, The limiting support is arranged on the walking chassis through bolts, and two limiting bolts are arranged on the limiting support; The driving lever platform is fixed at the top end of the screw rod platform, three threaded holes and two mounting holes are formed in the center of the driving lever platform, and the mounting holes are divided into a first platform hole and a second platform hole; The driving lever is provided with a driving lever first hole and a driving lever second hole, the driving lever first hole and the platform first hole are arranged on the driving lever platform through bolts, the driving lever comprises a Z-shaped rod positioned between two limit bolts and a straight rod forming a preset angle with the Z-shaped rod, and the Z-shaped rod can move between the two limit bolts; The auxiliary rotating rod is arranged on the deflector rod through a deflector rod second hole, the auxiliary rotating rod is provided with a sleeved limiter arranged on the platform second hole and a compression spring which is positioned between the deflector rod and the limiter and sleeved with the auxiliary rotating rod, the deflector rod second hole is coaxially matched with a through hole at the head of the auxiliary rotating rod through a cylindrical pin to form a rotating pair, the platform second hole is coaxially matched with a cylinder at the bottom of the limiter to form the rotating pair, the deflector rod platform is provided with four limit cylinders which are symmetrically arranged, the Z-shaped rod is limited between the two limit cylinders in the advancing direction of the screw rod, the straight rod is limited between the two limit cylinders in the direction perpendicular to the advancing direction of the screw rod, the screw rod deflector rod mechanism realizes the reciprocating deflector rod function of the deflector rod through the back and forth movement of the ball screw rod and the assistance of the limit bolt, the deflector rod in the screw rod deflector rod mechanism is arranged above the screw rod, and the compression spring always in a compressed state is propped against the deflector rod on the screw rod deflector rod mechanism, so that the deflector rod is always in a position clinging to the front limit cylinder and back limit cylinders in the advancing process; The mechanical arm supporting device is positioned below the screw rod deflector rod mechanism and comprises, The steering engine is arranged on the walking chassis through a steering engine supporting piece; The left and right gear claws are meshed with each other and are in driving connection with the steering engine; a pair of left and right mechanical arms respectively connected to the pair of left and right gear pawls; the left mechanical arm and the right mechanical arm are outwards opened under the driving of the steering engine so as to be supported on an air inlet channel of the aeroengine; A control device, which comprises, A radar configured to measure and generate positioning information of the inlet blade; a camera configured to generate image information; And one end of the circuit board is connected with the radar and the camera, the other end of the circuit board is connected with the steering engine and the motor, the circuit board responds to the positioning information, the walking chassis reaches a stop position and drives the steering engine to open the left and right mechanical arms, and the motor responds to the image information and drives the screw rod and the deflector rod to repeatedly stir the air inlet channel blade.
  2. 2. The aircraft engine inlet blade inspection robot of claim 1, wherein the predetermined angle is 80 degrees.
  3. 3. The aircraft engine inlet vane inspection robot of claim 1, wherein four limit cylinder center points of symmetry are located 5.5mm above the lever platform center, and the distance between the four limit cylinder centers is 35mm and 29mm.
  4. 4. An aero-engine inlet vane inspection robot as claimed in claim 3, wherein the parallelogram mechanism has side lengths of 19mm and 30mm.
  5. 5. The aircraft engine inlet blade inspection robot of claim 1, wherein the limit bracket is a Z-shaped cantilever beam with a stiffener.
  6. 6. The aircraft engine inlet blade inspection robot of claim 5, wherein the Z-shaped cantilever beam has a double-rounded through hole 140mm long.
  7. 7. The aircraft engine inlet blade inspection robot of claim 1, wherein the parallel open distance of the left and right mechanical arms is from 100mm to 160mm.
  8. 8. The method for detecting an aircraft engine inlet blade detection robot according to any one of claims 1 to 7, comprising, The walking chassis walks through the first-stage stator blade of the aero-engine until the front end of the robot enters the second-stage stator blade of the engine and then stops; the left mechanical arm and the right mechanical arm are driven to open to fix the robot body, the Z-shaped rod of the deflector rod is positioned at the initial position of the upper limit cylinder, the motor enables the screw rod sliding table and the deflector rod to move forwards until the Z-shaped rod of the deflector rod contacts the limit bolt and starts to rotate under the action of the limit bolt, the deflector rod is passively rotated while the screw rod is continuously fed, the straight rod contacts the blade, then the straight rod starts to stir the blade until the blade reaches the limit position, and at the moment, the Z-shaped rod of the deflector rod is positioned at the position of the lower limit cylinder; the motor is reversed, the screw rod and the deflector rod are retracted, and then the screw rod and the deflector rod are continuously retracted until the initial state is restored under the action of the other limit bolt, so that the vane is continuously deflector in a circulating and reciprocating mode.

Description

Aeroengine air inlet channel blade detection robot and detection method Technical Field The invention relates to the technical field of aeroengine air inlet channel detection, in particular to an aeroengine air inlet channel blade detection robot and a detection method. Background The aeroengine as a heart of an aircraft is composed of tens of thousands of parts, can provide powerful kinetic energy for continuous flight of the aircraft, and is always the focus of attention in the industry if the aeroengine can work safely and reliably. The aeroengine blade is a main component for providing power for the flight of an aircraft, bears severe service environments such as high-temperature impact, pneumatic load, mechanical load and the like and external force action, and can convert fuel gas into mechanical energy so as to provide strong lifting force for the engine. Under severe use environment, the probability of failure of the blade is far higher than that of other components, so that the quality and the comprehensive performance of the blade influence the overall performance of the engine and the flight safety of the aircraft is also related. In the prior art, a detection method for an engine air inlet blade mainly depends on that an inspector climbs into an air inlet, and the blade is manually shifted for visual inspection. The method has a certain potential safety hazard to inspectors, and the operation flow is complex, time-consuming and labor-consuming. Meanwhile, on the engines of partial aircrafts, due to design problems, inspection staff cannot climb into the inlet channel blades for inspection. So in order to solve the series of problems, the miniaturized intelligent detection robot is a good scheme. The utility model CN217586311U provides a shift lever device for checking the blades of an aircraft engine, which intelligently controls a four-bar mechanism through a chip, shifts the blades and detects the blades in real time through a detection device. However, the utility model adopts a mode of directly driving the deflector rod by the motor output shaft, and has the problems of insufficient moment and limited poking width. The information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Disclosure of Invention Aiming at the defects or drawbacks existing in the prior art, the robot and the method for detecting the aeroengine inlet duct blade are provided. The problems of human resource waste, low efficiency, human error and space limitation existing in the maintenance and overhaul of the prior aero-engine field are solved. The robot provided by the invention can meet the advantages of miniaturization, high thrust, intellectualization and the like, and effectively solves the problem of detecting the engine blade. The aim of the invention is achieved by the following technical scheme. An aeroengine inlet vane detection robot comprises, A walking chassis movably arranged in the aeroengine inlet duct; A screw rod deflector rod mechanism fixed on the walking chassis, the screw rod deflector rod mechanism comprises, A screw rod module, which comprises a screw rod, The motor bracket is fixed on the walking chassis; The motor is arranged on the motor bracket in a supporting way; The coupler is connected with the output end of the motor; a screw rod rear gear fixed on the walking floor; one end of the lead rod is fixedly connected with the rear gear of the screw rod and horizontally extends towards the direction far away from the motor; a lead screw front gear fixedly connected with the other end of the lead rod; the screw rod is rotatably connected with the screw rod front gear and the screw rod rear gear and is in power connection with the coupler; the screw rod platform is connected with the screw rod, and the bottom of the screw rod platform is adaptively and movably connected with the lead rod; A shift lever module, which comprises, The limiting support is arranged on the walking chassis through bolts, and two limiting bolts are arranged on the limiting support; The driving lever platform is fixed at the top end of the screw rod platform, three threaded holes and two mounting holes are formed in the center of the driving lever platform, and the mounting holes are divided into a first platform hole and a second platform hole; The driving lever is provided with two mounting holes at the center, the mounting holes are divided into a driving lever first hole and a driving lever second hole, the driving lever is arranged on the driving lever platform through bolts by virtue of the driving lever first hole and the platform first hole, the driving lever comprises a Z-shaped rod positioned between two limit bolts and a straight rod forming a preset angle with the Z-shaped rod, and the Z-shaped rod can move between the