The invention discloses a smart adsorption crawl type automatic detection and repairing robot for military and civilian aircrafts, belonging to the technical field of rapid and automatic removal of composite materials and the technical field of robots. The crawl type robot is composed of a hexapod robot device and a six-axis mechanical arm device. The whole crawl type robot is small in size, portable and convenient to use and capable of conducting path planning according to programming control; and six small suction cups freely rotate and are stably adsorbed to the surface of the military and civil aircrafts with complex curvatures through multiple small suction cups, and the crawl type robot can move step by step, so the damage detection identification and polishing repair work of surface composite materials on the complete machines of full-autonomous military and civilian aircrafts is realized. The six-axis mechanical arm device is provided with a nondestructive testing head, a laser polishing head and a conventional polishing head so as to adapt to polishing and repairing work of damaged structures with different requirements. According to the crawl type robot, grinding efficiency and precision are greatly improved, and the overall combat effectiveness of military aircrafts or the operation economic benefits of civil aircrafts are improved.

    本发明专利为军民机灵巧吸附爬行式自动检测修理机器人,涉及复合材料快速自动去除技术领域与机器人技术领域。爬行机器人由六足机器人装置和六轴机械臂装置组成。爬行机器人整体小巧便携,使用方便,可以根据编程控制并进行路径规划,通过小而多的吸盘,共六个小吸盘自由转动,稳定吸附于曲率复杂的军民机的表面,且可进行逐步移动,以实现全自主的军民机整机的表面复合材料的损伤检测识别与打磨修复工作。六轴机械臂装置上装有无损检测头,激光打磨头,常规打磨头,以适应不同需求的损伤结构的打磨修复工作。该爬行机器人极大的提高了打磨效率与精度,提高了军机整体作战效能或民机运营经济效益。


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    Title :

    Smart adsorption crawl type automatic detection and repairing robot for military and civilian aircrafts


    Additional title:

    军民机灵巧吸附爬行式自动检测修理机器人


    Contributors:
    LIU BIN (author) / AN QIANJUN (author) / SHI JIARUI (author) / DUAN XIAOBO (author) / ZOU YU (author) / LI ZHENGTONG (author) / YAN RUIBO (author)

    Publication date :

    2021-06-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B24B MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING , Maschinen, Einrichtungen oder Verfahren zum Schleifen oder Polieren / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B23K Löten , SOLDERING OR UNSOLDERING / B62D MOTOR VEHICLES , Motorfahrzeuge



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