The aircraft fuel tank continuous inspection quadruped robot comprises a machine body, three-degree-of-freedom mechanical legs used for supporting the machine body to move are movably arranged on the two sides of the machine body correspondingly, a camera arm assembly is movably arranged on the top of the machine body, and a collecting camera used for collecting pictures in a fuel tank is arranged on the camera arm assembly; and a laser radar sensor for realizing self-positioning, 3D environment mapping, path planning and obstacle avoidance and obstacle crossing functions is fixedly arranged at the top of the fuselage. The four three-degree-of-freedom mechanical legs are converted from a full-elbow type to a full-knee type and returned from the full-knee type to the full-elbow type, the linear guide rails are matched to drive the three-degree-of-freedom mechanical legs to move, a fuselage is made to complete one-time complete crossing, and therefore the device can be used for detecting the degree of freedom of the aircraft through inspection holes in rib plates which are vertically installed in an aircraft fuel tank and used for separating all branch fuel tanks. Therefore, the purpose of uninterrupted and continuous automatic inspection of the oil tank is achieved.

    本发明公开了一种飞机油箱连续检查四足机器人,包括机身,所述机身的两侧均分别活动设有用于支撑机身移动的三自由度机械腿,所述机身的顶部活动设有摄像臂组件,且摄像臂组件上设有用于对油箱内部进行画面采集的采集摄像头,所述机身的顶部固定设有用于实现自身定位、3D环境建图、路径规划以及避障越障功能的激光雷达传感器。本发明通过四条三自由度机械腿,由全肘式转化为全膝式,并从全膝式回复至全肘式,配合直线导轨驱动三自由度机械腿移动,使得机身完成一次完整跨越,从而使得本装置可以通过飞机油箱内竖直安装的隔开各分油箱的肋板上的检查孔,进行连续检查,从而实现了可以对油箱进行不间断和连续性自动化检查的目的。


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    Title :

    Aircraft fuel tank continuous inspection quadruped robot


    Additional title:

    一种飞机油箱连续检查四足机器人


    Contributors:
    LI SHUANGBAO (author) / PENG WENLING (author) / WANG XIAOHU (author)

    Publication date :

    2024-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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



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