CN109625313B

CN109625313B - Working platform for checking and maintaining aircraft wings

Info

Publication number: CN109625313B
Application number: CN201910153609.5A
Authority: CN
Inventors: 林志仙; 王绍贺; 廖金亮; 曹凤莉
Original assignee: Guangzhou Xinke Aerospace Technology Co ltd
Current assignee: Guangzhou Xinke Aerospace Technology Co ltd
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2023-09-08
Anticipated expiration: 2039-02-28
Also published as: CN109625313A

Abstract

The invention discloses a working platform for checking and maintaining an aircraft wing, which comprises a movable chassis, a lifting mechanism and a maintenance platform, wherein the movable chassis is arranged on the movable chassis; the lifting mechanism is arranged below the overhaul platform and used for lifting and driving the overhaul platform; the movable chassis is arranged below the lifting mechanism and is used for controlling the lifting mechanism to move; two three-dimensional scanners for scanning the upper side and the lower side of the aircraft wing are arranged on the maintenance platform. The working platform for checking and maintaining the aircraft wing can realize the overall stable movement of the working platform by utilizing the movable chassis, and the upper side and the lower side of the aircraft wing can be scanned by utilizing the two three-dimensional scanners, so that maintenance personnel can conveniently judge whether the wing is damaged or not, and the detection efficiency is improved.

Description

Working platform for checking and maintaining aircraft wings

Technical Field

The invention relates to a maintenance working platform, in particular to a working platform for checking and maintaining an aircraft wing.

Background

At present, the existing aircraft maintenance platform only adopts a simple lifting mechanism to lift the platform, and then the local part of the aircraft is detected on the platform manually, so that the position is relatively fixed in one detection. Because the area of the aircraft wing is larger, the efficiency of the fixed detection mode is lower, and detection personnel need to be lifted for each detection, a working platform for the inspection and maintenance of the aircraft wing is necessary to be designed, and the movable detection and unmanned lifting detection of the aircraft wing can be realized.

Disclosure of Invention

The invention aims to: the working platform for the inspection and maintenance of the aircraft wings can realize mobile detection and unmanned lifting detection of the aircraft wings.

The technical scheme is as follows: the invention creates a working platform for checking and maintaining an aircraft wing, which comprises a movable chassis, a lifting mechanism and an overhaul platform; the lifting mechanism is arranged below the overhaul platform and used for lifting and driving the overhaul platform; the movable chassis is arranged below the lifting mechanism and is used for controlling the lifting mechanism to move; two three-dimensional scanners for scanning the upper side and the lower side of the aircraft wing are arranged on the maintenance platform.

Further, the movable chassis comprises a lower-layer bottom plate, an upper-layer bottom plate, four electric rollers, a steering driving motor and a steering synchronous chain; the electric roller consists of a roller support, a supporting roller and a roller driving motor; the supporting roller is rotatably arranged on the roller support, and the roller driving motor is used for driving the supporting roller to rotate; the roller supports of the four electric rollers are respectively arranged at four vertex angles of the lower side surface of the lower-layer bottom plate through four vertical supporting rotating shafts, and the upper ends of the vertical supporting rotating shafts are rotatably arranged on the lower-layer bottom plate; a steering driving gear is fixedly arranged on each of the four vertical supporting rotating shafts; the steering synchronous chain is meshed with the four steering driving gears at the same time; the steering driving motor is fixedly arranged on the lower side surface of the lower bottom plate through a motor bracket, and a steering driving gear is fixedly arranged on an output shaft of the steering driving motor; the steering driving gear is meshed with the steering synchronous chain; the upper bottom plate is positioned above the lower bottom plate, and a horizontal adjusting mechanism for horizontally adjusting the upper bottom plate is arranged between the upper bottom plate and the lower bottom plate; a control box is arranged on the lower side surface of the lower bottom plate; a platform controller, a memory, a walking driving circuit, a steering driving circuit and a wireless communication module are arranged in the control box; the platform controller is respectively and electrically connected with the memory, the walking driving circuit, the steering driving circuit, the wireless communication module and the three-dimensional scanner; the steering driving circuit is electrically connected with the steering driving motor, and the walking driving circuit is electrically connected with the roller driving motor; the platform controller drives the steering driving motor to rotate through the steering driving circuit, and controls the roller driving motor to rotate through the walking driving circuit.

Further, the horizontal adjusting mechanism comprises a horizontal supporting seat, a supporting spherical seat, two balance adjusting mechanisms and an inclination angle sensor; the horizontal supporting seat is fixedly arranged at the center of the upper side surface of the lower-layer bottom plate, and a spherical recess is arranged on the upper side surface of the horizontal supporting seat; the supporting spherical seat is a sphere gap smaller than a hemisphere, and the bottom surface of the sphere gap is fixedly arranged at the center of the lower side surface of the upper bottom plate; the lower side spherical surface of the supporting spherical seat is partially embedded into the spherical recess, and the area of a circular recess area where the spherical recess is positioned is larger than half of the area of the lower bottom plate; the balance adjusting mechanism comprises a balance adjusting chain, a balance motor, a worm wheel, an adjusting gear and a balance chain tensioning mechanism; two non-crossed chain through holes are longitudinally and transversely arranged on the horizontal supporting seat; two balance adjustment chains of the two balance adjustment mechanisms respectively penetrate through the two chain through holes, two ends of the transversely penetrated balance adjustment chains are respectively hinged at the middle positions of the left side edge and the right side edge of the upper-layer bottom plate through two hinge seats, and two ends of the longitudinally penetrated balance adjustment chains are respectively hinged at the middle positions of the front side edge and the rear side edge of the upper-layer bottom plate through two hinge seats; the balance motors of the two balance adjusting mechanisms are respectively and fixedly arranged at the middle position of the left side edge and the middle position of the front side edge of the lower-layer bottom plate; the worm is butt-jointed and installed on the output shaft of the balance motor and meshed with the corresponding worm wheel; the worm wheel and the adjusting gear are fixedly arranged on the synchronous rotating shaft, and the synchronous rotating shaft is rotatably arranged on the rotating shaft bracket; the adjusting gears of the two balance adjusting mechanisms are respectively meshed with the balance adjusting chains at the corresponding positions; the balance chain tensioning mechanisms of the two balance adjusting mechanisms are respectively arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate and are used for tensioning the two balance adjusting chains respectively; the inclination sensor is arranged on the lower side surface of the upper-layer bottom plate and is electrically connected with the platform controller; the platform controller is used for respectively controlling the two balance adjusting mechanisms to horizontally adjust the upper-layer bottom plate according to the acquired data of the inclination angle sensor.

Further, the balance chain tensioning mechanism comprises a sliding gear seat, a tensioning tension spring and a tensioning gear; a sliding T-shaped groove positioned below the balance adjusting chain is arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate; a sliding T-shaped block is arranged below the sliding gear seat; the sliding gear seat is slidably arranged on the sliding T-shaped groove through a sliding T-shaped block; the tensioning gear is rotatably arranged on the sliding gear seat and meshed with the balance adjusting chain; one end of the tensioning tension spring is fixedly arranged on the sliding gear seat, and the other end of the tensioning tension spring is arranged on the lower-layer bottom plate through a fixed block; the tensioning tension spring is used for pulling the sliding gear seat to slide towards the edge of the lower-layer bottom plate, so that the tensioning gear pulls the balance adjusting chain to tension; the tensioning gear and the adjusting gear are the same in size, and the installation heights on the lower-layer bottom plate are the same; the control box is also provided with a longitudinal balance driving circuit and a transverse balance driving circuit which are electrically connected with the platform controller; the longitudinal balance driving circuit and the transverse balance driving circuit are respectively and electrically connected with balance motors of the two balance adjusting mechanisms; the platform controller respectively controls the rotation of the two balance motors through the longitudinal balance driving circuit and the transverse balance driving circuit.

Further, a synchronous chain tensioning mechanism is arranged on the lower side surface of the lower bottom plate; the synchronous chain tensioning mechanism comprises a tensioning pulley, a pulley seat, a pulley tensioning spring and a tensioning installation block; the tensioning pulley is rotatably arranged on the pulley seat and is pressed on the steering synchronous chain; the tensioning installation block is fixedly installed in the middle of the lower side surface of the lower-layer bottom plate; the two ends of the pulley tensioning spring are respectively and fixedly arranged on the tensioning installation block and the pulley seat and are used for pulling the tensioning pulley to pull and tension the steering synchronous chain.

Further, the lifting mechanism comprises a scissor type lifting frame, a platform lifting motor, a lifting driving screw rod and two diagonal draw bars; the scissor type lifting frame comprises two groups of scissor brackets, an upper rectangular frame and a lower rectangular frame; the shear fork support is formed by sequentially hinging and installing each shear fork unit, and each shear fork unit is formed by hinging the middle parts of two shear fork arms; the upper rectangular frame is fixedly arranged on the overhaul platform; the lower rectangular frame is fixedly arranged on the upper bottom plate; the opposite inner sides of the front side frame and the rear side frame of the upper rectangular frame are respectively provided with a guide chute; one group of shearing fork brackets are vertically arranged between the front side frame of the upper rectangular frame and the front side frame of the lower rectangular frame, and the other group of shearing fork brackets are vertically arranged between the rear side frame of the upper rectangular frame and the rear side frame of the lower rectangular frame; the fork arm hinge shafts are fixedly arranged at the ends of the fork arms at the left top and the left bottom of the two groups of fork supports and are rotatably arranged on the front side frame and the rear side frame at corresponding positions; the ends of the shearing arms at the right top and the right bottom of the two groups of shearing fork brackets are fixedly provided with a roller mounting shaft, the roller mounting shaft is rotatably provided with a guide roller, and the guide roller is embedded in a guide chute at a corresponding position; the lifting driving screw is rotatably arranged on the upper bottom plate through a screw bracket and is parallel to the guide chute; the platform lifting motor is fixedly arranged on the upper-layer bottom plate, and an output shaft of the platform lifting motor is butted with the lifting driving screw rod; a driving block is screwed on the lifting driving screw rod; one ends of the two diagonal draw bars are fixedly connected to the driving block, and the other ends of the two diagonal draw bars are respectively and fixedly arranged on two roller mounting shafts at the lower side; a longitudinal support rod is arranged between the two roller mounting shafts; the control box is also provided with a lifting drive circuit which is electrically connected with the platform controller; the lifting driving circuit is electrically connected with the platform lifting motor; the platform controller controls the platform lifting motor to rotate through the lifting driving circuit.

Further, a protection mechanism is arranged on the front side frame of the lower rectangular frame; the protection mechanism comprises a guide convex strip, a strip-shaped block, an inclined strut, an upper strip-shaped strut, a tripping driving motor, a tripping driving screw, a lower strip-shaped strut, two sliding driving seats and two lifting struts; the section of the guide convex strip is T-shaped and is transversely arranged along the front side frame; the upper side surface of the guide convex strip is provided with anti-slip unidirectional teeth at intervals; a guide T-shaped groove is arranged on the lower side surface of the strip-shaped block, and an inner unidirectional tooth is arranged at the bottom of the guide T-shaped groove; the strip-shaped block is buckled on the guide raised strips through the guide T-shaped grooves, and tooth separation gaps are reserved between the upper side surfaces of the guide raised strips and the bottoms of the guide T-shaped grooves; the outer side of the strip-shaped block extends out of the front side frame of the lower rectangular frame; the upper side surface of the strip-shaped block is provided with a balancing weight and a lower hinging seat; the lower end of the inclined strut is hinged on the lower hinge seat, and the upper end of the inclined strut is hinged on the scissor arm at the corresponding position; when the scissor arms hinged to the inclined stay bars ascend, the inclined stay bars pull the bar-shaped blocks to move left, and the anti-skid unidirectional teeth and the inner unidirectional teeth slide relatively; when the scissor arm hinged with the inclined stay bar descends, the inclined stay bar pushes the strip-shaped block to move right, so that the anti-skid unidirectional teeth and the inner unidirectional teeth are mutually buckled; the lower strip-shaped supporting plate is transversely arranged on the outer side face of the frame, and a sliding block guide groove is transversely arranged on the upper side face of the lower strip-shaped supporting plate; the tripping driving screw is rotatably arranged on the outer side surface of the front side frame through a tripping screw bracket; the middle part of the tripping driving screw rod is rotatably arranged on a middle fixed block; external threads with opposite rotation directions are arranged on the tripping driving screws at two sides of the middle fixing block; the two sliding driving seats are both arranged on the sliding block guide groove in a sliding mode, and a driving threaded hole is formed in each sliding driving seat; the two sliding driving seats are screwed on external threads on two sides of the middle fixing block through respective driving threaded holes; the tripping driving motor is fixedly arranged on the outer side of the front side frame, and an output shaft of the tripping driving motor is in butt joint with the end part of the tripping driving screw; the outer side of the front side frame is provided with a vertical T-shaped chute, and the side edge of the upper bar-shaped supporting plate is provided with a vertical T-shaped sliding block which is slidably embedded into the vertical T-shaped chute; two ends of the lower side surface of the upper bar-shaped supporting plate are provided with an upper hinging seat; the upper ends of the two lifting supporting rods are respectively hinged on the two upper hinged seats; the lower ends of the two lifting support rods are respectively hinged on the two sliding driving seats; the upper strip-shaped supporting plate is parallel to the guide convex strips; the upper bar-shaped supporting plate is lifted and then is contacted with the side edge of the bar-shaped block extending out of the front side frame of the lower rectangular frame, and the bar-shaped block is lifted to enable the inner unidirectional tooth and the anti-skid unidirectional tooth to be separated up and down; the control box is also provided with a tripping driving circuit which is electrically connected with the platform controller; the tripping driving circuit is electrically connected with the tripping driving motor; the platform controller controls the tripping driving motor to rotate through the tripping driving circuit.

Further, the maintenance platform comprises a platform top plate and guard rails arranged at the peripheral edges of the platform top plate; the guard rail consists of a guard rail hinge seat, a vertical rod and a transverse rod; the guardrail hinging seats are arranged at the edges of the platform top plate, and each side edge is at least provided with three guardrail hinging seats; a limit baffle is vertically arranged on the upper side of the guardrail hinging seat; the lower end of the vertical rod is hinged on the guardrail hinging seat; the limit baffle is provided with a magnet, and the vertical rod is adsorbed with the magnet when swinging to a vertical position and is prevented from continuing swinging to the outer side of the edge; the upper ends of the vertical rods positioned on the same side are fixedly arranged on the same transverse rod; the platform roof is fixedly arranged on the lifting mechanism.

Further, a lifting detection mechanism is arranged on the platform top plate; the lifting detection mechanism comprises a vertical square column, a primary lifting column, a secondary lifting column, a primary lifting driving mechanism, a secondary lifting driving mechanism and an operation bedplate; the primary lifting driving mechanism comprises a primary lifting driving motor, a primary driving worm wheel and a primary driving gear; the secondary lifting driving mechanism comprises a secondary lifting driving motor, a secondary driving worm wheel and a secondary driving gear; the vertical square column vertically penetrates through the platform top plate; a mounting square hole is vertically arranged on the vertical square column; the primary lifting column is inserted into the installation square hole and can slide up and down in the installation square hole; a vertical bar-shaped groove and a second-level T-shaped groove are formed in the side face of the first-level lifting column, and a first-level driving rack is arranged in the vertical bar-shaped groove; the second-stage lifting column is inserted into the second-stage T-shaped groove and can slide up and down along the second-stage T-shaped groove; a secondary bar-shaped groove is arranged on the side surface of the secondary lifting column, and a secondary driving rack is arranged in the secondary bar-shaped groove; a top stand column extends upwards from the upper end of the secondary lifting column; the first-stage driving worm is rotatably arranged on the top plate of the platform through a first-stage bracket; an output shaft of the primary lifting driving motor is in butt joint with the primary driving worm; the primary driving worm wheel and the primary driving gear are fixedly arranged on the primary transmission shaft; the primary transmission shaft is rotatably arranged on the vertical square column; the primary driving worm is meshed with the primary driving worm wheel; the primary driving gear is meshed with the primary driving rack; the second-stage driving worm is rotatably arranged on the side edge of the first-stage lifting column through a second-stage bracket; the output shaft of the secondary lifting driving motor is in butt joint with the secondary driving worm; the secondary driving worm wheel and the secondary driving gear are fixedly arranged on the secondary transmission shaft; the secondary transmission shaft is rotatably arranged on the side edge of the primary lifting column; the secondary driving worm is meshed with the secondary driving worm wheel; the secondary driving gear is meshed with the secondary driving rack; a bedplate hinge shaft is vertically arranged at the upper end part of the top upright post; the lower side surface of the operating platen is arranged on the platen hinge shaft and can rotate around the platen hinge shaft; a platform angle adjusting motor is arranged on the upright post at the top end; a first swing arm is vertically arranged on an output shaft of the platform angle adjusting motor; a second swing arm is hinged at the end part of the first swing arm; the upper end of the second swing arm is hinged on the side edge of the operating bedplate; the two three-dimensional scanners are respectively arranged on the upper side surface and the lower side surface of the operation bedplate; an infrared ranging sensor and a high-definition camera are arranged on the upper side surface and the lower side surface of the operating platen; the control box is also provided with a primary lifting driving circuit, a secondary lifting driving circuit and an angle adjusting driving circuit; the platform controller is respectively and electrically connected with the infrared ranging sensor, the high-definition camera, the primary lifting driving circuit, the secondary lifting driving circuit and the angle adjusting driving circuit; the first-stage lifting driving circuit, the second-stage lifting driving circuit and the angle adjusting driving circuit are respectively and electrically connected with the first-stage lifting driving motor, the second-stage lifting driving motor and the platform angle adjusting motor; the platform controller controls the primary lifting driving motor to rotate through the primary lifting driving circuit, controls the secondary lifting driving motor to rotate through the secondary lifting driving circuit, and controls the platform angle adjusting motor to rotate through the angle adjusting driving circuit.

Further, an extension ladder structure is arranged between the movable chassis and the overhaul platform; the telescopic ladder structure comprises an upper fixing seat, a lower collecting box and a telescopic ladder main body; the upper part of the telescopic ladder main body is fixedly arranged on the upper fixing seat, and the lower part of the telescopic ladder main body is fixedly arranged in the lower collecting box; the upper fixing seat is arranged on the side edge of the overhaul platform, and the lower collecting box is arranged on the side edge of the movable chassis.

Compared with the prior art, the invention has the beneficial effects that: the whole stable movement of the working platform can be realized by utilizing the movable chassis, and the upper side and the lower side of the aircraft wing can be scanned by utilizing the two three-dimensional scanners, so that maintenance personnel can conveniently judge whether the wing is damaged or not, and the detection efficiency is improved.

Drawings

FIG. 1 is a schematic view of the front side structure of the present invention;

FIG. 2 is a schematic view of the mounting structure of the underside of the lower base plate according to the present invention;

FIG. 3 is a schematic view of the upper side mounting structure of the upper floor of the present invention;

FIG. 4 is a schematic top view of a platform roof according to the present invention;

FIG. 5 is a schematic view of the structure of the telescopic ladder of the present invention;

fig. 6 is a schematic circuit structure of the present invention.

Detailed Description

The following describes the inventive technical scheme in detail with reference to the accompanying drawings, but the inventive scope of protection is not limited to the embodiments.

Example 1:

as shown in fig. 1-6, the working platform for checking and repairing an aircraft wing provided by the invention comprises: the device comprises a movable chassis, a lifting mechanism and an overhaul platform; the lifting mechanism is arranged below the overhaul platform and used for lifting and driving the overhaul platform; the movable chassis is arranged below the lifting mechanism and is used for controlling the lifting mechanism to move; two three-dimensional scanners 63 for scanning the upper and lower sides of the aircraft wing are mounted on the service platform.

Further, the mobile chassis comprises a lower-layer bottom plate 1, an upper-layer bottom plate 11, four electric rollers, a steering driving motor 12 and a steering synchronous chain 9; the electric roller consists of a roller support 4, a supporting roller 5 and a roller driving motor 6; the supporting roller 5 is rotatably arranged on the roller support 4, and the roller driving motor 6 is used for driving the supporting roller 5 to rotate; the roller supports 4 of the four electric rollers are respectively arranged at four vertex angles of the lower side surface of the lower-layer bottom plate 1 through four vertical supporting rotating shafts 3, and the upper ends of the vertical supporting rotating shafts 3 are rotatably arranged on the lower-layer bottom plate 1; a steering driving gear 8 is fixedly arranged on each of the four vertical supporting rotating shafts 3; the steering synchronous chain 9 is meshed with four steering driving gears 8 at the same time; the steering driving motor 12 is fixedly arranged on the lower side surface of the lower layer bottom plate 1 through a motor bracket 13, and a steering driving gear 14 is fixedly arranged on an output shaft of the steering driving motor 12; the steering driving gear 14 is meshed with the steering synchronous chain 9; the upper bottom plate 11 is positioned above the lower bottom plate 1, and a horizontal adjusting mechanism for horizontally adjusting the upper bottom plate 11 is arranged between the upper bottom plate 11 and the lower bottom plate 1; a control box 7 is arranged on the lower side surface of the lower bottom plate 1; a platform controller, a memory, a walking driving circuit, a steering driving circuit and a wireless communication module are arranged in the control box 7; the platform controller is electrically connected with the memory, the walking driving circuit, the steering driving circuit, the wireless communication module and the three-dimensional scanner 63 respectively; the steering driving circuit is electrically connected with the steering driving motor 12, and the walking driving circuit is electrically connected with the roller driving motor 6; the platform controller drives the steering driving motor 12 to rotate through the steering driving circuit, and controls the roller driving motor 6 to rotate through the walking driving circuit. The four steering driving gears 8 are synchronously driven by the steering synchronous chains 9, so that the omnidirectional stable movement of the movable chassis is realized, and the working platform can be quickly and accurately moved to a designated position.

Further, the horizontal adjusting mechanism comprises a horizontal supporting seat 2, a supporting spherical seat 10, two balance adjusting mechanisms and an inclination angle sensor 24; the horizontal supporting seat 2 is fixedly arranged at the center of the upper side surface of the lower-layer bottom plate 1, and a spherical recess is arranged on the upper side surface of the horizontal supporting seat 2; the supporting spherical seat 10 is a sphere gap smaller than a hemisphere, and the bottom surface of the sphere gap is fixedly arranged at the center of the lower side surface of the upper bottom plate 11; the lower spherical surface of the supporting spherical seat 10 is partially embedded into the spherical recess, and the area of a circular recess area where the spherical recess is positioned is larger than half of the area of the lower-layer bottom plate 1; the balance adjusting mechanism comprises a balance adjusting chain 16, a balance motor 22, a worm 21, a worm wheel 20, an adjusting gear 19 and a balance chain tensioning mechanism; two non-intersecting chain through holes 15 are longitudinally and transversely arranged on the horizontal supporting seat 2; two balance adjustment chains 16 of the two balance adjustment mechanisms respectively penetrate through the two chain through holes 15, two ends of the transversely penetrated balance adjustment chains 16 are respectively hinged at the middle positions of the left side edge and the right side edge of the upper-layer bottom plate 11 through two hinging seats 17, and two ends of the longitudinally penetrated balance adjustment chains 16 are respectively hinged at the middle positions of the front side edge and the rear side edge of the upper-layer bottom plate 11 through two hinging seats 17; the balance motors 22 of the two balance adjustment mechanisms are respectively fixedly arranged at the middle position of the left side edge and the middle position of the front side edge of the lower-layer bottom plate 1; the worm 21 is butt-jointed and installed on the output shaft of the balance motor 22 and meshed with the corresponding worm wheel 20; the worm gear 20 and the adjusting gear 19 are fixedly arranged on a synchronous rotating shaft which is rotatably arranged on the rotating shaft bracket 18; the adjusting gears 19 of the two balance adjusting mechanisms are respectively meshed with the balance adjusting chains 16 at the corresponding positions; the balance chain tensioning mechanisms of the two balance adjustment mechanisms are respectively arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate 1 and are used for tensioning the two balance adjustment chains 16 respectively; the inclination sensor 24 is installed on the lower side of the upper base plate 11 and is electrically connected with the platform controller; the platform controller is used for respectively controlling the two balance adjusting mechanisms to horizontally adjust the upper-layer bottom plate 11 according to the acquired data of the inclination sensor 24. The levelness of the upper-layer bottom plate 11 can be adjusted by utilizing the level adjusting mechanism, so that the stability of the lifting mechanism and the maintenance platform is ensured, shaking and dumping in the use process are avoided, and meanwhile, the safety of maintenance personnel in the working process of the maintenance platform can be enhanced; the worm 21 and the worm wheel 20 are matched, so that a good locking function can be realized, the counter-drive of the balance motor 22 is prevented, and the stability after horizontal adjustment is ensured; the horizontal supporting seat 2 is matched with the supporting spherical seat 10, so that the supporting effect is good, and the axial and longitudinal horizontal adjustment can be facilitated; the area of the circular concave area where the spherical surface is concave is set to be larger than half of the area of the lower-layer bottom plate 1, so that the spherical surface can be ensured to have larger supporting area, thus bearing larger weight and having better stability in horizontal adjustment.

Further, the balance chain tensioning mechanism comprises a sliding gear seat 27, a tensioning tension spring 28 and a tensioning gear 29; a sliding T-shaped groove positioned below the balance adjustment chain 16 is arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate 1; a sliding T-shaped block is arranged below the sliding gear seat 27; the sliding gear seat 27 is slidably arranged on the sliding T-shaped groove through a sliding T-shaped block; the tensioning gear 29 is rotatably arranged on the sliding gear seat 27, and the tensioning gear 29 is meshed with the balance adjusting chain 16; one end of a tension spring 28 is fixedly arranged on the sliding gear seat 27, and the other end is arranged on the lower-layer bottom plate 1 through a fixed block; the tensioning tension spring 28 is used for pulling the sliding gear seat 27 to slide towards the edge of the lower-layer bottom plate 1, so that the tensioning gear 29 pulls the balance adjustment chain 16 to tension; the tensioning gear 29 and the adjusting gear 19 are the same in size and the installation height on the lower floor 1 is the same; a longitudinal balance driving circuit and a transverse balance driving circuit which are electrically connected with the platform controller are also arranged in the control box 7; the longitudinal balance driving circuit and the transverse balance driving circuit are respectively and electrically connected with the balance motors 22 of the two balance adjusting mechanisms; the platform controller controls the rotation of the two balancing motors 22 through the longitudinal balancing driving circuit and the transverse balancing driving circuit, respectively. The meshing of the balance adjusting chain 16 and the adjusting gear 19 can be prevented from jumping and slipping by utilizing the balance chain tensioning mechanism; by utilizing the matching of the sliding T-shaped block and the sliding T-shaped groove on the sliding gear seat 27, the sliding gear seat 27 can only translate, so that the balance adjusting chain 16 is ensured to be parallel to the lower-layer bottom plate 1, and cannot rub with the chain through hole 15.

Further, a synchronous chain tensioning mechanism is arranged on the lower side surface of the lower bottom plate 1; the synchronous chain tensioning mechanism comprises a tensioning pulley 74, a pulley seat 73, a pulley tensioning spring 72 and a tensioning mounting block 71; the tensioning pulley 74 is rotatably mounted on the pulley mount 73 and pressed against the steering timing chain 9; the tensioning installation block 71 is fixedly installed in the middle of the lower side surface of the lower-layer bottom plate 1; both ends of the pulley tensioning spring 72 are fixedly mounted on the tensioning mounting block 71 and the pulley seat 73, respectively, for pulling the tensioning pulley 74 to pull and tension the steering synchronous chain 9. The synchronous chain tensioning mechanism is utilized to enable the steering synchronous chain 9 to be in a tensioning state all the time, and tooth jumping slipping is prevented from occurring in the engagement of the steering synchronous chain 9, the steering driving gear 8 and the steering driving gear 14.

Further, the lifting mechanism comprises a scissor fork type lifting frame, a platform lifting motor 26, a lifting driving screw 75 and two diagonal draw bars 77; the scissor lift comprises two groups of scissor supports, an upper rectangular frame 48 and a lower rectangular frame 23; the shear fork support is formed by sequentially hinging and installing each shear fork unit, and each shear fork unit is formed by hinging the middle parts of two shear fork arms 54; the upper rectangular frame 48 is fixedly arranged on the overhaul platform; the lower rectangular frame 23 is fixedly arranged on the upper bottom plate 11; guide sliding grooves are formed in the inner sides of the front side frame and the rear side frame of the upper rectangular frame 48 and the inner sides of the front side frame and the rear side frame of the lower rectangular frame 23; one group of scissors brackets are vertically arranged between the front side frame of the upper rectangular frame 48 and the front side frame of the lower rectangular frame 23, and the other group of scissors brackets are vertically arranged between the rear side frame of the upper rectangular frame 48 and the rear side frame of the lower rectangular frame 23; the ends of the shearing fork arms 54 at the left top and the left bottom of the two groups of shearing fork brackets are fixedly provided with a fork arm hinge shaft 79, and the fork arm hinge shafts 79 are rotatably arranged on a front side frame and a rear side frame at corresponding positions; a roller mounting shaft 78 is fixedly mounted on the end parts of the shearing arms 54 at the top and the bottom of the right sides of the two groups of shearing fork brackets, a guide roller is rotatably mounted on the roller mounting shaft 78, and the guide roller is embedded in a guide chute at a corresponding position; the lifting driving screw 75 is rotatably arranged on the upper-layer bottom plate 11 through the screw bracket 25 and is parallel to the guide chute; the platform lifting motor 26 is fixedly arranged on the upper-layer bottom plate 11, and an output shaft of the platform lifting motor 26 is butted with the lifting driving screw 75; a driving block is screwed on the lifting driving screw 75; one end of each of the two diagonal draw bars 77 is fixedly connected to the driving block, and the other end of each diagonal draw bar is fixedly arranged on two roller mounting shafts 78 on the lower side; a longitudinal support bar 76 is mounted between two roller mounting shafts 78; a lifting drive circuit electrically connected with the platform controller is also arranged in the control box 7; the lifting drive circuit is electrically connected with the platform lifting motor 26; the platform controller controls the platform lift motor 26 to rotate through a lift drive circuit. The guide rollers can be prevented from being separated from the guide sliding grooves under the pulling action of the two diagonal draw bars 77 by the longitudinal support bars 76; in the use process of the lifting mechanism, the lifting motor 26 is adopted to drive the lifting mechanism, so that compared with a hydraulic cylinder, the lifting mechanism has smaller system volume, saves cost and has higher lifting precision, but the lifting mechanism has the problems of deformation of the longitudinal support rods 76, deformation of the diagonal draw bars 77, enlargement of screw gaps, even sliding wires and the like after long-term use, so that the protection mechanism is necessary to design.

Further, a protective mechanism is arranged on the front side frame of the lower rectangular frame 23; the protection mechanism comprises a guide convex strip 33, a strip-shaped block 35, an inclined stay bar 42, an upper strip-shaped stay plate 37, a tripping driving motor 47, a tripping driving screw 46, a lower strip-shaped stay plate, two sliding driving seats 41 and two lifting stay bars 45; the section of the guide convex strip 33 is T-shaped and is transversely arranged along the front side frame; the upper side surface of the guide convex strip 33 is provided with anti-slip unidirectional teeth 34 at intervals; a guiding T-shaped groove is arranged on the lower side surface of the strip-shaped block 35, and an inner unidirectional tooth is arranged at the bottom of the guiding T-shaped groove; the bar-shaped block 35 is buckled on the guide convex strip 33 through a guide T-shaped groove, and a tooth separation gap is reserved between the upper side surface of the guide convex strip 33 and the bottom of the guide T-shaped groove; the outer side edge of the strip-shaped block 35 extends out of the front side frame of the lower rectangular frame 23; a balancing weight 39 and a lower hinge seat 40 are arranged on the upper side surface of the bar-shaped block 35; the lower end of the diagonal brace 42 is hinged on the lower hinge seat 40, and the upper end of the diagonal brace 42 is hinged on the scissor arm 54 at the corresponding position; when the scissor arms 54 hinged to the diagonal brace 42 rise, the diagonal brace 42 pulls the bar block 35 to move left, and the anti-skid unidirectional teeth 34 slide relative to the inner unidirectional teeth; when the scissor arms 54 hinged to the inclined stay bars 42 descend, the inclined stay bars 42 push the bar-shaped blocks 35 to move rightwards, so that the anti-skid unidirectional teeth 34 are mutually buckled with the inner unidirectional teeth; the lower strip-shaped supporting plate is transversely arranged on the outer side face of the frame, and a sliding block guide groove is transversely arranged on the upper side face of the lower strip-shaped supporting plate; the trip drive screw 46 is rotatably mounted on the outer side surface of the front side frame through a trip screw bracket; the middle part of the trip drive screw 46 is rotatably mounted on an intermediate fixed block 38; external threads 44 with opposite rotation directions are arranged on the tripping driving screw 46 at two sides of the middle fixed block 38; the two sliding driving seats 41 are both installed on the sliding block guide groove in a sliding mode, and a driving threaded hole is formed in each sliding driving seat 41; the two sliding driving seats 41 are screwed and installed on external threads 44 on two sides of the middle fixed block 38 through respective driving threaded holes; the trip driving motor 47 is fixedly installed on the outer side of the front side frame, and an output shaft of the trip driving motor 47 is in butt joint with the end part of the trip driving screw 46; a vertical T-shaped chute 36 is arranged on the outer side of the front side frame, and a vertical T-shaped sliding block which is slidably embedded in the vertical T-shaped chute 36 is arranged on the side edge of the upper bar-shaped supporting plate 37; an upper hinge seat 43 is arranged at two ends of the lower side surface of the upper bar-shaped supporting plate 37; the upper ends of the two lifting supporting rods 45 are respectively hinged on the two upper hinging seats 43; the lower ends of the two lifting support rods 45 are respectively hinged on the two sliding driving seats 41; the upper strip-shaped supporting plate 37 is parallel to the guide convex strips 33; the upper bar-shaped supporting plate 37 is lifted and then contacts with the side edge of the bar-shaped block 35 extending out of the front side frame of the lower rectangular frame 23, and the bar-shaped block 35 is lifted to enable the inner unidirectional teeth and the anti-skid unidirectional teeth 34 to be separated up and down; a tripping driving circuit electrically connected with the platform controller is also arranged in the control box 7; the trip drive circuit is electrically connected with the trip drive motor 47; the platform controller controls the trip driving motor 47 to rotate through the trip driving circuit. The protection mechanism can be used for effectively protecting when an maintainer works on the platform top plate 49, so that the lifting mechanism is prevented from being failed and rapidly fallen, and the safety of the maintainer is ensured; the weight 39 is utilized to increase the gravity of the bar block 35, and the bar block falls down quickly after the upper bar supporting plate 37 is released, so that the inner unidirectional teeth are buckled with the anti-skid unidirectional teeth 34; by utilizing the cooperation of the slide block guide groove and the sliding driving seat 41, the sliding driving seat 41 can be ensured to slide stably, and the problem of rotation or skew cannot occur; by the cooperation of the vertical T-shaped sliding groove 36 and the vertical T-shaped sliding block, the stability of the up-and-down movement of the upper bar-shaped supporting plate 37 can be ensured.

Further, the maintenance platform comprises a platform top plate 49 and guard rails arranged at the peripheral edges of the platform top plate 49; the guard rail consists of a guard rail hinge seat 50, a vertical rod 52 and a transverse rod 53; the guardrail hinge seats 50 are arranged at the edges of the platform top plate 49, and each side edge is provided with at least three guardrail hinge seats 50; a limit baffle is vertically arranged on the upper side of the guardrail hinging seat 50; the lower end of the vertical rod 52 is hinged on the guardrail hinge seat 50; a magnet 51 is arranged on the limit baffle, and the vertical rod 52 is adsorbed with the magnet 51 when swinging to a vertical position and is prevented from continuing swinging to the outer side of the edge; the upper ends of the vertical rods 52 positioned on the same side are fixedly arranged on the same transverse rod 53; the platform top plate 49 is fixedly mounted on the lifting mechanism. The safety of the overhauling personnel can be protected by utilizing the guard rail; the magnet 51 is utilized to facilitate the fixation of the guard rail when the guard rail is converted from a folded state to a vertical state, so that the convenience of the guard rail is enhanced.

Further, a lift detection mechanism is mounted on the platform top plate 49; the lifting detection mechanism comprises a vertical square column 55, a primary lifting column 56, a secondary lifting column 58, a primary lifting driving mechanism, a secondary lifting driving mechanism and an operating table plate 60; the primary lifting driving mechanism comprises a primary lifting driving motor 69, a primary driving worm 70, a primary driving worm wheel 68 and a primary driving gear 67; the secondary lifting driving mechanism comprises a secondary lifting driving motor, a secondary driving worm wheel and a secondary driving gear; the vertical square column 55 is vertically and penetratingly arranged on the platform top plate 49; a mounting square hole is vertically arranged on the vertical square column 55; the primary lifting column 56 is inserted into the mounting square hole and can slide up and down in the mounting square hole; a vertical bar-shaped groove and a secondary T-shaped groove are arranged on the side surface of the primary lifting column 56, and a primary driving rack 57 is arranged in the vertical bar-shaped groove; the secondary lifting column 58 is inserted into the secondary T-shaped groove and can slide up and down along the secondary T-shaped groove; a secondary bar-shaped groove is arranged on the side surface of the secondary lifting column 58, and a secondary driving rack is arranged in the secondary bar-shaped groove; a top upright post 59 extends upward from the upper end of the secondary lifting column 58; the primary drive worm 70 is rotatably mounted on the platform top plate 49 by a primary bracket; the output shaft of the primary lifting drive motor 69 is in butt joint with a primary drive worm 70; the primary drive worm gear 68 and the primary drive gear 67 are fixedly arranged on the primary transmission shaft; the primary transmission shaft is rotatably arranged on the vertical square column 55; the primary drive worm 70 is meshed with the primary drive worm gear 68; the primary drive gear 67 is meshed with the primary drive rack 57; the secondary driving worm is rotatably arranged on the side edge of the primary lifting column 56 through a secondary bracket; the output shaft of the secondary lifting driving motor is in butt joint with the secondary driving worm; the secondary driving worm wheel and the secondary driving gear are fixedly arranged on the secondary transmission shaft; the secondary transmission shaft is rotatably arranged on the side edge of the primary lifting column 56; the secondary driving worm is meshed with the secondary driving worm wheel; the secondary driving gear is meshed with the secondary driving rack; a platen hinge shaft is vertically installed at the upper end of the top upright post 59; the lower side of the operation platen 60 is mounted on the platen hinge shaft and is rotatable about the platen hinge shaft; a platform angle adjustment motor 64 is mounted on the top upright 59; a first swing arm 65 is vertically installed on an output shaft of the platform angle adjusting motor 64; a second swing arm 66 is hinged at the end of the first swing arm 65; the upper end of the second swing arm 66 is hinged to the side edge of the operation table 60; two three-dimensional scanners 63 are mounted on the upper and lower sides of the operation platen 60, respectively; an infrared ranging sensor 62 and a high-definition camera 61 are also arranged on the upper and lower sides of the operating platen 60; a first-stage lifting driving circuit, a second-stage lifting driving circuit and an angle adjusting driving circuit are also arranged in the control box 7; the platform controller is respectively and electrically connected with the infrared ranging sensor 62, the high-definition camera 61, the primary lifting driving circuit, the secondary lifting driving circuit and the angle adjusting driving circuit; the primary lifting driving circuit, the secondary lifting driving circuit and the angle adjusting driving circuit are respectively and electrically connected with the primary lifting driving motor 69, the secondary lifting driving motor and the platform angle adjusting motor; the platform controller controls the primary lifting driving motor 69 to rotate through the primary lifting driving circuit, controls the secondary lifting driving motor to rotate through the secondary lifting driving circuit, and controls the platform angle adjusting motor to rotate through the angle adjusting driving circuit. The primary lifting column 56 and the secondary lifting column 58 can have better control of the lifting range of the operating bedplate 60, so that the detection requirements of various types of wings are met; the cooperation of the primary driving worm 70 and the primary driving worm wheel 68 and the cooperation of the secondary driving worm and the secondary driving worm wheel can achieve a good transmission effect, and meanwhile, the reverse driving motor can be prevented, so that the lifting stability is good; the inclination angle of the operating platform plate 60 is controlled by the platform angle adjusting motor 64, the first swing arm 65 and the second swing arm 66, so that good relative effects of the infrared ranging sensor 62, the high-definition camera 61, the three-dimensional scanner 63 and the side surface of the wing are ensured.

Further, an extension ladder structure is arranged between the movable chassis and the overhaul platform; the telescopic ladder structure comprises an upper fixing seat 32, a lower collecting box 30 and a telescopic ladder main body; the upper part of the telescopic ladder body is fixedly arranged on the upper fixing seat 32, and the lower part is fixedly arranged in the lower collecting box 30; the upper fixing seat 32 is arranged on the side edge of the overhaul platform, and the lower collecting box 30 is arranged on the side edge of the movable chassis; the telescopic ladder main body is formed by sequentially linking each ladder body unit; the ladder body unit consists of two side bars 31 and a cross bar 80; the cross bar 80 is fixedly arranged between the two side bars 31; a limit bar-shaped hole 81 is arranged on the outer wall of the side bar 31; the two side rods 31 of the previous ladder body unit are inserted into the lower side rod 31, and a convex column 82 embedded in the limit bar-shaped hole 81 is arranged on the inserted end. Utilize the telescopic ladder structure can be convenient for the maintainer climb at any time, carry out artifical accurate detection and maintenance to the local position of wing.

In the working platform for checking and maintaining the aircraft wings, the roller driving motor 6, the steering driving motor 12, the balance motor 22, the platform lifting motor 26, the tripping driving motor 47, the primary lifting driving motor 69, the secondary lifting driving motor and the platform angle adjusting motor 64 all adopt the existing stepping motors with band-type brake functions, and can realize rotation control under the control of respective motor driving circuits; the walking driving circuit, the steering driving circuit, the longitudinal balance driving circuit, the transverse balance driving circuit, the lifting driving circuit, the tripping driving circuit, the primary lifting driving circuit, the secondary lifting driving circuit and the angle adjusting driving circuit all adopt the existing stepping motor driving circuit, so that the rotation control of the motor which is correspondingly and electrically connected can be realized; the wireless communication module adopts the existing wireless module, such as a WiFi wireless module or a ZigBee wireless module, can perform wireless communication with an upper computer, sends the shot image and scanned three-dimensional data to the upper computer, is convenient for an maintainer to check the shot image and scanned three-dimensional data on the upper computer, and further analyzes and calculates the three-dimensional data acquired by the three-dimensional scanner 63 by the upper computer, and compares the three-dimensional data with standard three-dimensional data to accurately judge whether the aircraft wing is deformed; the infrared ranging sensor 62 is only required to adopt the existing conventional ranging sensor, so that the distance between the operating platen 60 and the aircraft wing can be detected, on one hand, collision is prevented, and on the other hand, the detection distance between the high-definition camera 61 and the infrared ranging sensor 62 is conveniently controlled, so that the accuracy of image acquisition and scanning is controlled; the high-definition camera 61 is an industrial camera, so that the acquisition of the surface image of the airplane wing can be satisfied, and the inspection of an maintainer is facilitated; the platform controller adopts an arm singlechip or FPGA, and can transmit and receive the acquisition signal and the control command; the inclination sensor 24 may be an existing two-axis inclination sensor, and may be capable of detecting the inclination angle of the upper-layer base plate 11; the three-dimensional scanner 63 may be an existing laser three-dimensional scanner, for example, a large-scene three-dimensional laser scanner faso focus s350, and the like, and may be used to perform three-dimensional scanning on the upper and lower sides of the aircraft wing, to obtain three-dimensional data of the upper and lower sides of the aircraft wing, and to build a three-dimensional model through the upper computer, where the related software is an existing software program of the three-dimensional scanner itself.

When the working platform is controlled on site, a wired terminal or a wireless terminal can be adopted; the wired terminal is provided with a platform display screen, a left turn control key, a right turn control key, a walking control key, a tripping control key, a release control key, an ascending control key, a descending control key, a primary ascending control key, a primary descending control key, a secondary ascending control key, a secondary descending control key, a left swing control key and a right swing control key which are connected with the platform controller through cables; the wireless terminal is provided with a terminal processor, a terminal memory electrically connected with the terminal processor, a terminal display screen, a terminal wireless communication module, a left turn control key, a right turn control key, a walking control key, a tripping control key, a release control key, an ascending control key, a descending control key, a primary ascending control key, a primary descending control key, a secondary ascending control key, a secondary descending control key, a left swing control key, a right swing control key and a data interface. The terminal wireless communication module is in wireless communication connection with the wireless communication module of the working platform and is used for transmitting key control signals, photographed images, measured distances and scanned three-dimensional data; the terminal memory is used for storing the received image and the three-dimensional data. The left turn control key and the right turn control key are used for respectively controlling the forward and reverse rotation of the steering driving motor 12; the walking control key is used for controlling the start and stop of the roller driving motor 6; the trip control key and the release control key are used for respectively controlling the forward and reverse rotation of the trip driving motor 47, and the upper bar support plate 37 rises to support the bar block 35 during forward rotation, and the upper bar support plate 37 falls under the action of gravity of the bar block 35 during reverse rotation; the ascending control key and the descending control key are used for controlling the forward and reverse rotation of the platform lifting motor 26; the primary lifting control key and the primary descending control key are used for controlling the primary lifting driving motor 69 to rotate positively and negatively; the secondary ascending control key and the secondary descending control key are used for controlling the secondary ascending and descending driving motor to rotate positively and negatively; the left swing control key and the right swing control key are used for controlling the forward and reverse rotation of the platform angle adjusting motor 64; the terminal display screen is used for displaying the image shot by the high-definition camera 61 and the distance data measured by the infrared ranging sensor 62; the data interface can be convenient for the upper computer to read the three-dimensional data acquired by the three-dimensional scanner 63 in the terminal memory, so that the upper computer can further analyze and calculate the data and compare the data with the standard three-dimensional data to accurately judge whether the aircraft wing is deformed or not.

The working platform for checking and maintaining the aircraft wings provided by the invention comprises the following steps in working:

platform displacement step: the four roller driving motors 6 are controlled by the platform controller, so that the movement of the movable chassis is realized, and the steering synchronous chain 9 is driven by the steering driving motor 12 in the movement process, so that the four electric rollers have the same steering, a better omnidirectional translation effect is achieved, and the movable chassis is quickly moved to a designated position;

and (3) a horizontal adjustment step: the platform controller analyzes and acquires a transverse adjustment component and a longitudinal adjustment component according to the inclination angle data adopted by the inclination angle sensor 24, so that the two balance motors 22 in the transverse direction and the longitudinal direction are respectively controlled to rotate, and the upper-layer bottom plate 11 is in a horizontal state;

lifting control step: the lifting driving screw rod 75 is driven by the platform lifting motor 26 to rotate, so that the scissor type lifting frame is driven to deform, the platform top plate 49 is lifted to move up and down, and the guard rail is in a folded state when no person detects the work;

lifting protection step: before the platform lifting motor 26 works to enable the platform top plate 49 to start to be in a lifting motion state and a descending motion state, the tripping driving motor 47 needs to be controlled to rotate forward to drive the upper bar-shaped supporting plate 37 to lift the bar-shaped block 35 so as to enable the inner unidirectional teeth to be separated from the anti-skid unidirectional teeth 34 up and down, and when the lifting platform top plate 49 is lifted to a specified height, the tripping driving motor 47 needs to be controlled to rotate reversely to drive the upper bar-shaped supporting plate 37 to descend so as to release the bar-shaped block 35, so that the inner unidirectional teeth are meshed with the anti-skid unidirectional teeth 34, and buckle protection is realized;

Wing detection: the lifting heights of the primary lifting column 56 and the secondary lifting column 58 are regulated by a primary lifting driving motor 69 and a secondary lifting driving motor, when the lower side surface of the wing is detected, the operation table plate 60 is positioned below the wing, the upper high-definition camera 61, the infrared ranging sensor 62 and the three-dimensional scanner 63 are utilized for detection, meanwhile, the movable chassis slowly moves along the stretching direction of the wing, and the horizontal regulating mechanism carries out real-time horizontal regulation, so that the detection of the lower side surface of the wing is finally completed; when the upper side surface of the wing is detected, the operation table plate 60 is positioned above the wing, the lower high-definition camera 61, the infrared ranging sensor 62 and the three-dimensional scanner 63 are utilized for detection, meanwhile, the movable chassis slowly moves along the extending direction of the wing, the horizontal adjusting mechanism carries out real-time horizontal adjustment, and finally the detection of the upper side surface of the wing is completed; when the tail end of the wing is bent, the platform angle adjusting motor 64 drives the operating platen 60 to incline and be parallel to the bent end, so that accurate detection is facilitated;

manual overhaul: the maintenance personnel can lift to the appointed position along with the platform top plate 49, and can climb to the platform top plate 49 through the telescopic ladder structure after the platform top plate 49 is lifted, at the moment, the guard rail is required to be opened to be in a vertical state, and the periphery is convenient to protect; the inspection staff can carry out flaw detection on the internal structure of the wing through the ultrasonic flaw detector, and the operation table plate 60 becomes a workbench of the inspection staff at the moment and is used for placing detection equipment and tools.

As described above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A work platform for aircraft wing inspection and repair, characterized in that: comprises a movable chassis, a lifting mechanism and an overhaul platform; the lifting mechanism is arranged below the overhaul platform and used for lifting and driving the overhaul platform; the movable chassis is arranged below the lifting mechanism and is used for controlling the lifting mechanism to move; two three-dimensional scanners (63) which are respectively used for scanning the upper side and the lower side of the aircraft wing are arranged on the maintenance platform;

the movable chassis comprises a lower-layer bottom plate (1), an upper-layer bottom plate (11), four electric rollers, a steering driving motor (12) and a steering synchronous chain (9); the electric roller consists of a roller support (4), a supporting roller (5) and a roller driving motor (6); the supporting roller (5) is rotatably arranged on the roller support (4), and the roller driving motor (6) is used for driving the supporting roller (5) to rotate; the roller supports (4) of the four electric rollers are respectively arranged at four vertex angles of the lower side surface of the lower-layer bottom plate (1) through four vertical supporting rotating shafts (3), and the upper ends of the vertical supporting rotating shafts (3) are rotatably arranged on the lower-layer bottom plate (1); a steering driving gear (8) is fixedly arranged on each of the four vertical supporting rotating shafts (3); the steering synchronous chain (9) is meshed with four steering driving gears (8) at the same time; the steering driving motor (12) is fixedly arranged on the lower side surface of the lower layer bottom plate (1) through a motor bracket (13), and a steering driving gear (14) is fixedly arranged on an output shaft of the steering driving motor (12); the steering driving gear (14) is meshed with the steering synchronous chain (9); the upper bottom plate (11) is positioned above the lower bottom plate (1), and a horizontal adjusting mechanism for horizontally adjusting the upper bottom plate (11) is arranged between the upper bottom plate (11) and the lower bottom plate (1); a control box (7) is arranged on the lower side surface of the lower-layer bottom plate (1); a platform controller, a memory, a walking driving circuit, a steering driving circuit and a wireless communication module are arranged in the control box (7); the platform controller is respectively and electrically connected with the memory, the walking driving circuit, the steering driving circuit, the wireless communication module and the three-dimensional scanner (63); the steering driving circuit is electrically connected with the steering driving motor (12), and the walking driving circuit is electrically connected with the roller driving motor (6); the platform controller drives the steering driving motor (12) to rotate through the steering driving circuit, and controls the roller driving motor (6) to rotate through the traveling driving circuit;

A lifting detection mechanism is arranged on the platform top plate (49); the lifting detection mechanism comprises a vertical square column (55), a primary lifting column (56), a secondary lifting column (58), a primary lifting driving mechanism, a secondary lifting driving mechanism and an operation bedplate (60); the primary lifting driving mechanism comprises a primary lifting driving motor (69), a primary driving worm (70), a primary driving worm wheel (68) and a primary driving gear (67); the secondary lifting driving mechanism comprises a secondary lifting driving motor, a secondary driving worm wheel and a secondary driving gear; the vertical square column (55) is vertically arranged on the platform top plate (49) in a penetrating manner; a mounting square hole is vertically arranged on the vertical square column (55); the primary lifting column (56) is inserted into the installation square hole and can slide up and down in the installation square hole; a vertical bar-shaped groove and a second-level T-shaped groove are arranged on the side surface of the first-level lifting column (56), and a first-level driving rack (57) is arranged in the vertical bar-shaped groove; the second-stage lifting column (58) is inserted into the second-stage T-shaped groove and can slide up and down along the second-stage T-shaped groove; a secondary bar-shaped groove is arranged on the side surface of the secondary lifting column (58), and a secondary driving rack is arranged in the secondary bar-shaped groove; a top stand column (59) is arranged at the upper end of the secondary lifting column (58) in an upward extending way; the primary driving worm (70) is rotatably arranged on the platform top plate (49) through a primary bracket; an output shaft of the primary lifting driving motor (69) is in butt joint with a primary driving worm (70); the primary driving worm wheel (68) and the primary driving gear (67) are fixedly arranged on the primary transmission shaft; the primary transmission shaft is rotatably arranged on the vertical square column (55); the primary driving worm (70) is meshed with the primary driving worm wheel (68); the primary driving gear (67) is meshed with the primary driving rack (57); the second-stage driving worm is rotatably arranged on the side edge of the first-stage lifting column (56) through a second-stage bracket; the output shaft of the secondary lifting driving motor is in butt joint with the secondary driving worm; the secondary driving worm wheel and the secondary driving gear are fixedly arranged on the secondary transmission shaft; the secondary transmission shaft is rotatably arranged on the side edge of the primary lifting column (56); the secondary driving worm is meshed with the secondary driving worm wheel; the secondary driving gear is meshed with the secondary driving rack; a bedplate hinge shaft is vertically arranged at the upper end part of the top upright post (59); the lower side surface of the operating table plate (60) is arranged on the table plate hinge shaft and can rotate around the table plate hinge shaft; a platform angle adjusting motor (64) is arranged on the top upright post (59); a first swing arm (65) is vertically arranged on an output shaft of the platform angle adjusting motor (64); a second swing arm (66) is hinged at the end part of the first swing arm (65); the upper end of the second swing arm (66) is hinged on the side edge of the operating table plate (60); two three-dimensional scanners (63) are respectively installed on the upper and lower sides of the operation table plate (60); an infrared ranging sensor (62) and a high-definition camera (61) are also arranged on the upper side surface and the lower side surface of the operating table plate (60); a first-stage lifting driving circuit, a second-stage lifting driving circuit and an angle adjusting driving circuit are also arranged in the control box (7); the platform controller is respectively and electrically connected with the infrared ranging sensor (62), the high-definition camera (61), the primary lifting driving circuit, the secondary lifting driving circuit and the angle adjusting driving circuit; the first-stage lifting driving circuit, the second-stage lifting driving circuit and the angle adjusting driving circuit are respectively and electrically connected with the first-stage lifting driving motor (69), the second-stage lifting driving motor and the platform angle adjusting motor; the platform controller controls the primary lifting driving motor (69) to rotate through the primary lifting driving circuit, controls the secondary lifting driving motor to rotate through the secondary lifting driving circuit, and controls the platform angle adjusting motor to rotate through the angle adjusting driving circuit;

A synchronous chain tensioning mechanism is arranged on the lower side surface of the lower bottom plate (1); the synchronous chain tensioning mechanism comprises a tensioning pulley (74), a pulley seat (73), a pulley tensioning spring (72) and a tensioning mounting block (71); the tensioning pulley (74) is rotatably arranged on the pulley seat (73) and is pressed on the steering synchronous chain (9); the tensioning installation block (71) is fixedly installed in the middle of the lower side surface of the lower-layer bottom plate (1); the two ends of the pulley tensioning spring (72) are respectively and fixedly arranged on the tensioning installation block (71) and the pulley seat (73) and are used for pulling the tensioning pulley (74) to pull and tension the steering synchronous chain (9).

2. The work platform for aircraft wing inspection and repair of claim 1, wherein: the horizontal adjusting mechanism comprises a horizontal supporting seat (2), a supporting spherical seat (10), two balance adjusting mechanisms and an inclination angle sensor (24); the horizontal supporting seat (2) is fixedly arranged at the center of the upper side surface of the lower-layer bottom plate (1), and a spherical recess is arranged on the upper side surface of the horizontal supporting seat (2); the supporting spherical seat (10) is a sphere gap smaller than a hemisphere, and the bottom surface of the sphere gap is fixedly arranged at the center of the lower side surface of the upper bottom plate (11); the lower spherical surface of the supporting spherical seat (10) is partially embedded into the spherical recess, and the area of a circular recess area where the spherical recess is positioned is larger than half of the area of the lower-layer bottom plate (1); the balance adjusting mechanism comprises a balance adjusting chain (16), a balance motor (22), a worm (21), a worm wheel (20), an adjusting gear (19) and a balance chain tensioning mechanism; two non-crossed chain through holes (15) are longitudinally and transversely arranged on the horizontal supporting seat (2); two balance adjustment chains (16) of the two balance adjustment mechanisms respectively penetrate through two chain through holes (15), two ends of the transversely penetrated balance adjustment chains (16) are respectively hinged at the middle positions of the left side edge and the right side edge of the upper-layer bottom plate (11) through two hinge seats (17), and two ends of the longitudinally penetrated balance adjustment chains (16) are respectively hinged at the middle positions of the front side edge and the rear side edge of the upper-layer bottom plate (11) through two hinge seats (17); the balance motors (22) of the two balance adjusting mechanisms are respectively and fixedly arranged at the middle position of the left side edge and the middle position of the front side edge of the lower-layer bottom plate (1); the worm (21) is butt-jointed and installed on an output shaft of the balance motor (22) and meshed with the corresponding worm wheel (20); the worm wheel (20) and the adjusting gear (19) are fixedly arranged on a synchronous rotating shaft which is rotatably arranged on the rotating shaft bracket (18); the adjusting gears (19) of the two balance adjusting mechanisms are respectively meshed with the balance adjusting chains (16) at the corresponding positions; the balance chain tensioning mechanisms of the two balance adjusting mechanisms are respectively arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate (1) and are used for tensioning the two balance adjusting chains (16) respectively; the inclination sensor (24) is arranged on the lower side surface of the upper-layer bottom plate (11) and is electrically connected with the platform controller; the platform controller is used for respectively controlling the two balance adjusting mechanisms to horizontally adjust the upper-layer bottom plate (11) according to the acquired data of the inclination angle sensor (24).

3. The work platform for aircraft wing inspection and repair of claim 2, wherein: the balance chain tensioning mechanism comprises a sliding gear seat (27), a tensioning tension spring (28) and a tensioning gear (29); a sliding T-shaped groove positioned below the balance adjustment chain (16) is arranged at the middle position of the right side edge and the middle position of the rear side edge of the lower bottom plate (1); a sliding T-shaped block is arranged below the sliding gear seat (27); the sliding gear seat (27) is slidably arranged on the sliding T-shaped groove through a sliding T-shaped block; the tensioning gear (29) is rotatably arranged on the sliding gear seat (27), and the tensioning gear (29) is meshed with the balance adjusting chain (16); one end of a tensioning tension spring (28) is fixedly arranged on the sliding gear seat (27), and the other end of the tensioning tension spring is arranged on the lower-layer bottom plate (1) through a fixed block; the tensioning tension spring (28) is used for pulling the sliding gear seat (27) to slide towards the edge of the lower-layer bottom plate (1), so that the tensioning gear (29) pulls the balance adjusting chain (16) to tension; the tensioning gear (29) and the adjusting gear (19) are the same in size, and the installation heights on the lower-layer bottom plate (1) are the same; a longitudinal balance driving circuit and a transverse balance driving circuit which are electrically connected with the platform controller are also arranged in the control box (7); the longitudinal balance driving circuit and the transverse balance driving circuit are respectively and electrically connected with balance motors (22) of the two balance adjusting mechanisms; the platform controller controls the rotation of the two balance motors (22) through the longitudinal balance driving circuit and the transverse balance driving circuit respectively.

4. The work platform for aircraft wing inspection and repair of claim 1, wherein: the lifting mechanism comprises a scissor type lifting frame, a platform lifting motor (26), a lifting driving screw (75) and two diagonal draw bars (77); the scissor type lifting frame comprises two groups of scissor supports, an upper rectangular frame (48) and a lower rectangular frame (23); the shear fork support is formed by sequentially hinging and installing each shear fork unit, and the shear fork units are formed by hinging the middle parts of two shear fork arms (54); the upper rectangular frame (48) is fixedly arranged on the overhaul platform; the lower rectangular frame (23) is fixedly arranged on the upper bottom plate (11); guide sliding grooves are formed in the inner side of the front side frame and the rear side frame of the upper rectangular frame (48) and the inner side of the front side frame and the rear side frame of the lower rectangular frame (23); one group of shearing fork brackets are vertically arranged between the front side frame of the upper rectangular frame (48) and the front side frame of the lower rectangular frame (23), and the other group of shearing fork brackets are vertically arranged between the rear side frame of the upper rectangular frame (48) and the rear side frame of the lower rectangular frame (23); the ends of the shearing fork arms (54) at the left top and the left bottom of the two groups of shearing fork brackets are fixedly provided with a fork arm hinge shaft (79), and the fork arm hinge shafts (79) are rotatably arranged on a front side frame and a rear side frame at corresponding positions; the ends of the shearing arms (54) at the right top and the right bottom of the two groups of shearing fork brackets are fixedly provided with a roller mounting shaft (78), the roller mounting shaft (78) is rotatably provided with a guide roller, and the guide roller is embedded in a guide chute at a corresponding position; the lifting driving screw (75) is rotatably arranged on the upper-layer bottom plate (11) through a screw bracket (25) and is parallel to the guide chute; the platform lifting motor (26) is fixedly arranged on the upper-layer bottom plate (11), and an output shaft of the platform lifting motor (26) is in butt joint with the lifting driving screw (75); a driving block is screwed on the lifting driving screw rod (75); one ends of the two diagonal draw bars (77) are fixedly connected to the driving block, and the other ends of the two diagonal draw bars are respectively and fixedly arranged on two roller mounting shafts (78) at the lower side; a longitudinal support rod (76) is arranged between the two roller mounting shafts (78); a lifting drive circuit electrically connected with the platform controller is also arranged in the control box (7); the lifting drive circuit is electrically connected with the platform lifting motor (26); the platform controller controls the platform lifting motor (26) to rotate through the lifting driving circuit.

5. The work platform for aircraft wing inspection and repair of claim 4, wherein: a protective mechanism is arranged on the front side frame of the lower rectangular frame (23); the protection mechanism comprises a guide convex strip (33), a strip-shaped block (35), an inclined stay bar (42), an upper strip-shaped stay plate (37), a tripping driving motor (47), a tripping driving screw (46), a lower strip-shaped stay plate, two sliding driving seats (41) and two lifting stay bars (45); the section of the guide convex strip (33) is T-shaped and is transversely arranged along the front side frame; the upper side surface of the guide convex strip (33) is provided with anti-slip unidirectional teeth (34) at intervals; a guide T-shaped groove is arranged on the lower side surface of the strip-shaped block (35), and an inner unidirectional tooth is arranged at the bottom of the guide T-shaped groove; the strip-shaped block (35) is buckled on the guide convex strip (33) through the guide T-shaped groove, and a tooth separation gap is reserved between the upper side surface of the guide convex strip (33) and the bottom of the guide T-shaped groove; the outer side edge of the strip-shaped block (35) extends out of the front side frame of the lower rectangular frame (23); a balancing weight (39) and a lower hinging seat (40) are arranged on the upper side surface of the strip-shaped block (35); the lower end of the inclined strut (42) is hinged on the lower hinge seat (40), and the upper end of the inclined strut (42) is hinged on the scissor arm (54) at the corresponding position; when a scissor arm (54) hinged to the inclined stay bar (42) ascends, the inclined stay bar (42) pulls the strip-shaped block (35) to move left, and the anti-skid unidirectional tooth (34) and the inner unidirectional tooth slide relatively; when the scissor arms (54) hinged to the inclined stay bars (42) descend, the inclined stay bars (42) push the strip-shaped blocks (35) to move right, so that the anti-skid unidirectional teeth (34) are mutually buckled with the inner unidirectional teeth; the lower strip-shaped supporting plate is transversely arranged on the outer side face of the frame, and a sliding block guide groove is transversely arranged on the upper side face of the lower strip-shaped supporting plate; the tripping driving screw (46) is rotatably arranged on the outer side surface of the front side frame through a tripping screw bracket; the middle part of the tripping driving screw rod (46) is rotatably arranged on an intermediate fixed block (38); external threads (44) with opposite rotation directions are arranged on release driving screws (46) at two sides of the middle fixed block (38); the two sliding driving seats (41) are both installed on the sliding block guide groove in a sliding mode, and a driving threaded hole is formed in each sliding driving seat (41); the two sliding driving seats (41) are screwed on external threads (44) on two sides of the middle fixed block (38) through respective driving threaded holes; the tripping driving motor (47) is fixedly arranged on the outer side of the front side frame, and an output shaft of the tripping driving motor (47) is in butt joint with the end part of the tripping driving screw rod (46); the outer side of the front side frame is provided with a vertical T-shaped chute (36), and the side edge of the upper bar-shaped supporting plate (37) is provided with a vertical T-shaped sliding block which is slidably embedded into the vertical T-shaped chute (36); two ends of the lower side surface of the upper strip-shaped supporting plate (37) are provided with an upper hinging seat (43); the upper ends of the two lifting support rods (45) are respectively hinged on the two upper hinge seats (43); the lower ends of the two lifting support rods (45) are respectively hinged on the two sliding driving seats (41); the upper strip-shaped supporting plate (37) is parallel to the guide convex strips (33); the upper bar-shaped supporting plate (37) is lifted and then is contacted with the side edge of the bar-shaped block (35) extending out of the front side frame of the lower rectangular frame (23), and the bar-shaped block (35) is lifted to enable the inner unidirectional teeth and the anti-skid unidirectional teeth (34) to be separated up and down; a tripping driving circuit electrically connected with the platform controller is also arranged in the control box (7); the tripping driving circuit is electrically connected with the tripping driving motor (47); the platform controller controls the trip driving motor (47) to rotate through the trip driving circuit.

6. The work platform for aircraft wing inspection and repair of claim 1, wherein: the maintenance platform comprises a platform top plate (49) and guard rails arranged at the peripheral edges of the platform top plate (49); the guard rail consists of a guard rail hinge seat (50), a vertical rod (52) and a transverse rod (53); the guardrail hinging seats (50) are arranged at the edges of the platform top plate (49), and each side edge is at least provided with three guardrail hinging seats (50); a limit baffle is vertically arranged on the upper side of the guardrail hinging seat (50); the lower end of the vertical rod (52) is hinged on the guardrail hinge seat (50); a magnet (51) is arranged on the limit baffle, and the vertical rod (52) is adsorbed with the magnet (51) when swinging to a vertical position and is prevented from continuing swinging to the outer side of the edge; the upper ends of the vertical rods (52) positioned on the same side are fixedly arranged on the same transverse rod (53); the platform top plate (49) is fixedly arranged on the lifting mechanism.

7. The work platform for aircraft wing inspection and repair of claim 1, wherein: an extension ladder structure is arranged between the movable chassis and the overhaul platform; the telescopic ladder structure comprises an upper fixing seat (32), a lower collecting box (30) and a telescopic ladder main body; the upper part of the telescopic ladder main body is fixedly arranged on the upper fixing seat (32), and the lower part of the telescopic ladder main body is fixedly arranged in the lower collecting box (30); the upper fixing seat (32) is arranged on the side edge of the overhaul platform, and the lower collecting box (30) is arranged on the side edge of the movable chassis.