CN111634442A - A suspension type robot structure for aircraft assembly quality detects - Google Patents
A suspension type robot structure for aircraft assembly quality detects Download PDFInfo
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- CN111634442A CN111634442A CN202010496517.XA CN202010496517A CN111634442A CN 111634442 A CN111634442 A CN 111634442A CN 202010496517 A CN202010496517 A CN 202010496517A CN 111634442 A CN111634442 A CN 111634442A
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- driving mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a suspended robot structure for detecting the assembly quality of an airplane, which consists of a distance measuring device, a guide mechanism, a driving mechanism, a control module and a holder. The driving mechanism is arranged on the holder through a section bar corner piece; the control module is positioned above the holder and is connected with the front and rear driving mechanisms through aluminum profile corner connectors; the guide mechanism is fixed in the middle of the driving mechanism, two sliding blocks are fixed at the upper part of the guide mechanism and can slide along a sliding rail at the inner side of the driving mechanism, and the lower part of the guide mechanism is connected with the driving mechanism through a section bar corner piece; the distance measuring device is arranged above the rear side driving mechanism of the robot; the robot has compact structure and can move on the rope at a higher speed. The height-adjustable guide mechanism has the function of clamping the rope, the sliding and shaking of the robot on the rope are reduced, the robot can efficiently execute a detection task in a large space, the camera can observe and acquire images of the part to be detected from different angles, and the detection accuracy is improved.
Description
Technical Field
The invention relates to the technical field of automatic detection of aircraft assembly quality, in particular to a suspended robot structure for automatic detection of aircraft assembly quality.
Background
In the aerospace field, the assembly of each part of an airplane is a key process of product final assembly and an important link of the life cycle of the product, and the development cost and the service performance of the product are directly influenced by the assembly performance and the assembly quality of the product. Meanwhile, the manual labor amount generally occupied by product assembly is large, the cost is high, the product assembly belongs to the rear end of product development, and the economic benefit brought by improving the productivity and the reliability of the assembly process is more obvious than the economic benefit brought by simply reducing the production cost of parts. In the actual assembly process, some errors which are difficult to find can occur in the assembly process due to the problems of the quality, the technical level, the attention and the like of the assembly workers. Therefore, in order to ensure the assembly quality, the automatic detection of the aircraft assembly quality is very important in the field of aircraft assembly.
In the prior art, the invention patent CN102866201A realizes the monitoring of the quality of the aircraft skin in a skin adsorption type crawling robot mode, but the adsorption type crawling motion mode is not suitable for the inner surface of the cabin with obstacles such as frames, ribs and the like; and the movement speed is slow, and the control difficulty is higher. The invention patent CN107576503A realizes the detection of the high-precision assembly quality of an aircraft engine by taking a fixed mechanical arm as a means, but for the aircraft assembly detection, a robot needs to acquire images of a part to be detected from different angles, and the limited motion space of the mechanical arm makes the robot unsuitable for the aircraft assembly quality detection work in a large-size range. The invention patent CN109244934A discloses a ground wire suspension inspection robot structure, which realizes the movement and obstacle crossing of the robot on the ground wire through three telescopic arms connected with a box body and an openable driving mechanism. However, for the detection of the assembly quality of the airplane, an obstacle crossing mechanism is unnecessary, and the three arms can block part of the visual field of the camera placed on the box body, so that an undetectable area can exist.
In the aerospace field, the assembly of each part of an airplane is a key process of product final assembly and an important link of the life cycle of the product, and the development cost and the service performance of the product are directly influenced by the assembly performance and the assembly quality of the product. Meanwhile, the manual labor amount generally occupied by product assembly is large, the cost is high, the product assembly belongs to the rear end of product development, and the economic benefit brought by improving the productivity and the reliability of the assembly process is more obvious than the economic benefit brought by simply reducing the production cost of parts. In the actual assembly process, some errors which are difficult to find can occur in the assembly process due to the problems of the quality, the technical level, the attention and the like of the assembly workers. Therefore, in order to ensure the assembly quality, the automatic detection of the aircraft assembly quality is very important in the field of aircraft assembly.
In the invention patent CN102866201A, the monitoring of the quality of the aircraft skin is realized in a skin adsorption type crawling robot mode, but the adsorption type crawling motion mode is not suitable for the inner surface of the cabin with obstacles such as frames, ribs and the like; and the movement speed is slow, and the control difficulty is higher. The invention patent CN107576503A realizes the detection of the high-precision assembly quality of an aircraft engine by taking a fixed mechanical arm as a means, but for the aircraft assembly detection, a robot needs to acquire images of a part to be detected from different angles, and the limited motion space of the mechanical arm makes the robot unsuitable for the aircraft assembly quality detection work in a large-size range. The invention patent CN109244934A discloses a ground wire suspension inspection robot structure, which realizes the movement and obstacle crossing of the robot on the ground wire through three telescopic arms connected with a box body and an openable driving mechanism. However, for the detection of the assembly quality of the airplane, an obstacle crossing mechanism is unnecessary, and the three arms can block part of the visual field of the camera placed on the box body, so that an undetectable area can exist.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides a suspension type robot structure for detecting the assembly quality of an airplane.
The technical scheme adopted by the invention for solving the technical problem is that the device comprises a driving mechanism, a guide mechanism, a holder, a control module and a distance measuring device; the driving mechanism is arranged on the holder through a section bar corner piece; the control module is positioned at the upper part of the holder and is connected with the front and rear driving mechanisms through an aluminum profile corner piece; the guide mechanism is arranged in the middle of the driving mechanism, two sliding blocks are fixed above the guide mechanism and can slide along a sliding rail on the inner side of the driving mechanism, and the lower part of the guide mechanism is connected with the driving mechanism through a section bar corner piece; the distance measuring device is arranged above a driving mechanism at the rear side of the robot and is characterized in that the driving mechanism comprises an aluminum profile corner piece, a synchronizing wheel, a synchronous belt, a motor bracket, a speed reducing motor, a slide rail, polyurethane wheels, bearing seats and a steel shaft, the bearing seats are fixed at the upper part of the driving mechanism, the polyurethane wheels are arranged on the two bearing seats through the steel shaft, and the synchronizing wheel is fixed at the end part of the steel shaft; the slide rails are positioned on two sides of the middle part of the driving mechanism; the speed reducing motor is arranged at the lower part of the driving mechanism through a motor bracket, and an output shaft of the speed reducing motor and a synchronous wheel at the end part of the steel shaft transmit torque to the steel shaft through a synchronous belt;
the guide mechanism comprises guide wheels, sliding blocks, a support base plate, a fixing plate corner connector, a guide mechanism fixing plate, a handle, a nut pressing piece and a needle bearing, the support base plate is positioned above the guide mechanism fixing plate, the two guide wheels are fixed on the upper part of the support base plate in the same direction, the two sliding blocks are fixed on two sides of the support base plate, and the sliding blocks can slide along a sliding rail on the driving mechanism; the guide mechanism fixing plate is positioned below the support base plate and connected with the driving mechanism through a fixing plate corner connector, a hexagonal hole is formed in the middle of the guide mechanism fixing plate, a hexagonal nut is pressed in the hexagonal hole by a nut pressing piece, the handle is in spiral fit with the nut pressing piece, the upper end of the handle rod is connected with the support base plate through a needle bearing, and the height of the guide wheel can be adjusted by rotating the handle;
the holder is connected with the driving mechanism through an aluminum profile corner piece; the tripod head comprises a tripod head mounting plate, an aluminum profile corner piece, a pitching steering engine, a steering engine and a camera rocker arm, wherein the steering engine for controlling the camera is mounted on the tripod head mounting plate;
the distance measuring device comprises a vertical bearing seat, an encoder support, a tensioning spring, an encoder and an encoder wheel, the distance measuring device is fixed on the driving mechanism through the vertical bearing seat, the encoder support is located on the vertical bearing seat, the encoder support is connected with the encoder through the tensioning spring, the tensioning spring on the encoder support enables the encoder wheel to be tightly pressed on a rope, and the accuracy of the distance measuring device is guaranteed.
The control module comprises a mounting plate, a control plate, a pressure reducing plate, a battery and a mounting plate angle code, the control module is connected with the driving mechanism through the mounting plate angle code, the battery is fixed on the mounting plate, and the control plate and the pressure reducing plate are connected with the mounting plate through hexagonal plastic columns and plastic screws.
The handle is used for adjusting the height of the guide wheel and is made of engineering plastics through compression molding.
Advantageous effects
The invention provides a suspended robot structure for detecting the assembly quality of an airplane, which consists of a distance measuring device, a guide mechanism, a driving mechanism, a holder and a control module; the driving mechanism is arranged on the holder through a section bar corner piece; the control module is positioned above the holder and is connected with the driving mechanism in an installing way; the guide mechanism is arranged in the middle of the driving mechanism, two sliding blocks are fixed above the guide mechanism and can slide along a sliding rail arranged on the inner side, and the lower part of the driving mechanism is connected with the driving module through a profile corner connector; the distance measuring device is arranged above the rear driving mechanism of the robot. The camera can obtain the position image of waiting to detect from different angles, and the direction module of adjustable height has the function of pressing from both sides tight rope, and the reducible robot slides on the rope and rocks, and whole robot compact structure can move with faster speed on the rope, and the robot can high efficiency carry out the detection task to the robot has bigger load. The robot structure supports detection tasks in a large space, and the camera can observe the part to be detected from different angles, so that the detection accuracy is improved.
Drawings
The invention provides a suspension type robot structure for detecting the assembly quality of an airplane, which is further described in detail with reference to the attached drawings and embodiments.
Fig. 1 is a schematic structural diagram of a suspension type robot for detecting the assembly quality of an airplane.
Fig. 2 is a schematic view of the driving mechanism of the present invention.
Fig. 3 is a schematic view of a guide module according to the present invention.
Fig. 4 is a schematic view of the pan and tilt head of the present invention.
FIG. 5 is a schematic diagram of a control module according to the present invention.
Fig. 6 is a schematic view of the distance measuring device of the present invention.
In the drawings
1. The distance measuring device comprises a distance measuring device 2, a guide mechanism 3, a driving mechanism 4, a tripod head 5, a control module 6, an aluminum profile angle piece 7, a synchronous wheel 8, a synchronous belt 9, a motor support 10, a speed reducing motor 11, a sliding rail 12, a polyurethane wheel 13, a bearing seat 14, a steel shaft 15, a guide wheel 16, a sliding block 17, a support base plate 18, a fixing plate angle code 19, a guide mechanism fixing plate 20, a handle 21, a nut pressing piece 22, a needle bearing 23, a profile upper angle piece 24, a pitch steering engine 25, an aluminum profile 26, a tripod head mounting plate 27, a camera rocker arm 28, a steering engine 29, a mounting plate angle code 30, a battery 31, a mounting plate 32, a control plate 33, a pressure reducing plate 34, a vertical bearing seat 35, an encoder support 36.
Detailed Description
The embodiment is a suspension type robot structure for detecting the assembly quality of an airplane.
Referring to fig. 1 to 6, the suspension type robot structure for detecting the aircraft assembly quality in the present embodiment is composed of a driving mechanism 3, a guiding mechanism 2, a cradle head 4, a control module 5 and a distance measuring device 1; the driving mechanism 3 is arranged on the holder through an aluminum profile corner piece 23; the control module 5 is positioned at the upper part of the holder 4 and is connected with the front driving mechanism and the rear driving mechanism through aluminum profile corner connectors; the guide mechanism 2 is arranged in the middle of the driving mechanism 3, two sliding blocks are fixed above the guide mechanism 2 and can slide along a sliding rail on the inner side of the driving mechanism 3, and the lower part of the guide mechanism 2 is connected with the driving mechanism 3 through a profile corner brace; the path measuring device 1 is mounted above the rear drive mechanism 3 of the robot. The driving mechanism 3 comprises an aluminum profile corner piece 6, a synchronous wheel 7, a synchronous belt 8, a motor support 9, a speed reducing motor 10, a slide rail 11, a polyurethane wheel 12, bearing blocks 13 and a steel shaft 14, wherein the bearing blocks 13 are fixed on the upper part of the driving mechanism 3, the polyurethane wheels 12 are installed on the two bearing blocks 13 through the steel shaft 14, and the synchronous wheel 7 is fixed at the end part of the steel shaft 14; the slide rails 11 are positioned at two sides of the middle part of the driving mechanism 3; the speed reducing motor 10 is arranged at the lower part of the driving mechanism 3 through a motor bracket 9, and the output shaft of the speed reducing motor and a synchronous wheel 7 at the end part of a steel shaft 14 transmit torque to the steel shaft 14 through a synchronous belt 8.
In this embodiment, the driving mechanism 3 is formed by splicing four 2020 aluminum profiles with lengths of 420mm, 100mm, 110mm and 235mm through 2020 aluminum profile corner fittings 6. The right side of the driving mechanism 3 is provided with a gap, so that the whole robot structure can be conveniently hung on a rope or taken down from the rope. In order to lower the center of gravity, a speed reducing motor 10 is arranged below the integral frame, the speed reducing motor 10 is connected with the integral frame through a motor bracket 9, torque output by the speed reducing motor 10 is transmitted to an upper steel shaft 14 through a synchronous belt 7 and a synchronous wheel 8, the steel shaft 14 is supported by two bearing blocks 13, and a polyurethane wheel 12 is fixed on the steel shaft 14. When the speed reducing motor 10 rotates, the polyurethane wheel 12 is driven to rotate, and the friction force between the polyurethane wheel 12 and the rope enables the whole robot to move.
The guide mechanism 2 comprises guide wheels 15, sliders 16, a support base plate 17, fixing plate corner connectors 18, a guide mechanism fixing plate 19, a handle 20, a nut pressing piece 21 and a needle bearing 22, the guide mechanism fixing plate 19 is connected with the driving mechanism 3 through the four fixing plate corner connectors 18, the support base plate 17 is positioned above the guide mechanism fixing plate 19, the two guide wheels 15 are fixed on the upper portion of the support base plate 17 in the same direction, the two sliders are fixed on two sides of the support base plate 17, and the sliders can slide along the slide rails 11 on the driving mechanism 3; the guide mechanism fixing plate 19 is positioned below the support base plate 17, the guide mechanism fixing plate 19 is connected with the driving mechanism 3 through a fixing plate corner connector 18, a hexagonal hole is formed in the middle of the guide mechanism fixing plate 19, an M8 hexagonal nut is pressed in the hexagonal hole by a nut pressing piece 21, a handle is in threaded fit with the nut pressing piece 21, the upper end of a handle rod is connected with the support base plate 17 through a needle bearing 22, and the height of a guide wheel can be adjusted by rotating the handle; the handle 20 is a quincunx handle for adjusting the height of the guide wheel. When the plum blossom handle 20 is rotated, the M8 nut still keeps fixed, but the plum blossom handle will be displaced in the up-down direction due to the screw fit between the M8 nut, and the upper end of the plum blossom handle is connected with the guide wheel support 17 by using two M8 locknuts and the roller bearing 22. When the tulip handle is turned, the guide wheel 15 fixed to the guide wheel support 17 will move up to press the rope or down to remove the robot from the rope.
The cloud deck 4 is connected with the driving mechanisms 3 at the front side and the rear side through aluminum profile corner pieces 23; the pan-tilt 4 comprises a pan-tilt mounting plate 26, an aluminum section bar 25, an aluminum section bar corner piece 23, a pitching steering engine 24, a steering engine 28 and a camera rocker arm 27, wherein the steering engine 28 for controlling the camera to steer is mounted on the pan-tilt mounting plate 26, the camera rocker arm 27 is connected with a steering wheel of the steering engine 28, the pitching steering engine 24 for controlling the camera to pitch is mounted at the tail end of the camera rocker arm 27, and the steering wheel of the pitching steering engine 24 is connected with the camera.
The distance measuring device 1 comprises a vertical bearing seat 34, an encoder bracket 35, a tensioning spring 36, an encoder 37 and an encoder wheel 38, the distance measuring device 1 is fixed above the driving mechanism 3 through the vertical bearing seat 34, the encoder bracket 35 is positioned at one side of the vertical bearing seat 34, the encoder bracket 35 is connected with the encoder 37 through the tensioning spring 36, and the tensioning spring 36 on the encoder bracket 35 enables the encoder wheel to be pressed on a rope all the time; the encoder wheel is pressed tightly on the rope to ensure that the distance measuring device 1 is accurate.
When the suspension type robot works, the plum blossom handle of the driving module needs to be rotated at first, the guide wheel moves downwards, then the gap of the driving module is utilized to hang the robot on a rope, and the plum blossom handle is rotated again to enable the guide wheel to compress the rope, so that the robot is ensured not to slide off the rope. The camera view of the robot structure cannot be blocked by the robot structure, the camera can acquire images of the part to be detected from different angles, and the height-adjustable guide module has the function of clamping the rope, so that the sliding and shaking of the robot on the rope can be reduced; the obstacle crossing mechanism is omitted, so that the robot is compact in structure, and the overall size is only 30 multiplied by 15 multiplied by 50 cm. The robot can move on the rope at a faster speed, so the robot can perform the detection task with higher efficiency, and the robot has a larger load. The robot structure supports detection tasks in a large space, and the robot can move on the rope, so that the camera can observe the part to be detected from different angles, and the detection accuracy is improved.
Claims (3)
1. A suspension type robot structure for detecting the assembly quality of an airplane comprises a driving mechanism, a guide mechanism, a holder, a control module and a distance measuring device; the driving mechanism is arranged on the holder through a section bar corner piece; the control module is positioned at the upper part of the holder and is connected with the front and rear driving mechanisms through an aluminum profile corner piece; the guide mechanism is arranged in the middle of the driving mechanism, two sliding blocks are fixed above the guide mechanism and can slide along a sliding rail on the inner side of the driving mechanism, and the lower part of the guide mechanism is connected with the driving mechanism through a section bar corner piece; the distance measuring device is arranged above a driving mechanism at the rear side of the robot and is characterized in that the driving mechanism comprises an aluminum profile corner piece, a synchronizing wheel, a synchronous belt, a motor bracket, a speed reducing motor, a slide rail, polyurethane wheels, bearing seats and a steel shaft, the bearing seats are fixed at the upper part of the driving mechanism, the polyurethane wheels are arranged on the two bearing seats through the steel shaft, and the synchronizing wheel is fixed at the end part of the steel shaft; the slide rails are positioned on two sides of the middle part of the driving mechanism; the speed reducing motor is arranged at the lower part of the driving mechanism through a motor bracket, and an output shaft of the speed reducing motor and a synchronous wheel at the end part of the steel shaft transmit torque to the steel shaft through a synchronous belt;
the guide mechanism comprises guide wheels, sliding blocks, a support base plate, a fixing plate corner connector, a guide mechanism fixing plate, a handle, a nut pressing piece and a needle bearing, the support base plate is positioned above the guide mechanism fixing plate, the two guide wheels are fixed on the upper part of the support base plate in the same direction, the two sliding blocks are fixed on two sides of the support base plate, and the sliding blocks can slide along a sliding rail on the driving mechanism; the guide mechanism fixing plate is positioned below the support base plate and connected with the driving mechanism through a fixing plate corner connector, a hexagonal hole is formed in the middle of the guide mechanism fixing plate, a hexagonal nut is pressed in the hexagonal hole by a nut pressing piece, the handle is in spiral fit with the nut pressing piece, the upper end of the handle rod is connected with the support base plate through a needle bearing, and the height of the guide wheel can be adjusted by rotating the handle;
the holder is connected with the driving mechanism through an aluminum profile corner piece; the tripod head comprises a tripod head mounting plate, an aluminum profile corner piece, a pitching steering engine, a steering engine and a camera rocker arm, wherein the steering engine for controlling the camera is mounted on the tripod head mounting plate;
the distance measuring device comprises a vertical bearing seat, an encoder support, a tensioning spring, an encoder and an encoder wheel, the distance measuring device is fixed on the driving mechanism through the vertical bearing seat, the encoder support is located on the vertical bearing seat, the encoder support is connected with the encoder through the tensioning spring, the tensioning spring on the encoder support enables the encoder wheel to be tightly pressed on a rope, and the accuracy of the distance measuring device is guaranteed.
2. The suspended robot structure for detecting the assembly quality of the airplane as claimed in claim 1, wherein the control module comprises a mounting plate, a control plate, a pressure reducing plate, a battery and a mounting plate corner connector, the control module is connected with the driving mechanism through the mounting plate corner connector, the battery is fixed on the mounting plate, and the control plate and the pressure reducing plate are connected with the mounting plate through hexagonal plastic columns and plastic screws.
3. The suspended robot structure for the aircraft assembly quality detection as claimed in claim 1, wherein the handle is used for adjusting the height of the guide wheel, and the handle is formed by pressing engineering plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496517.XA CN111634442B (en) | 2020-06-03 | 2020-06-03 | A suspension type robot structure for aircraft assembly quality detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010496517.XA CN111634442B (en) | 2020-06-03 | 2020-06-03 | A suspension type robot structure for aircraft assembly quality detects |
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| Publication Number | Publication Date |
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| CN111634442A true CN111634442A (en) | 2020-09-08 |
| CN111634442B CN111634442B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010496517.XA Active CN111634442B (en) | 2020-06-03 | 2020-06-03 | A suspension type robot structure for aircraft assembly quality detects |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462595A (en) * | 2009-01-09 | 2009-06-24 | 成都飞机工业（集团）有限责任公司 | Aircraft system member mounting method and apparatus based on industrial robot |
| US20150012171A1 (en) * | 2013-07-02 | 2015-01-08 | Premium Aerotec Gmbh | Assembly inspection system and method |
| US20160264262A1 (en) * | 2013-10-24 | 2016-09-15 | Airbus Group Sas | Collaborative robot for visually inspecting an aircraft |
| US20170057080A1 (en) * | 2015-08-26 | 2017-03-02 | Airbus Operations Gmbh | Robot System And Method Of Operating A Robot System |
| FR3056134A1 (en) * | 2016-09-20 | 2018-03-23 | Airbus Sas | ROBOTIC DEVICE FOR INSPECTING AN AIRCRAFT STRUCTURE |
| CN109244934A (en) * | 2018-09-18 | 2019-01-18 | 国电南瑞科技股份有限公司 | A kind of ground wire suspension crusing robot |
| CN110159894A (en) * | 2019-05-05 | 2019-08-23 | 东南大学 | A kind of rail polling robot |
| CN209657151U (en) * | 2018-12-21 | 2019-11-19 | 深圳信通环球科技有限公司 | A kind of intelligent track crusing robot |
-
2020
- 2020-06-03 CN CN202010496517.XA patent/CN111634442B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101462595A (en) * | 2009-01-09 | 2009-06-24 | 成都飞机工业（集团）有限责任公司 | Aircraft system member mounting method and apparatus based on industrial robot |
| US20150012171A1 (en) * | 2013-07-02 | 2015-01-08 | Premium Aerotec Gmbh | Assembly inspection system and method |
| US20160264262A1 (en) * | 2013-10-24 | 2016-09-15 | Airbus Group Sas | Collaborative robot for visually inspecting an aircraft |
| US20170057080A1 (en) * | 2015-08-26 | 2017-03-02 | Airbus Operations Gmbh | Robot System And Method Of Operating A Robot System |
| FR3056134A1 (en) * | 2016-09-20 | 2018-03-23 | Airbus Sas | ROBOTIC DEVICE FOR INSPECTING AN AIRCRAFT STRUCTURE |
| CN109244934A (en) * | 2018-09-18 | 2019-01-18 | 国电南瑞科技股份有限公司 | A kind of ground wire suspension crusing robot |
| CN209657151U (en) * | 2018-12-21 | 2019-11-19 | 深圳信通环球科技有限公司 | A kind of intelligent track crusing robot |
| CN110159894A (en) * | 2019-05-05 | 2019-08-23 | 东南大学 | A kind of rail polling robot |
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| CN111634442B (en) | 2022-07-29 |
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