CN116021502A - High-precision aero-engine on-wing maintenance parallel-serial robot - Google Patents
High-precision aero-engine on-wing maintenance parallel-serial robot Download PDFInfo
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- CN116021502A CN116021502A CN202310219400.0A CN202310219400A CN116021502A CN 116021502 A CN116021502 A CN 116021502A CN 202310219400 A CN202310219400 A CN 202310219400A CN 116021502 A CN116021502 A CN 116021502A
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Abstract
The invention discloses a high-precision aero-engine on-wing maintenance parallel-serial robot which comprises a detection maintenance mechanism, a parallel gesture adjustment mechanism and a moving trolley, wherein the detection maintenance mechanism comprises a driving mechanism, a mechanical arm section and an actuator, the parallel gesture adjustment mechanism comprises a movable platform, a second branched chain, a plurality of first branched chains and a fixed platform, an adjustment mechanism for adjusting the position of the detection maintenance mechanism is arranged on the movable platform, and the adjustment mechanism comprises a second sliding block, a rear support, an auxiliary support, a first coupler, a first motor, a first lead screw, a front support and a light bar. The invention adopts the mode of combining the parallel posture adjusting mechanism and the detection maintenance mechanism, has the advantages of high precision and high response speed of the parallel posture adjusting mechanism, has the advantage of high flexibility of the detection maintenance mechanism, can realize the complex internal environment operation tasks of the aeroengine, and has more convenient actions and higher efficiency of sequentially executing multiple tasks by utilizing the movable trolley.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-precision aero-engine on-wing maintenance parallel-serial robot.
Background
The aeroengine is used as the heart of the aircraft, has a complex structure and has high requirements on later operation and maintenance quality. At present, the maintenance of the engine mainly takes manpower as a main part. The internal structure of the engine is complex, the manual maintenance of the internal part of the engine is difficult, the engine needs to be detached from the wing, the maintenance period is long, and the cost is high.
With the development of bionic technology, continuous robots are increasingly studied. Compared with the traditional rigid robot, the continuous robot has smaller size and stronger movement flexibility, so that the continuous robot has obvious advantages in the environment with limited space and is suitable for maintenance operation of aeroengines. However, the existing continuous robots have limited manual strokes, the continuous robots are required to be installed at proper positions in advance, the work is complicated, the installation posture is single, and the complex engine maintenance task cannot be well met.
Disclosure of Invention
The invention aims to provide a high-precision aero-engine in-wing maintenance hybrid robot so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an aeroengine at wing maintenance series-parallel robot of high accuracy, is including detecting maintenance mechanism, parallelly connected appearance mechanism and travelling car of transferring, it includes actuating mechanism, arm section and executor to detect maintenance mechanism, parallelly connected appearance mechanism of transferring includes movable platform, second branch and a plurality of first branch, decides the platform, be provided with the adjustment mechanism who is used for detecting maintenance mechanism position adjustment on the movable platform, adjustment mechanism includes second slider, back support, auxiliary stay, first shaft coupling, first motor, first lead screw, front support and smooth, be provided with the base on the second slider.
Preferably, the mechanical arm section is formed by connecting a plurality of single-joint arm sections in series, each single-joint arm section is formed by connecting a plurality of joint connecting rods in series, three driving ropes are connected, one end of each single-joint arm section is connected with a driving mechanism, the other end of each single-joint arm section is connected with an actuator, and each joint connecting rod is supported and connected by NITI alloy.
Preferably, the three first branched chains have the same structure, the first branched chains comprise a telescopic rod, a hook hinge, a first spherical hinge, a hook hinge support and a second motor, the fixed platform is connected with the hook hinge support, one end of the telescopic rod is connected with the hook hinge, the other end of the telescopic rod is connected with the first spherical hinge, and the second motor is fixed on one side of the telescopic rod.
Preferably, the movable platform comprises a hollow beam, three first spherical hinge bases with the same structure, a second spherical hinge base, two fixed rails and four first sliding blocks, the hollow beam consists of a cross beam and a longitudinal beam, square holes are formed in the hollow beam, the first spherical hinge bases are fixed on the fourth cross beam and the fifth cross beam of the hollow beam, the first spherical hinge bases are distributed in a triangular mode on the fourth cross beam and the fifth cross beam of the hollow beam, the second spherical hinge bases are fixed at the tail end of the fixed platform, a driving mechanism of the detection maintenance mechanism is connected with a base, two first sliding blocks are connected to the front end and the two sides of the bottom surface of the base respectively, the two fixed rails are installed on the two sides of the movable platform, and two first sliding blocks are connected to each fixed rail.
Preferably, the rear support is mounted at the tail end of the eighth cross beam, the auxiliary support is mounted at the front end of the eighth cross beam, the front support is mounted at the front end of the first cross beam, the first screw rod passes through the auxiliary support, passes through the front support center hole and is connected with one end of the first coupler, the screw rod passes through the rear support, the auxiliary support and the front support two side holes, the second slide block center hole is connected with the first screw rod through threaded connection, the screw rod passes through the second slide block two side holes, and the first motor is fixed on the rear support and is connected with the other end of the first coupler.
Preferably, the second branched chain comprises a transverse sliding block, a limiting rod, a transverse sliding rail, a longitudinal sliding block, a longitudinal sliding rail, a third motor, a second connecting plate, a second spherical hinge, a longitudinal screw rod, a transverse screw rod and a fourth motor, wherein the longitudinal sliding rail is fixed on the fixed platform through the second connecting plate, the longitudinal screw rod is matched with the longitudinal sliding block through threads, the third motor is connected with the longitudinal screw rod, two ends of the transverse sliding rail are connected with the longitudinal sliding block, the transverse sliding block is connected with the transverse screw rod, one end of the transverse screw rod is connected with the fourth motor, the limiting rod is fixed on the transverse sliding block, the second spherical hinge is fixed on the limiting rod, and a second spherical hinge base on the fixed platform is connected with a second spherical hinge on the second branched chain, and a first spherical hinge base on the movable platform is connected with the first spherical hinge.
Preferably, the travelling car includes frame, wheel and H landing leg, and equidistant installation in the both sides of deciding the platform around the H landing leg that four structures are the same, and the wheel is installed to both sides around the frame, decides the platform and installs on the frame.
Preferably, the driving mechanism comprises a first connecting plate, a second connecting plate, a third coupling, a fifth motor, a guide rod, a third sliding block, a third lead screw, a fourth connecting plate, a connecting piece and a support, wherein the first connecting plate, the second connecting plate and the third connecting plate are sequentially fixed on the connecting piece, one end of the support is fixed on the first connecting plate, the other end of the support is fixed on the fourth connecting plate, the third lead screw penetrates through the first connecting plate and the second connecting plate, one end of the support is connected with the coupling, the guide rod penetrates through the second connecting plate, two ends of the guide rod are respectively fixed on the first connecting plate and the second connecting plate, the fifth motor is fixed on the third connecting plate, the third sliding block penetrates through the guide rod and is meshed with the third lead screw, one end of the driving rope is fixed on the third sliding block, penetrates through the first connecting plate, the fourth connecting plate and the joint connecting rod, the tail end of the driving rope is fixed on the tail end of the joint connecting rod, the NITI alloy support penetrates through a guide hole of the joint connecting rod, one end of the driving rope is fixed on the fourth connecting plate, the tail end of the joint connecting rod is connected with the first connecting plate and the third connecting plate is fixed on the base.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts the mode of combining the parallel posture adjustment mechanism and the detection maintenance mechanism, thereby not only having the advantages of high precision and high response speed of the parallel posture adjustment mechanism, but also having the advantage of strong flexibility of the detection maintenance mechanism, and being capable of realizing the complex internal environment operation task of the aeroengine;
2. the invention also provides a method for executing multiple tasks sequentially by utilizing the mobile trolley, which is more convenient to act and higher in efficiency.
Drawings
FIG. 1 is a schematic structural diagram of a high-precision aero-engine in-wing maintenance hybrid robot;
fig. 2 is a schematic diagram of a mechanical arm section of the inspection and maintenance mechanism in the present invention.
Fig. 3 is a schematic view of a single joint arm segment of the mechanical arm segment according to the present invention.
FIG. 4 is a schematic diagram of a movable platform of a parallel resource allocation mechanism according to the present invention.
Fig. 5 is a schematic diagram of a first branched structure of the parallel resource allocation mechanism according to the present invention.
FIG. 6 is a schematic diagram of a second branch structure of the parallel resource allocation mechanism according to the present invention;
fig. 7 is a schematic structural view of a driving mechanism in the present invention.
In the figure: 1. detecting a maintenance mechanism; 11. an actuator; 12. a robotic arm segment; 121. a single joint arm segment; 124. NITI alloy support; 125. a joint link; 13. a driving mechanism; 111. a first connection plate; 112. a second connecting plate; 113. a third connecting plate; 114. a third coupling; 115. a fifth motor; 116. a guide rod; 117. a third slider; 118. a third lead screw; 119. a fourth connecting plate; 130. a connecting piece; 131. a support post; 136. a drive rope; 2. a parallel gesture adjusting mechanism; 21. a movable platform; 211. a hollow beam; 212. a first spherical hinge base; 213. a second spherical hinge base; 214. a fixed rail; 215. a first slider; 22. a second branch; 221. a transverse slide block; 222. a limit rod; 223. a transverse slideway; 224. a longitudinal slide block; 225. a longitudinal slideway; 226. a third motor; 227. a second connecting plate; 228. a second spherical hinge; 229. a longitudinal screw; 240. a transverse screw; 241. a fourth motor; 23. a first branch; 231. a telescopic rod; 232. a Hooke hinge; 233. a first spherical hinge; 234. a Hooke hinge support; 235. a second motor; 24. a fixed platform; 3. a moving vehicle; 31. a vehicle body; 311. a support platform; 32. a wheel; 33. h supporting legs; 4. an adjusting mechanism; 41. a second slider; 42. a rear support; 43. auxiliary support; 44. a first coupling; 45. a first motor; 46. a first lead screw; 47. a front support; 48. a light bar; 5. a base.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the present invention provides a technical solution: the utility model provides a high accuracy aeroengine is at wing maintenance series-parallel connection robot, including detecting maintenance mechanism 1, parallelly connected appearance mechanism 2 and travelling car 3, detecting maintenance mechanism 1 includes actuating mechanism 13, arm section 12 and executor 11, parallelly connected appearance mechanism 2 includes movable platform 21, second branch 22, and a plurality of first branch 23, fixed platform 24, be provided with the adjustment mechanism 4 that is used for detecting maintenance mechanism 1 position adjustment on the movable platform 21, adjustment mechanism 4 includes second slider 41, back support 42, auxiliary support 43, first shaft coupling 44, first motor 45, first lead screw 46, preceding support 47 and feed beam 48, be provided with base 5 on the second slider 41, the executor 11 is replaced by the cylinder, represent the graph collector, the executor 11 can be configured according to specific operating mode, there is not specific structure, the main function is the discernment of fault point, diagnosis and maintenance;
the mechanical arm section 12 is formed by connecting a plurality of single-joint arm sections 121 in series, each single-joint arm section 121 is formed by connecting a plurality of joint connecting rods 125 in series, and is connected with three driving ropes 136, one end of the single-joint arm section 121 is connected with the driving mechanism 13, the other end is connected with the actuator 11, and each joint connecting rod 125 is connected with the NITI alloy support 124;
the three first branched chains 23 have the same structure, the first branched chains 23 comprise a telescopic rod 231, a hook hinge 232, a first spherical hinge 233, a hook hinge support 234 and a second motor 235, the fixed platform 24 is connected with the hook hinge support 234, one end of the telescopic rod 231 is connected with the hook hinge 232, the other end of the telescopic rod 231 is connected with the first spherical hinge 233, and the second motor 235 is fixed on one side of the telescopic rod 231;
the movable platform 21 comprises a hollow beam 211, three first spherical hinge bases 212, a second spherical hinge base 213, two fixed rails 214 and four first sliding blocks 215, wherein the hollow beam 211 consists of a cross beam and a longitudinal beam, square holes are formed in the hollow beam 211, the three first spherical hinge bases 212 are fixed on the fourth cross beam and the fifth cross beam of the hollow beam 211, the three first spherical hinge bases 212 are distributed in a triangular shape on the fourth cross beam and the fifth cross beam of the hollow beam 211, the second spherical hinge bases 213 are fixed at the tail ends of the fixed platform 21, the driving mechanism 13 of the detection maintenance mechanism 1 is connected with the base 5, two first sliding blocks 215 are respectively connected to the two sides of the front end and the rear end of the bottom surface of the base 5, the second sliding blocks 41 are connected to the center position of the bottom surface, the two fixed rails 214 are arranged on the two sides of the movable platform 21, and each fixed rail 214 is connected with the two first sliding blocks 215;
the rear support 42 is arranged at the tail end of the eighth cross beam, the auxiliary support 43 is arranged at the front end of the eighth cross beam, the front support 47 is arranged at the front end of the first cross beam, the first lead screw 46 passes through the auxiliary support 43 and passes through the central hole of the front support 47 and is connected with one end of the first coupler 44, the light bar 48 passes through two side holes of the rear support 42, the auxiliary support 43 and the front support 47, the central hole of the second slide block 41 is connected with the first lead screw 46 through threaded connection, the light bar 48 passes through two side holes of the second slide block 41, and the first motor 45 is fixed on the rear support 42 and is connected with the other end of the first coupler 44;
the second branched chain 22 comprises a transverse sliding block 221, a limiting rod 222, a transverse slideway 223, a longitudinal sliding block 224, a longitudinal slideway 225, a third motor 226, a second connecting plate 227, a second spherical hinge 228, a longitudinal lead screw 229, a transverse lead screw 240 and a fourth motor 241, wherein the longitudinal slideway 225 is fixed on the fixed platform 24 through the second connecting plate 227, the longitudinal lead screw 229 is matched with the longitudinal sliding block 224 through threads, the third motor 226 is connected with the longitudinal lead screw 229, two ends of the transverse slideway 223 are connected with the longitudinal sliding block 224, the transverse sliding block 221 is connected with the transverse lead screw 240, one end of the transverse lead screw 240 is connected with the fourth motor 241, the limiting rod 222 is fixed on the transverse sliding block 221, the second spherical hinge 228 is fixed on the limiting rod 222, the second spherical hinge base 213 on the fixed platform 21 is connected with the second spherical hinge 228 on the second branched chain 22, and the first spherical hinge base 212 on the movable platform 21 is connected with the first spherical hinge 233;
the mobile trolley 3 comprises a frame 31, wheels 32 and H supporting legs 33, the four H supporting legs 33 with the same structure are arranged on two sides of the fixed platform 24 at equal intervals in the front-back direction, the wheels 32 are arranged on the front-back direction of the frame 31, and the fixed platform 24 is arranged on the frame 31;
the driving mechanism 13 includes a first connection plate 111, a second connection plate 112, a third connection plate 113, a third coupling 114, a fifth motor 115, a guide bar 116, a third slider 117, a third lead screw 118, a fourth connection plate 119, a connection member 130, and a strut 131, wherein the first connection plate 111, the second connection plate 112, and the third connection plate 113 are sequentially fixed to the connection member 130, one end of the strut 131 is fixed to the first connection plate 111, the other end is fixed to the fourth connection plate 119, the third lead screw 118 passes through the first connection plate 111 and the second connection plate 112, one end is connected to the coupling 114, the guide bar 116 passes through the second connection plate 112, and both ends are respectively fixed to the first connection plate 111 and the second connection plate 112, the fifth motor 115 is fixed to the third connection plate 113, the third slider 117 passes through the guide bar 116, and is engaged with the third lead screw 118, one end of the driving rope 136 is fixed to the third slider 117, passes through the first connection plate 111, the fourth connection plate 119, and the joint connection rod 125, the end is fixed to the end of the end joint 125, the niti alloy support 124 passes through a guide hole of the joint 125, one end is fixed to the fourth connection plate 119, and the other end is connected to the end of the end is fixed to the joint 125, and the first connection plate 111 and the base 113 is fixed to the base.
Working principle: when the invention is used, the mobile trolley 3 conveys the whole hybrid robot to a designated maintenance area, and then the H-shaped supporting leg 33 is opened to support the whole hybrid robot. The parallel resource adjusting mechanism 2 selects three telescopic rods 231, two longitudinal lead screws 229 and one transverse lead screw 240 as driving pairs, so that 5 degrees of freedom of the movable platform 21 can be realized; the first branched chain 23 stretches and contracts, and the moving platform 21 moves in the z-axis direction in cooperation with the lifting of the second branched chain 22; the first branched chain 23 cooperates with the second branched chain 22 to horizontally move to realize y-axis movement and z-axis rotation; the first branch 23 moves, and the second branch 22 is kept stationary to rotate around the x axis and around the y axis; the first lead screw 46 is used as a driving pair, the second sliding block 41 and the first lead screw 46 are matched to move back and forth to realize the feeding motion of the continuous mechanism 1, the driving mechanism 13 drives the driving rope 136 to realize the bending freedom degree of each single-joint arm section, and meanwhile, the feeding motion is matched to complete the working task; the hybrid robot has the advantages of high working precision, strong adaptability, convenient movement and the like, and can be well adapted to detection and operation tasks of complex space in an engine.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an aeroengine of high accuracy is at wing maintenance series-parallel connection robot, including detecting maintenance mechanism (1), parallelly connected appearance mechanism (2) and travelling car (3), its characterized in that: the utility model provides a detection maintenance mechanism (1) includes actuating mechanism (13), arm section (12) and executor (11), parallelly connected appearance mechanism (2) are transferred including moving platform (21), second branch (22) and a plurality of first branch (23), decide platform (24), be provided with on moving platform (21) and be used for detecting adjustment mechanism (4) of maintenance mechanism (1) position control, adjustment mechanism (4) include second slider (41), back support (42), auxiliary stay (43), first shaft coupling (44), first motor (45), first lead screw (46), front support (47) and feed beam (48), be provided with base (5) on second slider (41).
2. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 1, wherein: the mechanical arm section (12) is formed by connecting a plurality of single-joint arm sections (121) in series, each single-joint arm section (121) is formed by connecting a plurality of joint connecting rods (125) in series, three driving ropes (136) are connected, one end of each single-joint arm section (121) is connected with a driving mechanism (13), the other end of each single-joint arm section is connected with an actuator (11), and each joint connecting rod (125) is supported by NITI alloy and connected with a support (124).
3. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 2, wherein: the three first branched chains (23) are identical in structure, each first branched chain (23) comprises a telescopic rod (231), a Hooke hinge (232), a first spherical hinge (233), a Hooke hinge support (234) and a second motor (235), the fixed platform (24) is connected with the Hooke hinge support (234), one end of the telescopic rod (231) is connected with the Hooke hinge (232), the other end of the telescopic rod is connected with the first spherical hinge (233), and the second motor (235) is fixed on one side of the telescopic rod (231).
4. A high precision aero-engine on-wing repair series-parallel robot as claimed in claim 3, wherein: the movable platform (21) comprises a hollow beam (211), three first spherical hinge bases (212) with the same structure, a second spherical hinge base (213), two fixed rails (214) and four first sliding blocks (215), the hollow beam (211) is composed of a cross beam and a longitudinal beam, square holes are formed in the hollow beam, the first spherical hinge bases (212) are fixed on the fourth and fifth cross beams of the hollow beam (211), the first spherical hinge bases (212) are distributed in a triangular mode on the fourth and fifth cross beams of the hollow beam (211), the second spherical hinge bases (213) are fixed at the tail end of the fixed platform (21), a driving mechanism (13) of the detection maintenance mechanism (1) is connected with the base (5), the two first sliding blocks (215) are connected to the two sides of the bottom surface front end and the rear end of the base (5), the second sliding blocks (41) are connected to the center position of the bottom surface, the two fixed rails (214) are mounted on the two sides of the movable platform (21), and the two fixed rails (214) are connected with the two first sliding blocks (215).
5. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 4, wherein: the rear support (42) is arranged at the tail end of the eighth cross beam, the auxiliary support (43) is arranged at the front end of the eighth cross beam, the front support (47) is arranged at the front end of the first cross beam, the first screw rod (46) penetrates through the auxiliary support (43) and the front support (47) and is connected with one end of the first coupler (44), the screw rod (48) penetrates through the rear support (42), the auxiliary support (43) and two side holes of the front support (47), the center hole of the second slide block (41) is connected with the first screw rod (46) through threaded connection, the screw rod (48) penetrates through two side holes of the second slide block (41), and the first motor (45) is fixed on the rear support (42) and is connected with the other end of the first coupler (44).
6. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 5, wherein: the second branched chain (22) comprises a transverse sliding block (221), a limiting rod (222), a transverse sliding rail (223), a longitudinal sliding block (224), a longitudinal sliding rail (225), a third motor (226), a second connecting plate (227), a second spherical hinge (228), a longitudinal sliding rod (229), a transverse sliding rod (240) and a fourth motor (241), wherein the longitudinal sliding rail (225) is fixed on a fixed platform (24) through the second connecting plate (227), the longitudinal sliding rod (229) is matched with the longitudinal sliding block (224) through threads, the third motor (226) is connected with the longitudinal sliding rod (229), two ends of the transverse sliding rail (223) are connected with the longitudinal sliding block (224), the transverse sliding block (221) is connected with the transverse sliding rod (240), one end of the transverse sliding rod (240) is connected with the fourth motor (241), the limiting rod (222) is fixed on the transverse sliding block (221), the second spherical hinge (228) is fixed on the limiting rod (222), and a second spherical hinge base (213) on the fixed platform (21) is connected with a second spherical hinge (21) on the second branched chain (22) through threads, and the first spherical hinge (212) is connected with the first spherical hinge base (212).
7. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 6, wherein: the movable trolley (3) comprises a frame (31), wheels (32) and H supporting legs (33), the four H supporting legs (33) with the same structure are arranged on two sides of the fixed platform (24) at equal intervals, the wheels (32) are arranged on the front side and the rear side of the frame (31), and the fixed platform (24) is arranged on the frame (31).
8. The high-precision aero-engine on-wing maintenance series-parallel robot of claim 7, wherein: the driving mechanism (13) comprises a first connecting plate (111), a second connecting plate (112), a third connecting plate (113), a third coupling (114), a fifth motor (115), a guide rod (116), a third sliding block (117), a third lead screw (118), a fourth connecting plate (119), a connecting piece (130) and a support column (131), wherein the first connecting plate (111), the second connecting plate (112) and the third connecting plate (113) are sequentially fixed on the connecting piece (130), one end of the support column (131) is fixed on the first connecting plate (111), the other end of the support column is fixed on the fourth connecting plate (119), the third lead screw (118) penetrates through the first connecting plate (111) and the second connecting plate (112), one end of the third lead screw (118) is connected with the coupling (114), the guide rod (116) penetrates through the second connecting plate (112), two ends of the guide rod (116) are respectively fixed on the first connecting plate (111) and the second connecting plate (112), the fifth motor (115) is fixed on the third sliding block (117) penetrates through the guide rod (116) to be meshed with the third lead screw (118), the rope (136) penetrates through the third connecting plate (125), the third connecting plate (117) and the tail end of the third connecting plate (125) is fixed on the tail end of the joint, the NITI alloy support (124) penetrates through a guide hole of the joint connecting rod (125), one end of the NITI alloy support is fixed to the fourth connecting disc (119), the other end of the NITI alloy support is connected with the tail joint connecting rod (125), and the first connecting plate (111) and the third connecting plate (113) are fixed to the base (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310219400.0A CN116021502A (en) | 2023-03-09 | 2023-03-09 | High-precision aero-engine on-wing maintenance parallel-serial robot |
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| CN202310219400.0A CN116021502A (en) | 2023-03-09 | 2023-03-09 | High-precision aero-engine on-wing maintenance parallel-serial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566122A (en) * | 2023-12-20 | 2024-02-20 | 中国飞机强度研究所 | Automatic detection and maintenance device and method for damaged structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566122A (en) * | 2023-12-20 | 2024-02-20 | 中国飞机强度研究所 | Automatic detection and maintenance device and method for damaged structure |
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