CN216913817U - Flexible aircraft paint removal robot - Google Patents
Flexible aircraft paint removal robot Download PDFInfo
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- CN216913817U CN216913817U CN202220387975.4U CN202220387975U CN216913817U CN 216913817 U CN216913817 U CN 216913817U CN 202220387975 U CN202220387975 U CN 202220387975U CN 216913817 U CN216913817 U CN 216913817U
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- 239000003973 paint Substances 0.000 title claims abstract description 46
- 238000005498 polishing Methods 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000001681 protective effect Effects 0.000 claims description 21
- 241001282160 Percopsis transmontana Species 0.000 claims description 12
- 244000137852 Petrea volubilis Species 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 description 5
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000002904 solvent Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model provides a flexible aircraft paint removal robot, which comprises an execution mechanism and a control system, wherein the control system is connected with the execution mechanism in a control way; the actuating mechanism comprises a vehicle body, a rotating holder, a first section arm, a second section arm, an air compressor, a floating motor and a polishing head; the rotary cloud platform and the air compressor are arranged on the vehicle body, a first section arm is arranged on the rotary cloud platform, the tail end of the first section arm is rotatably connected with a second section arm, and a floating motor and a polishing head are arranged at the tail end of the second section arm; the floating motor and the air compressor are matched with the polishing head to drive the polishing head to float and rotate to remove paint. The utility model has the advantages that: (1) the intelligent degree is high, the efficiency is high, no harm is caused to people, the whole structure is simple, and the use is convenient; (2) a floating motor is arranged in the polishing head, and the floating motor drives the polishing head to realize micro floating of the position in space; by controlling the movement of the robot and the polishing head connected with the floating motor, the flexible polishing and paint removal of the polishing head along the axis of the airplane body can be realized.
Description
Technical Field
The utility model relates to the technical field of aircraft paint removal, in particular to a flexible aircraft paint removal robot.
Background
In the technical field of aerospace, the phenomena of aging, cracking, falling off and the like of a surface paint layer can occur after a plane is in service for a long time. In order to ensure the stability and safety of the airplane flying, the original paint layer must be removed periodically so as to be convenient for recoating the surface of the airplane.
The traditional aircraft skin paint removing mode mainly comprises manual polishing, a chemical solvent, a shot blasting process and the like, but the manual polishing is low in efficiency and easy to cause the risk of damaging an aircraft matrix by manual excessive polishing, the chemical solvent paint removing is easy to pollute the environment, the shot blasting process is low in efficiency and uncontrollable in quality, and serious potential safety hazards are brought to aircraft flight.
In view of the above problems, some new paint removing processes by using a paint removing robot have been started, however, the existing paint removing robot still has the following defects: (1) the structure is relatively complex and the use is inconvenient; (2) when the polishing structure is in contact with the surface of an airplane for paint removal, the contact force is not easy to master, excessive paint removal is easy to cause, the paint removal quality is affected, and the airplane base body is damaged in severe cases.
Accordingly, a flexible aircraft paint removing robot which is simple in structure, convenient to use and capable of achieving flexible polishing and paint removing is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a flexible aircraft paint removing robot which is simple in structure, convenient to use and capable of achieving flexible polishing and paint removal.
The utility model adopts the following technical scheme to solve the technical problems:
a flexible aircraft paint removal robot comprises an execution mechanism and a control system in control connection with the execution mechanism; the actuating mechanism comprises a vehicle body, a rotating holder, a first section arm, a second section arm, an air compressor, a floating motor and a polishing head; the rotary cloud platform and the air compressor are arranged on the vehicle body, a first section arm is arranged on the rotary cloud platform, the tail end of the first section arm is rotatably connected with a second section arm, and a floating motor and a polishing head are arranged at the tail end of the second section arm; the floating motor and the air compressor are matched with the polishing head to drive the polishing head to float and rotate so as to remove paint.
In a preferred aspect of the present invention, the vehicle body includes wheels, an axle, and a frame; the wheels are arranged at the bottom of the frame through axles and drive the vehicle body to move under the control of the control system.
As one preferable mode of the utility model, the polishing head comprises a roller, a viscous sand roller and sand paper; the roller is fixedly connected with the output end of the floating motor, the viscous sand roller is fixed on the periphery of the roller, and the sand paper is adhered to the periphery of the viscous sand roller; and under the drive of the floating motor, the roller and the viscous sand roller rotate and drive the sand paper to rotate outside the viscous sand roller.
As one of the preferable modes of the present invention, the rotating platform comprises a protective shell, a first servo motor, a shaft sleeve, a cloud disk, a first roller bearing, a first driving gear, a first driven gear, a gear ring, a protective cover and a second roller bearing;
the protective shell is fixed on the vehicle body, and the first servo motor, the shaft sleeve, the cloud disk, the first roller bearing, the first driving gear, the first driven gear and the gear ring are installed in the protective shell; the first servo motor is fixed on the vehicle body and is connected with a first output shaft through a shaft sleeve; the cloud disk is mounted at the upper end of a first output shaft of the first servo motor, the lower end of the cloud disk is fixedly connected with the first roller bearing, the upper end of the cloud disk is fixedly connected with the gear ring, and the upper end of the gear ring is fixedly connected with the first knuckle arm; in addition, a first driving gear and a first driven gear are further mounted on the cloud disk inside the gear ring, the first driving gear is connected with a first output shaft, the first driven gear is meshed with the first driving gear, and the gear ring is meshed with the first driven gear; under the drive of the first servo motor, the first output shaft is linked with the first driving gear, the first driven gear and the gear ring to drive the first knuckle arm and the second knuckle arm to rotate;
the protective cover is fixed on the vehicle body, and the second roller bearing is installed in the protective cover; the second roller bearing is sleeved on the periphery of the first knuckle arm and used for rotatably supporting the first knuckle arm and the second knuckle arm.
In a preferred embodiment of the present invention, the first link arm includes a first driven arm, a first driving arm, a second servo motor, a first lead screw, a first propulsion plate, and a first fixed plate; the first driven arm is connected with the gear ring, and a second servo motor is installed in the first driven arm; the second servo motor is connected with a first lead screw through a second output shaft, a first propelling piece is mounted on the body of the first lead screw, and a first fixing piece is fixed at the tail end of the first lead screw; the first driving arm is sleeved outside the first driven arm and inside the second roller bearing, and the inner wall of the first driving arm is fixedly connected with the first fixing plate; the first propelling piece is fixedly connected with the first driven arm; when the first lead screw rotates under the driving of the second servo motor, the first lead screw is in spiral transmission with the first propelling piece and the first fixing piece, and drives the first driven arm to perform telescopic motion relative to the first driving arm, so that the first knuckle arm is lifted.
In a preferred embodiment of the present invention, the second link arm includes a second driven arm, a second driving arm, a third servo motor, a second lead screw, a second propulsion plate, and a second fixed plate; the second driven arm is rotatably connected with the first section arm and is internally provided with a third servo motor; the third servo motor is connected with a second lead screw through a third output shaft, a second propelling piece is mounted on the shaft body of the second lead screw, and a second fixing piece is fixed at the tail end of the second lead screw; the second driving arm is sleeved outside the second driven arm, and the inner wall of the second driving arm is fixedly connected with the second fixing piece; the second propelling piece is fixedly connected with a second driven arm; when the second lead screw rotates under the driving of the third servo motor, the second lead screw is in spiral transmission with the second propelling piece and the second fixing piece, and drives the second driven arm to perform telescopic motion relative to the second driving arm, so that the horizontal telescopic motion of the second knuckle arm is realized.
As one preferable mode of the present invention, the second arm is connected to the first arm in a rotating manner by the cooperation of the rotating bearing, the fourth servo motor, the second driving gear and the second driven gear; the second section arm is connected to the inside of the first section arm through a rotating bearing, and the fourth servo motor is fixedly connected to the tail end of the first section arm and used for driving the first section arm and the second section arm to rotate relatively; meanwhile, the second driving gear is arranged at the output end of the fourth servo motor, and a second driven gear is sleeved on the rotating bearing and meshed with the second driving gear; and the torque of the fourth servo motor is transmitted to the second driven gear through the mutually meshed second driving gears, so that the relative rotation between the first knuckle arm and the second knuckle arm is realized.
As one preferable mode of the present invention, the control system is specifically installed on the vehicle body, and is respectively connected to the air compressor, the rotating pan-tilt, the first arm, and the second arm in a control manner.
Control and use method and principle of robot
The control system realizes the integral movement of the paint removing robot by controlling wheels (the wheels are driven by a motor which is controlled by the control system), realizes the rotation of the mechanical arm by controlling a first servo motor, realizes the extension and contraction of the first section of arm by controlling a second servo motor, realizes the relative rotation of the first section of arm and the second section of arm by controlling a fourth servo motor, and realizes the extension and contraction of the second section of arm by controlling a third servo motor. When the robot moves to a target position, the control system controls the floating motor by controlling the air compressor (providing power for the floating motor), the floating motor is connected with the polishing head to realize micro-floating in space, and the polishing head flexibly rolls along one region of the robot body.
Compared with the prior art, the utility model has the advantages that:
(1) the utility model carries out physical paint removal by means of the robot, has high intelligent degree, high efficiency and no harm to people, and has simple integral structure and convenient use;
(2) the flexible aircraft paint removal robot is internally provided with the floating motor, and the floating motor drives the polishing head to realize micro floating of the position in space; by controlling the movement of the robot and the polishing head connected with the floating motor, the flexible polishing and paint removal of the polishing head along the axis of the airplane body can be realized, and excessive paint removal is avoided, so that the airplane base body is damaged.
Drawings
FIG. 1 is a schematic overall structure diagram of a flexible aircraft paint removal robot in embodiment 1;
FIG. 2 is a front view structural diagram of FIG. 1;
FIG. 3 is a block diagram of the flexible aircraft paint removal robot of FIG. 2 after rotating and extending the first and second jointed arms;
FIG. 4 is a sectional view of the interior of the flexible aircraft paint removal robot of FIG. 3;
fig. 5 is a partially enlarged sectional view of the rotary pan/tilt head and its peripheral structure in embodiment 1;
FIG. 6 is a view showing a cloud disk and its peripheral structure in accordance with example 1;
fig. 7 is a view showing the internal structure of the pivot fitting of the first joint arm and the second joint arm in embodiment 1.
In the figure: 1 is an actuating mechanism, 11 is a vehicle body, 111 is a wheel, 112 is an axle, 113 is a vehicle frame, 12 is a rotating pan/tilt head, 120 is a protective shell, 121 is a first servo motor, 1211 is a first output shaft, 122 is a shaft sleeve, 123 is a cloud disk, 124 is a first roller bearing, 125 is a first driving gear, 126 is a first driven gear, 127 is a gear ring, 128 is a protective cover, 129 is a second roller bearing, 13 is a first knuckle arm, 131 is a first driven arm, 132 is a first driving arm, 133 is a second servo motor, 1331 is a second output shaft, 134 is a first lead screw, 135 is a first propulsion blade, 136 is a first fixed plate, 14 is a second knuckle arm, 141 is a second driving arm, 1411 is a rotary bearing, 1412 is a fourth servo motor, 1413 is a second driving gear, 1414 is a second driven gear, 1415 is a protective cover, 142 is a second driving arm, 143 is a third servo motor, 144 is a second lead screw, 145 is a second propelling piece, 146 is a second fixing piece, 15 is an air compressor, 16 is a floating motor, 17 is a polishing head, 171 is a roller, 172 is a viscous abrasive roller, 173 is abrasive paper, and 2 is a control system.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
As shown in fig. 1 to 7, the flexible aircraft paint removing robot of the present embodiment includes an executing mechanism 1 and a control system 2 connected to the executing mechanism 1 in a controlling manner. Referring to fig. 1 and 2, the actuator 1 includes a vehicle body 11, a rotary head 12, a first arm 13, a second arm 14, an air compressor 15, a floating motor 16, and a polishing head 17. The rotating cloud platform 12 and the air compressor 15 are installed on the vehicle body 11, a first section arm 13 is installed on the rotating cloud platform 12, the tail end of the first section arm 13 is rotatably connected with a second section arm 14, and a floating motor 16 and a polishing head 17 are installed at the tail end of the second section arm 14. Wherein, the floating motor 16 and the air compressor 15 are matched with the polishing head 17 to drive the polishing head 17 to float and rotate for removing paint. The control system 2 is installed on the vehicle body 11 and is respectively connected with the air compressor 15, the rotating tripod head 12, the first knuckle arm 13 and the second knuckle arm 14 in a control mode.
In the embodiment, the control system 2 can drive and control the vehicle body 11 to move to a specified position, and floating grinding of the aircraft body is realized through the cooperation of the rotating holder 12, the first section arm 13 and the second section arm 14 and the linkage cooperation among the air compressor 15, the floating motor 16 and the grinding head 17.
Further, in the present embodiment, referring to fig. 2, the vehicle body 11 includes wheels 111, axles 112, and a frame 113. The wheels 111 are mounted at the bottom of the frame 113 through the axles 112, and drive the vehicle body 11 to move along a planned path under the control of the control system 2.
Referring to fig. 3, the sanding head 17 includes a roller 171, an adhesive sanding roller 172, and sandpaper 173. The roller 171 is fixedly connected to an output end of the floating motor 16, the adhesive sand roll 172 is fixed to an outer periphery of the roller 171, and the sand paper 1773 is bonded to an outer periphery of the adhesive sand roll 172. Under the driving of the floating motor 16, the roller 171 drives the viscous sand roller 172 to rotate, and then drives the sand paper 173 on the viscous sand roller 172 to rotate and polish the airplane body.
The vehicle body 11 of the embodiment can be controlled and driven by the control system 2, and walks through the wheels 111, and meanwhile, is matched with the polishing head 17 of the flexible robot to perform rotary polishing; in addition, it should be noted that the sandpaper 173 of this embodiment can be replaced at any time according to wear and requirements.
Further, in the present embodiment, referring to fig. 5 and 6, the rotating platform 12 includes a protective shell 120, a first servo motor 121, a shaft sleeve 122, a cloud disk 123, a first roller bearing 124, a first driving gear 125, a first driven gear 126, a ring gear 127, a protective cover 128, and a second roller bearing 129.
The protective shell 120 is fixed to the frame 113, and a first servo motor 121, a shaft sleeve 122, a cloud disk 123, a first roller bearing 124, a first driving gear 125, a first driven gear 126 and a ring gear 127 are installed in the protective shell. The first servo motor 121 is fixed on the frame 113 and is connected with a first output shaft 1211 through a shaft sleeve 122; the cloud disk 123 is mounted on the upper end of the first output shaft 1211, the lower end of the cloud disk 123 is fixedly connected with the first roller bearing 124, the upper end of the cloud disk 123 is fixedly connected with the gear ring 127, and the upper end of the gear ring 127 is fixedly connected with the first knuckle arm 13. In addition, a first driving gear 125 and a first driven gear 126 are further mounted on the cloud disk 123 inside the gear ring 127, the first driving gear 125 is connected with the first output shaft 1211, the first driven gear 126 is meshed with the first driving gear 125, and the gear ring 127 is meshed with the first driven gear 126. Under the driving of the first servo motor 121, the first output shaft 1211 is linked with the first driving gear 125, the first driven gear 126 and the ring gear 127, so as to drive the first arm 13 and the second arm 14 to rotate integrally.
A shield cover 128 is also secured to the frame 113 and has a second roller bearing 129 mounted therein. The second roller bearing 129 is fitted around the outer periphery of the first knuckle arm 13 and is used for rotatably supporting the first knuckle arm 13 and the second knuckle arm 14.
Further, in the present embodiment, referring to fig. 4, the first knuckle arm 13 includes a first driven arm 131, a first driving arm 132, a second servo motor 133, a first lead screw 134, a first pushing plate 135 and a first fixing plate 136. The first driven arm 131 is fixedly connected with the gear ring 127, and a second servo motor 133 is installed in the first driven arm; the second servo motor 133 is connected to the first lead screw 134 through a second output shaft 1331, a first propelling plate 135 is mounted on the shaft body of the first lead screw 134, and a first fixing plate 136 is fixed at the end of the first lead screw 134. The first driving arm 132 is sleeved outside the first driven arm 131 and inside the second roller bearing 129, and the inner wall thereof is fixedly connected with the first fixing plate 136. The first propelling plate 135 is further fixedly connected with the first driven arm 131; when the first lead screw 134 is driven by the second servo motor 133 to rotate, the first lead screw 134, the first propelling piece 135 and the first fixing piece 136 are in screw transmission to drive the first driven arm 131 to perform telescopic motion relative to the first driving arm 132, so as to realize the lifting of the first knuckle arm 13.
Meanwhile, the second knuckle arm 14 includes a second driven arm 141, a second driving arm 142, a third servo motor 143, a second lead screw 144, a second pushing piece 145 and a second fixing piece 146. The second driven arm 141 is rotatably connected with the first driving arm 132, and a third servo motor 143 is installed in the second driven arm; the third servo motor 143 is connected with a second lead screw 144 through a third output shaft, a second propelling piece 145 is installed on the shaft body of the second lead screw 144, and a second fixing piece 146 is fixed at the tail end of the second lead screw 144; the second driving arm 142 is sleeved outside the second driven arm 141, and the inner wall thereof is fixedly connected with the second fixing plate 146. The second propelling plate 145 is further fixedly connected with the second driven arm 141; when the second lead screw 144 is driven by the third servo motor 143 to rotate, the second lead screw 144, the second propelling piece 145 and the second fixing piece 146 are in screw transmission, so as to drive the second driven arm 141 to perform telescopic motion relative to the second driving arm 142, thereby realizing the telescopic motion of the second knuckle arm 14.
Further, referring to fig. 1 and fig. 7, the second driven arm 141 is connected to the first driving arm 132 through the rotation bearing 1411, the fourth servo motor 1412, the second driving gear 1413 and the second driven gear 1414. The second driven arm 141 is connected inside the first driving arm 132 through a rotary bearing 1411, and the fourth servo motor 1412 is fixedly connected to the end of the first driving arm 132 and is used for driving the second driven arm 141 and the first driving arm 132 to rotate relatively; meanwhile, a second driving gear 1413 is installed at an output end of the fourth servo motor 1412, and a second driven gear 1414 is sleeved on the rotary bearing 1411 and meshed with the second driving gear 1413. The torque of the fourth servo motor 1412 is transmitted to the second driven gear 1414 through the second driving gear 1413 engaged with each other, so that the first pitch arm 13 and the second pitch arm 14 rotate relatively to each other.
In addition, a protective cover 1415 is further mounted at the joint of the first driving arm 132 and the second driven arm 141; the protective cover 1415 is used for preventing the paint removing environment from influencing the transmission between the gears, and further influencing the normal work of the flexible aircraft paint removing robot.
The using method comprises the following steps:
the control system 2 controls the wheels 111 (the wheels 11 are driven by the motor, and the motor is controlled by the control system 2) to realize the integral movement of the paint removing robot, controls the first servo motor 121 to realize the rotation of the mechanical arm, controls the second servo motor 133 to realize the extension and retraction of the first knuckle arm 13, controls the fourth servo motor 1412 to realize the relative rotation of the first knuckle arm 13 and the second knuckle arm 14, and controls the third servo motor 143 to realize the extension and retraction of the second knuckle arm 14. When the robot moves to a target position, the control system 2 controls the floating motor 16 by controlling the air compressor 15 (providing power for the floating motor 16), the floating motor 16 is connected with the polishing head 17 to realize micro-floating in space, and the polishing head 17 flexibly rolls along one region of the robot body to realize flexible paint removal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A flexible aircraft paint removal robot is characterized by comprising an execution mechanism and a control system in control connection with the execution mechanism; the actuating mechanism comprises a vehicle body, a rotating holder, a first section arm, a second section arm, an air compressor, a floating motor and a polishing head; the rotary cloud platform and the air compressor are arranged on the vehicle body, a first section arm is arranged on the rotary cloud platform, the tail end of the first section arm is rotatably connected with a second section arm, and a floating motor and a polishing head are arranged at the tail end of the second section arm; the floating motor and the air compressor are matched with the polishing head to drive the polishing head to float and rotate so as to remove paint.
2. The flexible aircraft paint removal robot of claim 1, wherein the vehicle body comprises wheels, axles and a frame; the wheels are arranged at the bottom of the frame through axles and drive the vehicle body to move under the control of the control system.
3. The flexible aircraft paint removal robot of claim 1, wherein the sanding head comprises a roller, a viscous sand roller, and sand paper; the roller is fixedly connected with the output end of the floating motor, the viscous sand roller is fixed on the periphery of the roller, and the sand paper is adhered to the periphery of the viscous sand roller; and under the drive of the floating motor, the roller and the viscous sand roller rotate and drive the sand paper to rotate outside the viscous sand roller.
4. The flexible aircraft paint removal robot of claim 1, wherein the rotating pan head comprises a protective shell, a first servo motor, a shaft sleeve, a cloud disk, a first roller bearing, a first driving gear, a first driven gear, a gear ring, a protective cover and a second roller bearing;
the protective shell is fixed on the vehicle body, and the first servo motor, the shaft sleeve, the cloud disk, the first roller bearing, the first driving gear, the first driven gear and the gear ring are installed in the protective shell; the first servo motor is fixed on the vehicle body and is connected with a first output shaft through a shaft sleeve; the cloud disk is mounted at the upper end of a first output shaft of the first servo motor, the lower end of the cloud disk is fixedly connected with the first roller bearing, the upper end of the cloud disk is fixedly connected with the gear ring, and the upper end of the gear ring is fixedly connected with the first knuckle arm; in addition, a first driving gear and a first driven gear are further mounted on the cloud disk inside the gear ring, the first driving gear is connected with a first output shaft, the first driven gear is meshed with the first driving gear, and the gear ring is meshed with the first driven gear; under the drive of the first servo motor, the first output shaft is linked with the first driving gear, the first driven gear and the gear ring to drive the first knuckle arm and the second knuckle arm to rotate;
the protective cover is fixed on the vehicle body, and the second roller bearing is installed in the protective cover; the second roller bearing is sleeved on the periphery of the first knuckle arm and used for rotatably supporting the first knuckle arm and the second knuckle arm.
5. The flexible aircraft paint removal robot of claim 4, wherein the first knuckle arm comprises a first driven arm, a first driving arm, a second servo motor, a first lead screw, a first propulsion plate and a first fixing plate; the first driven arm is connected with the gear ring, and a second servo motor is installed in the first driven arm; the second servo motor is connected with a first lead screw through a second output shaft, a first propelling piece is mounted on the body of the first lead screw, and a first fixing piece is fixed at the tail end of the first lead screw; the first driving arm is sleeved outside the first driven arm and inside the second roller bearing, and the inner wall of the first driving arm is fixedly connected with the first fixing plate; the first propelling piece is fixedly connected with the first driven arm; when the first lead screw rotates under the driving of the second servo motor, the first lead screw is in spiral transmission with the first propelling piece and the first fixing piece, and drives the first driven arm to perform telescopic motion relative to the first driving arm.
6. The flexible aircraft paint removal robot of claim 4, wherein the second knuckle arm comprises a second driven arm, a second driving arm, a third servo motor, a second lead screw, a second propulsion plate and a second fixing plate; the second driven arm is rotatably connected with the first section arm and is internally provided with a third servo motor; the third servo motor is connected with a second lead screw through a third output shaft, a second propelling piece is mounted on the shaft body of the second lead screw, and a second fixing piece is fixed at the tail end of the second lead screw; the second driving arm is sleeved outside the second driven arm, and the inner wall of the second driving arm is fixedly connected with the second fixing piece; the second propelling piece is fixedly connected with the second driven arm; when the second lead screw rotates under the driving of the third servo motor, the second lead screw is in spiral transmission with the second propelling piece and the second fixing piece, and drives the second driven arm to perform telescopic motion relative to the second driving arm.
7. The flexible aircraft paint removal robot of claim 6, wherein the second knuckle arm is rotatably connected with the first knuckle arm by matching a rotary bearing, a fourth servo motor, a second driving gear and a second driven gear; the second section arm is connected to the inside of the first section arm through a rotating bearing, and the fourth servo motor is fixedly connected to the tail end of the first section arm and used for driving the first section arm and the second section arm to rotate relatively; meanwhile, the second driving gear is arranged at the output end of the fourth servo motor, and the second driven gear is sleeved on the rotating bearing and meshed with the second driving gear; and the torque of the fourth servo motor is transmitted to the second driven gear through the mutually meshed second driving gears, so that the relative rotation between the first knuckle arm and the second knuckle arm is realized.
8. The flexible aircraft paint removal robot as claimed in any one of claims 1-7, wherein the control system is specifically mounted on the vehicle body and is respectively in control connection with the air compressor, the rotating pan-tilt, the first arm and the second arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220387975.4U CN216913817U (en) | 2022-02-24 | 2022-02-24 | Flexible aircraft paint removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220387975.4U CN216913817U (en) | 2022-02-24 | 2022-02-24 | Flexible aircraft paint removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216913817U true CN216913817U (en) | 2022-07-08 |
Family
ID=82267251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220387975.4U Expired - Fee Related CN216913817U (en) | 2022-02-24 | 2022-02-24 | Flexible aircraft paint removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216913817U (en) |
-
2022
- 2022-02-24 CN CN202220387975.4U patent/CN216913817U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220708 |