CAJ | 학술논문

为提高飞机油箱检查的可靠性及安全性,降低维修人员的工作强度,研究了一种油箱检查机器人,能代替检修人员进入油箱检查缺陷.设计了机器人整体结构,提出能进行运动模式切换的轮履复合式移动机构,以适应飞机油箱多桁条多隔舱环境.基于远程操控及无线视频传输技术建立控制系统结构,以便工作人员能在监控站方便的操控机器人及查看油箱内场景.实验结果表明,该机器人工作稳定可靠,验证了设计方案的合理性及可行性.
위제고비궤유상검사적가고성급안전성,강저유수인원적공작강도,연구료일충유상검사궤기인,능대체검수인원진입유상검사결함.설계료궤기인정체결구,제출능진행운동모식절환적륜리복합식이동궤구,이괄응비궤유상다항조다격창배경.기우원정조공급무선시빈전수기술건립공제계통결구,이편공작인원능재감공참방편적조공궤기인급사간유상내장경.실험결과표명,해궤기인공작은정가고,험증료설계방안적합이성급가행성.
To improve reliability and security of the aircraft fuel tank inspection and decrease labor intensity of maintenance personnel,a inspection robot is developed.It can enter the fuel tank and inspect defects to replace maintenance workers.Wheei-tracked mobile mechanism is proposed to adapt to the particular structure of aircraft fuel tank with ribs and stringers,which can be used to implement switching motion mode.By means of remote control and wireless video transmission,control system structure is constructed so that the worker can operate the robot and observe the scenario of fuel tank conveniently in the control station.Experimental results show that the performance of the robot is stable and reliable,and the design is reasonable and feasible.