A large-stroke aero-engine in-wing maintenance hybrid robot

Abstract

This invention discloses a long-stroke on-wing maintenance hybrid robot for aero-engines, comprising a continuum mechanism, a moving vehicle, and a series attitude adjustment mechanism. The continuum mechanism includes a drive mechanism, a robotic arm segment, and an end effector. The drive mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, a first coupling, a first motor, a guide rod, a first slider, a first lead screw, a fourth connecting plate, a connector, and a support column. The first, second, and third connecting plates are sequentially fixed to the connector. One end of the support column is fixed to the first connecting plate, and the other end is fixed to the fourth connecting plate. The first lead screw passes through the first and second connecting plates and is connected at one end to the coupling. The guide rod passes through the second connecting plate and is fixed at both ends to the first and second connecting plates, respectively. This hybrid robot has advantages such as convenient movement, long stroke, and strong adaptability, and can be well applied to aero-engine maintenance operations.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a hybrid robot for on-wing maintenance of long-stroke aircraft engines. Background Technology

[0002] The safety of aircraft engines has always been a major concern, and ensuring their normal operation is crucial to reducing accidents. Currently, engine maintenance is primarily manual. Large-scale overhauls require removing the engine from the aircraft wing, while small-scale overhauls cannot access the engine's internal components. Manual maintenance is susceptible to many human factors, leading to inconsistent efficiency, high costs, and low productivity. Furthermore, the complex and harsh working environment poses certain safety risks to maintenance personnel. Summary of the Invention

[0003] The purpose of this invention is to provide a hybrid robot for on-wing maintenance of long-stroke aircraft engines, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a long-stroke on-wing maintenance hybrid robot for aero engines, comprising a continuum mechanism, a moving vehicle and a series attitude adjustment mechanism, wherein the continuum mechanism includes a drive mechanism, a robotic arm segment and an end effector.

[0005] Preferably, the driving mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, a first coupling, a first motor, a guide rod, a first slider, a first lead screw, a fourth connecting plate, a connecting member, and a support column. The first connecting plate, the second connecting plate, and the third connecting plate are sequentially fixed to the connecting member. One end of the support column is fixed to the first connecting plate, and the other end is fixed to the fourth connecting plate. The first lead screw passes through the first connecting plate and the second connecting plate, and one end is connected to the coupling. The guide rod passes through the second connecting plate, and both ends are fixed to the first connecting plate and the second connecting plate, respectively. The first motor is fixed to the third connecting plate. The first slider passes through the guide rod and meshes with the first lead screw. One end of the driving rope is fixed to the first slider and passes through the first connecting plate, the fourth connecting plate, and the joint connecting rod. The end of the driving rope is fixed to the end joint connecting rod.

[0006] Preferably, the robotic arm segment is composed of multiple single-joint arm segments, each single-joint arm segment is composed of multiple joint links, each single-joint arm segment is connected to three drive ropes, each joint link is provided with a NITI support rod, and the NITI support rod passes through the guide hole of the joint link. One end of the NITI support rod is fixed to the fourth connecting plate, and the other end of the NITI support rod is connected to the end joint link. The first connecting plate and the third connecting plate are fixed to the second base.

[0007] Preferably, the mobile vehicle includes a body, wheels and H-legs, with wheels installed on the front and rear sides of the body, four H-legs arranged on both sides of the body, and a support platform at the center of the body.

[0008] Preferably, the tandem attitude adjustment mechanism mainly includes a first base, a first link, a second link, a third link, a fourth link, a fifth link, and a sixth link. The first base includes a first support, a support plate, a pinion, and a first joint motor. One end of the first support is fixed to the support platform of the vehicle body, and the other end of the first support is connected to the support plate. The first joint motor is fixed to one side of the support plate, and the shaft of the first joint motor passes through the support plate and connects to the pinion. The second support connects two identical thrust bearings and an angular contact ball bearing. The angular contact ball bearing is located between the two thrust bearings. The bearing baffle is connected to the second support. The large gear is fixed to the first... The second support meshes with the small gear. The first connecting rod is fixed to the surface of the large gear. The protective shell is fixed to the support plate. The second joint base is fixed to the first connecting rod and connected to the front support of the second joint on one side. The other side of the second joint base is connected to the auxiliary support of the second joint. The rear support of the second joint is fixed to the auxiliary support of the second joint. The worm gear passes through the front support and the auxiliary support of the second joint and is connected to the coupling of the second joint at one end. The other end of the worm gear is fixed by an end cap. The second joint motor is fixed to the rear support of the second joint. The shaft of the second joint motor passes through the rear support of the second joint and is connected to the coupling of the second joint. The gear and the second connecting rod are fixed to the shaft of the second joint. The second joint shaft passes through the second joint base. The third link connects to the second link. One end of the telescopic rod connects to the third link and the other end connects to the second link. The third joint motor is fixed to the bottom of the telescopic rod. The front support of the fourth link is fixed to the front end of the third joint. The auxiliary support of the fourth link is fixed to the middle of the third joint. The second lead screw passes through the front support and the auxiliary support of the fourth link and is connected to the fourth link coupling at one end. The fourth joint motor is fixed to the third link and connected to the fourth link coupling. The second slider meshes with the second lead screw. The fourth link is connected to the second slider through the fourth link shaft. The fifth link base is fixed to the fourth link. The upper surface of the connecting rod end and both ends are fixed with fifth connecting rod auxiliary supports of the same structure. The two identical fifth joint motors are respectively fixed on one side of the two fifth connecting rod auxiliary supports and connected to the fifth connecting rod coupling. The two identical fifth connecting rod shafts pass through the fifth connecting rod base and are connected to the fifth connecting rod coupling. The fifth connecting rod is connected to the fifth connecting rod base. The sixth connecting rod is connected to the fifth connecting rod. The two identical first helical gears are respectively connected to the fifth connecting rod shaft. The second helical gear is connected to the sixth connecting rod shaft. Two of the three identical baffles are respectively connected to one side of the fifth connecting rod shaft and the third is connected to the sixth connecting rod shaft. The second base is fixed to the sixth connecting rod.

[0009] Preferably, each joint link has a drive rope hole evenly distributed on it, and each joint link has four weight-reducing holes and weight-reducing grooves at its center.

[0010] Preferably, the robotic arm segment can be selected as one single-joint arm segment or multiple single-joint arm segments connected in series, and each single-joint arm segment can be selected as one joint link or multiple joint links connected in series.

[0011] Preferably, the series attitude adjustment mechanism can be configured by selecting appropriate connecting rods to achieve the required degrees of freedom.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. The present invention adopts a combination of a series attitude adjustment mechanism and a continuous body mechanism, which has the advantages of the series attitude adjustment mechanism with a large stroke, and can also be combined with the continuous body mechanism to realize operation in narrow spaces.

[0014] 2. In this invention, some joints of the series posture adjustment mechanism adopt differential joints, which are small in size, light in weight, compact in structure, and have strong resistance to load disturbance. At the same time, the dual motor drive can effectively improve the stiffness of the output shaft.

[0015] 3. The mobile vehicle in this invention makes it easier for the long-stroke aircraft engine on-wing maintenance hybrid robot to move, and can quickly move to the next task after completing one task, thus improving work efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the hybrid robot structure for on-wing maintenance of long-stroke aero-engines according to the present invention;

[0017] Figure 2 This is a schematic diagram of the first joint structure of the series posture adjustment mechanism in this invention;

[0018] Figure 3 This is a schematic diagram of the second support structure in this invention;

[0019] Figure 4 This is a schematic diagram of the second joint structure of the series posture adjustment mechanism in this invention;

[0020] Figure 5 This is a schematic diagram of the third joint structure of the series posture adjustment mechanism in this invention;

[0021] Figure 6 This is a schematic diagram of the fourth link structure of the series attitude adjustment mechanism in this invention;

[0022] Figure 7 This is a schematic diagram of the fifth and sixth joints of the series posture adjustment mechanism in this invention;

[0023] Figure 8 This is a schematic diagram of the robotic arm segment structure of the continuum mechanism in this invention;

[0024] Figure 9 This is a schematic diagram of a single-joint arm segment of the robotic arm in this invention;

[0025] Figure 10 This is a schematic diagram of the joint linkage structure of the robotic arm segment in this invention;

[0026] Figure 11 A schematic diagram of the driving mechanism structure of the continuum mechanism in this invention.

[0027] In the diagram: 1. Continuous mechanism; 11. Drive mechanism; 111. First connecting plate; 112. Second connecting plate; 113. Third connecting plate; 114. First coupling; 115. First motor; 116. Guide rod; 117. First slider; 118. First lead screw; 119. Fourth connecting plate; 130. Connector; 131. Support column; 12. Robotic arm segment; 120. Single-joint arm segment; 121. Joint link; 122. NITI support rod; 123. Drive. Rope; 124. Drive rope hole; 125. Guide hole; 126. Weight reduction groove; 127. Weight reduction hole; 2. Serial attitude adjustment mechanism; 21. First base; 211. First support; 212. Support plate; 213. Small gear; 214. First joint motor; 22. First connecting rod; 221. Large gear; 222. Second support; 223. Thrust bearing; 224. Angular contact ball bearing; 225. Bearing baffle; 23. Second connecting rod; 231. Second joint front support; 23 2. Second joint base; 233. Second joint auxiliary support; 234. Second joint rear support; 235. Worm gear; 236. Second joint coupling; 237. End cap; 238. Second joint shaft; 239. Gear; 24. Third link; 241. Telescopic rod; 242. Third joint motor; 25. Fourth link; 251. Fourth link front support; 252. Fourth link shaft; 253. Second slider; 254. Second lead screw; 255. Fourth link auxiliary support; 256. Fourth link coupling; 257. Fourth joint motor; 26. Fifth link; 261. Fifth link shaft; 262. Baffle; 263. First helical gear; 264. Fifth link auxiliary support; 265. Fifth joint motor; 266. Fifth link base; 267. Fifth link coupling; 27. Sixth link; 271. Sixth link shaft; 28. Second base; 3. Moving vehicle; 31. Vehicle body; 311. Support platform; 32. Wheel; 33. H-leg. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-11 The present invention provides a technical solution: a long-stroke on-wing maintenance hybrid robot for aero engines, comprising a continuum mechanism 1, a mobile vehicle 3, and a series attitude adjustment mechanism 2, characterized in that: the continuum mechanism 1 includes a drive mechanism 11, a robotic arm segment 12, and an end effector 13, the end effector 13 is replaced by a cylinder, representing a graphics acquisition device, the end effector 13 can be configured according to specific working conditions, has no specific structure, and its main function is the identification, diagnosis, and repair of fault points;

[0030] The drive mechanism 11 includes a first connecting plate 111, a second connecting plate 112, a third connecting plate 113, a first coupling 114, a first motor 115, a guide rod 116, a first slider 117, a first lead screw 118, a fourth connecting plate 119, a connecting member 130, and a support column 131. The first connecting plate 111, the second connecting plate 112, and the third connecting plate 113 are sequentially fixed to the connecting member 130. One end of the support column 131 is fixed to the first connecting plate 111, and the other end is fixed to the fourth connecting plate 119. The first lead screw 118 passes through the first connecting plate 119. Plate 111 and second connecting plate 112 are connected at one end to coupling 114. Guide rod 116 passes through second connecting plate 112 and is fixed at both ends to first connecting plate 111 and second connecting plate 112 respectively. First motor 115 is fixed to third connecting plate 113. First slider 117 passes through guide rod 116 and meshes with first lead screw 118. One end of drive rope 123 is fixed to first slider 117 and passes through first connecting plate 111, fourth connecting plate 119 and joint connecting rod 121. The end of drive rope 123 is fixed to end joint connecting rod 121.

[0031] The robotic arm segment 12 is composed of multiple single-joint arm segments 120, each single-joint arm segment 120 is composed of multiple joint links 121, and each single-joint arm segment 120 is connected to three drive ropes 123. The joint link 121 is provided with a NITI support rod 122, and the NITI support rod 122 passes through the guide hole 125 of the joint link 121. One end of the NITI support rod 122 is fixed to the fourth connecting plate 119, and the other end of the NITI support rod 122 is connected to the end joint link 121. The first connecting plate 111 and the third connecting plate 113 are fixed to the second base 28.

[0032] The mobile vehicle 3 includes a body 31, wheels 32 and H-legs 33. The wheels 32 are installed on the front and rear sides of the body 31, and four H-legs 33 are arranged on the sides of the body 31. There is a support platform 311 in the center of the body 31.

[0033] The tandem attitude adjustment mechanism 2 mainly includes a first base 21, a first connecting rod 22, a second connecting rod 23, a third connecting rod 24, a fourth connecting rod 25, a fifth connecting rod 26, and a sixth connecting rod 27. The first base 21 includes a first support 211, a support plate 212, a pinion 213, and a first joint motor 214. One end of the first support 211 is fixed to the support platform 311 of the vehicle body 31, and the other end of the first support 211 is connected to the support plate 212. The first joint motor 214 is fixed to one side of the support plate 212, and the shaft of the first joint motor 214 passes through the support plate 212 and connects to the pinion 213. The second support 222 connects two identical thrust bearings 223 and an angular contact ball bearing 224. The angular contact ball bearing 224 is located on the two thrust shafts. Between bearings 223, bearing baffle 225 connects to second support 222. Large gear 221 is fixed on second support 222 and meshes with small gear 213. First connecting rod 22 is fixed to the surface of large gear 221. Protective shell 228 is fixed to support plate 212. Second joint base 232 is fixed to first connecting rod 22 and connected to second joint front support 231 on one side. Second joint base 232 is connected to second joint auxiliary support 233 on the other side. Second joint rear support 234 is fixed to second joint auxiliary support 233. Worm 235 passes through second joint front support 231 and second joint auxiliary support 233 and is connected to second joint coupling 236 at one end. The other end of worm 235 is fixed by end cap 237. Second joint motor 240 is fixed to second joint. The shaft of the second joint motor 240 passes through the second joint rear support 234 and connects to the second joint coupling 236. Gear 239 and second connecting rod 23 are fixed to the second joint shaft 238, which passes through the second joint base 232. The third connecting rod 24 connects to the second connecting rod 23. One end of the telescopic rod 241 connects to the third connecting rod 24, and the other end connects to the second connecting rod 23. The third joint motor 242 is fixed to the bottom of the telescopic rod 241. The fourth connecting rod front support 251 is fixed to the front end of the third joint 24. The fourth connecting rod auxiliary support 255 is fixed to the middle of the third joint 24. The second lead screw 254 passes through the fourth connecting rod front support 251 and the fourth connecting rod auxiliary support 255, and one end connects to the fourth connecting rod coupling 256. The fourth joint motor 257 is fixed to the third link 24 and connected to the fourth link coupling 256. The second slider 253 meshes with the second lead screw 254. The fourth link 25 is connected to the second slider 253 via the fourth link shaft 252. The fifth link base 266 is fixed to the upper surface of the end of the fourth link 25, and both ends are fixed with fifth link auxiliary supports 264 of the same structure. Two identical fifth joint motors 265 are respectively fixed to one side of the two fifth link auxiliary supports 264 and connected to the fifth link coupling 267. Two identical fifth link shafts 261 pass through the fifth link base 266 and are connected to the fifth link coupling 267. The fifth link 26 is connected to the fifth link base 266, and the sixth link 27 is connected to the fifth link 26.Two identical first helical gears 263 are connected to the fifth connecting rod shaft 261, and a second helical gear 272 is connected to the sixth connecting rod shaft 271. Two of the three identical baffles 262 are connected to one side of the fifth connecting rod shaft 261, and the third is connected to the sixth connecting rod shaft 271. The second base 28 is fixed to the sixth connecting rod 27.

[0034] The joint link 121 has 12 drive rope holes 124 evenly distributed on it, and each joint link 121 has four weight reduction holes 127 and weight reduction grooves 126 at its center.

[0035] The robotic arm segment 12 can select one single-joint arm segment 120 or multiple single-joint arm segments 120 connected in series, and each single-joint arm segment 120 can select one joint link 121 or multiple joint links 121 connected in series.

[0036] The series attitude adjustment mechanism 2 can be connected in series with appropriate links to achieve the required degrees of freedom.

[0037] Working principle: In use, the invention drives a small gear 213 via a first joint motor 214, which in turn drives a large gear 221. The large gear 221 rotates on a support plate 212 via a thrust bearing 223 and an angular contact ball bearing 224. The first connecting rod 22 rotates together with the large gear 221. The second joint motor 240 drives a worm gear 235 via a second joint coupling 236, which in turn drives a gear 239. The gear 239 rotates together with a second joint shaft 238, and the second connecting rod 23 rotates together with the second joint shaft 238. The third joint motor 242 drives a telescopic rod 241, which in turn drives a third connecting rod 24. The fourth joint motor 257 drives a second lead screw 254 via a fourth joint coupling 256, which in turn drives the second slider. 253 reciprocates along the lead screw axis. The fifth link 26 is connected to the second slider 253 through the fourth joint shaft 252 to achieve the degree of freedom of movement. The two fifth joint motors 265 are connected to the fifth joint shaft 261 through the fifth joint coupling 267, thereby driving the two first helical gears 263 to rotate. The second helical gear 272 meshes with the two first helical gears 263. The two fifth joint motors 265 move in the same direction and at the same speed to achieve the rotation of the fifth link 26. The two fifth joint motors 265 move at different speeds to achieve the rotation of the sixth link 27, thereby realizing the position and posture adjustment of the continuous body mechanism 1. Each single joint arm segment I is connected to three drive ropes 123. The three drive ropes 123 cooperate to realize the two degrees of freedom of each single joint arm segment I, thereby realizing the movement of the robotic arm segment 12.

[0038] When in use, this hybrid robot has the advantages of convenient movement, long range of motion, and strong adaptability, and can be well applied to the maintenance of aero engines.

[0039] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0040] Although embodiments of the 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 to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A large-stroke aero-engine in-wing maintenance hybrid robot, comprising a continuum mechanism (1), a mobile vehicle (3) and a series pose adjustment mechanism (2), characterized in that: The continuum mechanism (1) comprises a driving mechanism (11), a mechanical arm segment (12) and an end effector (13); The mobile vehicle (3) comprises a vehicle body (31), wheels (32) and H support legs (33), the wheels (32) are installed on the front and rear sides of the vehicle body (31), four H support legs (33) are arranged on the two sides of the vehicle body (31), and a support platform (311) is arranged at the center of the vehicle body (31); The series posture adjusting mechanism (2) mainly comprises a first base (21), a first connecting rod (22), a second connecting rod (23), a third connecting rod (24), a fourth connecting rod (25), a fifth connecting rod (26) and a sixth connecting rod (27). The first base (21) comprises a first support (211), a support plate (212), a pinion (213) and a first joint motor (214). One end of the first support (211) is fixed to a support platform (311) of a vehicle body (31). The other end of the first support (211) is connected to the support plate (212). The first joint motor (214) is fixed to one side of the support plate (212). The rotating shaft of the first joint motor (214) penetrates the support plate (212) and is connected to the pinion (213). A second support (222) is connected to two structure-same thrust bearings (223) and an angular contact ball bearing (224). The angular contact ball bearing (224) is located between the two thrust bearings (223). A bearing baffle (225) is connected to the second support (222). A large gear (221) is fixed on the second support (222) and is engaged with the pinion (213). The first connecting rod (22) is fixed to the surface of the large gear (221). A protective shell (228) is fixed to the support plate (212). A second joint base (232) is fixed to the first connecting rod (22) and is connected to a second joint front support (231) on one side. The other side of the second joint base (232) is connected to a second joint auxiliary support (233). A second joint rear support (234) is fixed to the second joint auxiliary support (233). A worm (235) penetrates the second joint front support (231) and the second joint auxiliary support (233) and is connected to a second joint shaft coupling (236) on one end. The other end of the worm (235) is fixed by an end cover (237). A second joint motor (240) is fixed to the second joint rear support (234). The rotating shaft of the second joint motor (240) penetrates the second joint rear support (234) and is connected to the second joint shaft coupling (236). A gear (239) and the second connecting rod (23) are fixed to a second joint shaft (238). The second joint shaft (238) penetrates the second joint base (232). The third connecting rod (24) is connected to the second connecting rod (23). An extension rod (241) is connected to the third connecting rod (24) on one end and is connected to the second connecting rod (23) on the other end. A third joint motor (242) is fixed to the bottom of the extension rod (241). A fourth connecting rod front support (251) is fixed to the front end of the third joint (24). A fourth connecting rod auxiliary support (255) is fixed to the middle of the third joint (24). A second lead screw (254) penetrates the fourth connecting rod front support (251) and the fourth connecting rod auxiliary support (255) and is connected to a fourth joint shaft coupling (256) on one end. A fourth joint motor (257) is fixed to the third connecting rod (24) and is connected to the fourth joint shaft coupling (256). A second sliding block (253) is engaged with the second lead screw (254).The fourth connecting rod (25) is connected with the second slider (253) through a fourth connecting rod shaft (252), a fifth connecting rod base (266) is fixed on the upper surface of the end of the fourth connecting rod (25), both ends of which are fixed with two fifth connecting rod auxiliary supports (264) of the same structure, two fifth joint motors (265) of the same structure are fixed on one side of the two fifth connecting rod auxiliary supports (264) respectively and are connected with a fifth connecting rod shaft (267), two fifth connecting rod shafts (261) of the same structure pass through the fifth connecting rod base (266) and are connected with the fifth connecting rod shaft (267), the fifth connecting rod (26) is connected with the fifth connecting rod base (266), the sixth connecting rod (27) is connected with the fifth connecting rod (26), two first helical gears (263) of the same structure are connected with the fifth connecting rod shaft (261) respectively, a second helical gear (272) is connected with a sixth connecting rod shaft (271), three baffles (262) of the same structure are connected with one side of the fifth connecting rod shaft (261) respectively and the third is connected with the sixth connecting rod shaft (271), and a second base (28) is fixed on the sixth connecting rod (27).

2. The large-stroke aero-engine in-wing maintenance hybrid robot according to claim 1, wherein: The driving mechanism (11) comprises a first connecting plate (111), a second connecting plate (112), a third connecting plate (113), a first coupling (114), a first motor (115), a guide rod (116), a first sliding block (117), a first lead screw (118), a fourth connecting plate (119), a connecting piece (130) and a support column (131), the first connecting plate (111), the second connecting plate (112) and the third connecting plate (113) are sequentially fixed to the connecting piece (130), one end of the support column (131) is fixed to the first connecting plate (111) and the other end is fixed to the fourth connecting plate (119), the first lead screw (118) passes through the first connecting plate (111) and the second connecting plate (112) and is connected to the coupling (114) at one end, the guide rod (116) passes through the second connecting plate (112) and is fixed to the first connecting plate (111) and the second connecting plate (112) at both ends, the first motor (115) is fixed to the third connecting plate (113), the first sliding block (117) passes through the guide rod (116) and is engaged with the first lead screw (118), one end of a driving rope (123) is fixed to the first sliding block (117) and passes through the first connecting plate (111), the fourth connecting plate (119) and a joint connecting rod (121), and the other end of the driving rope (123) is fixed to the end joint connecting rod (121).

3. The large stroke aero-engine in-wing maintenance hybrid robot according to claim 2, characterized in that: The mechanical arm segment (12) is composed of a plurality of single-joint arm segments (120), each single-joint arm segment (120) is composed of a plurality of joint connecting rods (121), each single-joint arm segment (120) is connected to three driving ropes (123), the joint connecting rod (121) is provided with an NITI support rod (122), the NITI support rod (122) passes through the guide hole (125) of the joint connecting rod (121), one end of the NITI support rod (122) is fixed to the fourth connecting disc (119), and the other end of the NITI support rod (122) is connected to the end joint connecting rod (121), and the first connecting plate (111) and the third connecting plate (113) are fixed to the second base (28).

4. The large stroke aero-engine in-wing maintenance hybrid robot according to claim 2, characterized in that: The joint connecting rod (121) is uniformly provided with 12 driving rope holes (124), and each joint connecting rod (121) is provided with four weight reduction holes (127) and a weight reduction groove (126) at the center.

5. The large stroke aero-engine in-wing maintenance hybrid robot according to claim 1, wherein: The mechanical arm segment (12) can select one single-joint arm segment (120) or a plurality of single-joint arm segments (120) in series, and each single-joint arm segment (120) can select one joint connecting rod (121) or a plurality of joint connecting rods (121) in series.

6. The large stroke aero-engine in-wing maintenance hybrid robot according to claim 1, wherein: The series posture adjusting mechanism (2) can be selected to have appropriate connecting rods in series to achieve the required degrees of freedom.

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