Snakelike robot for aircraft engine detection

Abstract

The invention belongs to the technical field of engine detection, and aims to solve the problems of low detection precision, high probability of missed detection and low detection applicability in the prior art. The snakelike robot for aircraft engine detection comprises a front vehicle module, a middle vehicle module and a rear vehicle module which are sequentially connected through a bearing composite mechanism. The module posture adjusting steering engine is connected with the bearing composite mechanism and used for adjusting the posture of the front vehicle module or the middle vehicle module or the rear vehicle module. The front vehicle module further comprises a front shifting fork mechanism, a mechanical arm and a visual inspection mechanism which are mounted on the integrated seat; the front shifting fork mechanism is used for shifting engine blades one by one and detecting the blades in cooperation with the visual detection mechanism, the mechanical arm is used for driving the visual detection mechanism to move in multiple directions, and the visual detection mechanism is used for detecting an air channel, a fairing and the blades of an engine. The snakelike pipeline robot configuration can adapt to irregular tracks, the in-out poses can be freely corrected, the applicability is wide, and the detection precision is high.

Description

Technical Field

[0001] The invention belongs to the technical field of engine detection, and in particular relates to a snake-like robot used for aircraft engine detection. Background Art

[0002] During aircraft engine inspection, the engine air duct, fairing and blades need to be inspected for surface damage such as cracks, abnormal protrusions or depressions. The air duct is an irregular shape of about 3m long, 200mm wide and 400mm high. The usual inspection mainly relies on manual crawling in the engine air duct and inspecting the engine air duct, fairing and blades with the naked eye. The inspection places high demands on the body shape of the inspectors, and the repetitive inspections are prone to fatigue, and the probability of missed inspections is high.

[0003] In addition to manual inspection, existing inspection methods include simple engine inspection and instrument inspection methods, such as using a borescope to inspect the engine. The instrument inspection method still requires manual efficiency to place the borescope to the required inspection position, and then operate the borescope to inspect the position. The inspection point is fixed, and different positions require people to place the instrument at different positions. The inspection process is only suitable for engine inspections with shorter airways. Summary of the invention

[0004] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a snake-like robot for aircraft engine inspection.

[0005] The present invention is implemented by the following technical scheme: a snake-like robot for aircraft engine inspection, comprising a bearing composite mechanism and a front vehicle module, a middle vehicle module and a rear vehicle module connected in sequence through the bearing composite mechanism; the front vehicle module, the middle vehicle module and the rear vehicle module all comprise an integrated seat and a centering buttress wheel mechanism, a traveling mechanism and a module attitude adjustment servo installed on the integrated seat, the centering buttress wheel mechanism is used to stick to the side wall of the engine airway, and the traveling mechanism is used to drive the snake-like robot to walk in the airway; the module attitude adjustment servo is connected to the bearing composite mechanism, and is used to adjust the attitude of the front vehicle module, the middle vehicle module or the rear vehicle module; the front vehicle module The module also includes a front fork mechanism, a mechanical arm and a visual inspection mechanism installed on the integrated seat; the front fork mechanism is used to move the engine blades one by one, and cooperate with the visual inspection mechanism to detect the blades, the mechanical arm is used to drive the visual inspection mechanism to move in all directions, and the visual inspection mechanism is used to inspect the engine's air duct, fairing and blades; the middle car module also includes a lighting assembly installed on the integrated seat, and the lighting assembly is used to provide lighting during the engine inspection process; the rear car module also includes an exit fork mechanism installed on the integrated seat, and the exit fork mechanism is used to assist the front car module, the middle car module and the rear car module to exit the engine air duct.

[0006] Preferably, the bearing composite mechanism includes a front servo connecting member, a rear servo connecting member, a bearing, an axle and a bearing fixing nut. The adjacent ends of the front servo connecting member and the rear servo connecting member are both provided with bearings and are connected through the axle and the bearing fixing nut. The front servo connecting member is used to connect with the module attitude adjustment servo at the rear end of the front vehicle module or the middle vehicle module, and the front vehicle module or the middle vehicle module is lifted or lowered through the module attitude adjustment servo; the rear servo connecting member is connected with the module attitude adjustment servo of the middle vehicle module or the rear vehicle module, and the left and right swing of the middle vehicle module or the rear vehicle module is realized through the module attitude adjustment servo.

[0007] Preferably, the front fork mechanism includes an electric cylinder, a fixed base, a front fork stepper motor, a front fork connecting shaft, a front fork rod and a front fork servo. The fixed base is installed at the front end of the integrated seat of the front vehicle module by bolts. The electric cylinder is arranged on the fixed base and the front end is fixedly connected to the front fork servo. The front fork servo is connected to the front fork stepper motor through a fixed connecting piece, and the output end of the front fork stepper motor is connected to the front fork rod through the front fork connecting shaft.

[0008] Preferably, the robotic arm is a five-axis robotic arm, comprising a robotic arm base, a first robotic arm steering gear, a second robotic arm steering gear, a first robotic arm stepper motor, a second robotic arm stepper motor and a U-shaped beam;

[0009] The robotic arm base is rotatably connected to the upper end of the integrated seat of the front vehicle module through a rotary motor built into the integrated seat, the first servo of the robotic arm is rotatably connected to the robotic arm base through a rotating shaft, the first servo of the robotic arm and the second servo of the robotic arm are fixedly connected through a connecting plate, the second servo of the robotic arm and the fixing part on the U-beam are rotatably connected through a rotating shaft, the first stepper motor of the robotic arm is embedded in the U-beam and is used to realize the rotation of the visual detection mechanism in the vertical plane, and the second stepper motor of the robotic arm is connected to the visual detection mechanism and is used to realize the rotation of the visual detection mechanism in the horizontal plane.

[0010] Preferably, the visual inspection mechanism includes a 2D camera, a 3D camera, an auxiliary lighting lamp and a visual inspection mounting base. The 2D camera, the 3D camera and the auxiliary lighting lamp are all mounted on the visual inspection mounting base. The 2D camera is used for imaging inspection of the engine air duct, fairing and blade surface. The 3D camera is used for 3D imaging of the engine air duct, fairing and blade surface to construct a three-dimensional image of the interior of the engine, as well as to detect cracks and irregular protrusions. The auxiliary lighting lamp is used for auxiliary lighting.

[0011] Preferably, a flexible anti-collision beam is also provided below the front end of the integrated seat of the front vehicle module. The lighting assembly of the CRRC module includes a lighting lamp, a support rod and a support rod base. The support rod base is fixed to the upper end of the integrated seat of the CRRC module, and the lighting lamp is connected to the support rod base through the support rod.

[0012] Preferably, the outbound fork mechanism includes an outbound fork servo motor, an outbound fork rod and an auxiliary rubber wheel. The outbound fork servo motor is arranged at the upper end of the integrated seat of the rear vehicle module. The outbound fork rod is rotatably connected to the outbound fork servo motor and an auxiliary rubber wheel is connected to the end.

[0013] Preferably, the centering buttress wheel mechanism includes a centering buttress base, an adjusting arm and a rubber wheel. The centering buttress base is arranged in front of the upper end of the integrated seat, and the adjusting arm is arranged on the centering buttress base and can adjust the width between the two rubber wheels at the front end of the adjusting arm through the shaft.

[0014] Preferably, the traveling mechanism comprises a driving motor and a driving wheel, the driving motor is integrated inside the integrated seat and the output shaft is connected to the driving wheel.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The configuration of the serpentine pipeline robot in the present invention can adapt to irregular tracks and can freely correct the entry and exit posture; the module connection adopts a combination of a servo and a bearing, and the front vehicle module can be lifted under the action of the servo, which can overcome the unevenness of screws and welding gaps in the airway, is not affected by the detection environment, and plays an effective obstacle crossing function; the role of the movable bearing is that the serpentine robot can overcome the influence of the irregular shape of the pipeline during its movement, so that each module of the serpentine robot can run against the wall.

[0017] The design of the centering buttress mechanism can generate a downward force with the pipe wall, allowing the driving wheels of the snake-like robot to move steadily in the airway.

[0018] It adopts a five-axis robotic arm design, equipped with 2D and 3D visual systems, and can rotate 360°. During the process of moving, it can detect the entire airway and establish a three-dimensional impact model for staff to judge;

[0019] The fork design can be used to move the engine blades one by one, and the engine blades can be inspected in conjunction with the visual system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 is a structural schematic diagram of the front vehicle module of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the five-axis robotic arm of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the visual system of the present invention;

[0025] Figure 5 It is a schematic structural diagram of the traveling mechanism of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the fork mechanism of the present invention;

[0027] Figure 7 It is a structural schematic diagram of the centering buttress wheel mechanism of the present invention;

[0028] Figure 8 is an axial view of a CRRC module of the present invention;

[0029] Fig. 9 is a top view of the CRRC module of the present invention;

[0030] Fig.10 It is a structural schematic diagram of the rear vehicle module of the present invention;

[0031] Fig.11 is an axial view of the bearing composite mechanism of the present invention;

[0032] Fig.12 is a cross-sectional view of the bearing composite mechanism of the present invention;

[0033] Fig.13 is a schematic diagram of the forces acting on the snake-like robot of the present invention when it moves;

[0034] Fig.14 Schematic diagram of the snake-like robot of the present invention moving forward.

[0035] In the figure: 101-electric cylinder; 102-fixed base; 103-front fork stepper motor; 104-front fork connecting shaft; 105-front fork rod; 106-front fork servo; 107-fixed connecting piece; 108-mechanical arm base; 109-mechanical arm first servo; 110-mechanical arm second servo; 111-mechanical arm first stepper motor; 112-mechanical arm second stepper motor; 113-U-beam; 114-2D camera; 115-3D camera; 116-auxiliary lighting; 117-visual inspection fixed seat; 118-anti-collision flexible anti-collision Beam; 119-lighting lamp; 120-support rod; 121-support rod base; 122-warehouse fork pulling servo; 123-warehouse fork pulling rod; 124-auxiliary rubber wheel; 125-connecting plate; 201-centering buttress base; 202-adjusting arm; 203-rubber wheel; 204-adjusting shaft; 301-driving motor; 302-driving wheel; 4-integrated seat; 5-module attitude adjustment servo; 601-front servo connecting piece; 602-rear servo connecting piece; 603-bearing; 604-axis; 605-bearing fixing nut; 7-bellows. DETAILED DESCRIPTION

[0036] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0038] The present invention provides an embodiment:

[0039] A snake-like robot for aircraft engine inspection comprises a bearing composite mechanism and a front vehicle module, a middle vehicle module and a rear vehicle module connected in sequence through the bearing composite mechanism; the front vehicle module, the middle vehicle module and the rear vehicle module all comprise an integrated seat 4 and a centering buttress wheel mechanism, a running mechanism and a module attitude adjustment steering gear 5 installed on the integrated seat 4, the centering buttress wheel mechanism is used to be close to the side wall of the engine airway, and the running mechanism is used to drive the snake-like robot to walk in the airway; the module attitude adjustment steering gear 5 is connected to the bearing composite mechanism and is used to adjust the attitude of the front vehicle module, the middle vehicle module or the rear vehicle module; a bellows 7 is sleeved on the outer side of the bearing composite mechanism, and the bellows 7 is connected to the integrated seat 4;

[0040] The front vehicle module also includes a front fork mechanism, a mechanical arm and a visual inspection mechanism installed on the integrated seat 4; the front fork mechanism is used to move the engine blades one by one, and cooperate with the visual inspection mechanism to perform blade inspection, the mechanical arm is used to drive the visual inspection mechanism to move in all directions, and the visual inspection mechanism is used to inspect the engine's air duct, fairing and blades; the middle vehicle module also includes a lighting assembly installed on the integrated seat 4, and the lighting assembly is used to provide lighting during the engine inspection process; the rear vehicle module also includes an exit fork mechanism installed on the integrated seat 4, and the exit fork mechanism is used to assist the front vehicle module, the middle vehicle module and the rear vehicle module to exit the engine air duct.

[0041] In this embodiment, the bearing composite mechanism includes a front servo connecting member 601, a rear servo connecting member 602, a bearing 603, an axis 604 and a bearing fixing nut 605. The adjacent ends of the front servo connecting member 601 and the rear servo connecting member 602 are both provided with bearings 603 and are connected through the axis 604 and the bearing fixing nut 605. The front servo connecting member 601 is used to connect with the module attitude adjustment servo 5 at the rear end of the front vehicle module or the middle vehicle module, and the front vehicle module or the middle vehicle module is lifted or lowered through the module attitude adjustment servo 5; the rear servo connecting member 602 is connected with the module attitude adjustment servo 5 of the middle vehicle module or the rear vehicle module, and the left and right swing of the middle vehicle module or the rear vehicle module is realized through the module attitude adjustment servo 5.

[0042] The centering buttress wheel mechanism includes a centering buttress base 201, an adjustment arm 202 and a rubber wheel 203. The centering buttress base 201 is arranged in front of the upper end of the integrated seat 4. The adjustment arm 202 is arranged on the centering buttress base 201 and can adjust the width between the two rubber wheels 203 at the front end of the adjustment arm 202 through the adjustment shaft 204. The adjustment shaft 204 is threadedly connected to the centering buttress base 201 and is rotatably connected to the connecting piece between the two adjustment arms 202, which is a conventional adjustment structure. The travel mechanism includes a drive motor 301 and a drive wheel 302. The drive motor is integrated inside the integrated seat 4 and the output shaft is connected to the drive wheel 302.

[0043] The front fork mechanism includes an electric cylinder 101, a fixed base 102, a front fork stepper motor 103, a front fork connecting shaft 104, a front fork rod 105 and a front fork servo 106. The fixed base 102 is installed at the front end of the integrated seat 4 of the front vehicle module by bolts. The electric cylinder 101 is arranged on the fixed base 102 and the front end is fixedly connected to the front fork servo 106. The front fork servo 106 is connected to the front fork stepper motor 103 through a fixed connecting piece 107. The output end of the front fork stepper motor 103 is connected to the front fork rod 105 through the front fork connecting shaft 104.

[0044] The robotic arm is a five-axis robotic arm, including a robotic arm base 108, a first robotic arm servo 109, a second robotic arm servo 110, a first robotic arm stepper motor 111, a second robotic arm stepper motor 112 and a U-shaped beam 113; the robotic arm base 108 is rotatably connected to the upper end of the integrated seat 4 of the front vehicle module through a rotary motor built into the integrated seat 4, the first robotic arm servo 109 is rotatably connected to the robotic arm base 108 through a rotating shaft, the first robotic arm servo 109 and the second robotic arm servo 110 are fixedly connected through a connecting plate 125, the second robotic arm servo 110 and the fixing part 115 on the U-shaped beam 113 are rotatably connected through a rotating shaft, the first robotic arm stepper motor 111 is embedded in the U-shaped beam 113 and is used to realize the rotation of the visual detection mechanism in the vertical plane, the second robotic arm stepper motor 112 is connected to the visual detection mechanism and is used to realize the rotation of the visual detection mechanism in the horizontal plane. This is a conventional structure and will not be described in detail.

[0045] The visual inspection mechanism includes a 2D camera 114, a 3D camera 115, an auxiliary lighting lamp 116 and a visual inspection fixing seat 117. The visual inspection fixing seat 117 is connected to the output shaft of the second stepper motor 112 of the robot arm. The 2D camera 114, the 3D camera 115 and the auxiliary lighting lamp 116 are all installed on the visual inspection fixing seat 117. The 2D camera 114 is used for imaging inspection of the engine air duct, fairing and blade surface. The 3D camera 115 is used for 3D imaging of the engine air duct, fairing and blade surface, constructing a three-dimensional image of the interior of the engine, and detecting cracks and irregular protrusions. The auxiliary lighting lamp 116 is used for auxiliary lighting.

[0046] A flexible anti-collision beam 118 is also provided below the front end of the integrated seat 4 of the front vehicle module. The lighting assembly of the CRRC module includes a lighting lamp 119, a support rod 120 and a support rod base 121. The support rod base 121 is fixed to the upper end of the integrated seat 4 of the CRRC module, and the lighting lamp 119 is connected to the support rod base 121 through the support rod 120.

[0047] The outgoing fork mechanism includes an outgoing fork servo motor 122, an outgoing fork rod 123 and an auxiliary rubber wheel 124. The outgoing fork servo motor 122 is arranged at the upper end of the integrated seat 4 of the rear vehicle module. The outgoing fork rod 123 is rotatably connected to the outgoing fork servo motor 122 and the end is connected to the auxiliary rubber wheel 124.

[0048] Specific working steps:

[0049] The snake-like robot enters the aircraft engine airway, the lighting lamp 119 is turned on, the centering buttress wheel mechanism is close to the side wall of the engine airway, and under the action of the center buttress wheel mechanism and the gravity of the snake-like pipeline robot, the driving wheel is close to the bottom airway of the engine and moves forward steadily. At this time, under the action of the servo, the five-axis robotic arm moves and adjusts its position to the center of the engine airway. During the forward movement of the snake-like robot, under the action of the stepper motor, the visual detection mechanism starts to rotate ±180° at a certain angular velocity and starts to scan and detect the engine airway.

[0050] During the movement of the snake-like robot, the internal working conditions of the airway are observed through 2D and 3D cameras. If the snake-like robot is blocked by welds, rivets or other abnormal protrusions in the airway and cannot move forward, the front vehicle module can be lifted and lowered or swung left and right by controlling the cooperation of the servo and bearing composite mechanism to overcome the obstacle and continue normal work.

[0051] When it reaches the end of the engine airway, the engine fairing and blades are inspected step by step. At this time, the aircraft fairing is inspected first, the overall angle and height of the visual inspection mechanism are adjusted, and the fairing is scanned. Since the fairing is similar to a hemisphere, the inspection posture is adjusted during the inspection process to fully scan the fairing surface.

[0052] After inspecting the engine fairing, the 24-stage blades of the engine are inspected one by one. When the blade inspection starts, the front fork mechanism is first adjusted by moving the electric cylinder left and right. After it is adjusted to the middle of the two-stage blades, the front fork rod is inserted into the middle gap, and the front fork servo starts to reciprocate. The front fork servo is executed in two steps within one rotation cycle. The servo acts as a cam-connecting rod mechanism. When the front fork rod moves the blade to make it reach the inspection position of the visual inspection mechanism, the visual inspection mechanism starts the inspection. During the inspection, the front fork servo stops moving, and the front fork rod is between the two-stage blades. Since there may be airflow in the airway, the front fork rod can fix the blade at this time. After the visual inspection mechanism completes the inspection of the first-stage blade, the front fork mechanism continues to move, and the blade is just shifted to the next stage. The front fork rod is between the two blades of the next stage, and the visual inspection mechanism starts to inspect the next-stage blade, and the inspection is carried out in this way until the inspection of 24-stage blades is completed.

[0053] After the engine air duct, fairing and blades are inspected, the snake robot's drive wheels reverse and the snake robot retreats into the engine air duct. At this time, the five-axis robotic arm is retracted and leveled above the front vehicle module. The snake robot begins to exit the pipeline and the inspection is completed.

[0054] Furthermore, in extreme cases, if the front vehicle module, middle vehicle module and rear vehicle module of the snake-like robot travel deeper during the inspection of the engine fairing and blades, the rubber wheels of the centering buttress mechanisms of the front vehicle module, middle vehicle module and rear vehicle module will be detached from the airway, and the snake-like robot will be unable to return along the original route. At this time, the exit fork mechanism of the rear vehicle module will begin to swing left and right under the action of the exit fork servo, and the exit fork servo will adjust the exit fork rod to the side of the airway, providing a supporting force on the airway. Under the action of the exit fork mechanism, the snake-like robot The robot begins to withdraw, and the driving wheel of the rear vehicle module enters the airway first. Under the action of the driving wheel and the exit fork mechanism, it begins to smoothly withdraw into the airway. At this time, the exit fork mechanism plays the role of a centering buttress wheel. After the centering buttress wheel mechanism of the rear vehicle module enters the airway, the middle vehicle module adjusts its position with the cooperation of the bearing composite mechanism and the servo, and can also smoothly enter the airway. Similarly, the front vehicle module also enters the airway in this way. After the entire snake-like robot enters the airway, it can be smoothly pushed out of the engine airway, and the entire detection process is completed.

[0055] Furthermore, in order to balance the weight of the snake-like working robot and the curvature of the airway, the snake-like working robot is designed into three sections. The middle car module and the rear car module are used to balance the weight of the front car module to avoid rollover during the lifting and lowering of the five-axis robotic arm. The other three-section design makes the movement process of the snake-like robot more flexible and has a smaller adjustment radius. The position of the snake-like robot can be fine-tuned by adjusting the module attitude of the servo and the bearing composite mechanism, so that the driving wheels always move close to the engine airway, avoiding the situation where the snake-like working robot is too long and is subjected to force under the action of the curvature of the engine airway, causing the driving wheels of the snake-like robot to be suspended and the movement posture to be deformed.

[0056] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A snake-like robot for aircraft engine inspection, characterized in that: It includes a bearing composite mechanism and a front vehicle module, a middle vehicle module and a rear vehicle module which are sequentially connected through the bearing composite mechanism; The front vehicle module, the middle vehicle module and the rear vehicle module all comprise an integrated seat (4) and a centering buttress wheel mechanism, a travel mechanism and a module attitude adjustment steering gear (5) mounted on the integrated seat (4); the centering buttress wheel mechanism is used to be close to the side wall of the engine airway, and the travel mechanism is used to drive the snake-like robot to walk along the airway; the module attitude adjustment steering gear (5) is connected to the bearing composite mechanism and is used to adjust the attitude of the front vehicle module, the middle vehicle module or the rear vehicle module; The front vehicle module also includes a front fork mechanism, a mechanical arm and a visual inspection mechanism installed on the integrated seat (4); the front fork mechanism is used to move the engine blades one by one and cooperate with the visual inspection mechanism to inspect the blades; the mechanical arm is used to drive the visual inspection mechanism to move in all directions; the visual inspection mechanism is used to inspect the airway, fairing and blades of the engine; The CRRC module also includes a lighting assembly mounted on the integrated seat (4), the lighting assembly being used to provide lighting during the engine detection process; The rear vehicle module also includes a fork mechanism for exiting the warehouse and being installed on the integrated seat (4), and the fork mechanism for exiting the warehouse and being used for assisting the front vehicle module, the middle vehicle module and the rear vehicle module to exit the engine air passage.

2. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: The bearing composite mechanism comprises a front steering gear connecting piece (601), a rear steering gear connecting piece (602), a bearing (603), an axle (604) and a bearing fixing nut (605); the front steering gear connecting piece (601) and the rear steering gear connecting piece (602) are both provided with a bearing (603) at one adjacent end and are connected via the axle (604) and the bearing fixing nut (605); the front steering gear connecting piece (601) is used to be connected to a module attitude adjustment steering gear (5) at the rear end of a front vehicle module or a middle vehicle module, and the front vehicle module or the middle vehicle module is lifted or lowered by the module attitude adjustment steering gear (5); the rear steering gear connecting piece (602) is connected to the module attitude adjustment steering gear (5) of the middle vehicle module or the rear vehicle module, and the middle vehicle module or the rear vehicle module is swung left and right by the module attitude adjustment steering gear (5).

3. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: The front fork mechanism comprises an electric cylinder (101), a fixed base (102), a front fork stepping motor (103), a front fork connecting shaft (104), a front fork rod (105) and a front fork servo (106); the fixed base (102) is mounted on the front end of an integrated seat (4) of a front vehicle module by means of bolts; the electric cylinder (101) is arranged on the fixed base (102) and the front end is fixedly connected to the front fork servo (106); the front fork servo (106) is connected to the front fork stepping motor (103) by means of a fixed connecting piece (107); and the output end of the front fork stepping motor (103) is connected to the front fork rod (105) by means of the front fork connecting shaft (104).

4. The snake-like robot for aircraft engine inspection according to claim 3, characterized in that: The mechanical arm is a five-axis mechanical arm, comprising a mechanical arm base (108), a first mechanical arm steering gear (109), a second mechanical arm steering gear (110), a first mechanical arm stepping motor (111), a second mechanical arm stepping motor (112) and a U-shaped beam (113); The mechanical arm base (108) is rotationally connected to the upper end of the integrated seat (4) of the front vehicle module through a rotary motor built into the integrated seat (4); the mechanical arm first steering gear (109) is rotationally connected to the mechanical arm base (108) through a rotating shaft; the mechanical arm first steering gear (109) and the mechanical arm second steering gear (110) are fixedly connected through a connecting piece (125); the mechanical arm second steering gear (110) and a fixing part (115) on the U-shaped beam (113) are rotationally connected through a rotating shaft; the mechanical arm first stepper motor (111) is embedded in the U-shaped beam (113) and is used to realize the rotation of the visual detection mechanism in a vertical plane; the mechanical arm second stepper motor (112) is connected to the visual detection mechanism and is used to realize the rotation of the visual detection mechanism in a horizontal plane.

5. The snake-like robot for aircraft engine inspection according to claim 4, characterized in that: The visual inspection mechanism comprises a 2D camera (114), a 3D camera (115), an auxiliary lighting lamp (116) and a visual inspection fixing seat (117). The 2D camera (114), the 3D camera (115) and the auxiliary lighting lamp (116) are all mounted on the visual inspection fixing seat (117). The 2D camera (114) is used for imaging inspection of the engine airway, fairing and blade surface. The 3D camera (115) is used for 3D imaging of the engine airway, fairing and blade surface, constructing a three-dimensional image of the engine interior, and inspecting cracks and anisotropic protrusions. The auxiliary lighting lamp (116) is used for auxiliary lighting.

6. The snake-like robot for aircraft engine inspection according to claim 5, characterized in that: An anti-collision flexible anti-collision beam (118) is also provided below the front end of the integrated seat (4) of the front vehicle module. The lighting assembly of the mid-vehicle module comprises a lighting lamp (119), a support rod (120) and a support rod base (121). The support rod base (121) is fixed to the upper end of the integrated seat (4) of the mid-vehicle module. The lighting lamp (119) is connected to the support rod base (121) via the support rod (120).

7. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: The warehouse outgoing fork mechanism comprises a warehouse outgoing fork steering gear (122), a warehouse outgoing fork rod (123) and an auxiliary rubber wheel (124); the warehouse outgoing fork steering gear (122) is arranged at the upper end of the integrated seat (4) of the rear vehicle module; the warehouse outgoing fork rod (123) is rotatably connected to the warehouse outgoing fork steering gear (122) and the end thereof is connected to the auxiliary rubber wheel (124).

8. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: The centering buttress wheel mechanism comprises a centering buttress base (201), an adjusting arm (202) and a rubber wheel (203); the centering buttress base (201) is arranged in front of the upper end of an integrated seat (4); the adjusting arm (202) is arranged on the centering buttress base (201) and can adjust the width between two rubber wheels (203) at the front end of the adjusting arm (202) through an adjusting shaft (204).

9. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: The travel mechanism comprises a drive motor (301) and a drive wheel (302); the drive motor is integrated inside the integrated seat (4) and the output shaft is connected to the drive wheel (302).

10. The snake-like robot for aircraft engine inspection according to claim 1, characterized in that: A bellows (7) is sleeved on the outer side of the bearing composite mechanism, and the bellows (7) is connected to the integrated seat (4).

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