Snakelike robot for aircraft engine inspection

Abstract

The present application belongs to the technical field of engine detection, and aims to solve the problems of low detection accuracy, high probability of missed detection and low detection applicability. A serpentine robot for aircraft engine detection is provided, which comprises a front vehicle module, a middle vehicle module and a rear vehicle module connected in turn through a bearing composite mechanism; a module attitude adjusting rudder is connected with the bearing composite mechanism, and is used for adjusting the attitude of the front vehicle module, the middle vehicle module or the rear vehicle module; the front vehicle module further comprises a front pulling fork mechanism, a mechanical arm and a visual detection mechanism installed on an integrated seat; the front pulling fork mechanism is used for pulling the engine blades one by one, and cooperates with the visual detection mechanism to detect the blades; 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 the air duct, the fairing and the blades of the engine. In the present application, the serpentine pipeline robot configuration can adapt to irregular tracks, can freely correct the in-out pose, has wide applicability and high detection accuracy.

Description

Technical Field

[0001] This invention belongs to the field of engine testing technology, specifically relating to a snake-like robot for aircraft engine testing. Background Technology

[0002] In aircraft engine inspection, it is necessary to inspect the engine air duct, cowling, and blades. The inspection includes checking for surface damage such as cracks, abnormal protrusions, or dents. The air duct is an irregular shape, about 3m long, 200mm wide, and 400mm high. The inspection usually relies on manual crawling in the engine air duct and visual inspection of the air duct, cowling, and blades. The inspection places high demands on the physical condition of the inspectors, and the repetitive nature of the inspection can easily lead to fatigue and a high probability of missed inspections.

[0003] Existing testing methods, besides manual testing and simple engine testing, also include instrument testing methods, such as using a borescope to test the engine. However, instrument testing still requires manual placement of the borescope at the required testing location, and then operation of the borescope to test that location. The testing point is fixed, and different locations require a person to place the instrument at different positions. The testing process is only suitable for testing engines with short air passages. Summary of the Invention

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

[0005] This invention is achieved using the following technical solution: a snake-like robot for aircraft engine inspection, comprising a bearing composite mechanism and a front module, a middle module, and a rear module connected sequentially through the bearing composite mechanism; each of the front, middle, and rear modules includes an integrated base and a centering wheel mechanism, a travel mechanism, and a module attitude adjustment servo mounted on the integrated base. The centering wheel mechanism is used to adhere to the sidewall of the engine air duct, and the travel mechanism is used to drive the snake-like robot to move along the air duct; the module attitude adjustment servo is connected to the bearing composite mechanism and is used to adjust the attitude of the front module, the middle module, or the rear module; the front module... The module also includes a front shift fork mechanism, a robotic arm, and a vision inspection mechanism mounted on the integrated base. The front shift fork mechanism is used to move the engine blades one by one, working in conjunction with the vision inspection mechanism to inspect the blades. The robotic arm is used to drive the vision inspection mechanism to move in multiple directions. The vision inspection mechanism is used to inspect the engine's air intake, cowling, and blades. The CRRC module also includes a lighting assembly mounted on the integrated base, which provides illumination during the engine inspection process. The CRRC rear module also includes an exit shift fork mechanism mounted on the integrated base, which assists the front, CRRC, and CRRC rear modules in exiting the engine air intake.

[0006] Preferably, the bearing composite mechanism includes a front servo motor connector, a rear servo motor connector, a bearing, a shaft, and a bearing fixing nut. Each of the adjacent ends of the front and rear servo motor connectors is provided with a bearing and connected by the shaft and the bearing fixing nut. The front servo motor connector is used to connect with the module attitude adjustment servo at the rear end of the front or mid-section module, so as to raise or lower the front or mid-section module. The rear servo motor connector is connected with the module attitude adjustment servo of the mid-section or rear-section module, so as to swing the mid-section or rear-section module left or right.

[0007] Preferably, the front shift fork mechanism includes an electric cylinder, a fixed base, a front shift fork stepper motor, a front shift fork connecting shaft, a front shift fork rod, and a front shift fork servo. The fixed base is bolted to the front end of the integrated seat of the front vehicle module. The electric cylinder is mounted on the fixed base and the front shift fork servo is fixedly connected to its front end. The front shift fork servo is connected to the front shift fork stepper motor through a fixed connector. The output end of the front shift fork stepper motor is connected to the front shift fork rod through the front shift fork connecting shaft.

[0008] Preferably, the robotic arm is a five-axis robotic arm, including a robotic arm base, a first robotic arm servo motor, a second robotic arm servo motor, 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 base of the front vehicle module via a rotary motor built into the integrated base. The first servo motor of the robotic arm is rotatably connected to the robotic arm base via a rotating shaft. The first servo motor and the second servo motor of the robotic arm are fixedly connected by a connecting piece. The second servo motor of the robotic arm and the fixing parts on the U-shaped beam are rotatably connected by a rotating shaft. The first stepper motor of the robotic arm is embedded in the U-shaped beam and is used to realize the rotation of the vision inspection mechanism in the vertical plane. The second stepper motor of the robotic arm is connected to the vision inspection mechanism and is used to realize the rotation of the vision inspection 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, 3D camera, and auxiliary lighting lamp are all mounted on the visual inspection mounting base. The 2D camera is used for imaging inspection of the engine air passage, cowl, and blade surface. The 3D camera is used for 3D imaging of the engine air passage, cowl, and blade surface to construct a three-dimensional image of the engine interior and to detect cracks and irregular protrusions. The auxiliary lighting lamp is used for auxiliary illumination.

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

[0012] Preferably, the ejection fork mechanism includes an ejection fork servo, an ejection fork lever, and an auxiliary rubber wheel. The ejection fork servo is located at the upper end of the integrated seat of the rear vehicle module, and the ejection fork lever is rotatably connected to the ejection fork servo and has an auxiliary rubber wheel connected to its end.

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

[0014] Preferably, the driving mechanism includes a drive motor and a drive wheel, with the drive motor integrated inside the integrated base and its output shaft connected to the drive wheel.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The snake-shaped pipeline robot configuration in this invention can adapt to irregular tracks and can freely correct its entry and exit posture. The module connection adopts a combination of servo motors and bearings. The front module can be lifted under the action of the servo motor, which can overcome the unevenness of screws and weld gaps in the airway, and is not affected by the detection environment, thus playing an effective obstacle-crossing function. The function of the movable bearing is that during the snake robot's movement, it can overcome the influence of the irregular shape of the pipeline, so that each module of the snake robot can run close to the wall.

[0017] The design of the central buttress mechanism can generate a downward pressure with the tube wall, enabling the drive wheels of the snake robot to move steadily in the air passage.

[0018] It adopts a five-axis robotic arm design, equipped with 2D and 3D vision systems, and can rotate 360°. During the movement, it can detect the entire airway and create a three-dimensional impact model for staff to make judgments.

[0019] The design employs a fork mechanism, allowing for individual movement of the engine blades, which, in conjunction with a vision system, enables the inspection of the engine blades. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

[0024] Figure 4 This is a schematic diagram of the vision system of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the driving mechanism of the present invention;

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

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

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

[0029] Figure 9 This is a top view of the CRRC module of the present invention;

[0030] Figure 10 This is a structural schematic diagram of the rear vehicle module of the present invention;

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

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

[0033] Figure 13 This is a force diagram illustrating the movement of the snake-like robot of the present invention;

[0034] Figure 14 This is a schematic diagram of the snake-like robot's movement according to the present invention.

[0035] In the diagram: 101-Electric cylinder; 102-Fixed base; 103-Front shift fork stepper motor; 104-Front shift fork connecting shaft; 105-Front shift fork rod; 106-Front shift fork servo motor; 107-Fixed connector; 108-Robot arm base; 109-Robot arm first servo motor; 110-Robot arm second servo motor; 111-Robot arm first stepper motor; 112-Robot arm second stepper motor; 113-U-shaped beam; 114-2D camera; 115-3D camera; 116-Auxiliary lighting; 117-Vision inspection mounting base; 118-Collision-resistant flexible anti-collision beam; 11 9-Lighting lamp; 120-Support rod; 121-Support rod base; 122-Exit fork servo; 123-Exit fork lever; 124-Auxiliary rubber wheel; 125-Connecting piece; 126-Fixing component; 201-Centering buttress base; 202-Adjusting arm; 203-Rubber wheel; 204-Adjusting shaft; 301-Drive motor; 302-Drive wheel; 4-Integrated base; 5-Module attitude adjustment servo; 601-Front servo connector; 602-Rear servo connector; 603-Bearing; 604-Shaft; 605-Bearing fixing nut; 7-Bellwall. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described 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 implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in 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] This invention provides an embodiment:

[0039] A snake-like robot for aircraft engine inspection includes a bearing composite mechanism and a front module, a middle module, and a rear module connected sequentially through the bearing composite mechanism. Each of the front, middle, and rear modules includes an integrated base 4 and a centering support wheel mechanism, a travel mechanism, and a module attitude adjustment servo 5 mounted on the integrated base 4. The centering support wheel mechanism is used to adhere to the sidewall of the engine air duct, and the travel mechanism is used to drive the snake-like robot to move along the air duct. The module attitude adjustment servo 5 is connected to the bearing composite mechanism and is used to adjust the attitude of the front module, the middle module, or the rear module. A bellows 7 is sleeved on the outside of the bearing composite mechanism and is connected to the integrated base 4.

[0040] The front vehicle module also includes a front shift fork mechanism, a robotic arm, and a vision inspection mechanism mounted on the integrated base 4. The front shift fork mechanism is used to move the engine blades one by one, in conjunction with the vision inspection mechanism to inspect the blades. The robotic arm is used to drive the vision inspection mechanism to move in multiple directions. The vision inspection mechanism is used to inspect the engine's air intake, fairing, and blades. The middle vehicle module also includes a lighting assembly mounted on the integrated base 4, which is used to provide illumination during the engine inspection process. The rear vehicle module also includes an exit shift fork mechanism mounted on the integrated base 4, which is used to assist the front vehicle module, middle vehicle module, and rear vehicle module in exiting the engine air intake.

[0041] In this embodiment, the bearing composite mechanism includes a front servo motor connector 601, a rear servo motor connector 602, a bearing 603, a shaft 604, and a bearing fixing nut 605. Bearings 603 are provided at adjacent ends of both the front and rear servo motor connectors 601 and 602, and are connected via the shaft 604 and the bearing fixing nut 605. The front servo motor connector 601 is connected to the module attitude adjustment servo 5 at the rear end of the front or mid-section module, allowing the front or mid-section module to be raised or lowered via the module attitude adjustment servo 5. The rear servo motor connector 602 is connected to the module attitude adjustment servo 5 of the mid-section or rear-section module, allowing the mid-section or rear-section module to swing left or right via the module attitude adjustment servo 5.

[0042] The centering buttress wheel mechanism includes a centering buttress base 201, an adjusting arm 202, and rubber wheels 203. The centering buttress base 201 is located at the upper front of the integrated base 4. The adjusting arm 202 is mounted on the centering buttress base 201 and can adjust the width between the two rubber wheels 203 at its front end via an adjusting shaft 204. The adjusting shaft 204 is threadedly connected to the centering buttress base 201 and rotatably connected to the connecting piece between the two adjusting 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 base 4, and its output shaft is connected to the drive wheel 302.

[0043] The front shift fork mechanism includes an electric cylinder 101, a fixed base 102, a front shift fork stepper motor 103, a front shift fork connecting shaft 104, a front shift fork rod 105, and a front shift fork servo motor 106. The fixed base 102 is bolted to the front end of the integrated seat 4 of the front vehicle module. The electric cylinder 101 is mounted on the fixed base 102 and the front shift fork servo motor 106 is fixedly connected to its front end. The front shift fork servo motor 106 is connected to the front shift fork stepper motor 103 through a fixed connector 107. The output end of the front shift fork stepper motor 103 is connected to the front shift fork rod 105 through the front shift 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 motor 109, a second robotic arm servo motor 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 base 4 of the front vehicle module via a rotary motor built into the integrated base 4. The first robotic arm servo motor 109 is rotatably connected to the robotic arm base 108 via a rotating shaft. The first robotic arm servo motor 109 and the second robotic arm servo motor 110 are fixedly connected via a connecting piece 125. The second robotic arm servo motor 110 and the fixing piece 126 on the U-shaped beam 113 are rotatably connected via 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 vision inspection mechanism in the vertical plane. The second robotic arm stepper motor 112 is connected to the vision inspection mechanism and is used to realize the rotation of the vision inspection mechanism in the horizontal plane. This is a conventional structure and will not be described in detail here.

[0045] The visual inspection mechanism includes a 2D camera 114, a 3D camera 115, an auxiliary lighting lamp 116, and a visual inspection mounting base 117. The visual inspection mounting base 117 is connected to the output shaft of the second stepper motor 112 of the robotic arm. The 2D camera 114, the 3D camera 115, and the auxiliary lighting lamp 116 are all mounted on the visual inspection mounting base 117. The 2D camera 114 is used for imaging inspection of the engine air passage, fairing, and blade surface. The 3D camera 115 is used for 3D imaging of the engine air passage, fairing, and blade surface to construct a three-dimensional image of the engine interior and to detect 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 base 4 of the front vehicle module. The lighting components of the CRRC module include 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 base 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 ejection fork mechanism includes an ejection fork servo motor 122, an ejection fork lever 123, and an auxiliary rubber wheel 124. The ejection fork servo motor 122 is located at the upper end of the integrated seat 4 of the rear vehicle module. The ejection fork lever 123 is rotatably connected to the ejection fork servo motor 122 and its end is connected to the auxiliary rubber wheel 124.

[0048] Specific work steps:

[0049] The snake-like robot enters the aircraft engine air duct, and the lighting 119 is turned on. The centering support wheel mechanism is pressed against the side wall of the engine air duct. Under the action of the centering support wheel mechanism and the gravity of the snake-like robot, the drive wheel is pressed against the bottom air duct of the engine and moves steadily forward. At this time, the five-axis robotic arm moves under the action of the servo motor and adjusts its position to the center of the engine air duct. During the forward movement of the snake-like robot, under the action of the stepper motor, the vision inspection mechanism begins to rotate at a certain angular velocity of ±180° and begins to scan and inspect the engine air duct.

[0050] During the snake robot's movement, the internal working conditions of the air passage are observed through 2D and 3D cameras. If the snake robot is unable to move due to obstruction by welds, rivets or other abnormal protrusions in the air passage, the front module can be raised or lowered or swung left and right by controlling the servo motor and bearing composite mechanism to overcome the obstacle and continue normal operation.

[0051] When the aircraft reaches the end of the engine air duct, the step-by-step inspection of the engine cowling and blades begins. The aircraft cowling is inspected first. The overall angle and height of the vision inspection mechanism are adjusted to scan the cowling. Since the cowling is similar to a hemisphere, the surface of the cowling is fully scanned by adjusting the inspection posture during the inspection process.

[0052] After inspecting the engine cowling, the 24 stages of engine blades were individually tested. At the start of the blade test, the front shift fork mechanism was adjusted by moving left and right using an electric cylinder until it was positioned between two stages of blades. Then, the front shift fork rod was inserted into the middle gap, and the front shift fork servo began reciprocating. The front shift fork servo performed two steps within one rotation cycle. As a cam-linkage mechanism, after the front shift fork rod shifted the blade to the detection position of the vision inspection mechanism, the vision inspection mechanism began its inspection. During the inspection, the front shift fork servo stopped moving, and the front shift fork rod remained between two stages of blades. Since there might be airflow in the air passage, the front shift fork rod could also fix the blade in place. After the vision inspection mechanism completed the inspection of one stage of blades, the front shift fork mechanism continued to move, and the blade was shifted to the next stage. The front shift fork rod was then positioned between the two blades of the next stage, and the vision inspection mechanism began inspecting the next stage of blades. This process was repeated until all 24 stages of blades were inspected.

[0053] After the engine air duct, cowling, and blades have been 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 retracts and flattens above the front vehicle module. The snake robot then begins to exit the pipeline, and the inspection is complete.

[0054] Furthermore, in extreme cases, if the front, middle, and rear modules of the snake-like robot travel too far during the inspection of the engine cowling and blades, and the rubber wheels of the centering support mechanism of these modules detach from the air passage, the snake-like robot cannot return along its original path. At this point, the exit fork mechanism of the rear module, under the action of the exit fork servo, begins to swing left and right. The exit fork servo adjusts the exit fork lever to the side of the air passage, providing support. Under the action of the exit fork mechanism, the snake-like robot... The robot begins to exit. The rear module's drive wheels enter the air passage first. Under the action of the drive wheels and the exit fork mechanism, it smoothly retracts into the air passage. At this time, the exit fork mechanism acts as a centering support wheel. After the rear module's centering support wheel mechanism enters the air passage, the middle module adjusts its posture with the cooperation of the bearing composite mechanism and the servo motor, and can also smoothly enter the air passage. Similarly, the front module also enters the air passage in the same way. After the entire snake robot has entered the air passage, it can be smoothly exited from the engine air passage, and the entire testing process is completed.

[0055] Furthermore, to balance the weight of the snake-like robot and the curvature of its air duct, the robot is designed in three sections. The middle and rear modules are used to balance the weight of the front module, preventing it from tipping over during the lifting and lowering of the five-axis robotic arm. The three-section design also makes the snake-like robot more flexible in its movement and allows for a smaller adjustment radius. The robot's posture can be finely adjusted through the module attitude adjustment servo motor and bearing composite mechanism, ensuring that the drive wheels always stay close to the engine air duct. This prevents the drive wheels from becoming suspended in the air and deforming in its movement due to the snake-like robot being too long and subjected to stress from the curvature of the engine air duct.

[0056] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A serpentine robot for aircraft engine detection, characterized in that: it 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 each comprise an integrated seat (4), a centering support wheel mechanism, a running mechanism and a module attitude adjustment steering engine (5) installed on the integrated seat (4), the centering support wheel mechanism is used to adhere to the side wall of the engine air duct, the running mechanism is used to drive the serpentine robot to walk in the air duct, and the module attitude adjustment steering engine (5) is connected with the bearing composite mechanism and used to adjust the attitude of the front vehicle module, the middle vehicle module or the rear vehicle module; the centering support wheel mechanism comprises a centering support base (201), an adjusting arm (202) and rubber wheels (203), the centering support base (201) is arranged at the front upper end of the integrated seat (4), the adjusting arm (202) is arranged on the centering support base (201) and can adjust the width between the two rubber wheels (203) at the front end of the adjusting arm (202) through an adjusting shaft (204); the bearing composite mechanism comprises a front side steering engine connecting piece (601), a rear side steering engine connecting piece (602), a bearing (603), a shaft (604) and a bearing fixing nut (605), the bearing (603) is arranged at the adjacent end of the front side steering engine connecting piece (601) and the rear side steering engine connecting piece (602) and connected through the shaft (604) and the bearing fixing nut (605), the front side steering engine connecting piece (601) is used to be connected with the module attitude adjustment steering engine (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 steering engine (5); the rear side steering engine connecting piece (602) is connected with the module attitude adjustment steering engine (5) of the middle vehicle module or the rear vehicle module, and the middle vehicle module or the rear vehicle module swings left and right through the module attitude adjustment steering engine (5); the front vehicle module further comprises a front pulling fork mechanism, a mechanical arm and a visual detection mechanism installed on the integrated seat (4); the front pulling fork mechanism is used to pull the engine blades one by one, cooperate with the visual detection mechanism to detect the blades, the mechanical arm is used to drive the visual detection mechanism to move in multiple directions, and the visual detection mechanism is used to detect the air duct, the fairing and the blades of the engine; the middle vehicle module further comprises a lighting assembly installed on the integrated seat (4), and the lighting assembly is used to provide lighting during the engine detection process; the rear vehicle module further comprises an unloading pulling fork mechanism installed on the integrated seat (4), and the unloading pulling 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; the unloading pulling fork mechanism comprises an unloading pulling fork steering engine (122), an unloading pulling fork rod (123) and an auxiliary rubber wheel (124), the unloading pulling fork steering engine (122) is arranged at the upper end of the integrated seat (4) of the rear vehicle module, the unloading pulling fork rod (123) is rotationally connected to the unloading pulling fork steering engine (122) and connected with the auxiliary rubber wheel (124) at the tail end. ​ ​ ​ 2. The serpentine robot for aircraft engine inspection of claim 1, wherein: The front pulling fork mechanism comprises an electric cylinder (101), a fixed base (102), a front pulling fork stepping motor (103), a front pulling fork connecting shaft (104), a front pulling fork rod (105) and a front pulling fork steering engine (106), the fixed base (102) is bolted to the front end of the integrated seat (4) of the front vehicle module, the electric cylinder (101) is arranged on the fixed base (102) and has the front pulling fork steering engine (106) fixedly connected to the front end, the front pulling fork steering engine (106) is connected with the front pulling fork stepping motor (103) through a fixed connecting piece (107), and the output end of the front pulling fork stepping motor (103) is connected with the front pulling fork rod (105) through the front pulling fork connecting shaft (104).

3. The serpentine robot for aircraft engine inspection of claim 2, wherein: The mechanical arm is a five-axis mechanical arm, comprising a mechanical arm base (108), a mechanical arm first steering engine (109), a mechanical arm second steering engine (110), a mechanical arm first stepping motor (111), a mechanical arm second 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 in the integrated seat (4), the mechanical arm first steering engine (109) is rotationally connected with the mechanical arm base (108) through a rotating shaft, the mechanical arm first steering engine (109) and the mechanical arm second steering engine (110) are fixedly connected through a connecting sheet (125), the mechanical arm second steering engine (110) and a fixing piece (126) on the U-shaped beam (113) are rotationally connected through a rotating shaft, the mechanical arm first stepping motor (111) is embedded in the U-shaped beam (113) and is used for realizing rotation of the visual detection mechanism in a vertical plane, and the mechanical arm second stepping motor (112) is connected with the visual detection mechanism and is used for realizing rotation of the visual detection mechanism in a horizontal plane.

4. The serpentine robot for aircraft engine inspection of claim 3, wherein: The visual detection mechanism comprises a 2D camera (114), a 3D camera (115), an auxiliary illuminating lamp (116) and a visual detection fixed seat (117), the 2D camera (114), the 3D camera (115) and the auxiliary illuminating lamp (116) are all mounted on the visual detection fixed seat (117), the 2D camera (114) is used for imaging detection of the surface of the engine air channel, the fairing and the blade, the 3D camera (115) is used for 3D imaging of the surface of the engine air channel, the fairing and the blade, constructs a three-dimensional image of the inside of the engine, and detects cracks and foreign protrusions, and the auxiliary illuminating lamp (116) is used for auxiliary illumination.

5. The serpentine robot for aircraft engine inspection of claim 4, wherein: A flexible anti-collision beam (118) is further arranged below the front end of the integrated seat (4) of the front vehicle module, the lighting assembly of the middle vehicle module comprises a lighting lamp (119), a supporting rod (120) and a supporting rod base (121), the supporting rod base (121) is fixed to the upper end of the integrated seat (4) of the middle vehicle module, and the lighting lamp (119) is connected with the supporting rod base (121) through the supporting rod (120).

6. The serpentine robot for aircraft engine inspection of claim 1, wherein: The driving mechanism comprises a driving motor (301) and a driving wheel (302), the driving motor is integrated in the inside of the integrated seat (4) and has an output shaft connected with the driving wheel (302).

7. The serpentine robot for aircraft engine inspection of claim 1, wherein: A bellows (7) is sleeved outside the bearing composite mechanism, and the bellows (7) is connected with the integrated seat (4).

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