Aero-engine continuum detection robot with self-traction function

Abstract

The invention discloses an aero-engine continuum detection robot with a self-traction function. The aero-engine continuum detection robot mainly comprises an execution mechanism, a traction mechanism, a feeding mechanism and a control mechanism. The executing mechanism is composed of a driving section and a driven section and is matched with the traction rope to control the bending direction and the bending amount. The traction mechanism mainly provides an acting point through extrusion of an air bag and the surrounding environment, and traction motion is achieved through the effect of an inductance winding. The feeding mechanism drives the flexible pipe through a feeding motor, and feeding movement of the driven section is achieved. The control mechanism controls the driving section through a lead screw and a wire supporting pulley block. When the robot is locked in a narrow environment, control over the bending direction and the bending amount of the executing mechanism can be achieved in cooperation with a traction rope, the executing mechanism can obtain a moving force application point through limiting cooperation of the traction mechanism and the environment, and the executing mechanism is pulled and released from the stuck state; the technical effect of self-escape without cooperation of other facilities is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of continuum detection robots, in particular to a detection robot with the function of actively moving and escaping in a narrow and limited space. Background Art

[0002] With the progress of artificial intelligence, sensor technology and material science, modern robots are becoming more and more intelligent, and have the technical prerequisites to replace manual labor to perform some detection or exploration tasks on demand. On this basis, the robot's own environmental tolerance is stronger than that of humans, and it can better match the complex and changing working environment. In certain specific application scenarios, such as performing tasks in a limited space, the flexibility and accuracy of the robot's movement in this space are particularly important. In order to meet the needs of performing detection tasks in narrow spaces such as inside aircraft engines, continuum robots came into being.

[0003] The continuum robot is a super-redundant robot with rigid links and joints made using the principles of bionics. It has high flexibility, reliability and precise control. However, it is found in actual scene applications that there are still certain defects in the detection of complex and narrow spaces, especially in the detection scenes matching large aspect ratios. The environment with a large aspect ratio limits the number of joints that can be driven by the continuum robot. At present, the exploration strategy for the large aspect ratio continuum robot is mainly a combination of passive segments and active segments. This exploration strategy will bring an obvious problem: the passive segment is likely to be stuck by surrounding obstacles due to the lack of active flexibility, which will cause the continuum robot to be unable to perform the detection task normally; the stuck continuum robot is extremely difficult to escape by its own functions due to its lack of flexibility, and it is difficult for the staff in the narrow space to effectively contact the stuck place to free the continuum robot. If it is violently escaped, it may cause damage to the continuum robot or the detection site. Summary of the invention

[0004] In view of at least one of the above technical problems, the present invention provides an aircraft engine continuum inspection robot with a self-traction function, which can not only realize active bending and feeding movements to maintain the flexibility of the joints, but also release itself from a stuck state through a traction mechanism to play a role of self-escaping, and improve the flexibility and active escape ability of the continuum robot in a narrow space with a large aspect ratio. The specific technical solution is as follows: An aero-engine continuum inspection robot with a self-traction function, comprising: The actuator comprises an active section and a passive section; the active section is formed by connecting a plurality of active joints, the active joint is a tubular columnar structure, and one end face of the active joint is provided with a linear convex ridge; when connected, the convex ridge contacts the other end face of the previous active joint, and the convex ridges of two adjacent active joints are arranged alternately; the tube wall of the active joint is circumferentially evenly distributed with threading holes in pairs; the active section comprises a front joint part and a rear joint part connected, the active joint of the rear joint part is provided with two groups of threading holes, and the active joint of the front joint part is provided with four groups of threading holes; the passive section comprises a flexible tube matched with the active section, and the flexible tube is provided with a tube support and a threading path; The traction mechanism comprises a limiting sleeve and an air pipe, wherein the limiting sleeve is connected to the tube hole of the active joint at the front end of the actuator, an insulating sleeve is arranged inside the limiting sleeve, an inductance winding is arranged outside the insulating sleeve, a rear permanent magnet and a front permanent magnet which are matched with the inductance winding and whose normal magnetic poles repel each other are axially arranged inside the insulating sleeve, the rear permanent magnet is fixedly arranged in the insulating sleeve, and the front permanent magnet retains axial freedom in the insulating sleeve; one end of the air pipe passes through the insulating sleeve and the actuator and is connected to the air supply system, and the other end is connected to a flexible air bag, the front end of the flexible air bag is equipped with a wireless camera, and the wall of the air pipe is linked to the front permanent magnet; A feeding mechanism, comprising a feeding support and a feeding motor, wherein the feeding motor is linked to a feeding wheel for driving the passive section to move forward and backward; The control mechanism includes four traction ropes and four supporting pulley blocks matched therewith, and each traction rope is equipped with a servo motor; the traction rope includes a rear drive line and a front drive line; the two ends of the rear drive line are fixed to the front end of the rear joint part, and the middle part passes through the threading hole of the rear joint part and the threading path before bypassing the supporting pulley block; the two ends of the front drive line are fixed to the front end of the front joint part, and the middle part passes through the threading hole of the front joint part, the threading hole of the rear joint part and the threading path before bypassing the supporting pulley block.

[0005] In some embodiments of the present disclosure, the active joint is a cylindrical structure, and the outer edge of the tube support is circular.

[0006] In some embodiments of the present disclosure, the tube support is an annular structure, and a wire groove corresponding to the position of the threading hole of the active joint of the front joint part is provided at the outer edge of the tube support.

[0007] In some embodiments of the present disclosure, a rear limit block and a front limit block are axially arranged in the insulating sleeve; the rear permanent magnet is fixedly connected to the rear limit block, and the rear limit block is fixedly connected to the inner wall of the insulating sleeve; the front permanent magnet is fixedly connected to the front limit block, and the front limit block is slidably matched with the inner wall of the insulating sleeve; and an anti-slip component acting on the front limit block is provided at the front end of the insulating sleeve.

[0008] In some embodiments of the present disclosure, the insulating sleeve is made of polyvinyl fluoride plastic, the rear limit block and the front limit block are made of polypropylene plastic; the air pipe is made of nylon material, and the flexible airbag is made of silicone rubber material.

[0009] In some embodiments of the present disclosure, a vertical plate is provided at the front of the flexible airbag, and the wireless camera is disposed in the middle of the vertical plate.

[0010] In some embodiments of the present disclosure, a tube passage for the flexible tube to pass through the middle of the feed support is penetrated; with the tube passage as the axis, several worms are evenly distributed on the outer circumference, one end of the worm is provided with a synchronous wheel, and the synchronous wheels equipped with each worm are linked through a synchronous belt, and one of the worms is connected to the feed motor; the worm is equipped with a turbine, and the turbine is coaxially arranged on the axle of the feed wheel, and the wheel surface of each feed wheel is in static friction contact with the outer wall of the flexible tube.

[0011] In some embodiments of the present disclosure, the control mechanism includes a base plate, a lead screw is laterally arranged above the base plate, the lead screw is equipped with a lead screw nut, the lead screw nut is fixedly connected to the traction rope, and the lead screw is linked to the servo motor.

[0012] In some embodiments of the present disclosure, the wire support pulley group includes a wire pulley arranged at the front of the base plate, a wire support pulley I and a wire support pulley II arranged at the front and rear sides of the lead screw respectively, and a winding pulley arranged at the rear of the base plate.

[0013] In some embodiments of the present disclosure, the traction rope is equipped with a tensioner.

[0014] Compared with the prior art, the above-mentioned aircraft engine continuum inspection robot with self-traction function has the following beneficial effects: When the robot is locked in a narrow environment, it can not only cooperate with the traction rope to control the bending direction and bending amount of the actuator, but also through the limit coordination of the traction mechanism and the environment, the actuator can obtain a force point for movement, and pull itself out of the stuck state, achieving the technical effect of self-escaping without the cooperation of other facilities; By designing an actuator including active and passive segments, the front and rear halves of the actuator can freely control the twisting direction as needed, further improving the flexibility and active escape ability of the continuum robot in narrow spaces, and further reducing the possibility of high-intensity scraping between the outer surface of the actuator and the working environment when feeding or withdrawing; The functional components of this design are mostly arranged horizontally, with a small cross-section, which is highly compatible with narrow and long space inspection operations; The present invention provides new technical inspiration for the problem of traditional continuum detection robots getting out of trouble in narrow spaces where they are easily locked. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the first viewing angle of an embodiment of the present invention; Figure 2 for Figure 1 A partial enlarged schematic diagram of part A; Figure 3 It is a three-dimensional schematic diagram of a partial cross-section of a feed support in a second viewing angle of an embodiment of the present invention; Figure 4 for Figure 3 A partial enlarged schematic diagram of part B; Figure 5 It is a three-dimensional schematic diagram of the active section of an embodiment of the present invention; Figure 6 is a three-dimensional schematic diagram of the rear joint portion of an embodiment of the present invention; Figure 7 It is a three-dimensional schematic diagram of a pipe support according to an embodiment of the present invention; Figure 8 It is a structural schematic diagram of the active joint and the traction mechanism in accordance with an embodiment of the present invention; Fig. 9 for Figure 8 Schematic cross-section of the CC; Description of the numbers in the figure: 1. Actuator; 11. Active section; 111. Active joint; 1111. Convex ridge; 1112. Threading hole; 112. Front joint; 113. Rear joint; 12. Passive section; 121. Pipe support; 1211. Wire groove; 2. Traction mechanism; 21. Limit sleeve; 22. Air pipe; 221. Flexible airbag; 23. Insulating sleeve; 231. Rear limit block; 232. Front limit block; 233. Anti-dropping piece; 24. Inductor winding; 241 , rear permanent magnet; 242, front permanent magnet; 25, wireless camera; 3, feeding mechanism; 31, feeding support; 32, feeding motor; 33, feeding wheel; 34, worm; 35, synchronous wheel; 36, turbine; 4, control mechanism; 41, servo motor; 42, rear drive line; 43, front drive line; 44, base plate; 45, lead screw; 46, lead screw nut; 47, wire pulley; 481, wire support pulley I; 482, wire support pulley II; 49, winding pulley. DETAILED DESCRIPTION

[0016] In order to better understand the purpose, structure and function of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below. It should be noted that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present application. The terms used herein in this application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The terms "including" and "provided with" in this application and any variations thereof are open-ended and are intended to cover non-exclusive inclusions.

[0017] The serial numbers assigned to the components in this article are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" mentioned in this disclosure, unless otherwise specified, includes direct and indirect "connections". In the description of this application, it should be understood that the orientation terms "front" involved in the text refer to the orientation of the wireless camera 25, "rear" refers to the orientation of the winding pulley 49, and "lateral" refers to the angle based on the bottom plane of the substrate 44. The orientation or position relationship indicated above is only for the convenience of description, and does not indicate or imply that the device or unit referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0018] As shown in the attached figure Figures 1 to 9 As shown, this embodiment provides an aircraft engine continuum inspection robot with a self-traction function, comprising: The actuator 1 includes an active section 11 and a passive section 12; the active section 11 is formed by connecting several active joints 111. In this embodiment, the active joint 111 is a metal tubular columnar structure, and one end face of the active joint 111 is provided with a linear ridge 1111, and the highest point of the ridge 1111 is located in the plane where the diameter of the cross-section of the active joint 111 is located. What can be further optimized is that the arc surface at the tip of the ridge 1111 is transitional; when connected, the ridge 1111 contacts the other end face of the previous active joint 111, so that the next active joint 111 can swing against the previous active joint 111, and the ridges 1111 of two adjacent active joints 111 are staggered to ensure swinging with two degrees of freedom; the tube wall of the active joint 111 is evenly distributed in pairs with threading holes 1112 in the circumferential direction; the active section 11 includes a connected front joint part 112 and a rear joint part 113. In this embodiment, as Figure 5 and Figure 6 As shown, the active joint 111 of the front joint part 112 is provided with two groups of threading holes 1112, each group is a pair of two holes, that is, there are four threading holes 1112 in total, and the four threading holes 1112 are evenly distributed on the tube wall with the axis of the active joint 111 as the center, and the active joint 111 of the rear joint part 113 is provided with four groups of threading holes 1112, each group is a pair of two holes, that is, there are eight threading holes 1112 in total, and the eight threading holes 1112 are evenly distributed on the tube wall with the axis of the active joint 111 as the center; the passive section 12 includes a flexible tube matched with the active section 11, and a plurality of tube supports 121 and wire passing paths are arranged in the flexible tube. In this embodiment, the outer edge of the tube support 121 is circular. When in use, the outer edge of the tube support 121 contacts the inner wall of the flexible tube to achieve a supporting effect. The design can be further optimized. Figure 7 As shown, the tube support 121 is an annular structure, and a wire passing groove 1211 corresponding to the position of the wire threading hole 1112 of the active joint 111 of the front joint part 112 is provided at the outer edge of the tube support 121, and the hole in the middle of the tube support 121 is used as a wire passing path; in this embodiment, eight wire passing grooves 1211 are provided.

[0019] The traction mechanism 2 includes a limiting sleeve 21 and an air pipe 22. The limiting sleeve 21 is connected to the tube hole of the active joint 111 at the front end of the actuator 1. An insulating sleeve 23 is arranged inside the limiting sleeve 21. An inductor winding 24 is arranged outside the insulating sleeve 23. In this embodiment, the inductor winding 24 uses a copper wire winding with a cable. The inductor winding 24 includes three inductor coils that are staggered and arranged in parallel. The inductor coils can be bonded to the outer surface of the insulating flexible sleeve by tape or glue to prevent relative sliding; a rear permanent magnet that is matched with the inductor winding 24 and whose normal magnetic poles repel each other is axially arranged inside the insulating sleeve 23. Iron 241 and front permanent magnet 242, the rear permanent magnet 241 is fixed in the insulating sleeve 23, and the front permanent magnet 242 retains axial freedom in the insulating sleeve 23; one end of the air pipe 22 passes through the insulating sleeve 23 and the actuator 1 and is connected to the air supply system, and the other end is connected to a flexible air bag 221, and the front end of the flexible air bag 221 is equipped with a wireless camera 25. The wall of the air pipe 22 is linked with the front permanent magnet 242. What can be optimized is that the rear permanent magnet 241 and the front permanent magnet 242 are injection-molded magnets with lighter mass, and the repulsion between the two permanent magnets can be smaller; This embodiment can be further optimized as follows: Figure 8 and Fig. 9 As shown, a rear limit block 231 and a front limit block 232 are axially arranged in the insulating sleeve 23; the rear permanent magnet 241 is fixedly connected to the rear limit block 231, and the rear limit block 231 is fixedly connected to the inner wall of the insulating sleeve 23; the front permanent magnet 242 is fixedly connected to the front limit block 232, and the front limit block 232 is slidably matched with the inner wall of the insulating sleeve 23; the front end of the insulating sleeve 23 is provided with an anti-slipping member 233 acting on the front limit block 232, and the anti-slipping member 233 can be an anti-slipping clamp, an anti-slipping protrusion or a packaging ring plate, which is used to prevent the front limit block 232 from moving forward too much and avoiding separation from the insulating sleeve 23; in this embodiment, the rear limit block 2 31, the rear permanent magnet 241, the front permanent magnet 242 and the front limit block 232 are axially provided with a channel for the air pipe 22 to pass through; the front part of the flexible airbag 221 is provided with a vertical plate, which can be made of plastic, and the wireless camera 25 is arranged in the middle of the vertical plate; in this embodiment, the insulating sleeve 23 is made of polyvinyl fluoride plastic, which is light and stable; the rear limit block 231 and the front limit block 232 are made of polypropylene plastic, and when in use, lubricant can be applied to the surface of the front limit block 232 to further reduce resistance; the air pipe 22 is made of nylon material, which has a certain rigidity while ensuring flexibility; the flexible airbag 221 is made of silicone rubber material, which has good elasticity and is not easy to break; The feeding mechanism 3 comprises a feeding support 31 and a feeding motor 32, wherein the feeding motor 32 is linked with a feeding wheel 33 for driving the passive section 12 to move forward and backward; wherein a tube passage for the flexible tube to pass through is penetrated in the middle of the feeding support 31; with the tube passage as the axis, a plurality of worms 34 are evenly distributed in the outer circumferential direction; in this embodiment, the number of the worms 34 is three, and a synchronous wheel 35 is provided at one end of the worm 34, and the synchronous wheel 35 equipped with each of the worms 34 is linked by a synchronous belt, and one of the worms 34 is connected with the feeding motor 32; the worm 34 is equipped with a turbine 36, and the turbine 36 is coaxially arranged on the wheel axle of the feeding wheel 33, and the wheel surface of each of the feeding wheels 33 is in static friction contact with the outer wall of the flexible tube. In this embodiment, the three feeding wheels 33 surround and contact the outer wall of the flexible tube at an angle of 120°; The control mechanism 4 includes four traction ropes and four supporting wire pulley groups matched therewith, each traction rope is equipped with a servo motor 41, and it can be further optimized that the traction rope is equipped with a tensioner; the traction rope includes two rear drive lines 42 and two front drive lines 43; wherein, the control mechanism 4 includes a base plate 44, a lead screw 45 is horizontally arranged above the base plate 44, and the lead screw 45 is equipped with a lead screw nut 46, the lead screw nut 46 is fixedly connected to the traction rope, and the lead screw 45 is linked to the servo motor 41; the supporting wire pulley group includes a wire pulley 4 arranged at the front of the base plate 44 7, the support pulley I 481 and the support pulley II 482 are respectively arranged on the front and rear sides of the lead screw 45, and the winding pulley 49 is arranged at the rear of the base plate 44. In this embodiment, it can also be optimized that the control mechanism 4 can be equipped with a displacement sensor, the displacement sensor body is fixed on the servo motor 41, and one end of the sensor rope is fixed on the lead screw nut 46; it is further explained here that one end of the rear drive line 42 is fixed to the front end of the rear joint part 113, and the other end passes through the threading hole 1112 of the rear joint part 113, the passive section 12, through the wire pulley 47, the support pulley Ⅰ481 and the supporting pulley Ⅱ482, after the winding pulley 49, it passes through the passive section 12 again, and the threading hole 1112 of the rear joint part 113 opposite to the previous path is fixed to the front end of the rear joint part 113. In this embodiment, a sink groove is provided at the front end of the rear joint part 113, which can avoid the interference of knots or rope heads with the freedom of the active section 11 when fixing the end of the rear drive line 42. In this embodiment, there are two rear drive lines 42; one end of the front drive line 43 is fixed to the front end of the front joint part 112, and the other end passes through the threading hole 1112 of the front joint part 112 in sequence, and the rear joint part The threading hole 1112 of 113, the passive section 12, passes through the wire pulley 47, the support pulley I 481 and the support pulley II 482, and the winding pulley 49, and then passes through the passive section 12 again. The threading hole 1112 of the rear joint part 113 opposite to the previous path, and the threading hole 1112 of the front joint part 112 opposite to the previous path are fixed to the front end of the front joint part 112. In this embodiment, a sink groove is provided at the front end of the front joint part 112, which can avoid the interference of knots or rope heads with the freedom of the active section 11 when fixing the end of the leading line 43. In this embodiment, there are two leading lines 43. In this embodiment, there are four groups of wire support pulleys, among which four winding pulleys 49 are coaxially arranged, and four conducting wire pulleys 47 are coaxially arranged. The four groups of wire support pulleys Ⅰ481 and wire support pulleys Ⅱ482 are arranged horizontally, which can reduce the weight while avoiding interference between the traction ropes. The active joints 111 are connected by threading the traction ropes.

[0020] When in use, the feed support 31 is fixedly connected to the entrance of the detection environment. When the present invention is working normally, the traction mechanism 2 is located at the front end of the active section 11 of the actuator 1, and the flexible airbag 221 contracts under negative pressure and vacuum, which does not affect the normal forward and backward movement of the actuator 1. When a certain active joint 111 of the present invention is stuck by an obstacle, the traction mechanism 2 can be started to start the work of getting out of trouble. When getting out of trouble, first inject gas into the trachea 22 through the air supply system, so that the flexible airbag 221 begins to expand until the flexible airbag 221 is fully squeezed with the external environment, loses the degree of freedom and realizes stable limiting. At this time, the relative positions of the flexible airbag 221, the trachea 22 and the front limit block 232 and the external environment are relatively static. Then, the three groups of inductor windings 24 are energized to generate a magnetic field. The rear permanent magnet 241 and the front permanent magnet 242 generate opposing forces under the action of the magnetic field, which is manifested as the rear permanent magnet 241 and the front permanent magnet 242 approaching each other. Since the front limit block 232 remains relatively still with the external environment, the front limit block 232 will drive all parts of the traction mechanism 2 except the flexible airbag 221, the trachea 22 and the front limit block 232 to move forward under the action of the force. In this way, traction can be generated on the subsequent joints through the front end of the active segment 11. The traction force is transmitted to the locking position through the joints in sequence, and with the assistance of the posture adjustment of the front end of the active segment 11 of the continuum detection robot, the locked joint can be released from the surrounding obstacles. The present design can not only cooperate with the traction rope to realize the control of the bending direction and bending amount of the actuator 1, but also enable the actuator 1 to obtain the force point for maneuvering through the limit cooperation of the traction mechanism 2 and the environment, and to pull itself out of the stuck state, thereby realizing the technical effect of self-escaping without the cooperation of other facilities; by designing the actuator 1 including the active section 11 and the passive section 12, the front joint part 112 of the front half and the rear joint part 113 of the rear half of the actuator 1 can be freely controlled as needed to control the twisting direction, further improving the flexibility and active escape ability of the continuum robot in the narrow space, and further reducing the possibility of high-intensity scraping between the outer surface of the actuator 1 and the working environment when feeding or withdrawing; the functional components of the present design are mostly arranged horizontally, with a small cross-section, and a high degree of matching with the narrow space detection operation; the present invention provides new technical inspiration for the problem of traditional continuum detection robots escaping from narrow spaces that are easy to lock.

[0021] It can be understood that the above description is only for illustrating the specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the disclosure scope of the present application.

Claims

1. An aero-engine continuum inspection robot with self-traction function, characterized in that: include: An actuator (1) is provided with an active section (11) and a passive section (12); the active section (11) is formed by connecting a plurality of active joints (111); the active joint (111) is a tubular columnar structure; one end face of the active joint (111) is provided with a linear convex ridge (1111); when connected, the convex ridge (1111) contacts the other end face of the previous active joint (111), and the convex ridges (1111) of two adjacent active joints (111) are arranged in a staggered manner; the active joint (111) The tube wall is evenly distributed in pairs with threading holes (1112) in the circumferential direction; the active section (11) comprises a front joint portion (112) and a rear joint portion (113) connected to each other; the active joint (111) of the front joint portion (112) is provided with two groups of threading holes (1112); the active joint (111) of the rear joint portion (113) is provided with four groups of threading holes (1112); the passive section (12) comprises a flexible tube matched with the active section (11); a tube support (121) and a threading path are arranged inside the flexible tube; A traction mechanism (2) is provided with a limiting sleeve (21) and an air pipe (22), wherein the limiting sleeve (21) is connected to a tube hole of the active joint (111) at the front end of the actuator (1), an insulating sleeve (23) is provided inside the limiting sleeve (21), an inductance winding (24) is provided outside the insulating sleeve (23), and a rear permanent magnet (241) and a front permanent magnet (242) which are matched with the inductance winding (24) and have mutually repelling normal magnetic poles are axially provided inside the insulating sleeve (23). The rear permanent magnet (241) is fixedly arranged in the insulating sleeve (23), and the front permanent magnet (242) retains axial freedom in the insulating sleeve (23); one end of the air pipe (22) passes through the insulating sleeve (23) and the actuator (1) and is connected to the air supply system, and the other end is connected to a flexible air bag (221), and the front end of the flexible air bag (221) is equipped with a wireless camera (25), and the wall of the air pipe (22) is linked to the front permanent magnet (242); A feeding mechanism (3) is provided with a feeding support (31) and a feeding motor (32), wherein the feeding motor (32) is linked to a feeding wheel (33) for driving the passive section (12) to move forward and backward; A control mechanism (4) is provided with four traction ropes and four supporting wire pulley blocks matched therewith, and each traction rope is equipped with a servo motor (41); the traction ropes include a rear drive line (42) and a front drive line (43); the two ends of the rear drive line (42) are fixed to the front end of the rear joint part (113), and the middle part passes through the threading hole (1112) of the rear joint part (113) and the threading path before bypassing the supporting wire pulley block; the two ends of the front drive line (43) are fixed to the front end of the front joint part (112), and the middle part passes through the threading hole (1112) of the front joint part (112), the threading hole (1112) of the rear joint part (113) and the threading path before bypassing the supporting wire pulley block.

2. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: The active joint (111) is a cylindrical structure, and the outer edge of the tube support (121) is circular.

3. The aero-engine continuum inspection robot with self-traction function according to claim 2, characterized in that: The tube support (121) is an annular structure, and a wire groove (1211) corresponding to the position of the wire threading hole (1112) of the active joint (111) of the front joint portion (112) is provided at the outer edge of the tube support (121).

4. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: A rear limit block (231) and a front limit block (232) are axially arranged inside the insulating sleeve (23); the rear permanent magnet (241) is fixedly connected to the rear limit block (231), and the rear limit block (231) is fixedly connected to the inner wall of the insulating sleeve (23); the front permanent magnet (242) is fixedly connected to the front limit block (232), and the front limit block (232) is slidably matched with the inner wall of the insulating sleeve (23); and an anti-dropping component (233) is provided at the front end of the insulating sleeve (23) for acting on the front limit block (232).

5. The aero-engine continuum inspection robot with self-traction function according to claim 4, characterized in that: The insulating sleeve (23) is made of polyvinyl fluoride plastic, the rear limit block (231) and the front limit block (232) are made of polypropylene plastic; the air pipe (22) is made of nylon material, and the flexible airbag (221) is made of silicone rubber material.

6. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: A vertical plate is provided at the front of the flexible airbag (221), and the wireless camera (25) is arranged in the middle of the vertical plate.

7. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: A tube passage for the flexible tube to pass through is penetrated in the middle of the feed support (31); with the tube passage as the axis, a plurality of worms (34) are evenly distributed in the outer circumferential direction; a synchronous wheel (35) is provided at one end of the worm (34); the synchronous wheels (35) used by each of the worms (34) are linked by a synchronous belt; one of the worms (34) is connected to the feed motor (32); the worm (34) is provided with a turbine (36); the turbine (36) is coaxially arranged on the wheel axle of the feed wheel (33); the wheel surface of each of the feed wheels (33) is in static friction contact with the outer wall of the flexible tube.

8. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: The control mechanism (4) comprises a base plate (44), a lead screw (45) is disposed transversely above the base plate (44), the lead screw (45) is provided with a lead screw nut (46), the lead screw nut (46) is fixedly connected to the traction rope, and the lead screw (45) is linked to the servo motor (41).

9. The aero-engine continuum inspection robot with self-traction function according to claim 8, characterized in that: The wire support pulley assembly comprises a wire guide pulley (47) arranged at the front of the base plate (44), a wire support pulley I (481) and a wire support pulley II (482) respectively arranged at the front and rear sides of the lead screw (45), and a winding pulley (49) arranged at the rear of the base plate (44).

10. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: The traction rope is equipped with a tensioner.

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