An aero-engine continuum inspection robot with self-traction function

Abstract

The present invention discloses an aero-engine continuum inspection robot with a self-traction function, which mainly includes an actuator, a traction mechanism, a feeding mechanism and a control mechanism. The actuator is composed of an active section and a passive section, and cooperates with a traction rope to realize the control of the bending direction and bending amount; the traction mechanism mainly provides a fulcrum through the squeezing of the airbag and the surrounding environment, and realizes the traction movement through the action of the inductive winding; the feeding mechanism drives the flexible tube through the feeding motor to realize the feeding movement of the passive section; the control mechanism realizes the control of the active section through a lead screw and a support pulley group. When the robot is locked in a confined environment, it can not only cooperate with the traction rope to realize the control of the bending direction and bending amount of the actuator, but also obtain a fulcrum for the actuator to move by the limited cooperation between the traction mechanism and the environment, and pull itself out of the stuck state, achieving the technical effect of self-escaping without the cooperation of other facilities.

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 from a narrow and limited space. Background Art

[0002] With advances in artificial intelligence, sensor technology, and materials science, modern robots are becoming increasingly intelligent, possessing the technical capabilities to replace humans in performing on-demand inspection and exploration tasks. Furthermore, robots possess greater environmental tolerance than humans, enabling them to better adapt to complex and changing operating environments. In certain application scenarios, such as those involving confined spaces, the flexibility and precision of robots' movements within these spaces are crucial. To address the need for inspection tasks within narrow and long spaces, such as those inside aircraft engines, continuum robots have emerged.

[0003] Continuum robots are ultra-redundant robots with rigid links and joints, built using biomimetic principles. They offer high flexibility, reliability, and precise control. However, in real-world applications, they have found limitations for inspections in complex and confined spaces, particularly those requiring a large aspect ratio. Large aspect ratio environments limit the number of drivable joints in continuum robots. Currently, the exploration strategy for continuum robots with large aspect ratios primarily relies on a combination of passive and active segments. This approach presents a significant problem: the passive segments, lacking active flexibility, are likely to become stuck on surrounding obstacles, preventing the continuum robot from properly performing its inspection tasks. Once stuck, the continuum robot's lack of flexibility makes it extremely difficult to free itself. Furthermore, workers in narrow spaces struggle to effectively reach the stuck area to free the continuum robot. Forced escape attempts can damage the continuum robot or the inspection site. Summary of the Invention

[0004] In view of at least one of the above technical problems, the present invention provides an aero-engine continuum inspection robot with a self-traction function. The robot can not only achieve active bending and feeding motion to maintain joint flexibility, but also release itself from a stuck state through a traction mechanism, thereby achieving self-escaping. This improves the flexibility and active escape capability of the continuum robot in narrow spaces with a large aspect ratio. The specific technical solution is as follows:

[0005] An aero-engine continuum inspection robot with a self-traction function, comprising:

[0006] The actuator includes an active section and a passive section; the active section is formed by connecting several active joints, the active joints are tubular structures, and one end face of the active joint is provided with a linear ridge; when connected, the ridge contacts the other end face of the previous active joint, and the ridges of two adjacent active joints are staggered; the tube wall of the active joint is evenly distributed in pairs along the circumference with threading holes; the active section includes a connected front joint part and a rear joint part, 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, each group of two threading holes in a pair; the passive section includes a flexible tube connected to the active section, and the flexible tube is provided with a tube support and a wire passing path;

[0007] The traction mechanism includes a limiting sleeve and an air pipe, the limiting sleeve is connected to the tube hole of the active joint at the front end of the actuator, an insulating sleeve is provided in the limiting sleeve, an inductor winding is provided outside the insulating sleeve, a rear permanent magnet and a front permanent magnet that are used with the inductor winding and whose normal magnetic poles repel each other are axially provided in the insulating sleeve, the rear permanent magnet is fixed 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 airbag, the front end of the flexible airbag is provided with a wireless camera, and the wall of the air pipe is linked to the front permanent magnet;

[0008] 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;

[0009] The control mechanism includes four traction ropes and four supporting pulley groups corresponding thereto, and each traction rope is equipped with a servo motor; the traction rope includes two rear drive lines and two front drive lines; one end of the rear drive line is fixed to the front end of the rear joint part, and the other end passes through the threading hole of the rear joint part, the passive section in sequence, bypasses the supporting pulley group, passes through the passive section again, the threading hole of the rear joint part opposite to the previous path, and is fixed to the front end of the rear joint part; one end of the front drive line is fixed to the front end of the front joint part, and the other end passes through the threading hole of the front joint part, the threading hole of the rear joint part, the passive section in sequence, bypasses the supporting pulley group, passes through the passive section again, the threading hole of the rear joint part opposite to the previous path, and the threading hole of the front joint part opposite to the previous path is fixed to the front end of the front joint part.

[0010] In some embodiments of the present disclosure, the active joint is a cylindrical structure, and the outer edge of the tube support is circular.

[0011] In some embodiments of the present disclosure, the tube support is an annular structure, and a wire groove corresponding to the position of the wire threading hole of the active joint of the posterior joint part is provided at the outer edge of the tube support.

[0012] 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 slidingly fitted with the inner wall of the insulating sleeve; the front end of the insulating sleeve is provided with an anti-slip component acting on the front limit block.

[0013] 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 tube is made of nylon material, and the flexible airbag is made of silicone rubber material.

[0014] In some embodiments of the present disclosure, a vertical plate is provided at the front of the flexible airbag, and the wireless camera is provided in the middle of the vertical plate.

[0015] In some embodiments of the present disclosure, a pipe passage for the flexible pipe to pass through the middle of the feed support is penetrated; with the pipe passage as the axis, several worms are evenly distributed on the outer circumference, and a synchronous wheel is provided at one end of the worm, 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 pipe.

[0016] In some embodiments of the present disclosure, the control mechanism includes a base plate, a lead screw is laterally provided 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.

[0017] In some embodiments of the present disclosure, the wire support pulley assembly 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.

[0018] In some embodiments of the present disclosure, the traction rope is equipped with a tensioner.

[0019] Compared with the existing technology, the above-mentioned aircraft engine continuum inspection robot with self-traction function has the following beneficial effects:

[0020] When the robot is locked in a confined environment, it can not only cooperate with the traction rope to control the bending direction and amount of the actuator, but also use the limited position of the traction mechanism and the environment to enable the actuator to obtain a force point for maneuvering, thereby pulling itself out of the stuck state and achieving the technical effect of self-escaping without the cooperation of other facilities;

[0021] By designing an actuator with active and passive sections, both the front and rear halves of the actuator can freely control their twisting direction as needed, further enhancing the continuum robot's flexibility and ability to escape from confinement. This also further reduces the likelihood of high-intensity scraping between the actuator's outer surface and the operating environment during advancement or withdrawal.

[0022] 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;

[0023] 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

[0024] Figure 1 A three-dimensional schematic diagram of a viewing angle 1 of an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A partial enlarged schematic diagram of part A;

[0026] Figure 3 This is a perspective schematic diagram of a partial cross-section of a feed support according to a second viewing angle of an embodiment of the present invention;

[0027] Figure 4 for Figure 3 A partial enlarged schematic diagram of part B;

[0028] Figure 5 Schematic diagram of the active section of the embodiment of the present invention;

[0029] Figure 6 This is a three-dimensional schematic diagram of the rear joint portion of an embodiment of the present invention;

[0030] Figure 7 This is a three-dimensional schematic diagram of a pipe support according to an embodiment of the present invention;

[0031] Figure 8 This is a schematic structural diagram of the active joint and the traction mechanism in accordance with an embodiment of the present invention;

[0032] Figure 9 for Figure 8 Schematic cross-section of the CC;

[0033] Description of the numbers in the figure:

[0034] Actuator; 11. Active section; 111. Active joint; 1111. 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. Trachea; 221. Flexible airbag; 23. Insulating sleeve; 231. Rear limit block; 232. Front limit block; 233. Anti-dropping part; 24. Inductor winding; 241. Rear permanent magnet; 242. Front permanent magnet; 25. Wireless camera; 3. Feed mechanism; 31. Feed support; 32. Feed motor; 33. Feed 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

[0035] In order to better understand the purpose, structure and function of the present invention, the technical solutions 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 in the technical field of this application. The terms used herein in this application are only for the purpose of describing specific embodiments and are not intended to limit this 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.

[0036] The serial numbers assigned to the components herein 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 both direct and indirect "connections". In the description of this application, it should be understood that the orientation terms "front" referred to herein 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 of 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 to this application.

[0037] 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:

[0038] 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 structure, and one end face of the active joint 111 is provided with a straight ridge 1111, and the highest point of the ridge 1111 is 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 excessive; 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; the active section 11 includes a connected front joint part 112 and a rear joint part 113. In this embodiment, 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 connected to the active section 11, and a plurality of tube supports 121 and wire passing paths are provided 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 support effect. What can be further optimized is the following: Figure 7 As shown, the tube support 121 is an annular structure, and a wire groove 1211 corresponding to the position of the wire 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, there are eight wire grooves 1211.

[0039] 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 provided in the limiting sleeve 21. The insulating sleeve 23 is provided with an inductor winding 24 outside. In this embodiment, the inductor winding 24 uses a copper wire winding with a cable. The inductor winding 24 includes three inductor coils 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 is axially provided in the insulating sleeve 23, which is used with the inductor winding 24 and has mutually repulsive normal magnetic poles. 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 to 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 repulsive force between the two permanent magnets can be reduced;

[0040] This embodiment can be further optimized as follows: Figure 8 and Figure 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-slip member 233 acting on the front limit block 232, and the anti-slip member 233 can be an anti-slip card, an anti-slip protrusion or an encapsulating ring plate, which is used to prevent the front limit block 232 from moving too far forward to avoid 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 trachea 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. When in use, lubricant can be applied to the surface of the front limit block 232 to further reduce resistance; the trachea 22 is made of nylon material, which has a certain degree of rigidity while ensuring flexibility; the flexible airbag 221 is made of silicone rubber material, which has good elasticity and is not easy to break;

[0041] The feeding mechanism 3 includes 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; wherein, a pipe passage for the flexible tube to pass through the middle of the feeding support 31 is penetrated; with the pipe passage as the axis, a plurality of worms 34 are evenly distributed on the outer circumference. 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. The synchronous wheel 35 equipped with each worm 34 is linked by a synchronous belt, and one of the worms 34 is connected to the feeding motor 32; the worm 34 is equipped with a turbine 36, and the turbine 36 is coaxially arranged on the axle of the feeding wheel 33. The wheel surface of each feeding wheel 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°.

[0042] The control mechanism 4 includes four traction ropes and four supporting pulley groups matched therewith, each traction rope is equipped with a servo motor 41, which can be further optimized by providing a tensioner for the traction rope; 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 provided laterally 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; the supporting pulley group includes a wire pulley 4 provided at the front of the base plate 44 7, respectively provided on the front and rear sides of the screw 45 support pulley I481 and support pulley II482, provided at the rear of the base plate 44 of the winding pulley 49, this embodiment 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, one end of the sensor rope is fixed on the screw nut 46; further explained here is that one end of the rear drive line 42 is fixed to the front end of the rear joint 113, the other end sequentially through the threading hole 1112 of the rear joint 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 to avoid the interference of the knot or rope head with the freedom degree 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 113's threading hole 1112, the passive section 12, passes through the wire pulley 47, the wire support pulley I 481 and the wire 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 is fixed to the front end of the front joint part 112. In this embodiment, a sinking 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 wire guide pulleys 47 are coaxially arranged. The four groups of wire support pulleys I 481 and wire support pulleys II 482 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.

[0043] During 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 activated to start the escape work. When escaping, gas is first injected into the trachea 22 through the air supply system, causing the flexible airbag 221 to begin to expand until the flexible airbag 221 is fully squeezed with the external environment, losing its freedom and achieving a stable limit. At this time, the relative positions of the flexible airbag 221, the trachea 22 and the front limit block 232 with the external environment are relatively static. Then, the three sets of inductor windings 24 are energized to generate a magnetic field. Under the action of the magnetic field, the rear permanent magnet 241 and the front permanent magnet 242 generate opposite forces, which manifests as the rear permanent magnet 241 and the front permanent magnet 242 approaching each other. Since the front limit block 232 remains relatively stationary 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 locked position in sequence through the joints, 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. This design can not only cooperate with the traction rope to control the bending direction and bending amount of the actuator 1, but also enable the actuator 1 to obtain a force point for maneuvering through the limited cooperation of the traction mechanism 2 and the environment, and to pull itself out of the stuck state, thereby achieving 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 of the actuator 1 and the rear joint part 113 of the rear half can be freely controlled 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 1 and the working environment when feeding or exiting; the functional components of this design are mostly arranged horizontally, with a small cross-section, and a high degree of matching with narrow space detection operations; the present invention provides new technical inspiration for the problem of traditional continuum detection robots escaping from narrow spaces that are prone to locking.

[0044] 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. Any changes or replacements within the technical scope disclosed in the present application should be included in the scope of disclosure 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 tube wall of the active joint (111) is evenly divided into pairs in the circumferential direction. The active section (11) includes 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), and the active joint (111) of the rear joint portion (113) is provided with four groups of threading holes (1112), each group of which is a pair of two threading holes (1112); the passive section (12) includes a flexible tube connected to the active section (11), and a tube support (121) and a threading path are provided in 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 the 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) are axially provided inside the insulating sleeve (23) and are matched with the inductance winding (24) and have mutually repelling normal magnetic poles. 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), 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; The control mechanism (4) is provided with four traction ropes and four supporting pulley groups matched therewith, and each traction rope is equipped with a servo motor (41); the traction rope includes two rear drive lines (42) and two front drive lines (43); 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) and the passive section (12) in sequence, passes around the supporting pulley group, and then 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 The front end of the rear joint part (113); one end of the front driving 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), the threading hole (1112) of the rear joint part (113), the passive section (12), and after passing around the support pulley group, 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 is fixed to the front end of the front joint part (112).

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 rear joint portion (113) 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 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); and an anti-slip 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 tube (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 pipe passage for the flexible pipe to pass through is passed through the middle of the feed support (31); with the pipe passage as the axis, a plurality of worms (34) are evenly distributed in the outer circumference, one end of the worm (34) is provided with a synchronous wheel (35), and the synchronous wheel (35) used by each worm (34) is linked by a synchronous belt, and one of the worms (34) is connected to the feed motor (32); the worm (34) is provided with a turbine (36), and the turbine (36) is coaxially arranged on the wheel shaft of the feed wheel (33), and the wheel surface of each feed wheel (33) is in static friction contact with the outer wall of the flexible pipe.

8. The aero-engine continuum inspection robot with self-traction function according to claim 1, characterized in that: The control mechanism (4) includes a base plate (44), a lead screw (45) is horizontally provided above the base plate (44), 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).

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

Images