A coiling and retracting continuum robot system for borescope inspection of aircraft engines

Abstract

Disclosed is a winding and telescopic continuum robot system for borescope inspection of aircraft engines. The system includes a winding and telescopic mechanism, a feeding mechanism, and a continuum robot. The winding and telescopic mechanism includes a rolling bracket bottom, a rolling bracket cover, and a wheel, which can support the wheel and rotate it around the center of a circle, and can also pull a drive line to control the movement of the continuum robot. The feeding mechanism includes a drive motor, a pulley train, a worm gear train, a rubber wheel, a frame, and an adapter, which can be fixed to the borescope opening to assist the movement of the continuum robot. The present invention adopts a winding and telescopic method to control the movement of the continuum robot, which greatly facilitates the movement control and storage of long-sized continuum robots, and effectively reduces the overall size of the continuum robot system, thereby improving the problem that the borescope inspection continuum robot system is limited by the large size and weight of the driving mechanism and the short length of the continuum, making it difficult to effectively and comprehensively detect faults in complex components inside aircraft engines.

Description

Technical Field

[0001] The invention relates to the technical field of borescope detection continuum robots, in particular to a winding and telescopic aero-engine borescope detection continuum robot system. Background Art

[0002] The interior of an aircraft engine is complex and narrow, and its inspection and maintenance rely on borescope equipment such as borescopes and continuum robots. Continuum robots, due to their high flexibility and adaptability, are widely used in borescope inspections of aircraft engines. When using a continuum robot for borescope inspection of an aircraft engine, the robot enters the interior through a borescope port on the side of the aircraft engine and moves through the gaps between the blades. The camera on the robot's head can capture real-time footage, and the images captured by the camera can effectively detect various faults in aircraft engine blades. Currently, most continuum robots used for borescope inspection are limited by the large size and weight of the drive mechanism and the short length of the continuum, making it difficult to effectively and comprehensively detect faults in complex internal aircraft engine components.

[0003] The information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0004] In response to the shortcomings or defects of the above-mentioned existing technologies, a coiled and retractable aircraft engine borescope inspection continuum robot system is provided, which solves the problems of large size and weight of the driving mechanism and small continuum length of the current borescope inspection continuum robot system, and realizes effective and comprehensive detection of internal faults of complex components such as aircraft engines.

[0005] The purpose of the present invention is achieved through the following technical solutions.

[0006] A coiling and retracting continuum robot system for borescope inspection of an aerospace engine comprises:

[0007] The winding and retracting mechanism comprises:

[0008] The bottom of the rolling bracket is an open structure with an open top. The bottom of the open structure is provided with a first rolling component and a gear motor. The gear motor is driven and connected with a gear.

[0009] The rolling bracket cover is detachably covered with the bottom of the rolling bracket, and includes an outer shell cover, a second rolling component provided on the outer shell cover, and a clamping device bracket. The clamping device bracket is a rectangular parallelepiped structure with two through holes along its long sides. The lower through hole is fixed to the outer shell cover by an internal threaded cylindrical pin, and the upper through hole is embedded with a compression spring and a clamping sheet. The upper through hole also has a rectangular groove that is opened to the inner side of the clamping device bracket, so that a part of the clamping sheet is inserted into the inner circle of the compression spring for connection.

[0010] The wheel disc is vertically arranged in the bottom of the rolling bracket and the rolling bracket cover, and the first rolling component is rollingly connected to the bottom of the wheel disc and the second rolling component is rollingly connected to the top of the wheel disc. The wheel disc includes an upper plate, an upper rim, an intermediate plate, a lower rim, a gear ring and a lower plate connected in sequence, wherein:

[0011] The wheel assembly comprises a first gear and a second gear, and the second gear is engaged with the first gear and the second gear is engaged with the first gear, and the second gear is engaged with the first gear and the second gear is engaged with the first gear.

[0012] The winding and retracting aircraft engine borescope inspection continuum robot system further includes a feeding mechanism, which is connected to the winding and retracting mechanism via the continuum robot. The feeding mechanism includes:

[0013] shell;

[0014] A driving mechanism is provided in the housing, and the driving mechanism includes:

[0015] frame,

[0016] The support plate is fixed on the frame, and the through hole at the center of the support plate and the center of the frame is provided with a guide tube for passing through the continuum robot.

[0017] A driving motor is mounted on the support plate, and the driving motor is connected to the long worm drive shaft through a coupling. One end of the long worm drive shaft and the two short worm drive shafts are fixed with a synchronous wheel. The three synchronous wheels distributed in a circle are connected to each other through a synchronous belt. When the driving motor drives the long worm drive shaft to rotate, the other two short worm drive shafts are driven to rotate synchronously through the synchronous wheel and the synchronous belt; the long worm drive shaft and the two short worm drive shafts each have two sets of worm wheels and worms, and each worm wheel shaft is connected to a rubber wheel. When the long worm drive shaft and the two short worm drive shafts are driven to rotate synchronously by the driving motor, the six rubber wheels will rotate synchronously. When the continuum robot passes through the guide tube in the middle of the feed mechanism, the six rubber wheels will squeeze the continuum robot and drive it to achieve forward and backward movement through rotational friction;

[0018] The adapter is screwed to one end of the driving mechanism, and the adapter is connected to the hole probe opening by using the through hole on its end face, so that the entire feeding mechanism is fixed at the hole probe opening.

[0019] In the coiling and retracting aircraft engine borescope inspection continuum robot system, the continuum robot comprises:

[0020] Passive segment,

[0021] The active segment is connected to the passive segment via a joint at its root. The active segment includes a cylindrical active segment first joint and an active segment second joint, each with an arc-shaped surface on one side and a flat surface on the other. The two active segment first joints and active segment second joints are directly connected end to end. The flat surface of the active segment first joint cooperates with the arc surface of the active segment second joint, allowing them to rotate around the central axis of the arc surface. The active segment first joint has eight through holes, and the active segment second joint has four through holes. Each drive wire passes through a through hole, and every four drive wires control a section of the active segment.

[0022] A metal braided jacket covering the entire surface of the continuum robot.

[0023] In the coiling and telescoping aircraft engine borescope inspection continuum robot system, the angle between the plane of the first joint of the active section and the angle between the plane of the second joint of the active section differ by 45 degrees.

[0024] In the described winding and telescopic aircraft engine borescope inspection continuum robot system, in the first rolling component, the internal threaded cylindrical pin strings the roller, roller bracket and drum together, and is fixed to the bottom of the outer shell from both ends by flat head screws. The six groups of the first rolling components are distributed in a semicircle and are tangent to the outermost circle of the wheel disc to support the wheel disc and enable it to roll.

[0025] In the described winding and telescopic aircraft engine borescope inspection continuum robot system, the ball head plunger is fixed to both sides of the bottom of the shell by nuts to limit the wheel disc to the middle position of the bottom of the rolling bracket, and the outlet bracket is fixed to the bottom of the shell near the front cover plate by an internal threaded cylindrical pin and a flat head screw to support the continuum robot so that it can be extended horizontally.

[0026] In the described winding and telescopic aircraft engine borescope inspection continuum robot system, in the second rolling component, the internal threaded cylindrical pin strings the roller, roller bracket and drum together, and is fixed to the outer shell cover from both ends by flat head screws. The four groups of the second rolling components are distributed in a semicircle and are tangent to the outermost circle of the wheel disc to limit the wheel disc and enable it to roll.

[0027] In the winding and retractable aircraft engine borescope inspection continuum robot system, two winding poles are symmetrically arranged near the center of the middle plate and two winding poles are arranged near the continuum bracket to change the direction of the driving line.

[0028] In the winding and telescopic aviation engine borescope detection continuum robot system, the winding wheel groove is an I-shaped groove, and there is an inclined hole on the top of the winding wheel. The end of the driving wire passes through the inclined hole and is tightened and fixed by an aluminum sleeve.

[0029] In the winding and telescopic aviation engine borescope inspection continuum robot system, the winding column consists of a plug bolt, four sleeves and four gaskets. The optical axis part of the plug bolt is divided into four layers by the four sleeves and four gaskets. A driving wire is wound around each layer, and the plug bolt is fixed to the middle plate by a nut.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention adopts a winding and telescopic method, and utilizes a wheel and a rolling bracket to wind the long-sized continuum robot on the wheel, and realizes the forward and backward telescopic movement and storage of the long-sized continuum robot through the rolling of the wheel; adopts a method of pressing the rubber wheel and driving the continuum robot to move through friction, and fixes the feeding mechanism at the borehole mouth to assist the winding and telescopic mechanism to realize the forward and backward telescopic movement of the long-sized continuum robot; adopts a two-section structure of a passive section and an active section, and utilizes a line drive method, thereby improving the problem that the movement of the long-sized continuum robot is difficult to control. The present invention adopts a winding and telescopic method to control the movement of the continuum robot, which greatly facilitates the movement control and storage of the long-sized continuum robot, and effectively reduces the overall size of the continuum robot system, and improves the problem that the borehole detection continuum robot system is limited by the large size and weight of the driving mechanism and the small length of the continuum, making it difficult to effectively and comprehensively detect the faults of the complex components inside the aircraft engine.

[0032] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and easier to understand, so that those skilled in the art can implement it according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are illustrated below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are intended only to illustrate preferred embodiments and are not to be construed as limiting the present invention. It should be understood that the drawings described below are merely examples of the present invention, and that those skilled in the art will be able to derive other drawings from these drawings without inventive effort. Throughout the drawings, identical reference numerals are used to denote identical components.

[0034] In the attached figure:

[0035] Figure 1 It is an axonometric view of the overall structure of the present invention;

[0036] Figure 2 Schematic diagram of the components of the winding and telescopic mechanism of the present invention;

[0037] Figure 3 An exploded view of the rolling support cover of the present invention;

[0038] Figure 4 A bottom view of the rolling support cover of the present invention;

[0039] Figure 5 An exploded view of the roulette wheel of the present invention;

[0040] Figure 6 Schematic diagram of the winding method of the drive wire in the wheel of the present invention;

[0041] Figure 7 This is an exploded view of the bottom of the rolling support of the present invention;

[0042] Figure 8 A bottom plan view of the rolling support of the present invention;

[0043] Figure 9 It is a schematic diagram of the components of the feeding mechanism of the present invention;

[0044] Figure 10 An exploded view of the feed mechanism of the present invention;

[0045] Figure 11 This is a schematic diagram of the structure of the continuum robot of the present invention;

[0046] Figure 12 Schematic diagram of the use scenario of the present invention.

[0047] The present invention will be further explained below with reference to the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0048] Specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although specific embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0049] It should be noted that certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the invention. The scope of protection of the present invention shall be as defined in the attached claims.

[0050] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings. However, the accompanying drawings do not limit the embodiments of the present invention.

[0051] For better understanding, Figures 1 to 12 As shown, a coiling and retracting aircraft engine borescope inspection continuum robot system includes:

[0052] It includes a winding and retracting mechanism 1, a feeding mechanism 2 and a continuum robot 3;

[0053] The winding and retracting mechanism 1 includes a rolling support bottom 103, a rolling support cover 101 and a wheel 102;

[0054] The rolling support bottom 103 includes a housing bottom 10301, a front cover 10306, a rear cover 10312, a roller 10313, a roller 10315, a small roller support 10316, a large roller support 10314, a ball plunger 10302, a motor support 10309, a gear motor 10308, a gear 10311 and an outlet support 10305; the housing bottom 10301 is made of sheet metal and is used to carry other components; the internal threaded cylindrical pin 10307 connects the roller 1 0313, roller brackets 10314 and 10316, and roller 10315 are strung together and fixed to the bottom of the shell 10301 from both ends by flat head screws 10304. There are six such combinations in total. They are distributed in a semicircle and tangent to the outermost circle of the wheel disc 102. They can support the wheel disc 102 and make it roll. From the front, four of them are distributed in the middle and lower area. The two middle groups of these four groups use small roller brackets 10316, and the two groups on both sides use large roller brackets 103 14, mainly plays the role of bearing the main weight of the wheel, the other two groups are distributed in the upper left corner and the upper right corner, and the roller bracket is not used. It mainly plays the role of limiting the position of the wheel; the ball plunger 10302 is fixed to both sides of the shell bottom 10301 by the nut 10303. There are eight groups of such a combination, four groups on each side, which can limit the wheel 102 to the middle position; the gear motor 10308 is fixed to the motor bracket 10309, and the gear 10311 is fixed to the On the gear motor shaft, the motor bracket 10309 is fixed to the housing bottom 10301 by a flat head screw 10304. The gear 10311 meshes with the ring gear 10205 on the wheel 102, and the gear motor 10308 can drive the wheel 102 to rotate; the outlet bracket 10305 is fixed to the housing bottom 10301 near the front cover 10306 by an internal threaded cylindrical pin 10307 and a flat head screw 10304, which can support the continuum robot 3 so that it can be extended horizontally;

[0055] The rolling bracket cover 101 includes an outer shell cover 10101, a roller 10103, a drum 10102, a ball plunger 10105, a clamping device bracket 10108, a compression spring 10109 and a clamping plate 10110; the outer shell cover 10101 is made of three sheet metal parts welded together to carry other components; the internal threaded cylindrical pin 10104 strings the roller 10103 and the drum 10102 together and fixes them to the outer shell cover 10101 through flat head screws 10107 at both ends. There are four such combinations in total, which are distributed in a semicircle and are tangent to the outermost circle of the wheel disc 102, which can limit the position of the wheel disc 102 and assist its rolling; the ball plunger 10105 is fixed to both sides of the outer shell cover 10101 by nuts 10106. There are eight such combinations, with four groups on each side, which can limit the wheel disc 102 to the middle position; the clamping device bracket 10108 is generally in the shape of a rectangular parallelepiped, with two through holes along the long side. The lower through hole is fixed to the outer shell cover 10101 through an internal threaded cylindrical pin 10104, and the upper through hole is embedded with a compression spring 10109 and a clamping plate 10110. The upper through hole also has a rectangular groove opened to the inner side surface, so that a part of the clamping plate 10110 can be inserted into the inner circle of the compression spring 10109 for connection. Under the action of the compression spring 10109, the clamping plate 10110 can compress the continuum robot 3 wound on the wheel disc 102, so that the continuum robot 3 will not be staggered or overlapped during the winding process;

[0056] The wheel disc 102 includes a lower plate 10206, a gear ring 10205, a lower wheel rim 10204, an intermediate plate 10203, an upper wheel rim 10202, an upper plate 10201, a reel motor 10209, a reel 10211, a continuum support 10210 and a winding post 10213; an internal threaded cylindrical pin 10208 sequentially connects the upper plate 10201, the upper wheel rim 10202, the intermediate plate 10203, the lower wheel rim 10204, the gear ring 10205 and the lower plate 10206, and is fixed at both ends by flat head screws 10207; eight reel motors 10209 are distributed circumferentially and fixed in the middle. On the intermediate plate 10203, the winding wheel motor shaft passes through the intermediate plate 10203, and the winding wheel 10211 is fixed on the winding wheel motor shaft through the expansion sleeve 10212; the winding wheel 10211 is an "I"-shaped groove, and each winding wheel 10211 winds a driving wire 10214. There is an oblique hole on the upper surface of the winding wheel 10211, and the end of the driving wire 10214 can pass through the oblique hole without bending too much, and then be tightened and fixed with an aluminum sleeve so that the driving wire 10214 will not loosen; the winding column 10213 is composed of a plug bolt, four sleeves and four gaskets, and the optical axis part of the plug bolt is fixed by four sleeves and four gaskets. It is divided into four layers, each layer is wound with a driving wire, and is fixed to the middle plate 10203 with a bolt by a nut. There are four winding posts 10213, two of which are near the center of the middle plate 10203 and are symmetrical to each other, and two are near the continuum bracket 10210. The winding posts 10213 act as passive wheels and can change the direction of the driving wire; the continuum bracket 10210 is divided into two parts, the upper and lower parts have basically the same structure, the whole is a rectangular parallelepiped, and has four holes, the difference is that the four holes in the lower part are threaded holes, and the four holes in the upper part are through holes, two of the threaded holes in the lower part are connected to the middle plate by screws, and the other The two holes are connected to the upper part through screws. When the screws connecting the upper and lower parts are tightened, the gap between the upper and lower parts will be reduced, and the end of the continuum robot 3 therein will be compressed to achieve fixation; one side of the upper rim 10202 is a plane, and the other side is a circle of spiral steps. When the continuum robot 3 is pressed against the spiral steps of the upper rim 10202 under the action of the clamping plate 10110, the continuum robot 3 can be arranged in an orderly manner along the spiral steps during the winding process, so that no crossing or overlapping occurs; the ring gear 10205 is engaged with the gear 10311, and the wheel 102 can be rotated under the action of the gear motor 10308.

[0057] The feeding mechanism 2 includes a housing 201, a driving mechanism 202 and an adapter 203;

[0058] The housing 201 covers the surface of the driving mechanism 202 and is fixed to the support plate 20202 by three hexagonal copper pillars 20204. It mainly serves to decorate and protect the internal components. The adapter 203 is connected to one end of the driving mechanism 202 by four screws. The adapter 203 can be connected to the hole probe port using the through hole on its end face, so that the entire feeding mechanism 2 can be fixed to the hole probe port.

[0059] The driving mechanism 202 includes a driving motor 20201, a support plate 20202, a coupling 20203, a hexagonal copper column 20204, a synchronous wheel 20205, a synchronous belt 20206, a frame 20207, a guide tube 20208, a bearing 20209, a long worm drive shaft 20210, a short worm drive shaft 20211, a worm 20212, a worm wheel 20213, a rubber wheel 20214, and a worm wheel drive shaft 20215; the driving motor 20201 is fixed It is fixed on the support plate 20202, and the support plate 20202 is fixed on the frame 20207 through three hexagonal copper columns 20204. There is a guide tube 20208 between the center of the support plate 20202 and the center through hole of the frame 20207, which mainly plays a supporting and guiding role when the continuum robot 3 passes through the center of the feed mechanism 2; the drive motor 2201 is connected to the long worm drive shaft 20210 through the coupling 20203, and the long worm drive shaft 20210 is connected to the two short worms. One end of the drive shaft 20211 is fixed with a synchronous wheel 20205. The three synchronous wheels 20205 are distributed in a circle and are connected to each other through a synchronous belt 20206. When the drive motor 20201 drives the long worm drive shaft 20210 to rotate, the other two short worm drive shafts 20211 can be driven to rotate synchronously through the synchronous wheel 20205 and the synchronous belt 20206. There are two sets of worm gears on each of the long worm drive shaft 20210 and the two short worm drive shafts 20211. The wheel 20213 and the worm 20212 cooperate with each other, and each worm wheel 20213 shaft is connected to a rubber wheel 20214. When the long worm drive shaft 20210 and the two short worm drive shafts 20211 are driven by the drive motor 20201 to rotate synchronously, the six rubber wheels 20214 will also rotate synchronously. When the continuum robot 3 passes through the through hole in the middle of the feeding mechanism 2, the six rubber wheels 20214 will squeeze the continuum robot 3 and drive it to move forward and backward through rotational friction.

[0060] The continuum robot 3 includes a passive segment 301, an active segment root joint 302, an active segment first segment joint 303, an active segment second segment joint 305, and a metal braided jacket 304; the passive segment 301 is mainly made of a spirally grooved hollow steel pipe, which can be bent freely and has a certain rigidity; the active segment is connected to the passive segment 301 through the active segment root joint 302, and the active segment first segment joint 303 and the active segment second segment joint 305 have basically the same shape, both of which are cylindrical, with one side being curved and the other side being flat, and every two joints are straight The two joints are connected end to end, with the plane of the front joint matching the arc surface of the back joint, so that the joint can rotate around the central axis of the arc surface. The difference between the two joints is that the first joint 303 of the active segment has eight through holes, while the second joint 305 of the active segment has four through holes. Each drive wire 10214 passes through a through hole, and every four drive wires 10214 control a section of the active segment; the overall angle between the first and second sections of the active segment differs by 45 degrees; the metal braided jacket 304 covers the surface of the entire continuum robot, which protects it and makes the bending more flexible.

[0061] In one embodiment, the rollers and drums of the rolling bracket bottom and the rolling bracket cover are tangent to the maximum outer diameter circle of the wheel disc. The four lowest groups of rollers and drums at the rolling bracket bottom are supported by roller brackets, while the other rollers and drums are not supported by roller brackets. All rollers and drums are of the same size. The clamping device is generally rectangular in shape, with two through holes along the long sides. One of the holes is connected to the outer shell cover and the outer shell bottom by an internal threaded cylindrical pin and a flat head screw. The other hole has a compression spring, and one end of the compression spring has a compression plate. The continuum bracket is divided into two parts, the upper and lower parts have basically the same structure, and the whole has four holes. Two of the holes are mounted on the middle plate by round head screws, and the other two holes are clamped to the continuum robot by round head screws. The circumferential surface of the adapter has four holes, which are fixed to the feed mechanism by round head screws. The plane of the adapter has through holes, which can be used to fix the feed mechanism to the peephole. The active section is composed of several joints, each of which is cylindrical in shape with one side being an arc. The two adjacent joints in front and behind the arc can rotate along the center of the arc. Each joint has eight through holes, and each driving line passes through one through hole.

[0062] When using the present invention to perform borescope inspection of aircraft engines, the adapter in the feed mechanism is first fixed to the borescope opening by screws, and then the entire feed mechanism is fixed to the borescope opening by the adapter. Then, the continuum robot extends from the winding and telescopic mechanism under the action of the rotation of the wheel, passes through the central through hole of the feed mechanism and the borescope opening to enter the interior of the aircraft engine. Under the joint action of the feed mechanism and the winding and telescopic mechanism, the continuum robot can realize forward and backward telescopic movement. The active section of the continuum robot can actively control bending under the action of multiple winding wheel motors and drive lines. During the inspection process, the continuum robot will shuttle between the gaps between the blades, and the camera on the head can capture the picture in real time, through which various types of blade faults can be effectively detected.

[0063] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0064] The above description has been provided for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A coiling and retracting continuum robot system for aircraft engine borescope inspection, characterized in that: It includes, The winding and retracting mechanism comprises: The bottom of the rolling bracket is an open structure with an open top. The bottom of the open structure is provided with a first rolling component and a gear motor. The gear motor is driven and connected with a gear. The rolling bracket cover is detachably covered with the bottom of the rolling bracket, and includes an outer shell cover, a second rolling component provided on the outer shell cover, and a clamping device bracket. The clamping device bracket is a rectangular parallelepiped structure with two through holes along its long sides. The lower through hole is fixed to the outer shell cover by an internal threaded cylindrical pin, and the upper through hole is embedded with a compression spring and a clamping sheet. The upper through hole also has a rectangular groove that is opened to the inner side of the clamping device bracket, so that a part of the clamping sheet is inserted into the inner circle of the compression spring for connection. The wheel disc is vertically arranged in the bottom of the rolling bracket and the rolling bracket cover, and the first rolling component is rollingly connected to the bottom of the wheel disc and the second rolling component is rollingly connected to the top of the wheel disc. The wheel disc includes an upper plate, an upper rim, an intermediate plate, a lower rim, a gear ring and a lower plate connected in sequence, wherein: The wheel assembly comprises a first gear and a second gear, and the second gear is engaged with the first gear and the second gear is engaged with the first gear, and the second gear is engaged with the first gear and the second gear is engaged with the first gear.

2. The retractable aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: Preferably, it further comprises a feeding mechanism, which is connected to the winding and retracting mechanism via the continuum robot, and the feeding mechanism comprises: shell; A driving mechanism is provided in the housing, and the driving mechanism includes: frame, The support plate is fixed on the frame, and the through hole at the center of the support plate and the center of the frame is provided with a guide tube for passing through the continuum robot. A driving motor is mounted on the support plate, and the driving motor is connected to the long worm drive shaft through a coupling. One end of the long worm drive shaft and the two short worm drive shafts are fixed with a synchronous wheel. The three synchronous wheels distributed in a circle are connected to each other through a synchronous belt. When the driving motor drives the long worm drive shaft to rotate, the other two short worm drive shafts are driven to rotate synchronously through the synchronous wheel and the synchronous belt; the long worm drive shaft and the two short worm drive shafts each have two sets of worm wheels and worms, and each worm wheel shaft is connected to a rubber wheel. When the long worm drive shaft and the two short worm drive shafts are driven to rotate synchronously by the driving motor, the six rubber wheels will rotate synchronously. When the continuum robot passes through the guide tube in the middle of the feed mechanism, the six rubber wheels will squeeze the continuum robot and drive it to achieve forward and backward movement through rotational friction; The adapter is screwed to one end of the driving mechanism, and the adapter is connected to the hole probe opening by using the through hole on its end face, so that the entire feeding mechanism is fixed at the hole probe opening.

3. The coiling and retracting aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: The continuum robot comprises: Passive segment, The active segment is connected to the passive segment via a joint at its root. The active segment includes a cylindrical active segment first joint and an active segment second joint, each with an arc-shaped surface on one side and a flat surface on the other. The two active segment first joints and active segment second joints are directly connected end to end. The flat surface of the active segment first joint cooperates with the arc surface of the active segment second joint, allowing them to rotate around the central axis of the arc surface. The active segment first joint has eight through holes, and the active segment second joint has four through holes. Each drive wire passes through a through hole, and every four drive wires control a section of the active segment. A metal braided jacket covering the entire surface of the continuum robot.

4. The retractable aircraft engine borescope inspection continuum robot system according to claim 3, characterized in that: The angle between the plane of the first joint of the active segment and the second joint of the active segment is 45 degrees.

5. The coilable and retractable aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: In the first rolling component, the internal threaded cylindrical pin strings the roller, roller bracket and drum together, and is fixed to the bottom of the shell from both ends by flat head screws. The six groups of the first rolling components are distributed in a semicircle and are tangent to the outermost circle of the wheel disc to support the wheel disc and enable it to roll.

6. The retractable aircraft engine borescope inspection continuum robot system according to claim 5, characterized in that: The ball plunger is fixed to both sides of the bottom of the housing by nuts to limit the wheel disc to the middle position of the bottom of the rolling bracket. The outlet bracket is fixed to the bottom of the housing near the front cover by internal threaded cylindrical pins and flat head screws to support the continuum robot so that it can extend horizontally.

7. The coiling and retracting aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: In the second rolling component, the internal threaded cylindrical pin strings the roller, roller bracket and drum together, and is fixed to the outer shell cover from both ends by flat head screws. The four groups of the second rolling components are distributed in a semicircle and are tangent to the outermost circle of the wheel disc to limit the wheel disc and enable it to roll.

8. The retractable aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: Two winding poles are symmetrically arranged near the center of the middle plate and two winding poles are arranged near the continuum support to change the direction of the driving wire.

9. The retractable aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: The winding wheel groove is an I-shaped groove, and there is an oblique hole on the top of the winding wheel. The end of the driving line passes through the oblique hole and is tightened and fixed by an aluminum sleeve.

10. The retractable aircraft engine borescope inspection continuum robot system according to claim 1, characterized in that: The winding column consists of a driving bolt, four sleeves and four washers. The optical axis part of the driving bolt is divided into four layers by the four sleeves and four washers. A driving wire is wound around each layer. The driving bolt is fixed to the middle plate by a nut.

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