Ultrasonic detection robot of rotor inner cavity threaded connection structure

Abstract

The invention discloses an ultrasonic detection robot for a rotor inner cavity threaded connection structure. The robot comprises a main body rack, a clamping module, a lifting module, a rotation module, a telescopic module and a probe buffer module. The device can work in a narrow, narrow and long strongly restricted space, the detection of a part, which cannot be reached by naked eyes, of a nut is realized by carrying a test probe, and the functions of placing and pressing the carried probe, switching among different test points, automatically measuring all axial to-be-measured points and deforming the device are realized; according to the device, the axial size and the radial size of the device are increased and decreased, all the functions of placing the whole device and taking out the whole device are completed, the functions can be achieved only through one set of device, and the equipment cost is relatively reduced. According to the invention, the test work in a strongly restricted space can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of detection robots and relates to an ultrasonic detection robot with a rotor inner cavity threaded connection structure. Background Art

[0002] The assembly of the aircraft engine rotor interface is carried out in a narrow space. The connection of the assembly surface will directly affect the service performance of the aircraft engine rotor.

[0003] The main connection form of aircraft engine rotors is the structural connection form of stop interference fit + bolt and nut connection + end face fit. While this assembly method brings high quality and high performance of ideal assembly, it also makes the assembly quality difficult to control and accurately estimate during the actual assembly process. The consistency of the tightening quality and preload of the nut affects not only the service performance of the rotor as a whole, but also the service life of the bolt group. At the same time, due to the existence of the stop interference fit, the actual fit of the connection structure is unpredictable, and it is difficult to achieve the purpose of controlling the actual ideal fit of the joint surface through the traditional bolt torque control method.

[0004] In addition, the high-pressure rotor connecting nut is generally located in a narrow, narrow and highly restrictive rotor cavity. The typical feature of this structure is that the entrance at the rear end of the rotor is very small, while the pitch circle diameter of the nut and the pitch circle diameter of the part to be tested are more than twice the entrance diameter. The bolt head and the nut may be blocked by the rotor disk. The bolt head and the nut are invisible to the human eye, which makes it extremely inconvenient to place the test probe at the test position, and the repeatability of the measurement position cannot be guaranteed by manual placement.

[0005] During the assembly process of high-pressure turbine rotors, the current assembly solution adopts the traditional purely mechanical method to tighten the nuts. Under this tightening method, due to the vertical assembly form of the high-pressure rotor, the nut installation and tightening position is invisible to the human eye, which makes the problem of poor nut tightening consistency caused by the interference fit of the stop more serious, and also brings many problems such as large discreteness of the tightening result score, poor and unpredictable degree of assembly interface fit. For example, the ultrasonic testing method of the threaded connection structure requires two test probes to be placed on the upper and lower surfaces of the interface to be tested, ensuring that the probes are perpendicular to the interface surface while applying a certain clamping force. In addition, it is also necessary to ensure the coaxiality of the center lines of the two probes. Many factors indicate that the placement of the probes will have a great impact on the accuracy of the test results. In addition, due to the strong restrictive space constraints inside the rotor, the rear end entrance of the tested part is far away from the test position due to the vertical assembly of the rotor, and the test part is invisible to the naked eye due to the existence of the rotor disk. The method of manually placing the probe to measure the interface brings many problems such as high personnel operation intensity, unstable test results, and low test reliability and repeatability.

[0006] Specifically, the current problems to be solved are: the bolt and nut installation positions are in a narrow and long space with strong restrictions in the rotor cavity, and the poor dispersion of nut tightening causes the problem of the degree of fit of the assembly interface, which needs to be measured; the pitch circle diameter of the measurement position to be measured is more than twice the inlet diameter, and the installation and placement of the measuring probe cannot be directly operated manually; and the measurement position to be measured is blocked by the rotating disk and is not visible to the naked eye; the positioning measurement repeatability of the placement and pressing of the measuring probe at each measuring point needs to be ensured;

[0007] There are more than 40 points to be measured around the high-pressure rotor installation and assembly position. It is necessary to ensure the positioning and measurement repeatability of the measurement probe at each measurement point, which is difficult and extremely cumbersome to operate.

[0008] It is necessary to ensure that the test probe is placed from the rear end of the rotor and sent to the precise part to be measured. It is necessary to complete the whole process of placement, pressing, repeated lifting and lowering, and recovery of the test probe without blind spots in the field of vision. It is necessary to ensure that the probe switches between different measuring points in a circle and that the repeated positioning of each measuring point ensures consistency, thereby improving the accuracy and reliability of the measurement.

[0009] For the interface contact detection of the high-pressure turbine rotor stop interference and bolt connection joint, it is hoped that a technical solution can be proposed to effectively solve the probe placement, pressing, repeated lifting and dropping, recovery and removal, and at least solve one or more of the above problems. Summary of the invention

[0010] The object of the present invention is to provide an ultrasonic detection robot for a rotor inner cavity threaded connection structure, which can realize the automated detection operation of the evaluation parameter test acquisition process of the threaded connection structure in a strongly restricted space like the rotor inner cavity.

[0011] The technical solution of the present invention:

[0012] An ultrasonic detection robot with a rotor inner cavity threaded connection structure comprises a main frame, a clamping module, a lifting module, a rotating module, a telescopic module, and a probe buffer module; wherein:

[0013] The main frame is used to connect the modules to each other. The main frame includes an upper connecting plate, a lower connecting plate, an upper sliding spline shaft, a lower sliding spline shaft, an upper rotating shaft seat, a lower rotating shaft seat, an upper ball spline sleeve, and a lower ball spline sleeve. The upper rotating shaft seat and the lower rotating shaft seat are connected to the upper connecting plate and the lower connecting plate respectively, and serve as the connection and support frame foundation of the remaining modules. The upper ball spline sleeve and the lower ball spline sleeve can freely reciprocate and move linearly along the grooves on the upper sliding spline shaft and the lower sliding spline shaft, and at the same time, the sliding spline shaft can transmit a small torque to the spline sleeve while maintaining the function of axial movement. The upper ball spline sleeve and the lower ball spline sleeve are connected with the upper rotary ball bearing inner ring fixing plate No. 1, the upper rotary ball bearing inner ring fixing plate No. 2, the lower rotary ball bearing inner ring fixing plate No. 2, and the lower rotary ball bearing inner ring fixing plate No. 1 in the rotary module, so as to drive the upper and lower parts of the overall mechanism to reciprocate along the sliding spline shaft, and complete the switching between the two motion phase end points when the retracted free state and the installed state. In terms of the functional performance of realizing the deformation of the device itself, the lower ball spline sleeve is relatively fixed with the lower connecting plate and the lower sliding spline shaft, and there is no relative displacement. The upper mechanism is driven by the upper ball spline sleeve to move away from the lower mechanism. When it moves to the farthest end, the radial size of the device is reduced and the axial size is correspondingly expanded under the joint action of other modules. The connection of each module is stable and the overall reliable operation of the device is achieved.

[0014] The main frame is divided into two parts, the upper and lower frames, including structural parts such as a bracket plate and a common rotating shaft. The upper and lower frame parts can be connected to other modules to realize axial reciprocating motion along the common rotating shaft, and have two motion phase endpoints in the free state and the installed state. In the free state, the upper and lower frame parts move to the farthest end of the relative position, driving other modules together, so that the free state of the entire device is maintained, so that the radial volume of the entire device is minimized. In the installed state, the upper and lower frame parts move to the nearest end of the relative position, driving other modules together, so that the installed state of the entire device is maintained, so that the overall position relationship between the device and the rotor disk is relatively fixed.

[0015] The clamping module is used for installation, clamping and fixing with the test piece. At the same time, it undergoes mechanical movement deformation under the action of its own power output to achieve corresponding deformation and clamping functions. The clamping module includes an upper electric push rod adjustment plate, an upper electric push rod, an upper electric push rod adjustment base, an upper electric push rod connecting base, an upper electric push rod buffer spring fixing shell, an upper rotating shaft, an upper rotating shaft small bearing, an upper rotating shaft seat, an upper supporting rotating arm, a circumferential clamping claw, a clamping claw upper rotating shaft, a clamping claw upper rotating shaft small bearing, a clamping claw lower rotating shaft, a clamping claw lower rotating shaft small bearing, lower supporting rotating arm No. 2, a lower rotating shaft small bearing, a lower rotating shaft No. 1, a lower rotating shaft No. 2, a lower rotating shaft seat, an upper electric push rod mounting ring, an upper sliding spline shaft, an upper electric push rod buffer spring, an upper electric push rod buffer spring disk, and a lower supporting rotating arm No. 1.

[0016] The motion mechanism bracket is composed of an upper rotating shaft, a small bearing of an upper rotating shaft, an upper rotating shaft seat, an upper supporting rotating arm, a circumferential claw, a claw upper rotating shaft, a small bearing of a claw upper rotating shaft, a claw lower rotating shaft, a small bearing of a claw lower rotating shaft, a lower supporting rotating arm No. 2, a small bearing of a lower rotating shaft, a lower rotating shaft No. 1, a lower rotating shaft No. 2, a lower rotating shaft seat, and a lower supporting rotating arm No. 2. That is, it constitutes one of the three claws distributed circumferentially, and a complete clamping module motion mechanism bracket is obtained after a circumferential array. The power output end is composed of an upper electric push rod adjustment plate, an upper electric push rod, an upper electric push rod adjustment base, an upper electric push rod connecting base, an upper electric push rod buffer spring fixing shell, an upper electric push rod mounting ring, an upper sliding spline shaft, an upper electric push rod buffer spring, and an upper electric push rod buffer spring disk. When the module is working, the power source required for the deformation and clamping action of the device is provided by the upper electric push rod in the power output end. The movement of the electric push rod provides displacement output, which directly acts on the upper push rod connection base, is transmitted to the upper push rod buffer spring through the upper push rod buffer spring disk, and then is transmitted to the main frame part through the lifting module, and finally acts on the motion mechanism bracket in the clamping module. The displacement, that is, the direction of the clamping force, is changed by 90 degrees through the typical motion mechanism in the motion mechanism, and the clamping force and displacement change from axial action to radial action. Among them, the upper push rod buffer spring also serves as a safety device when the device undergoes other actions such as lifting, and can maintain the clamping force when other modules produce displacement output. The upper and lower shaft seats in the motion mechanism bracket are connected to the main frame to keep the two restricted in the same straight line direction when they produce relative movement. Taking a group of the motion mechanism brackets distributed in a circumferential array can be simplified into a planar motion mechanism. The circumferential clamping claw, the lower support rotating arm No. 2, the lower rotating shaft seat, and the lower support rotating arm No. 2 form a plane quadrilateral mechanism to ensure that when this part of the module is in motion, the clamping claw will not rotate due to the action and remain in a vertical state, providing a basis for the contact and clamping of the entire device and the test piece. At the power output end, the output power is transmitted to the motion mechanism bracket through other modules, and the mechanism deforms and moves to finally realize the installation, clamping and fixation between the automated test device and the test piece.

[0017] Preferably, the clamping force in the clamping module can be provided by an electromagnet and a tension spring in addition to being applied by the upper electric push rod. This part includes an electromagnet tension spring mounting base, an electromagnet, a magnetic auxiliary base, a frame tension spring mounting base, a tension spring mounting rod, a tension spring mounting rod fixing nut, and a tension spring. During operation, the electromagnet and the magnetic auxiliary base fit each other, and the spring tension generated by the tension spring is transmitted to the lower connecting plate by connecting the side plate and the middle No. 2 electric push rod to the middle No. 2 electric push rod. At the same time, the tension spring is connected to the frame tension spring mounting base, and the tensile force is transmitted to the upper connecting plate, which is manifested as the force between the upper connecting plate and the lower connecting plate. The function is equivalent to the working state when the thrust applied by the electric push rod acts on the main frame, and finally acts on the motion mechanism bracket in the clamping module.

[0018] The clamping module is arranged around the main frame module in a circumferential array, including a motion mechanism bracket and a power output end supported by the bracket. The power output end is an electric push rod for providing displacement output, and the purpose is to achieve the relative movement and relative movement of the upper and lower parts of the main frame. The clamping module bracket is retracted in a free state to minimize the overall storage size of the device. In the installed state, the relative position relationship between the overall structure of the test device and the tested part of the rotor structure is fixed to achieve the centering function. The deformable bracket structure containing the bearing inside the clamping module realizes the function of relative deformation with the relative movement and relative movement of the upper and lower parts of the main frame.

[0019] The lifting module is axially symmetrically placed at both ends in the present invention. The testing device drives the modules mounted on the lifting platform to perform reciprocating lifting / lowering actions. The final performance is the lifting and lowering actions required when the probes on both sides switch between different measuring points. The lifting module includes an upper rotary ball bearing outer ring fixing plate No. 1, an upper rotary ball bearing outer ring fixing plate No. 2, an upper connecting plate, a lower connecting plate, a lower rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 1, a lower sliding spline shaft, an upper sliding spline shaft, a magnetic auxiliary base, a middle No. 2 electric push rod connecting the side plate, a middle No. 2 electric push rod, a middle No. 2 electric push rod connecting base, a lower linkage optical axis, an upper rotary ball bearing, an upper linkage optical axis base, and an upper linkage linear bearing Base, upper linkage linear bearing, upper linkage optical axis, lower linkage linear bearing base, lower linkage linear bearing, lower linkage optical axis base, lower rotary ball bearing, upper rotary ball bearing inner ring fixing plate No. 1, upper rotary ball bearing inner ring fixing plate No. 2, upper ball spline sleeve, lower ball spline sleeve, lower rotary ball bearing inner ring fixing plate No. 2, lower rotary ball bearing inner ring fixing plate No. 1, medium No. 1 electric push rod connecting base, medium No. 1 electric push rod, medium No. 1 electric push rod connecting side plate;

[0020] The power output end of the lifting module is composed of an upper connecting plate, a lower connecting plate, a magnetic auxiliary base, a middle No. 2 electric push rod connected to the side plate, a middle No. 2 electric push rod, a middle No. 2 electric push rod connected to the base, a middle No. 1 electric push rod, and a middle No. 1 electric push rod connected to the side plate, providing the power required for lifting / lowering actions;

[0021] The motion mechanism bracket is composed of an upper rotary ball bearing outer ring fixing plate No. 1, an upper rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 1, a lower sliding spline shaft, an upper sliding spline shaft, a lower linkage optical axis, an upper rotary ball bearing, an upper linkage optical axis base, an upper linkage linear bearing base, an upper linkage linear bearing, an upper linkage optical axis, a lower linkage linear bearing base, a lower linkage linear bearing, a lower linkage optical axis base, a lower rotary ball bearing, an upper rotary ball bearing inner ring fixing plate No. 1, an upper rotary ball bearing inner ring fixing plate No. 2, an upper ball spline sleeve, a lower ball spline sleeve, a lower rotary ball bearing inner ring fixing plate No. 2, and a lower rotary ball bearing inner ring fixing plate No. 1;

[0022] The upper rotary ball bearing inner ring fixing plate No. 1 and the lower rotary ball bearing inner ring fixing plate No. 1 are the lifting platforms directly connected to other parts in the lifting module. The upper linkage optical axis base and the lower linkage optical axis base are used to fix the upper linkage optical axis and the lower linkage optical axis respectively. The upper linkage linear bearing base and the lower linkage linear bearing base are used to fix the upper linkage linear bearing and the lower linkage linear bearing respectively. The linear bearing cooperates with the linkage optical axis to realize the smooth axial movement between the linkage linear bearing base and the linkage optical axis base, and is called a set of lifting bearing mechanisms. The three sets of lifting bearing mechanisms distributed in the circumferential array ensure that the lifting module can move along the axial direction during operation to avoid the displacement of the lifting platform in the axial section direction. When the lifting / dropping action occurs, the middle No. 1 electric push rod and the middle No. 2 electric push rod provide displacement output, which is transmitted to the rotary module through the middle No. 1 electric push rod connection base and the middle No. 2 electric push rod connection base, and finally transmitted to the lifting platform in the lifting module, so as to drive other modules on the platform to move together. The three groups of lifting bearing mechanisms distributed in a circumferential array are used to ensure that the overall movement direction of the lifting module does not deviate when the electric push rod acts on it, so as to achieve movement along the axis. The lifting module is driven by the lifting platform to lift / lower other modules, which is manifested in the lifting and lowering actions required when the probes on both sides switch between different measurement points in the overall test device.

[0023] The lifting module is divided into two parts and is placed axially symmetrically at both ends of the main frame, including a motion mechanism bracket and a power output end supported by the bracket. The power output end is an electric push rod No. 1 and No. 2 for providing displacement output. The functional purpose of the lifting module is to achieve the lifting / falling state switching of the two end platforms under the overall device when the main frame and the clamping module are in the working state and the working state is locked, that is, in the installation state, which is manifested as the elongation and shortening of the axial length of the overall device. The lifting / falling action of the two end platforms will drive other modules on the platform, namely the rotary module, the probe buffer module, and the telescopic module, to move together, and finally realize the transmission of displacement to these other modules and realize the corresponding functions.

[0024] Part of the rotary module is symmetrically placed at both ends of the axis in the present invention to realize the circumferential rotation function of the rotary platform relative to the stator part, and some of the parts participate in the function of other modules such as the lifting module when they are working. The rotary module acts as the overall test device to realize circumferential rotation, driving other modules connected to it on its rotary platform to rotate together. In the operation of the overall test device, it is manifested as the rotation action and precise rotation angle control function required when the test probe switches between different measurement points of the measured object. The rotary module includes an upper rotary ball bearing outer ring fixing plate No. 1, an upper rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 1, a lower sliding spline shaft, an upper sliding spline shaft, an upper rotary ball bearing, an upper coupling, a middle servo No. 1 mounting edge, a middle No. 1 and No. 2 servo connecting plate, a middle servo No. 1, a middle servo No. 2, a middle servo No. 2 mounting edge, a middle servo No. 1 and No. 2 mounting connecting base, a lower coupling, a lower rotary ball bearing, an upper rotary ball bearing inner ring fixing plate No. 1, an upper rotary ball bearing inner ring fixing plate No. 2, an upper ball spline sleeve, a lower ball spline sleeve, a lower rotary ball bearing inner ring fixing plate No. 2, and a lower rotary ball bearing inner ring fixing plate No. 1.

[0025] The power output end of the rotary module is composed of the middle servo No. 1 mounting edge, the middle servo No. 1 and No. 2 connecting plates, the middle servo No. 1, the middle servo No. 2, the middle servo No. 2 mounting edge, and the middle servo No. 1 and No. 2 mounting connecting bases.

[0026] The motion mechanism bracket is composed of an upper rotary ball bearing outer ring fixing plate No. 1, an upper rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 2, a lower rotary ball bearing outer ring fixing plate No. 1, a lower sliding spline shaft, an upper sliding spline shaft, an upper rotary ball bearing, an upper coupling, a lower coupling, a lower rotary ball bearing, an upper rotary ball bearing inner ring fixing plate No. 1, an upper rotary ball bearing inner ring fixing plate No. 2, an upper ball spline sleeve, a lower ball spline sleeve, a lower rotary ball bearing inner ring fixing plate No. 2, and a lower rotary ball bearing inner ring fixing plate No. 1.

[0027] The middle servo No. 1 and the middle servo No. 2 respectively control the rotation of the upper rotating part and the lower rotating part. The servo provides precise angle control and rotation torque, which is transmitted to the lower sliding spline shaft and the upper sliding spline shaft by the upper coupling and the lower coupling. Through the cooperation and torque transmission between the sliding spline shaft and the ball spline sleeve, it is finally transmitted to the rotor part connected thereto by the upper ball spline sleeve and the lower ball spline sleeve, realizing the functions of rotation and angle control.

[0028] The upper rotary ball bearing outer ring fixing plate No. 1, the upper rotary ball bearing outer ring fixing plate No. 2, the lower rotary ball bearing outer ring fixing plate No. 2 and the lower rotary ball bearing outer ring fixing plate No. 1 in the motion mechanism bracket are connected to the fixed part of the overall device, which is the stator part of the rotary module. The remaining lower sliding spline shaft, upper sliding spline shaft, upper rotary ball bearing, upper coupling, lower coupling, lower rotary ball bearing, upper rotary ball bearing inner ring fixing plate No. 1, upper rotary ball bearing inner ring fixing plate No. 2, upper ball spline sleeve, lower ball spline sleeve, lower rotary ball bearing inner ring fixing plate No. 2, and lower rotary ball bearing inner ring fixing plate No. 1 constitute the rotor part in the rotary module. The stator part and the rotor part in the rotary module are connected by the upper rotary ball bearing and the lower rotary ball bearing to ensure that when the rotary module is working and rotating, the rotor part can stably rotate relative to the stator part, that is, other parts in the overall device, thereby ensuring its coaxiality and rotation stability. Finally, in the rotor part, the upper rotating ball bearing inner ring fixing plate No. 1 and the lower rotating ball bearing inner ring fixing plate No. 1 serve as a rotating platform directly connected to other modules, which can rotate smoothly relative to the overall device, and finally drive the probe extension arm and the test probe connected thereto to stably reach and switch between different measuring points of the measured part.

[0029] The rotary module is divided into a motion mechanism bracket and a power output end supported by the bracket. The power output end is used to provide servos No. 1 and No. 2 for providing axial rotation torque of the rotary mechanism. The function of the rotary module is to ensure the stable rotation of the rotary rotor part relative to the stator part, and to ensure the coaxiality and rotation stability. That is, in the installed state, the rotating platforms at both ends of the device are realized relative to the entire device in the circumferential rotation movement, which will drive other modules on the rotating platform, namely the probe buffer module and the telescopic module, to move together, and finally realize the circumferential indexing rotation function, which is manifested as the measurement phase switching function of the probe at the circumferential point to be measured.

[0030] In addition to providing a stable circumferential rotation function, the rotary module also includes a moving-rotating function connected to the central motion spindle. That is, the circumferential torque of the rotary servo at the power output end is transmitted to the rotary module through the central spindle to provide a rotary indexing displacement. The rotary module can also move axially on the central spindle, driving the main frame and lifting module connected to it, realizing the axial dimension deformation function of the entire device, and finally realizing the displacement input source of the clamping module.

[0031] The telescopic module is symmetrically placed at both ends of the axial direction in the present invention. It is used to realize the rotation of the rod component, which is manifested as the expansion and contraction of the radial size. In the overall testing device, it is manifested as driving the probe part at the end of the telescopic module rod to realize the movement in the radial direction. The telescopic module includes an upper probe arm rotary servo installation bottom edge, an upper probe arm rotary servo installation side edge, an upper probe arm rotary servo frame installation base, an upper probe arm rotary servo, an upper probe arm rotary servo steering wheel, an upper probe vertical extension arm, an upper probe horizontal extension arm, an upper probe adjustment base, an upper probe bearing clamping adjustment rod, a lower probe horizontal extension arm, a lower probe adjustment base, a lower probe bearing clamping adjustment rod, a lower probe vertical extension arm, a lower probe arm rotary servo frame installation base, a lower probe arm rotary servo steering wheel, a lower probe arm rotary servo, a lower probe arm rotary servo installation bottom edge, and a lower probe arm rotary servo installation side edge.

[0032] The power output end of the telescopic module is composed of an upper probe arm rotary servo steering disc, an upper probe vertical extension arm, an upper probe horizontal extension arm, an upper probe adjustment base, an upper probe bearing clamping adjustment rod, a lower probe horizontal extension arm, a lower probe adjustment base, a lower probe bearing clamping adjustment rod, a lower probe vertical extension arm, and a lower probe arm rotary servo steering disc.

[0033] The motion mechanism bracket is composed of an upper probe arm rotary servo installation bottom edge, an upper probe arm rotary servo installation side edge, an upper probe arm rotary servo rack installation base, an upper probe arm rotary servo, a lower probe arm rotary servo rack installation base, a lower probe arm rotary servo, a lower probe arm rotary servo installation bottom edge, and a lower probe arm rotary servo installation side edge.

[0034] When the rotary module is working, the upper probe arm rotary servo and the lower probe arm rotary servo respectively control the rotation function of the telescopic module structure support part of the upper and lower parts of the axial direction, and the servo provides the torque and angle control function required for rotation. The upper probe arm rotary servo is installed on the bottom edge, the upper probe arm rotary servo is installed on the side edge, the upper probe arm rotary servo frame is installed on the base, the lower probe arm rotary servo frame is installed on the base, the lower probe arm rotary servo is installed on the bottom edge, and the lower probe arm rotary servo is installed on the side edge. The servo is connected to the rotating platform in the rotary module; the upper rotary ball bearing inner ring fixing plate No. 1 and the lower rotary ball bearing inner ring fixing plate No. 1 are connected and fixed. The servo outputs the rotation torque through the upper probe arm rotary servo steering disc and the lower probe arm rotary servo steering disc to the upper probe vertical extension arm and the lower probe vertical extension arm, the upper probe vertical extension arm, and the lower probe horizontal extension arm in the axial direction, and finally realizes the rotation function of the semicircular horizontal extension arm. The horizontal extension arm is semicircular in shape. When it rotates to the position with the minimum radial dimension, the semicircular horizontal extension arm is located at the outermost circle of the overall test device. In the working state, the semicircular horizontal extension arm rotates and extends, and the semicircular radial chord length is the actual extension length, thereby realizing the elongation of the radial dimension. The upper probe adjustment base, the upper probe bearing clamping adjustment rod and the lower probe adjustment base, the lower probe bearing clamping adjustment rod cooperate with each other to achieve fine-tuning of the radial dimension elongation, making it easy to find the position of the pitch circle where the point to be measured on the measured part is located in the device studio. Finally, the probe part installed at the end of the telescopic module in the overall test device is driven to switch between the free state and the working state, driving the probe part to the position of the point to be measured, thereby realizing the telescopic function of the radial dimension of the overall device.

[0035] The telescopic module includes a bracket and a power output end supported by the bracket. The power output end is used to provide the upper and lower servo arm rotary servos for providing the axial rotation torque of the rotary mechanism. That is, the telescopic module includes a multi-stage arm composed of a bracket, a connecting support and a connecting probe buffer module. The telescopic module also includes a power output end that provides the overall radial length telescopic of the device to realize the deformation action of the probe extension arm. The overall function of the telescopic module is to realize the expansion and retraction action of the probe extension arm, that is, to enter a free state after the retraction action occurs, and retract the probe arm to meet the minimum radial size requirement of the overall device.

[0036] The probe buffer module is arranged at the end part of the probe arm support part in the telescopic module, and is equipped with a test probe to realize the precise positioning function of the test probe, so as to ensure that the stable pressing force between the probe and the measured object is maintained when the automated test device is working, and finally realize the stability of the measurement structure, and realize the reliability and stability of the measurement data. The probe buffer module includes an upper probe bearing clamping adjustment rod, an upper probe movable linear bearing, an upper probe clamping rod, an upper probe, a lower probe, a lower probe clamping rod, a lower probe movable linear bearing, a lower probe bearing clamping adjustment rod, an upper probe buffer spring, and a lower probe buffer spring.

[0037] The upper probe and the lower probe in the probe buffer module are measuring probes, which are fixed by the probe holding rod. The end of the holding rod is the optical axis, which can move along the bearing axis in the upper probe movable linear bearing and the lower probe movable linear bearing, thereby limiting the movable range of the probe to the direction perpendicular to the cross-section of the entire device, that is, perpendicular to the measuring surface direction of the measured object. The axial displacement applied by the lifting module is finally transmitted to the probe buffer module through the rotation module and the telescopic module. The applied lifting displacement is converted by the upper probe buffer spring and the lower probe buffer spring into spring compression, and then converted by the buffer spring into a clamping force to keep the probe and the measured surface in stable contact. The final performance is to ensure that the stable clamping force between the probe and the measured object is maintained when the automated test device is working. The stability and reliability of the obtained test data are guaranteed.

[0038] The probe buffer module is set at the end of the probe arm bracket in the telescopic module. It is composed of a probe, a buffer component, and a fine-tuning component to achieve precise positioning of the probe and ensure the stable clamping force of the probe, thereby ensuring the accuracy of the measurement structure and the stability of the measurement data. The probe is fixed to the movable bracket and can move linearly relative to the fixed bracket through spring buffering. When the lifting module moves to the working state, the probe buffer module works to complete the conversion of displacement input to clamping force output, thereby achieving the stable compression and fitting action of the probe.

[0039] Preferably, in addition to the above modules, the present invention also includes an automatic control operating system, which includes a power supply, a single-chip core board, a control board, a switch, an indicator light, and a bracket. The automatic control operating system is installed with all the original parts by a bracket, which plays a fixing and protection function. The automatic control operating system is controlled by the robot through a wired connection.

[0040] The function of the automatic control operating system is to control the various power output components in the control system to move or link separately, so as to ultimately realize the function of controlling the overall robot to switch between the free state and the installed working state.

[0041] The present invention can work in a small, long and strongly restricted space, and can detect the parts of the nut that are inaccessible to the naked eye by carrying a test probe, and can realize the placement, compression, switching between different test points, and automatic measurement of all axial points to be measured of the carried probe, as well as the deformation action of the device itself, to achieve the extension and reduction of the axial and radial dimensions of the device, and complete all the functions of placing the entire device and taking it out, and the above functions can be achieved by only one set of the device, so the equipment cost is relatively reduced.

[0042] Each module can move along with the overall frame and the mechanism of the axial groove movement. The opening mechanism composed of the set modules can make the overall device complete the change of axial and radial dimensions according to the set trajectory, thereby reducing the overall size and effectively preventing the device from colliding with its own structure or damaging engine parts when the strongly restrictive rotor cavity is opened. The present invention can realize testing work in a strongly restrictive space. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0044] Figure 2 for Figure 1 Side view of

[0045] Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0046] Figure 4 for Figure 3 Side view of

[0047] Figure 5 It is a cross-sectional view of the internal structure of the present invention;

[0048] Figure 6 It is a schematic diagram of the overall folded free state structure of the present invention.

[0049] In the figure: 1-upper electric push rod adjustment plate, 2-upper electric push rod, 3-upper electric push rod adjustment base, 4-upper electric push rod connecting base, 5-upper electric push rod buffer spring fixed shell, 6-upper rotary ball bearing outer ring fixed plate No. 1, 7-upper rotary ball bearing outer ring fixed plate No. 2, 8-upper connecting plate, 9-upper shaft, 10-upper shaft small bearing, 11-upper shaft seat, 12-upper support rotary arm, 13-circumferential claw, 14-claw upper shaft, 15-claw upper shaft small bearing, 16-claw lower shaft, 17-claw lower shaft small bearing, 18-lower support rotary arm No. 2, 19-lower shaft small bearing, 20-lower shaft No. 1, 21-lower shaft No. 2, 22-lower shaft seat, 23-lower connecting plate, 24-lower rotary ball bearing outer ring Fixed plate No. 2, 25-lower rotary ball bearing outer ring fixed plate No. 1, 26-lower sliding spline shaft, 27-upper electric push rod mounting ring, 28-upper sliding spline shaft, 29-upper probe arm rotary servo mounting bottom edge, 30-upper probe arm rotary servo mounting side edge, 31-upper probe arm rotary servo frame mounting base, 32-upper probe arm rotary servo, 33-upper probe arm rotary servo steering disc, 34-upper probe vertical extension arm, 35-upper probe horizontal extension arm, 36-upper probe adjustment base, 37-upper probe bearing clamping adjustment rod, 38-upper probe movable linear bearing, 39-upper probe clamping rod, 40-upper probe, 41-lower probe horizontal extension arm, 42-lower probe, 43-lower probe adjustment base, 44-lower probe clamping rod, 45-lower probe movable linear bearing, 46-lower probe bearing clamping adjustment rod, 47-lower probe vertical extension arm, 48-lower probe arm rotary servo frame mounting base, 49-lower probe arm rotary servo steering disc, 50-lower probe arm rotary servo, 51-lower probe arm rotary servo installation bottom edge, 52-lower probe arm rotary servo installation side edge, 53-electromagnet tension spring mounting base, 54-electromagnet, 55-magnetic auxiliary base, 56-middle No. 2 electric push rod connecting side plate, 57-middle No. 2 electric push rod, 58-middle No. 2 electric push rod connecting base, 59-lower linkage optical axis, 60-upper rotary ball bearing, 61-upper linkage optical axis base, 62-upper linkage linear bearing base, 63-upper linkage linear bearing, 64-upper coupling, 65-middle Servo No. 1 mounting edge, 66-upper linkage optical axis, 67-middle No. 1 and No. 2 servo connecting plate, 68-middle servo No. 1, 69-middle servo No. 2, 70-middle servo No. 2 mounting edge, 71-middle servo No. 1 and No. 2 mounting connecting base, 72-lower coupling, 73-lower linkage linear bearing base, 74-lower linkage linear bearing, 75-lower linkage optical axis base, 76-lower slewing ball bearing, 77-frame tension spring mounting base, 78-upper slewing ball bearing inner ring fixing plate No. 1, 79-upper slewing ball bearing inner ring fixing plate No. 2, 80-upper ball spline sleeve, 81-lower ball spline sleeve, 82-lower slewing ball bearing inner ring fixing plate No. 2, 83-lower slewing ball bearing inner ring fixing plate No. 1, 84-middle No. 1 electric push rod connecting base,85-middle No. 1 electric push rod, 86-middle No. 1 electric push rod connecting side plate, 87-upper electric push rod buffer spring, 88-upper electric push rod buffer spring disk, 89-upper probe buffer spring, 90-lower probe buffer spring, 91-tension spring mounting rod, 92-tension spring mounting rod fixing nut, 93-tension spring, 94-lower support slewing arm No. 1. DETAILED DESCRIPTION

[0050] The present invention comprises a main frame, a clamping module, a lifting module, a rotating module, a telescopic module, and a probe buffer module; wherein:

[0051] As shown in the figure, the main frame is used to connect the modules to each other. The main frame includes an upper connecting plate 8, a lower connecting plate 23, an upper sliding spline shaft 28, a lower sliding spline shaft 26, an upper rotating shaft seat 11, a lower rotating shaft seat 22, an upper ball spline sleeve 80 and a lower ball spline sleeve 81. The upper rotating shaft seat 11 and the lower rotating shaft seat 22 are respectively connected to the upper connecting plate 8 and the lower connecting plate 23, serving as the connection and support frame foundation of the remaining modules. The upper ball spline sleeve 80 and the lower ball spline sleeve 81 can reciprocate freely along the grooves on the upper sliding spline shaft 28 and the lower sliding spline shaft 26, and at the same time, the sliding spline shaft transmits a small torque to the spline sleeve while maintaining the function of axial movement. The upper ball spline sleeve 80 and the lower ball spline sleeve 81 are connected with the upper rotary ball bearing inner ring fixing plate No. 1 78, the upper rotary ball bearing inner ring fixing plate No. 2 79, the lower rotary ball bearing inner ring fixing plate No. 2 82, and the lower rotary ball bearing inner ring fixing plate No. 1 83 in the rotary module, so as to drive the upper and lower parts of the whole mechanism to reciprocate along the sliding spline shaft, and complete the switching between the two motion phase end points when the retracted free state and the installed state. In terms of the functional performance of realizing the deformation of the device itself, the lower ball spline sleeve 81 is relatively fixed with the lower connecting plate 23 and the lower sliding spline shaft 26, and there is no relative displacement. The upper mechanism is driven by the upper ball spline sleeve 80 to move away from the lower mechanism. When it moves to the farthest end, the radial size of the device is reduced and the axial size is correspondingly expanded under the joint action of other modules. The connection of each module is stable and the overall reliable operation of the device is achieved.

[0052] As shown in the figure, the clamping module is used for installation, clamping and fixing with the test piece. At the same time, it undergoes mechanical movement deformation under the action of its own power output to achieve corresponding deformation and clamping functions. The clamping module includes an upper electric push rod adjustment plate 1, an upper electric push rod 2, an upper electric push rod adjustment base 3, an upper electric push rod connecting base 4, an upper electric push rod buffer spring fixing shell 5, an upper rotating shaft 9, an upper rotating shaft small bearing 10, an upper rotating shaft seat 11, an upper supporting rotating arm 12, a circumferential clamping claw 13, a clamping claw upper rotating shaft 14, a clamping claw upper rotating shaft small bearing 15, a clamping claw lower rotating shaft 16, a clamping claw lower rotating shaft small bearing 17, a lower supporting rotating arm No. 2 18, a lower rotating shaft small bearing 19, a lower rotating shaft No. 1 20, a lower rotating shaft No. 2 21, a lower rotating shaft seat 22, an upper electric push rod mounting ring 27, an upper sliding spline shaft 28, an upper electric push rod buffer spring 87, an upper electric push rod buffer spring disk 88, and a lower supporting rotating arm No. 1 94.

[0053] The motion mechanism bracket is composed of an upper rotating shaft 9, an upper rotating shaft small bearing 10, an upper rotating shaft seat 11, an upper supporting rotating arm 12, a circumferential claw 13, a claw upper rotating shaft 14, a claw upper rotating shaft small bearing 15, a claw lower rotating shaft 16, a claw lower rotating shaft small bearing 17, a lower supporting rotating arm No. 2 18, a lower rotating shaft small bearing 19, a lower rotating shaft No. 1 20, a lower rotating shaft No. 2 21, a lower rotating shaft seat 22, and a lower supporting rotating arm No. 2 18. That is, it constitutes one of the three claws distributed circumferentially, and a complete clamping module motion mechanism bracket is obtained after the circumferential array. The power output end is composed of an upper electric push rod adjustment plate 1, an upper electric push rod 2, an upper electric push rod adjustment base 3, an upper electric push rod connecting base 4, an upper electric push rod buffer spring fixing shell 5, an upper electric push rod mounting ring 27, an upper sliding spline shaft 28, an upper electric push rod buffer spring 87, and an upper electric push rod buffer spring disk 88. When the module is working, the power source required for the deformation and clamping action of the device is provided by the upper electric push rod 2 in the power output end. The movement of the electric push rod 2 provides displacement output, which directly acts on the upper electric push rod connecting base 4, is transmitted to the upper electric push rod buffer spring 87 through the upper electric push rod buffer spring disk 88, and then is transmitted to the main frame part through the lifting module, and finally acts on the motion mechanism bracket in the clamping module. The displacement is completed by the typical motion mechanism in the motion mechanism, that is, the direction of the clamping force is changed by 90 degrees, and the clamping force and displacement change from axial action to radial action. Among them, the upper electric push rod buffer spring 87 also serves as a safety device when the device undergoes other actions such as lifting, which can achieve the maintenance of the clamping force when other module actions produce displacement output. The upper rotating shaft seat 11 and the lower rotating shaft seat 22 in the motion mechanism bracket are connected to the main frame to keep the two restricted in the same straight line direction when they produce relative movement. Taking a group of the motion mechanism brackets distributed in the circumferential array as a whole, it can be simplified into a planar motion mechanism. The circumferential clamping claw 13, the lower supporting rotating arm No. 2 18, the lower rotating shaft seat 22, and the lower supporting rotating arm No. 2 18 form a planar quadrilateral mechanism to ensure that when this part of the module is in motion, the clamping claw will not rotate due to the action and remain in a vertical state, providing a basis for the contact and clamping of the entire device and the object to be tested. At the power output end, the output power is transmitted to the motion mechanism bracket through other modules, and the mechanism deforms and moves to finally realize the installation, clamping and fixation between the automated test device and the object to be tested.

[0054] In addition to being applied by the upper electric push rod 2, the clamping force in the clamping module can also be provided by an electromagnet and a tension spring. This part includes: an electromagnet tension spring mounting base 53, an electromagnet 54, a magnetic suction auxiliary base 55, a frame tension spring mounting base 77, a tension spring mounting rod 91, a tension spring mounting rod fixing nut 92, and a tension spring 93. During operation, the electromagnet 54 and the magnetic suction auxiliary base 55 fit each other, and the spring tension generated by the tension spring 93 is transmitted to the lower connecting plate 23 by connecting the side plate 56 and the middle second electric push rod 57. At the same time, the tension spring 93 is connected to the frame tension spring mounting base 77, and the tensile force is transmitted to the upper connecting plate 8, which is manifested as the force between the upper connecting plate 8 and the lower connecting plate 23. The function is equivalent to the working state when the thrust applied by the electric push rod 2 acts on the main frame, and finally acts on the motion mechanism bracket in the clamping module.

[0055] As shown in the figure, the lifting module is axially symmetrically placed at both ends in the present invention. The test device is used to drive the modules mounted on the lifting platform to perform reciprocating lifting / lowering actions. The final performance is the lifting and lowering actions required when the probes on both sides switch between different measuring points. The lifting module includes an upper rotary ball bearing outer ring fixing plate No. 1 6, an upper rotary ball bearing outer ring fixing plate No. 2 7, an upper connecting plate 8, a lower connecting plate 23, a lower rotary ball bearing outer ring fixing plate No. 2 24, a lower rotary ball bearing outer ring fixing plate No. 1 25, a lower sliding spline shaft 26, an upper sliding spline shaft 28, a magnetic auxiliary base 55, a middle No. 2 electric push rod connecting side plate 56, a middle No. 2 electric push rod 57, a middle No. 2 electric push rod connecting base 58, a lower linkage optical axis 59, an upper rotary ball bearing 60, an upper linkage optical axis base 61, and an upper linkage linear bearing base 62, upper linkage linear bearing 63, upper linkage optical axis 66, lower linkage linear bearing base 73, lower linkage linear bearing 74, lower linkage optical axis base 75, lower rotary ball bearing 76, upper rotary ball bearing inner ring fixing plate No. 1 78, upper rotary ball bearing inner ring fixing plate No. 2 79, upper ball spline sleeve 80, lower ball spline sleeve 81, lower rotary ball bearing inner ring fixing plate No. 2 82, lower rotary ball bearing inner ring fixing plate No. 1 83, middle No. 1 electric push rod connecting base 84, middle No. 1 electric push rod 85, middle No. 1 electric push rod connecting side plate 86.

[0056] The power output end of the lifting module is composed of the upper connecting plate 8, the lower connecting plate 23, the magnetic auxiliary base 55, the middle No. 2 electric push rod connected to the side plate 56, the middle No. 2 electric push rod 57, the middle No. 2 electric push rod connected to the base 58, the middle No. 1 electric push rod connected to the base 84, the middle No. 1 electric push rod 85, and the middle No. 1 electric push rod connected to the side plate 86 to provide the power required for the lifting / lowering action.

[0057] The motion mechanism bracket is composed of an upper rotary ball bearing outer ring fixing plate No. 1 6, an upper rotary ball bearing outer ring fixing plate No. 2 7, a lower rotary ball bearing outer ring fixing plate No. 2 24, a lower rotary ball bearing outer ring fixing plate No. 1 25, a lower sliding spline shaft 26, an upper sliding spline shaft 28, a lower linkage optical axis 59, an upper rotary ball bearing 60, an upper linkage optical axis base 61, an upper linkage linear bearing base 62, an upper linkage linear bearing 63, an upper linkage optical axis 66, a lower linkage linear bearing base 73, a lower linkage linear bearing 74, a lower linkage optical axis base 75, a lower rotary ball bearing 76, an upper rotary ball bearing inner ring fixing plate No. 1 78, an upper rotary ball bearing inner ring fixing plate No. 2 79, an upper ball spline sleeve 80, a lower ball spline sleeve 81, a lower rotary ball bearing inner ring fixing plate No. 2 82, and a lower rotary ball bearing inner ring fixing plate No. 1 83.

[0058] The upper rotary ball bearing inner ring fixing plate No. 1 78 and the lower rotary ball bearing inner ring fixing plate No. 1 83 are lifting platforms directly connected to other parts in the lifting module. The upper linkage optical axis base 61 and the lower linkage optical axis base 75 are used to fix the upper linkage optical axis 66 and the lower linkage optical axis 59 respectively. The upper linkage linear bearing base 62 and the lower linkage linear bearing base 73 are used to fix the upper linkage linear bearing 63 and the lower linkage linear bearing 74 respectively. The linear bearing cooperates with the linkage optical axis to realize smooth axial movement between the linkage linear bearing base and the linkage optical axis base, and is called a set of lifting bearing mechanisms. The three sets of lifting bearing mechanisms distributed in a circumferential array ensure that the lifting module can move along the axial direction when in action to avoid the displacement of the lifting platform in the axial cross-sectional direction. When the lifting / dropping action occurs, the middle electric push rod 85 and the middle electric push rod 57 provide displacement output, which is transmitted to the rotary module through the middle electric push rod connection base 84 and the middle electric push rod connection base 58, and finally transmitted to the lifting platform in the lifting module, so as to drive other modules on the platform to move together. The three sets of lifting bearing mechanisms distributed in a circumferential array are used to ensure that the overall movement direction of the lifting module does not deviate when the lifting module is subjected to the force of the electric push rods, so as to achieve movement along the axial direction. The lifting module is driven by the lifting platform to drive other modules to perform lifting / dropping actions, which is manifested in the overall test device as the lifting and dropping actions required when the probes on both sides switch between different measuring points.

[0059] As shown in the figure, part of the rotary module is symmetrically placed at both ends of the axis in the present invention to realize the circumferential rotation function of the rotary platform relative to the stator part, and some of the components participate in its function when other modules such as the lifting module are working. The rotary module acts on the overall test device to realize circumferential rotation, driving other modules connected to it on its rotary platform to rotate together. In the operation of the overall test device, it is manifested as the rotation action and precise rotation angle control function required when the test probe switches between different measuring points of the measured part. The rotary module includes an upper rotary ball bearing outer ring fixing plate No. 1 6, an upper rotary ball bearing outer ring fixing plate No. 2 7, a lower rotary ball bearing outer ring fixing plate No. 2 24, a lower rotary ball bearing outer ring fixing plate No. 1 25, a lower sliding spline shaft 26, an upper sliding spline shaft 28, an upper rotary ball bearing 60, an upper coupling 64, a middle servo No. 1 mounting edge 65, a middle No. 1 and No. 2 servo connecting plate 67, and a middle servo No. 1 68. , middle servo No. 2 69, middle servo No. 2 mounting edge 70, middle servo No. 1 and No. 2 mounting connecting base 71, lower coupling 72, lower slewing ball bearing 76, upper slewing ball bearing inner ring fixing plate No. 1 78, upper slewing ball bearing inner ring fixing plate No. 2 79, upper ball spline sleeve 80, lower ball spline sleeve 81, lower slewing ball bearing inner ring fixing plate No. 2 82, lower slewing ball bearing inner ring fixing plate No. 1 83.

[0060] The power output end of the rotary module is composed of the middle steering gear No. 1 mounting edge 65, the middle steering gear No. 1 and No. 2 connecting plates 67, the middle steering gear No. 1 68, the middle steering gear No. 2 69, the middle steering gear No. 2 mounting edge 70, and the middle steering gear No. 1 and No. 2 mounting connecting bases 71.

[0061] The motion mechanism bracket is composed of an upper rotary ball bearing outer ring fixing plate No. 1 6, an upper rotary ball bearing outer ring fixing plate No. 2 7, a lower rotary ball bearing outer ring fixing plate No. 2 24, a lower rotary ball bearing outer ring fixing plate No. 1 25, a lower sliding spline shaft 26, an upper sliding spline shaft 28, an upper rotary ball bearing 60, an upper coupling 64, a lower coupling 72, a lower rotary ball bearing 76, an upper rotary ball bearing inner ring fixing plate No. 1 78, an upper rotary ball bearing inner ring fixing plate No. 2 79, an upper ball spline sleeve 80, a lower ball spline sleeve 81, a lower rotary ball bearing inner ring fixing plate No. 2 82, and a lower rotary ball bearing inner ring fixing plate No. 1 83.

[0062] The middle servo No. 1 68 and the middle servo No. 2 69 respectively control the rotation of the upper rotating part and the lower rotating part, and the servo provides precise angle control and rotation torque, which is transmitted to the lower sliding spline shaft 26 and the upper sliding spline shaft 28 by the upper coupling 64 and the lower coupling 72. Through the cooperation and torque transmission between the sliding spline shaft and the ball spline sleeve, it is finally transmitted to the rotor part connected thereto by the upper ball spline sleeve 80 and the lower ball spline sleeve 81, thereby realizing the functions of rotation and angle control.

[0063] The upper rotary ball bearing outer ring fixing plate No. 1 6, the upper rotary ball bearing outer ring fixing plate No. 2 7, the lower rotary ball bearing outer ring fixing plate No. 2 24, and the lower rotary ball bearing outer ring fixing plate No. 1 25 in the motion mechanism bracket are connected to the fixed part of the overall device, which is the stator part of the rotary module. The remaining lower sliding spline shaft 26, upper sliding spline shaft 28, upper rotary ball bearing 60, upper coupling 64, lower coupling 72, lower rotary ball bearing 76, upper rotary ball bearing inner ring fixing plate No. 1 78, upper rotary ball bearing inner ring fixing plate No. 2 79, upper ball spline sleeve 80, lower ball spline sleeve 81, lower rotary ball bearing inner ring fixing plate No. 2 82, and lower rotary ball bearing inner ring fixing plate No. 1 83 constitute the rotor part in the rotary module. The stator part and the rotor part in the rotary module are connected by the upper rotary ball bearing 60 and the lower rotary ball bearing 76 to ensure that when the rotary module is working and rotating, the rotor part can stably rotate relative to the stator part, that is, other parts in the overall device, thereby ensuring its coaxiality and rotation stability. Finally, in the rotor part, the upper rotating ball bearing inner ring fixing plate No. 78 and the lower rotating ball bearing inner ring fixing plate No. 83 serve as rotating platforms directly connected to other modules, which can rotate smoothly relative to the overall device, and finally drive the probe extension arm and the test probe connected thereto to stably reach and switch between different measuring points of the measured part.

[0064] As shown in the figure, the telescopic module is symmetrically placed at both ends of the axis in the present invention. It is used to realize the rotation of the rod component, which is manifested as the expansion and contraction of the radial dimension. In the overall testing device, it is manifested as driving the probe part at the end of the telescopic module rod to realize radial movement. The telescopic module includes an upper probe arm rotary servo mounting bottom edge 29, an upper probe arm rotary servo mounting side edge 30, an upper probe arm rotary servo rack mounting base 31, an upper probe arm rotary servo 32, an upper probe arm rotary servo steering disc 33, an upper probe vertical extension arm 34, an upper probe horizontal extension arm 35, an upper probe adjustment base 36, an upper probe bearing clamping adjustment rod 37, a lower probe horizontal extension arm 41, a lower probe adjustment base 43, a lower probe bearing clamping adjustment rod 46, a lower probe vertical extension arm 47, a lower probe arm rotary servo rack mounting base 48, a lower probe arm rotary servo steering disc 49, a lower probe arm rotary servo 50, a lower probe arm rotary servo mounting bottom edge 51, and a lower probe arm rotary servo mounting side edge 52.

[0065] The power output end of the telescopic module is composed of an upper probe arm rotary steering gear steering disc 33, an upper probe vertical extension arm 34, an upper probe horizontal extension arm 35, an upper probe adjustment base 36, an upper probe bearing clamping adjustment rod 37, a lower probe horizontal extension arm 41, a lower probe adjustment base 43, a lower probe bearing clamping adjustment rod 46, a lower probe vertical extension arm 47, and a lower probe arm rotary steering gear steering disc 49.

[0066] The motion mechanism bracket is composed of an upper probe arm rotary servo mounting bottom edge 29, an upper probe arm rotary servo mounting side edge 30, an upper probe arm rotary servo frame mounting base 31, an upper probe arm rotary servo 32, a lower probe arm rotary servo frame mounting base 48, a lower probe arm rotary servo 50, a lower probe arm rotary servo mounting bottom edge 51, and a lower probe arm rotary servo mounting side edge 52.

[0067] When the rotary module is working, the upper probe arm rotary servo 32 and the lower probe arm rotary servo 50 respectively control the rotation function of the telescopic module structure support part of the upper and lower parts of the axial direction, and the servo provides the torque and angle control function required for rotation. The upper probe arm rotary servo is installed on the bottom edge 29, the upper probe arm rotary servo is installed on the side edge 30, the upper probe arm rotary servo frame is installed on the base 31, the lower probe arm rotary servo frame is installed on the base 48, the lower probe arm rotary servo is installed on the bottom edge 51, and the lower probe arm rotary servo is installed on the side 52 to connect and fix the servo with the rotating platform in the rotary module: the upper rotary ball bearing inner ring fixing plate No. 1 78, and the lower rotary ball bearing inner ring fixing plate No. 1 83. The output rotation torque of the servo is transmitted to the upper probe vertical extension arm 34 and the lower probe vertical extension arm 47 in the axial direction by the upper probe arm rotating servo steering wheel 33, and the lower probe arm rotating servo steering wheel 49, the upper probe vertical extension arm 34, and the lower probe horizontal extension arm 41, and finally realizes the rotation function of the semicircular horizontal extension arm. The horizontal extension arm is semicircular, and when it rotates to the minimum radial size position, the semicircular horizontal extension arm is located at the outermost circle of the overall test device. In the working state, the semicircular horizontal extension arm rotates and extends, and the semicircular radial chord length is the actual extension length, so as to realize the elongation of the radial size. The upper probe adjustment base 36, the upper probe bearing clamping adjustment rod 37 and the lower probe adjustment base 43, the lower probe bearing clamping adjustment rod 46 cooperate with each other to realize the fine adjustment of the radial size elongation, which is convenient for finding the position of the dividing circle where the point to be measured on the measured part is located in the device studio. Finally, the probe part installed at the end of the telescopic module in the overall test device is driven to switch between the free state and the working state, and the probe part is driven to the position of the point to be measured, thereby realizing the telescopic function of the radial dimension of the overall device.

[0068] As shown in the figure, the probe buffer module is arranged at the end part of the probe arm support part in the telescopic module, and is equipped with a test probe to realize the precise positioning function of the test probe, so as to ensure that the stable pressing force between the probe and the measured object is maintained when the automated test device is working, and finally realize the stability of the measurement structure and the reliability and stability of the measurement data. The probe buffer module includes an upper probe bearing clamping adjustment rod 37, an upper probe movable linear bearing 38, an upper probe clamping rod 39, an upper probe 40, a lower probe 42, a lower probe clamping rod 44, a lower probe movable linear bearing 45, a lower probe bearing clamping adjustment rod 46, an upper probe buffer spring 89, and a lower probe buffer spring 90.

[0069] The upper probe 40 and the lower probe 42 in the probe buffer module are measuring probes, which are fixed by the probe holding rod. The end of the holding rod is the optical axis, which can move along the bearing axis in the upper probe movable linear bearing 38 and the lower probe movable linear bearing 45, thereby limiting the movable range of the probe to the direction perpendicular to the cross-section of the entire device, that is, perpendicular to the measuring surface direction of the measured object. The axial displacement applied by the lifting module is finally transmitted to the probe buffer module through the rotation module and the telescopic module. The applied lifting displacement is converted into spring compression by the upper probe buffer spring 89 and the lower probe buffer spring 90, and then converted into a clamping force to keep the probe and the measured surface in stable contact by the buffer spring. The final performance is to ensure that the stable clamping force between the probe and the measured object is maintained when the automated testing device is working. The stability and reliability of the obtained test data are guaranteed.

Claims

1. An ultrasonic detection robot with a rotor inner cavity threaded connection structure, characterized in that: The ultrasonic detection robot includes a main frame, a clamping module, a lifting module, a rotating module, a telescopic module, and a probe buffer module; wherein: The main frame is used to connect the modules to each other; the main frame comprises an upper connecting plate (8), a lower connecting plate (23), an upper sliding spline shaft (28), a lower sliding spline shaft (26), an upper rotating shaft seat (11), a lower rotating shaft seat (22), an upper ball spline sleeve (80), and a lower ball spline sleeve (81); The upper rotating shaft seat (11) and the lower rotating shaft seat (22) are respectively connected to the upper connecting plate (8) and the lower connecting plate (23), serving as the connection and support frame foundation of the remaining modules; the upper ball spline sleeve (80) and the lower ball spline sleeve (81) move back and forth freely along the grooves on the upper sliding spline shaft (28) and the lower sliding spline shaft (26), and at the same time transmit a small torque to the spline sleeve by means of the sliding spline shaft while maintaining the function of axial movement; the upper ball spline sleeve (80) and the lower ball spline sleeve (81) are respectively connected to the upper rotating ball bearing inner ring fixing plate No. 1 (78), the upper rotating ball bearing inner ring fixing plate No. 2 (79) and the lower rotating ball bearing inner ring fixing plate No. 2 (71) in the rotating module. The upper and lower parts of the whole mechanism are connected with the upper and lower connecting plates (82) and the lower rotating ball bearing inner ring fixing plate (83), so as to drive the upper and lower parts of the whole mechanism to reciprocate along the sliding spline shaft, and complete the switching between the two motion phase end points when the retracted free state and the installed state; in terms of the functional performance of realizing the deformation of the device itself, the lower ball spline sleeve (81) is relatively fixed with the lower connecting plate (23) and the lower sliding spline shaft (26), and there is no relative displacement; the upper mechanism is driven by the upper ball spline sleeve (80) to move away from the lower mechanism, and when it moves to the farthest end, the radial size of the device is reduced and the axial size is correspondingly expanded under the joint action of other modules; the connection of each module is stable and the overall reliable operation of the device is achieved; The clamping module is used for installation, clamping and fixing with the test piece; at the same time, the mechanism moves and deforms under the action of its own power output to achieve corresponding deformation and clamping functions; the clamping module comprises an upper electric push rod adjustment plate (1), an upper electric push rod (2), an upper electric push rod adjustment base (3), an upper electric push rod connecting base (4), an upper electric push rod buffer spring fixing shell (5), an upper rotating shaft (9), an upper rotating shaft small bearing (10), an upper rotating shaft seat (11), an upper supporting rotating arm (12), a circumferential clamping claw ( 13), claw upper rotating shaft (14), claw upper rotating shaft small bearing (15), claw lower rotating shaft (16), claw lower rotating shaft small bearing (17), lower supporting rotating arm No. 2 (18), lower rotating shaft small bearing (19), lower rotating shaft No. 1 (20), lower rotating shaft No. 2 (21), lower rotating shaft seat (22), upper electric push rod mounting ring (27), upper sliding spline shaft (28), upper electric push rod buffer spring (87), upper electric push rod buffer spring disk (88), lower supporting rotating arm No. 1 (94); The motion mechanism support of the clamping module is composed of an upper rotating shaft (9), an upper rotating shaft small bearing (10), an upper rotating shaft seat (11), an upper supporting rotating arm (12), a circumferential clamping claw (13), a clamping claw upper rotating shaft (14), a clamping claw upper rotating shaft small bearing (15), a clamping claw lower rotating shaft (16), a clamping claw lower rotating shaft small bearing (17), a lower supporting rotating arm No. 2 (18), a lower rotating shaft small bearing (19), a lower rotating shaft No. 1 (20), a lower rotating shaft No. 2 (21), a lower rotating shaft seat (22), and a lower supporting rotating arm No. 2 (18); one of the three clamping claws distributed circumferentially is formed, and a complete clamping module motion mechanism support is obtained after a circumferential array; The upper electric push rod adjustment plate (1), the upper electric push rod (2), the upper electric push rod adjustment base (3), the upper electric push rod connecting base (4), the upper electric push rod buffer spring fixing shell (5), the upper electric push rod mounting ring (27), the upper sliding spline shaft (28), the upper electric push rod buffer spring (87), and the upper electric push rod buffer spring disk (88) constitute the power output end of the clamping module; when the module is working, the power source required for the device deformation and clamping action is provided by the upper electric push rod (2) in the power output end; the upper electric push rod (2) movement provides displacement output, which directly acts on the upper electric push rod connecting base (4), and through the upper electric push rod buffer spring disk (88 ) is transmitted to the upper electric push rod buffer spring (87), and then transmitted to the main frame part through the lifting module, and finally acts on the motion mechanism bracket in the clamping module; the displacement is completed by the typical motion mechanism in the motion mechanism, that is, the direction of the clamping force is changed by 90 degrees, and the clamping force and displacement change from axial action to radial action; the upper electric push rod buffer spring (87) also serves as a safety device when the device undergoes other actions such as lifting, so as to maintain the clamping force when other modules produce displacement output; the upper rotating shaft seat (11) and the lower rotating shaft seat (22) in the motion mechanism bracket are connected to the main frame to maintain the relative motion time limit between the two. The invention relates to a method for making the automatic test device and the automatic test device of the present invention be controlled in the same straight line direction; taking a group of the whole motion mechanism bracket distributed in the circumferential array, simplifying it into a plane motion mechanism; the circumferential clamping claw (13), the lower support rotating arm No. 2 (18), the lower rotating shaft seat (22), and the lower support rotating arm No. 2 (18) form a plane quadrilateral mechanism, ensuring that when this part of the module is in motion, the clamping claw will not rotate due to the motion, and maintain a vertical state, providing a basis for the contact and clamping of the whole device and the object to be tested; at the power output end, the output power is transmitted to the motion mechanism bracket through other modules, the mechanism deforms and moves, and finally realizes the installation, clamping and fixation between the automated test device and the object to be tested; The two ends of the lifting module are axially symmetrically placed; the test device is used to drive the modules mounted on the lifting platform to perform reciprocating lifting / lowering actions; the final performance is the lifting and lowering actions required when the probes on both sides switch between different measuring points; the lifting module includes an upper rotary ball bearing outer ring fixing plate No. 1 (6), an upper rotary ball bearing outer ring fixing plate No. 2 (7), an upper connecting plate (8), a lower connecting plate (23), a lower rotary ball bearing outer ring fixing plate No. 2 (24), a lower rotary ball bearing outer ring fixing plate No. 1 (25), a lower sliding spline shaft (26), an upper sliding spline shaft (28), a magnetic auxiliary base (55), a middle No. 2 electric push rod connecting side plate (56), a middle No. 2 electric push rod (57), a middle No. 2 electric push rod connecting base (58), a lower linkage optical Axle (59), an upper rotary ball bearing (60), an upper linkage optical axis base (61), an upper linkage linear bearing base (62), an upper linkage linear bearing (63), an upper linkage optical axis (66), a lower linkage linear bearing base (73), a lower linkage linear bearing (74), a lower linkage optical axis base (75), a lower rotary ball bearing (76), an upper rotary ball bearing inner ring fixing plate No. 1 (78), an upper rotary ball bearing inner ring fixing plate No. 2 (79), an upper ball spline sleeve (80), a lower ball spline sleeve (81), a lower rotary ball bearing inner ring fixing plate No. 2 (82), a lower rotary ball bearing inner ring fixing plate No. 1 (83), a middle No. 1 electric push rod connecting base (84), a middle No. 1 electric push rod (85), and a middle No. 1 electric push rod connecting side plate (86); The power output end of the lifting module is composed of an upper connecting plate (8), a lower connecting plate (23), a magnetic auxiliary base (55), a middle No. 2 electric push rod connecting side plate (56), a middle No. 2 electric push rod (57), a middle No. 2 electric push rod connecting base (58), a middle No. 1 electric push rod connecting base (84), a middle No. 1 electric push rod (85), and a middle No. 1 electric push rod connecting side plate (86), which provide the power required for lifting / lowering action; The invention comprises an upper rotary ball bearing outer ring fixing plate No. 1 (6), an upper rotary ball bearing outer ring fixing plate No. 2 (7), a lower rotary ball bearing outer ring fixing plate No. 2 (24), a lower rotary ball bearing outer ring fixing plate No. 1 (25), a lower sliding spline shaft (26), an upper sliding spline shaft (28), a lower linkage optical axis (59), an upper rotary ball bearing (60), an upper linkage optical axis base (61), an upper linkage linear bearing base (62), an upper linkage linear bearing (63), an upper linkage optical axis (6 6), a lower linkage linear bearing base (73), a lower linkage linear bearing (74), a lower linkage optical axis base (75), a lower rotary ball bearing (76), an upper rotary ball bearing inner ring fixing plate No. 1 (78), an upper rotary ball bearing inner ring fixing plate No. 2 (79), an upper ball spline sleeve (80), a lower ball spline sleeve (81), a lower rotary ball bearing inner ring fixing plate No. 2 (82), and a lower rotary ball bearing inner ring fixing plate No. 1 (83) constitute a motion mechanism bracket of the lifting module; The upper rotary ball bearing inner ring fixing plate No. 1 (78) and the lower rotary ball bearing inner ring fixing plate No. 1 (83) are lifting platforms directly connected to other parts in the lifting module; the upper linkage optical axis base (61) and the lower linkage optical axis base (75) are used to fix the upper linkage optical axis (66) and the lower linkage optical axis (59) respectively; the upper linkage linear bearing base (62) and the lower linkage linear bearing base (73) are used to fix the upper linkage linear bearing (63) and the lower linkage linear bearing (74) respectively; the linear bearing cooperates with the linkage optical axis to realize smooth axial movement between the linkage linear bearing base and the linkage optical axis base, and is called a set of lifting bearing mechanisms; the three sets of lifting bearing mechanisms distributed in a circumferential array ensure that the lifting module can move along the axial direction when in action. Avoid the displacement of the lifting platform in the axial cross-sectional direction; when the lifting / dropping action occurs, the middle electric push rod (85) and the middle electric push rod (57) provide displacement output, which is transmitted to the rotary module through the middle electric push rod connecting base (84) and the middle electric push rod connecting base (58), and finally transmitted to the lifting platform in the lifting module, driving other modules on the platform to move together; the three sets of lifting bearing mechanisms distributed in a circumferential array act to ensure that the overall movement direction of the lifting module does not deviate when the lifting module is subjected to the force of the electric push rods, so as to achieve movement along the axial direction; the lifting module acts by driving other modules to perform lifting / dropping actions by the lifting platform, which is manifested in the overall test device as the lifting and dropping actions required when the probes on both sides switch between different measuring points; The swivel module is partially symmetrically arranged at both ends of the axis to realize the circumferential rotation function of the swivel platform relative to the stator part, wherein some parts participate in the function of the lifting module and other modules when they are working; the swivel module acts on the overall test device to realize circumferential rotation, driving the other modules connected to it on its swivel platform to rotate together; during the operation of the overall test device, it is manifested as the rotation action and precise rotation angle control function required when the test probe switches between different measuring points of the measured object; the swivel module includes an upper swivel ball bearing outer ring fixing plate No. 1 (6), an upper swivel ball bearing outer ring fixing plate No. 2 (7), a lower swivel ball bearing outer ring fixing plate No. 2 (24), a lower swivel ball bearing outer ring fixing plate No. 1 (25), and a lower sliding Spline shaft (26), upper sliding spline shaft (28), upper rotary ball bearing (60), upper coupling (64), middle steering gear No. 1 mounting edge (65), middle steering gear No. 1 and No. 2 connecting plates (67), middle steering gear No. 1 (68), middle steering gear No. 2 (69), middle steering gear No. 2 mounting edge (70), middle steering gear No. 1 and No. 2 mounting connection base (71), lower coupling (72), lower rotary ball bearing (76), upper rotary ball bearing inner ring fixing plate No. 1 (78), upper rotary ball bearing inner ring fixing plate No. 2 (79), upper ball spline sleeve (80), lower ball spline sleeve (81), lower rotary ball bearing inner ring fixing plate No. 2 (82), lower rotary ball bearing inner ring fixing plate No. 1 (83); The power output end of the rotary module is composed of a middle steering gear No. 1 mounting edge (65), a middle steering gear No. 1 and No. 2 connecting plate (67), a middle steering gear No. 1 (68), a middle steering gear No. 2 (69), a middle steering gear No. 2 mounting edge (70), and a middle steering gear No. 1 and No. 2 mounting connecting base (71); The kinematic mechanism support of the rotary module is composed of an upper rotary ball bearing outer ring fixing plate No. 1 (6), an upper rotary ball bearing outer ring fixing plate No. 2 (7), a lower rotary ball bearing outer ring fixing plate No. 2 (24), a lower rotary ball bearing outer ring fixing plate No. 1 (25), a lower sliding spline shaft (26), an upper sliding spline shaft (28), an upper rotary ball bearing (60), an upper coupling (64), a lower coupling (72), a lower rotary ball bearing (76), an upper rotary ball bearing inner ring fixing plate No. 1 (78), an upper rotary ball bearing inner ring fixing plate No. 2 (79), an upper ball spline sleeve (80), a lower ball spline sleeve (81), a lower rotary ball bearing inner ring fixing plate No. 2 (82), and a lower rotary ball bearing inner ring fixing plate No. 1 (83); The middle servo No. 1 (68) and the middle servo No. 2 (69) respectively control the rotation of the upper rotating part and the lower rotating part, and the servo provides precise angle control and rotation torque, which is transmitted to the lower sliding spline shaft (26) and the upper sliding spline shaft (28) by the upper coupling (64) and the lower coupling (72). Through the cooperation and torque transmission between the sliding spline shaft and the ball spline sleeve, the torque is finally transmitted to the rotor part connected thereto by the upper ball spline sleeve (80) and the lower ball spline sleeve (81), thereby realizing the functions of rotation and angle control; In the motion mechanism bracket, the upper rotary ball bearing outer ring fixing plate No. 1 (6), the upper rotary ball bearing outer ring fixing plate No. 2 (7), the lower rotary ball bearing outer ring fixing plate No. 2 (24), and the lower rotary ball bearing outer ring fixing plate No. 1 (25) are connected to the fixed part of the overall device, which is the stator part of the rotary module; the remaining lower sliding spline shaft (26), the upper sliding spline shaft (28), the upper rotary ball bearing (60), the upper coupling (64), the lower coupling (72), the lower rotary ball bearing (76), the upper rotary ball bearing inner ring fixing plate No. 1 (78), the upper rotary ball bearing inner ring fixing plate No. 2 (79), the upper ball spline sleeve (80), the lower ball spline sleeve (81), and the lower rotary ball bearing inner ring fixing plate No. 2 (82) , the lower rotary ball bearing inner ring fixing plate No. 1 (83) constitutes the rotor part in the rotary module, and the stator part and the rotor part in the rotary module are connected by the upper rotary ball bearing (60) and the lower rotary ball bearing (76), so as to ensure that when the rotary module is working and rotating, the rotor part can stably rotate relative to the stator part, that is, other parts in the overall device, so as to ensure its coaxiality and rotation stability; finally, in the rotor part, the upper rotary ball bearing inner ring fixing plate No. 1 (78) and the lower rotary ball bearing inner ring fixing plate No. 1 (83) are used as a rotating platform directly connected to other modules, and can rotate stably relative to the overall device, so as to finally drive the probe extension arm and the test probe connected thereto to stably reach and switch between different measuring points of the measured object; The telescopic module is symmetrically placed at both ends of the axis; it is used to realize the rotation of the rod component, which is manifested as the expansion and contraction of the radial dimension; in the overall test device, it is manifested as driving the probe part at the end of the telescopic module rod to realize the movement in the radial direction; the telescopic module includes an upper probe arm rotary steering gear installation bottom edge (29), an upper probe arm rotary steering gear installation side edge (30), an upper probe arm rotary steering gear frame installation base (31), an upper probe arm rotary steering gear (32), an upper probe arm rotary steering gear steering wheel (33), and an upper probe vertical extension arm (34) , an upper probe horizontal extension arm (35), an upper probe adjustment base (36), an upper probe bearing clamping adjustment rod (37), a lower probe horizontal extension arm (41), a lower probe adjustment base (43), a lower probe bearing clamping adjustment rod (46), a lower probe vertical extension arm (47), a lower probe arm rotary steering gear frame mounting base (48), a lower probe arm rotary steering gear steering disc (49), a lower probe arm rotary steering gear (50), a lower probe arm rotary steering gear mounting bottom edge (51), and a lower probe arm rotary steering gear mounting side edge (52); The power output end of the telescopic module is composed of an upper probe arm rotary steering gear steering disc (33), an upper probe vertical extension arm (34), an upper probe horizontal extension arm (35), an upper probe adjustment base (36), an upper probe bearing clamping adjustment rod (37), a lower probe horizontal extension arm (41), a lower probe adjustment base (43), a lower probe bearing clamping adjustment rod (46), a lower probe vertical extension arm (47), and a lower probe arm rotary steering gear steering disc (49); The kinematic mechanism bracket of the telescopic module is composed of an upper probe arm rotary steering gear installation bottom edge (29), an upper probe arm rotary steering gear installation side edge (30), an upper probe arm rotary steering gear frame installation base (31), an upper probe arm rotary steering gear (32), a lower probe arm rotary steering gear frame installation base (48), a lower probe arm rotary steering gear (50), a lower probe arm rotary steering gear installation bottom edge (51), and a lower probe arm rotary steering gear installation side edge 52; When the rotary module is working, the upper probe arm rotary steering gear (32) and the lower probe arm rotary steering gear (50) respectively control the rotation function of the telescopic module motion mechanism bracket of the upper and lower parts of the axial direction, and the steering gear provides the torque and angle control function required for rotation; the steering gear is connected to the rotary platform in the rotary module by the upper probe arm rotary steering gear installation bottom edge (29), the upper probe arm rotary steering gear installation side edge (30), the upper probe arm rotary steering gear frame installation base (31), the lower probe arm rotary steering gear frame installation base (48), the lower probe arm rotary steering gear installation bottom edge (51), and the lower probe arm rotary steering gear installation side edge (52); the upper rotary ball bearing inner ring fixing plate No. 1 (78) and the lower rotary ball bearing inner ring fixing plate No. 1 (83) are linked and fixed; the steering gear output rotation torque is transmitted to the upper probe vertical in the axial direction by the upper probe arm rotary steering gear steering plate (33) and the lower probe arm rotary steering gear steering plate (49). The straight extension arm (34) and the lower probe vertical extension arm (47) finally realize the rotation function of the semicircular ring-shaped horizontal extension arm; the horizontal extension arm is semicircular, and when it rotates to the minimum radial size position, the semicircular ring-shaped horizontal extension arm is located at the outermost circle of the overall test device; in the working state, the semicircular ring-shaped horizontal extension arm rotates and extends, and the semicircular ring-shaped radial chord length is the actual extension length, thereby realizing the elongation of the radial size; the upper probe adjustment base (36), the upper probe bearing clamping adjustment rod (37) and the lower probe adjustment base (43), the lower probe bearing clamping adjustment rod (46) cooperate with each other to realize the fine adjustment of the radial size elongation, so as to facilitate the accurate location of the pitch circle where the point to be measured on the measured piece is located; finally, the probe part installed at the end of the telescopic module in the overall test device is driven to switch between the free state and the working state, and the probe part is driven to reach the position where the point to be measured is located, thereby realizing the telescopic function of the radial size of the overall device; The probe buffer module is arranged at the end part of the probe arm support part in the telescopic module, and is equipped with a test probe to realize the precise positioning function of the test probe, thereby ensuring that a stable pressing force is maintained between the probe and the measured object when the automated test device is working, and finally achieving the stability of the measurement structure and the reliability and stability of the measurement data; the probe buffer module comprises an upper probe bearing clamping adjustment rod (37), an upper probe movable linear bearing (38), an upper probe clamping rod (39), an upper probe (40), a lower probe (42), a lower probe clamping rod (44), a lower probe movable linear bearing (45), a lower probe bearing clamping adjustment rod (46), an upper probe buffer spring (89), and a lower probe buffer spring (90); The upper probe (40) and the lower probe (42) in the probe buffer module are measuring probes, which are fixed by a probe holding rod, the end of which is an optical axis and can move along the bearing axis in the upper probe movable linear bearing (38) and the lower probe movable linear bearing (45), and the movable range of the probe is limited to the direction perpendicular to the cross-section of the entire device, that is, the direction perpendicular to the measuring surface of the measured object; the axial displacement applied by the lifting module is finally transmitted to the probe buffer module through the rotation module and the telescopic module, and the applied lifting displacement is converted into spring compression by the upper probe buffer spring (89) and the lower probe buffer spring (90), and is converted into a pressing force by the buffer spring to keep the probe and the measured surface in stable contact; finally, it is manifested as ensuring that the stable pressing force between the probe and the measured object is maintained when the automated testing device is working; and the stability and reliability of the obtained test data are ensured.

2. The ultrasonic detection robot of the rotor inner cavity threaded connection structure according to claim 1 is characterized in that: The ultrasonic detection robot also includes an automatic control operating system, which includes a power supply, a single-chip core board, a control board, a switch, an indicator light, and a bracket; the automatic control operating system is installed by a bracket to perform fixing and protection functions; the automatic control operating system and the ultrasonic detection robot are controlled by a wired connection.

3. The ultrasonic detection robot of the rotor inner cavity threaded connection structure according to claim 1 or 2, characterized in that: The clamping force in the clamping module is provided by an electromagnet and a tension spring; the part comprises an electromagnet tension spring mounting base (53), an electromagnet (54), a magnetic suction auxiliary base (55), a frame tension spring mounting base (77), a tension spring mounting rod (91), a tension spring mounting rod fixing nut (92), and a tension spring (93); when working, the electromagnet (54) and the magnetic suction auxiliary base (55) fit each other, and the spring tension generated by the tension spring (93) is transmitted to the lower connecting plate (23) by connecting the side plate (56) and the middle No. 2 electric push rod (57). At the same time, the tension spring (93) is connected to the frame tension spring mounting base (77) to transmit the tensile force to the upper connecting plate (8), which is manifested as the action force between the upper connecting plate (8) and the lower connecting plate (23). The function is equivalent to the working state when the thrust applied by the upper electric push rod (2) acts on the main frame, and finally acts on the motion mechanism bracket in the clamping module.

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