Ultrasonic non-destructive testing equipment for wind turbine blades

Abstract

The application discloses a kind of wind power blade ultrasonic nondestructive testing equipment, it includes chassis, slewing bearing, lifting device, telescopic device, rotating device, ball screw module, ultrasonic detection component and sensor component, slewing bearing is set on chassis, lifting device is set on slewing bearing, telescopic device is set on lifting device, and telescopic device one end is fixed with rotating device, ball screw module is set on rotating device, ultrasonic detection component is fixed on ball screw module, sensor component is set on ultrasonic detection component.The application changes into automation work that artificial hand-held ultrasonic flaw detector is carried out nondestructive testing operation to wind power blade, so that the work efficiency of wind power blade detection is significantly improved, and artificial labor is reduced.Ultrasonic detection component can achieve the goal of XYZ three directions movement and rotation around vertical direction and Y axis screw module length direction in space, can fit wind power blade surface, realize accurate detection.

Description

Technical Field

[0001] This invention relates to the field of non-destructive testing of wind turbine blades, and particularly to an ultrasonic non-destructive testing device for wind turbine blades. Background Technology

[0002] In today's world, where energy supplies are tight, the overconsumption of fossil fuels exacerbates energy shortages, climate and environmental problems, and the potential for developing renewable energy is enormous. Wind power has strong advantages in both technology and cost. In recent years, my country's wind power industry has continued to expand, with installed capacity increasing. Wind turbine blades, one of the core components of wind power generation, are also getting larger. If there are quality problems with the blades before they leave the factory, it will inevitably cause serious consequences. Therefore, the blades need to be quality tested before leaving the factory.

[0003] Currently, the common method for blade inspection in the traditional wind power industry is to manually inspect the blades using handheld ultrasonic testing equipment. This method is inefficient and labor-intensive. In addition, because ultrasonic testing requires the use of a coupling agent (water), the above-mentioned inspection method usually involves manually spraying water on the blade surface during inspection, and the water cannot be automatically recycled, resulting in waste and pollution.

[0004] Therefore, how to solve the problems of low working efficiency and waste of coupling agent in the existing technology has become a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the low efficiency of manual ultrasonic flaw detectors for blade inspection in existing technologies, the present invention aims to provide an ultrasonic non-destructive testing device for wind turbine blades, thereby solving the problem of low automation and improving testing efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] Specifically, this invention provides an ultrasonic non-destructive testing device for wind turbine blades, comprising a control module, a power module, a chassis, a slewing bearing, a lifting device, a telescopic device, a rotating device, a ball screw module, an ultrasonic testing component, and a sensor assembly. The slewing bearing is mounted on the chassis. The lifting device is mounted on the slewing bearing, allowing it to rotate on the chassis. The telescopic device is mounted on the lifting device, capable of extending and retracting along the X-direction and sliding freely along the height direction of the lifting device. The rotating device is mounted on the telescopic device. The ball screw module includes a Y-axis screw module and a Z-axis screw module. The Y-axis screw module is mounted on the rotating device and can rotate around the Y-direction with the rotating device. The Z-axis screw module is mounted on the Y-axis screw module and can slide freely along the Y-direction. The ultrasonic testing component is mounted on the Z-axis screw module and can slide freely along the screw direction. The sensor assembly is mounted on the ultrasonic testing component.

[0008] The telescopic device includes a first servo motor, a first planetary reducer, an electric cylinder, an inner sleeve, an outer sleeve, and a connecting plate. The outer sleeve is connected to the slide table of the lifting device and is slidably sleeved outside the inner sleeve. The output end of the first servo motor is connected to the first end of the first planetary reducer, and the second end of the first planetary reducer is fixedly connected to the first end of the electric cylinder. The push rod of the second end of the electric cylinder is hinged to the first end of the inner sleeve, and the connecting plate is provided at the second end of the inner sleeve. The connecting plate is connected to the rotating device.

[0009] The rotating device includes a second servo motor, a worm gear reducer, a second planetary reducer, a first spring, a second spring, a spring guide rod, a connecting plate, a square connecting block, linear bearings, an optical axis, and a displacement sensor. The output end of the second servo motor is connected to the first end of the worm gear reducer. The second end of the worm gear reducer is fixedly connected to the first end of the second planetary reducer. The second end of the second planetary reducer is connected to the connecting plate, thereby driving the connecting plate to rotate. A connecting block is provided inside the connecting plate. Spring guide rods are provided on both sides of the connecting block. The first end of the spring guide rod is rotatably connected to the connecting plate, and the second end of the spring guide rod is connected to the second spring. Multiple linear bearings are provided on the upper surface of the connecting block. An optical axis is provided on each linear bearing. The optical axis is used to connect to the ball screw module and can slide within the linear bearing. A first spring is sleeved outside the optical axis at the center. The first spring is connected to the first end of the displacement sensor, and the second end of the displacement sensor is connected to the ball screw module.

[0010] The Y-axis lead screw module includes a third servo motor, a third planetary reducer driven by the third servo motor, a first slide rail fixedly connected to the third planetary reducer, and a right-angle plate disposed on the first slide rail, the right-angle plate being able to slide freely along the length direction of the slide rail; the Z-axis lead screw module is fixedly connected to the right-angle plate, the Z-axis lead screw module includes a fourth servo motor, a fourth planetary reducer driven by the fourth servo motor, a second slide rail fixedly connected to the fourth planetary reducer, and a probe support plate disposed on the second slide rail, the probe support plate being able to slide freely along the length direction of the second slide rail;

[0011] The ultrasonic testing assembly includes an ultrasonic probe, a probe bracket, a rod frame, a connecting plate, a slide rail mounting plate, a linear slide rail, a limiting plate, a slider, a slider mounting plate, and a spring. The ultrasonic probe is installed inside the probe bracket. A rod frame is connected to each side of the probe bracket, and the rod frames are connected by means of the connecting plate. The first end of the slide rail mounting plate is connected to the connecting plate, the second end of the slide rail mounting plate is connected to the first end of the linear slide rail, and the second end of the linear slide rail is connected to the limiting plate. The slider is disposed on the linear slide rail and can slide freely along the direction of the linear slide rail. The first side of the slider mounting plate is connected to the slider, and the second side of the slider mounting plate is connected to the probe support plate of the Z-axis lead screw module. The first end of the spring is connected to the limiting plate, and the second end of the spring is connected to the slider mounting plate.

[0012] Preferably, a self-lubricating bearing is provided between the probe bracket and the rod frame, and the probe bracket can rotate freely along the axis of the rod frame connection hole.

[0013] Preferably, the pole includes an arc-shaped section and a straight-edge section, the arc-shaped section being connected to the probe bracket, and the straight-edge section being connected to the connecting plate.

[0014] Preferably, a self-lubricating bearing is provided between the connecting plate and the slide rail mounting plate, and the connecting plate can rotate freely along the axis of the connecting hole of the slide rail mounting plate.

[0015] Preferably, the first planetary reducer is fixed to the electric cylinder by means of a flange.

[0016] Preferably, both the first and second slide rails are provided with dustproof covers.

[0017] Preferably, the inner sleeve and the outer sleeve are directly provided with nylon blocks.

[0018] Preferably, the chassis includes a support plate, protective covers fixed to both sides of the support plate, a steering wheel assembly fixed to the support plate, and a pull-out assembly fixed to the support plate. The pull-out assembly is used to house the control module and the power module. The steering wheel assembly includes a motor and a reducer, and the motor is connected to the reducer in a transmission manner.

[0019] Preferably, the lifting device includes columns symmetrically arranged on both sides, an envelope plate fixed to the back of the columns, a dust cover fixed to the front of the columns, a lead screw fixed in the middle of the columns, and guide columns fixed on both sides of the lead screw, with a slide table provided on the lead screw.

[0020] Preferably, the ball screw module is equipped with a mechanical limit device and a limit switch.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] (1) The present invention is equipped with a slewing bearing, a lifting device, a telescopic device, a rotating device and a ball screw module. Based on the configuration of each structure, it can perform three-dimensional movement, so that the ultrasonic probe can better detect the blade. It has stable operation and high precision, effectively reduces the labor intensity of workers, and significantly improves work efficiency compared with the previous working conditions.

[0023] (2) The present invention has the advantage of high automation, which solves the problem of low work efficiency and large workload caused by manual handheld flaw detectors for blade inspection in the prior art.

[0024] (3) The ultrasonic probe of the present invention is connected to the probe bracket by means of a floating mechanism, and can rotate during detection, thereby more accurately fitting the wind turbine blade and improving the detection accuracy. The ultrasonic detection component can achieve the target of moving in three directions (XYZ) and rotating around the vertical direction and the length direction of the Y-axis lead screw module in space, thereby fitting the surface of the wind turbine blade.

[0025] (4) The ball screw module of the present invention is equipped with a mechanical limit device and a limit switch is arranged on the ball screw. The movement range of the slide can be adjusted for different detection ranges, reducing unnecessary movement strokes, improving work efficiency, and ensuring the positional accuracy of the ultrasonic detection component.

[0026] (5) The lifting device of the present invention has a copper sleeve plate installed on the slide, which can reduce the friction between the slide and the guide column. The guide column is fixed to the lower platform and the upper platform by the internal thread using studs. The lead screw shaft is fixed to the lower platform and the upper platform by the bearing with a seat. The copper sleeve installed on the slide contacts and slides on the guide column to achieve sliding friction. The slide rises and falls by the rotation of the lead screw, which can ensure accuracy while ensuring the load-bearing capacity. The symmetrically installed dust baffle and brush strip can block the dust falling on the blade surface to the maximum extent. At the same time, the lifting part can monitor the distance between the slide and the support plate plane in real time by the displacement sensor, so that it is always within a suitable height range. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the ultrasonic non-destructive testing equipment for wind turbine blades in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the chassis structure in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the lifting device in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the telescopic device in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the rotating device in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the ball screw module in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the ultrasonic detection component in an embodiment of the present invention.

[0034] The following are descriptions of some of the attached figures:

[0035] 1-Chassis; 2-Slewing bearing; 3-Lifting device; 4-Telescopic device; 5-Rotating device; 6-YZ ball screw module; 7-Ultrasonic detection assembly; 8-Sensor assembly; 11-Support plate; 12-Protective cover; 13-Draw-out assembly; 14-Motor; 15-Reducer; 31-Column; 32-Envelope plate; 33-Dust cover; 34-Guide column; 35-Screw; 36-Slide table; 41-First servo motor; 42-First planetary reducer; 43-Flange; 44-Inner sleeve; 45-Outer sleeve; 46-Connecting plate; 47-Electric Cylinder; 51-Second servo motor; 52-Worm gear reducer; 53-Second planetary reducer; 54-First spring; 55-Second spring; 56-Spring guide rod; 57-Connecting plate; 58-Square connecting block; 59-Linear bearing; 510-Optical axis; 511-Displacement sensor; 61-Y-axis lead screw module; 611-Third servo motor; 612-Third planetary reducer; 613-First slide rail; 614-First dustproof plate; 615-Right angle plate; 62-Z-axis lead screw module; 621-Fourth servo motor; 622-Fourth row

[0036] Star reducer; 623-Second slide rail; 624-Second dustproof plate; 625-Probe support plate; 71-Ultrasonic probe; 72-Probe bracket; 73-Rod frame; 74-Connecting plate; 75-Slide rail mounting plate; 76-Linear slide rail; 77-Limit plate; 78-Slider; 79-Slider mounting plate; 710-Spring. Detailed Implementation

[0037] Exemplary embodiments, features, and aspects of the present invention will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0039] The purpose of this specific embodiment is to provide an ultrasonic non-destructive testing device for wind turbine blades, thereby solving the problem of low efficiency in blade inspection using manual ultrasonic flaw detectors in the prior art.

[0040] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the configurations represented in the embodiments below are not limited to those necessary for the solution of the invention described in the claims.

[0041] like Figures 1-7 As shown, this embodiment provides an ultrasonic non-destructive testing device for wind turbine blades, which includes a control module, a power supply module, a chassis 1, a slewing bearing 2, a lifting device 3, a telescopic device 4, a rotating device 5, a ball screw module 6, an ultrasonic testing assembly 7, and a sensor assembly 8. The slewing bearing 2 is mounted on the chassis 1; the lifting device 3 is mounted on the slewing bearing 2 so that it can rotate on the chassis 1 by means of the slewing bearing 2; the telescopic device 4 is mounted on the lifting device 3, and the telescopic device 4 can extend and retract along the X direction. The ball screw module 6 includes a Y-axis screw module 61 and a Z-axis screw module 62. The Y-axis screw module 61 is mounted on the rotating device 5 and can rotate around the Y direction with the rotating device 5. The Z-axis screw module 62 is mounted on the Y-axis screw module 61 and can slide freely along the Y direction. The ultrasonic detection component 7 is mounted on the Z-axis screw module 62 and can slide freely along the screw direction. The sensor component 8 is mounted on the ultrasonic detection component 7.

[0042] The telescopic device 4 includes a first servo motor 41, a first planetary reducer 42, an electric cylinder 47, an inner sleeve 44, an outer sleeve 45, and a connecting plate 46. The outer sleeve 45 is connected to the slide table 36 of the lifting device 3 and is slidably fitted over the inner sleeve 44. The output end of the first servo motor 41 is connected to the first end of the first planetary reducer 42. The second end of the first planetary reducer 42 is fixed to a flange 43 and is fixedly connected to the first end of the electric cylinder 47 by means of the flange 43. The push rod of the second end of the electric cylinder 47 is hinged to the first end of the inner sleeve 44. The connecting plate 46 is provided at the second end of the inner sleeve 44. The connecting plate 46 is connected to the rotating device 5.

[0043] As an optional implementation, the outer sleeve 45 is bolted to the inside of the electric cylinder 47. The first servo motor 41 transmits power to the first planetary reducer 42, which is connected to the electric cylinder 47 via the connecting flange 43. The tail of the electric cylinder 47 is connected to the inner sleeve 44 via a hinge. At the same time, a limit switch is installed on the cylinder body of the electric cylinder 47 to protect the travel of the lead screw. The outer sleeve 45 and the inner sleeve 44 are in contact via a fixed nylon block. The outer sleeve 45 is connected to the slide 36 of the lifting device 3 via a specially designed triangular mounting plate.

[0044] The rotating device 5 includes a second servo motor 51, a worm gear reducer 52, a second planetary reducer 53, a first spring 54, a second spring 55, a spring guide rod 56, a connecting plate 57, a square connecting block 58, a linear bearing 59, an optical axis 510, and a displacement sensor 511. The second servo motor 51 drives the connecting plate 57 to rotate through the worm gear reducer 52 and the second planetary reducer 53. The second spring 55 is mounted on the spring guide rod 56 and connected to the connecting plate 57. The linear bearing 59 is mounted on the square connecting block 58. The first spring 54 is sleeved on the outside of the optical axis 510 located at the center. The displacement sensor 511 is mounted on the lower side of the first spring 54. One end of the displacement sensor 511 is connected to the square connecting block 58, and the other end is connected to the ball screw module.

[0045] As an optional implementation, the second servo motor 51 drives the connecting plate 57 to rotate via the worm gear reducer 52 and the second planetary reducer 53, thereby realizing the pitch motion of the ball screw module 6. A second spring 55 is mounted on the spring guide rod 56 and connected to the connecting plate 57, allowing the YZ ball screw module 6 to swing left and right. A linear bearing 59 is mounted on the connecting block 58, allowing the optical shaft 510, which is fixedly connected to the ball screw module 6, to slide back and forth within the linear bearing 59. A first spring 54 is sleeved on the outer side of the optical shaft 510 located at the center, allowing the YZ ball screw module 6 to extend and retract forward and backward. A displacement sensor 511 is mounted on the lower side of the first spring 54, with one end connected to the connecting block 58 and the other end connected to the ball screw module 6. The displacement sensor 511 can detect working displacement. The connecting plate 57 has a frame structure, and the connecting block 58 has a square structure.

[0046] The ball screw module 6 includes a Y-axis screw module 61 and a Z-axis screw module 62. The Y-axis screw module 61 is fixedly connected to the rotating device 5. The Y-axis screw module 61 includes a third servo motor 611, a third planetary reducer 612 that is driven by the third servo motor 611, a first slide rail 613 that is fixedly connected to the third planetary reducer 612, a first dustproof plate 614 that is fixedly connected above the first slide rail 613, and a right-angle plate 615 that is disposed on the first slide rail 613. The right-angle plate 615 can move along the first slide rail 613. The rail 613 slides freely along its length. The Z-axis lead screw module 62 is fixedly connected to the right-angle plate 615. The Z-axis lead screw module 62 includes a fourth servo motor 621, a fourth planetary reducer 622 that is driven by the fourth servo motor 621, a second slide rail 623 that is fixedly connected to the fourth planetary reducer 622, a second dustproof plate 624 that is fixedly connected above the second slide rail 623, and a probe support plate 625 that is set on the second slide rail 623. The probe support plate 625 can slide freely along the length of the second slide rail 623.

[0047] In a more specific implementation, the ball screw module 6 is fixedly connected to the optical axis 510 on the rotating device 5. A mechanical limit device is provided inside the ball screw module 6, and limit switches are arranged on the ball screw to ensure that the slide table 36 moves within a specified range and to ensure the positional accuracy of the ultrasonic detection component 7. The power source of the Y-axis ball screw module 61 in the YZ ball screw module 6 is the third servo motor 611, which transmits power to the inside of the Y-axis ball screw module 61 after being reduced by the third planetary reducer 612. The power source of the Z-axis ball screw module 62 in the YZ ball screw module 6 is the fourth servo motor 621, which transmits power to the inside of the Z-axis ball screw module 62 after being reduced by the fourth planetary reducer 622.

[0048] The ultrasonic testing assembly 7 includes an ultrasonic probe 71, a probe bracket 72, a rod frame 73, a connecting plate 74, a slide rail mounting plate 75, a linear slide rail 76, a limiting plate 77, a slider 78, a slider mounting plate 79, and a spring 710. The ultrasonic probe 71 is mounted in a slot in the probe bracket 72 and is fixedly connected by bolts. The two rod frames 73 are respectively connected to the probe bracket 72 by means of self-lubricating bearings. The connecting plate 74 is connected to the rod frame 73 by means of four bolts and is also connected to the linear floating device by bolts. In a specific embodiment, the rod frame 73 is an aluminum rod frame, and the connecting plate 74 is a rod-shaped or plate-shaped connector. The ends of the two rod frames 73 are connected by means of the connecting plate 74.

[0049] In a preferred embodiment of the present invention, the slide rail mounting plate 75 is connected to the lower end of the linear slide rail 76 by bolts, the slider 78 is disposed on the linear slide rail 76 and can slide freely, the limiting plate 77 is connected to the top end of the linear slide rail 76 by bolts to prevent the slider 78 from sliding out, the slider mounting plate 79 is connected to the slider 78 by bolts and can move together with the slider 78, and the limiting plate 77 is connected to the slider connecting plate 79 by spring 710.

[0050] The telescopic device 4 is powered by the first servo motor 41, the first planetary reducer 42, and the electric cylinder 47, and can extend and retract laterally. A rotating device 5 is provided at the end of the telescopic device 4. The second servo motor 51, the worm gear reducer 52, and the second planetary reducer 53 provide power to the rotating device 5, enabling it to drive the YZ ball screw module 6 to rotate. The Y-axis ball screw module 61 and the Z-axis ball screw module 62 in the YZ ball screw module 6 are powered by their respective servo motors and planetary reducers. The Z-axis ball screw module 62 can slide freely along the length direction of the Y-axis ball screw module 61. The ultrasonic detection component 7 on the Z-axis ball screw module 62 can slide freely along the length direction of the Z-axis ball screw module 62. The ultrasonic detection component 7 can achieve the goal of moving in the XYZ directions and rotating around the vertical direction and the length direction of the Y-axis ball screw module 61 in space, and can fit the surface of the wind turbine blade.

[0051] The chassis 1 includes a support plate 11, protective covers 12 fixed on both sides of the support plate 11, steering wheel assemblies fixed on the four corners of the support plate 11, and a pull-out assembly 13 fixed on the support plate 11. The pull-out assembly 13 is used to place tools, control modules, etc. The steering wheel assembly includes a motor 14 and a reducer 15, and the motor 14 and the reducer 15 are connected in a transmission connection.

[0052] As an optional implementation, the steering wheel assembly on the chassis 1 can meet the working requirements of the equipment moving in all directions. The support plate 11 is provided with a protective cover 12 on its side, and forklift holes are provided on both sides of the support plate 11 to facilitate transportation by forklifts.

[0053] The lifting device 3 includes columns 31 arranged symmetrically on both sides, an envelope plate 32 fixed to the back of the columns 31, a dust cover 33 fixed to the front of the columns 31, a lead screw 35 fixed in the middle of the columns 31, guide columns 34 fixed on both sides of the lead screw 35, and a slide table 36 provided on the lead screw 35.

[0054] As an optional implementation, a lead screw 35 and two guide columns are arranged between two symmetrically arranged columns 31 inside the lifting device 3. The slide 36 rises and falls through the rotational movement of the lead screw 35. A copper sleeve is installed on the slide 36 to reduce friction with the guide columns 34. The guide columns 34 are fixed to the lower and upper platforms of the lifting mechanism by studs with internal threads. The lead screw shaft is fixed to the lower and upper platforms by bearings with seats. The copper sleeve installed on the slide 36 contacts and slides against the guide columns 34. The slide 36 rises and falls through the rotation of the lead screw 35, ensuring accuracy while meeting the load-bearing requirements. The bottom of the dust cover 33 is fixedly connected to the chassis 1, and the top is connected to the slide 36 by bolts. The dust cover 33 can extend and retract as the slide 36 moves up and down, maximizing the blocking of dust falling from the blade surface.

[0055] During operation, the required lifting heights S1 and S2 of the slide table 36 relative to the plane of the support plate 11 are determined according to the different specifications of the blades being inspected. The lifting part relies on the displacement sensor 511 to automatically detect the distance between the slide table 36 and the plane of the support plate 11 in real time, and controls the slide table 36 to slide up and down, so that the inspection component is always at a suitable working height.

[0056] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0057] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An ultrasonic non-destructive testing apparatus for wind turbine blades, characterized in that: It includes control module, power module, chassis, slewing bearing, lifting device, telescopic device, rotating device, ball screw module, ultrasonic detection assembly and sensor assembly, the slewing bearing is arranged on the chassis, the lifting device is arranged on the slewing bearing and can rotate on the chassis by the slewing bearing; The telescopic device is arranged on the lifting device, the telescopic device can be telescopic along the X direction, and the telescopic device can slide freely along the height direction of the lifting device;The rotating device is arranged on the telescopic device; The ball screw module includes a group of Y-axis screw module and a group of Z-axis screw module, the Y-axis screw module is arranged on the rotating device and can rotate around Y direction with the rotating device, the Z-axis screw module is arranged on the Y-axis screw module and can slide freely along Y direction;The ultrasonic detection assembly is arranged on the Z-axis screw module and can slide freely along the screw direction;The sensor assembly is arranged on the ultrasonic detection assembly; The telescopic device includes first servo motor, first planetary reducer, electric cylinder, inner sleeve, outer sleeve and connecting plate, the outer sleeve is connected on the sliding table of the lifting device, the outer sleeve is sleeved on the outside of the inner sleeve, the output end of the first servo motor is connected with the first end of the first planetary reducer, the second end of the first planetary reducer is fixedly connected with the first end of the electric cylinder, the push rod of the second end of the electric cylinder is hinged with the first end of the inner sleeve, the second end of the inner sleeve is provided with the connecting plate, and the connecting plate is connected with the rotating device; The rotating device includes second servo motor, worm gear reducer, second planetary reducer, first spring, second spring, spring guide rod, connecting plate, square connecting block, linear bearing, optical shaft and displacement sensor, the output end of the second servo motor is connected with the first end of the worm gear reducer, the second end of the worm gear reducer is fixedly connected with the first end of the second planetary reducer, the second end of the second planetary reducer is connected with the connecting plate to drive the connecting plate to rotate, the connecting plate is internally provided with a connecting block, the connecting block is provided with spring guide rods on both sides, the first end of the spring guide rod is rotatably connected with the connecting plate, the second end of the spring guide rod is connected with the second spring, the upper surface of the connecting block is provided with a plurality of linear bearings, each linear bearing is provided with an optical shaft, the optical shaft is used for connecting the ball screw module and can slide in the linear bearing, the outer sleeve of the optical shaft at the center position is provided with the first spring, the first spring is connected with the first end of the displacement sensor, and the second end of the displacement sensor is connected with the ball screw module. The Y-axis screw module comprises a third servo motor, a third planetary reducer in transmission connection with the third servo motor, a first sliding rail in fixed connection with the third planetary reducer, and a right-angle plate arranged on the first sliding rail, the right-angle plate being capable of freely sliding along the length direction of the sliding rail; the Z-axis screw module is fixedly connected to the right-angle plate, the Z-axis screw module comprising a fourth servo motor, a fourth planetary reducer in transmission connection with the fourth servo motor, a second sliding rail in fixed connection with the fourth planetary reducer, and a probe support plate arranged on the second sliding rail, and the probe support plate being capable of freely sliding along the length direction of the second sliding rail; The ultrasonic detection assembly comprises an ultrasonic probe, a probe support, a rod support, a connecting plate, a sliding rail mounting plate, a linear sliding rail, a limiting plate, a sliding block, a sliding block mounting plate, and a spring, the ultrasonic probe being mounted in the probe support, one rod support being connected to each side of the probe support, the rod supports being connected by means of the connecting plate, the first end of the sliding rail mounting plate being connected to the connecting plate, the second end of the sliding rail mounting plate being connected to the first end of the linear sliding rail, the second end of the linear sliding rail being connected to the limiting plate, the sliding block being arranged on the linear sliding rail and being capable of freely sliding along the linear sliding rail, the first side of the sliding block mounting plate being connected to the sliding block, the second side of the sliding block mounting plate being connected to the probe support plate of the Z-axis screw module, the first end of the spring being connected to the limiting plate, and the second end of the spring being connected to the sliding block mounting plate.

2. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: Self-lubricating bearings are arranged between the probe support and the rod support, and the probe support is capable of freely rotating along the axis of the rod support connecting hole.

3. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: The rod support comprises an arc segment and a straight edge segment, the arc segment being connected to the probe support, and the straight edge segment being connected to the connecting plate.

4. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: Self-lubricating bearings are arranged between the connecting plate and the sliding rail mounting plate, and the connecting plate is capable of freely rotating along the axis of the sliding rail mounting plate connecting hole.

5. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: The first planetary reducer and the electric cylinder are fixed by means of a flange.

6. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: Dustproof cover plates are arranged on the first sliding rail and the second sliding rail.

7. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: The inner sleeve and the outer sleeve are directly provided with nylon blocks.

8. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: The base plate comprises a support plate, protective covers fixed to the two sides of the support plate, a rudder wheel assembly fixed to the support plate, and a pull-out assembly fixed to the support plate, the pull-out assembly being used for placing a control module and a power module, the rudder wheel assembly comprising a motor and a reducer, the motor being in transmission connection with the reducer.

9. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: The lifting device comprises two vertically arranged columns, an envelope plate fixed to the back of the columns, a dust cover fixed to the front of the columns, a screw rod fixed to the middle of the columns, and guide columns fixed to the two sides of the screw rod, a sliding table being arranged on the screw rod.

10. The wind turbine blade ultrasonic non-destructive testing apparatus of claim 1, wherein: A mechanical limiting device and a limiting switch are arranged in the ball screw module.

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