Wind blade ultrasonic testing equipment

Abstract

The present invention discloses an ultrasonic inspection device for wind turbine blades, comprising: a telescopic mechanism mounted on a traveling mechanism via a lifting mechanism, capable of being raised and lowered relative to the traveling mechanism and extending and retracting to one side; a flexible support mechanism for ultrasonic probes, comprising a flexible bracket, a flexible spring, and an ultrasonic detection unit; a plurality of ultrasonic detection units arranged vertically to form a vertical array of ultrasonic detection units; the flexible springs corresponding to the two wings of the ultrasonic detection units, the two wings of each ultrasonic detection unit being connected to a corresponding flexible spring; and the ultrasonic detection units being connected to flexible brackets mounted on the telescopic mechanism and located to the side of the traveling mechanism. The inspection device is driven by the traveling mechanism, capable of using a greater number of ultrasonic probes for simultaneous inspection, and significantly improving the flexibility, coupling, and stability of the ultrasonic probes.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade detection, and in particular to ultrasonic detection equipment used for detecting wind turbine blades to determine whether there are defects or damages. Background Art

[0002] Wind energy is a green, renewable energy source with promising development prospects. my country has enormous potential for developing wind energy and abundant resources, with a total potential wind energy capacity of approximately 1,000 to 1,500 GW. This suggests that wind power has the potential to become a vital component of the future energy mix.

[0003] Therefore, the development of wind power generation has also attracted much attention. Wind turbine blades are an important component of wind turbines. Wind turbine blades are generally made of glass fiber composite materials. Due to their complex manufacturing process, defects are inevitable during the molding process. In addition, due to the harsh working environment and the complexity and variability of working conditions, varying degrees of damage will occur during operation.

[0004] Currently, most methods for inspecting wind turbine blades involve manually operating ultrasonic inspection equipment to scan important areas of the wind turbine blades. The scope of a single person's inspection is limited, and the use of multiple people's inspection equipment increases, which invisibly increases the inspection cost.

[0005] In this regard, relevant technologies have proposed a track-type suction cup scanner for ultrasonic inspection of wind turbine blades. A flexible arm bracket is set to match two sets of suction cups. A track mounting frame is set inside the flexible arm, which can be adjusted to any angle to ensure that the suction cup fits the surface of the wind turbine blade and expand the detection range.

[0006] This type of detection equipment only applies force to the ultrasonic probe through an elastic mechanism or a flexible mechanism. When in use, the operator needs to accurately control the distance between the detection equipment and the fan blades. If the distance is too large or too small, it needs to be readjusted, which is very inconvenient. Moreover, it is impossible to achieve adaptive adjustment, and it is difficult to fit the ultrasonic probe to the surface of the fan blade with appropriate force. It is easy to fit too tightly or insufficiently, which in turn affects the effect of coupling between the ultrasonic probe and the fan blades through the coupling agent. Not only will it affect the test results, but in extreme cases, it is easy to cause unnecessary damage to the ultrasonic probe and the fan blades.

[0007] Furthermore, because the ultrasonic probe needs to be in contact with the surface of the wind turbine blade and coupled via a coupling agent, it has a crucial impact on detection accuracy. Due to the curved surface of the wind turbine blade, to ensure sufficient contact between the ultrasonic probe and the blade, only a small number of ultrasonic probes can be used during detection. Each scan covers a very limited area, resulting in low detection efficiency. If a large number of ultrasonic probes are used at once, their flexibility, coupling, and stability will deteriorate, making it difficult to achieve the desired detection results. Summary of the Invention

[0008] The purpose of the present invention is to provide an ultrasonic detection device for fan blades to solve the above technical problems.

[0009] To achieve the above object, the present invention provides an ultrasonic detection device for fan blades, comprising:

[0010] Traveling mechanism, used to install the following mechanisms and drive the following mechanisms to move for scanning;

[0011] a telescopic mechanism, mounted on the traveling mechanism via a lifting mechanism, capable of being raised and lowered relative to the traveling mechanism and being telescopic to one side relative to the traveling mechanism;

[0012] The ultrasonic probe flexible supporting mechanism includes a flexible bracket, a flexible spring sheet, and an ultrasonic detection unit; a plurality of the ultrasonic detection units are arranged and distributed in a vertical direction to form a vertical ultrasonic detection unit array; the flexible spring sheet extends along the arrangement direction of the ultrasonic detection units and corresponds to the two wings of the ultrasonic detection units, respectively, and the two wings of each ultrasonic detection unit are respectively connected to the corresponding flexible spring sheet;

[0013] The ultrasonic detection unit is connected to a flexible bracket, which is installed on the telescopic mechanism and located at the side of the walking mechanism. The telescopic mechanism can drive the ultrasonic detection unit to approach or move away from the fan blade.

[0014] Optionally, the flexible bracket includes a frame, a roller and an elastic telescopic component; the roller is installed on both sides of the frame for rolling contact with the surface of the wind turbine blade during detection; the multiple ultrasonic detection units are divided into several groups, and the two ends of at least one ultrasonic detection unit in each group are respectively connected to the frame through an elastic telescopic component.

[0015] Optionally, the elastic telescopic component includes a guide seat, a joint, a spring and a guide rod, the guide seat is connected to the frame, the joint is connected to the end of the ultrasonic detection unit, the spring and guide rod are located between the guide seat and the joint, and the joint can elastically telescope relative to the guide seat.

[0016] Optionally, the guide rod of each elastic telescopic component includes an upper guide rod and a lower guide rod, the spring is located between the upper guide rod and the lower guide rod, the front end of each guide rod is fixedly connected to the joint, and the rear end of each guide rod is slidingly engaged with the guide hole of the guide seat.

[0017] Optionally, the guide seat is provided with a spring hole, the joint is connected to a guide pin extending into the spring hole, the spring is sleeved on the outside of the guide pin, the rear part of the guide seat is provided with a spring guide tube corresponding to the spring hole and extending backward, the front end of the spring is supported on the joint, and the rear end of the spring is supported on the inner end of the spring guide tube.

[0018] Optionally, the connector is connected to an end of the ultrasonic detection unit via a rotating shaft and a bearing.

[0019] Optionally, the elastic telescopic component includes a middle elastic telescopic component and a side elastic telescopic component; the middle elastic telescopic component is located in the middle position in the vertical direction, and its guide seat is fixedly connected to the frame; the side elastic telescopic components are arranged in an upward and downward order with the middle elastic telescopic component as the center, and their guide seats are rotatably connected to the frame through bearings.

[0020] Optionally, the flexible bracket includes a mounting frame, a vertical swing axis is provided at the rear of the mounting frame, the mounting frame can swing in the left and right directions, the frame is connected to the mounting frame via a horizontal swing axis, and the frame can swing up and down relative to the mounting frame.

[0021] Optionally, a position detection element is provided, and the position detection element is used to detect the position of the ultrasonic detection unit on the wind turbine blade.

[0022] Optionally, the position detection element is a rotary encoder mounted on the roller.

[0023] Optionally, each of the ultrasonic detection units includes a bracket, a support and an ultrasonic probe, the bracket being provided with a receiving space with an opening facing the front side, the ultrasonic probe being installed in the receiving space through the bracket, a sliding component that slides along the front-to-back direction is provided between the bracket and the bracket, the bracket is provided with rolling contact components located on both sides of the opening of the receiving space, an elastic component that supports the ultrasonic probe and the bracket to float along the sliding direction is provided between the rear end of the bracket and the bracket; the bracket is provided with a coupling agent inlet, a coupling agent flow channel and a coupling agent outlet.

[0024] Optionally, a guide component is provided between the bracket and the support to guide the ultrasonic probe and the bracket to float along the sliding direction.

[0025] Optionally, the guide component includes a guide bearing located on the upper surface of the bracket and arranged horizontally, and the guide bearing is in contact with and rolling engagement with the side of the bracket that is higher than the bracket.

[0026] Optionally, the sliding component includes sliding bearings provided on both sides of the bracket, and the bracket is provided with a sliding groove on the inner wall of the accommodating space thereof, which is slidably matched with the sliding bearings.

[0027] Optionally, the rolling contact component includes horizontally arranged rolling bearings, and the rolling bearings are distributed at the upper and lower parts of both sides of the opening of the accommodating space.

[0028] Optionally, the coupling agent flow channel includes a first coupling agent flow channel and a second coupling agent flow channel, wherein a first coupling agent outlet of the first coupling agent flow channel is close to an upper edge of one side of the ultrasonic probe contact surface, a vertical coupling agent groove is provided on the inner side of the front end of the bracket, and is adjacent to the ultrasonic probe, and the first coupling agent outlet is connected to the coupling agent groove; a second coupling agent outlet of the second coupling agent flow channel is close to an upper edge of the other side of the ultrasonic probe contact surface, and the second coupling agent outlet faces inward, and the coupling agent outlet direction thereof covers the upper edge of the ultrasonic probe.

[0029] Optionally, the bracket includes a left support plate and a right support plate arranged vertically, and the first coupling agent flow channel and the second coupling agent flow channel are respectively located on the left support plate and the right support plate.

[0030] Optionally, the telescopic mechanism includes a first-level fixed arm, a second-level telescopic arm, a third-level telescopic arm and a driving mechanism; the second-level telescopic arm slides with the first-level fixed arm, and the third-level telescopic arm slides with the second-level telescopic arm; the second-level telescopic arm is provided with a first idler wheel and a second idler wheel, and the first idler wheel and the second idler wheel are connected by a transmission chain or a transmission belt, the first-level fixed arm is connected to the upper part of the transmission chain or the transmission belt, and the third-level telescopic arm is connected to the lower part of the transmission chain or the transmission belt; the driving mechanism is used to drive the second-level telescopic arm to move relative to the first-level fixed arm, thereby driving the third-level telescopic arm to telescope.

[0031] Optionally, the first-level fixed arm, the second-level telescopic arm and the third-level telescopic arm form a three-layer stacked structure, the second-level telescopic arm is located below the first-level fixed arm, and the third-level telescopic arm is located below the second-level telescopic arm; the first-level fixed arm and the second-level telescopic arm are slidably fitted together through a first slider and a first linear guide rail, and the second-level telescopic arm and the third-level telescopic arm are slidably fitted together through a second slider and a second linear guide rail.

[0032] Optionally, the driving mechanism is a linear driving mechanism, which is provided on the primary fixed arm and the telescopic end of the mechanism is connected to the secondary telescopic arm.

[0033] Optionally, the driving mechanism includes a driving motor, a reducer and an electric cylinder, the driving motor is connected to the power input end of the reducer, the power output end of the reducer is connected to the power input end of the electric cylinder, the electric cylinder is located on the upper part of the first-level fixed arm and parallel to the first-level fixed arm, and its telescopic end is connected to the front end of the second-level telescopic arm.

[0034] Optionally, the three-stage telescopic arm is provided with an adaptive adjustment mechanism, which includes a first sliding member, a second sliding member and a driving member; the first sliding member and the second sliding member are respectively slidably matched with the three-stage telescopic arm, and the two can slide in the same direction; the driving member is used to drive the first sliding member to move relative to the three-stage telescopic arm, and the flexible bracket is installed on the second sliding member. The first sliding member and the second sliding member are connected by a thrust member and are provided with a sensor for detecting the thrust member.

[0035] Optionally, the thrust component is a gas spring arranged along the sliding direction of the first sliding member and the second sliding member, one end of the gas spring is connected to the first sliding member, and the other end of the gas spring is connected to the second sliding member.

[0036] Optionally, the sensor is a displacement sensor, used to detect the displacement of the gas spring after being compressed.

[0037] Optionally, the sensor is a pull-rod type linear displacement sensor parallel to the gas spring, one end of the pull-rod type linear displacement sensor is connected to the first sliding member, and the other end is connected to the second sliding member.

[0038] Optionally, the driving component includes a motor provided on the first sliding member, the three-stage telescopic arm is provided with a corresponding rack, and the motor is driven by meshing with the rack through a gear.

[0039] The ultrasonic detection equipment for wind blades provided by the present invention has multiple ultrasonic detection units arranged and distributed in the vertical direction to form a vertical array of ultrasonic detection units. Since the ultrasonic detection units are connected by flexible springs, and the flexible springs can deform along with the wind blades, a larger number of ultrasonic detection units can be used to detect the wind blades. Moreover, on this basis, the ultrasonic detection unit array provided on the flexible springs is further connected to the frame through a flexible bracket. The flexible bracket can support the local ultrasonic detection unit to approach or move away from the surface of the wind blade, so that each ultrasonic detection unit can obtain a better fitting effect. When the walking mechanism drives the ultrasonic detection unit to scan, the flexible supporting mechanism of the ultrasonic probe can move laterally on the surface of the wind blade, can scan a larger area, and has good flexibility, coupling and stability during the scanning process, thereby obtaining more accurate detection results.

[0040] Moreover, the telescopic mechanism can drive the ultrasonic detection unit to realize the feeding function along the fitting direction, thereby approaching or moving away from the fan blade, and can adjust the fitting force pressed against the surface of the fan blade to ensure the coupling effect of the ultrasonic detection unit and the fan blade through the coupling agent, thereby further ensuring the accuracy of the detection results and avoiding unnecessary damage to the ultrasonic probe and the fan blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic structural diagram of an ultrasonic detection device for fan blades provided by an embodiment of the present invention;

[0042] Figure 2 for Figure 1 The right side view of the ultrasonic testing equipment for fan blades shown;

[0043] Figure 3 for Figure 1 A schematic structural diagram of the flexible bearing mechanism of the ultrasonic probe shown in FIG;

[0044] Figure 4 for Figure 3 A top view of the flexible supporting mechanism of the ultrasonic probe of the fan blade is shown;

[0045] Figure 5 for Figure 3 A side view of the flexible supporting mechanism of the ultrasonic probe of the fan blade is shown;

[0046] Figure 6 for Figure 3 Axonometric view of the elastic expansion and contraction assembly shown in FIG.

[0047] Figure 7 for Figure 6 A cross-sectional view of the side elastic telescopic component shown;

[0048] Figure 8 for Figure 3 An axonometric view of the middle elastic telescopic component shown in ;

[0049] Figure 9 for Figure 3 The side view of the wind turbine blade ultrasonic probe flexible bearing mechanism when it is installed on the mounting frame;

[0050] Figure 10 for Figure 3 A schematic structural diagram of an ultrasonic detection unit is shown in FIG;

[0051] Figure 11 for Figure 10 AA rotation diagram of the ultrasonic detection unit shown;

[0052] Figure 12 for Figure 10 A front view schematic diagram of the ultrasonic detection unit shown;

[0053] Figure 13 for Figure 12 A left side view of the ultrasonic detection unit shown;

[0054] Figure 14 for Figure 12 BB view of the ultrasonic detection unit shown;

[0055] Figure 15 for Figure 12 CC view of the ultrasonic detection unit shown;

[0056] Figure 16 for Figure 10 An axonometric view of the ultrasonic testing unit shown;

[0057] Figure 17 for Figure 16 A partial enlarged view of the first couplant outlet and the vertical couplant slot shown in FIG;

[0058] Figure 18 for Figure 16 A partial enlarged view of the second coupling agent outlet shown in FIG;

[0059] Figure 19A schematic structural diagram of a fan blade ultrasonic detection and retraction mechanism provided by an embodiment of the present invention;

[0060] Figure 20 for Figure 19 The left side view of the fan blade ultrasonic detection telescopic mechanism is shown;

[0061] Figure 21 for Figure 20 DD view of the ultrasonic inspection and retraction mechanism of the fan blade shown;

[0062] Figure 22 for Figure 19 A top view of the fan blade ultrasonic detection and retraction mechanism is shown;

[0063] Figure 23 for Figure 19 An axonometric view of the fan blade ultrasonic detection and retraction mechanism shown;

[0064] Figure 24 for Figure 19 A structural diagram of the adaptive adjustment mechanism shown in FIG;

[0065] Figure 25 for Figure 24 A bottom view of the adaptive adjustment mechanism shown;

[0066] Figure 26 for Figure 24 Axonometric view of the adaptive adjustment mechanism shown.

[0067] In the picture:

[0068] 100. Traveling mechanism 200. Telescopic mechanism 300. Ultrasonic probe flexible bearing mechanism 400. Couplant storage tank 500. Electrical control cabinet

[0069] 1. Frame 11. Frame opening 2. Roller 3. Ultrasonic detection unit 4. Stainless steel spring 5. Elastic expansion joint 51. Middle elastic expansion joint 52. Side elastic expansion joint 521. Guide seat 522. Joint 523. Spring 524. Guide rod 525. Rotating shaft 526. Rotating fisheye joint bearing 527. Guide pin 528. Spring guide tube 529. Bearing 6. Coupling 7. Rotary encoder 8. Mounting bracket 81. Vertical swing shaft 82. Horizontal swing shaft 83. Cantilever 91. Main water inlet joint 92. First water distribution joint 93. Second water distribution joint 94. Cable tie holder

[0070] 31. Bracket 311. Left support plate 3111. Couplant groove 312. Right support plate 32. Bracket 321. Rear fixing plate 3211. Through hole 3212. Open groove 3213. Hole 322. Left bracket body 3221. First step surface 3222. Second step surface 323. Right bracket body 324. Left connector 325. Right connector 3241, 3251. Groove 33. Ultrasonic probe 34. Sliding bearing 35. Slide groove 361. First spring 362. Second spring 37. Guide bearing 38. Rolling bearing 391. First couplant flow channel 3911. First couplant inlet 3912. First couplant outlet 392. Second couplant flow channel 3921. Second couplant inlet 3922. Second couplant outlet

[0071] 201. First-stage fixed arm 202. Second-stage telescopic arm 203. Third-stage telescopic arm 204. First linear guide 205. First slider 206. Second linear guide 207. Second slider 208. First sprocket 209. Second sprocket 210. Drive chain 211. Drive motor 212. Reducer 213. Electric cylinder 214. Connecting seat 215. Lifting bracket 216. First slider 217. Second slider 219. Third linear guide 220. Third slider 221. Motor 222. Gear 224. Left limiter 225. Right limiter 227. Gas spring 228. Pull-rod linear displacement sensor 229. Guide rod 230. Guide sleeve 231. Drag chain DETAILED DESCRIPTION

[0072] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0073] In this article, terms such as "upper, lower, inside, outside" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" are only used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0074] Please refer to Figure 1 、 Figure 2 , Figure 1 A schematic structural diagram of an ultrasonic detection device for fan blades provided by an embodiment of the present invention; Figure 2 for Figure 1 Right side view of the ultrasonic testing equipment for fan blades

[0075] In a specific embodiment, the ultrasonic detection equipment for wind turbine blades provided by the present invention is mainly composed of a walking mechanism 100, a telescopic mechanism 200, an ultrasonic probe flexible supporting mechanism 300 and other parts, wherein the walking mechanism 100 can be an electric forklift or a robot with a walking function, etc. The walking mechanism 100 in this embodiment is an electric forklift with the fork teeth removed, and a platform is provided at the front of the walking mechanism close to the ground, and a coupling agent storage tank 400 and an electrical control cabinet 500 are fixed on the platform. The telescopic mechanism 200 is installed on the walking mechanism 100 through a lifting mechanism, which can be lifted and lowered relative to the walking mechanism 100, and telescoped to one side relative to the walking mechanism 100. The ultrasonic probe flexible supporting mechanism 300 is installed on the telescopic mechanism 200 and is located on the side of the walking mechanism 100.

[0076] When performing inspection, the walking mechanism 100 drives the ultrasonic probe flexible supporting mechanism 300 forward for scanning, and the telescopic mechanism 200 performs a telescopic action, which can drive the ultrasonic probe flexible supporting mechanism 300 close to or away from the fan blade, so that the ultrasonic probe and the fan blade are always in an ideal fitting state.

[0077] Please refer to Figures 3 to 5 , Figure 3 for Figure 1 A schematic structural diagram of the flexible bearing mechanism of the ultrasonic probe shown in FIG; Figure 4 for Figure 3 A top view of the flexible supporting mechanism of the ultrasonic probe shown; Figure 5 for Figure 3 A side view of the flexible support mechanism of the ultrasonic probe is shown.

[0078] The ultrasonic probe flexible supporting mechanism 300 is mainly composed of a flexible bracket, an ultrasonic detection unit 3, a flexible spring 4, etc. The flexible bracket is further composed of a frame 1, a roller 2, and an elastic telescopic component 5, etc.

[0079] The frame 1 is generally rectangular in shape, and has a frame opening 11 running through it from front to back. The left and right frames of the frame 1 are respectively equipped with two rollers 2 on the outside through brackets, for a total of four rollers 2, so that they can contact the surface of the wind turbine blades in a rolling manner during inspection. The rotating shafts of the two rollers 2 on the left frame are connected by a coupling 6 and can rotate synchronously, while the rotating shafts of the two rollers 2 on the right frame are independent of each other and are not connected.

[0080] Of the two rollers 2 on the left frame, the upper roller 2 is equipped with a rotary encoder 7. When the roller 2 rotates, the rotary encoder 7 rotates synchronously, thereby measuring the distance from the starting point to the detection position, correlating the detection information with the image information, and thus determining the location of the defect or damage. Of course, other types of sensors besides the rotary encoder 7 can also be used to determine the location of the defect or damage.

[0081] The ultrasonic detection unit 3 corresponds to the frame opening 11 of the frame 1 and is located in front of the frame opening 11. Multiple ultrasonic detection units 3 (twenty-seven in this embodiment) are arranged and distributed along the vertical direction to form a vertical ultrasonic detection unit array.

[0082] Each ultrasonic detection unit 3 has two wings extending laterally to the left and right. In order to connect the ultrasonic detection units 3 to each other, two vertical stainless steel springs 4 are provided on the two wings of the ultrasonic detection unit 3. The stainless steel springs 4 extend along the arrangement direction of the ultrasonic detection units 3. The left and right stainless steel springs 4 are located in the same plane and parallel to the plane where the frame 1 is located, and correspond to the two wings of the ultrasonic detection unit 3 respectively. The two wings of each ultrasonic detection unit 3 can be screwed to the stainless steel spring 4 respectively, thereby flexibly connecting the twenty-seven ultrasonic detection units 3 so that they can deform as a whole according to the shape of the fan blades to achieve adaptive adjustment.

[0083] The flexible ultrasonic detection unit array is further mounted on the frame 1 via an elastic telescopic component 5 . The multiple ultrasonic detection units 3 are divided into several groups. Both ends of an ultrasonic detection unit 3 in each group are connected to the frame 1 via an elastic telescopic component 5 .

[0084] Please refer to Figures 6 to 8 , Figure 6 for Figure 8 Axonometric view of the elastic expansion and contraction assembly shown in FIG. Figure 7 for Figure 6 A cross-sectional view of the side elastic telescopic component shown; Figure 8 for Figure 3 Axonometric view of the middle elastic telescopic component shown in .

[0085] The two elastic telescopic components 5 located in the middle position in the vertical direction are middle elastic telescopic components 51, and the remaining eight elastic telescopic components are side elastic telescopic components 52. The side elastic telescopic components 52 are arranged in sequence upward and downward with the middle elastic telescopic component 51 as the center, that is, four side elastic telescopic components 52 are arranged above the middle elastic telescopic component 51, and four side elastic telescopic components 52 are also arranged below the middle elastic telescopic component 51.

[0086] Taking the edge elastic telescopic component 52 as an example, it is mainly composed of a guide seat 521, a joint 522, a spring 523 and a guide rod 524. The guide seat 521 is connected to the frame 1, and the joint 522 is connected to the end of the ultrasonic detection unit 3 through a rotating shaft 525 and a rotating fisheye joint bearing 526. The spring 523 and the guide rod 524 are located between the guide seat 521 and the joint 522, and the joint 522 can elastically telescope relative to the guide seat 521.

[0087] The guide rod 524 is divided into two parallel guide rods, the spring 523 is located between the two guide rods 524, the front end of each guide rod 524 is fixedly connected to the joint 522, and the rear end of each guide rod 524 is slidably matched with the guide hole of the guide seat 521 and is provided with a linear bearing.

[0088] The guide seat 521 is provided with a spring hole, the joint 522 is connected to a guide pin 527 extending into the spring hole, the spring 523 is sleeved on the outside of the guide pin 527, and the rear part of the guide seat 521 is provided with a spring guide tube 528 corresponding to the spring hole and extending backward. The front end of the spring 523 is supported by the joint 522, and the rear end of the spring 523 is supported by the inner end of the spring guide tube 528.

[0089] The structure of the middle elastic telescopic assembly 51 is similar to that of the side elastic telescopic assembly 52. ​​The difference is that for the middle elastic telescopic assembly 51, the frame opening 11 is retracted inward a certain distance, and its guide seat is fixedly connected to the left and right edges of the indented frame opening 11. In contrast, for the side elastic telescopic assembly 52, its guide seat 521 is equipped with bearings 529 and is rotatably connected to the left and right edges of the frame opening 11 through the bearings 529, allowing it to swing up and down and float, thereby eliminating the cumulative error caused by sensor installation. When viewed from a top view, the guide rods of the middle elastic telescopic assembly 51 and the side elastic telescopic assembly 52 are offset from each other by a certain distance.

[0090] The frame 1 is provided with a main water inlet joint 91 and a first water diversion joint 92, and the rear end of the guide seat 521 is provided with a second water diversion joint 93 and a tie seat 94, so that the water used as the coupling agent can be transported to each ultrasonic detection unit 3 through the main water inlet joint 91, the first water diversion joint 92, and the second water diversion joint 93, and the pipelines can be bundled and managed by ties.

[0091] like Figure 9As shown, frame 1 is mounted on mounting frame 8. A vertical swing shaft 81 is provided on the upper portion of mounting frame 8, enabling mounting frame 8 to swing left and right. Horizontal swing shafts 82 are provided on the left and right sides of frame 1. Mounting frame 8 has two fork-shaped cantilevers 83. Frame 1 is rotatably connected to the front ends of cantilevers 83 via horizontal swing shafts 82, allowing frame 1 to swing up and down relative to mounting frame 8. This allows the flexible ultrasonic detection unit array on frame 1 to swing freely in two directions, allowing for better adaptation to the fan blades through adaptive adaptation.

[0092] Please refer to Figures 10 to 13 , Figure 10 for Figure 3 A schematic structural diagram of an ultrasonic detection unit is shown in FIG; Figure 11 for Figure 10 AA rotation diagram of the ultrasonic detection unit shown; Figure 12 for Figure 10 A front view schematic diagram of the ultrasonic detection unit shown; Figure 13 for Figure 12 Left side view of the ultrasonic detection unit shown.

[0093] The ultrasonic detection unit 3 is mainly composed of three parts: a bracket 31, a support 32 and an ultrasonic probe 33. Among them, the bracket 31 is divided into a left support plate 311 and a right support plate 312 arranged vertically. The left support plate 311 and the right support plate 312 are respectively located on the left and right sides of the ultrasonic probe 33, and are fixedly connected to the ultrasonic probe 33. The three are installed on the bracket 32 ​​as a whole.

[0094] The bracket 32 ​​is mainly composed of a rear fixing plate 321, a left bracket body 322, a right bracket body 323, a left connecting body 324 and a right connecting body 325. The rear ends of the left bracket body 322 and the right bracket body 323 are fixedly connected to the rear fixing plate 321. The accommodating space formed between the left bracket body 322 and the right bracket body 323 is used to place the ultrasonic probe 33 with the bracket 31. The left connecting body 324 and the right connecting body 325 are respectively located on the outside of the left bracket body 322 and the right bracket body 323.

[0095] The top projections of the left connector 324 and the right connector 325 are symmetrical "L" shapes. Grooves 3241 and 3251 are provided on the front of the left connector 324 and the right connector 325, so that the detection unit can be installed on the stainless steel spring 4 through the grooves. At the same time, the ends of the left connector 324 and the right connector 325 are provided with connection holes, which can be externally connected to the ultrasonic probe drive mechanism.

[0096] After the ultrasonic probe 33 is installed on the bracket 32 ​​through the bracket 31, it is generally flat in shape. This structural form allows multiple detection units to be distributed in an array in the form of layers stacked together with appropriate gaps, thereby forming an ultrasonic detection matrix to cover a wider size at the same time. During detection, these ultrasonic probes work simultaneously and can scan a larger detection area through lateral movement, thereby significantly improving detection efficiency.

[0097] Since the surface of the fan blade is a curved surface, in order to enable the ultrasonic probe 33 to accurately contact the surface of the fan blade, the ultrasonic probe 33 is designed to be able to float back and forth.

[0098] Please refer to Figure 14 、 Figure 15 , Figure 14 for Figure 12 BB view of the ultrasonic detection unit shown; Figure 15 for Figure 12 CC view of the ultrasonic detection unit shown.

[0099] The left bracket body 322 and the right bracket body 323 have an opening toward the front for accommodating space, and the ultrasonic probe 33 is installed in the accommodating space through the bracket 31. Sliding components are provided between the bracket 31 and the left bracket body 322 and the right bracket body 323 to enable the bracket 31 and the ultrasonic probe 33 to slide in the front-to-back direction relative to the bracket 32. At the same time, an elastic component is provided between the rear end of the bracket 31 and the bracket 32 ​​to support the ultrasonic probe 33 and the bracket 31 so that the ultrasonic probe 33 and the bracket 31 can float in the sliding direction.

[0100] Specifically, two sliding bearings 34 are provided on the outer side of each of the left and right support plates 311 and 312. Transverse oblong grooves 35 are provided on the inner walls of each of the left and right support bodies 322 and 323. The two sliding bearings 34 on each side slide into their corresponding grooves 35 for sliding engagement, thereby enabling forward and backward sliding. Because the grooves 35 are located on the inner sides of the left and right support bodies 322 and 323, after assembly, the sliding bearings 34 and grooves 35 are concealed and do not appear to be visible.

[0101] The elastic component is divided into a first spring 361 located between the left support plate 311 and the rear fixing plate 321, and a second spring 362 located between the right support plate 312 and the rear fixing plate 321. By providing two parallel springs, the ultrasonic probe 33 and the bracket 31 can be effectively supported, ensuring that the ultrasonic probe 33 and the bracket 31 have sufficient elasticity to float.

[0102] In order to ensure the floating stability of the ultrasonic probe 33 and the bracket 31 , a guide component is provided between the bracket 31 and the support 32 to guide the ultrasonic probe 33 and the bracket 31 to float along the sliding direction.

[0103] In this embodiment, the guide component is a guide bearing 37 located on the upper surface of the left bracket body 322 and the right bracket body 323 and arranged horizontally. There are two guide bearings 37 on each side. The left support plate 311 and the right support plate 312 are higher than the left bracket body 322 and the right bracket body 323 by a certain distance. The two guide bearings 37 on the left side are in contact with and rolling fit with the side of the left support plate 311 that is higher than the left bracket body 322, and the two guide bearings 37 on the right side are in contact with and rolling fit with the side of the right support plate 312 that is higher than the right bracket body 323.

[0104] By setting up the guide bearing 37, the freedom of the ultrasonic probe 33 and the bracket 31 to deviate left and right can be limited, thereby playing a guiding role, so that the ultrasonic probe 33 and the bracket 31 can float stably in the front and back directions, avoiding the phenomenon of affecting the detection accuracy due to skew.

[0105] In addition, the bracket 32 ​​is provided with rolling contact components located on both sides of the accommodating space opening. In this embodiment, the rolling contact components are four horizontally arranged rolling bearings 38, which are distributed at the upper and lower portions of both sides of the accommodating space opening. The left bracket body 322 and the right bracket body 323 are each provided with two stepped surfaces. Taking the left bracket body 322 as an example, it has a first stepped surface 3221 and a second stepped surface 3222. The guide bearing 37 is located on the first stepped surface 3221, and the rolling bearing 38 is located on the second stepped surface 3222. By designing the two stepped surfaces, the overall thickness of the detection unit can be minimized, making the detection unit structure more compact and facilitating array distribution.

[0106] In the non-operating state, the front end surfaces of the ultrasonic probe 33 and the bracket 31 are slightly higher than the plane defined by the contact points of the four rolling bearings 38. When the ultrasonic probe 33 and the bracket 31 come into contact with the fan blades, the first spring 361 and the second spring 362 are compressed under the action of the contact pressure, causing the ultrasonic probe 33 and the bracket 31 to float backward, causing the four rolling bearings 38 to come into contact with the fan blades. After the coupling agent is introduced, a thin film of coupling agent is formed between the ultrasonic probe 33 and the bracket 31 and the fan blades. When the detection unit moves relative to the fan blades for scanning, the four rolling bearings 38 roll on the surface of the fan blades, thereby preventing damage to the fan blades.

[0107] Please continue to refer to Figures 16 to 18 , Figure 16 for Figure 10 An axonometric view of the ultrasonic testing unit shown; Figure 17 for Figure 16A partial enlarged view of the first couplant outlet and the vertical couplant slot shown in FIG; Figure 18 for Figure 16 A partial enlarged view of the second coupling agent outlet is shown in FIG.

[0108] In order to introduce the coupling agent, the bracket 31 is provided with a coupling agent flow channel, a coupling agent inlet is provided at the rear of the bracket 31, and a coupling agent outlet is provided at the front of the bracket 31.

[0109] The coupling agent flow channel is divided into a first coupling agent flow channel 391 and a second coupling agent flow channel 392 , and the two coupling agent flow channels are located inside the left supporting plate 311 and the right supporting plate 312 respectively.

[0110] The first couplant flow channel 391 is located near the top of the left support plate 311. It is a transverse channel with a pagoda connector at its rear end, forming a first couplant inlet 3911 that can be connected to a corresponding couplant pipe. Its front end is a first couplant outlet 3912, located near the upper edge of the contact surface of the ultrasonic probe 33. A vertical couplant groove 3111 is provided on the inner side of the front end of the left support plate 311, adjacent to the ultrasonic probe. The first couplant outlet 3912 communicates with the couplant groove 3111. After the couplant enters the couplant groove 3111 from the first couplant flow channel 391, it diffuses vertically to the right, forming a couplant layer covering the ultrasonic probe 33.

[0111] The second couplant flow channel 392 is located near the top of the right support plate 312. It is also a transverse channel. Its rear end is equipped with a pagoda connector, forming a second couplant inlet 3921 that can be connected to a corresponding couplant pipe. Its front end is a second couplant outlet 3922, located near the upper edge of the opposite side of the contact surface of the ultrasonic probe 33. The second couplant outlet 3922 faces inward, and the couplant discharge direction covers the upper edge of the ultrasonic probe 33. After the couplant enters the couplant groove 3111 from the first couplant flow channel 391, it diffuses downward in a transverse range, forming a couplant layer covering the ultrasonic probe 33.

[0112] By diffusing the coupling agent in both the horizontal and vertical directions, a coupling agent layer with uniform thickness and distribution can be formed between the ultrasonic probe 33, the bracket 31 and the fan blade, avoiding the coupling agent blind area, thereby further improving the accuracy of detection.

[0113] The rear fixing plate 321 of the bracket 32 ​​is provided with a through hole 3211 in the middle for passing the ultrasonic probe cable, two open slots 3212 for passing the coupling agent pipe, and holes 3213 for installing the first spring and the second spring.

[0114] Please refer to Figures 19 to 21 , Figure 19 A schematic structural diagram of a fan blade ultrasonic detection and retraction mechanism provided by an embodiment of the present invention; Figure 20 for Figure 19 The left side view of the fan blade ultrasonic detection telescopic mechanism is shown; Figure 21 for Figure 20 DD view of the ultrasonic inspection retractable mechanism of the fan blade shown.

[0115] The telescopic mechanism is mainly composed of a first-level fixed arm 201, a second-level telescopic arm 202, a third-level telescopic arm 203 and a driving mechanism. Among them, the cross section of the first-level fixed arm 201 is a "U" shape with an opening upward, and the cross section of the third-level telescopic arm 203 is a "U" shape with an opening downward. The second-level telescopic arm 202 is a flat rectangular box-shaped structure. The first-level fixed arm 201, the second-level telescopic arm 202 and the third-level telescopic arm 203 form a three-layer stacked structure. The second-level telescopic arm 202 is located below the first-level fixed arm 201, and the third-level telescopic arm 203 is located above the second-level telescopic arm 202. Below, two parallel first linear guide rails 204 are provided at the bottom of the first-level fixed arm 201, and a first slider 205 is provided at the top of the second-level telescopic arm 202. The first-level fixed arm 201 and the second-level telescopic arm 202 are slidably matched through the first slider 205 and the first linear guide rail 204. Two parallel second linear guide rails 206 are provided at the bottom of the second-level telescopic arm 202, and a second slider 207 is provided at the top of the third-level telescopic arm 203. The second-level telescopic arm 202 and the third-level telescopic arm 203 are slidably matched through the second slider 207 and the second linear guide rail 206.

[0116] The side of the secondary telescopic arm 202 is provided with a rotatable first sprocket 208 and a second sprocket 209, and the first sprocket 208 and the second sprocket 209 are connected by a transmission chain 210. The primary fixed arm 201 is connected to the upper part of the transmission chain 210 through a connecting plate located on one side thereof, and the tertiary telescopic arm 203 is connected to the lower part of the transmission chain 210 through a connecting plate located on one side thereof.

[0117] Specifically, in the retracted state, the part where the first-stage fixed arm 201 is connected to the transmission chain 210 is close to the first sprocket 208, and the part where the third-stage telescopic arm 203 is connected to the transmission chain 210 is close to the second sprocket 209. When extended to the farthest position, due to the rotation of the sprocket and chain, the part where the first-stage fixed arm 201 is connected to the transmission chain 210 is close to the second sprocket 209, and the part where the third-stage telescopic arm 203 is connected to the transmission chain 210 is close to the first sprocket 208.

[0118] In this way, when the secondary telescopic arm 202 moves relative to the primary fixed arm 201, the transmission action of the first sprocket 208, the second sprocket 209 and the transmission chain 210 can drive the tertiary telescopic arm 203 to telescope at twice the speed, thereby realizing the function of progressive telescopic movement.

[0119] Of course, the first sprocket 208, the second sprocket 209 and the transmission chain 210 are merely exemplary descriptions, and in other embodiments, they may be replaced by a first pulley, a second pulley and a synchronous belt.

[0120] The driving mechanism can be a linear driving mechanism, which is used to drive the secondary telescopic arm 202 to move relative to the primary fixed arm 201, and then drive the tertiary telescopic arm 203 to telescope. It can be arranged on the primary fixed arm 201 and the telescopic end is connected to the secondary telescopic arm 202.

[0121] In this embodiment, the driving mechanism is mainly composed of a driving motor 211, a reducer 212 and an electric cylinder 213. The driving motor 211 is connected to the power input end of the reducer 212, and the power output end of the reducer 212 is connected to the power input end of the electric cylinder 213. The electric cylinder 213 is located on the upper part of the first-level fixed arm 201 and is parallel to the first-level fixed arm 201. The front end of the second-level telescopic arm 202 extends beyond the first-level fixed arm 201 by a certain distance and is provided with an upward connecting seat 214. The telescopic end of the electric cylinder 213 is connected to the connecting seat 214 at the front end of the second-level telescopic arm 202 in a hinged manner.

[0122] Of course, the driving mechanism can have many different forms. For example, in other embodiments, the driving mechanism can be a hydraulic cylinder or a pneumatic cylinder, or it can be realized by a driving motor through a gear or rack mechanism, or a linear motor can be directly used to drive the secondary telescopic arm 202, and so on.

[0123] In order to prevent the transmission chain 210 from loosening after long-term use of the telescopic mechanism, the second sprocket 209 is provided with a tensioning mechanism, through which the distance between the first sprocket 208 and the second sprocket 209 can be adjusted, thereby adjusting the tightness of the transmission chain 210.

[0124] In addition, the back of the first-level fixed arm 201 is installed on the walking mechanism 100 through a lifting mechanism. When in use, the height of the ultrasonic probe can be adjusted to adapt to various types of fan blades and different placement methods of fan blades, thereby further enhancing the flexible adjustment capability of the detection.

[0125] Please refer to Figure 22 、 Figure 23 , Figure 22 for Figure 19 A top view of the fan blade ultrasonic detection and retraction mechanism is shown; Figure 23 for Figure 19 An axonometric view of the ultrasonic inspection and retraction mechanism for fan blades is shown.

[0126] During operation, the driving motor 211 drives the electric cylinder 213 to extend and retract through the reducer 212. The electric cylinder 213 drives the secondary telescopic arm 202 to move relative to the primary fixed arm 201. While moving, the secondary telescopic arm 202 further drives the tertiary telescopic arm 203 to extend and retract at twice the speed, thereby achieving the purpose of double-speed progression and step-by-step extension and retraction. It can drive the ultrasonic probe to realize the feeding function along the fitting direction, thereby approaching or moving away from the fan blades, and can adjust the fitting force pressed against the surface of the fan blades to ensure the coupling effect of the ultrasonic probe and the fan blades through the coupling agent, thereby ensuring the accuracy of the detection results and avoiding damage to the ultrasonic probe and the fan blades.

[0127] This three-layer progressive structure can, on the one hand, minimize the width of the telescopic mechanism so that it can be used in occasions with narrow working spaces. On the other hand, it can obtain a larger telescopic distance and can be telescoped with a larger amplitude, so that it can be more flexible to approach or move away from the fan blades. When the detection equipment is too close or too far away from the fan blades, it is only necessary to control the three-stage telescopic arm 203 to perform the corresponding telescopic action. There is no need to readjust the overall posture of the detection equipment and the distance between the detection equipment as a whole and the fan blades, which greatly facilitates use and helps to improve detection efficiency.

[0128] Please continue to refer to Figures 24 to 26 , Figure 24 19 is a schematic structural diagram of the adaptive adjustment mechanism; Figure 25 for Figure 24 A bottom view of the adaptive adjustment mechanism shown; Figure 26 for Figure 24 Axonometric view of the adaptive adjustment mechanism shown.

[0129] An adaptive adjustment mechanism is provided below the three-stage telescopic arm 203 , and the adaptive adjustment mechanism is mainly composed of a first sliding member 216 , a second sliding member 217 , a driving component and other parts.

[0130] The three-stage telescopic arm 203 is located above the first sliding member 216 , the second sliding member 217 and the driving component, providing an installation base for the first sliding member 216 , the second sliding member 217 and the driving component.

[0131] The cross-section of the three-stage telescopic arm 203 is generally in an inverted "U" shape, and two parallel third linear guide rails 219 are provided on its inner top surface. The tops of the first sliding member 216 and the second sliding member 217 are respectively provided with third sliders 220, and the third sliders 220 slide with the third linear guide rails 219, so that they are installed in a suspended form below the three-stage telescopic arm 203 and can slide laterally below the three-stage telescopic arm 203 along the direction defined by the third linear guide rails 219.

[0132] A motor 221 is installed below the first sliding member 216, and a gear 222 is installed on the power output shaft of the motor 221 passing through the first sliding member 216. A horizontal rack (not shown in the figure) is provided inside the three-stage telescopic arm 203. The motor 221 is engaged with the rack through the gear 222 for transmission. When the motor 221 is running, it can drive the first sliding member 216 to move horizontally along the third linear guide rail 219.

[0133] The second sliding member 217 is designed as a box-shaped structure. The mounting frame 8 is mounted to the front end of the second sliding member 217 via a vertical swing shaft 81, allowing it to swing left and right relative to the second sliding member 217. The second sliding member 217 is provided with a left stopper 224 and a right stopper 225 on the left and right sides of its front end, respectively. In this embodiment, the left stopper 224 and the right stopper 225 are cylindrical rubber bumpers. When the mounting frame 8 swings to its limit, it contacts the rubber bumpers, thereby limiting the swing angle of the mounting frame 8 in the left and right directions and preventing excessive swing of the mounting frame 8 from affecting detection.

[0134] The first sliding member 216 and the second sliding member 217 are connected via a thrust component and a sensor for detecting the thrust component is provided.

[0135] Specifically, the thrust component is a gas spring 227, such as a nitrogen gas spring. The gas spring 227 is arranged along the sliding direction of the first sliding member 216 and the second sliding member 217. One end of the gas spring 227 is hinged to the first sliding member 216, and the other end is hinged to the second sliding member 217, thereby elastically connecting the first sliding member 216 and the second sliding member 217. When the first sliding member 216 moves, the gas spring 227 can drive the second sliding member 217 to move together, thereby allowing the ultrasonic probe to approach or move away from the fan blade, achieving contact with the fan blade, and the strength of the contact can be adjusted.

[0136] The sensor may be a displacement sensor for detecting the displacement of the gas spring after being compressed, and determining whether the thrust generated by the gas spring is too large or too small by detecting the displacement of the gas spring.

[0137] In this embodiment, the sensor adopts a pull-rod type linear displacement sensor 228, which is arranged in parallel with the gas spring 227. One end of the sensor is hinged to the first sliding member 216, and the other end is hinged to the second sliding member 217. Moreover, in order to improve the stability of the movement of the first sliding member 216 and the second sliding member 217, the pull-rod type linear displacement sensor 228 and the gas spring 227 are arranged in the opposite direction.

[0138] At the same time, in order to ensure that the first sliding member 216 and the second sliding member 217 can operate stably and reliably, a guide rod 229 parallel to the gas spring 227 is connected to the first sliding member 216, and a guide sleeve 230 is fixed to the second sliding member 217. One end of the guide rod 229 passes through the guide sleeve 230 and slides with the guide sleeve 230, thereby playing a good guiding role and avoiding the deflection of the gas spring 227 and the pull rod type linear displacement sensor 228.

[0139] In addition, in order to facilitate the wiring of electric components and electronic devices, a corresponding drag chain 231 is provided on the front side of the telescopic mechanism according to the direction of the line.

[0140] During use, when the ultrasonic probe on the mounting bracket 8 is pressed against the fan blade, the gas spring 227 will generate thrust due to the pressure, so that the ultrasonic probe fits the fan blade with a certain force. The magnitude of the thrust generated by the gas spring 227 can be indirectly detected by the pull-rod linear displacement sensor 228. After the pull-rod linear displacement sensor 228 transmits the detection signal to the control system, the control system sends a control signal to the drive motor 211 or the motor 221 to compensate for the thrust, so that the force of the ultrasonic probe fitting the fan blade is always kept within a reasonable range, thereby achieving adaptive adjustment.

[0141] The above embodiments are only preferred solutions of the present invention and are not limited thereto. On this basis, targeted adjustments can be made according to actual needs to obtain different implementation methods.

[0142] For example, in another embodiment, a spring is used as the thrust component, one end of the spring is connected to the first sliding member 216, and the other end is connected to the second sliding member 217, and a pressure sensor is used to detect the thrust generated when the spring is compressed.

[0143] In another embodiment, the third linear guide rails of the first sliding member 216 and the second sliding member 217 may not be located on the same straight line, but may be arranged in parallel with each other and staggered in the height direction, which can also achieve the same technical effect.

[0144] In other embodiments, a linear motor may be used to directly drive the first sliding member 216 to move. If a linear motor is used, there is no need to provide components such as gears and racks, thereby further simplifying the structure.

[0145] The above is a detailed introduction to the ultrasonic detection equipment for wind turbine blades provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the core idea of ​​the present invention. It should be pointed out that, for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications may be made to the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. Ultrasonic testing equipment for wind turbine blades, characterized in that: include: Traveling mechanism, used to install the following mechanisms and drive the following mechanisms to move for scanning; a telescopic mechanism, mounted on the traveling mechanism via a lifting mechanism, capable of being raised and lowered relative to the traveling mechanism and being telescopic to one side relative to the traveling mechanism; The ultrasonic probe flexible supporting mechanism includes a flexible bracket, a flexible spring sheet, and an ultrasonic detection unit; a plurality of the ultrasonic detection units are arranged and distributed in a vertical direction to form a vertical ultrasonic detection unit array; the flexible spring sheet extends along the arrangement direction of the ultrasonic detection units and corresponds to the two wings of the ultrasonic detection units, respectively, and the two wings of each ultrasonic detection unit are respectively connected to the corresponding flexible spring sheet; The ultrasonic detection unit is connected to a flexible bracket, which is installed on the telescopic mechanism and located at the side of the walking mechanism. The telescopic mechanism can drive the flexible supporting mechanism of the ultrasonic probe to extend or retract to one side. The flexible bracket includes a frame, rollers, and an elastic telescopic assembly; the rollers are mounted on both sides of the frame and are configured to roll in contact with the surface of the wind turbine blade during detection; the plurality of ultrasonic detection units are divided into a plurality of groups, and at least one ultrasonic detection unit in each group has both ends connected to the frame via elastic telescopic assemblies; The elastic telescopic assembly includes a guide seat, a joint, a spring, and a guide rod. The guide seat is connected to the frame, the joint is connected to the end of the ultrasonic detection unit, the spring and the guide rod are located between the guide seat and the joint, and the joint can be elastically telescopic relative to the guide seat. Each of the ultrasonic detection units includes a bracket, a support and an ultrasonic probe. The bracket is provided with a storage space with an opening facing the front side. The ultrasonic probe is installed in the storage space through the bracket. A sliding component that slides along the front-to-back direction is provided between the bracket and the support. The bracket is provided with rolling contact components located on both sides of the opening of the storage space. An elastic component that supports the ultrasonic probe and the bracket to float along the sliding direction is provided between the rear end of the bracket and the bracket; the bracket is provided with a coupling agent inlet, a coupling agent flow channel and a coupling agent outlet.

2. The wind turbine blade ultrasonic detection equipment according to claim 1, characterized in that: The guide rods of each elastic telescopic assembly include an upper guide rod and a lower guide rod, the spring is located between the upper guide rod and the lower guide rod, the front end of each guide rod is fixedly connected to the joint, and the rear end of each guide rod is slidably matched with the guide hole of the guide seat.

3. The wind turbine blade ultrasonic detection equipment according to claim 2, characterized in that: The guide seat is provided with a spring hole, the joint is connected to a guide pin extending into the spring hole, the spring is sleeved on the outside of the guide pin, the rear part of the guide seat is provided with a spring guide tube corresponding to the spring hole and extending backward, the front end of the spring is supported by the joint, and the rear end of the spring is supported by the inner end of the spring guide tube.

4. The wind turbine blade ultrasonic detection equipment according to claim 1, characterized in that: The joint is connected to the end of the ultrasonic detection unit through a rotating shaft and a bearing.

5. The wind turbine blade ultrasonic detection equipment according to claim 4, characterized in that: The elastic telescopic component includes a middle elastic telescopic component and a side elastic telescopic component; the middle elastic telescopic component is located in the middle position in the vertical direction, and its guide seat is fixedly connected to the frame; the side elastic telescopic components are arranged in an upward and downward order with the middle elastic telescopic component as the center, and their guide seats are rotatably connected to the frame through bearings.

6. The wind turbine blade ultrasonic detection equipment according to claim 1, characterized in that: The flexible bracket includes a mounting frame, which is provided with a vertical swing axis. The mounting frame can swing in the left and right directions. The frame is connected to the mounting frame via a horizontal swing axis. The frame can swing up and down relative to the mounting frame.

7. The wind turbine blade ultrasonic detection equipment according to claim 1, characterized in that: A position detection element is provided, and the position detection element is used to detect the position of the ultrasonic detection unit on the fan blade.

8. The wind turbine blade ultrasonic detection equipment according to claim 7, characterized in that: The position detection element is a rotary encoder installed on the roller.

9. The wind turbine blade ultrasonic detection device according to claim 1, characterized in that: A guide component is provided between the bracket and the support for guiding the ultrasonic probe and the bracket to float along the sliding direction.

10. The wind turbine blade ultrasonic detection device according to claim 9, characterized in that: The guide component includes a guide bearing located on the upper surface of the bracket and arranged horizontally. The guide bearing is in contact with and rolling fit with the side surface of the bracket that is higher than the bracket.

11. The wind turbine blade ultrasonic detection device according to claim 1, characterized in that: The sliding component includes sliding bearings arranged on both sides of the bracket, and the bracket is provided with a sliding groove on the inner wall of the accommodating space thereof, which is slidably matched with the sliding bearings.

12. The wind turbine blade ultrasonic detection device according to claim 1, characterized in that: The rolling contact component includes horizontally arranged rolling bearings, and the rolling bearings are distributed at the upper and lower parts of both sides of the opening of the accommodating space.

13. The wind turbine blade ultrasonic detection device according to claim 1, characterized in that: The coupling agent flow channel includes a first coupling agent flow channel and a second coupling agent flow channel. A first coupling agent outlet of the first coupling agent flow channel is close to the upper edge of one side of the ultrasonic probe contact surface. A vertical coupling agent groove is provided on the inner side of the front end of the bracket, adjacent to the ultrasonic probe. The first coupling agent outlet is connected to the coupling agent groove. A second coupling agent outlet of the second coupling agent flow channel is close to the upper edge of the other side of the ultrasonic probe contact surface. The second coupling agent outlet faces inward, and the coupling agent outlet direction covers the upper edge of the ultrasonic probe.

14. The wind turbine blade ultrasonic detection device according to claim 13, characterized in that: The bracket includes a left support plate and a right support plate arranged vertically, and the first coupling agent flow channel and the second coupling agent flow channel are respectively located on the left support plate and the right support plate.

15. The wind turbine blade ultrasonic detection device according to claim 1, characterized in that: The telescopic mechanism includes a first-level fixed arm, a second-level telescopic arm, a third-level telescopic arm and a driving mechanism; the second-level telescopic arm slides with the first-level fixed arm, and the third-level telescopic arm slides with the second-level telescopic arm; the second-level telescopic arm is provided with a first idler wheel and a second idler wheel, and the first idler wheel and the second idler wheel are connected by a transmission chain or a transmission belt, the first-level fixed arm is connected to the upper part of the transmission chain or the transmission belt, and the third-level telescopic arm is connected to the lower part of the transmission chain or the transmission belt; the driving mechanism is used to drive the second-level telescopic arm to move relative to the first-level fixed arm, thereby driving the third-level telescopic arm to telescope.

16. The wind turbine blade ultrasonic detection device according to claim 15, characterized in that: The first-level fixed arm, the second-level telescopic arm and the third-level telescopic arm form a three-layer stacked structure, the second-level telescopic arm is located below the first-level fixed arm, and the third-level telescopic arm is located below the second-level telescopic arm; the first-level fixed arm and the second-level telescopic arm are slidably engaged through a first slider and a first linear guide rail, and the second-level telescopic arm and the third-level telescopic arm are slidably engaged through a second slider and a second linear guide rail.

17. The wind turbine blade ultrasonic detection device according to claim 16, characterized in that: The driving mechanism is a linear driving mechanism, which is arranged on the first-level fixed arm and the telescopic end is connected to the second-level telescopic arm.

18. The wind turbine blade ultrasonic detection device according to claim 17, characterized in that: The driving mechanism includes a driving motor, a reducer and an electric cylinder. The driving motor is connected to the power input end of the reducer, and the power output end of the reducer is connected to the power input end of the electric cylinder. The electric cylinder is located on the upper part of the first-level fixed arm and parallel to the first-level fixed arm, and its telescopic end is connected to the front end of the second-level telescopic arm.

19. The wind turbine blade ultrasonic detection device according to claim 15, characterized in that: The three-stage telescopic arm is provided with an adaptive adjustment mechanism, which includes a first sliding member, a second sliding member and a driving member; the first sliding member and the second sliding member are respectively slidably matched with the three-stage telescopic arm, and the two can slide in the same direction; the driving member is used to drive the first sliding member to move relative to the three-stage telescopic arm, and the flexible bracket is installed on the second sliding member. The first sliding member and the second sliding member are connected by a thrust member and are provided with a sensor for detecting the thrust member.

20. The wind turbine blade ultrasonic detection device according to claim 19, characterized in that: The thrust component is a gas spring arranged along the sliding direction of the first sliding member and the second sliding member, one end of the gas spring is connected to the first sliding member, and the other end of the gas spring is connected to the second sliding member.

21. The wind turbine blade ultrasonic detection device according to claim 20, characterized in that: The sensor is a displacement sensor, which is used to detect the displacement of the gas spring after being compressed.

22. The wind turbine blade ultrasonic detection device according to claim 21, characterized in that: The sensor is a pull-rod type linear displacement sensor parallel to the gas spring, one end of the pull-rod type linear displacement sensor is connected to the first sliding member, and the other end is connected to the second sliding member.

23. The wind turbine blade ultrasonic detection device according to claim 22, characterized in that: The driving component includes a motor provided on the first sliding member, the three-stage telescopic arm is provided with a corresponding rack, and the motor is driven by meshing with the rack through a gear.

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