Robot system suitable for circumferential ultrasonic detection of dry type sleeve

Abstract

The invention discloses a robot system suitable for circumferential ultrasonic detection of a dry type sleeve. According to the robot, automatic detection is achieved through the extension mechanical arm and the power crawler belt, and the robot has the diameter changing function so as to adapt to dry type sleeves of different voltage grades and diameters. The ultrasonic probe is a rectangular block, the power track is arranged on the long side of the probe, and the steering function is provided by a rolling bearing between the probe and the mechanical arm. The rolling bearing has two degrees of freedom; the first degree of freedom is used for adjusting the direction of the probe during axial propulsion after annular rotation; and the second degree of freedom is used for steering from the cylindrical part to the conical part. The robot system can be used for detecting the exterior and interior of the casing pipe, and especially can be used for positioning defects generated in the dry type casing pipe due to a manufacturing process or an operation process. The system ensures stable signal conduction through the coupling agent automatic supplementing device, supports three-dimensional imaging, and provides more efficient and more accurate detection capability.

Description

Technical Field

[0001] The present invention relates to the field of nondestructive testing of power equipment, and in particular to a robot system suitable for circumferential ultrasonic testing of dry-type casing. Background Art

[0002] In UHV power transmission systems, UHV transformers are the largest, most complex, and most expensive equipment. As a crucial component that passes the high-voltage current-carrying conductors of UHV transformers through the grounded casing, high-voltage bushings simultaneously carry high voltages and currents, while also providing insulation and mechanical support. They are core components of the power system. High-voltage bushings are primarily capacitive insulators and can be categorized by the insulating medium as either glue-impregnated paper (dry-type) or oil-impregnated paper. While oil-impregnated paper bushings are relatively well-established, they are prone to oil leakage, flammability, explosion, and high maintenance costs. Dry-type bushings, however, have gained widespread adoption in power systems in recent years due to their oil-free, explosion-proof, and highly reliable nature.

[0003] As a core component in ultra-high voltage (UHV) transmission systems, the insulation condition of dry-type bushings is crucial to the safe and stable operation of the power grid. However, conventional bushing testing methods, such as partial discharge (PD) testing, dielectric loss capacitance testing, and visual inspection, have numerous limitations, including difficulty identifying low-level PD, limited specificity, and a limited detection range. Traditional methods are particularly difficult to effectively detect defects within dry-type bushings, such as microbubbles and potential microcracks introduced by the manufacturing process, or microcracks that may develop under the combined electrical, thermal, and mechanical stresses of long-term operation.

[0004] Ultrasonic nondestructive testing (UT), as an emerging nondestructive testing technology, has been widely used in various industries in recent years due to its wide range of test objects, deep detection depth, accurate defect location, high detection sensitivity, low cost, ease of use, high speed, harmlessness to the human body, and ease of on-site use. Therefore, there is an urgent need for an automated ultrasonic testing robot that can comprehensively inspect the interior of casing and accurately identify potential defects. Summary of the Invention

[0005] To address the aforementioned technical issues, the present invention aims to provide a circumferential ultrasonic inspection robot system suitable for dry-type casing of varying voltage levels and diameters. This robot utilizes a robotic arm, powered tracks, and a phased array ultrasonic probe to efficiently inspect the casing's exterior and internal structure, specifically identifying microbubbles, potential microcracks caused by the manufacturing process, and microcracks that develop during long-term operation. A two-degree-of-freedom rolling bearing system enables the robot to automatically steer within complex geometries. Multi-probe collaborative inspection and real-time data transmission improve inspection efficiency and accuracy.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following scheme.

[0007] A robot system suitable for circumferential ultrasonic testing of dry-type casing, the robot system comprising: a robotic arm module, the robotic arm module being configured as a retractable robotic arm, which is configured to adaptively adjust the length and angle according to different dry-type casings to be tested to adapt to dry-type casings of different voltage levels and diameters.

[0008] Optionally, the robot system also includes: a phased array ultrasonic probe module, the phased array ultrasonic probe module includes: multiple phased array ultrasonic probes; the phased array ultrasonic probe is rectangular block-shaped to adapt to the detection of a large range of surfaces and can cover a larger detection area at the same time.

[0009] Optionally, a rolling bearing is installed between the phased array ultrasonic probe and the retractable robotic arm, and the detection angle is adjusted by the rolling bearing to ensure that the phased array ultrasonic probe can always maintain a stable detection signal during the circumferential rotation and axial advancement process.

[0010] Optionally, the rolling bearing has two degrees of freedom. The first degree of freedom is used to adjust the phased array ultrasonic probe from the horizontal direction to the longitudinal direction after the robot completes the circumferential rotation so as to perform axial movement; the second degree of freedom is used to achieve angle adjustment of the phased array ultrasonic probe when it moves from the cylindrical part of the dry sleeve to the conical part.

[0011] Optionally, two power tracks are provided along the long side of the phased array ultrasonic probe, and the power tracks can achieve fitting movement according to the morphology of the dry casing surface, ensuring that the phased array ultrasonic probe is in close contact with the dry casing surface during the detection process, thereby avoiding gaps in signal conduction.

[0012] Optionally, the robot system further comprises: an adaptive liquid capsule, wherein the adaptive liquid capsule is provided on the fitting surface of the phased array ultrasonic probe and the dry cannula, and is used to ensure that the phased array ultrasonic probe fits tightly with the surface of the dry cannula.

[0013] Optionally, a coupling agent replenishing module is provided next to the phased array ultrasonic probe, which is used to automatically replenish the coupling agent according to the movement speed of the robot to ensure the stability of signal transmission and also play a lubricating role.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects: (1) Adaptive diameter-changing function: By extending the robotic arm, it can adapt to the detection of casings of different diameters, reduce manual adjustments during the detection process, and improve the degree of automation and efficiency of detection.

[0015] (2) Multi-probe synchronous detection: The multi-probe system reduces the error that may be caused by a single probe by synchronously collecting signals, and improves the accuracy and reliability of the detection results through the average value algorithm.

[0016] (3) Automated movement and coupling agent replenishment: The power track provides efficient movement power and adapts to complex surface shapes. At the same time, the coupling agent system automatically adjusts the replenishment amount to ensure the stability of signal transmission at different movement speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings illustrate exemplary embodiments of the present invention and together with the description serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0018] Figure 1 1 is a front view of a circumferential ultrasonic testing robot probe according to an embodiment of the present invention; Figure 2 is a side view of a circumferential ultrasonic testing robot probe according to one embodiment of the present invention; Figure 3 1 is an overall front view of a circumferential ultrasonic testing robot according to an embodiment of the present invention; Figure 4 Schematic diagram of a circumferential ultrasonic testing robot performing circular motion testing at equal diameters of a core body according to one embodiment of the present invention (the robotic arm is omitted here to facilitate observation of probe movement); Figure 5 Schematic diagram of a circumferential ultrasonic testing robot in accordance with an embodiment of the present invention, moving along an axis at a position where the core body has equal diameters and reversing its direction of movement (the robotic arm is omitted here to facilitate observation of probe movement); Figure 6 Schematic diagram of a circumferential ultrasonic testing robot entering a reduced diameter portion from a core body at a constant diameter portion according to an embodiment of the present invention (the robotic arm is omitted here to facilitate observation of probe movement); Figure 7 Schematic diagram of a circumferential ultrasonic testing robot performing circular motion testing at a core diameter change location according to one embodiment of the present invention (the robotic arm is omitted here to facilitate observation of probe movement); Figure 8 is a one-dimensional signal detected at each point on the casing surface in one embodiment of the present invention; Figure 9 is a two-dimensional signal formed by combining one-dimensional signals in one embodiment of the present invention; Figure 10 is a three-dimensional signal formed by combining two-dimensional signals in one embodiment of the present invention; Among them, 100: retractable robotic arm; 110: first-stage robotic arm; 120: second-stage robotic arm; 130: robotic arm bearing; 200: phased array ultrasonic probe; 210: power track; 211: power wheel; 220: adaptive liquid bag; 230: coupling agent replenishment system; 240: rolling bearing; 241: first degree of freedom bearing; 242: second degree of freedom bearing. DETAILED DESCRIPTION

[0019] The following is combined with Figures 1 to 10 The present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the relevant content and are not intended to limit the present invention. It should also be noted that for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0020] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concept of the present invention can be implemented in practice. Therefore, unless otherwise stated, the features of the various embodiments / examples may be further combined, separated, interchanged, and / or rearranged without departing from the technical concept of the present invention.

[0022] The use of cross hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise indicated, the presence or absence of cross hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the order described. In addition, the same figure numbers represent the same components.

[0023] When a component is referred to as being “on,” “over,” “connected to,” or “coupled to” another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being “directly on,” “directly connected to,” or “directly coupled to” another component, there are no intervening components present. For this purpose, the term “connected” may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0024] For descriptive purposes, the present disclosure may use spatially relative terms such as "below," "beneath," "under," "down," "above," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the drawings is turned over, a component described as "below" or "beneath" another component or feature would then be oriented "above" the other component or feature. Thus, the exemplary term "below" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0025] The terms used herein are for the purpose of describing specific embodiments and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, the features, integral bodies, steps, operations, parts, assemblies and / or their groups stated are explained, but the presence or addition of one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups is not excluded. It should also be noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values and / or the values provided that will be recognized by those of ordinary skill in the art.

[0026] In one embodiment, the present invention provides a robot system suitable for dry casing circumferential ultrasonic testing, the robot system comprising: a robotic arm module, a phased array ultrasonic probe module, a power module, an adaptive liquid bag and coupling agent replenishment module, and a signal acquisition and processing module.

[0027] The robotic arm module is configured as a retractable robotic arm 100, which can adaptively adjust its length and angle according to dry cannula diameters, ensuring a close fit between the probe and the cannula surface. The retractable robotic arm 100 includes a first-stage robotic arm 110 and a second-stage robotic arm 120, which are connected by a robotic arm bearing 130.

[0028] Among them, the retractable robotic arm 100 can be automatically adjusted according to the diameter and shape changes of the detection sleeve, and its length can be automatically extended and retracted according to the detection requirements to ensure the fit between the probe and the sleeve surface.

[0029] When inspecting the cylindrical and conical parts of the casing, the retractable robotic arm 100 uses the angle adjustment function to keep the ultrasonic probe parallel to the casing surface at all times, thereby minimizing errors in the inspection process.

[0030] The retractable robotic arm 100 can operate flexibly in complex inspection environments and adapt to casings of different diameters without the need for manual adjustment, ensuring smooth automated operations.

[0031] During the inspection process, the retractable robotic arm 100 adaptively extends the first and second robotic arms 110, 120 according to the diameter of the inspection cannula. This allows the phased array ultrasound probe 200 to precisely conform to the cylindrical and conical portions of the cannula via the adaptive liquid bladder 220. The flexible design of the adaptive liquid bladder allows it to automatically adjust its shape to subtle changes in the cannula surface, ensuring a seamless fit between the probe and the surface during inspection and minimizing interference with the test signal.

[0032] Specifically, during the inspection process, the telescopic robotic arm 100 automatically adjusts its length and angle based on the casing's geometry and diameter, ensuring that the probe 200 maintains a close fit with the casing surface. The telescopic robotic arm 100 can respond to different casing structures in real time based on inspection requirements, improving inspection flexibility and adaptability. This automatic adjustment feature significantly improves inspection efficiency, especially when inspecting large-diameter or complex-shaped casings.

[0033] The phased array ultrasonic probe module includes: multiple phased array ultrasonic probes 200, rolling bearings 240 and power tracks 210. The phased array ultrasonic probes 200 are rectangular blocks that can adapt to the detection of a wide range of surfaces and can simultaneously cover a larger detection area, thereby improving detection efficiency.

[0034] A rolling bearing 240 is installed between the phased array ultrasound probe 200 and the telescopic robotic arm 100. This bearing adjusts the detection angle, ensuring stable detection signals during circumferential rotation and axial propulsion. The rolling bearing 240 has two degrees of freedom: the first allows the probe to be adjusted from horizontal to vertical for axial movement after the robot completes circumferential rotation; the second allows for angular adjustment when the probe moves from the cylindrical portion to the conical portion.

[0035] Specifically, the first degree of freedom of the rolling bearing is designed to ensure that the probe can smoothly turn and propel axially after circumferential rotation to adapt to movement requirements in different directions.

[0036] Specifically, the second degree of freedom is used to perform precise angle adjustment in the transition area between the cylinder and the cone, ensuring that the probe always maintains the optimal fit angle with the casing surface, avoiding errors in signal transmission during the detection process.

[0037] Specifically, the dual-degree-of-freedom design of the rolling bearing enables the robot to achieve smooth steering and movement on casings with complex geometries, especially in areas with large shape variations, thereby improving detection accuracy and efficiency.

[0038] During the detection process, after the phased array ultrasonic probe 200 completes its circumferential rotation, the first degree of freedom bearing 241 of the rolling bearing 240 adjusts the phased array ultrasonic probe 200 from the horizontal to the longitudinal direction to meet the axial movement requirements and ensure that the phased array ultrasonic probe 200 can be smoothly advanced along the axial direction of the casing; when the probe enters the conical part, the second degree of freedom bearing 242 adjusts the angle to ensure that the phased array ultrasonic probe 200 maintains the correct fitting angle with the surface of the cone, ensuring that the transmission of the detection signal is stable and error-free.

[0039] It has circumferential and axial detection functions, and can inspect the outside and inside of the casing at the same time, especially it can identify micro bubbles and potential micro cracks caused by the manufacturing process and micro cracks caused by the electrical-thermal-mechanical composite stress during long-term operation.

[0040] Two power tracks 210 are provided along the long side of the phased array ultrasonic probe 200 to provide stable moving power for the probe, thereby ensuring that the probe can move smoothly on the casing surface and avoiding movement deviation caused by friction changes.

[0041] Among them, the track design ensures that it can flexibly adapt to the different curvatures of the casing surface, especially in the cylindrical and conical parts. The track can automatically adjust the fitting force to ensure the stability of the probe movement and avoid slipping or displacement.

[0042] An adaptive liquid capsule and couplant replenishment module is installed on the mating surface between the phased array ultrasound probe 200 and the detection cannula. This is used to ensure a tight fit between the phased array ultrasound probe and the cannula. The adaptive liquid capsule 220 does not release oil and is specifically designed to enhance the fit. A couplant replenishment system 230 is located next to the probe for automatic replenishment of couplant, ensuring stable signal transmission and reducing friction during probe movement.

[0043] Specifically, the adaptive liquid bladder 220, through its flexible design, automatically adjusts its shape to subtle changes in the cannula surface, ensuring seamless contact between the probe and the cannula during testing and minimizing interference with test signals. The liquid bladder does not participate in the injection of coupling agent; its primary function is to maintain mechanical contact between the probe and the cannula surface, ensuring stable operation. A pressure sensor within the bladder controls the contact between the probe and the cannula based on pressure.

[0044] Specifically, the coupling agent replenishing system 230 stably replenishes the coupling agent at a fixed oil output rate, ensuring that the ultrasonic signal is stably transmitted during movement, and reduces the friction between the probe and the casing surface through the lubrication effect of the coupling agent, thereby extending the service life of the equipment.

[0045] The signal acquisition and processing module performs signal acquisition and processing. Multiple probes 200 synchronously collect data and perform synchronous multi-dimensional detection on the casing surface. Each point detected is a one-dimensional signal, such as Figure 8 As shown, it is equivalent to the function of the reflected signal on the depth. When the probe rotates around, the one-dimensional signal is combined to form a two-dimensional signal, as shown in Figure 9 As shown, the probe moves axially again, and the two-dimensional signal is combined into a three-dimensional signal, as shown Figure 10 As shown, the probe 200 uses phased array technology to perform simultaneous multi-dimensional inspections on the casing surface, reducing inspection time and blind spots.

[0046] After data acquisition, the system combines the signals to generate a 3D structural image of the casing, providing intuitive analysis for inspectors. Furthermore, the system can identify and locate internal defects within the casing that exhibit significant reflective signals, providing reliable data for equipment maintenance and troubleshooting.

[0047] In one embodiment, the present invention provides a dry-type casing circumferential ultrasonic testing method, comprising: Step 1: Start the robotic system. The retractable robotic arm 100 adaptively adjusts and extends the first-stage robotic arm 110 and the second-stage robotic arm 120 according to the diameter of the detection cannula, so that the phased array ultrasound probe 200 can better fit the cylindrical and conical parts of the dry cannula through the adaptive liquid capsule 220. After fitting, the robot begins to move in a circular motion for testing. After completing one circumferential circle, it proceeds to step 2. Step 2: After the phased array ultrasonic probe 200 completes its circumferential rotation, the first degree of freedom bearing 241 of the rolling bearing 240 adjusts the phased array ultrasonic probe 200 from the horizontal direction to the longitudinal direction to meet the axial movement requirements and ensure that the phased array ultrasonic probe 200 can be smoothly advanced along the axial direction of the casing. When the probe enters the conical portion, the second degree of freedom bearing 242 adjusts the angle to ensure that the phased array ultrasonic probe 200 maintains a correct fitting angle with the conical surface, ensuring stable and error-free transmission of the detection signal. After the robot moves axially by a probe distance, it enters step 1 again to perform circumferential detection until the entire casing is inspected. Step 3: After the array ultrasonic probe collects data, it processes the signal through a dedicated algorithm to generate a three-dimensional structural image of the casing and identify internal micro-defects.

[0048] In one embodiment, taking a ±800 kV valve-side dry bushing with a core diameter of 640 mm as an example, the present invention provides a circumferential ultrasonic testing method for dry bushing, comprising: Step 1: Start the robotic system. The retractable robotic arm 100 adaptively adjusts the first-stage robotic arm 110 and the second-stage robotic arm 120 according to the diameter of the test cannula. This allows the phased array ultrasound probe 200 to better conform to the cylindrical and conical portions of the dry cannula via the adaptive liquid bladder 220. The flexible design of the adaptive liquid bladder allows it to automatically adjust its shape based on subtle changes in the cannula surface, ensuring seamless contact between the probe and the cannula surface during testing and reducing interference with the test signal.

[0049] Specifically, during the inspection process, the retractable robotic arm 100 automatically adjusts its length and probe angle based on the pressure between the liquid bladder and the cannula surface, ensuring that the probe 200 maintains a close fit with the cannula surface (at both the equal and reduced diameter points). A pressure sensor in the liquid bladder measures pressure, ensuring it remains within a certain threshold value f (1±10%). If the pressure is too high, the robotic arm 100 is extended; if the pressure is too low, the robotic arm 100 is tightened.

[0050] The retractable robotic arm 100 can respond to different casing structure adjustments in real time according to detection requirements, improving detection flexibility and adaptability. Especially when detecting casings with larger diameters or complex shapes, the automatic adjustment function can significantly improve detection efficiency.

[0051] Step 2: After the phased array ultrasonic probe 200 completes its circumferential rotation, the first degree of freedom bearing 241 of the rolling bearing 240 adjusts the phased array ultrasonic probe 200 from the horizontal direction to the longitudinal direction to meet the axial movement requirements and ensure that the phased array ultrasonic probe 200 can be smoothly advanced along the axial direction of the casing; when the probe enters the conical part, the second degree of freedom bearing 242 adjusts the angle to ensure that the phased array ultrasonic probe 200 maintains the correct fitting angle with the surface of the cone, ensuring that the transmission of the detection signal is stable and error-free.

[0052] Step 3: After the array ultrasonic probe collects data, it processes the signal through a dedicated algorithm to generate a three-dimensional structural image of the casing and identify internal micro-defects.

[0053] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments / methods or examples. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and the features of different embodiments / methods or examples, unless they are contradictory.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0055] It should be understood by those skilled in the art that the above embodiments are merely for the purpose of illustrating the present invention clearly, and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and such changes or modifications are still within the scope of the present invention.

Claims

1. A robot system suitable for circumferential ultrasonic testing of dry casing, characterized in that: The robot system includes a robotic arm module, which is configured as a retractable robotic arm and is used to adaptively adjust the length and angle of different dry-type bushings to be tested to adapt to dry-type bushings of different voltage levels and diameters.

2. The robot system according to claim 1, wherein: Preferably, the robot system further includes: a phased array ultrasonic probe module, the phased array ultrasonic probe module includes: a plurality of phased array ultrasonic probes; the phased array ultrasonic probe is in a rectangular block shape to adapt to the detection of a wide range of surfaces and can cover a larger detection area at the same time.

3. The robot system according to claim 2, wherein: A rolling bearing is installed between the phased array ultrasonic probe and the telescopic mechanical arm. The detection angle is adjusted by the rolling bearing to ensure that the phased array ultrasonic probe can always maintain a stable detection signal during the circumferential rotation and axial advancement process.

4. The robot system according to claim 3, wherein: The rolling bearing has two degrees of freedom. The first degree of freedom is used to adjust the phased array ultrasonic probe from the horizontal direction to the longitudinal direction after the robot completes the circumferential rotation so as to perform axial movement; the second degree of freedom is used to achieve angle adjustment when the phased array ultrasonic probe moves from the cylindrical part to the conical part of the dry sleeve.

5. The robot system according to claim 2, wherein: Two power tracks are arranged along the long sides of the phased array ultrasonic probe. The power tracks can realize fitting movement according to the morphology of the dry casing surface, ensuring that the phased array ultrasonic probe is in close contact with the dry casing surface during the detection process, thereby avoiding gaps in signal conduction.

6. The robot system according to claim 2, wherein: The robot system further comprises an adaptive liquid bag, which is provided on the fitting surface of the phased array ultrasonic probe and the dry cannula and is used to ensure that the phased array ultrasonic probe and the dry cannula surface are closely fitted.

7. The robot system according to claim 2, wherein: A coupling agent replenishment module is set next to the phased array ultrasonic probe, which is used to automatically replenish the coupling agent according to the movement speed of the robot to ensure the stability of signal transmission and also act as a lubricant.

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