Ultrasonic detection machine arm device for inner cavity of aero-engine

Abstract

An ultrasonic detection robotic arm device for an inner cavity of an aero-engine belongs to the technical field of aero-engine assembly quality detection and comprises a rotary indexing assembly, a lifting distance adjusting assembly, a telescopic distance adjusting assembly, a protective support cylinder, an ultrasonic detector host and an ultrasonic probe. The rotary indexing assembly is connected with an aero-engine blade disc rotor through an external tool; the upper end of the protective supporting cylinder is connected with the rotary indexing assembly; the lifting distance adjusting assembly is arranged on the inner side of the bottom end of the protection supporting cylinder. The telescopic distance adjusting assembly is arranged between the rotary indexing assembly and the lifting distance adjusting assembly; the ultrasonic detector host is arranged on the rotary indexing assembly; the ultrasonic probe is arranged on the telescopic distance adjusting assembly and is electrically connected with the ultrasonic detector host. Compared with a traditional manual mode for completing thickness dimension detection, the automatic thickness dimension detection device has the advantages that the manual labor intensity can be greatly reduced, the execution of the detection process is completed in an automatic mode, and the stability of the detection quality and the detection efficiency are effectively improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aero-engine assembly quality detection, and particularly relates to an aero-engine inner cavity ultrasonic detection machine arm device. BACKGROUND

[0002] In an aero-engine, a blade disc rotor is usually fastened together through dozens of thread connectors distributed along the axis in the circumferential direction, and two blade disc flanges of the blade disc rotor are in close contact.

[0003] As an important rotor blade disc assembly of an aero-engine, the thickness of the two blade disc flanges of the blade disc rotor in close contact after fastening through the thread connectors, the difference in the thickness along the axis in the circumferential direction and the accumulation of the dimensional tolerance have important influences on the overall assembly quality and the operation reliability of the aero-engine.

[0004] Due to the limitation of the size of the available space inside the blade disc rotor, it is difficult to detect the thickness of the two blade disc flanges in close contact after the assembly of the blade disc rotor is completed, and the thread connectors that have been closely arranged also seriously hinder the thickness detection.

[0005] At present, the thickness detection of the two blade disc flanges in close contact after the assembly of the blade disc rotor is mainly completed by manual operation, and there are problems of low automation, poor detection quality stability and low detection efficiency. SUMMARY

[0006] In view of the problems in the prior art, the application provides an aero-engine inner cavity ultrasonic detection machine arm device, which can greatly reduce the labor intensity compared with the conventional thickness detection by manual operation, the execution of the detection process is completed by an automatic mode, and the detection quality stability and the detection efficiency are effectively improved.

[0007] In order to achieve the above purpose, the application adopts the following technical scheme: an aero-engine inner cavity ultrasonic detection machine arm device, comprising a rotary indexing assembly, a lifting distance adjusting assembly, a telescopic distance adjusting assembly, a protective support cylinder, an ultrasonic detector main machine and an ultrasonic probe; the rotary indexing assembly is connected with an aero-engine blade disc rotor through an external tooling; the upper end of the protective support cylinder is connected with the rotary indexing assembly; the lifting distance adjusting assembly is arranged on the inner side of the bottom end of the protective support cylinder; the telescopic distance adjusting assembly is arranged between the rotary indexing assembly and the lifting distance adjusting assembly; the ultrasonic detector main machine is arranged on the rotary indexing assembly; the ultrasonic probe is arranged on the telescopic distance adjusting assembly, and the ultrasonic probe is electrically connected with the ultrasonic detector main machine.

[0008] The rotary indexing assembly comprises a rotary indexing support plate, a rotary indexing support sleeve, a rotary indexing bearing, a rotary indexing turntable, a rotary indexing drive motor, a rotary indexing drive gear and a rotary indexing gear ring; the rotary indexing support plate is horizontally arranged and fixedly connected with an external tooling; the rotary indexing support sleeve is fixedly installed above the rotary indexing support plate; the rotary indexing gear ring is coaxially fixed at the top of the rotary indexing support sleeve; the rotary indexing turntable is located above the rotary indexing support plate and arranged inside the rotary indexing support sleeve, and the rotary indexing turntable and the rotary indexing support sleeve are coaxially distributed; the rotary indexing bearing is arranged between the rotary indexing turntable and the rotary indexing support plate; the rotary indexing drive motor is vertically arranged above the rotary indexing turntable with the motor shaft downward, and the rotary indexing drive gear is fixedly installed on the motor shaft of the rotary indexing drive motor and engaged with the rotary indexing gear ring.

[0009] The upper end of the protective support cylinder is coaxially and fixedly connected with the lower surface of the rotary indexing turntable.

[0010] The ultrasonic detector host is fixedly installed on the upper surface of the rotary indexing turntable.

[0011] The lifting distance adjusting assembly comprises a lifting distance adjusting drive motor, a right and left threaded screw rod, a slide rail, an upper nut block, an upper slide base, a lower nut block and a lower slide base; the lifting distance adjusting drive motor is vertically fixedly installed inside the protective support cylinder with the motor shaft downward; the right and left threaded screw rod is coaxially and fixedly connected with the motor shaft of the lifting distance adjusting drive motor at the upper end, and rotationally connected with the bottom plate of the protective support cylinder through a bearing block at the lower end; the slide rail is vertically fixedly installed on the inner surface of the protective support cylinder, and adopts a parallel double rail structure, and the right and left threaded screw rod is located between the two slide rails; the upper nut block is arranged between the slide rail and the upper right threaded segment of the right and left threaded screw rod, and the upper slide base is fixedly installed on the upper nut block; the lower nut block is arranged between the slide rail and the lower left threaded segment of the right and left threaded screw rod, and the lower slide base is fixedly installed on the lower nut block.

[0012] The telescopic adjustment assembly includes a telescopic adjustment drive motor, a transmission shaft, a splined shaft, an upper telescopic adjustment gear, an upper telescopic adjustment rack, a lower telescopic adjustment gear, and a lower telescopic adjustment rack. The telescopic adjustment drive motor is vertically mounted above the rotary indexing turntable with its motor shaft facing downwards. The upper end of the transmission shaft is coaxially and fixedly connected to the motor shaft of the telescopic adjustment drive motor, and the lower end of the transmission shaft is coaxially and fixedly connected to the upper end of the splined shaft. The lower end of the splined shaft is rotatably connected to the base plate of the protective support cylinder through a bearing seat. The upper telescopic adjustment gear is mounted inside the upper slide table, and has only a rotational degree of freedom relative to the upper slide table. The upper telescopic adjustment gear is fitted onto the splined shaft through its central splined hole. It has only a lifting and sliding degree of freedom; the upper telescopic adjusting rack is horizontally set in the upper slide base, and the upper telescopic adjusting rack has only a horizontal linear sliding degree of freedom relative to the upper slide base, and the upper telescopic adjusting rack meshes with the upper telescopic adjusting gear; the lower telescopic adjusting gear is set in the lower slide base, and the lower telescopic adjusting gear has only a rotational degree of freedom relative to the lower slide base, and the lower telescopic adjusting gear is fitted on the spline shaft through its central spline hole, and the lower telescopic adjusting gear has only a lifting and sliding degree of freedom relative to the spline shaft; the lower telescopic adjusting rack is horizontally set in the lower slide base, and the lower telescopic adjusting rack has only a horizontal linear sliding degree of freedom relative to the lower slide base, and the lower telescopic adjusting rack meshes with the lower telescopic adjusting gear.

[0013] The transmitting end of the ultrasonic probe is fixedly installed at the front end of the upper telescopic adjustable rack, and the receiving end of the ultrasonic probe is fixedly installed at the front end of the lower telescopic adjustable rack.

[0014] The beneficial effects of this invention are: The ultrasonic testing robotic arm device for the internal cavity of aero-engines of the present invention can significantly reduce the labor intensity of manual inspection compared with the traditional method of manual inspection of thickness dimensions. The inspection process is completed by automation, which effectively improves the stability of inspection quality and inspection efficiency. Attached Figure Description

[0015] Fig. 1 This is a schematic diagram of the structure of a robotic arm device for ultrasonic testing of the internal cavity of an aero-engine according to the present invention (view 1). Fig. 2 This is a schematic diagram of the structure of a robotic arm device for ultrasonic testing of the internal cavity of an aero-engine according to the present invention (viewpoint 2). Fig. 3 This is a cross-sectional view (view 2) of a robotic arm device for ultrasonic testing of the internal cavity of an aero-engine according to the present invention. Fig. 4 This is a schematic diagram of the structure of a robotic arm device for ultrasonic testing of the internal cavity of an aero-engine according to the present invention (viewpoint 3). Fig. 5It is a kind of aviation engine inner cavity ultrasonic detection machine arm device structure schematic view (view angle four) of the present application; In the figure, 1-protective support cylinder, 2-ultrasonic detector host computer, 3-rotary indexing support plate, 4-rotary indexing support sleeve, 5-rotary indexing bearing, 6-rotary indexing turntable, 7-rotary indexing drive motor, 8-rotary indexing drive gear, 9-rotary indexing gear ring, 10-lift distance adjustment drive motor, 11-lead screw, 12-slideway, 13-upper nut block, 14-upper sliding seat, 15-lower nut block, 16-lower sliding seat, 17-telescopic distance adjustment drive motor, 18-transmission shaft, 19-spline shaft, 20-upper telescopic distance adjustment gear, 21-upper telescopic distance adjustment rack, 22-lower telescopic distance adjustment gear, 23-lower telescopic distance adjustment rack, 24-emitting end, 25-receiving end. DETAILED DESCRIPTION

[0016] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0017] As Figs. 1-5 shown, an aviation engine inner cavity ultrasonic detection machine arm device includes a rotary indexing assembly, a lift distance adjustment assembly, a telescopic distance adjustment assembly, a protective support cylinder 1, an ultrasonic detector host computer 2 and an ultrasonic probe; the rotary indexing assembly is connected to an aviation engine blade disc rotor through an external tooling; the upper end of the protective support cylinder 1 is connected to the rotary indexing assembly; the lift distance adjustment assembly is arranged on the inner side of the bottom end of the protective support cylinder 1; the telescopic distance adjustment assembly is arranged between the rotary indexing assembly and the lift distance adjustment assembly; the ultrasonic detector host computer 2 is arranged on the rotary indexing assembly; the ultrasonic probe is arranged on the telescopic distance adjustment assembly, and the ultrasonic probe is electrically connected to the ultrasonic detector host computer 2.

[0018] The rotary indexing assembly includes a rotary indexing support plate 3, a rotary indexing support sleeve 4, a rotary indexing bearing 5, a rotary indexing turntable 6, a rotary indexing drive motor 7, a rotary indexing drive gear 8 and a rotary indexing gear ring 9; the rotary indexing support plate 3 is horizontally arranged and fixedly connected to the external tooling; the rotary indexing support sleeve 4 is fixedly installed above the rotary indexing support plate 3; the rotary indexing gear ring 9 is coaxially fixed to the top of the rotary indexing support sleeve 4; the rotary indexing turntable 6 is located above the rotary indexing support plate 3 and arranged on the inner side of the rotary indexing support sleeve 4, and the rotary indexing turntable 6 is coaxially distributed with the rotary indexing support sleeve 4; the rotary indexing bearing 5 is arranged between the rotary indexing turntable 6 and the rotary indexing support plate 3; the rotary indexing drive motor 7 is vertically arranged above the rotary indexing turntable 6 with the motor shaft downward, and the rotary indexing drive gear 8 is fixedly installed on the motor shaft of the rotary indexing drive motor 7, and the rotary indexing drive gear 8 is engaged with the rotary indexing gear ring 9.

[0019] The upper end of the protective support cylinder 1 is coaxially fixed with the lower surface of the rotary indexing turntable 6.

[0020] The ultrasonic detector host 2 is fixedly installed on the upper surface of the rotary indexing turntable 6.

[0021] The lifting distance adjusting assembly comprises a lifting distance adjusting driving motor 10, a positive and negative threaded screw rod 11, slide rails 12, an upper nut block 13, an upper slide base 14, a lower nut block 15 and a lower slide base 16; the lifting distance adjusting driving motor 10 is vertically fixedly installed in the protective support cylinder 1 and the motor shaft faces downward; the upper end of the positive and negative threaded screw rod 11 is coaxially fixed with the motor shaft of the lifting distance adjusting driving motor 10, and the lower end of the positive and negative threaded screw rod 11 is rotationally connected with the bottom plate of the protective support cylinder 1 through a bearing seat; the slide rails 12 are vertically fixedly installed on the inner surface of the protective support cylinder 1, the slide rails 12 adopt a parallel double rail structure, and the positive and negative threaded screw rod 11 is located between the two slide rails 12; the upper nut block 13 is arranged between the slide rails 12 and the upper positive threaded section of the positive and negative threaded screw rod 11, and the upper slide base 14 is fixedly installed on the upper nut block 13; the lower nut block 15 is arranged between the slide rails 12 and the lower negative threaded section of the positive and negative threaded screw rod 11, and the lower slide base 16 is fixedly installed on the lower nut block 15.

[0022] The telescopic distance adjusting assembly comprises a telescopic distance adjusting driving motor 17, a transmission shaft 18, a spline shaft 19, an upper telescopic distance adjusting gear 20, an upper telescopic distance adjusting rack 21, a lower telescopic distance adjusting gear 22 and a lower telescopic distance adjusting rack 23. The telescopic distance adjusting driving motor 17 is vertically arranged above the rotary indexing turntable 6 with the motor shaft downward. The upper end of the transmission shaft 18 is coaxially fixedly connected with the motor shaft of the telescopic distance adjusting driving motor 17, the lower end of the transmission shaft 18 is coaxially fixedly connected with the upper end of the spline shaft 19, and the lower end of the spline shaft 19 is rotatably connected with the bottom plate of the protective support cylinder 1 through a bearing seat. The upper telescopic distance adjusting gear 20 is arranged in the upper sliding base 14, and only has a rotary degree of freedom relative to the upper sliding base 14. The upper telescopic distance adjusting gear 20 is sleeved on the spline shaft 19 through the central spline hole thereof, and only has a lifting sliding degree of freedom relative to the spline shaft 19. The upper telescopic distance adjusting rack 21 is horizontally arranged in the upper sliding base 14, and only has a horizontal linear sliding degree of freedom relative to the upper sliding base 14. The upper telescopic distance adjusting rack 21 is engaged with the upper telescopic distance adjusting gear 20. The lower telescopic distance adjusting gear 22 is arranged in the lower sliding base 16, and only has a rotary degree of freedom relative to the lower sliding base 16. The lower telescopic distance adjusting gear 22 is sleeved on the spline shaft 19 through the central spline hole thereof, and only has a lifting sliding degree of freedom relative to the spline shaft 19. The lower telescopic distance adjusting rack 23 is horizontally arranged in the lower sliding base 16, and only has a horizontal linear sliding degree of freedom relative to the lower sliding base 16. The lower telescopic distance adjusting rack 23 is engaged with the lower telescopic distance adjusting gear 22.

[0023] The transmitting end 24 of the ultrasonic probe is fixedly installed at the foremost end of the upper telescopic distance adjusting rack 21, and the receiving end 25 of the ultrasonic probe is fixedly installed at the foremost end of the lower telescopic distance adjusting rack 23.

[0024] The following describes a one-time use process of the application in combination with the drawings: First, the external tooling is fixedly installed above the aero-engine blade disc rotor, then the device is hoisted as a whole to the external tooling through a lifting tool, and then the rotary indexing support plate 3 is fixedly connected with the external tooling, so that the centers of the rotary indexing support sleeve 4, the rotary indexing bearing 5, the rotary indexing turntable 6 and the rotary indexing gear ring 9 coincide with the inlet center of the internal space of the blade disc rotor. In addition, in the initial state, the distance between the upper sliding base 14 and the lower sliding base 16 is in the maximum state, the upper telescopic distance adjusting rack 21 is in the completely retracted state in the upper sliding base 14, and the lower telescopic distance adjusting rack 23 is in the completely retracted state in the lower sliding base 16.

[0025] When the device is installed with the external tooling, start the extension distance adjustment driving motor 17, drive the transmission shaft 18 and the spline shaft 19 to rotate synchronously, and then drive the upper extension distance adjustment gear 20 and the lower extension distance adjustment gear 22 to rotate synchronously through the rotating spline shaft 19. The rotary motion of the upper extension distance adjustment gear 20 will be converted into the linear motion of the upper extension distance adjustment rack 21 synchronously, so that the upper extension distance adjustment rack 21 extends out of the upper slide base 14 until the emitting end 24 of the ultrasonic probe at the front end of the upper extension distance adjustment rack 21 moves directly above the thickness dimension detection point. At the same time, the rotary motion of the lower extension distance adjustment gear 22 will be converted into the linear motion of the lower extension distance adjustment rack 23 synchronously, so that the lower extension distance adjustment rack 23 extends out of the lower slide base 16 until the receiving end 25 of the ultrasonic probe at the front end of the lower extension distance adjustment rack 23 moves directly below the thickness dimension detection point.

[0026] When the ultrasonic probe completes the extension operation, start the lifting distance adjustment driving motor 10, drive the right and left threaded lead screw 11 to rotate, and the rotary motion of the right and left threaded lead screw 11 will be converted into the downward motion of the upper nut block 13 and the upward motion of the lower nut block 15 synchronously, and drive the upper slide base 14 and the lower slide base 16 to approach each other, and then the distance between the emitting end 24 and the receiving end 25 of the ultrasonic probe is reduced synchronously and reaches the set value.

[0027] When the ultrasonic probe reaches the thickness dimension detection position, start the ultrasonic detector host 2 to detect the thickness dimension of the tightly fitted blade disc flange after the blade disc rotor assembly is completed.

[0028] When the thickness dimension detection of the first detection point in the circumferential direction is completed, first turn off the ultrasonic detector host 2, then reverse the lifting distance adjustment driving motor 10, so that the upper slide base 14 and the lower slide base 16 move away from each other and return to the initial maximum distance state, and then start the rotary indexing driving motor 7 to drive the rotary indexing driving gear 8 to rotate. Since the rotary indexing driving gear 8 is engaged with the fixed rotary indexing gear 9, the rotary motion of the rotary indexing driving gear 8 will be converted into the revolution motion of the rotary indexing driving gear 8 around the rotary indexing gear 9, and then drive the rotary indexing turntable 6 to rotate, and finally drive the protective support cylinder 1, the lifting distance adjustment assembly, the extension distance adjustment assembly and the ultrasonic probe to rotate as a whole, until the ultrasonic probe moves to the second thickness dimension detection point.

[0029] When the ultrasonic probe is moved to the second thickness dimension detection point, the lifting distance adjusting driving motor 10 is started again to drive the lead screw 11 to rotate, and then the upper slide base 14 and the lower slide base 16 are reapproached to each other until the distance between the transmitting end 24 and the receiving end 25 of the ultrasonic probe is reduced synchronously and reaches the set value, and then the ultrasonic detector host 2 is started again to detect the thickness dimension of the assembled blade flange when the blade flange is closely attached to the blade disc rotor. By analogy with the detection process of the second thickness dimension detection point, the detection work of all thickness dimension detection points in the circumferential direction is completed.

[0030] The scheme in the embodiment is not used to limit the protection scope of the present application, and any equivalent implementation or change without departing from the present application is included in the protection scope of the present application.

Claims

1. A robotic arm device for ultrasonic inspection of the internal cavity of an aero-engine, characterized in that: The system includes a rotary indexing assembly, a lifting and adjusting assembly, a telescopic adjusting assembly, a protective support cylinder, an ultrasonic testing instrument main unit, and an ultrasonic probe. The rotary indexing assembly is connected to the rotor of the aero-engine bladed disk via external tooling. The upper end of the protective support cylinder is connected to the rotary indexing assembly. The lifting and adjusting assembly is located inside the bottom end of the protective support cylinder. The telescopic adjusting assembly is located between the rotary indexing assembly and the lifting and adjusting assembly. The ultrasonic testing instrument main unit is mounted on the rotary indexing assembly. The ultrasonic probe is mounted on the telescopic adjusting assembly and is electrically connected to the ultrasonic testing instrument main unit.

2. The ultrasonic inspection robotic arm device for the internal cavity of an aero-engine according to claim 1, characterized in that: The rotary indexing assembly includes a rotary indexing support plate, a rotary indexing support sleeve, a rotary indexing bearing, a rotary indexing turntable, a rotary indexing drive motor, a rotary indexing drive gear, and a rotary indexing gear ring. The rotary indexing support plate is horizontally positioned and fixedly connected to an external tooling. The rotary indexing support sleeve is fixedly installed above the rotary indexing support plate. The rotary indexing gear ring is coaxially fixedly installed on the top of the rotary indexing support sleeve. The rotary indexing turntable is located above the rotary indexing support plate and is positioned inside the rotary indexing support sleeve, with the rotary indexing turntable and the rotary indexing support sleeve coaxially distributed. The rotary indexing bearing is positioned between the rotary indexing turntable and the rotary indexing support plate. The rotary indexing drive motor is vertically positioned above the rotary indexing turntable with its motor shaft facing downwards. The rotary indexing drive gear is fixedly installed on the motor shaft of the rotary indexing drive motor, and the rotary indexing drive gear meshes with the rotary indexing gear ring.

3. The ultrasonic testing robotic arm device for the internal cavity of an aero-engine according to claim 2, characterized in that: The upper end of the protective support cylinder is coaxially and fixedly connected to the lower surface of the rotary indexing turntable.

4. The ultrasonic testing robotic arm device for the internal cavity of an aero-engine according to claim 2, characterized in that: The main unit of the ultrasonic testing instrument is fixedly mounted on the upper surface of the rotary indexing turntable.

5. The ultrasonic inspection robotic arm device for the internal cavity of an aero-engine according to claim 2, characterized in that: The lifting and adjusting assembly includes a lifting and adjusting drive motor, a positive and negative threaded screw, a slide rail, an upper threaded nut slider, an upper slide base, a lower threaded nut slider, and a lower slide base. The lifting and adjusting drive motor is vertically fixed inside the protective support cylinder with its motor shaft facing downwards. The upper end of the positive and negative threaded screw is coaxially fixed to the motor shaft of the lifting and adjusting drive motor, and the lower end of the positive and negative threaded screw is rotatably connected to the bottom plate of the protective support cylinder through a bearing seat. The slide rail is vertically fixed to the inner surface of the protective support cylinder, and the slide rail adopts a parallel double-rail structure. The positive and negative threaded screw is located between the two slide rails. The upper threaded nut slider is located between the slide rail and the upper positive thread section of the positive and negative threaded screw, and the upper slide base is fixedly installed on the upper threaded nut slider. The lower threaded nut slider is located between the slide rail and the lower negative thread section of the positive and negative threaded screw, and the lower slide base is fixedly installed on the lower threaded nut slider.

6. The ultrasonic testing robotic arm device for the internal cavity of an aero-engine according to claim 5, characterized in that: The telescopic adjustment assembly includes a telescopic adjustment drive motor, a transmission shaft, a splined shaft, an upper telescopic adjustment gear, an upper telescopic adjustment rack, a lower telescopic adjustment gear, and a lower telescopic adjustment rack. The telescopic adjustment drive motor is vertically mounted above the rotary indexing turntable with its motor shaft facing downwards. The upper end of the transmission shaft is coaxially and fixedly connected to the motor shaft of the telescopic adjustment drive motor, and the lower end of the transmission shaft is coaxially and fixedly connected to the upper end of the splined shaft. The lower end of the splined shaft is rotatably connected to the base plate of the protective support cylinder through a bearing seat. The upper telescopic adjustment gear is mounted inside the upper slide table, and has only a rotational degree of freedom relative to the upper slide table. The upper telescopic adjustment gear is fitted onto the splined shaft through its central splined hole. It has only a lifting and sliding degree of freedom; the upper telescopic adjusting rack is horizontally set in the upper slide base, and the upper telescopic adjusting rack has only a horizontal linear sliding degree of freedom relative to the upper slide base, and the upper telescopic adjusting rack meshes with the upper telescopic adjusting gear; the lower telescopic adjusting gear is set in the lower slide base, and the lower telescopic adjusting gear has only a rotational degree of freedom relative to the lower slide base, and the lower telescopic adjusting gear is fitted on the spline shaft through its central spline hole, and the lower telescopic adjusting gear has only a lifting and sliding degree of freedom relative to the spline shaft; the lower telescopic adjusting rack is horizontally set in the lower slide base, and the lower telescopic adjusting rack has only a horizontal linear sliding degree of freedom relative to the lower slide base, and the lower telescopic adjusting rack meshes with the lower telescopic adjusting gear.

7. The ultrasonic inspection robotic arm device for the internal cavity of an aero-engine according to claim 6, characterized in that: The transmitting end of the ultrasonic probe is fixedly installed at the front end of the upper telescopic adjustable rack, and the receiving end of the ultrasonic probe is fixedly installed at the front end of the lower telescopic adjustable rack.

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