Red-sleeved rotor disc inspection robot

Abstract

This invention discloses a red-sleeved rotor disc inspection robot, belonging to the field of red-sleeved rotor disc inspection technology, solving the problems of high cost, long time, and easy equipment failure in existing inspection methods. The invention features a bottom translation component movable on a foundation assembly, a lifting module mounted on the bottom translation component, and two telescopic components movable on the lifting module. Each telescopic component includes a primary module, a secondary module, an extendable arm, and an ultrasonic probe fixture. The primary module and the lifting module are connected. The secondary module is movable on the primary module and drives its movement. The extendable arm is movable on the secondary module and drives its movement. An ultrasonic probe fixture is located at the end of the extendable arm. This invention employs a modular design, enabling rapid robot installation and disassembly; it incorporates a multi-degree-of-freedom structure, allowing the robot to move in different directions and meeting the posture requirements of the inspection operation and the requirements of the sound beam incident angle of the inspection device.

Description

Technical Field

[0001] This invention relates to the field of red-sleeved rotor disc inspection technology, specifically to a red-sleeved rotor disc inspection robot. Background Technology

[0002] The red-sleeved rotor disc needs to be inspected every 100,000 hours of rotor operation. Due to the special structure of the red-sleeved rotor, the inspection methods for other unit discs are not universal, and the inspection system can only be sent into the disc by a robot for inspection.

[0003] Currently, the testing of red-sleeved rotor discs can only be carried out by Siemens Energy. However, the testing costs are high and the testing time is long. In addition, the testing equipment is prone to failure, which greatly affects the testing work.

[0004] Therefore, it is of great significance to study a red-sleeved rotor disc inspection robot. Summary of the Invention

[0005] To address the problems of high cost, long inspection time, and susceptibility to equipment failure in existing inspection methods, this invention proposes a red-sleeved rotor disc inspection robot. This invention employs a modular design, enabling rapid robot installation and disassembly; and incorporates a multi-degree-of-freedom structure, allowing the robot to move in different directions, thus meeting the posture requirements of the inspection operation and the requirements of the sound beam incident angle of the inspection device.

[0006] This invention proposes a red-sleeved rotor disc inspection robot, which specifically includes a foundation component, a bottom translation component, a profile base layer, a lifting module, and two telescopic components. The bottom translation component is movably mounted on the foundation component, the profile base layer is mounted on the bottom translation component, the lifting module is mounted on the profile base layer, and two telescopic components are movably mounted on the lifting module. Each telescopic component includes a primary module, a secondary module, an extendable arm, and an ultrasonic probe fixture. The primary module and the lifting module are connected. The secondary module is movably mounted on the primary module and drives its movement. The extendable arm is movably mounted on the secondary module and drives its movement. An ultrasonic probe fixture is mounted at the end of the extendable arm, and an ultrasonic probe is mounted on the ultrasonic probe fixture.

[0007] Furthermore, the foundation component includes several integral load-bearing adjustable feet and two transverse rack assemblies. The two transverse rack assemblies are arranged in parallel, and several integral load-bearing adjustable feet are provided on the transverse rack assemblies. The integral load-bearing adjustable feet include foundation components, and spiral adjustment mechanisms are provided at both ends of the foundation components. The transverse rack assemblies include profiles, channel steels, and racks. Several channel steels and racks are provided on the profiles, and the channel steels and racks are all connected to the bottom translation component.

[0008] Furthermore, the bottom translation component includes a slide, a motor, two reducers, two gears, and several pulleys; several pulleys are provided at both ends of the slide, and the pulleys and channel steel cooperate to slide; a motor and a reducer are provided on the slide, and the output end of the motor is connected to the input end of the reducer; a gear is provided at the output end of the reducer, and the gear meshes with a rack.

[0009] Furthermore, the first-layer profile base includes a profile seat and several foot cups; the lower end of the profile seat is connected to the bottom translation component through several foot cups, and the upper end is connected to the lifting module.

[0010] Furthermore, the lifting module includes a lifting profile seat and a timing belt module; the lower end of the lifting profile seat is connected to a layer of profile base; the timing belt module is disposed on the side of the lifting profile seat and connected to two telescopic components.

[0011] Furthermore, the ultrasonic probe fixture includes a first swing mechanism, which includes a connecting block, a worm, a worm wheel, a worm wheel and worm gear connecting seat, a worm wheel connecting block, and a motor base assembly. The connecting block is connected to the extension arm and the worm wheel and worm gear connecting seat respectively. The worm is disposed inside the worm wheel and worm gear connecting seat, and a worm wheel is rotatably disposed at the lower end of the worm wheel and worm gear connecting seat. The worm and worm wheel mesh, and one end of the worm is connected to a drive motor inside the extension arm. The worm wheel is fixedly connected to the motor base assembly through the worm wheel connecting block. The motor base assembly is connected to the ultrasonic probe.

[0012] Furthermore, the motor base assembly is provided with a second swing mechanism; the second swing mechanism includes a horizontal swing drive device, a connecting shaft and a horizontal swing arm; the horizontal swing drive device is disposed on the motor base assembly and is connected to the connecting shaft; the connecting shaft, the horizontal swing arm and the ultrasonic probe are connected in sequence.

[0013] Furthermore, the horizontal swing arm is provided with a rotating mechanism; the rotating mechanism includes an upper and lower connecting bridge, a vertical rotation drive device, an upper connecting plate, a connecting structure, and a lower connecting plate; the upper connecting plate is provided at the upper end of the upper and lower connecting bridges, and the lower connecting plate is provided at the lower end; a connecting structure is rotatably provided between the upper connecting plate and the lower connecting plate, and the vertical rotation drive device is provided on the upper connecting plate and drives the connecting structure to rotate; the connecting structure is connected to the ultrasonic probe.

[0014] Furthermore, the connecting structure is provided with a second rotating mechanism; the second rotating mechanism includes a horizontal rotating drive device, a bearing structure, and an ultrasonic probe mounting base; the ultrasonic probe mounting base is disposed on the bearing structure and connected to the horizontal rotating drive device; an ultrasonic probe is disposed on the ultrasonic probe mounting base.

[0015] Furthermore, a water spray plate is provided on the connecting structure; a spring is provided between the ultrasonic probe mounting base and the bearing structure; under the action of the spring, the ultrasonic probe mounting base and the water spray plate cooperate to fix the ultrasonic probe.

[0016] The beneficial effects of the red-sleeved rotor disc inspection robot described in this invention are as follows: (1) The red-sleeved rotor wheel inspection robot of the present invention adopts a modular design in its overall structure, which can realize the rapid installation and disassembly of the robot; the linear movement of the ultrasonic probe in three degrees of freedom is realized through the cooperation between the foundation component, the bottom translation component, the lifting module and the two telescopic components; the posture requirements of the ultrasonic probe under different inspection operations and the sound beam incident angle requirements are realized through the swing mechanism one, swing mechanism two, rotation mechanism one and rotation mechanism two on the ultrasonic probe fixture.

[0017] (2) The red-sleeved rotor wheel inspection robot of the present invention has two bottom translation components with independent drive motors, which can operate independently, better adapt to the rotor structure on site, and can operate simultaneously to reduce operation time and improve inspection efficiency; reducers are symmetrically set on both sides of each drive motor to ensure that the robotic arm runs smoothly.

[0018] (3) The red-sleeved rotor wheel inspection robot of the present invention has an ultrasonic probe installed on an ultrasonic probe mounting base. Under the action of spring and slide bar, the ultrasonic probe mounting base and water spray plate cooperate to clamp and fix the ultrasonic probe. The ultrasonic probe can be quickly replaced by pressing the ultrasonic probe mounting base. At the same time, the overall structure is rigid and will not shake significantly when subjected to force. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] In the attached diagram: Figure 1 This is a schematic diagram of the structure of a red-sleeved rotor disc inspection robot according to the present invention; Figure 2 This is a front view of a red-sleeved rotor disc inspection robot according to the present invention; Figure 3 This is a schematic diagram of the foundation component of a red-sleeved rotor disc inspection robot according to the present invention; Figure 4 The red-sleeved rotor disc inspection robot described in this invention... Figure 3 A magnified view of a portion of the image; Figure 5 This is a schematic diagram of the bottom translation component of a red-sleeved rotor disc inspection robot according to the present invention; Figure 6 This is a schematic diagram of the structure of a single-layer profile base of a red-sleeved rotor disc inspection robot according to the present invention; Figure 7 This is a schematic diagram of the lifting module of a red-sleeved rotor disc inspection robot according to the present invention; Figure 8 This is a schematic diagram of the structure of the two telescopic components of a red-sleeved rotor disc inspection robot according to the present invention; Figure 9 This is a three-dimensional structural diagram of the ultrasonic probe fixture of the red-sleeved rotor disc inspection robot of the present invention, tilted to the right. Figure 10 This is a three-dimensional structural diagram of the ultrasonic probe fixture of the red-sleeved rotor disc inspection robot of the present invention, tilted to the left. Figure 11 This is a schematic diagram of the swing mechanism of a red-sleeved rotor wheel detection robot according to the present invention; Figure 12 This is a schematic diagram of the second swing mechanism of the red-sleeved rotor wheel detection robot described in this invention; Figure 13 This is a schematic diagram of the rotating mechanism of a red-sleeved rotor wheel inspection robot according to the present invention; Figure 14 This is a front view of the rotating mechanism two of the red-sleeved rotor disc inspection robot described in this invention; Figure 15 This is a schematic diagram of the second structure of the ultrasonic probe fixture for a red-sleeved rotor disc inspection robot according to the present invention; Figure 16 This is a schematic diagram of the third structure of the ultrasonic probe fixture for a red-sleeved rotor disc inspection robot according to the present invention; The components are: 1-Foundation component, 11-Integral load-bearing adjustable foot, 1101-Foundation component, 1102-Screw adjustment mechanism, 12-Transverse rack and pinion assembly, 1201-Profile, 1202-Channel steel, 1203-Rack, 2-Bottom translation component, 21-Slide table, 22-Motor 1, 23-Reducer 1, 24-Gear, 25-Pulley, 3-First layer profile base, 31-Profile base, 32-Bottom foot cup mounting plate, 33-Foot cup, 34-Top positioning connecting plate, 35-Quick positioning pin 1, 4-Lifting mold Group, 41-Lifting profile seat, 42-Synchronous belt module, 43-Middle connecting plate, 44-Lifting shaft fixing plate, 45-Lifting shaft moving plate, 46-Quick positioning pin two, 5-Two-section telescopic assembly, 51-First-stage module, 52-Second-stage module, 53-Extending arm, 54-Component fixing base plate, 55-Ultrasonic probe fixture, 5501-Connector, 5502-Worm gear, 5503-Worm wheel, 5504-Worm wheel connecting block, 5505-Motor base assembly, 5506-Slotted limit switch one, 5507-Sensing block one 5508-Motor II, 5509-Planetary reducer, 5510-Coupling, 5511-Connecting shaft, 5512-Profile mounting plate, 5513-Horizontal swing arm, 5514-Upper and lower connecting bridges, 5515-Slotted limit switch II, 5516-Induction block II, 5517-Motor III, 5518-Reducer II, 5519-Motor adapter plate, 5520-Upper connecting plate, 5521-Transmission connecting seat, 5522-Cylinder fixing block, 5523-Connecting plate, 5524-Slotted limit switch III, 55 25-Induction plate one, 5526-Cylinder connecting plate, 5527-Lower connecting plate, 5528-Range meter pivot pin, 5529-Range meter fixing plate, 5530-Laser rangefinder, 5531-Night vision camera, 5532-Motor four, 5533-Idler wheel, 5534-Rotating bushing, 5535-Induction plate two, 5536-Fixing block, 5537-Bearing seat, 5538-Spring, 5539-Slide rod, 5540-Ultrasonic probe mounting base, 5541-Water spray plate, 5542-Worm gear connecting base. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other. The described embodiments are merely some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Specific implementation method one: See Figures 1-16This embodiment describes a red-sleeved rotor disc inspection robot, specifically comprising a base component 1, two bottom translation components 2, two single-layer profile bases 3, two lifting modules 4, and two two-section telescopic components 5. A bottom translation component 2, a single-layer profile base 3, a lifting module 4, and a two-section telescopic component 5 form a group constituting a robotic arm structure. The bottom translation component 2 is mounted on the base component 1 and can move on it. A single-layer profile base 3 is mounted on the bottom translation component 2, and a lifting module 4 is mounted on the upper end of the single-layer profile base 3. Two-section telescopic components 5 are movably mounted on the lifting module 4, and an extension arm 53 is mounted on the two-section telescopic components 5. An ultrasonic probe fixture 55 is mounted at the end of the extension arm 53. The large-stroke movement of the robotic arm is achieved through the three degrees of freedom of movement constituted by the base component 1, the bottom translation component 2, the single-layer profile base 3, the lifting module 4, and the two-section telescopic components 5, thus meeting the workspace requirements for red-sleeved rotor disc inspection.

[0023] The foundation component 1 includes several integral load-bearing adjustable feet 11 and two transverse rack assemblies 12. The two transverse rack assemblies 12 are arranged in parallel to form a track. Several integral load-bearing adjustable feet 11 are equidistantly arranged on the lower surface of the transverse rack assemblies 12. The integral load-bearing adjustable feet 11 include foundation components 1101. Both ends of the foundation components 1101 are provided with spiral adjustment mechanisms 1102, which can adjust the height according to the undulation of the installation ground to ensure that the bottom foundation components 1101 are horizontal. The transverse rack assembly 12 includes profiles 1201. Several channel steels 1202 and racks 1203 are fixedly arranged on the two profiles 1201 by bolts. Tank chains are arranged on the racks 1203. The channel steels 1202 and racks 1203 are both connected to the bottom translation component 2. The bottom translation component 2 moves on the slide rail formed by the channel steels 1202. The drive device on the bottom translation component 2 and the racks 1203 cooperate to drive the bottom translation component 2 to move on the transverse rack assembly 12.

[0024] The bottom translation component 2 includes a slide table 21, a motor 22, two reducers 23, two gears 24, and several pulleys 25. Several pulleys 25 are provided at both ends of the slide table 21, and the pulleys 25 are inserted into the slide rail formed by the channel steel 1202 for sliding. A motor 22 and a reducer 23 are provided on one side of the slide table 21, with the two reducers 23 symmetrically arranged on both sides of the motor 22. The output end of the motor 22 is connected to the input end of the reducer 23. A gear 24 is provided at the output end of the reducer 23, and the gear 24 meshes with the rack 1203 to transmit power, thereby driving the bottom translation component 2 to move on the foundation component 1. The two bottom translation components 2 are connected to the foundation component 1 by independent servo drives and reducers for simultaneous force control. The servo drives can precisely control the independent operation of the two robotic arms and the spacing control and protection.

[0025] The bottom translation component 2 is provided with a profile base 3; the profile base 3 includes a profile seat 31, a bottom foot cup mounting plate 32, several foot cups 33, a top positioning mounting plate 34, and several quick positioning pins 35; the bottom foot cup mounting plate 32 is provided at the lower end of the profile seat 31, and several foot cups 33 are provided on the bottom foot cup mounting plate 32. The several foot cups 33 and the bottom translation component 2 are connected by bolts and nuts. By adjusting the foot cups 33, the entire profile base 3 can be kept perpendicular to the horizontal plane; the top positioning mounting plate 34 is provided at the upper end of the profile seat 31, and several quick positioning pins 35 are provided on the top positioning mounting plate 34. The top positioning mounting plate 34 is connected to the lifting module 4 through the quick positioning pins 35, so as to realize the quick positioning and installation between the profile base 3 and the lifting module 4.

[0026] The lifting module 4 includes a lifting profile seat 41, a timing belt module 42, a central connecting plate 43, several lifting shaft fixing plates 44, a lifting shaft moving plate 45, and several quick-positioning pins 46. The lower end of the lifting profile seat 41 is provided with a central connecting plate 43, which is connected to a layer of profile base 3 and fixed with bolts and nuts. The timing belt module 42 is provided on the side of the lifting profile seat 41 through several lifting shaft fixing plates 44. The lifting shaft moving plate 45 is fixed to the timing belt module 42 with bolts and nuts and can move vertically with the timing belt module 42. Several quick-positioning pins 46 are provided on the lifting shaft moving plate 45 and connected to two telescopic components 5 through the quick-positioning pins 46.

[0027] The two-section telescopic assembly 5 includes a primary module 51, a secondary module 52, an extension arm 53, an assembly fixing base plate 54, and an ultrasonic probe fixture 55. The primary module 51 is connected to the lifting shaft moving plate 45 of the lifting module 4 via the assembly fixing base plate 54 and is fixed with bolts and nuts. The primary module 51 is equipped with a synchronous belt and a slider, while the secondary module 52 is equipped with a synchronous belt, a secondary module connecting block, and a slide connecting plate. The slide connecting plate and the slider are connected, and the primary module 51 drives the slider via the synchronous belt. The first-level module 51 slides on the slider, and the slider drives the second-level module 52 to slide on the first-level module 51 through the sliding table connecting plate; the synchronous belt of the second-level module 52 drives the second-level module connecting block to slide on the second-level module 52; the extension arm 53 is slidably set on the second-level module 52 and connected to the second-level module connecting block. Under the drive of the second-level module connecting block, the extension arm 53 slides on the second-level module 52, thereby realizing synchronous extension and retraction of the two levels; the ultrasonic probe fixture 55 is positioned by the stop and connected to the extension arm 53 by bolts.

[0028] The ultrasonic probe fixture 55 includes a first swing mechanism, a second swing mechanism, a first rotation mechanism, and a second rotation mechanism. One end of the first swing mechanism is connected to the extended arm 53, and the other end is connected to one end of the second swing mechanism. The other end of the second swing mechanism is connected to the first rotation mechanism. The second rotation mechanism is mounted on the first rotation mechanism. The three rotational degrees of freedom formed by the first swing mechanism, the second swing mechanism, and the first rotation mechanism simulate the human hand performing the inspection operation, and the posture requirements of the inspection operation are met by these three rotational degrees of freedom. The rotational degrees of freedom formed by the second rotation mechanism are used to drive the inspection device to rotate, so as to meet the sound beam incident angle requirements of the inspection device.

[0029] The swing mechanism includes a connecting block 5501, a worm 5502, a worm wheel 5503, a worm wheel and worm gear connecting seat 5542, a worm wheel connecting block 5504, and a motor base assembly 5505. The connecting block 5501 is connected to the extension arm 53 and the worm wheel and worm gear connecting seat 5542 respectively. The worm 5502 is disposed inside the worm wheel and worm gear connecting seat 5542, and the worm wheel 5503 is rotatably disposed at the lower end of the worm wheel and worm gear connecting seat 5542. The worm 5502 and the worm wheel 5503 mesh, and one end of the worm 5502 is connected to the drive motor inside the extension arm 53. The worm wheel 5503 is positioned by a pin and connected to the worm wheel connecting block 5504 with screws. 5504 and motor base assembly 5505 are connected by screws; the inner drive motor of telescopic arm 53 transmits power to worm gear 5502 through a long transmission shaft-coupling, and worm gear 5502 drives worm wheel 5503 to realize the swing of the mechanism; a sensing block 5507 is provided on motor base assembly 5505, and a slotted limit switch 5506 is provided on worm wheel and worm gear connecting seat 5542. The slotted limit switch 5506 and sensing block 5507 constitute a vertical swing limit structure; after the swing mechanism rotates 90°, sensing block 5507 triggers slotted limit switch 5506, which can prevent collision from continuing to rotate, and can also be used for mechanical return to zero.

[0030] The motor base assembly 5505 is provided with a second swing mechanism; the second swing mechanism includes a horizontal swing drive device, a connecting shaft 5511, a profile mounting plate 5512, and a horizontal swing arm 5513; the horizontal swing drive device includes a second motor 5508, a planetary reducer 5509, and a coupling 5510; the second motor 5508 and the planetary reducer 5509 are disposed inside the motor base assembly 5505, and the connecting shaft 5511 is rotatably mounted on the motor base assembly 5505; the output end of the second motor 5508 is connected to the input end of the planetary reducer 5509, and the output end of the planetary reducer 5509 is connected to the connecting shaft 5511 through the coupling 5510; the connecting shaft 5511... A profile mounting plate 5512 is provided on 511. One end of the horizontal swing arm 5513 is inserted into the slot of the profile mounting plate 5512, and the other end is connected to the rotating mechanism and fixed with screws to achieve overall rotation around the large swing arm. The horizontal swing arm 5513 is made of profile and different lengths of profile can be replaced according to the needs of on-site testing. The ultrasonic probe is connected to the horizontal swing arm 5513. A slotted limit switch 5515 is provided at the lower end of the motor base assembly 5505, and a sensing block 5516 is provided on the horizontal swing arm 5513. The slotted limit switch 5515 and the sensing block 5516 constitute a horizontal swing limit structure, which can assist in achieving mechanical return to zero.

[0031] A rotating mechanism is provided on the horizontal swing arm 5513; the rotating mechanism includes an upper and lower connecting bridge 5514, a vertical rotation drive device, an upper connecting plate 5520, a connecting structure, and a lower connecting plate 5527; the connecting structure is the connecting plate 5523; the vertical rotation drive device includes a third motor 5517, a second reducer 5518, a motor adapter plate 5519, and a transmission connecting seat 5521; the upper and lower connecting bridge 5514 is connected to the horizontal swing arm 5513, and the end of the horizontal swing arm 5513 is inserted into a slot on the upper and lower connecting bridge 5514; an upper connecting plate 5520 is provided on the upper end of the upper and lower connecting bridge 5514, and the second reducer 5518 and the transmission connecting seat 5521 are fixed on the upper connecting plate 5520 and placed on different sides of the upper and lower connecting bridge 5514; the output end of the third motor 5517 is connected to the input end of the second reducer 5518; pulleys are provided on the output end of the second reducer 5518 and the upper end of the transmission connecting seat 5521, and are connected by a belt pulley. The belt is driven by a connection; the reducer 5518 is connected to the upper connecting plate 5520 via the motor adapter plate 5519. The upper connecting plate 5520 has a long groove, in which the motor adapter plate 5519 is positioned and can slide. It is fixed in position by screws, and has anti-slip screws on the side. The belt tension is achieved through the motor adapter plate 5519. The upper connecting plate 5529 is equipped with a cover to protect the belt. The lower end of the upper and lower connecting bridge 5514 has a lower connecting... Connecting plate 5527, the lower connecting plate 5527 is provided with a rangefinder pivot pin 5528, and the cylinder connecting plate 5526 is connected to the rangefinder pivot pin 5528 by screws; a connecting plate 5523 is rotatably connected between the upper connecting plate 5520 and the lower connecting plate 5527, the upper end of the connecting plate 5523 is connected to the transmission connecting seat 5521, and the lower end of the connecting plate 5523 is connected to the cylinder connecting plate 5526, so that the connecting plate 5523 can move under the action of the vertical rotation drive device. Figure 13 The rotation is centered on the vertical axis. A slotted limit switch 5524 is installed on the upper and lower connecting bridge 5514, and a sensor plate 5525 is installed on the connecting plate 5523. The slotted limit switch 5524 and the sensor plate 5525 constitute a vertical rotation limit structure, which can assist in achieving mechanical zeroing. A night vision camera 5531 is installed on the cover, which can assist in observation after the fixture is inserted into the rotor. A rangefinder fixing plate 5529 is installed at the lower end of the rangefinder shaft pin 5528. A laser rangefinder 5530 is installed on the rangefinder fixing plate 5529. The laser rangefinder 5530 can rotate with the connecting plate 5523 to ensure that the laser emitting surface of the laser rangefinder 5530 is flush with the front end of the water spray plate 5541.

[0032] The connecting plate 5523 is provided with a second rotating mechanism; the second rotating mechanism includes a horizontal rotating drive device, a bearing structure, and an ultrasonic probe mounting base 5540; the bearing structure includes a bearing seat 5537 and a slide rod 5539; the horizontal rotating drive device includes a motor 5532, an idler wheel 5533, a pulley, and a belt; the connecting plate 5523 is provided with a motor 5532 and a bearing seat 5537; the slide rod 5539 is slidably mounted on the bearing seat 5537, and the slide rod 5539... 39 can slide and rotate back and forth on the bearing housing 5537; one end of the slide rod 5539 is equipped with an ultrasonic probe mounting base 5540 by a screw, and the other end is equipped with a rotating sleeve 5534; the end of the slide rod 5539 is inserted into the rotating sleeve 5534 and slidably connected with the rotating sleeve 5534; the rotating sleeve 5534 is equipped with a pin, and the slide rod 5539 is equipped with a groove, through which the pin passes, thereby transmitting torque through the pin, so that the slide rod 5539 follows the rotating sleeve. 5534 rotates; a pulley is provided on the rotating shaft sleeve 5534, and the pulley is fixed to the rotating shaft sleeve 5534 by a set screw; the pulley and the output end of the motor 5532 are connected by a belt, and an idler wheel 5533 is provided on the connecting plate 5523, through which the belt is tensioned; an ultrasonic probe is provided on the ultrasonic probe mounting base 5540, and a slot is opened on the ultrasonic probe mounting base 5540, through which the ultrasonic probe signal transmission line can pass. When the ultrasonic probe mounting base 5540 rotates, it can drive the ultrasonic probe to rotate through the slot and the signal transmission line; a fixing block 5536 is provided on the connecting plate 5523, and a photoelectric sensor switch is provided on the fixing block 5536; a second sensing plate 5535 is provided on the rotating shaft sleeve 5534, and the second sensing plate 5535 will rotate with the rotating shaft sleeve 5534. The photoelectric sensor switch and the second sensing plate 5535 constitute a horizontal rotation limit structure; the second sensing plate 5535 has a hole for origin positioning.

[0033] A cylinder is mounted on the upper end of the connecting plate 5523 via a cylinder fixing block 5522. A cylinder is also mounted on the cylinder connecting plate. The telescopic ends of the two cylinders are connected to the water spray plate 5541. A spring 5538 is mounted on the slide rod 5539. The spring 5538 is located between the ultrasonic probe mounting base 5540 and the bearing seat 5537. Under the action of the spring 5538, the ultrasonic probe mounting base 5540 and the water spray plate 5541 cooperate to fix the ultrasonic probe.

[0034] When the ultrasonic probe needs to be replaced, the cylinder is vented, the cylinder extension end is pushed out, pushing the water spray plate 5541 outward, pressing the ultrasonic probe mounting base 5540, removing and replacing the ultrasonic probe, the cylinder is de-vented, the cylinder extension end drives the water spray plate to retract, thereby fixing the new ultrasonic probe.

[0035] Specific Implementation Method Two: See Figures 1-8 and Figure 15This embodiment is described in detail. The ultrasonic probe fixture 55 of the red-sleeved rotor wheel inspection robot described in this embodiment has a second motor 5508 and a planetary reducer 5509 of the second swing mechanism disposed at the lower end of the motor base assembly 5505, and the second motor 5508, the planetary reducer 5509 and the connecting shaft 5511 are connected in sequence.

[0036] The upper connecting plate 5520 of the rotating mechanism is equipped with a motor 3 5517 and a reducer 2 5518. A rotating shaft is located between the upper connecting plate 5520 and the lower connecting plate 5527. The output end of the motor 3 5517 is connected to the input end of the reducer 2 5518. Both the output end of the reducer 2 5518 and the rotating shaft are equipped with pulleys and are connected by belts for transmission. The reducer 2 5518 is slidably connected to the upper connecting plate 5520 through a motor adapter plate 5519 to tension the belt. A mounting plate is fixedly installed on the rotating shaft, and the lower end of the rotating shaft is connected to a laser rangefinder 5530, so that... The laser rangefinder 5530 rotates along with it; a connecting structure, which is a U-shaped frame, is provided between the two mounting plates, with a water spray plate 5541 at the left end. The laser emitting surface of the laser rangefinder 5530 and the front end face of the water spray plate 5541 are not on the same plane; a motor 5532 is mounted on the water spray plate 5541, and a connecting plate 5523 is mounted on the end of the motor 5532. A bearing seat 5537 is mounted on the connecting plate 5523, and a sliding rod 5539 is provided on the bearing seat 5537. The sliding rod 39 can slide and rotate back and forth on the bearing seat 5537; the sliding rod 39 One end of the device is equipped with a rotating sleeve 5534, and the other end is equipped with an ultrasonic probe mounting base 5540. A slide rod 5539 and the rotating sleeve 5534 are slidably connected. A pin is provided on the rotating sleeve 5534, and a groove is provided on the slide rod 5539. The pin passes through the groove, thereby transmitting torque and causing the slide rod 5539 to rotate with the rotating sleeve 5534. A pulley is provided on the rotating sleeve 5534, and the pulley is fixed to the rotating sleeve 5534 by a set screw. The pulley is connected to a motor 5532 via a belt for transmission. An ultrasonic probe is mounted on the ultrasonic probe mounting base 5540. The ultrasonic probe mounting base 5540 has a slot, through which the ultrasonic probe signal transmission line can pass. When the ultrasonic probe mounting base 5540 rotates, the ultrasonic probe can be rotated through the interaction between the slot and the signal transmission line. A spring 5538 is provided on the slide rod 5539. The spring 5538 is located between the ultrasonic probe mounting base 5540 and the connecting plate 5523. Under the action of the spring 5538, the ultrasonic probe mounting base 40 and the water spray plate 41 cooperate to fix the ultrasonic probe. When replacing, the ultrasonic probe can be replaced by pressing the ultrasonic probe mounting base 40 to retract the spring 38.

[0037] The other components and connections in this embodiment are the same as in Specific Embodiment 1.

[0038] Specific implementation method three: See Figures 1-8and Figure 16 This embodiment is described in detail. The ultrasonic probe fixture 55 of the red-sleeved rotor wheel inspection robot described in this embodiment has a second motor 5508 and a planetary reducer 5509 of the second swing mechanism disposed at the lower end of the motor base assembly 5505, and the second motor 5508, the planetary reducer 5509 and the connecting shaft 5511 are connected in sequence.

[0039] A vertical rotation drive device is installed on the upper connecting plate 5520 of the rotating mechanism. A rotating shaft is installed between the upper connecting plate 5520 and the lower connecting plate 5527. The vertical rotation drive device drives the rotating shaft to rotate through a transmission structure such as a belt and pulley. The lower end of the rotating shaft is connected to the laser rangefinder 5530, so that the laser rangefinder 5530 rotates together. A night vision camera 5531 is installed above the transmission structure. A mounting plate is fixedly installed on the rotating shaft. A connecting structure is provided between the two mounting plates. The connecting structure is a U-shaped frame, with a water spray plate 5541 at the left end. The laser emitting surface of the laser rangefinder 5530 is not on the same plane as the front end of the water spray plate 5541. A motor 5532 is installed on the water spray plate 5541. A connecting plate 5523 is installed at the end of the motor 5532. A bearing structure is installed on the connecting plate 5523. A transmission shaft is provided on one side of the bearing structure, and the other side is connected by a telescopic mechanism. The rod and ultrasonic probe mounting base 5540 are connected, and a spring 5538 is sleeved on the telescopic rod; a pulley is provided on the transmission shaft and is connected to the output end of the motor 5532 via a belt, driving the bearing structure to rotate on the connecting plate 5523, which in turn drives the ultrasonic probe mounting base 5540 to rotate; a transparent protective cover is provided on the mounting plate to protect the transmission structure; an ultrasonic probe is provided on the ultrasonic probe mounting base 5540, and a slot is opened on the ultrasonic probe mounting base 5540, through which the ultrasonic probe signal transmission line can pass. When the ultrasonic probe mounting base 5540 rotates, it can drive the ultrasonic probe to rotate through the slot and the signal transmission line; under the action of the spring 5538, the ultrasonic probe mounting base 5540 and the water spray plate 5541 cooperate to fix the ultrasonic probe; when replacing, the ultrasonic probe can be replaced by pressing the ultrasonic probe mounting base 5540 to retract the spring 5538.

[0040] The other components and connections in this embodiment are the same as in Specific Embodiment 1.

[0041] In summary, the red-sleeved rotor disc inspection robot of this invention adopts a modular design, enabling rapid installation and disassembly. The linear movement of the ultrasonic probe in three degrees of freedom is achieved through the cooperation of the foundation component 1, bottom translation component 2, lifting module 4, and two telescopic components 5. The tilting mechanism 1, tilting mechanism 2, rotation mechanism 1, and rotation mechanism 2 on the ultrasonic probe fixture 55 meet the posture requirements and sound beam incident angle requirements of the ultrasonic probe under different inspection operations. The two bottom translation components 2 of this invention use independent drive motors, enabling independent operation and better adaptation to the rotor structure on site. They can also operate simultaneously to reduce operation time and improve inspection efficiency. Reducers are symmetrically arranged on both sides of each drive motor to ensure smooth operation of the robotic arm. The present invention discloses a red-sleeved rotor disc inspection robot, wherein the ultrasonic probe is installed on the ultrasonic probe mounting base 5540. Under the action of the spring 5538 and the slide bar 5539, the ultrasonic probe mounting base 5540 and the water spray plate 5541 cooperate to clamp and fix the ultrasonic probe. The ultrasonic probe can be quickly replaced by pressing the ultrasonic probe mounting base 5540. At the same time, the overall structure has strong rigidity and will not shake significantly when subjected to force.

[0042] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the invention. They can also be reasonable combinations of the features described in the above embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A red-sleeved rotor disc inspection robot, characterized in that: It includes a foundation component, a bottom translation component, a single-layer profile base, a lifting module, and two telescopic components; the bottom translation component is movably mounted on the foundation component, the single-layer profile base is mounted on the bottom translation component, the lifting module is mounted on the single-layer profile base, and two telescopic components are movably mounted on the lifting module; the two telescopic components include a primary module, a secondary module, an extension arm, and an ultrasonic probe fixture; The primary module and the lifting module are connected; a secondary module is movably mounted on the primary module and the secondary module is driven to move; an extension arm is movably mounted on the secondary module and the extension arm is driven to move; an ultrasonic probe fixture is mounted at the end of the extension arm, and an ultrasonic probe is mounted on the ultrasonic probe fixture. The ultrasonic probe fixture includes a first swing mechanism, which comprises a connecting block, a worm, a worm wheel, a worm wheel and worm gear connecting seat, a worm wheel connecting block, and a motor base assembly. The connecting block is connected to the extension arm and the worm wheel and worm gear connecting seat respectively. The worm is disposed inside the worm wheel and worm gear connecting seat, and a worm wheel is rotatably disposed at the lower end of the worm wheel and worm gear connecting seat. The worm and worm wheel mesh, and one end of the worm is connected to a drive motor inside the extension arm. The worm wheel is fixedly connected to the motor base assembly through the worm wheel connecting block. The motor base assembly is connected to the ultrasonic probe. The motor base assembly is provided with a second swing mechanism; the second swing mechanism includes a horizontal swing drive device, a connecting shaft and a horizontal swing arm; the horizontal swing drive device is provided on the motor base assembly and is connected to the connecting shaft; the connecting shaft, the horizontal swing arm and the ultrasonic probe are connected in sequence. The horizontal swing arm is provided with a rotating mechanism; the rotating mechanism includes an upper and lower connecting bridge, a vertical rotation drive device, an upper connecting plate, a connecting structure, and a lower connecting plate; the upper connecting plate is provided at the upper end of the upper and lower connecting bridges, and the lower connecting plate is provided at the lower end; a connecting structure is rotatably provided between the upper connecting plate and the lower connecting plate, and the vertical rotation drive device is provided on the upper connecting plate and drives the connecting structure to rotate; the connecting structure is connected to the ultrasonic probe. The connecting structure is provided with a second rotating mechanism; the second rotating mechanism includes a horizontal rotating drive device, a bearing structure, and an ultrasonic probe mounting base; the ultrasonic probe mounting base is disposed on the bearing structure and connected to the horizontal rotating drive device; an ultrasonic probe is disposed on the ultrasonic probe mounting base. A water spray plate is provided on the connecting structure; a spring is provided between the ultrasonic probe mounting base and the bearing structure; under the action of the spring, the ultrasonic probe mounting base and the water spray plate cooperate to fix the ultrasonic probe.

2. The red-sleeved rotor disc inspection robot according to claim 1, characterized in that: The foundation component includes several integral load-bearing adjustable feet and two transverse rack assemblies. The two transverse rack assemblies are arranged in parallel, and several integral load-bearing adjustable feet are provided on the transverse rack assemblies. The integral load-bearing adjustable feet include foundation components, and spiral adjustment mechanisms are provided at both ends of the foundation components. The transverse rack assemblies include profiles, channel steels, and racks. Several channel steels and racks are provided on the profiles, and the channel steels and racks are all connected to the bottom translation component.

3. The red-sleeved rotor disc inspection robot according to claim 2, characterized in that: The bottom translation component includes a slide, a motor, two reducers, two gears, and several pulleys; several pulleys are provided at both ends of the slide, and the pulleys and channel steel cooperate to slide; a motor and a reducer are provided on the slide, and the output end of the motor is connected to the input end of the reducer; a gear is provided at the output end of the reducer, and the gear meshes with a rack.

4. The red-sleeved rotor disc inspection robot according to claim 1, characterized in that: The first-layer profile base includes a profile seat and several foot cups; the lower end of the profile seat is connected to the bottom translation component through several foot cups, and the upper end is connected to the lifting module.

5. The red-sleeved rotor disc inspection robot according to claim 4, characterized in that: The lifting module includes a lifting profile seat and a timing belt module; the lower end of the lifting profile seat is connected to a first-layer profile base; the timing belt module is located on the side of the lifting profile seat and is connected to two telescopic components.

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