Device and method for detecting narrow area in fan blade

Abstract

The invention discloses a device and a method for detecting a narrow area in a fan blade, the device takes a base as a core, crawler wheel assemblies with adjustable spacing are arranged on two sides of the base, the base is integrated with an infrared distance meter, a camera capable of rotating horizontally, a miniature ultrasonic probe with adjustable angle and an angle adjusting assembly with a supporting disc, and a processor is arranged in the base and is remotely connected with a controller; the method comprises the steps of device deployment, mobile positioning, attitude adjustment, ultrasonic detection, multi-dimensional data acquisition, and data summarization and report generation. Personnel do not need to enter the blade, wide and narrow areas can be adapted, the defect positioning error is small, time consumed for single-blade detection is shortened, and safe, efficient and accurate detection is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of blade internal inspection devices, and in particular to a device and method for inspecting narrow areas inside wind turbine blades. Background Technology

[0002] In the field of wind power equipment, wind turbine blades, as the core components for capturing wind energy, directly determine the unit's operating efficiency and safety stability based on their structural integrity. Wind turbine blades are mostly made of composite materials, with a hollow internal structure and numerous narrow areas designed to accommodate aerodynamic performance. These include the interlayer gap connecting the blade web and the shell, thin-walled cavities at the leading / trailing edges, and narrow channels formed by internal reinforcing ribs and the skin. During blade molding, transportation, and long-term operation, these narrow areas are prone to defects such as delamination, bubbles, cracks, and foreign object inclusions due to uneven resin curing, external impacts, and fatigue loads. If these defects are not detected in time, they will gradually expand during unit operation, eventually leading to blade structural failure, causing blade breakage, unit shutdown, and other major safety accidents, resulting in substantial economic losses. Traditional blade internal inspections often rely on manual, handheld inspection tools to access the blade's interior. However, the extremely limited space inside a blade makes it difficult for workers to enter. They can only insert their arms or tools through pre-drilled inspection holes on the blade surface. This not only restricts their movement and is physically demanding, but also leads to incomplete inspections due to obstructed vision. For example, deep gaps between the web and shell, and corners of thin-walled cavities at the leading edge, cannot be reached manually with handheld tools, creating numerous blind spots and making it difficult to detect hidden defects. Furthermore, the blade's interior is a closed space with poor air circulation and dim lighting. Prolonged work can easily lead to oxygen deficiency and dizziness for workers. The complex internal structure of the blade also poses risks of impact and falls, highlighting significant safety hazards. Summary of the Invention The technical problem to be solved by the present invention is that manual equipment is used to enter the inside of wind turbine blades for inspection, which has a small inspection range and poses safety hazards.

[0003] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a detection device for narrow areas inside wind turbine blades, including a base, a track wheel assembly connected to both sides of the base via a telescopic frame, and an infrared rangefinder, a camera, and a miniature ultrasonic probe arranged on the base. An angle adjustment assembly is provided at the bottom of the base to lift the base and drive the base to rotate vertically. The processor inside the base is connected to the infrared rangefinder, the camera, and the miniature ultrasonic probe via signal, and the processor is remotely connected to the controller.

[0004] Preferably, the track wheel assembly includes a mounting frame, track wheels rotatably connected to the mounting frame, a track connected between the track wheels, a drive unit for driving the track wheels to rotate, and a power supply unit, and the track surface is provided with anti-slip texture.

[0005] Preferably, the telescopic frame includes a diagonal brace hinged between the edge of the base and the mounting frame and a second push rod hinged between the bottom of the base and the mounting frame. An extension rod is coaxially fixed on the output end of the second push rod, and the diagonal brace is evenly distributed on the side wall of the base.

[0006] Preferably, the angle adjustment component includes a first push rod that is vertically rotatably arranged in the middle of the base, a power supply battery is provided inside the first push rod, a rotation drive structure is provided between the bottom of the first push rod housing and the bottom of the base, and a support plate is fixedly connected to the output end of the first push rod.

[0007] Preferably, the rotation drive structure includes a gear ring coaxially fixedly connected to the bottom of the first push rod housing and a drive gear vertically rotatably connected to the motor output end at the bottom of the base, the drive gear meshing with the gear ring.

[0008] Preferably, the support disk is frustum-shaped, and a circular groove is coaxially provided at the bottom of the support disk.

[0009] Preferably, the infrared rangefinder is distributed on the four outer walls of the base.

[0010] Preferably, the camera is equipped with an angle adjustment module that drives its detection end to rotate horizontally.

[0011] Preferably, a bracket is fixedly provided on the top edge of the base, a third push rod is hinged to the top of the bracket, an adjustment unit for adjusting the angle of the third push rod is installed on the top of the base, and the miniature ultrasonic probe is fixed on the output end of the third push rod.

[0012] Preferably, a mounting bracket is fixedly connected to the outer wall of the third push rod and hinged to the bracket through the mounting bracket. The adjustment unit includes a take-up reel and a drive component that are rotatably arranged on the base. A pull rope is wound on the take-up reel, and the movable end of the pull rope is connected to the end of the mounting bracket away from the miniature ultrasonic probe.

[0013] Preferably, the mounting frame is U-shaped, the brackets are arranged in pairs, the two ends of the mounting frame are respectively hinged to the brackets, a steel cage-like locking frame is fixedly connected to the middle of the mounting frame, the third push rod is fixed inside the locking frame, and the outer side wall of the third push rod is in contact with the inner side wall of the locking frame.

[0014] A method for using a device for detecting narrow areas inside a wind turbine blade includes the following steps: Step 1: Device Deployment. Place the detection device into the narrow area inside the wind turbine blade through the detection hole reserved on the surface of the blade, and start the device through the controller. Control the extension and retraction of the second push rod of the telescopic frame on both sides of the base, drive the diagonal brace to adjust the spacing of the track wheel assembly, so that the track wheel fits against the inner wall of the narrow area. At the same time, turn on the infrared rangefinder through the controller to obtain the initial distance data between the device and the inner wall of the blade, and ensure the initial attitude of the device is stable. Step 2: Movement and Positioning. The controller starts the drive unit of the track wheel assembly, which drives the track wheels to rotate, allowing the device to move along the narrow area. During the movement, the infrared rangefinders on the four outer walls of the base collect distance data in real time and transmit it to the processor. The processor adjusts the track wheel speed based on the data to prevent the device from colliding with the inner wall of the blade. When the processor determines that the device has reached the preset detection area based on the infrared rangefinder data, it controls the track wheel assembly to stop moving. Step 3: Detect the attitude adjustment. Activate the angle adjustment component at the bottom of the base to extend the output end of the first push rod, causing the support plate to press against the inner wall of the blade. Activate the motor of the rotation drive structure to drive the drive gear to rotate, which in turn drives the first push rod housing and the base to rotate vertically through the gear ring, adjusting the horizontal angle of the base. At the same time, control the angle adjustment module of the camera to rotate the camera detection end horizontally to face the detection surface, completing the initial attitude adjustment. Step 4: Ultrasonic testing. Control the adjustment unit on the top of the base, start the drive of the take-up reel, the take-up reel pulls the rope, drives the mounting frame to rotate around the hinge point of the bracket, adjust the tilt angle of the third push rod; after the angle is suitable, control the output end of the third push rod to extend, push the miniature ultrasonic probe to fit the test surface, and complete the precise adjustment of the ultrasonic testing posture. Step 5: Multi-dimensional detection and data acquisition. The camera and miniature ultrasonic probe are activated simultaneously by the controller. The camera captures surface images of the narrow area, and the miniature ultrasonic probe scans the internal structure of the blade. The data from both are transmitted in real time to the processor inside the base. The infrared rangefinder continuously collects the device's position data. The processor associates the position data with the detection data to generate a detection data set with coordinate information. Step Six: Switching between Detection Areas and Data Summarizing. After a single detection area is completed, the third push rod and the first push rod are retracted, and the support plate detaches from the inner wall of the blade. Repeat steps two to five to move the device to the next detection area for detection. After all narrow areas have been detected, the processor summarizes all detection data sets and transmits the data to the controller via remote communication. The controller generates a detection report containing the location, type, and size of the defects.

[0015] This invention provides a device and method for detecting narrow areas inside wind turbine blades, which has the following beneficial effects.

[0016] 1. This device replaces traditional manual hand tools for working inside blades by remote control and automatic movement. Workers do not need to enter the narrow, enclosed, dark, and structurally complex areas of the blades, fundamentally avoiding safety risks such as dizziness due to lack of oxygen, collisions and falls, and accidental injuries from tool operation. At the same time, the device is remotely controlled throughout the process, and personnel do not need to come into close contact with the blade inspection holes during the inspection process, further reducing the safety hazards of working at heights and significantly improving the safety of the inspection operation.

[0017] 2. Addressing the issues of narrow areas being difficult to reach and numerous blind spots in traditional manual inspection, the tracked wheel assembly in the device features a telescopic frame that allows for flexible spacing adjustment, enabling stable movement within narrow areas of varying widths. The angle adjustment component drives the base to rotate vertically, and in conjunction with the camera's horizontal rotation adjustment module and the tilt angle adjustment structure of the miniature ultrasonic probe, it can cover hidden areas inaccessible to humans, such as deep gaps in the blade web interlayer and corners of the leading edge cavity. Furthermore, the infrared rangefinder provides real-time positioning assistance, preventing the device from colliding with the inner wall of the blade during movement, ensuring comprehensive coverage of narrow areas and completely eliminating blind spots. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a front view of an embodiment of the present invention.

[0019] Figure 2 This is a side view of an embodiment of the present invention.

[0020] In the diagram: 1. Base; 2. Track wheel assembly; 3. Diagonal brace; 4. Infrared rangefinder; 5. First push rod; 6. Support plate; 7. Drive gear; 8. Gear ring; 9. Camera; 10. Second push rod; 11. Bracket; 12. Mounting bracket; 13. Locking bracket; 14. Third push rod; 15. Miniature ultrasonic probe; 16. Take-up reel. Detailed Implementation

[0021] like Figure 1 and Figure 2 As shown, the present invention provides a device for detecting narrow areas inside wind turbine blades, including a base 1, a track wheel assembly 2 connected to both sides of the base 1 via a telescopic frame, and an infrared rangefinder 4, a camera 9, and a miniature ultrasonic probe 15 arranged on the base 1. An angle adjustment assembly is provided at the bottom of the base 1 to lift the base 1 and drive the base 1 to rotate vertically. The processor inside the base 1 is connected to the infrared rangefinder 4, the camera 9, and the miniature ultrasonic probe 15, and the processor is remotely connected to the controller.

[0022] Made of lightweight aluminum alloy, the overall weight of the device does not exceed 1.5kg, making it easy to insert through the blade detection hole. The base 1 integrates the track wheel assembly 2, infrared rangefinder 4, camera 9, miniature ultrasonic probe 15, and angle adjustment assembly. It has a built-in ARM Cortex-A9 processor, which is connected to each detection component via RS485 bus signal and remotely connected to a portable controller via a 4G module.

[0023] like Figure 1 and Figure 2 As shown. The track wheel assembly 2 includes a mounting frame, track wheels rotatably connected to the mounting frame, a track connecting the track wheels, a drive unit for driving the track wheels to rotate, and a power supply unit. The track surface is provided with anti-slip texture. The track wheel assemblies 2 on both sides drive the base 1 to move, and detection is performed inside the fan blades. The use of anti-slip tracks can prevent slippage during the moving filtration process.

[0024] like Figure 1 and Figure 2 As shown. The telescopic frame includes a diagonal brace 3 hinged between the edge of the base 1 and the mounting frame, and a second push rod 10 hinged between the bottom of the base 1 and the mounting frame. An extension rod is coaxially fixed to the output end of the second push rod 10, and the diagonal brace 3 is evenly distributed on the side wall of the base 1. By adjusting the length of the second push rod 10, not only the height of the base 1 can be adjusted, but also the distance between the two track wheel assemblies 2 can be adjusted, thereby adjusting the overall width of the device, enabling it to adaptably pass through narrower areas. When adjusting the telescopic extension of the second push rod 10, the base 1 is first lifted by the first push rod 5, so that the track wheel assembly 2 is in a suspended state.

[0025] like Figure 1 and Figure 2 As shown. The angle adjustment assembly includes a first push rod 5 vertically rotatably arranged in the middle of the base 1. A power supply battery is installed inside the first push rod 5. A rotation drive structure is provided between the bottom of the first push rod 5 housing and the bottom of the base 1. A support plate 6 is fixedly connected to the output end of the first push rod 5. Due to the limited configuration of the track wheel assembly 2, when making large-angle turns to detect different areas, the first push rod 5 extends, the support plate 6 contacts the bottom surface of the blade, and the entire device is lifted. Then, according to the required detection area position, the rotation drive structure is controlled to drive the base 1 to rotate around the first push rod 5.

[0026] like Figure 1As shown. The rotation drive structure includes a gear ring 8 coaxially fixedly connected to the bottom of the housing of the first push rod 5 and a drive gear 7 vertically rotatably connected to the motor output end at the bottom of the base 1. The drive gear 7 meshes with the gear ring 8. After the device is lifted by the first push rod 5, the drive gear 7 is driven to rotate by the motor at the bottom of the base 1, and the drive gear 7 drives the entire device to rotate around the gear ring 8.

[0027] In a preferred embodiment of the present invention, the support disk 6 is frustum-shaped, and a circular groove is coaxially provided at the bottom of the support disk 6. To avoid unevenness of the bottom surface, only the edge of the support disk 6 contacts the bottom surface of the blade, ensuring the stability of the support.

[0028] In a preferred embodiment of the present invention, the infrared rangefinders 4 are distributed on the four outer walls of the base 1. The four infrared rangefinders 4 are respectively fixed to the four outer walls of the base 1 to detect the distance between the device and the inner wall of the blade in real time, thus avoiding collisions during movement.

[0029] As a preferred embodiment of the present invention, the camera 9 is internally equipped with an angle adjustment module that drives the horizontal rotation of its detection end. A miniature wide-angle camera is used, with a built-in miniature servo motor as the angle adjustment module, which can drive the detection end to rotate horizontally. Combined with an LED fill light, this solves the problem of shooting in dimly lit environments inside the blades.

[0030] like Figure 1 and Figure 2 As shown. A bracket 11 is fixedly installed on the top edge of the base 1, and a third push rod 14 is hinged to the top of the bracket 11. An adjustment unit for adjusting the angle of the third push rod 14 is installed on the top of the base 1. The miniature ultrasonic probe 15 is fixed on the output end of the third push rod 14. By extending the output end of the third push rod 14, the miniature ultrasonic probe 15 is moved outward, causing it to fit against the inner wall of the blade, thereby ensuring the accuracy of the detection.

[0031] like Figure 2 As shown, to achieve angle adjustment of the miniature ultrasonic probe 15, a mounting bracket 12 is fixedly connected to the outer wall of the third push rod 14 and hinged to the support 11 via the mounting bracket 12. The adjustment unit includes a take-up reel 16 rotatably arranged on the base 1 and a drive component. A pull rope is wound on the take-up reel 16, and the movable end of the pull rope is connected to the end of the mounting bracket 12 away from the miniature ultrasonic probe 15. Since the end of the mounting bracket 12 connected to the third push rod 14 is heavier, the pull rope is kept taut. By adjusting the release of the rope from the take-up reel 16, the angle of the mounting bracket 12 can be adjusted, thereby adjusting the angle of the miniature ultrasonic probe 15.

[0032] like Figure 1 and Figure 2As shown, to ensure the stability of the third push rod 14 during installation, the mounting bracket 12 is U-shaped, and the supports 11 are arranged in pairs. The two ends of the mounting bracket 12 are respectively hinged to the supports 11. A steel cage-like locking frame 13 is fixedly connected to the middle of the mounting bracket 12. The third push rod 14 is fixed inside the locking frame 13, and the outer wall of the third push rod 14 is in contact with the inner wall of the locking frame 13. By setting the U-shaped support 12, the stability of the support 12 during installation is ensured. Then, the locking frame 13 is installed on the support 12 to fix the third push rod 14.

[0033] A method for using a device for detecting narrow areas inside a wind turbine blade includes the following steps: Step 1: Device Deployment. Place the detection device into the narrow area inside the wind turbine blade through the detection hole reserved on the surface of the blade, and start the device through the controller. Control the extension and retraction of the second push rod 10 of the telescopic frame on both sides of the base 1, drive the diagonal brace 3 to adjust the spacing of the track wheel assembly 2, so that the track wheel fits against the inner wall of the narrow area. At the same time, turn on the infrared rangefinder 4 through the controller to obtain the initial distance data between the device and the inner wall of the blade, and ensure the initial attitude of the device is stable. Step 2: Movement and Positioning. The controller starts the drive unit of track wheel assembly 2, which drives the track wheels to rotate, allowing the device to move along the narrow area. During the movement, the infrared rangefinders 4 on the four outer walls of the base 1 collect distance data in real time and transmit it to the processor. The processor adjusts the track wheel speed based on the data to prevent the device from colliding with the inner wall of the blade. When the processor determines that the device has reached the preset detection area based on the data from the infrared rangefinders 4, it controls the track wheel assembly 2 to stop moving. Step 3: Detect the attitude adjustment. Activate the angle adjustment component at the bottom of base 1 to control the output end of the first push rod 5 to extend, causing the support plate 6 to press against the inner wall of the blade. Activate the motor of the rotation drive structure to drive the drive gear 7 to rotate, which in turn drives the housing of the first push rod 5 and base 1 to rotate vertically through the gear ring 8, adjusting the horizontal angle of base 1. At the same time, control the angle adjustment module of camera 9 to make the detection end of camera 9 rotate horizontally to face the detection surface, completing the initial attitude adjustment. Step 4: Ultrasonic testing. Control the adjustment unit at the top of the base 1, start the drive of the take-up reel 16, the take-up reel 16 takes in and releases the pull rope, drives the mounting frame 12 to rotate around the hinge point of the bracket 11, and adjusts the tilt angle of the third push rod 14; after the angle is suitable, control the output end of the third push rod 14 to extend, push the miniature ultrasonic probe 15 to fit the detection surface, and complete the precise adjustment of the ultrasonic testing posture. Step 5: Multi-dimensional detection and data acquisition. The controller synchronously starts the camera 9 and the miniature ultrasonic probe 15. The camera 9 captures surface images of the narrow area, and the miniature ultrasonic probe 15 scans the internal structure of the blade. The data from both are transmitted in real time to the processor inside the base 1. The infrared rangefinder 4 continuously collects the device position data. The processor associates the position data with the detection data to generate a detection data set with coordinate information. Step Six: Switching between Detection Areas and Data Summarizing. After a single detection area is completed, the third push rod 14 and the first push rod 5 are retracted, and the support plate 6 is disengaged from the inner wall of the blade. Steps Two to Five are repeated to move the device to the next detection area for detection. After all narrow areas are detected, the processor summarizes all detection data sets and transmits the data to the controller via remote communication. The controller generates a detection report containing the location, type, and size of the defects.

Claims

1. A device for detecting narrow areas inside wind turbine blades, characterized in that: It includes a base (1), track wheel assemblies (2) connected to both sides of the base (1) via a telescopic frame, and an infrared rangefinder (4), a camera (9) and a miniature ultrasonic probe (15) arranged on the base (1). The bottom of the base (1) is provided with an angle adjustment assembly that lifts the base (1) and drives the base (1) to rotate vertically. The processor inside the base (1) is connected to the infrared rangefinder (4), the camera (9) and the miniature ultrasonic probe (15) via signal, and the processor is remotely connected to the controller.

2. The device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that: The track wheel assembly (2) includes a mounting frame, track wheels rotatably connected to the mounting frame, a track connected between the track wheels, a drive unit for driving the track wheels to rotate, and a power supply unit. The track surface is provided with anti-slip texture.

3. The device for detecting narrow areas inside wind turbine blades as described in claim 2, characterized in that: The telescopic frame includes a diagonal brace (3) hinged between the edge of the base (1) and the mounting frame and a second push rod (10) hinged between the bottom of the base (1) and the mounting frame. An extension rod is coaxially fixed on the output end of the second push rod (10), and the diagonal brace (3) is evenly distributed on the side wall of the base (1).

4. The device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that: The angle adjustment assembly includes a first push rod (5) arranged vertically in the middle of the base (1), a power supply battery is provided inside the first push rod (5), a rotation drive structure is provided between the bottom of the housing of the first push rod (5) and the bottom of the base (1), and a support plate (6) is fixedly connected to the output end of the first push rod (5).

5. The device for detecting narrow areas inside wind turbine blades as described in claim 4, characterized in that: The rotation drive structure includes a gear ring (8) coaxially fixedly connected to the bottom of the housing of the first push rod (5) and a drive gear (7) vertically rotatably connected to the motor output end at the bottom of the base (1). The drive gear (7) meshes with the gear ring (8).

6. The device for detecting narrow areas inside wind turbine blades as described in claim 5, characterized in that: The support plate (6) is frustum shaped, and a circular groove is coaxially provided at the bottom of the support plate (6).

7. The device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that: The infrared rangefinder (4) is distributed on the four outer walls of the base (1).

8. The device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that: The camera (9) is equipped with an angle adjustment module that drives its detection end to rotate horizontally.

9. The device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that: A bracket (11) is fixedly installed on the top edge of the base (1), and a third push rod (14) is hinged to the top of the bracket (11). An adjustment unit for adjusting the angle of the third push rod (14) is installed on the top of the base (1), and the miniature ultrasonic probe (15) is fixed on the output end of the third push rod (14).

10. The device for detecting narrow areas inside wind turbine blades as described in claim 9, characterized in that: The third push rod (14) is fixedly connected to the outer wall of the mounting bracket (12) and is hinged to the bracket (11) through the mounting bracket (12). The adjustment unit includes a take-up wheel (16) and a drive component that are rotatably arranged on the base (1). A pull rope is wound on the take-up wheel (16), and the movable end of the pull rope is connected to the end of the mounting bracket (12) away from the miniature ultrasonic probe (15).

11. The device for detecting narrow areas inside wind turbine blades as described in claim 10, characterized in that: The mounting frame (12) is U-shaped, the brackets (11) are arranged in pairs, the two ends of the mounting frame (12) are respectively hinged to the brackets (11), a steel cage-shaped lock frame (13) is fixedly connected to the middle of the mounting frame (12), the third push rod (14) is fixed inside the lock frame (13), and the outer side wall of the third push rod (14) is in contact with the inner side wall of the lock frame (13).

12. The method of using the device for detecting narrow areas inside wind turbine blades as described in claim 1, characterized in that, Includes the following steps: Step 1: Device deployment. Place the detection device into the narrow area inside the wind turbine blade through the detection hole reserved on the surface of the blade. Start the device through the controller. Control the extension and retraction of the second push rod (10) of the telescopic frame on both sides of the base (1), drive the diagonal brace (3) to adjust the spacing of the track wheel assembly (2), so that the track wheel fits against the inner wall of the narrow area. At the same time, turn on the infrared rangefinder (4) through the controller to obtain the initial distance data between the device and the inner wall of the blade, and ensure the initial attitude of the device is stable. Step 2: Moving and positioning. The drive unit of the track wheel assembly (2) is started by the controller, which drives the track wheel to rotate, so that the device moves along the narrow area. During the movement, the infrared rangefinders (4) on the four outer walls of the base (1) collect distance data in real time and transmit it to the processor. The processor combines the data to adjust the speed of the track wheel to avoid the device from colliding with the inner wall of the blade. When the processor determines that the device has reached the preset detection area based on the data from the infrared rangefinder (4), it controls the track wheel assembly (2) to stop moving. Step 3: Check the attitude adjustment, start the angle adjustment component at the bottom of the base (1), control the output end of the first push rod (5) to extend, so that the support plate (6) presses against the inner wall of the blade; The motor of the rotating drive structure is started, which drives the active gear (7) to rotate. The gear ring (8) drives the housing of the first push rod (5) and the base (1) to rotate vertically, adjusting the horizontal angle of the base (1). At the same time, the angle adjustment module of the camera (9) is controlled to make the detection end of the camera (9) rotate horizontally to face the detection surface, completing the initial attitude adjustment. Step 4: Ultrasonic testing. Control the adjustment unit at the top of the base (1) to start the drive of the take-up wheel (16). The take-up wheel (16) takes in and releases the pull rope, driving the mounting frame (12) to rotate around the hinge point of the bracket (11) and adjust the tilt angle of the third push rod (14). After the angle is suitable, control the output end of the third push rod (14) to extend and push the miniature ultrasonic probe (15) to fit the detection surface, thus completing the precise adjustment of the ultrasonic testing posture. Step 5: Multi-dimensional detection and data acquisition. The camera (9) and the miniature ultrasonic probe (15) are started synchronously by the controller. The camera (9) captures the surface image of the narrow area, and the miniature ultrasonic probe (15) scans the internal structure of the blade. The data of both are transmitted to the processor inside the base (1) in real time. The infrared rangefinder (4) continuously collects the device position data. The processor associates the position data with the detection data to generate a detection data set with coordinate information. Step 6: Switching between detection areas and summarizing data. After a single detection area is completed, control the third push rod (14) to retract and the first push rod (5) to retract, and the support plate (6) to detach from the inner wall of the blade. Repeat steps 2 to 5 to move the device to the next detection area for detection. After all narrow areas are detected, the processor summarizes all detection data groups and transmits the data to the controller via remote communication. The controller generates a detection report containing the location, type, and size of the defects.

Images