In-situ non-destructive testing robot for steam turbine blade crack detection

Abstract

The application provides an in-situ nondestructive testing robot for steam turbine blade crack detection, comprising a main body mechanism, wherein the main body mechanism comprises a first main body, a second main body and two pairs of triangular tracks; along the traveling direction of the main body mechanism, the first main body is arranged in front of the second main body in a spaced manner, the first main body is hinged to the second main body, and one pair of the triangular tracks is arranged on the opposite sides of the first main body, and the other pair of the triangular tracks is arranged on the opposite sides of the second main body. The first main body and the second main body are hinged and independently travel, so that at least one main body of the main body mechanism is stabilized on a blade, thereby preventing the main body mechanism from falling when moving between different blades, reducing the moving time of the main body mechanism, shortening the detection time of the detection robot, and improving the detection efficiency of the detection robot.

Description

Technical Field

[0001] This invention belongs to the field of turbine blade inspection technology, specifically relating to an in-situ non-destructive testing robot for turbine blade crack detection. Background Technology

[0002] Robots represent the latest direction in intelligent non-destructive testing and are currently in a critical transition period from laboratory breakthroughs to industrial practice. Their core role is to revolutionize the traditional high-risk, inefficient manual inspection model. Through in-situ, high-precision automated inspections, they fundamentally prevent major accidents caused by blade breakage, ensuring the safe operation of core sectors such as power and aviation. Simultaneously, as a technological carrier, they are driving the entire equipment maintenance system towards digitalization and intelligence.

[0003] In-situ non-destructive testing robots used for turbine blade crack detection mostly move and scan the blades using an adsorption device on the robot's walking end to detect cracks. After the robot completes the inspection of one blade, it needs to move to an adjacent blade and inspect it as well. When moving to an adjacent blade, the robot usually moves along the side wall of the turbine before moving to the other blades. Because there is a certain height difference between the blade tip and the turbine, when the inspection robot moves from the blade tip, it is prone to falling, decreased adsorption, and spinning in place due to this height difference. This can easily affect the overall inspection time of the robot and reduce the detection efficiency of the robot for turbine blade crack detection. Summary of the Invention

[0004] The embodiments of the present invention aim to at least solve one of the technical problems existing in the prior art, and provide an in-situ non-destructive testing robot for detecting cracks in steam turbine blades.

[0005] This invention provides an in-situ non-destructive testing robot for detecting cracks in steam turbine blades, comprising: a main body mechanism, the main body mechanism including a first main body, a second main body and two pairs of triangular tracks, the first main body being spaced in front of the second main body along the travel direction of the main body mechanism, the first main body being hinged to the second main body, a pair of triangular tracks being provided on opposite sides of the first main body, and another pair of triangular tracks being provided on opposite sides of the second main body.

[0006] In some embodiments of the present invention, the detection robot further includes: a fall prevention mechanism;

[0007] The anti-fall mechanism includes a suspension assembly and a directional assembly. The suspension assembly is movably connected to the first body and the second body and is used to lock the first body and the second body together. The directional assembly is connected to the suspension assembly and is used to prevent the first body and the second body from shifting relative to each other.

[0008] In some embodiments of the present invention, the bottom of the first body is provided with an elastic plate, and the suspension assembly includes:

[0009] A sliding plate, wherein the elastic plate abuts against the first end of the sliding plate, and the first end of the sliding plate is used to contact the blade;

[0010] A U-shaped rod is connected to the first end of the sliding plate with its opening facing away from the first main body. Rollers are provided at both ends of the open end of the U-shaped rod.

[0011] A suspension plate, which is connected to the first end of the sliding plate, extends from the side of the sliding plate away from the first body in a direction away from the first body;

[0012] A hook plate is rotatably connected to the side of the first body near the second body, and the hook plate is adapted to the U-shaped rod;

[0013] A fixing block is sleeved on the second end of the sliding plate and is rotatably connected to the bottom of the second body.

[0014] In some embodiments of the present invention, the side of the suspension plate facing away from the sliding plate is provided with a rubber layer.

[0015] In some embodiments of the present invention, the orientation component includes:

[0016] Two linkage rods are rotatably connected to both sides of the second main body;

[0017] Two sets of sliding blocks, with one set of sliding blocks provided at each of the opposite ends of each linkage rod;

[0018] A connecting rod rotatably connects two opposing sliding blocks, the connecting rod being located near the top of the second body;

[0019] A straightening plate, which is connected to the connecting rod, is slidably connected to the top of the second body along the travel direction of the main body mechanism;

[0020] A push rod is provided, which rotatably connects two opposing sliding blocks. The push rod is located near the bottom of the second body, and the second end of the sliding plate is rotatably sleeved on the push rod.

[0021] In some embodiments of the present invention, the detection robot further includes an alignment mechanism;

[0022] The alignment mechanism includes a push-back component and a release component. The push-back component is connected to the anti-fall mechanism and is used to push the second body back to the surface of the next blade. The release component is connected to the push-back component and is used to unlock the first body and the second body.

[0023] In some embodiments of the present invention, the pushback component includes:

[0024] A connecting plate, which connects two adjacent sliding blocks, is located near the top of the second body;

[0025] A first spring, the two ends of which are respectively connected to the connecting plate and the side of the first body closer to the second body;

[0026] Two rotating plates are rotatably connected to two sliding blocks, and both rotating plates are close to the bottom of the second main body;

[0027] A synchronizing rod is rotatably connected between the two rotating plates, and a sliding plate is slidably connected to the synchronizing rod.

[0028] In some embodiments of the present invention, the detachment component includes:

[0029] A limiting block is fixedly connected to the synchronizing rod, and a sliding plate is slidably connected to the limiting block;

[0030] A driving block is slidably connected to the sliding plate and is located between the U-shaped rod and the limiting block;

[0031] A contact block, rotatably connected to the sliding plate, extends toward the sliding plate in a direction away from the first body;

[0032] A second spring connects the sliding block and the contact block, and the second spring passes through the sliding plate.

[0033] In some embodiments of the present invention, the sliding plate is provided with a groove extending through its thickness direction, and the contact block extends through the groove to the side of the sliding plate opposite to the first body.

[0034] In some embodiments of the present invention, the main body further includes a detection component, which includes at least one set of illumination lamps and scanning detectors, wherein the illumination lamps and the scanning detectors are both located on the side of the first body away from the second body.

[0035] The in-situ non-destructive testing robot for turbine blade crack detection according to the present invention comprises a first body and a second body. Along the travel direction of the main body, the first body is spaced in front of the second body and is hinged to the second body. The first body and the second body are each equipped with a pair of triangular tracks to ensure that the first body and the second body can travel independently. When the main body travels from the blade below the current blade, the first body can first travel to the lower blade while the second body remains on the current blade. After the first body travels to the lower blade, the second body is then activated to travel to the lower blade, thereby stabilizing at least one body of the main body on a blade, thus preventing the main body from falling when moving between different blades, reducing the travel time of the main body, shortening the detection time of the detection robot, and improving the detection efficiency of the detection robot. Attached Figure Description

[0036] Figure 1 This is a schematic diagram (first-person view) of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0037] Figure 2 This is a side view of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0038] Figure 3 This is a schematic diagram (second perspective) of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0039] Figure 4 for Figure 3 Enlarged view of part A shown;

[0040] Figure 5 This is a schematic diagram of the suspension assembly structure of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0041] Figure 6 for Figure 5 Enlarged view of section B shown;

[0042] Figure 7 This is a schematic diagram of the push-back assembly structure of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0043] Figure 8 This is a schematic diagram of the disengagement component structure of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0044] Figure 9 This is a schematic diagram of the orientation component structure of the in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to the present invention.

[0045] The labels in the attached diagram are as follows:

[0046] 1. Main structure; 101. First main body; 102. Second main body; 111. Triangular track; 112. Elastic plate; 12. Detection assembly; 121. Illumination lamp; 122. Scanning detector;

[0047] 2. Anti-fall mechanism; 21. Suspension assembly; 211. Sliding plate; 212. U-shaped rod; 213. Suspension plate; 214. Hook plate; 215. Fixing block; 22. Orientation assembly; 221. Linkage rod; 222. Sliding block; 223. Connecting rod; 224. Correction plate; 225. Push rod;

[0048] 3. Alignment mechanism; 31. Push-back assembly; 311. Connecting plate; 312. First spring; 313. Rotating plate; 314. Sliding rod; 315. Synchronizing rod; 32. Disengagement assembly; 321. Limiting block; 322. Driving block; 323. Contact block; 324. Second spring. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the invention. The described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0050] like Figures 1 to 9 As shown, this embodiment of the invention provides an in-situ non-destructive testing robot for detecting cracks in steam turbine blades, comprising: a main body 1, the main body 1 including a first main body 101, a second main body 102 and two pairs of triangular tracks 111. Along the travel direction of the main body 1, the first main body 101 is spaced in front of the second main body 102, the first main body 101 and the second main body 102 are hinged, a pair of triangular tracks 111 are provided on opposite sides of the first main body 101, and another pair of triangular tracks 111 are provided on opposite sides of the second main body 102.

[0051] The in-situ non-destructive testing robot for turbine blade crack detection according to the present invention has a main body 1 including a first body 101 and a second body 102. Along the travel direction of the main body 1, the first body 101 is spaced in front of the second body 102, and the first body 101 and the second body 102 are hinged together. The first body 101 and the second body 102 are respectively equipped with a pair of triangular tracks 111 to ensure that the first body 101 and the second body 102 can travel independently. When the main body 1 travels from the blade below the current blade, the first body 101 can first travel to the lower blade, while the second body 102 remains on the current blade. After the first body 101 travels to the lower blade, the second body 102 is then started to travel to the lower blade, thereby stabilizing at least one body of the main body 1 on a blade, thereby preventing the main body 1 from falling when moving between different blades, reducing the travel time of the main body 1, shortening the detection time of the detection robot, and improving the detection efficiency of the detection robot.

[0052] like Figure 4 As shown, in some embodiments of the present invention, an elastic plate 112 is fixedly connected to the bottom of the first main body 101, and the material of the outer wall of the triangular track 111 can be soft rubber. With the setting of the robot's triangular track 111, when the robot needs to climb the wall, the concave holes set on the outer wall of the triangular track 111 will form a vacuum environment between the robot's own weight and the blade surface, so that the vehicle can be adsorbed on the blade surface.

[0053] like Figure 3 As shown, in some embodiments of the present invention, the main body 1 further includes a detection component 12, which includes at least one set of illumination lamps 121 and a scanning detector 122. Both the illumination lamps 121 and the scanning detector 122 are located on the side of the first main body 101 facing away from the second main body 102. Specifically, there are two sets of illumination lamps 121, spaced apart, and the scanning detector 122 is located between the two sets of illumination lamps 121. During the driving detection of the main body 1, the scanning detector 122 scans the blade surface during driving. When a crack is detected, the scanning detector 122 transmits a signal to an external backend.

[0054] like Figure 4As shown, in some embodiments of the present invention, the detection robot further includes: an anti-fall mechanism 2, which movably connects the first body 101 and the second body 102 so that the first body 101 and the second body 102 will not separate and there is a certain amount of space between the first body 101 and the second body 102, so that the first body 101 and the second body 102 can be maintained in different planes or different postures. Specifically, the anti-fall mechanism 2 includes a suspension assembly 21, which is movably connected to the first body 101 and the second body 102. The suspension assembly 21 allows the first body 101 and the second body 102 to be locked together, and the suspension assembly 21 allows there to be space between the first body 101 and the second body 102, so that the two bodies can move or rotate relative to each other.

[0055] like Figure 2 , Figure 5 and Figure 6 As shown, in some embodiments of the present invention, the bottom of the first body 101 is provided with an elastic plate 112, which abuts against the suspension assembly 21 so that the suspension assembly 21 abuts against the surface of the blade. Specifically, the suspension assembly 21 includes: a sliding plate 211, a U-shaped rod 212, a suspension plate 213, a hook plate 214, and a fixing block 215. The sliding plate 211 has a first end and a second end arranged opposite to each other along its length. The elastic plate 112 abuts against the first end of the sliding plate 211. The first end of the sliding plate 211 is used to contact the blade. The U-shaped rod 212 is connected to the first end of the sliding plate 211 with its opening facing away from the first body 101. Rollers are provided at both ends of the open end of the U-shaped rod 212. The suspension plate 213 is connected to the first end of the sliding plate 211. The suspension plate 213 extends from the side of the sliding plate 211 facing away from the first body 101 in a direction away from the first body 101, and the suspension plate 213 extends from the first end of the sliding plate 211 to the second end. The suspension plate 213 is concave towards the suspension plate 211, that is, the suspension plate 213 is convex towards the blade. The hook plate 214 is rotatably connected to the side of the first body 101 near the second body 102. The hook plate 214 is provided with a hook on the side facing away from the second body 102. The hook of the hook plate 214 is adapted to the U-shaped rod 212. The hook plate 214 and the second body 102 are connected by a spring. The fixing block 215 is sleeved on the second end of the sliding plate 211. The fixing block 215 is rotatably connected to the bottom of the second body 102.

[0056] In some embodiments of the present invention, a rubber layer is provided on the side of the suspension plate 213 facing away from the sliding plate 211. The rubber layer can improve the friction between the suspension plate 213 and the blade.

[0057] In some embodiments of the present invention, the anti-fall mechanism 2 includes a directional component 22, which is connected to the suspension component 21. The directional component 22 can prevent the first body 101 and the second body 102 from shifting relative to each other.

[0058] like Figures 7 to 9 As shown, in some embodiments of the present invention, the orientation component 22 includes: two linkage rods 221, two sets of sliding blocks 222, a connecting rod 223, a correction plate 224, and a push rod 225. The two linkage rods 221 are rotatably connected to opposite sides of the second main body 102. The two linkage rods 221 are respectively close to two oppositely arranged triangular tracks. Each linkage rod 221 has a set of sliding blocks 222 at its opposite ends. The connecting rod 223 is rotatably connected to the two opposite sliding blocks 222. Specifically, the two ends of the connecting rod 223 are rotatably connected to the two sliding blocks 222 close to the second main body. Two sliding blocks 222 at the top of the second body 102, a connecting rod 223 near the top of the second body 102, a straightening plate 224 connected to the connecting rod 223, the straightening plate 224 being slidably connected to the top of the second body 102 along the travel direction of the main body mechanism 1, and a push rod 225 being rotatably connected to two opposing sliding blocks 222. Specifically, the two ends of the push rod 225 are rotatably connected to two sliding blocks 222 near the bottom of the second body 102, and the second end of the sliding plate 211 is rotatably sleeved on the push rod 225.

[0059] When the sliding plate 211 moves relative to the first body 101 from the first body 101 towards the second body 102, the second end of the sliding plate 211 drives the push rod 225 to move together. The push rod 225 causes the linkage rod 221 to rotate through the sliding block 222 at the bottom of the second body 102. The linkage rod 221 drives the sliding block 222 near the top of the second body 102 to move towards the first body 101. The two sliding blocks 222 near the top of the second body 102 drive the straightening plate 224 to move through the connecting rod 223. Under the constraint of the slide groove or slide rail at the top of the second body 102, the straightening plate 224 slides towards the first body 101. The straightening plate 224 slides parallel to the top of the second body 102 so that the first body 101 and the second body 102 are on the same horizontal plane, thereby reducing the situation where the first body 101 rotates itself when rotating towards the blade, thus improving the consistency of the orientation of the two bodies and improving the stability of the rotation direction when the robot detects the turbine blade. Conversely, when the sliding plate 211 moves from the second body 102 toward the first body 101, the push rod 225, the sliding block 222, the connecting rod 223, and the straightening plate 224 move in corresponding directions.

[0060] In some embodiments of the present invention, the detection robot further includes a straightening mechanism 3, which includes a push-back component 31. The push-back component 31 is connected to the suspension component 21 and the orientation component 22 of the anti-fall mechanism 2, respectively, and pushes the second body 102 back to the surface of the next blade through the push-back component 31.

[0061] like Figure 3 , Figure 7 and Figure 9 As shown, in some embodiments of the present invention, the push-back assembly 31 includes: a connecting plate 311, a plurality of first springs 312, two rotating plates 313, two sliding rods 314, and a synchronizing rod 315. The connecting plate 311 is connected between two sliding blocks 222 located on opposite sides of the second body 102 and close to the top of the second body 102. The connecting plate 311 is close to the top of the second body 102. The two ends of the first springs 312 are respectively connected to the connecting plate 311 and the side of the first body 101 facing the second body 102. The two rotating plates 313 rotate... The sliding block 222 is movably connected to the corresponding sliding block 222 near the bottom of the second main body 102. Both rotating plates 313 are close to the bottom of the second main body 102. The two sliding plates 314 are slidably connected to the corresponding rotating plate 313, and the sliding plate 314 is slidably connected to the end of the rotating plate 313 away from the corresponding sliding block 222. The two ends of the synchronizing rod 315 are rotatably connected to the two sliding plates 314. That is, the synchronizing rod 315 is rotatably connected between the two rotating plates 313 through the two sliding plates 314. The sliding plate 211 is slidably connected to the synchronizing rod 315.

[0062] When the sliding plate 211 moves relative to the first body 101 from the first body 101 to the second body 102, the sliding block 222 near the top of the second body 102 pushes the correcting plate 224 to move. The movement of the sliding block 222 at the top of the second body 102 will cause the connecting plate 311 to move towards the first body 101. The connecting plate 311 compresses the first spring 312, causing it to contract and accumulate elastic potential energy. At the same time, the rotation of the sliding block 222 near the bottom of the second body 102 will cause the rotating plate 313 to rotate in the opposite direction to the sliding block 222. The sliding plate 314 slides relative to the sliding plate 313. The sliding plate 314 causes the synchronizing rod 315 to move towards the first body 101. The synchronizing rod 315 drives the limiting block 321 to slide towards the first body 101.

[0063] like Figure 4 As shown, in some embodiments of the present invention, the detection robot further includes a disengagement component 32, which is connected to a push-back component 31, and the first body 101 and the second body 102 are unlocked by the disengagement component 32.

[0064] like Figure 8 , Figure 9As shown, in some embodiments of the present invention, the disengagement component 32 includes: a limiting block 321, a driving block 322, a contact block 323, and a second spring 324. The limiting block 321 is fixedly connected to the synchronizing rod 315. The sliding plate 211 is slidably connected to the limiting block 321. The driving block 322 is slidably connected to the sliding plate 211 and is located between the U-shaped rod 212 and the limiting block 321. One end of the contact block 323 is rotatably connected to the sliding plate 211, and the other end of the contact block 323 extends toward the first end of the sliding block 211. The contact block 323 extends toward the sliding plate 211 in a direction away from the first body 101. The second spring 324 connects the sliding block 222 and the contact block 323 and passes through the sliding plate 211.

[0065] When the sliding plate 211 moves relative to the first body 101 from the first body 101 to the second body 102, the sliding block 222 near the bottom of the second body 102 rotates and causes the limiting block 321 to slide towards the first body 101 through the rotating plate 313, the sliding plate 314 and the synchronizing rod 315. At the same time, the sliding plate 211 drives the driving block 322 to move towards the second body 102. As the first main body 101 continues to move forward, when it completely leaves the blade surface, the driving block 322 will come into contact with the limiting block 321. The movement of the limiting block 321 will prevent the driving block 322 from moving synchronously with the sliding plate 211. The driving block 322 will be pushed by the limiting block 321 towards the first main body 101, that is, the driving block 322 and the sliding plate 211 will move relative to each other. The sliding plate 211 moves from the first main body 101 to the second main body 102, and the driving block 322 moves from the second main body 102 to the first main body 101. Since the moving distance of the driving block 322 is limited by the limiting block 321, the moving distance of the sliding plate 211 is greater than the moving distance of the driving block 322. When the sliding plate 211 moves relative to the driving block 322... First, pressure is applied to the second spring 324, which then forms a pulling force. When the sliding plate 211 continues to move, the contact block 323 rotates towards the sliding plate 211 under the tension of the second spring 324 and the constraint of the groove of the sliding plate 211. At this time, the friction between the contact block 323 and the blade disappears. When the second body 102 continues to move towards the edge of the blade, it will drive the sliding plate 211 to move synchronously, so that the second body 102 can smoothly drive the blade surface. This reduces the situation where the second body 102 cannot continue to move due to the obstruction of the contact block 323 after the sliding plate 211 moves to its maximum position caused by the friction between the blade and the contact block 323. This improves the smoothness of the robot's movement when inspecting the turbine blade.

[0066] like Figure 8As shown, in some embodiments of the present invention, the sliding plate 211 is provided with a groove extending through its thickness direction, and the contact block 323 extends through the groove to the side of the sliding plate 211 facing away from the first body 101. When the driving block 322 moves relative to the sliding plate 211 toward the first end of the sliding plate 211, the contact block 323 rotates toward the sliding plate 211.

[0067] How the inspection robot works:

[0068] In use, the inspection robot is first inserted into the turbine through a gap by the staff, and then remotely controlled by an external remote control device to move and inspect the robot. Due to the setting of the robot's triangular track 111, when the robot needs to climb the wall, the concave holes on the outer wall of the triangular track 111 will create a vacuum environment between the robot's own weight and the blade surface, allowing the robot to adhere to the blade surface. When the robot moves, the rotation design between the first body 101 and the second body 102 will allow the robot to adapt to the curved surface on the blade. Since the gap between the blades is small, the robot can move to the next blade by stepping over it. When the main body 1 is performing driving inspection, the scanning detector 122 will scan and inspect the blade surface during the driving process. When a crack is detected, the scanning detector 122 will transmit a signal to the external backend, thereby achieving the purpose of turbine blade crack detection.

[0069] Because the arrangement of the blades inside the steam turbine is similar to that of fan blades in reality, but more dense, and the shape of the blades is also similar to that of fan blades, but more slender and curved, when the inspection robot moves from the current blade to the surface of the adjacent blade, the pair of triangular tracks 111 on both sides of the first body 101 will first cross the edge of the current blade and the suspension assembly 21 will move synchronously. When half of the triangular tracks 111 on both sides of the first body 101 leaves the current blade, the part of the suspension assembly 21 located at the bottom of the first body 101 and away from the second body 102 leaves the current blade. The compressed elastic plate 112 releases elastic potential energy to push the sliding plate 211 closer to the surface of the current blade. Under the action of the fixing block 215 at its second end, the sliding plate 211, with the fixing block 215 as the rotation point, drives the U-shaped rod 212 and the suspension plate 213 to rotate together towards the blade. During the transition from a compressed state to an extended state, the sliding plate 211, pushed by the elastic plate 112, causes the suspension plate 213 to pass over the edge of the current blade. The rotation of the sliding plate 211 causes the contact block 323 to rotate synchronously. The movement of the contact block 323 causes the side of the contact block 323 away from the suspension assembly 21 to contact the surface of the current blade and generate a certain frictional force. When the robot continues to move towards the edge of the current blade, the contact block 323, affected by the frictional force, causes the sliding plate 211 to no longer move synchronously with the movement of the second main body 102. At this time, the direction of movement of the sliding plate 211 relative to the second main body 102 is towards the second main body 102, that is, the running direction of the sliding plate 211 is opposite to the traveling direction of the main body mechanism 1. As the sliding plate 211 continues to move backward, it causes the elastic plate 112 to pass over the top of the U-shaped rod 212. Once the elastic plate 112 has passed the U-shaped rod 212, it will fully open and push the sliding plate 211 a certain distance towards the second main body 102. At this point, the edge of the current blade will enter the space between the suspension plate 213 and the sliding plate 211. The hook plate 214 will continuously approach and contact the U-shaped rod 212 under the action of the first main body 101. When the hook plate 214 contacts the U-shaped rod 212, the notch at the bottom of the hook plate 214 will lock onto the U-shaped rod 212.As the second main body 102 continues to move towards the edge of the current blade, the hook plate 214 will rotate under the push of the U-shaped rod 212. When the rotation angle of the hook plate 214 under the push of the U-shaped rod 212 reaches its maximum, the hook plate 214 will drive the first main body 101 to rotate in the direction of the blade with the connection point between the two main bodies as the rotation axis. At this time, the triangular track 111 on the first main body 101 will completely detach from the edge of the blade and be driven by the hook plate 214 to rotate in the direction of the blade. The rotation of the first main body 101 will cause the surface of the triangular track 111 to contact the surface of the adjacent blade and, under the continued drive of the hook plate 214, cause the triangular track 111 to adhere to the adjacent blade, thereby reducing the possibility of falling when the robot crosses between blades. Moreover, the robot's crossing movement will reduce the time taken by the robot during transfer, further improving the robot's adhesion to the turbine blade during inspection, and indirectly improving the inspection efficiency.

[0070] When the sliding plate 211 moves in the opposite direction to the first body 101, the movement of the sliding plate 211 will push the linkage rod 221 to rotate around the connection point in the middle of the linkage rod 221. At this time, the sliding block 222 at the top of the second body 102 will rotate towards the first body 101, and the sliding block 222 at the bottom of the second body 102 will move away from the first body 101. When the top sliding block 222 moves, it will drive the straightening plate 224 towards the first body 101 through the connecting rod 223. When the straightening plate 224 moves, before the hook plate 214 contacts the U-shaped rod 212, the movement of the straightening plate 224 will cause the first body 101 and the second body 101 to move towards each other. Since the blades are distributed circumferentially around the rotation axis and are perpendicular to the ground, when the robot crosses the blades, the first main body 101 may deflect towards the ground. This could cause one of the two triangular tracks 111 on the first main body 101 to fail to contact the surface of the blade, reducing the robot's adsorption force. The movement of the correction plate 224 ensures that the first main body 101 is on the same horizontal plane as the second main body 102 before it rotates, thereby reducing the possibility of the first main body 101 rotating itself when it rotates towards the blade. This improves the consistency of the orientation of the two main bodies and enhances the stability of the rotation direction when the robot inspects the turbine blades.

[0071] When the sliding block 222 near the top of the second main body 102 pushes the straightening plate 224 to move, the movement of the sliding block 222 will also drive the connecting plate 311 to move synchronously. The movement of the connecting plate 311 will compress the first spring 312, causing it to contract and accumulate elastic potential energy. At the same time, the rotation of the sliding block 222 near the bottom of the second main body 102 will drive the limiting block 321 to slide towards the first main body 101 through the rotating plate 313. At this time, the sliding plate 211 will drive the driving block 322 to move towards the second main body 102, while limiting the movement of the first spring 312. When the first main body 101 completely leaves the blade surface, the driving block 322 will contact the limiting block 321. The movement of the limiting block 321 will prevent the driving block 322 from moving synchronously with the sliding plate 211. The driving block 322 will be pushed by the limiting block 321 towards the first main body 101, that is, the driving block 322 and the sliding plate 211 will move relative to each other. The sliding plate 211 moves from the first main body 101 to the second main body 102, and the driving block 322 moves from the second main body 101 to the second main body 102. The second body 102 moves towards the first body 101. Since the moving distance of the driving block 322 is limited by the limiting block 321, the moving distance of the sliding plate 211 is greater than the moving distance of the driving block 322. When the sliding plate 211 moves relative to the driving block 322, it will first apply pressure to the second spring 324, and then form a pulling force on the second spring 324. When the sliding plate 211 continues to move, the contact block 323 will rotate towards the sliding plate 211 under the tension of the second spring 324 and the limitation of the groove of the sliding plate 211. At this time, the friction between the contact block 323 and the blade will disappear. When the second body 102 continues to move towards the edge of the blade, it will drive the sliding plate 211 to move synchronously, so that the second body 102 can smoothly drive the blade surface. This reduces the situation where the second body 102 cannot continue to move due to the obstruction of the contact block 323 after the sliding plate 211 moves to the maximum due to the friction between the blade and the contact block 323. This improves the smoothness of the robot's movement when the robot inspects the turbine blade.

[0072] When the second body 102 also moves away from the current blade, since the first body 101 has already adhered to the adjacent blade, the movement of the triangular track 111 on the first body 101 will drive the second body 102 to move in the same direction. At the same time, the rotation of the contact block 323 will cause the sliding plate 211 to be reset by the elastic force of the first spring 312. When the second body 102 moves away from the blade, the second body 102 will rotate to a certain extent due to the influence of gravity. The rotation of the second body 102 will cause the sliding plate 211 to deflect towards the blade due to the obstruction of the first body 101. The deflection of the sliding plate 211 will cause the suspension plate 213 to contact the surface of another blade. At this time, when the body continues to move, the sliding plate 211 will remain stationary due to the friction generated by the contact between the suspension plate 213 and the blade. The sliding plate 211 moves towards the second body 102 relative to the first body 101. The movement of the sliding plate 211 will be transmitted through... The linkage 221 drives the sliding block 222 near the top of the second main body 102 to rotate towards the first main body 101. The rotation of the sliding block 222 will cause the first spring 312 on the connecting plate 311 to generate a counter-push force on the second main body 102. At the same time, the movement of the sliding plate 211 will cause the hook plate 214 to contact the U-shaped rod 212 again. When the hook plate 214 is pushed to the limit, it will generate a counter-pull force on the second main body 102 towards the blade surface. The pushing force of the first spring 312 and the pulling force of the hook plate 214 will gradually pull the second main body 102, which is deviated from the blade surface, back to the blade surface. Since the first spring 312 has a certain amount of energy stored initially, the pushing force of the first spring 312 on the second main body 102 will cause the triangular track 111 on the second main body 102 to form an adsorption force with another blade, thereby strengthening the robot's adsorption to the blade after completing the blade crossing when inspecting the turbine blade.

[0073] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. An in-situ non-destructive testing robot for detecting cracks in steam turbine blades, characterized in that, include: The main body includes a first body, a second body, and two pairs of triangular tracks. Along the travel direction of the main body, the first body is spaced in front of the second body. The first body and the second body are hinged together. A pair of triangular tracks are provided on opposite sides of the first body, and another pair of triangular tracks are provided on opposite sides of the second body. The inspection robot also includes: a fall prevention mechanism; The anti-fall mechanism includes a suspension assembly and a directional assembly. The suspension assembly is movably connected to the first body and the second body and is used to lock the first body and the second body. The directional assembly is connected to the suspension assembly and is used to prevent the first body and the second body from shifting relative to each other. The bottom of the first main body is provided with an elastic plate, and the suspension assembly includes: A sliding plate, wherein the elastic plate abuts against the first end of the sliding plate, and the first end of the sliding plate is used to contact the blade; A U-shaped rod is connected to the first end of the sliding plate with its opening facing away from the first main body. Rollers are provided at both ends of the open end of the U-shaped rod. A suspension plate, which is connected to the first end of the sliding plate, extends from the side of the sliding plate away from the first body in a direction away from the first body; A hook plate is rotatably connected to the side of the first body near the second body, and the hook plate is adapted to the U-shaped rod; A fixing block is sleeved on the second end of the sliding plate and is rotatably connected to the bottom of the second body.

2. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 1, characterized in that, The side of the suspension plate facing away from the sliding plate has a rubber layer.

3. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 1, characterized in that, The orientation component includes: Two linkage rods are rotatably connected to both sides of the second main body; Two sets of sliding blocks, with one set of sliding blocks provided at each of the opposite ends of each linkage rod; A connecting rod rotatably connects two opposing sliding blocks, the connecting rod being located near the top of the second body; A straightening plate, which is connected to the connecting rod, is slidably connected to the top of the second body along the travel direction of the main body mechanism; A push rod is provided, which rotatably connects two opposing sliding blocks. The push rod is located near the bottom of the second body, and the second end of the sliding plate is rotatably sleeved on the push rod.

4. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 3, characterized in that, The inspection robot also includes a straightening mechanism; The alignment mechanism includes a push-back component and a release component. The push-back component is connected to the anti-fall mechanism and is used to push the second body back to the surface of the next blade. The release component is connected to the push-back component and is used to unlock the first body and the second body.

5. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 4, characterized in that, The pushback component includes: A connecting plate, which connects two adjacent sliding blocks, is located near the top of the second body; A first spring, the two ends of which are respectively connected to the connecting plate and the side of the first body closer to the second body; Two rotating plates are rotatably connected to two sliding blocks, and both rotating plates are close to the bottom of the second main body; A synchronizing rod is rotatably connected between the two rotating plates, and a sliding plate is slidably connected to the synchronizing rod.

6. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 5, characterized in that, The disengagement component includes: A limiting block is fixedly connected to the synchronizing rod, and a sliding plate is slidably connected to the limiting block; A driving block is slidably connected to the sliding plate and is located between the U-shaped rod and the limiting block; A contact block, rotatably connected to the sliding plate, extends toward the sliding plate in a direction away from the first body; A second spring connects the sliding block and the contact block, and the second spring passes through the sliding plate.

7. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 6, characterized in that, The sliding plate is provided with a groove extending through its thickness direction, and the contact block extends through the groove to the side of the sliding plate opposite to the first main body.

8. The in-situ non-destructive testing robot for detecting cracks in steam turbine blades according to claim 1, characterized in that, The main body also includes a detection component, which includes at least one set of lighting lamps and scanning detectors. The lighting lamps and the scanning detectors are both located on the side of the first body away from the second body.

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