Blade surface UT detection equipment

Abstract

The utility model discloses a blade surface UT detection device. The device comprises an AGV trolley; the ultrasonic detection mechanism is used for flaw detection of the wind power blade; the lifting mechanism is arranged at the upper end of the AGV trolley and is used for driving the ultrasonic detection mechanism to lift and move; the extension mechanism is arranged at the rear end of the lifting mechanism and is used for driving the ultrasonic detection mechanism to move left and right; the movable limiting mechanism is arranged at the right end of the extending mechanism, and the ultrasonic detection mechanism is arranged on the movable limiting mechanism. The blade surface UT detection equipment provided by the utility model can replace manual flaw detection, realizes automatic flaw detection of a wind power blade by an AGV trolley, is safer and more efficient, and can utilize rigid connection between the first dialer and the second roller to obtain stroke data of the AGC trolley and cooperate with detection of an ultrasonic detector to realize a data closed loop.

Description

Technical Field

[0001] The utility model belongs to the technical field of wind power blade flaw detection, and in particular relates to a blade surface UT detection device. Background Art

[0002] Today, with energy supply tight around the world, excessive consumption of fossil energy has exacerbated energy shortages, climate and environmental problems. There is great potential for the development of renewable energy, and wind energy has strong advantages in both technology and cost. In recent years, my country's wind power industry has continued to expand, with installed capacity growing larger and larger. Wind turbine blades, one of the core components of wind power generation, are also getting larger and larger. If there are quality problems with the blades before leaving the factory, it will inevitably cause serious consequences. Therefore, the blades need to be quality inspected before leaving the factory. After the blades are processed and produced, they need to be inspected to prevent damage to the blades, which will affect their service life and cause certain dangers. When inspecting the blades, manual handheld flaw detectors are required to inspect the blades. This not only requires high labor intensity, but also has low precision and high labor costs. Utility Model Content

[0003] In order to solve the deficiencies in the prior art, the utility model provides a blade surface UT detection device.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A blade surface UT detection device, comprising:

[0006] AGV car;

[0007] An ultrasonic testing mechanism, which is used for flaw detection of wind turbine blades;

[0008] A lifting mechanism, which is arranged at the upper end of the AGV trolley and is used to drive the lifting and moving of the ultrasonic detection mechanism;

[0009] An extending mechanism, which is arranged at the rear end of the lifting mechanism and is used to drive the ultrasonic detection mechanism to move left and right;

[0010] A movable limiting mechanism is arranged at the right end of the extending mechanism, and the ultrasonic detection mechanism is arranged on the movable limiting mechanism.

[0011] Further, the lifting mechanism includes a first support frame, a second support frame, a third support frame, a first mounting frame and a first hydraulic cylinder, the first support frame is fixedly arranged at the upper end of the AGV trolley, the second support frame is arranged on the inner side of the first support frame and is slidably connected to the first support frame, the third support frame is arranged on the inner side of the second support frame and is slidably connected to the second support frame, the first mounting frame is arranged on the inner side of the third support frame and is slidably connected to the third support frame, the first hydraulic cylinder is arranged at the lower end of the first support frame, the upper end of the first hydraulic cylinder is provided with a first idler wheel, and the first idler wheel A first chain is provided on the wheel, one end of the first chain is connected to the lower end of the first support frame, the other end of the first chain is connected to the lower end of the second support frame, a second idle wheel is provided at the upper end of the second support frame, a second chain is provided on the second idle wheel, one end of the second chain is connected to the upper end of the first support frame, the other end of the second chain is connected to the lower end of the third support frame, a third idle wheel is provided in the middle of the third support frame, a third chain is provided on the third idle wheel, one end of the third chain is connected to the lower end of the first support frame, and the other end of the third chain is connected to the first mounting frame.

[0012] Further, the extending mechanism includes a second mounting frame, a first extending frame and a second extending frame, the second mounting frame is fixedly arranged at the rear end of the first mounting frame, a first slider is provided at the lower end of the second mounting frame, a first slide rail is provided at the upper end of the first extending frame, the first slider matches the first slide rail, a first electric cylinder is provided at the upper end of the second mounting frame, the other end of the first electric cylinder is connected to the right end of the first extending frame, a second slider is provided at the lower end of the first extending frame, a second slide rail is provided at the upper end of the second extending frame, the second slider matches the second slide rail, a first driving motor is provided at the lower end of the second extending frame, a first gear is provided at the upper end of the first driving motor through the second extending frame, a first rack is provided at the lower end of the first extending frame, and the first gear matches the first rack.

[0013] The cam is configured to move the third wheel to the left of the chassis and to move the third wheel to the right of the chassis, wherein the cam is configured to move the third wheel towards the left, and the third wheel is configured to move the third wheel towards the right. There is a first laser displacement sensor, and a second laser displacement sensor is provided at the rear end of the third extending frame. The first laser displacement sensor and the second laser displacement sensor are used to measure the offset position of the scanning frame; the mobile limiting mechanism includes a first nitrogen spring, and the first nitrogen spring is arranged at the lower end of the second extending frame, and the other end of the first nitrogen spring is connected to the third extending frame; a first encoder is provided at the upper end of the second mounting plate, and the first encoder is rigidly connected to the second roller, and the first encoder is used to read the travel data of the AGV trolley; a first cylinder is provided at the right end of the scanning frame, and a fourth slider is provided on the first cylinder, and a first pull piece is provided at the lower end of the fourth slider, and first limit switches are provided at both ends of the scanning frame; a fourth support frame is provided at the lower end of the scanning frame, and a return water tank is provided at the lower end of the fourth support frame.

[0014] Further, the ultrasonic detection mechanism includes a fifth mounting frame, a sixth mounting frame, a seventh mounting frame, a second electric cylinder, a third electric cylinder and an ultrasonic detector, the fifth mounting frame is mounted on the right end of the fourth slider, the second electric cylinder is arranged at the rear end of the fifth mounting frame, the second electric cylinder is provided with a fifth slider, the sixth mounting frame is arranged at the right end of the fifth slider, the third electric cylinder is arranged at the lower end of the sixth mounting frame, the third electric cylinder is provided with a sixth slider, the seventh mounting frame is arranged on the sixth slider, the front end of the sixth mounting frame is provided with a first guide rod, the upper end of the seventh mounting frame is provided with a first guide block, the first guide block matches the first guide rod, and the ultrasonic detector is arranged at the right end of the seventh mounting frame; the ultrasonic detection mechanism includes a second guide block and a first support column, the second guide block matches the first guide rod, the second guide block matches the first guide rod, and the second guide block matches the first guide rod. The guide blocks are connected by a first connecting column, the first support column is arranged at the right end of the second guide block, and the ultrasonic detector is arranged at the right end of the first support column; the ultrasonic detection mechanism includes an ultrasonic flaw detection frame, the rear end of the ultrasonic flaw detection frame is hinged to the first support column, the ultrasonic detector is arranged in the ultrasonic flaw detection frame, the upper and lower ends of the ultrasonic detector are hinged to the ultrasonic flaw detection frame, the front and rear ends of the ultrasonic flaw detection frame are provided with spray nozzles, the AGV trolley is provided with a water outlet tank, and the water outlet tank is connected to the spray nozzle; the ultrasonic detection mechanism includes a return water frame, the return water frame is arranged at the lower end of the seventh mounting frame, the lower end of the return water frame is provided with a return water pipe, and the return water pipe is connected to the return water tank; the fifth sliding block is provided with a second paddle, and the two ends of the fifth mounting frame are provided with second limit switches, and the second paddle matches the second limit switch.

[0015] The blade surface UT detection device disclosed in the utility model has the following beneficial effects compared with the prior art:

[0016] 1. It can replace manual flaw detection and realize automatic flaw detection of wind turbine blades by AGV, which is safer and more efficient than manual flaw detection. It can also use the rigid connection between the first encoder and the second roller to obtain the travel data of the AGC trolley and cooperate with the detection of the ultrasonic detector to realize data closed loop. It can drive the ultrasonic detection mechanism to move up and down and move left and right through the lifting mechanism and the extension mechanism to ensure that the ultrasonic detection mechanism fits the wind turbine blade for flaw detection;

[0017] 2. It also includes a mobile limiting mechanism, which ensures that the ultrasonic detection mechanism can stably fit the wind turbine blades without damaging the wind turbine blades through the soft contact between the first roller and the second roller and the wind turbine blades, and scans the offset position of the frame through the first laser displacement sensor and the second laser displacement sensor, so as to calculate and adjust the overall posture of the AGV trolley and keep it parallel with the wind turbine blades, that is, it can ensure that the ultrasonic detector can fit the wind turbine blades;

[0018] 3. It also includes an ultrasonic detection mechanism, which can drive the ultrasonic detector to any position in the space through the drive of the first cylinder, the second electric cylinder and the third electric cylinder, and through the hinged movement between the ultrasonic flaw detection frame and the seventh mounting frame, and the hinged movement between the ultrasonic detector and the ultrasonic flaw detection frame, it can be ensured that the ultrasonic detector can fit any curvature of the wind turbine blade, and that the ultrasonic detector can stably and accurately perform flaw detection after the spray nozzle wets the wind turbine blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a detection device provided by the utility model from one viewing angle.

[0020] Figure 2 It is a structural schematic diagram of the detection device provided by the utility model from another perspective.

[0021] Figure 3 It is a structural schematic diagram of the lifting mechanism provided by the utility model from a first viewing angle.

[0022] Figure 4 It is a structural schematic diagram of the lifting mechanism provided by the utility model from a second viewing angle.

[0023] Figure 5 It is a structural schematic diagram of the lifting mechanism provided by the utility model from a third viewing angle.

[0024] Figure 6 It is a structural schematic diagram of the lifting mechanism provided by the utility model from a fourth viewing angle.

[0025] Figure 7 It is a structural schematic diagram of the extension mechanism provided by the utility model from one perspective.

[0026] Figure 8 It is a structural schematic diagram of the extension mechanism provided by the utility model from another perspective.

[0027] Fig. 9 It is a structural schematic diagram of a mobile limiting mechanism provided by the utility model from one viewing angle.

[0028] Fig.10 It is a structural schematic diagram of the movable limiting mechanism provided by the utility model from another perspective.

[0029] Fig.11 It is a structural schematic diagram of a scanning frame provided by the utility model from one perspective.

[0030] Fig.12 It is a structural schematic diagram of the scanning frame provided by the utility model from another perspective.

[0031] Fig.13 It is a structural schematic diagram of the ultrasonic detection mechanism provided by the utility model from a first viewing angle.

[0032] Fig.14 It is a structural schematic diagram of the second viewing angle of the ultrasonic detection mechanism provided by the utility model.

[0033] Fig.15 It is a structural schematic diagram of the ultrasonic detection mechanism provided by the utility model from a third viewing angle.

[0034] Reference numerals include: 1000, AGV trolley; 1100, water outlet box; 2000, lifting mechanism; 2100, first support frame; 2200, second support frame; 2210, second idler wheel; 2220, second chain; 2300, third support frame; 2310, third idler wheel; 2320, third chain; 2400, first mounting frame; 2500, first hydraulic cylinder; 2510, first idler wheel; 2520, first chain; 3000, extension mechanism; 3100, second mounting frame; 3110, first electric cylinder; 3120, first slider; 3200, first extension frame; 3210, first slide rail; 3300, second extension frame; 3310, second slide rail; 3320, first drive motor; 3400, third extension frame; 3411, first laser displacement sensor; 3412, second laser displacement sensor; 3420, first nitrogen spring; 3500, third mounting frame; 4000, mobile limit mechanism; 4100, fourth mounting frame; 4 110, second drive motor; 4200, scanning frame; 4210, first limit switch; 4310, first mounting plate; 4311, first roller; 4320, second mounting plate; 4321, second roller; 4322, first encoder; 4400, water return frame; 4500, first cylinder; 4510, fourth slider; 4511, first paddle; 5000, ultrasonic detection mechanism; 5100, fifth mounting frame; 5110, second electric cylinder; 5111, fifth slider; 5 112, second paddle; 5120, second limit switch; 5200, sixth mounting bracket; 5210, first guide rod; 5220, third electric cylinder; 5221, sixth slide block; 5300, seventh mounting bracket; 5310, first guide block; 5320, second guide block; 5330, first connecting column; 5400, return water frame; 5410, return water pipe; 5500, ultrasonic flaw detection bracket; 5510, spray nozzle; 5520, ultrasonic detector; 5530, first supporting column. DETAILED DESCRIPTION

[0035] The utility model discloses a blade surface UT detection method and detection equipment. The specific implementation of the utility model is further described below in conjunction with a preferred embodiment.

[0036] See attached figure Figure 1-15 , Figure 1 It is a structural schematic diagram of a detection device provided by the utility model from one perspective. Figure 2 It is a structural schematic diagram of the detection device provided by the utility model from another perspective. Figure 3 It is a structural schematic diagram of the lifting mechanism 2000 provided by the utility model from a first perspective. Figure 4 It is a structural schematic diagram of the lifting mechanism 2000 provided by the utility model from a second viewing angle. Figure 5It is a structural schematic diagram of the lifting mechanism 2000 provided by the utility model from a third viewing angle. Figure 6 2 is a structural schematic diagram of the lifting mechanism 2000 provided by the utility model from a fourth viewing angle. Figure 7 It is a structural schematic diagram of the extension mechanism 3000 provided by the utility model from one perspective. Figure 8 is a structural schematic diagram of the extension mechanism 3000 provided by the utility model from another perspective. Fig. 9 It is a structural schematic diagram of a mobile limiting mechanism 4000 provided by the utility model from one perspective. Fig.10 It is a structural schematic diagram of the mobile limiting mechanism 4000 provided by the utility model from another perspective. Fig.11 It is a structural schematic diagram of a scanning frame 4200 provided by the utility model from one perspective. Fig.12 is a structural schematic diagram of the scanning frame 4200 provided by the utility model from another perspective. Fig.13 It is a structural schematic diagram of the ultrasonic detection mechanism 5000 provided by the utility model from a first perspective. Fig.14 is a structural schematic diagram of the ultrasonic detection mechanism 5000 provided by the utility model from a second viewing angle, Fig.15 It is a structural schematic diagram of the ultrasonic detection mechanism 5000 provided by the utility model from a third viewing angle.

[0037] Preferred embodiments.

[0038] This embodiment provides a blade surface UT detection method, comprising the following steps:

[0039] Step S1: After confirming that the wind turbine blades are fixed, the device is moved to the designated position of the wind turbine blades by the AGV trolley 1000;

[0040] Step S2: The height of the ultrasonic detection mechanism 5000 is adjusted by the lifting mechanism 2000, and the extension mechanism 3000 is extended outward, so that the scanning frame 4200 in the movable limiting mechanism 4000 is close to the wind turbine blade, and the first roller 4311 and the second roller 4321 in the movable limiting mechanism 4000 are in contact with the wind turbine blade;

[0041] Step S3: driving the ultrasonic probe in the ultrasonic detection mechanism 5000 to fit the wind turbine blade, driving the ultrasonic probe to move forward and backward and up and down to perform mobile scanning, until the regional path scanning is driven, the ultrasonic probe in the ultrasonic detection mechanism 5000 is separated from the wind turbine blade, and the scanning frame 4200 in the movable limiting mechanism 4000 is kept close to the wind turbine blade, and the first roller 4311 and the second roller 4321 in the movable limiting mechanism 4000 are both in contact with the wind turbine blade;

[0042] Step S4: The AGV 1000 moves forward and repeats step S2 until the scan is complete.

[0043] A blade surface UT detection device, comprising:

[0044] AGV trolley 1000;

[0045] An ultrasonic testing mechanism 5000, wherein the ultrasonic testing mechanism 5000 is used for flaw detection of wind turbine blades;

[0046] A lifting mechanism 2000, which is disposed at the upper end of the AGV trolley 1000 and is used to drive the ultrasonic detection mechanism 5000 to move upward and downward;

[0047] An extending mechanism 3000, which is arranged at the rear end of the lifting mechanism 2000 and is used to drive the ultrasonic detection mechanism 5000 to move left and right;

[0048] The movable limiting mechanism 4000 is arranged at the right end of the extending mechanism 3000 , and the ultrasonic detection mechanism 5000 is arranged on the movable limiting mechanism 4000 .

[0049] Further, the lifting mechanism 2000 includes a first support frame 2100, a second support frame 2200, a third support frame 2300, a first mounting frame 2400 and a first hydraulic cylinder 2500, the first support frame 2100 is fixedly arranged at the upper end of the AGV trolley 1000, the second support frame 2200 is arranged on the inner side of the first support frame 2100 and is slidably connected to the first support frame 2100, the third support frame 2300 is arranged on the inner side of the second support frame 2200 and is slidably connected to the second support frame 2200, the first mounting frame 2400 is arranged on the inner side of the third support frame 2300 and is slidably connected to the third support frame 2300, the first hydraulic cylinder 2500 is arranged at the lower end of the first support frame 2100, the upper end of the first hydraulic cylinder 2500 is provided with a first idler wheel 2510, and the first idler wheel 2 A first chain 2520 is provided on 510, one end of the first chain 2520 is connected to the lower end of the first support frame 2100, the other end of the first chain 2520 is connected to the lower end of the second support frame 2200, a second idler wheel 2210 is provided at the upper end of the second support frame 2200, a second chain 2220 is provided on the second idler wheel 2210, one end of the second chain 2220 is connected to the upper end of the first support frame 2100, the other end of the second chain 2220 is connected to the lower end of the third support frame 2300, a third idler wheel 2310 is provided in the middle of the third support frame 2300, a third chain 2320 is provided on the third idler wheel 2310, one end of the third chain 2320 is connected to the lower end of the first support frame 2100, and the other end of the third chain 2320 is connected to the first mounting frame 2400.

[0050] Furthermore, the extension mechanism 3000 includes a second mounting frame 3100, a first extension frame 3200 and a second extension frame 3300, wherein the second mounting frame 3100 is fixedly arranged at the rear end of the first mounting frame 2400, a first slider 3120 is arranged at the lower end of the second mounting frame 3100, a first slide rail 3210 is arranged at the upper end of the first extension frame 3200, the first slider 3120 matches the first slide rail 3210, a first electric cylinder 3110 is arranged at the upper end of the second mounting frame 3100, and the first electric cylinder 3110 is arranged at the upper end of the second extension frame 3100. The other end is connected to the right end of the first extending frame 3200, a second slider is provided at the lower end of the first extending frame 3200, a second slide rail 3310 is provided at the upper end of the second extending frame 3300, the second slider matches the second slide rail 3310, a first driving motor 3320 is provided at the lower end of the second extending frame 3300, a first gear is provided at the upper end of the first driving motor 3320 through the second extending frame 3300, a first rack is provided at the lower end of the first extending frame 3200, and the first gear matches the first rack.

[0051] Furthermore, the movable limiting mechanism 4000 includes a third extending frame 3400, a third mounting frame 3500, a fourth mounting frame 4100 and a scanning frame 4200, the lower end of the second extending frame 3300 is provided with a third slider, the upper end of the third extending frame 3400 is provided with a third slide rail, the third slider matches the third slide rail, the third mounting frame 3500 is arranged at the right end of the third extending frame 3400, the fourth mounting frame 4100 is fixedly arranged at the right end of the third mounting frame 3500, and the scanning frame 4200 is hingedly arranged on the fourth mounting frame The right end of the mounting frame 4100, the fourth mounting frame 4100 is provided with a third driving motor, the third driving motor is used to drive the scanning frame 4200 to rotate, the front end of the scanning frame 4200 is provided with a first mounting plate 4310, the right end of the first mounting plate 4310 is provided with a first roller 4311, the rear end of the scanning frame 4200 is provided with a second mounting plate 4320, the right end of the second mounting plate 4320 is provided with a second roller 4321, the first roller 4311 and the second roller 4321 are both flexible rollers; the front end of the third extension frame 3400 is provided with a The first laser displacement sensor 3411 is provided at the rear end of the third extension frame 3400, and the second laser displacement sensor 3412 is provided at the rear end of the third extension frame 3400. The first laser displacement sensor 3411 and the second laser displacement sensor 3412 are used to measure the offset position of the scanning frame 4200; the mobile limiting mechanism 4000 includes a first nitrogen spring 3420, the first nitrogen spring 3420 is arranged at the lower end of the second extension frame 3300, and the other end of the first nitrogen spring 3420 is connected to the third extension frame 3400; the upper end of the second mounting plate 4320 A first encoder 4322 is provided, and the first encoder 4322 is rigidly connected to the second roller 4321, and the first encoder 4322 is used to read the travel data of the AGV trolley 1000; a first cylinder 4500 is provided at the right end of the scanning frame 4200, and a fourth slider 4510 is provided on the first cylinder 4500, and a first pull piece is provided at the lower end of the fourth slider 4510, and first limit switches 4210 are provided at both ends of the scanning frame 4200; a fourth support frame is provided at the lower end of the scanning frame 4200, and a return water tank is provided at the lower end of the fourth support frame.

[0052] Furthermore, the ultrasonic detection mechanism 5000 includes a fifth mounting frame 5100, a sixth mounting frame 5200, a seventh mounting frame 5300, a second electric cylinder 5110, a third electric cylinder 5220 and an ultrasonic detector, wherein the fifth mounting frame 5100 is mounted on the right end of the fourth slider 4510, the second electric cylinder 5110 is arranged at the rear end of the fifth mounting frame 5100, a fifth slider 5111 is arranged on the second electric cylinder 5110, the sixth mounting frame 5200 is arranged at the right end of the fifth slider 5111, the third electric cylinder 5220 is arranged at the lower end of the sixth mounting frame 5200, and the third electric cylinder A sixth slider 5221 is provided on the 5220, the seventh mounting frame 5300 is arranged on the sixth slider 5221, the front end of the sixth mounting frame 5200 is provided with a first guide rod 5210, the upper end of the seventh mounting frame 5300 is provided with a first guide block 5310, the first guide block 5310 matches the first guide rod 5210, and the ultrasonic detector is arranged at the right end of the seventh mounting frame 5300; the ultrasonic detection mechanism 5000 includes a second guide block 5320 and a first support column 5530, the second guide block 5320 matches the first guide rod 5210, the second guide block The first guide block 5320 is connected to the first guide block 5310 through a first connecting column 5330, the first supporting column 5530 is arranged at the right end of the second guide block 5320, and the ultrasonic detector is arranged at the right end of the first supporting column 5530; the ultrasonic detection mechanism includes an ultrasonic flaw detection frame 5500, the rear end of the ultrasonic flaw detection frame 5500 is hinged to the first supporting column 5530, the ultrasonic detector is arranged in the ultrasonic flaw detection frame 5500, the upper and lower ends of the ultrasonic detector are hinged to the ultrasonic flaw detection frame 5500, and the front and rear ends of the ultrasonic flaw detection frame 5500 are provided with spray nozzles 551 0, the AGV trolley 1000 is provided with a water outlet box 1100, and the water outlet box 1100 is connected to the spray nozzle 5510; the ultrasonic detection mechanism 5000 includes a return water frame 5400, and the return water frame 5400 is arranged at the lower end of the seventh mounting frame 5300, and the lower end of the return water frame 5400 is provided with a return water pipe 5410, and the return water pipe 5410 is connected to the return water tank; the fifth slider 5111 is provided with a second paddle 5112, and the two ends of the fifth mounting frame 5100 are provided with second limit switches 5120, and the second paddle 5112 matches the second limit switch 5120.

[0053] Working principle:

[0054] First, fix the produced wind turbine blades, move the AGV trolley 1000 to one side of the wind turbine blades, start the first hydraulic cylinder 2500 to push upward, then the first idler wheel 2510 cooperates with the first chain 2520 to drive the second support frame 2200 to slide upward in the first support frame 2100, and the second support frame 2200 moves upward, and the third support frame 2300 is driven to slide upward in the second support frame 2200 through the second idler wheel 2210 and the second chain 2220, and the third support frame 2300 moves upward, and the first mounting frame 2400 is driven to slide upward in the third support frame 2300 through the third idler wheel 2310 and the third chain 2320, that is, the extension mechanism 3000 is driven to move upward. Through the first chain 2520, the second chain 2220 and the third chain 2320, the first hydraulic cylinder 2500 can drive the first mounting frame 2400 with a high stroke at a low stroke, so that the lifting mechanism 2000 can have a larger lifting range so that it can be applied to wind turbine blades of larger models and sizes.

[0055] Secondly, the first electric cylinder 3110 pushes the first extension frame 3200, so that the first extension frame 3200 slides along the first slide rail 3210, and the first drive motor 3320 starts to drive the first gear to rotate, and cooperates with the first rack to make the second extension frame 3300 slide along the second slide rail 3310, and the scanning frame 4200 extends toward the wind turbine blade. At the same time, the first laser displacement sensor 3411 and the second laser displacement sensor 3412 measure the offset position of the scanning frame 4200, so as to calculate and adjust the overall posture of the AGV 1000, and keep it parallel to the wind turbine blade, and push the scanning frame 4200 toward the wind turbine blade by the extension mechanism 3000 until the first roller 4311 and the second roller 4321 are both against the surface of the wind turbine blade, and the scanning frame 4200 is pressed against the wind turbine blade by the first nitrogen spring 3420. The flexible first roller 4311 and the second roller 4321 are in contact with the wind turbine blades without damaging the surface of the wind turbine blades, and the second roller 4321 is rigidly connected to the first encoder 4322, which can read the actual data of the forward and backward movement of the AGV 1000 to form a data closed loop.

[0056] Then, the first cylinder 4500 drives the fifth mounting frame 5100 to move forward and backward, the second electric cylinder 5110 drives the sixth mounting frame 5200 to move up and down, and the third electric cylinder 5220 drives the seventh mounting frame 5200 to move left and right, that is, the ultrasonic detector 5520 can be driven to move in all directions, ensuring that the ultrasonic detector 5520 is close to any position of the wind turbine blade. When the ultrasonic detector 5520 is pushed toward the wind turbine blade, the articulation between the ultrasonic flaw detection frame 5500 and the seventh mounting frame 5300, and the articulation between the ultrasonic detector 5520 and the ultrasonic flaw detection frame 5500 can ensure that the ultrasonic detector 5520 can fit any curvature of the wind turbine blade, that is, ensure the detection of the ultrasonic detector 5520.

[0057] Finally, water is supplied to the spray nozzle 5510 through the water outlet box 1100 to first wet the surface of the wind turbine blades, and then the ultrasonic detector 5520 detects whether there are damages and other problems in the area; the water sprayed by the spray nozzle 5510 wets the surface of the wind turbine blades, flows into the return water frame 5400, and flows into the return water tank through the return water frame 5400 to collect the water again. At the same time, the load-bearing capacity of the ultrasonic detection mechanism 5000 can also be reduced to avoid other problems. After completing the detection of one area, move the AGV 1000 to the next area and repeat the above actions until the detection is completed.

[0058] It is worth mentioning that the technical features such as ultrasonic detectors involved in this utility model patent application should be regarded as prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected by conventional methods in the field, and should not be regarded as the utility model points of this utility model patent. This utility model patent will not be further elaborated.

[0059] For those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A blade surface UT detection device, characterized in that: include: AGV car (1000); An ultrasonic testing mechanism (5000), wherein the ultrasonic testing mechanism (5000) is used for flaw detection of wind turbine blades; A lifting mechanism (2000), the lifting mechanism (2000) being arranged at the upper end of the AGV trolley (1000) and being used to drive the lifting and lowering movement of the ultrasonic detection mechanism (5000); An extending mechanism (3000), the extending mechanism (3000) being arranged at the rear end of the lifting mechanism (2000) and being used for driving the ultrasonic detection mechanism (5000) to move left and right; A movable limiting mechanism (4000), wherein the movable limiting mechanism (4000) is arranged at the right end of the extending mechanism (3000), and the ultrasonic detection mechanism (5000) is arranged on the movable limiting mechanism (4000).

2. The blade surface UT detection device according to claim 1, characterized in that: The lifting mechanism (2000) comprises a first support frame (2100), a second support frame (2200), a third support frame (2300), a first mounting frame (2400) and a first hydraulic cylinder (2500), wherein the first support frame (2100) is fixedly arranged at the upper end of the AGV trolley (1000), the second support frame (2200) is arranged on the inner side of the first support frame (2100) and is slidably connected to the first support frame (2100), and the third support frame (23 ... and the second support frame (2200) is fixedly arranged at the inner side of the first support frame (2100) and is slidably connected to the first support frame (2100). The first support frame (2300) is arranged on the inner side of the second support frame (2200) and is slidably connected to the second support frame (2200), the first mounting frame (2400) is arranged on the inner side of the third support frame (2300) and is slidably connected to the third support frame (2300), the first hydraulic cylinder (2500) is arranged at the lower end of the first support frame (2100), and the upper end of the first hydraulic cylinder (2500) is provided with a first idler wheel (2510), and the first idler wheel (2510) ), one end of the first chain (2520) is connected to the lower end of the first support frame (2100), the other end of the first chain (2520) is connected to the lower end of the second support frame (2200), the upper end of the second support frame (2200) is provided with a second idler wheel (2210), the second idler wheel (2210) is provided with a second chain (2220), one end of the second chain (2220) is connected to the first support frame (2100), and the other end of the first chain (2520) is connected to the lower end of the second support frame (2200). 0), the other end of the second chain (2220) is connected to the lower end of the third support frame (2300), a third idler wheel (2310) is provided in the middle of the third support frame (2300), a third chain (2320) is provided on the third idler wheel (2310), one end of the third chain (2320) is connected to the lower end of the first support frame (2100), and the other end of the third chain (2320) is connected to the first mounting frame (2400).

3. The blade surface UT detection device according to claim 2, characterized in that: The extending mechanism (3000) comprises a second mounting frame (3100), a first extending frame (3200) and a second extending frame (3300), wherein the second mounting frame (3100) is fixedly arranged at the rear end of the first mounting frame (2400), a first sliding block (3120) is arranged at the lower end of the second mounting frame (3100), a first sliding rail (3210) is arranged at the upper end of the first extending frame (3200), the first sliding block (3120) matches the first sliding rail (3210), a first electric cylinder (3110) is arranged at the upper end of the second mounting frame (3100), and the first electric cylinder (3110) is arranged at the upper end of the second extending frame (3200). 0) is connected to the right end of the first extending frame (3200), a second slider is provided at the lower end of the first extending frame (3200), a second slide rail (3310) is provided at the upper end of the second extending frame (3300), the second slider matches the second slide rail (3310), a first driving motor (3320) is provided at the lower end of the second extending frame (3300), a first gear is provided at the upper end of the first driving motor (3320) through the second extending frame (3300), a first rack is provided at the lower end of the first extending frame (3200), and the first gear matches the first rack.

4. The blade surface UT detection device according to claim 3, characterized in that: The movable limiting mechanism (4000) comprises a third extending frame (3400), a third mounting frame (3500), a fourth mounting frame (4100) and a scanning frame (4200), wherein a third slider is provided at the lower end of the second extending frame (3300), a third slide rail is provided at the upper end of the third extending frame (3400), the third slider matches the third slide rail, the third mounting frame (3500) is arranged at the right end of the third extending frame (3400), the fourth mounting frame (4100) is fixedly arranged at the right end of the third mounting frame (3500), and the scanning frame (4200) is hingedly arranged on the fourth mounting frame (4100) 0), a third driving motor is arranged on the fourth mounting frame (4100), and the third driving motor is used to drive the scanning frame (4200) to rotate, a first mounting plate (4310) is arranged at the front end of the scanning frame (4200), a first roller (4311) is arranged at the right end of the first mounting plate (4310), a second mounting plate (4320) is arranged at the rear end of the scanning frame (4200), a second roller (4321) is arranged at the right end of the second mounting plate (4320), and the first roller (4311) and the second roller (4321) are both flexible rollers; a first mounting plate (4310) is arranged at the front end of the third extending frame (3400), and a first driving motor is used to drive the scanning frame (4200) to rotate; a laser displacement sensor (3411), a second laser displacement sensor (3412) is provided at the rear end of the third extending frame (3400), the first laser displacement sensor (3411) and the second laser displacement sensor (3412) are used to measure the offset position of the scanning frame (4200); the movable limiting mechanism (4000) comprises a first nitrogen spring (3420), the first nitrogen spring (3420) is arranged at the lower end of the second extending frame (3300), and the other end of the first nitrogen spring (3420) is connected to the third extending frame (3400); the upper end of the second mounting plate (4320) is provided with There is a first encoder (4322), the first encoder (4322) is rigidly connected to the second roller (4321), and the first encoder (4322) is used to read the travel data of the AGV trolley (1000); a first cylinder (4500) is provided at the right end of the scanning frame (4200), a fourth slider (4510) is provided on the first cylinder (4500), a first pull piece is provided at the lower end of the fourth slider (4510), and first limit switches (4210) are provided at both ends of the scanning frame (4200); a fourth support frame is provided at the lower end of the scanning frame (4200), and a return water tank is provided at the lower end of the fourth support frame.

5. The blade surface UT detection device according to claim 4, characterized in that: The ultrasonic detection mechanism (5000) comprises a fifth mounting frame (5100), a sixth mounting frame (5200), a seventh mounting frame (5300), a second electric cylinder (5110), a third electric cylinder (5220) and an ultrasonic detector, wherein the fifth mounting frame (5100) is mounted on the right end of the fourth sliding block (4510), the second electric cylinder (5110) is arranged at the rear end of the fifth mounting frame (5100), the second electric cylinder (5110) is provided with a fifth sliding block (5111), the sixth mounting frame (5200) is arranged at the right end of the fifth sliding block (5111), the third electric cylinder (5220) is arranged at the lower end of the sixth mounting frame (5200), and the third electric cylinder (5220) is arranged at the rear end of the fourth sliding block (4510). 20) is provided with a sixth slider (5221), the seventh mounting frame (5300) is arranged on the sixth slider (5221), the front end of the sixth mounting frame (5200) is provided with a first guide rod (5210), the upper end of the seventh mounting frame (5300) is provided with a first guide block (5310), the first guide block (5310) matches the first guide rod (5210), and the ultrasonic detector is arranged at the right end of the seventh mounting frame (5300); the ultrasonic detection mechanism (5000) includes a second guide block (5320) and a first support column (5530), the second guide block (5320) matches the first guide rod (5210), and the second guide block (5320) is connected to the first guide block (5310) through a first connecting column (5330), the first support column (5530) is arranged at the right end of the second guide block (5320), and the ultrasonic detector is arranged at the right end of the first support column (5530); the ultrasonic detection mechanism includes an ultrasonic flaw detection frame (5500), the rear end of the ultrasonic flaw detection frame (5500) is hinged to the first support column (5530), the ultrasonic detector is arranged in the ultrasonic flaw detection frame (5500), the upper and lower ends of the ultrasonic detector are hinged to the ultrasonic flaw detection frame (5500), and the front and rear ends of the ultrasonic flaw detection frame (5500) are provided with spray nozzles (5510), The AGV trolley (1000) is provided with a water outlet box (1100), and the water outlet box (1100) is connected to the spray nozzle (5510); the ultrasonic detection mechanism (5000) includes a water return frame (5400), and the water return frame (5400) is arranged at the lower end of the seventh mounting frame (5300), and the lower end of the water return frame (5400) is provided with a water return pipe (5410), and the water return pipe (5410) is connected to the water return tank; the fifth slider (5111) is provided with a second paddle (5112), and the two ends of the fifth mounting frame (5100) are provided with a second limit switch (5120), and the second paddle (5112) matches the second limit switch (5120).

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