A wall-climbing robot system for TOFD inspection of spherical tank welds

Abstract

The application belongs to the technical field of wall-climbing robots, and discloses a wall-climbing robot system for TOFD detection of spherical tank welds. The wall-climbing robot system for TOFD detection of spherical tank welds comprises a lifting device, a transition platform mounted on the lifting device, and a turnover device mounted on the transition platform; the turnover device comprises a bottom plate mounted on the transition platform and a turnover plate rotatably mounted on the bottom plate; the wall-climbing robot mounted on the turnover plate is further included, and the wall-climbing robot is provided with a driving system and a TOFD scanning mechanism; the wall-climbing robot comprises a body support made of carbon fiber material, thereby solving the technical problem of difficulty in manual lifting or hoisting of the wall-climbing robot in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to a wall-climbing robot system for TOFD detection of spherical tank welds. Background Art

[0002] Large-scale pressure-bearing equipment has traditionally relied primarily on manual nondestructive testing. Storage-type pressure-bearing equipment, such as large spherical tanks, can have volumes up to 20,000 cubic meters and inner diameters up to 34 meters. Manual nondestructive testing of the interior and exterior surfaces requires scaffolding and manual cleaning and polishing before testing equipment can be brought in. This approach is costly, labor-intensive, dangerous, and inefficient. Test results are easily influenced by the operator's experience and sense of responsibility, and the process can be lengthy. This leads to potential losses, such as prolonged production interruptions and restrictions on capacity expansion.

[0003] TOFD (Time of Flight Diffraction) is an ultrasonic testing method that uses diffraction signals from the end points of defects to detect and size defects. Its fundamental characteristic is the use of a single-transmitter, single-receiver probe pair. With the continuous development of automation technology, the diversity of inspection conditions for various pipes, spherical tanks, and storage tanks in actual production, and the increasing demands for labor intensity and safety of inspectors, the demand for automated testing has also gradually increased. Magnetic crawling automated TOFD can reduce risks and labor intensity, enable automated scanning inspection, improve inspection efficiency, adapt to complex working conditions, and reduce human error, among other advantages. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a wall-climbing robot system for TOFD inspection of spherical tank welds. By adding a lifting device, it aims to solve the technical problem of the difficulty of manual lifting or hoisting of the wall-climbing robot in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention proposes a wall-climbing robot system for TOFD inspection of spherical tank welds, comprising a lifting device, a transition platform installed on the lifting device, and a flipping device installed on the transition platform; the flipping device comprises a base plate installed on the transition platform and a flipping plate rotatably installed on the base plate; the system also includes a wall-climbing robot installed on the flipping plate, the wall-climbing robot being provided with a drive system and a TOFD scanning mechanism; the wall-climbing robot comprises a main body bracket, and the main body bracket is made of carbon fiber.

[0006] Preferably, the flipping device further comprises a power cylinder, one end of the power cylinder is connected to the base plate, and the other end is connected to the flipping plate.

[0007] Preferably, the diameter of the transition platform is smaller than the diameter of the manhole of the spherical tank, and the transition platform can be higher than the height of the manhole of the spherical tank when it rises to the maximum height.

[0008] Preferably, the lifting device is a light scissor-type hydraulic lifting platform; a plurality of rollers are provided at the bottom of the lifting device, and the rollers are foot brake rollers.

[0009] Preferably, an auxiliary brake device is provided on the lifting device; the auxiliary brake device comprises a lifting rod, a brake rod and a gear plate installed on the lifting device; the lifting rod is engaged with the gear plate, and the brake rod is engaged with the gear plate.

[0010] Preferably, a brake disc is provided at the bottom of the brake lever; an annular brake pattern is provided on the periphery of the brake disc; a protrusion is provided on the brake disc, and the multiple protrusions are combined to form an arc-shaped protrusion; there are multiple arc-shaped protrusions facing different directions.

[0011] Preferably, the driving system includes a first motor arranged at the bottom of the main body bracket, a reducer connected to the first motor, a universal wheel and a driving rubber wheel driven by the reducer.

[0012] Preferably, the TOFD scanning mechanism includes two scanning bodies and a spacing adjustment mechanism mounted on the body bracket.

[0013] Preferably, the scanning body includes a nut slider, a guide rail arranged at the bottom of the nut slider, a fixed block arranged on the guide rail, a spring, a wedge rotatably arranged on the fixed block, a detection probe arranged on the wedge and a scanning water supply nozzle, the spring is arranged between the fixed block and the nut slider, and a stainless steel ball screw is also arranged on the wedge.

[0014] Preferably, the spacing adjustment mechanism includes a second motor provided on the scanning body and a bidirectional screw driven by the second motor.

[0015] Compared with the prior art, the wall-climbing robot system for TOFD inspection of spherical tank welds provided by the present invention has the following beneficial effects:

[0016] 1. The present invention can enable the wall-climbing robot to easily enter and exit the spherical tank without close human assistance, and can enable the TOFD inspection robot to crawl along the curved surface of the spherical tank to detect welding defects. It realizes the automatic application of coupling agent, improves work efficiency, saves costs, and the stable and uniform coupling layer medium improves the coupling performance of the ultrasonic probe. The robot has a strong obstacle-crossing ability, and the robot positioning during the inspection process is stable and reliable, which improves the inspection accuracy. At the same time, it also reduces the risks brought by manual inspection, improves the environmental adaptability of the inspection robot, expands the inspection range, realizes intelligent and high-standard inspection work, improves inspection efficiency, adapts to complex working conditions, and avoids inspection errors caused by human factors. At the same time, the entire robot unit module is easy to repair and maintain.

[0017] 2. During the lifting process of the lifting device, the lifting rod rises, the lifting rod drives the gear plate to rotate, the gear plate drives the brake rod to descend, and the brake disc on the brake rod contacts the ground to perform auxiliary braking.

[0018] 3. The annular pattern creates anti-skid function at all angles, which provides better braking effect.

[0019] 4. Multiple protrusions form arc-shaped protrusions, which face different directions. When the ground is uneven, the annular protrusion can clamp one of the surfaces to prevent the device from sliding.

[0020] The features and advantages of the present invention will be described in detail through embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of an auxiliary lifting wall-climbing robot without an auxiliary braking device in a wall-climbing robot system for TOFD inspection of spherical tank welds in an embodiment of the present invention.

[0022] Figure 2 It is a structural schematic diagram of an auxiliary lifting wall-climbing robot of a wall-climbing robot system for TOFD inspection of spherical tank welds in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the bottom structure of a brake disc of an auxiliary lifting wall-climbing robot of a wall-climbing robot system for TOFD inspection of spherical tank welds in an embodiment of the present invention.

[0024] Figure 4 The present invention is a schematic structural diagram of a wall-climbing robot system for TOFD inspection of spherical tank welds according to an embodiment of the present invention.

[0025] Figure 5 The figure is a schematic diagram of the top view of a wall-climbing robot system for TOFD inspection of spherical tank welds according to an embodiment of the present invention.

[0026] Among them: 1-lifting device; 11-roller; 12-transverse rod; 2-transition platform; 3-turning device; 31-bottom plate; 32-turning plate; 33-power cylinder; 4-spherical tank manhole; 5-auxiliary brake device; 51-lifting rod; 52-brake rod; 53-gear plate; 54-brake disc; 55-first crank; 56-second crank; 57-tilt push rod; 541-annular brake pattern; 542-protrusion; 543-arc-shaped protrusion; 6-spherical tank robot; 61-body bracket; 611-multi-function lifting handle; 612-housing; 613- Control box; 614-Rear handle; 62-Calibration and video detection system; 621-Front camera system; 622-Front lighting; 623-Laser aligner; 63-Marking module; 64-Automatic coupling agent adding device; 65-Transmission cable; 651-Cable reel; 66-Ground station electrical control box; 67-Automatic tracking pan-tilt head; 68-Wireless receiving control unit; 7-Drive system; 71-First motor; 72-Reducer; 73-Universal wheel; 74-Drive rubber wheel; 8-TOFD scanning mechanism; 9-Liquid tank; 91-Water pump controller; 92-Water pump. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and examples. However, it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0028] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0029] In the description of the present application, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality of" means two or more, unless otherwise explicitly specified and limited.

[0030] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] Referring to Figure 1 The embodiment of the present application provides a kind of for spherical tank weld TOFD detection wall-climbing robot system, including a kind of spherical tank wall-climbing robot auxiliary in-out tank device, including lifting device 1, transition platform 2 being installed on lifting device 1 and turnover device 3 being installed on transition platform 2. Turnover device 3 includes bottom plate 31 being installed on transition platform 2 and turnover plate 32 being rotatably installed on bottom plate 31. Turnover plate 32 is adsorbed with wall-climbing robot 6, and lifting device 1 is lifted to drive transition platform 2 to be lifted together. In an alternative embodiment, the bottom of lifting device 1 is provided with a plurality of rollers 11, and the rollers 11 are foot brake rollers. During the lifting of lifting device 1, the foot brake rollers need to brake the rollers.

[0032] Referring to Figure 4The embodiment of the present invention provides a wall-climbing robot system for TOFD inspection of spherical tank welds, which also includes a wall-climbing robot 6 installed on a flip plate 32. The wall-climbing robot 6 is provided with a drive system 7 and a TOFD scanning mechanism 8. The wall-climbing robot 6 includes a main body bracket 61, which is made of carbon fiber. The wall-climbing robot 6 also includes a calibration and video detection system 62, a marking module 63, an automatic coupling agent adding device 64, a transmission cable 65, a ground station electrical control box 66, and an automatic tracking pan-tilt head 67. The main body bracket 61 also includes a multifunctional lifting handle 611, a shell 612, a control box 613, and a rear handle 614 installed on the main body bracket 61. The multifunctional lifting handle 611 can not only realize the lifting function through the lifting eye screw, but also can be changed in position by the quick plug-in pin to realize different forms, changing from a lifting bracket to a front handle, and moving the wall-climbing robot 6 together with the rear handle 614. A control box 613 for the control drive system 7 and the calibration and video detection system 62 is also installed. The robot body bracket 61 is made of carbon fiber, which has a lower density than aviation aluminum but much higher strength than aviation aluminum, effectively reducing the weight of the robot body.

[0033] See Figure 5 In an optional embodiment, the drive system 7 includes a first motor 71 provided at the bottom of the main body bracket 61, a reducer 72 connected to the first motor 71, a universal wheel 73, and a drive rubber wheel 74 driven by the reducer 72. The drive system 7 mainly adopts two first motors 71 and two reducers 72, with differential drive and flexible control. The calibration and video detection system 62 is mainly used for macroscopic inspection of welds and alignment of welds for walking observation. It includes a front camera system 621, a front lighting 622, a laser aligner 623, etc., which are installed in front of the wall-climbing walking mechanism and emit two laser beams on both sides of the weld to facilitate alignment of the weld, so that the wall-climbing robot 7 can walk along the weld and observe the situation in front of the robot.

[0034] In an optional embodiment, the scanning body includes a nut slider, a guide rail mounted at the bottom of the nut slider, a fixed block mounted on the guide rail, a spring, a wedge rotatably mounted on the fixed block, a detection probe mounted on the wedge, and a scanning water supply nozzle. The spring is positioned between the fixed block and the nut slider, and a stainless steel ball screw is mounted on the wedge. The wedge enables multiple degrees of freedom of rotation and movement. It can freely move up and down within the guide rail's travel perpendicular to the tank wall, providing adaptive functionality to ensure good coupling between the probe and the tank wall during inspection. The travel range ensures the robot's obstacle clearance and adapts to tank wall surfaces of varying curvatures. A spring with an appropriate spring coefficient is selected based on preload requirements. The spring preloads the detection probe to conform to the tank wall to be inspected, ensuring flexible contact between the wedge and the tank wall and enabling dynamic compression during movement. Furthermore, it can rotate freely both in the forward and perpendicular directions to adapt to changes in the wall surface. The wedge is made of special materials with low acoustic impedance, which can effectively reduce sound attenuation. There are water holes inside the wedge and water is supplied by an external water pipe. There is a uniform water groove on the bottom of the wedge to evenly disperse the water flow, better create a coupled water layer between the wedge and the wall, and ensure air-gap coupling while reducing friction and wear. In addition, to further reduce wedge wear, stainless steel ball screws are placed at the four corners of the bottom of the wedge to adjust the depth of the steel ball, and the friction of the rolling steel ball replaces the friction of the wedge, effectively avoiding wear and extending the service life of the wedge.

[0035] A detection probe is installed in the middle of the wedge block and a set of scanning water supply nozzles are installed vertically on both sides, which are used to spray coupling agent in time when using the detection probe to detect the weld, so that the ultrasonic sound field can enter the wall of the spherical tank to detect the weld. The two scanning water supply nozzles are connected to the water outlet via a tee. A water pump 91 is installed in the internal water source of the liquid tank 9. The water outlet of the water pump 91 is connected to the water pump controller 92 through a water pipe. The water outlet of the water pump controller 92 is connected to the scanning water supply nozzle 817 through a water pipe. The water pump controller 92 and the water pump 91 are both placed under the spherical tank and connected to the mains power through explosion-proof plugs.

[0036] The spacing adjustment mechanism includes a second motor mounted on the scanning body and a bidirectional lead screw driven by the second motor. The spacing adjustment mechanism adjusts the distance between the transmitting and receiving probes based on the workpiece thickness, thereby determining the center-to-center distance (PCS) between the transmitting and receiving probes. The spacing adjustment mechanism includes the second motor and a bidirectional lead screw. Two nut sliders are threadedly connected to the bidirectional lead screw, and the two nut sliders move toward each other. The second motor is fixedly connected to the center of the crossbar. The active bevel gear on the second motor's main shaft drives the passive bevel gear on the bidirectional lead screw, which in turn drives the bidirectional lead screw. The nut sliders are fixedly connected to a set of TOFD scanning mechanisms.

[0037] A wireless receiving control unit 68 is provided at one upper end of the wall-climbing robot 6 .

[0038] The marking module 63, mounted below the wall-climbing robot 6, is used to physically mark the workpiece surface near a detected defect. This marking is achieved by spraying a color code to indicate the defect's location. The marking module 63 includes a dye tank containing at least one color of dye and a nozzle positioned along the weld line to match the weld. Based on instructions from the system control module, the nozzle selects a specific pattern for each defect, as determined by the defect template diagram.

[0039] To improve inspection efficiency, a wall-climbing robot system for TOFD inspection of spherical tank welds employs two robots for simultaneous inspection. One robot inspects the upper half of the tank's inner wall and, for safety reasons, must be equipped with a fall arrest device. The other robot inspects the lower half of the tank's inner wall. While inspecting the bottom area, this robot could easily crush the transmission cable 65 when retreating. Therefore, the transmission cable 65 is wound around a retractable cable reel 651 placed inside the tank.

[0040] The wall-climbing robot's ground station control box 66, used in conjunction with the robot, enables robot motion control, detection signals, and high-definition camera image transmission. All remote control operations can be performed through the ground station control box. The ground station control box consists of a display, control panel, power switch, emergency stop switch, cables, cable rack (with built-in encoder), and power supply.

[0041] The automatic tracking PTZ 67 can automatically identify image information. When the image moves, it follows the movement to capture the image. It can identify the movement of objects within the monitoring range and automatically control the PTZ to track the moving objects. All the movements of the objects are clearly transmitted to the monitor.

[0042] The robot has manual weld tracking and automatic weld tracking modes. In automatic mode, the robot turns on the weld automatic tracking system. When using this system, the robot can automatically track the weld for inspection operations.

[0043] In order to improve the safety factor, an auxiliary brake device 5 is provided on the lifting device 1. Figure 2In an optional embodiment, the auxiliary brake device 5 includes a lifting rod 51, a brake rod 52, and a gear plate 53 mounted on the lifting device 1. The lifting rod 51 is in gear meshing engagement with the gear plate 53, while the brake rod 52 is in gear meshing engagement with the gear plate 53. A brake disc 54 is provided at the bottom of the brake rod 52. The lifting device 1 is a lightweight scissor-type hydraulic lifting platform. The lifting device 1 is provided with transverse rods 12, with transverse rods 12 provided above and below each intersection. The upper end of the lifting rod 51 is fixed to one transverse rod 12, and the lower end of the lifting rod 51 is connected to the lower transverse rod 12 via a slider. The slider is fixed to the transverse rod 12 and slidably connected to the lifting rod 51. During the ascent of the lifting device 1, the lifting rod 51 rises, and the slider at the lower end slides downward along the lifting rod 51. As the lifting rod 51 rises, the gear plate 53 rotates, driving the brake rod 52 downward until the brake disc 54 engages the ground, acting as a brake. Both sides of the brake rod 52 are connected to the transverse rod 12 via sliders. The transverse rod 12 enhances the robustness of the scissor-type hydraulic lift platform. Furthermore, by securing the transverse rod 12, the lift rod 51, and the brake rod 52 via sliders, the thickness of the transverse rod 12 can be reduced and strengthened, and some of the gravity can be shared. Meanwhile, the brake disc 54 transmits force to the ground, thereby enhancing the overall pressure-bearing capacity of the scissor-type hydraulic lift platform.

[0044] The transverse rod 12 can surround the lifting device 1, and there can be multiple auxiliary brake devices 5 to maintain the force balance of each part.

[0045] The lifting mechanism 1 comprises multiple scissor-type structures, each controlled by a different hydraulic cylinder. The lowest scissor-type structure is equipped with an auxiliary brake device 5. This lowest scissor-type structure is activated first to reach the deployed position, at which point the auxiliary brake device 5 is already in place. The other scissor-type structures can be activated simultaneously (via an electronic control button or program). Because the auxiliary brake device 5 can withstand greater force, improving stability, simultaneous activation of the other scissor-type structures is less likely to overload the caster's caster brake rollers and damage them.

[0046] See Figure 3 In an optional embodiment, an annular brake pattern 541 is provided on the periphery of the brake disc 54. A protrusion 542 is provided on the brake disc 54, and multiple protrusions 542 are combined to form an arcuate protrusion 543. There are multiple arcuate protrusions 543, and they face different directions. The bottom surface of the arcuate protrusion 543 is flush with the lowest surface of the annular brake pattern 541, increasing the contact area and improving the anti-slip effect. The arcuate protrusion 543 forms a fence structure. If the bottom surface is uneven, the ground protrusion can be used to prevent slipping, and the arcuate protrusion 543 can also provide greater anti-slip force.

[0047] See Figure 1In an optional embodiment, the turning device 3 further includes a power cylinder 33 , one end of the power cylinder 33 is connected to the bottom plate 31 , and the other end is connected to the turning plate 32 .

[0048] See Figure 1 In an optional embodiment, the diameter of the transition platform 2 is smaller than the diameter of the manhole 4 of the spherical tank, and the transition platform 2 can be higher than the height of the manhole 4 of the spherical tank when it rises to the maximum height.

[0049] participate Figure 2 , the auxiliary brake device 5 may also include another auxiliary brake device. The other auxiliary brake device includes a first crank 55, a second crank 56 and a tilted push rod 57. The top of the first crank 55 is rotatably fixed to the transverse rod 12. The other parts of the first crank 55 are all movable on the transverse rod 12 and can be fixed together by a slider. The top of the second crank 56 is rotatably fixed to the first crank 55, and the other parts are all movable on the transverse rod 12 and can be fixed together with the transverse rod 12 by a slider. The bottom of the second crank 56 is also provided with a curved surface, which can increase friction. The tilted push rod 57 is arranged perpendicular to the second crank 56. When it is raised to the highest point, it can be used as a warning rod, and when it is folded up, it can be used as a push rod. The first crank 55 and the second crank 56 are both fixed to the transverse rod 12 by a slider and the transverse rod 12, and can also share the pressure for the transverse rod 12, thereby improving the pressure-bearing capacity of the lifting device.

[0050] When the spherical tank robot, i.e., the wall-climbing robot 6, needs to enter the spherical tank through the manhole 4 to work, it first rises to the top of the spherical tank through the lifting device 1 and is about to touch the manhole 4 of the spherical tank, and the flip plate 32 enters the spherical tank. Then, the power cylinder 33 flips a certain angle so that the flip plate 32 falls on the surface of the spherical tank, and the spherical tank robot moves out of the flip plate 32 for inspection.

[0051] When the spherical tank robot completes the inspection task and needs to exit the spherical tank through the spherical tank manhole 4, it first rises to its top through the lifting device 1 and is about to touch the spherical tank manhole 4, and the flip plate 32 enters the spherical tank. Then, the power cylinder 33 flips a certain angle so that the flip plate 32 falls on the surface of the spherical tank. The spherical tank robot moves to the flip plate 32, flips a certain angle to return to the initial position, and then the lifting device 1 is lowered.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wall-climbing robot system for TOFD inspection of spherical tank welds, characterized by: The invention relates to a lifting device (1), a transition platform (2) installed on the lifting device (1), and a flipping device (3) installed on the transition platform (2); the flipping device (3) comprises a base plate (31) installed on the transition platform (2) and a flipping plate (32) rotatably installed on the base plate (31); the invention also comprises a wall-climbing robot (6) installed on the flipping plate (32), the wall-climbing robot (6) being provided with a drive system (7) and a TOFD scanning mechanism (8); the wall-climbing robot (6) comprising a main body bracket (61), the main body bracket (61) being made of carbon fiber; the lifting device (1) is a light scissor-type hydraulic lifting platform, the lifting device (1) being provided with a transverse rod (12) above and below each intersection; an auxiliary brake device (5) is provided on the lifting device (1); the auxiliary brake device (5) comprises a lifting device (6) installed on the lifting device (1) and a lifting device (6) provided with a lifting device (6 ... A lowering rod (51), a brake rod (52) and a gear plate (53); the lifting rod (51) is meshed with the gear plate (53), and the brake rod (52) is meshed with the gear plate (53); the upper end of the lifting rod (51) is fixed to an upper transverse rod (12), and the lower end of the lifting rod (51) is connected to the lower transverse rod (12) through a slider, and the slider is fixed to the lower transverse rod (12) and is slidably connected to the lifting rod (51); the auxiliary brake device (5) also includes a first crank (55), a second crank (56) and an inclined push rod (57), the top end of the first crank (55) is rotatably fixed to the upper transverse rod (12), and the other parts of the first crank (55) can move on multiple lower transverse rods (12); the top of the second crank (56) is rotatably fixed to the bottom end of the first crank (55), and the other parts can move on multiple lower transverse rods (12); 2. A wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: The turning device (3) further comprises a power cylinder (33), one end of the power cylinder (33) being connected to the bottom plate (31) and the other end being connected to the turning plate (32).

3. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: The diameter of the transition platform (2) is smaller than the diameter of the spherical tank manhole (4), and the transition platform (2) can be higher than the height of the spherical tank manhole (4) when it rises to its maximum height.

4. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: A plurality of rollers (11) are provided at the bottom of the lifting device (1), and the rollers (11) are foot brake rollers.

5. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: A brake disc (54) is provided at the bottom of the brake rod (52); an annular brake pattern (541) is provided on the periphery of the brake disc (54); a protrusion (542) is provided on the brake disc (54), and a plurality of the protrusions (542) are combined to form an arc-shaped protrusion (543); there are a plurality of the arc-shaped protrusions (543) facing different directions.

6. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: The driving system (7) comprises a first motor (71) arranged at the bottom of the main body bracket (61), a reducer (72) connected to the first motor (71), a universal wheel (73), and a driving rubber wheel (74) driven by the reducer (72).

7. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 1, characterized in that: The TOFD scanning mechanism (8) comprises two scanning bodies mounted on the body bracket (61) and a spacing adjustment mechanism.

8. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 7, characterized in that: The scanning body includes a nut slider, a guide rail arranged at the bottom of the nut slider, a fixed block arranged on the guide rail, a spring, a wedge block rotatably arranged on the fixed block, a detection probe arranged on the wedge block and a scanning water supply nozzle, the spring is arranged between the fixed block and the nut slider, and a stainless steel ball screw is also arranged on the wedge block.

9. The wall-climbing robot system for TOFD inspection of spherical tank welds according to claim 7, characterized in that: The spacing adjustment mechanism includes a second motor arranged on the scanning body and a bidirectional screw driven by the second motor.

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