Adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot

Abstract

The invention discloses an adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot which comprises a robot body provided with a wall thickness detection assembly, a climbing mechanism, an adjusting mechanism, a position detection mechanism and an adsorption mechanism. The crawling mechanism comprises a steering wheel, a first driving wheel and a second driving wheel; an adjusting part of the adjusting mechanism is used for adjusting the inclination angles of the central axis of the first driving wheel and the central axis of the second driving wheel relative to the robot main body; an arc-shaped plate of the position detection mechanism is arranged on the surface of the side, facing the metal pipeline, of the robot body and attached to the outer wall of the metal pipeline, and a position detection assembly is used for detecting whether the arc-shaped plate is separated from the metal pipeline or not. The adsorption mechanism comprises a suction cup and a suction cup driving assembly, and a suction cup driving part of the suction cup driving assembly is in driving connection with the suction cup and used for driving the suction cup to move to make contact with the outer wall of the metal pipeline and be adsorbed and fixed to the outer wall of the metal pipeline when the arc-shaped plate is separated from the metal pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic climbing robots, in particular to an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot. Background Art

[0002] With the progress of the times and the development of science and technology, the demand for operations in special environments such as high-rise buildings, large oil tanks, wind turbines, oil pipelines, ships, and airplanes is increasing. Taking the inspection of metal pipelines as an example, wall-climbing robots are generally used to inspect pipelines; due to the large size of existing wall-climbing robots, they cannot adapt to the inspection of small-diameter pipelines. Therefore, on small-diameter pipelines, wall-climbing robots cannot perform flexible control and fixed-point inspection; at the same time, due to the large weight of wall-climbing robots, when climbing on pipelines, they will easily slip due to their own weight, which will cause the wall-climbing robots to fall and be damaged, and the inspection will fail. Summary of the invention

[0003] The main purpose of the present invention is to provide an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot, which aims to solve the problem that the existing wall climbing robots cannot adapt to small pipe diameters and are very likely to fall due to their own weight when climbing.

[0004] To achieve the above object, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot proposed by the present invention comprises:

[0005] A robot body, on which a wall thickness detection component is disposed;

[0006] A crawling mechanism, comprising three magnetic wheels that are in tangential contact with the outer wall of the metal pipe and are magnetically attracted, wherein the three magnetic wheels include a steering wheel hinged to the robot body, and a first driving wheel and a second driving wheel movably mounted on the robot body;

[0007] an adjustment mechanism, comprising a movable adjustment portion, wherein the adjustment portion is connected to the first driving wheel and the second driving wheel to respectively adjust an inclination angle of a central axis of the first driving wheel and a central axis of the second driving wheel relative to the robot body;

[0008] The position detection mechanism comprises an arc plate and a position detection component, wherein the arc plate is arranged on a side surface of the robot body facing the metal pipe and is in contact with the outer wall of the metal pipe, and an avoidance hole for avoiding the wall thickness detection component is opened on the arc plate, and the position detection component is used to detect whether the arc plate is separated from the metal pipe; and,

[0009] The adsorption mechanism includes a suction cup movably arranged on the robot body, and a suction cup driving component electrically connected to the position detection component, wherein the suction cup driving component includes a movably arranged suction cup driving part, and the suction cup driving part drives the suction cup to move to contact the outer wall of the metal pipe and be adsorbed and fixed to the outer wall of the metal pipe when the arc plate is separated from the metal pipe.

[0010] In one embodiment, the position detection mechanism further includes:

[0011] a crawling detection assembly, disposed between the crawling mechanism and the metal pipe, for detecting whether the three magnetic wheels are in contact with the outer wall of the metal pipe; and

[0012] A pushing assembly is electrically connected to the creeping detection assembly, the pushing assembly includes a pushing driving part drivingly connected to the arc-shaped plate, the pushing driving part can move along a second direction, and is used to drive the arc-shaped plate to move close to the metal pipe and fit with the outer wall of the metal pipe when the three magnetic wheels are in contact with the outer wall of the metal pipe;

[0013] Wherein, the second direction is configured as a direction pointing from the robot body to the metal pipe.

[0014] In one embodiment, the arc-shaped plate is deformable;

[0015] The position detection mechanism further includes a deformation component, which includes a plurality of stretching parts arranged side by side and spaced apart, one end of each stretching part is connected to the robot body, and the other end is connected to the arc plate and can move along the second direction to drive a local area of ​​the arc plate to approach or move away from the metal pipe;

[0016] Wherein, the second direction is configured as a direction pointing from the robot body to the metal pipe.

[0017] In one embodiment, the deformation component includes a plurality of micro cylinders arranged side by side and spaced apart, the cylinder bodies of the micro cylinders are arranged on a side surface of the robot body facing the metal pipe, the telescopic rods of the micro cylinders can move along the second direction, and the free ends of the telescopic rods are connected to the arc-shaped plate;

[0018] Wherein, the stretching part includes a telescopic rod of the micro cylinder.

[0019] In one embodiment, the adsorption mechanism includes a plurality of suction cups, the plurality of suction cups are located between the robot body and the arc-shaped plate, and are arranged side by side and spaced apart in the first direction, and each of the suction cups is located between two adjacent stretching parts;

[0020] The adsorption mechanism further comprises a connecting frame, wherein the connecting frame connects a plurality of the suction cups;

[0021] The suction cup driving part is located between the robot body and the arc-shaped plate, and is driven to connect the connecting frame;

[0022] The arc-shaped plate is provided with a plurality of through holes, each of which corresponds to a position of the suction cup, so that when the suction cup driving unit drives the connecting frame to move close to the metal pipe, the suction cup can extend from the corresponding through hole and contact the metal pipe;

[0023] Wherein, the first direction is configured as the axial direction of the metal pipe.

[0024] In one embodiment, the position detection mechanism further includes:

[0025] A mounting plate is provided on a side of the robot body facing the metal pipe; and

[0026] A pushing assembly, comprising a pushing driving part, wherein the pushing driving part can move along the second direction and drive the mounting plate to push the mounting plate to move closer to or away from the metal pipe;

[0027] Wherein, the deformation component is arranged on a side of the mounting plate facing the arc plate, one end of the stretching portion is connected to the mounting plate, and the other end is connected to the arc plate and can move along the second direction.

[0028] In one embodiment, the arc-shaped plate has a first side edge and a second side edge that are oppositely arranged in a first direction, the first side edge is bent in a direction away from the metal pipe to form a first arc-shaped flange, and the second side edge is bent in a direction away from the metal pipe to form a second arc-shaped flange;

[0029] Wherein, the first direction is configured as the axial direction of the metal pipe.

[0030] In one embodiment, each of the three magnetic wheels comprises a hub and a magnetic ring, an annular mounting groove is provided on the circumferential side of the hub, and the magnetic ring is sleeved on the circumferential side of the hub and placed in the annular mounting groove;

[0031] A plurality of first slot bodies are formed on the bottom wall of the annular mounting slot, and a plurality of second slot bodies are formed on the inner wall of the magnetic ring, wherein a slot opening of each second slot body corresponds to a slot opening of the first slot body;

[0032] The magnetic wheel also includes a plurality of buffer springs, each of which is partially disposed in the first slot body and partially disposed in the corresponding second slot body, and has a length in an initial state greater than the sum of the slot depths of the first slot body and the second slot body.

[0033] In one embodiment, the robot body has a first side and a second side arranged opposite to each other in a first direction;

[0034] The adjustment mechanism comprises:

[0035] The mounting assembly comprises a first mounting seat and a second mounting seat, wherein the first mounting seat is rotatably mounted on the robot body along an axis in the first direction, and the second mounting seat is rotatably mounted on the robot body along an axis in the first direction;

[0036] an adjusting transmission assembly, which is disposed on the second side of the robot body, and comprises a first rod, a second rod and a third rod, wherein two ends of the second rod and the third rod on the same side are rotatably connected to the first rod and can rotate synchronously along the axis of the first direction, the other end of the second rod is connected to the first mounting seat, and the other end of the third rod is connected to the second mounting seat, and the first rod can move along the second direction to drive the second rod and the third rod to rotate synchronously, so as to drive the first mounting seat and the second mounting seat to rotate respectively; and

[0037] An adjustment drive assembly, comprising an adjustment drive portion movably arranged along the second direction, wherein the adjustment drive portion is driven and connected to the first rod;

[0038] Wherein, the steering wheel is hinged to the first side of the robot body, the first driving wheel is rotatably mounted on the first mounting seat, and the second driving wheel is rotatably mounted on the second mounting seat;

[0039] The first direction is configured as the axial direction of the metal pipe, and the second direction is configured as a direction pointing from the robot body to the metal pipe.

[0040] In one embodiment, the robot body has a first side and a second side arranged opposite to each other in a first direction;

[0041] The crawling mechanism further includes a crawling drive assembly, and the crawling drive assembly includes:

[0042] A crawling servo, which is arranged on the first side of the robot body, and which drives and connects the steering wheel so that the steering wheel crawls along a preset direction on the outer wall of the metal pipe;

[0043] A first driving motor, wherein the first driving motor is located at the second side of the robot body, and a rotating shaft of the first driving motor drives and connects to the first driving wheel, so that the first driving wheel crawls on the outer wall of the metal pipe; and

[0044] a second drive motor, the second drive motor being located at a second side of the robot body and arranged side by side with the first drive motor in a third direction, the rotation shaft of the second drive motor drivingly connecting the second drive wheel so that the second drive wheel crawls on the outer wall of the metal pipe;

[0045] Wherein, the steering wheel is located on the first side of the robot body, the first driving wheel and the second driving wheel are located on the second side of the robot body, and are arranged side by side and spaced apart in the third direction;

[0046] The first direction is configured as the axial direction of the metal pipe, and the third direction is configured as the tangential direction of the metal pipe and is arranged to intersect with the first direction.

[0047] In the technical solution of the present invention, a wall thickness detection component is provided on the robot body of the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot for detecting the wall thickness of the metal pipe; the crawling mechanism on the robot body includes three magnetic wheels that are in tangential contact with the outer wall of the metal pipe and are magnetically adsorbed, and the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot crawls on the metal pipe through the three magnetic wheels; the three magnetic wheels include a steering wheel, a first driving wheel and a second driving wheel, and the steering wheel is used to crawl on the outer wall of the metal pipe in a preset direction, and the first driving wheel and the second driving wheel are adjusted by an adjustment part to adjust the inclination angle of the central axis of the first driving wheel and the central axis of the second driving wheel relative to the robot body, so that the three magnetic wheels can match metal pipes of different diameters. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot can also crawl on a small-diameter pipeline; at the same time, an arc plate and a position detection component are arranged on the robot body, and the arc plate is in contact with the outer wall of the metal pipeline. During the crawling process of the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot, the position detection component is used to detect whether the arc plate is separated from the metal pipeline; when the arc plate is separated from the metal pipeline, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot may be at risk of falling off the metal pipeline; the suction cup driving part arranged on the robot body drives the suction cup to move until it contacts the outer wall of the metal pipeline and is adsorbed and fixed to the outer wall of the metal pipeline, so that the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot can be prevented from falling when crawling on the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0049] Figure 1 A schematic structural diagram of an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot provided by an embodiment of the present invention at a first viewing angle;

[0050] Figure 2 A schematic structural diagram of an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot provided by an embodiment of the present invention at a second viewing angle;

[0051] Figure 3a-3b A schematic diagram of three magnetic wheels provided in an embodiment of the present invention crawling on the surface of a metal pipe;

[0052] Figure 4a-4c is a schematic diagram of different orientations of the steering wheel provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot provided by an embodiment of the present invention from a third perspective;

[0054] Figure 6 A schematic diagram of the structure of an adsorption assembly provided in an embodiment of the present invention;

[0055] Figure 7 A side view of a curved plate provided by an embodiment of the present invention;

[0056] Figure 8 A schematic diagram of the structural decomposition of a magnetic wheel provided in an embodiment of the present invention.

[0057] Description of Figure Numbers:

[0058]

[0059]

[0060] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0064] Existing metal pipeline inspections generally use wall-climbing robots to inspect pipelines. Since existing wall-climbing robots are large in size, they cannot be adapted to small-diameter pipeline inspections. Therefore, on small-diameter pipelines, wall-climbing robots cannot perform flexible control and fixed-point inspections. At the same time, since wall-climbing robots have a large deadweight, they are very likely to slip sideways due to their own weight when climbing on the pipeline, which may cause the wall-climbing robots to fall and be damaged, as well as inspection failures.

[0065] In order to solve the above problems, the present invention proposes an adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot. Figure 1 One embodiment of the present invention.

[0066] In an embodiment of the present invention (hereinafter referred to as this embodiment), the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100. Figure 1As shown, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 includes a robot body 1, a crawling mechanism 3, an adjustment mechanism 4, a position detection mechanism 5 and an adsorption mechanism 6; a wall thickness detection component 2 is provided on the robot body 1; the crawling mechanism 3 includes three magnetic wheels that are in tangential contact with the outer wall of the metal pipe and are magnetically adsorbed, and the three magnetic wheels include a steering wheel 31 hinged to the robot body 1, and a first driving wheel 32 and a second driving wheel 33 movably mounted on the robot body 1; the adjustment mechanism 4 includes a movably arranged adjustment part, which is connected to the first driving wheel 32 and the second driving wheel 33 to respectively adjust the inclination angles of the central axis of the first driving wheel 32 and the central axis of the second driving wheel 33 relative to the robot body 1; The position detection mechanism 5 includes an arc plate 51 and a position detection component. The arc plate 51 is arranged on the side surface of the robot body 1 facing the metal pipe and is in contact with the outer wall of the metal pipe. The arc plate 51 is provided with an avoidance hole for avoiding the wall thickness detection component 2. The position detection component is used to detect whether the arc plate 51 is separated from the metal pipe; the adsorption mechanism 6 includes a suction cup 61 movably arranged on the robot body 1, and a suction cup driving component electrically connected to the position detection component. The suction cup driving component includes a movably arranged suction cup driving part 62. The suction cup driving part 62 drives the suction cup 61 to be connected to the suction cup 61, so that when the arc plate 51 is separated from the metal pipe, the suction cup 61 is driven to move to contact the outer wall of the metal pipe and be adsorbed and fixed to the outer wall of the metal pipe.

[0067] In the technical solution of the present invention, a wall thickness detection component 2 is provided on the robot body 1 of the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 for detecting the wall thickness of the metal pipe; the crawling mechanism 3 on the robot body 1 includes three magnetic wheels that are in tangential contact with the outer wall of the metal pipe and are magnetically adsorbed, and the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 crawls on the metal pipe through the three magnetic wheels; the three magnetic wheels include a steering wheel 31, a first driving wheel 32 and a second driving wheel 33, and the steering wheel 31 is used to crawl on the outer wall of the metal pipe in a preset direction, and the first driving wheel 32 and the second driving wheel 33 are adjusted by an adjustment part to adjust the inclination angle of the central axis of the first driving wheel 32 and the central axis of the second driving wheel 33 relative to the robot body 1, so that the three magnetic wheels can match metal pipes of different diameters. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 can crawl on a small-diameter pipeline; at the same time, an arc plate 51 and a position detection component are arranged on the robot body 1, and the arc plate 51 is in contact with the outer wall of the metal pipeline. During the crawling process of the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100, the position detection component is used to detect whether the arc plate 51 is separated from the metal pipeline; when the arc plate 51 is separated from the metal pipeline, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 may be at risk of falling off from the metal pipeline; the suction cup driving part 62 arranged on the robot body 1 drives the suction cup 61 to move to contact with the outer wall of the metal pipeline and be adsorbed and fixed to the outer wall of the metal pipeline, so that the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 can be prevented from falling when crawling on the pipeline.

[0068] What you can know is that please combine Figure 1 In the present application, the first direction F1 is configured as the axial direction of the metal pipe; the second direction F2 is configured as the direction from the robot body 1 to the metal pipe; the third direction F3 is configured as the tangential direction of the metal pipe, and is arranged to intersect with the first direction F1 and the second direction F2.

[0069] In addition, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 further includes a controller, which is electrically connected to the crawling mechanism 3, the adjustment mechanism 4, the position detection mechanism 5, and the adsorption mechanism 6; the controller may be a processor or logic circuit configured (for example, by code or logic design) to perform operation control. For example, in some embodiments, the controller is a microprocessor configured by code to control the driving of the steering wheel 31 so as to manipulate the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 along a preset direction or a preset path on the curved metal pipe surface.

[0070] In one embodiment, a battery is also provided on the robot body 1, and the battery supplies power to the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100; the controller uses ESP32-S3 as the main control chip, and the chip has built-in WIFI that can transmit control information and collected data.

[0071] Meanwhile, the present application does not impose any specific restrictions on the wall thickness detection component 2. In some embodiments, the wall thickness detection component 2 can be set as a UT probe (English full name: Ultrasonic Transducer, Chinese abbreviation: ultrasonic probe), which is widely used in the field of non-destructive testing (NDT) to check internal defects of materials, such as cracks, voids, delamination, etc., and to measure the thickness and properties of materials. In this way, the controller can be configured to control the UT probe to perform detection, for example, to control the UT probe to measure the thickness of a metal pipe.

[0072] In one embodiment of the present application, the robot body 1 has a first side 11 and a second side 12 arranged opposite to each other in the first direction F1; the crawling mechanism 3 also includes a crawling drive component 34, and the crawling drive component 34 includes a crawling servo 341, a first drive motor 342 and a second drive motor 343; the crawling servo 341 is arranged on the first side 11 of the robot body 1, and the crawling servo 341 drives and connects the steering wheel 31 so that the steering wheel 31 crawls along a preset direction on the outer wall of the metal pipe; the first drive motor 342 is located on the second side 12 of the robot body 1, and the rotating shaft of the first drive motor 342 drives and connects the first drive wheel 32 so that the first drive wheel 32 The outer wall of the metal pipe is crawled; the second drive motor 343 is located on the second side 12 of the robot body 1, and is arranged side by side with the first drive motor 342 in the third direction F3, and the rotating shaft of the second drive motor 343 drives the second drive wheel 33 to make the second drive wheel 33 crawl on the outer wall of the metal pipe; wherein the steering wheel 31 is located on the first side 11 of the robot body 1, the first drive wheel 32 and the second drive wheel 33 are located on the second side 12 of the robot body 1, and are arranged side by side in the third direction F3; the first direction F1 is configured as the axial direction of the metal pipe, and the third direction F3 is configured as the tangential direction of the metal pipe, and is arranged crosswise with the first direction F1.

[0073] Figure 2It is a simplified schematic diagram of three magnetic wheels on the robot body 1 to better illustrate the characteristics of the three magnetic wheels. The first drive motor 342 and the second drive motor 343 drive the first drive wheel 32 and the second drive wheel 33 to rotate respectively. In this way, under the control of the controller, the first drive wheel 32 and the second drive wheel 33 can be actuated and rotated synchronously to be able to move along the first direction F1 on the metal pipe. In addition, in some embodiments, the controller is also configured by code to control the actuation of the first drive wheel 32 and the second drive wheel 33 in opposite directions (by controlling the rotation of the first drive wheel 32 and the second drive wheel 33) to perform differential steering and make the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 turn in place. In this way, under the control of the controller, the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 is provided with sufficient degrees of freedom to enable it to roam anywhere on the surface of the metal pipe.

[0074] At the same time, the crawling servo 341 drives and connects the steering wheel 31, so that the steering wheel 31 crawls along the outer wall of the metal pipe in a preset direction; that is, the steering wheel 31 is passive, and rolls on the outer wall of the metal pipe driven by the first driving wheel 32 and the second driving wheel 33; the steering wheel 31 has multiple degrees of freedom, and when the steering wheel 31 crawls along the outer wall of the metal pipe, it can simultaneously maintain tangential contact with the outer wall of the metal pipe. In order to achieve this robust maneuverability, in some embodiments, the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 has four rotation axes, and the four rotation axes include a first tilt axis for the first driving wheel 32, a second tilt axis for the second driving wheel 33, a third tilt axis for the steering wheel 31, and a rotation axis.

[0075] As mentioned above, please refer to Figure 2 , Figure 2It is a schematic diagram of an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 at a second viewing angle; the adjustment mechanism 4 includes a mounting assembly 41, an adjustment transmission assembly 42 and an adjustment drive assembly 43; the mounting assembly 41 includes a first mounting seat 411 and a second mounting seat 412, the first mounting seat 411 is rotatably mounted on the robot body 1 along the axis of the first direction F1, and the second mounting seat 412 is rotatably mounted on the robot body 1 along the axis of the first direction F1; the adjustment transmission assembly 42 is arranged on the second side 12 of the robot body 1, the adjustment transmission assembly 42 includes a first rod 421, a second rod 422 and a third rod 423, the two ends on the same side of the second rod 422 and the third rod 423 are rotatably connected to the first rod 421, and can be rotatably mounted along the axis of the first direction F1. The first rod 421 is movable along the second direction F2 to drive the second rod 422 and the third rod 423 to rotate synchronously, so as to drive the first mounting seat 411 and the second mounting seat 412 to rotate respectively; the adjustment drive assembly 43 includes an adjustment drive portion movable along the second direction F2, and the adjustment drive portion is drivingly connected to the first rod 421; wherein the adjustment portion includes the adjustment transmission assembly 42; the steering wheel 31 is hinged to the first side 11 of the robot body 1, the first driving wheel 32 is rotatably mounted on the first mounting seat 411, and the second driving wheel 33 is rotatably mounted on the second mounting seat 412.

[0076] That is to say, by the movement of the first rod 421 in the direction approaching the metal pipe, the first rod 421 drives the ends of the second rod 422 and the third rod 423 to rotate synchronously around the axis of the first direction F1, the second rod 422 pushes the first mounting seat 411, and the third rod 423 pushes the second mounting seat 412. Since the first mounting seat 411 is rotatably mounted on the robot body 1 along the axis of the first direction F1, and the second mounting seat 412 is rotatably mounted on the robot body 1 along the axis of the first direction F1, the first mounting seat 411 and the second mounting seat 412 are rotated along the axis of the first direction F1. Therefore, under the push of the second rod 422 and the third rod 423, the first mounting seat 411 and the second mounting seat 412 rotate synchronously. At this time, the inclination angles of the central axes of the first driving wheel 32 and the second driving wheel 33 relative to the robot body 1 become smaller, and the distance between the first driving wheel 32 and the second driving wheel 33 becomes larger, so that they can adapt to metal pipes with large diameters.

[0077] By moving the first rod 421 in a direction away from the metal pipe, the first rod 421 drives the ends of the second rod 422 and the third rod 423 to rotate synchronously around the axis of the first direction F1, the second rod 422 pulls the first mounting seat 411, and the third rod 423 pulls the second mounting seat 412. Since the first mounting seat 411 is rotatably mounted on the robot body 1 along the axis of the first direction F1, and the second mounting seat 412 is rotatably mounted on the robot body 1 along the axis of the first direction F1, the first mounting seat 411 and the second mounting seat 412 are rotated synchronously under the pulling of the second rod 422 and the third rod 423. At this time, the inclination angles of the central axes of the first driving wheel 32 and the second driving wheel 33 relative to the robot body 1 become larger, and the distance between the first driving wheel 32 and the second driving wheel 33 becomes smaller, so that they can adapt to metal pipes with small diameters.

[0078] It can be understood that the present application does not impose any specific restrictions on the driving method of the first rod 421. The first rod 421 can be driven by an electric push rod, and the first rod 421 can also be driven by a cylinder. In one embodiment, the adjustment mechanism 4 also includes an adjustment drive motor and a worm gear assembly, and the worm gear assembly includes a worm wheel and a worm that mesh with each other. The worm wheel is sleeved on the outside of the output shaft of the adjustment drive motor and rotates coaxially with the output shaft of the adjustment drive motor. The worm is movably arranged on the robot body and can move along the second direction. The first rod 421 is arranged on the worm to move along the second direction driven by the worm.

[0079] Please read further Figure 2The crawling mechanism 3 also includes a crawling drive assembly 34, which includes a first drive motor 342 and a second drive motor 343. The first drive motor 342 is installed on the first mounting seat 411, and the first drive wheel 32 is sleeved on the output shaft of the first drive motor 342 and can rotate coaxially with the output shaft of the first drive motor 342. The second drive motor 343 is installed on the second mounting seat 412, and the second drive wheel 33 is sleeved on the output shaft of the second drive motor 343 and can rotate coaxially with the output shaft of the second drive motor 343; in this way, the first drive wheel 32 and the second drive wheel 33 are rigidly attached to the first mounting seat 411 and the second mounting seat 412 respectively, and at the same time, the first mounting seat 411 and the second mounting seat 412 are rotatably installed on the robot body 1 along the axis of the first direction F1, so that the first drive wheel 32 and the second drive wheel 33 can be adjusted synchronously so that they can maintain tangential contact with the outer walls of metal pipes of different diameters.

[0080] In addition, the steering wheel 31 is hinged to the first side 11 of the robot body 1, and an articulated frame is provided on the first side 11 of the robot body 1, and the articulated frame is hinged to the first side 11 of the robot body 1, and the steering wheel 31 is rotatably installed on the articulated frame; that is, the articulated frame can be set as a simple caster (such as the caster on an ordinary universal wheel), and the crawling servo 341 adjusts the direction of the articulated frame; the steering wheel 31 is rotatably installed on the articulated frame, and driven by the first driving wheel 32 and the second driving wheel 33, the steering wheel 31 can roll on the outer wall of the metal pipe, and these two degrees of freedom enhance the overall maneuverability and spiral manipulation of the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 on the metal pipe.

[0081] Figure 3a-Figure 3b Schematic diagram of three magnetic wheels crawling on the surface of a metal pipe; and shows the rotational freedom of the first drive wheel 32 and the second drive wheel 33 along the tilt direction; it can be known that the surface of the metal pipe is configured as a curved surface; generally speaking, the curved surface can be any curved ferromagnetic surface showing a radius of curvature, such as a partial or complete cylindrical, spherical, or a combination thereof. The radius of curvature can also vary on the structure inspected by the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic crawling robot 100.

[0082] Figure 4a-4c 3 is a schematic diagram of the steering wheel 31 in different directions; it shows the rotational freedom of the steering wheel 31 along the rotation direction, wherein the steering wheel 31 rotates to the left, to the center, and to the right. This rotation allows the steering wheel 31 to crawl stably along a preset direction or path.

[0083] Furthermore, the steering wheel 31 has a first rotational freedom along the rotation direction, which is important for supporting and balancing the robot body 1. Moreover, the steering wheel 31 is used as a support wheel, and it also makes the robot body 1 easy to turn. Driven by the first driving wheel 32 and the second driving wheel 33, the steering wheel 31 passively rolls on the outer wall of the metal pipe without any side slip.

[0084] It is understandable that, in general, the outer wall of the metal pipe is not completely flat. In order to facilitate the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 to crawl on the uneven outer wall of the metal pipe; in one embodiment, please refer to Figure 8 Among the three magnetic wheels, each of the magnetic wheels includes a hub 3a and a magnetic ring 3c, an annular mounting groove 3b is arranged on the circumferential side surface of the hub 3a, and the magnetic ring 3c is sleeved on the circumferential side of the hub 3a and placed in the annular mounting groove 3b; a plurality of first grooves are provided on the bottom wall of the annular mounting groove 3b, and a plurality of second grooves are provided on the inner wall of the magnetic ring 3c, the groove opening of each second groove corresponds to the groove opening position of one of the first grooves, the groove depth of the first groove is set to T1, and the groove depth of the second groove is set to T2; the magnetic wheel also includes a plurality of buffer springs 3d, a portion of each buffer spring 3d is placed in the first groove, and a portion of the buffer spring 3d is placed in the corresponding second groove, and the length of the buffer spring 3d in the initial state is greater than the sum of the groove depths of the first groove and the second groove.

[0085] That is, by setting the magnetic ring 3c, magnetic adsorption of the three magnetic wheels and the metal pipe is achieved; and a buffer spring 3d is set between the magnetic ring 3c and the wheel hub 3a to ensure that there is compression between the magnetic ring 3c and the wheel hub 3a. When the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 passes through the uneven outer wall of the metal pipe, the three magnetic wheels can also be firmly adsorbed on the metal pipe, thereby ensuring that the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 can stably crawl on the metal pipe.

[0086] Similarly, in order to further ensure that the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 stably crawls on the metal pipe, the arc plate 51 has a first side 11 and a second side 12 that are arranged opposite to each other in the first direction F1, the first side 11 is bent in a direction away from the metal pipe to form a first arc flange 512, and the second side 12 is bent in a direction away from the metal pipe to form a second arc flange 513; wherein the first direction F1 is configured as the axial direction of the metal pipe. The arrangement of the first arc flange 512 and the second arc flange 513 enables the arc plate 51 to smoothly pass through the protrusions on the outer wall of the metal pipe, avoiding the protrusions on the outer wall of the metal pipe from hindering the arc plate 51.

[0087] See also Figure 5 , Figure 5 It is a schematic diagram of an adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 at a third viewing angle; the position detection mechanism 5 also includes a crawling detection component and a pushing component 54; the crawling detection component is arranged between the crawling mechanism 3 and the metal pipe, and is used to detect whether the three magnetic wheels are in contact with the outer wall of the metal pipe; the pushing component 54 is electrically connected to the crawling detection component, and the pushing component 54 includes a pushing driving part 541 driven and connected to the arc plate 51, and the pushing driving part 541 can move along the second direction F2, and is used to drive the arc plate 51 to move close to the metal pipe and fit with the outer wall of the metal pipe when the three magnetic wheels are in contact with the outer wall of the metal pipe.

[0088] That is to say, the controller is electrically connected to the creeping detection component and the pushing component 54; the creeping detection component can be set as a first pressure detector, and the first pressure detector is set on the three magnetic wheels to detect the first real-time pressure between the three magnetic wheels and the outer wall of the metal pipe; the controller obtains the first real-time pressure and determines whether the three magnetic wheels are in contact with the outer wall of the metal pipe; after detecting that the three magnetic wheels are in contact with the outer wall of the metal pipe, the controller controls the pushing drive part 541 to drive the arc plate 51 to move, so that the arc plate 51 moves close to the metal pipe and fits with the outer wall of the metal pipe.

[0089] At the same time, the controller is electrically connected to the position detection component and the suction cup drive component; the position detection component is configured as a second pressure detector, and the second pressure detector is arranged on the side surface of the arc plate 51 facing the metal pipe, and the second pressure detector detects the second real-time pressure between the arc plate 51 and the metal pipe; the controller obtains the second real-time pressure and determines whether the arc plate 51 is in contact with the outer wall of the metal pipe; after detecting that the arc plate 51 is detached from the metal pipe, the controller controls the suction cup drive part 62 of the suction cup drive component to move, and drives the suction cup 61 to move until it contacts the outer wall of the metal pipe and is adsorbed and fixed to the outer wall of the metal pipe; in this way, the adjustable wireless electromagnetic ultrasonic thickness measurement magnetic climbing robot 100 can be prevented from falling when crawling on the pipeline.

[0090] The present application does not impose any specific restrictions on the structure of the arc plate 51. In one embodiment, the arc plate 51 is configured to be non-deformable, and arc plates 51 of different sizes can be manufactured according to conventional pipe specifications. In actual use scenarios, arc plates 51 of appropriate sizes are selected according to corresponding metal pipes.

[0091] In other embodiments, see Figure 6 , the arc plate 51 is deformable; the position detection mechanism 5 also includes a deformation component 55, the deformation component 55 includes a plurality of stretching parts arranged side by side and spaced apart, one end of each of the stretching parts is connected to the robot body 1, and the other end is connected to the arc plate 51 and can move along the second direction F2 to drive a local area of ​​the arc plate 51 to approach or move away from the metal pipe; wherein the second direction F2 is configured to be a direction from the robot body 1 to the metal pipe.

[0092] At the same time, the controller is electrically connected to the deformation component 55; in actual operation, the operator can input the size of the corresponding metal pipe, and the controller controls the movement of the stretching part of the deformation component 55. The multiple stretching parts move independently and the movement amounts are different, so that the local area deformation amounts of the arc plate 51 are different, and then the arc plate 51 can match the currently detected metal pipe after deformation, so that the arc plate 51 can fit the outer wall of the currently detected metal pipe.

[0093] Specifically, the deformation component 55 includes a plurality of micro cylinders 551 arranged side by side and spaced apart, the cylinder body of the micro cylinder 551 is arranged on the side surface of the robot body 1 facing the metal pipe, the telescopic rod of the micro cylinder 551 can move along the second direction F2, and the free end of the telescopic rod is connected to the arc plate 51; wherein, the stretching portion includes the telescopic rod of the micro cylinder 551. By setting a plurality of the micro cylinders 551, the controller controls the telescopic rods of each micro cylinder 551 to move independently, and each telescopic rod moves independently and with different movement amounts, so that the deformation amount of the local area of ​​the arc plate 51 is different, and then the arc plate 51 can match the metal pipe currently being detected after deformation, so that the arc plate 51 can fit the outer wall of the metal pipe currently being detected.

[0094] In one embodiment, the adsorption mechanism 6 includes a plurality of suction cups 61, which are located between the robot body 1 and the curved plate 51 and are arranged side by side in a first direction F1, and each suction cup 61 is located between two adjacent stretching parts; the adsorption mechanism 6 also includes a connecting frame, which connects the plurality of suction cups 61; the suction cup driving unit 62 is located between the robot body 1 and the curved plate 51, and drives the connecting frame to connect; a plurality of through holes 511 are opened on the curved plate 51, and each through hole 511 corresponds to the position of a suction cup 61, so that when the suction cup driving unit 62 drives the connecting frame to move close to the metal pipe, the suction cup 61 can extend from the corresponding through hole 511 and contact the metal pipe.

[0095] Further reading Figure 6 In another embodiment, the adsorption mechanism 6 includes a plurality of suction cups 61 and a plurality of suction cup driving parts 62, each of the suction cup driving parts 62 is located between the robot body 1 and the curved plate 51, and is arranged side by side in the first direction F1, and each of the suction cup driving parts 62 is located between two adjacent stretching parts; the free end of each suction cup driving part 62 is driven to connect a suction cup 61; a plurality of through holes 511 are opened on the curved plate 51, and each of the through holes 511 corresponds to the position of a suction cup 61, so that when the suction cup driving part 62 drives the suction cup 61 to move close to the metal pipe, the suction cup 61 can extend from the corresponding through hole 511 and contact the metal pipe.

[0096] That is to say, the suction cup 61 and the stretching portion are alternately arranged, so that on the basis of realizing the deformation of the arc plate 51, the expansion and contraction of the suction cup 61 can also be kept unaffected.

[0097] In addition, the adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot 100 also includes a micro vacuum pump and a solenoid valve. The controller is electrically connected to the micro vacuum pump and the solenoid valve. The solenoid valve is arranged between the micro vacuum pump and the suction cup 61, and between the micro vacuum pump and the micro cylinder 551.

[0098] Following the above embodiment, "the pushing component 54 includes a pushing driving part 541 driven and connected to the arc plate 51, and the pushing driving part 541 can move along the second direction F2, so as to drive the arc plate 51 to move close to the metal pipe and fit with the outer wall of the metal pipe when the three magnetic wheels are in contact with the outer wall of the metal pipe"; in order to make the arrangement of the pushing component 54, the deformation component 55 and the adsorption structure more reasonable, in one embodiment, the position detection mechanism 5 also includes a mounting plate 56, and the mounting plate 56 is arranged on the side of the robot body 1 facing the metal pipe; the pushing driving part 541 of the pushing component 54 can move along the second direction F2 and drive the mounting plate 56 to push the mounting plate 56 to move close to or away from the metal pipe; the deformation component 55 is arranged on the side of the mounting plate 56 facing the arc plate 51, one end of the stretching part is connected to the mounting plate 56, and the other end is connected to the arc plate 51, and can move along the second direction F2.

[0099] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot, characterized in that: include: A robot body, on which a wall thickness detection component is disposed; A crawling mechanism, comprising three magnetic wheels that are in tangential contact with the outer wall of the metal pipe and are magnetically attracted, wherein the three magnetic wheels include a steering wheel hinged to the robot body, and a first driving wheel and a second driving wheel movably mounted on the robot body; an adjustment mechanism, comprising a movable adjustment portion, wherein the adjustment portion is connected to the first driving wheel and the second driving wheel to respectively adjust an inclination angle of a central axis of the first driving wheel and a central axis of the second driving wheel relative to the robot body; The position detection mechanism comprises an arc plate and a position detection component, wherein the arc plate is arranged on a side surface of the robot body facing the metal pipe and is in contact with the outer wall of the metal pipe, and an avoidance hole for avoiding the wall thickness detection component is opened on the arc plate, and the position detection component is used to detect whether the arc plate is separated from the metal pipe; and, The adsorption mechanism includes a suction cup movably arranged on the robot body, and a suction cup driving component electrically connected to the position detection component, wherein the suction cup driving component includes a movably arranged suction cup driving part, and the suction cup driving part drives the suction cup to move to contact the outer wall of the metal pipe and be adsorbed and fixed to the outer wall of the metal pipe when the arc plate is separated from the metal pipe.

2. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: The position detection mechanism also includes: a crawling detection assembly, disposed between the crawling mechanism and the metal pipe, for detecting whether the three magnetic wheels are in contact with the outer wall of the metal pipe; and A pushing assembly is electrically connected to the creeping detection assembly, the pushing assembly includes a pushing driving part drivingly connected to the arc-shaped plate, the pushing driving part can move along a second direction, and is used to drive the arc-shaped plate to move close to the metal pipe and fit with the outer wall of the metal pipe when the three magnetic wheels are in contact with the outer wall of the metal pipe; Wherein, the second direction is configured as a direction pointing from the robot body to the metal pipe.

3. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: The arc-shaped plate is configured to be deformable; The position detection mechanism further includes a deformation component, which includes a plurality of stretching parts arranged side by side and spaced apart, one end of each stretching part is connected to the robot body, and the other end is connected to the arc plate and can move along the second direction to drive a local area of ​​the arc plate to approach or move away from the metal pipe; Wherein, the second direction is configured as a direction pointing from the robot body to the metal pipe.

4. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot as claimed in claim 3, characterized in that: The deformation component includes a plurality of micro cylinders arranged side by side and spaced apart, the cylinder bodies of the micro cylinders are arranged on a side surface of the robot body facing the metal pipe, the telescopic rods of the micro cylinders can move along the second direction, and the free ends of the telescopic rods are connected to the arc-shaped plate; Wherein, the stretching part includes a telescopic rod of the micro cylinder.

5. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot as claimed in claim 3, characterized in that: The adsorption mechanism includes a plurality of suction cups, which are located between the robot body and the arc-shaped plate and are arranged side by side and spaced apart in the first direction, and each suction cup is located between two adjacent stretching parts; The adsorption mechanism further comprises a connecting frame, wherein the connecting frame connects a plurality of the suction cups; The suction cup driving part is located between the robot body and the arc-shaped plate, and is driven to connect the connecting frame; The arc-shaped plate is provided with a plurality of through holes, each of which corresponds to a position of the suction cup, so that when the suction cup driving unit drives the connecting frame to move close to the metal pipe, the suction cup can extend from the corresponding through hole and contact the metal pipe; Wherein, the first direction is configured as the axial direction of the metal pipe.

6. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot as claimed in claim 3, characterized in that: The position detection mechanism also includes: A mounting plate is provided on a side of the robot body facing the metal pipe; and A pushing assembly, comprising a pushing driving part, wherein the pushing driving part can move along the second direction and drive the mounting plate to push the mounting plate to move closer to or away from the metal pipe; Wherein, the deformation component is arranged on a side of the mounting plate facing the arc plate, one end of the stretching portion is connected to the mounting plate, and the other end is connected to the arc plate and can move along the second direction.

7. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: The arc-shaped plate has a first side edge and a second side edge that are oppositely arranged in a first direction, the first side edge is bent in a direction away from the metal pipe to form a first arc-shaped flange, and the second side edge is bent in a direction away from the metal pipe to form a second arc-shaped flange; Wherein, the first direction is configured as the axial direction of the metal pipe.

8. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: Among the three magnetic wheels, each of the magnetic wheels comprises a wheel hub and a magnetic ring, an annular mounting groove is provided on the peripheral side of the wheel hub, and the magnetic ring is sleeved on the peripheral side of the wheel hub and placed in the annular mounting groove; A plurality of first slot bodies are formed on the bottom wall of the annular mounting slot, and a plurality of second slot bodies are formed on the inner wall of the magnetic ring, wherein a slot opening of each second slot body corresponds to a slot opening of the first slot body; The magnetic wheel also includes a plurality of buffer springs, each of which is partially disposed in the first slot body and partially disposed in the corresponding second slot body, and the length of the buffer spring in an initial state is greater than the sum of the slot depths of the first slot body and the second slot body.

9. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: The robot body has a first side and a second side arranged opposite to each other in a first direction; The adjustment mechanism comprises: The mounting assembly comprises a first mounting seat and a second mounting seat, wherein the first mounting seat is rotatably mounted on the robot body along an axis in the first direction, and the second mounting seat is rotatably mounted on the robot body along an axis in the first direction; an adjusting transmission assembly, which is disposed on the second side of the robot body, and comprises a first rod, a second rod and a third rod, wherein two ends of the second rod and the third rod on the same side are rotatably connected to the first rod and can rotate synchronously along the axis of the first direction, the other end of the second rod is connected to the first mounting seat, and the other end of the third rod is connected to the second mounting seat, and the first rod can move along the second direction to drive the second rod and the third rod to rotate synchronously, so as to drive the first mounting seat and the second mounting seat to rotate respectively; and An adjustment drive assembly, comprising an adjustment drive portion movably arranged along the second direction, wherein the adjustment drive portion is driven and connected to the first rod; Wherein, the adjustment part includes the adjustment transmission assembly; The steering wheel is hinged to the first side of the robot body, the first driving wheel is rotatably mounted on the first mounting seat, and the second driving wheel is rotatably mounted on the second mounting seat; The first direction is configured as the axial direction of the metal pipe, and the second direction is configured as a direction pointing from the robot body to the metal pipe.

10. The adjustable wireless electromagnetic ultrasonic thickness measuring magnetic climbing robot according to claim 1, characterized in that: The robot body has a first side and a second side arranged opposite to each other in a first direction; The crawling mechanism further includes a crawling drive assembly, and the crawling drive assembly includes: A crawling servo, which is arranged on the first side of the robot body, and which drives and connects the steering wheel so that the steering wheel crawls along a preset direction on the outer wall of the metal pipe; A first driving motor, wherein the first driving motor is located at the second side of the robot body, and a rotating shaft of the first driving motor drives and connects to the first driving wheel, so that the first driving wheel crawls on the outer wall of the metal pipe; and a second drive motor, the second drive motor being located at a second side of the robot body and arranged side by side with the first drive motor in a third direction, the rotation shaft of the second drive motor drivingly connecting the second drive wheel so that the second drive wheel crawls on the outer wall of the metal pipe; Wherein, the steering wheel is located on the first side of the robot body, the first driving wheel and the second driving wheel are located on the second side of the robot body, and are arranged side by side and spaced apart in the third direction; The first direction is configured as the axial direction of the metal pipe, and the third direction is configured as the tangential direction of the metal pipe and is arranged to intersect with the first direction.

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