Wireless control corrosion scanning robot

Abstract

The invention discloses a wireless control corrosion scanning robot which comprises a control box, bases are installed on the left side and the right side of the control box through movable connecting pieces correspondingly, a lithium battery and a main controller are installed in a shell of the control box, driving motors are installed at the front ends of the bases, and driving magnetic attraction wheels are installed at the output ends of the driving motors through couplings. A driven magnetic attraction wheel is installed at the rear end of the base, and the main controller is electrically connected with the driving motor. Through movable connection between the base and the control box, pipelines with various curvatures and storage tanks are tightly attached, the adsorption capacity of the permanent magnet suction wheels and detected materials is improved, meanwhile, vibration generated by hard connection walking of the robot and the pipelines can be effectively absorbed, and the influence on scanning results is reduced. The height-adjustable probe and the anti-twisting block are used for adapting to different detection requirements, so that the probe is tightly attached to detected materials with different curvatures, the situation that the probe twists in the scanning process to affect the detection result is avoided, the universality of the robot is improved, and the stability is enhanced.

Description

Technical Field

[0001] The invention relates to the technical field, and in particular to a wireless controlled corrosion scanning robot. Background Art

[0002] The corrosion scanning robot is a device specially designed to carry a scanning probe to perform non-destructive corrosion detection on the surface or inside of a material. It can receive instructions and accurately move to a specific point on the surface of the material to be tested for scanning operations. This robot shows high efficiency and flexibility that is superior to manual scanning when performing tasks, and is particularly suitable for corrosion monitoring of aircraft fuselages, pipelines, storage tanks, and other locations that are difficult for people to reach. However, when facing narrow and long-distance detection tasks, existing pulse eddy current corrosion scanning robots usually have problems such as short power supply lines and easy knotting of wiring harnesses, and their work efficiency is relatively low, which cannot meet the needs of rapid and large-scale detection. In addition, when encountering parts with different pipe diameters or rust and weld scars on the surface, the existing scanning robots are difficult to pass, which affects the comprehensiveness and accuracy of the detection. Therefore, how to improve the work efficiency of corrosion scanning robots in industrial detection tasks, and how to enable them to flexibly respond to stable and accurate detection of materials with different pipe diameters and depressions on the surface, has become the focus of technical improvement. Summary of the invention

[0003] The purpose of the present invention is to provide a wireless controlled corrosion scanning robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: a wireless controlled corrosion scanning robot, comprising a control box, bases are respectively installed on the left and right sides of the control box through movable connecting pieces, a lithium battery and a main controller are installed inside the control box housing, a driving motor is installed at the front end of the base, an active magnetic wheel is installed at the output end of the driving motor through a coupling, a driven magnetic wheel is installed at the rear end of the base, and the main controller is electrically connected to the driving motor; One end of the scanning probe bracket is installed at the rear end of the control box, and an up-down adjustment rod is installed at the other end of the scanning probe bracket. The up-down adjustment rod passes through the scanning probe bracket and is fixed to the scanning probe bracket through a locking assembly. A scanning probe is installed at the lower end of the up-down adjustment rod, and a probe adjustment assembly is arranged between the up-down adjustment rod and the scanning probe.

[0005] Preferably, the locking assembly comprises a clamping ring sleeved on the outer wall of the upper and lower adjustment rods, and a clamping ring adjustment wrench is installed on the outer wall of the clamping ring.

[0006] Preferably, the probe adjustment assembly includes a fixing frame, which is fixedly connected to the lower ends of the upper and lower adjustment rods, one end of the fixing frame is mounted with a scanning probe via a fixing screw, and an anti-twisting block is mounted between the other end of the fixing frame and the scanning probe via a fixing screw.

[0007] Preferably, a straight-line connector is fixedly installed at one end of the scanning probe bracket, and the straight-line connector is fixedly installed on the rear side of the control box by a disassembly wrench, and a wire clamp is provided on the probe line of the scanning probe.

[0008] Preferably, the movable connecting member is a spring hinge, and a locking wrench is installed on the side wall of the spring hinge.

[0009] Preferably, a motor clamp is installed between the driving motor and the active magnetic wheel, the driven magnetic wheel is installed on the bearing seat through a bearing, and a flat gasket is provided between the bearing seat and the base.

[0010] Preferably, a fall prevention wire eye is fixedly mounted on the rear end of the control box, and the fall prevention wire eye is connected to the wire clamp via a steel wire rope.

[0011] Preferably, the main controller integrates an MCU and a wireless module.

[0012] The wireless controlled corrosion scanning robot proposed in the present invention has the following beneficial effects: the present invention realizes a close fit for pipes and storage tanks of various curvatures through the movable connection between the base and the control box, improves the adsorption capacity of the permanent magnet suction wheel and the inspected material, and can effectively absorb the vibration generated by the hard connection between the robot and the pipeline while walking, reducing the impact on the scanning results. The height-adjustable probe and anti-twist block can adapt to different detection needs to make the probe fit closely to the inspected material with different curvatures, avoid the probe twisting during the scanning process to affect the detection results, improve the versatility of the robot, and enhance stability. The main controller integrated with the MCU and the wireless module realizes precise control and real-time data transmission. The design of the anti-fall line ring and wire rope can concentrate the falling force of the probe signal line on the robot body during high-altitude scanning, increase the life of the probe line and the aviation plug connector, improve safety, and extend the life of the equipment. In summary, the robot has significant advantages in structure, function and safety, and supports the improvement of corrosion detection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the control box of the present invention; Figure 3 It is a structural schematic diagram of the base of the present invention.

[0014] Figure 4It is a structural schematic diagram of the scanning probe of the present invention.

[0015] In the figure: 100, control box, 110, anti-fall wire ring, 200, base, 210, movable connecting piece, 220, drive motor, 230, active magnetic wheel, 240, driven magnetic wheel, 250, locking wrench, 260, motor clamp, 270, bearing seat, 280, flat gasket, 300, scanning probe bracket, 310, upper and lower adjustment rods, 320, scanning probe, 330, clamping ring, 340, clamping ring adjustment wrench, 350, fixing frame, 360, anti-twist block, 370, straight connector, 380, disassembly wrench, 390, wire clamp. DETAILED DESCRIPTION

[0016] 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.

[0017] See also Figure 1-4 The present invention provides a technical solution: a wireless controlled corrosion scanning robot, comprising a control box 100, characterized in that: a base 200 is installed on the left and right sides of the control box 100 through movable connecting pieces 210, a lithium battery and a main controller are installed inside the shell of the control box 100, a driving motor 220 is installed at the front end of the base 200, an active magnetic wheel 230 is installed at the output end of the driving motor 220 through a coupling, a driven magnetic wheel 240 is installed at the rear end of the base 200, and the main controller is electrically connected to the driving motor 220; One end of the scanning probe bracket 300 is installed at the rear end of the control box 100, and an up-down adjustment rod 310 is installed at the other end of the scanning probe bracket 300. The up-down adjustment rod 310 passes through the scanning probe bracket 300 and is fixed to the scanning probe bracket 300 through a locking assembly. A scanning probe 320 is installed at the lower end of the up-down adjustment rod 310, and a probe adjustment assembly is provided between the up-down adjustment rod 310 and the scanning probe 320.

[0018] The locking assembly includes a clamping ring 330 sleeved on the outer wall of the upper and lower adjustment rods 310 , and a clamping ring adjustment wrench 340 is installed on the outer wall of the clamping ring 330 .

[0019] The probe adjustment assembly includes a fixing frame 350, which is fixedly connected to the lower end of the upper and lower adjustment rods 310. One end of the fixing frame 350 is installed with the scanning probe 320 via a fixing screw, and an anti-twisting block 360 is installed between the other end of the fixing frame 350 and the scanning probe 320 via a fixing screw.

[0020] A straight connector 370 is fixedly mounted on one end of the scanning probe bracket 300 . The straight connector 370 is fixedly mounted on the rear side of the control box 100 by means of a disassembly wrench 380 . A wire clip 390 is provided on the probe line of the scanning probe 320 .

[0021] The movable connecting member 210 is a spring hinge, and a locking wrench 250 is installed on the side wall of the spring hinge. This design limits the possibility of the hinge to rotate significantly to a certain extent, but still allows its slight angle adjustment. When locked, the damping effect will be significantly improved, which means that when the robot encounters a bumpy road during its movement, it can effectively use the enhanced damping to buffer and offset the vibration, thereby improving the overall stability and smoothness.

[0022] A motor clamp 260 is installed between the driving motor 220 and the active magnetic wheel 230 , and the driven magnetic wheel 240 is installed on the bearing seat 270 through a bearing. A flat gasket 280 is provided between the bearing seat 270 and the base 200 .

[0023] A fall prevention wire ring 110 is fixedly installed at the rear end of the control box 100. The fall prevention wire ring 110 is connected to the wire clamp 390 by a steel wire rope. This equipment usually needs to carry a probe to crawl to a high place. The probe and the ground detection instrument are connected by a probe wire. The probe wire has a large mass, especially after crawling for dozens of meters, the gravity of the probe wire exerts a large pulling force on the probe. The probe wire and the probe are only connected by an aerial plug, which is easily damaged by long-term pulling. Therefore, it is necessary to design an anti-fall ring on the rear side to ensure that the gravity of the probe wire is borne by the machine itself and reduce the pulling force borne by the aerial plug.

[0024] The main controller integrates MCU and wireless module, which not only gives the main controller the ability to accurately control the operation of the motor, but also enables it to efficiently receive the encoding signals of the motors on both sides, thereby achieving precise synchronization of the motors. In addition, the main controller can also feedback the travel distance and position information, and transmit it back to the designated receiving end via wireless, ensuring the timeliness and accuracy of data transmission.

[0025] The detailed connection means are well-known technologies in the art. The following mainly introduces the working principle and process. The specific operation is as follows: Before use, fix the scanning probe 320 to the fixing frame 350 with fixing screws, and also lock the anti-twisting block 360 and the scanning probe 320 with fixing screws. Connect the control box 100 and the base 200 through the locking wrench 250 to keep the control box 100 and the base 200 level. First, adsorb the active magnetic wheel 230 and the driven magnetic wheel 240 on one side to the surface of the material to be inspected, determine the scanning position, and then adsorb the other side, and then lock the locking wrench 250, and then rotate the clamping ring adjustment wrench 340 to adjust the height of the upper and lower adjustment rods 310 and then adjust the probe height. Adjust the clamping ring adjustment wrench 340 up and down to the appropriate height and lock it. Finally, connect the probe line of the scanning probe 320 to the anti-fall line ring 110 through a wire rope. When in use, after receiving the marching command, the robot carries the scanning probe and walks on the surface of the inspected material. The drive adopts the front drive form, with a 12V DC reduction motor on each side to achieve forward and backward movement. The inspected material can be a plane or a pipe with a certain curvature. During the march, the scanning data and distance information are sent back in real time, which are processed and recorded by the host computer. At present, the scanning probe usually uses a pulse eddy current scanning probe, which is responsible for sending excitation signals and receiving echo signals. It can also be equipped with scanning probes of other non-destructive testing technologies.

[0026] In practical applications, the wireless controlled corrosion scanning robot of the present invention also has many advantages and innovations. First, by adopting the magnetic wheel design, the robot can be firmly adsorbed on the surface of the inspected material, whether it is a flat surface or a pipe with a certain curvature, to ensure stable and flexible movement. This design not only improves the scanning efficiency, but also reduces the detection error caused by the robot sliding or falling off.

[0027] Secondly, the robot of the present invention is equipped with a height-adjustable scanning probe. Through the up and down adjustment rod and the probe adjustment assembly, the user can easily adjust the position and angle of the probe to meet the detection needs of different materials and complex surfaces. At the same time, the design of the anti-twist block further enhances the stability of the probe and avoids interference caused by the shaking of the probe during the detection process.

[0028] In addition, the MCU and wireless module integrated in the main controller give the robot powerful data processing and communication capabilities. By receiving and processing the encoding signals of the motors on both sides in real time, the main controller can accurately control the synchronous operation of the motors to ensure the stability and accuracy of the robot during movement. At the same time, the wireless transmission function enables the detection data to be instantly transmitted back to the designated receiving end, which greatly facilitates subsequent data processing and analysis.

[0029] In terms of safety, the design of the anti-fall line ring and wire rope effectively shares the gravity of the probe line and reduces the tension on the aerial plug, thereby extending the service life of the equipment and reducing the failure rate. At the same time, the design of the spring hinge and locking wrench can adaptively adjust the height of the wheels when encountering uneven locations such as pipeline welding points. The four wheels are independently connected to play a shock-absorbing role, providing good buffering and stability guarantees.

[0030] In summary, the wireless controlled corrosion scanning robot of the present invention has shown significant advantages and innovations in structural design, function realization, safety assurance, etc. It not only improves the efficiency and accuracy of corrosion detection, but also provides strong support for technological progress and industrial upgrading in related fields.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wireless controlled corrosion scanning robot, comprising a control box (100), characterized in that: The left and right sides of the control box (100) are respectively provided with a base (200) via a movable connecting piece (210); a lithium battery and a main controller are installed inside the housing of the control box (100); a driving motor (220) is installed at the front end of the base (200); an active magnetic attraction wheel (230) is installed at the output end of the driving motor (220) via a coupling; a driven magnetic attraction wheel (240) is installed at the rear end of the base (200); and the main controller is electrically connected to the driving motor (220); One end of a scanning probe bracket (300) is mounted on the rear end of the control box (100), and an up-down adjustment rod (310) is mounted on the other end of the scanning probe bracket (300). The up-down adjustment rod (310) passes through the scanning probe bracket (300) and is fixed to the scanning probe bracket (300) via a locking assembly. A scanning probe (320) is mounted on the lower end of the up-down adjustment rod (310), and a probe adjustment assembly is provided between the up-down adjustment rod (310) and the scanning probe (320).

2. A wireless controlled corrosion scanning robot according to claim 1, characterized in that: The locking assembly comprises a clamping ring (330) sleeved on the outer wall of the upper and lower adjustment rods (310), and a clamping ring adjustment wrench (340) is installed on the outer wall of the clamping ring (330).

3. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The probe adjustment assembly comprises a fixing frame (350), the fixing frame (350) being fixedly connected to the lower end of the upper and lower adjustment rods (310), one end of the fixing frame (350) being mounted with a scanning probe (320) via a fixing screw, and an anti-twisting block (360) being mounted between the other end of the fixing frame (350) and the scanning probe (320) via a fixing screw.

4. The wireless controlled corrosion scanning robot according to claim 3, characterized in that: A straight-line connector (370) is fixedly mounted on one end of the scanning probe bracket (300); the straight-line connector (370) is fixedly mounted on the rear side of the control box (100) by means of a disassembly wrench (380); and a wire clip (390) is provided on the probe wire of the scanning probe (320).

5. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The movable connection member (210) is a spring hinge, and a locking wrench (250) is installed on the side wall of the spring hinge.

6. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: A motor clamp (260) is installed between the driving motor (220) and the active magnetic attraction wheel (230), the driven magnetic attraction wheel (240) is installed on a bearing seat (270) via a bearing, and a flat gasket (280) is provided between the bearing seat (270) and the base (200).

7. The wireless controlled corrosion scanning robot according to claim 4, characterized in that: A fall prevention wire eyelet (110) is fixedly mounted on the rear end of the control box (100), and the fall prevention wire eyelet (110) is connected to the wire clamp (390) via a steel wire rope.

8. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The main controller integrates MCU and wireless module.

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