Ultra-fine wire rope flaw detection device for robots

Abstract

The invention relates to the field of infrared flaw detection, and specifically to an ultra-fine steel wire rope flaw detection device for a robot, comprising a balancing mechanism, which is used to enable the device to move smoothly; a limiting mechanism, which is used to limit and prevent the steel wire rope from shaking; a flaw detection mechanism, which is used to detect and process surface damage of the steel wire rope; and a lifting mechanism, which is used to adjust the height of the entire device; the balancing mechanism is fixedly installed on the flaw detection mechanism, the limiting mechanism is fixedly installed on the outer end of the flaw detection mechanism, and the bottom of the flaw detection mechanism is fixedly connected to the lifting mechanism. The ultra-fine steel wire rope flaw detection device for the robot has a plurality of infrared detectors, and each separated space on the surface of the steel wire rope has an infrared detector, thereby improving the spatial resolution of the detection: it can more clearly distinguish smaller temperature difference areas on the steel wire rope, which is helpful to find more subtle defects.

Description

Technical Field

[0001] The invention relates to the technical field of infrared flaw detection, in particular to an ultra-thin steel wire rope flaw detection device for a robot. Background Art

[0002] Steel wire ropes are widely used in many sectors of national economic construction in my country, such as coal mines, non-coal mines, ports, bridges, cableways, elevators, etc., due to their many advantages such as high tensile strength, light weight, good elasticity, stable and reliable operation, strong dynamic load and overload bearing capacity. However, as an engineering bearing equipment, steel wire ropes are often affected by complex working conditions and environments such as bending fatigue, wear, alternating loads, mechanical shock and corrosion during operation, and inevitably there will be phenomena such as wire breakage, wear, deformation, rust, etc., which pose safety hazards. Its damage and bearing capacity are directly related to personnel and production safety.

[0003] There are several problems with existing wire rope flaw detection devices: 1. Most wire rope flaw detection devices use manual hand-held methods to perform flaw detection on wire ropes, which is not conducive to accurate detection of wire rope wear; 2. The detection depth is limited. Existing infrared flaw detection may not be sensitive enough to deeper internal defects. Some deeply hidden damages may be difficult to detect, thus affecting the overall accuracy of wire rope detection. Summary of the invention

[0004] The present invention provides an ultra-fine steel wire rope flaw detection device for a robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an ultra-fine steel wire rope flaw detection device for a robot, comprising a balancing mechanism, the balancing mechanism being used to enable the device to move smoothly;

[0006] A limiting mechanism, which is used to limit the position and prevent the steel wire rope from shaking;

[0007] A flaw detection mechanism, which is used to detect and process surface damage of the wire rope;

[0008] A lifting mechanism, which is used for adjusting the height of the entire device;

[0009] The balancing mechanism is fixedly mounted on the flaw detection mechanism, the limiting mechanism is fixedly mounted on the outer end of the flaw detection mechanism, and the bottom of the flaw detection mechanism is fixedly connected to the lifting mechanism;

[0010] The flaw detection mechanism includes a constant temperature box, and a flaw detection component is arranged inside the constant temperature box;

[0011] The flaw detection assembly includes an infrared detector, which is arranged inside a constant temperature box. A folding rod is fixedly connected to the outer side of the infrared detector. A slide plate is fixedly connected to the end of the folding rod away from the infrared detector. The outer side of the slide plate is slidably adapted with a vertical rail, and the vertical rail is fixedly connected to the outer end of the constant temperature box. As the infrared detector is squeezed by the No. 2 spring coil, the infrared detector will move inward with the folding rod fixedly connected to the outer side thereof, and the slide plate fixedly connected to the other end of the folding rod will move inward synchronously along the vertical rail.

[0012] Preferably, the balancing mechanism includes a top cross beam, an adjustment component is provided at the central portion of the top cross beam, a cross plate is fixedly connected to the bottom of the top cross beam, the cross plate is fixedly connected to the top of the constant temperature box, both ends of the cross plate are threadedly connected to threaded rods, an adjustment plate is slidably adapted on the outer side of the threaded rod, and a balancing roller is rotatably connected to the inner side of the adjustment plate.

[0013] Preferably, the limiting mechanism includes a fixing ring, which is fixedly connected to the outer end of the constant temperature box, a screw is threadedly connected to the surface of the fixing ring, the inner end of the screw is rotatably connected to the limiting block, the outer side of the screw is extruded and adapted with a bearing, and a No. 1 spring ring is symmetrically connected to both sides of the bearing, and a light rod is fixedly connected to the end of the No. 1 spring ring away from the bearing, and the light rod is inserted into the outer side of the fixing ring and extends to the inside.

[0014] Preferably, the adjustment component includes an electric push rod, the bottom of which is fixedly connected to a U-shaped frame, the U-shaped frame is respectively inserted into the cross plate and the surface of the thermostatic box and extends to the interior of the thermostatic box, and the outer side of the U-shaped frame is fixedly connected to an extension rod.

[0015] Preferably, a tough bar is fixedly connected to the bottom of the U-shaped frame, and the tough bar is slidably adapted inside the thermostatic box. An inclined plate is fixedly connected to the bottom of the tough bar, and the inclined plate is inserted into the interior of the thermostatic box.

[0016] Preferably, an inner rail is fixedly connected to the inner side of the constant temperature box, the inner rail is slidably adapted to be equipped with an inner slide, a central connecting bar is provided at the central portion of the inner slide, isolation plates are symmetrically connected to both ends of the central connecting bar, and the isolation plates are slidably adapted to be fitted on both sides of the inner slide.

[0017] Preferably, the top of the isolation plate is fixedly connected to an external connecting plate, the bottom of the external connecting plate is fixedly connected to a reset spring, the end of the reset spring away from the external connecting plate is fixedly connected to the outside of the inner slide, wherein the reset spring fixedly connected between the external connecting plate and the inner slide resets the external connecting plate and the isolation plate when the external connecting plate is not squeezed by the outside, and a through hole is opened on the surface of the inner slide, wherein the surface of the through hole is slidably adapted to the isolation plate.

[0018] Preferably, the outer connecting plate is slidably fitted on the outer side of the inner slide, the end of the outer connecting plate away from the inner slide is fixedly connected with a No. 2 spring ring, the end of the No. 2 spring ring away from the outer connecting plate is fixedly connected with a sleeve plate, and the top of the sleeve plate is extrusion-fitted with the inclined plate.

[0019] Preferably, the lifting mechanism includes a base frame, fixed rods are fixedly connected to both sides of the inner cavity of the base frame, the outer side of the fixed rods is slidably adapted with a slide table, the top of the slide table is fixedly connected with a flat plate, the top of the flat plate is fixedly connected with a splint, and the inner side of the splint is slidably adapted with an inclined panel.

[0020] Preferably, the top of the flat plate is fixedly connected to a hollow frame, the top of the hollow frame is plugged with a rising rod, the top of the rising rod is fixedly connected to the constant temperature box, the bottom of the rising rod is fixedly connected to an upward moving plate, the outer side of the upward moving plate is slidably adapted with an air pipe, the air pipe is fixedly connected to the bottom of the inner cavity of the hollow frame, the end of the air pipe away from the upward moving plate is plugged with a conical rod, and the end of the conical rod away from the air pipe is extruded and adapted with the inclined panel.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The upward plate extends from the top of the air pipe and moves upward along the hollow frame with the rising rod. At this time, the flaw detection mechanism fixedly connected to the top of the rising rod will move upward and reach the same horizontal height as the steel rope, thereby preparing for subsequent flaw detection.

[0023] 2. The screw moves outward or inward in a spiral manner, causing the polished rod connected to the other end of the No. 1 spring coil to move outward or inward accordingly, and a limit block is also fixedly connected to the inner end of the polished rod. Therefore, several limit blocks clamp the wire rope, thereby limiting the wire rope and preventing it from deviating during the flaw detection process, which affects the flaw detection accuracy.

[0024] 3. When the position of the adjustment plate is determined, the threaded rod is screwed inward to limit and fix the adjustment plate. The balance roller plays a role in keeping the wire rope balanced. When there is no lifting mechanism, the operator manually lifts the top beam to perform rough flaw detection on the wire rope manually.

[0025] 4. The bottom of the external connecting plate is connected to the isolation plate, so the isolation plate will move downward along the inner slide. At this time, the bottom end of the isolation plate will be attached to the surface of the wire rope, thereby dividing the surface of the wire rope into several parts, paving the way for subsequent flaw detection.

[0026] 5. There are several infrared detectors, and each separated space on the surface of the wire rope has an infrared detector, which improves the spatial resolution of the detection: it can more clearly distinguish smaller temperature difference areas on the wire rope, which helps to find more subtle defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure is a schematic diagram of the external structure of an ultra-fine steel wire rope flaw detection device for a robot according to the present invention.

[0028] Figure 2 It is a schematic cross-sectional structural diagram of the present invention as a whole.

[0029] Figure 3 It is a structural schematic diagram of the balancing mechanism of the present invention.

[0030] Figure 4 It is a structural schematic diagram of the limiting mechanism of the present invention.

[0031] Figure 5 It is a schematic diagram of the structure of the regulating component of the present invention.

[0032] Figure 6 It is a schematic cross-sectional structural diagram of the regulating assembly of the present invention.

[0033] Figure 7 It is a schematic cross-sectional structural diagram of the flaw detection mechanism of the present invention.

[0034] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure at point A in the middle.

[0035] Fig. 9 It is an enlarged structural schematic diagram of some components of the flaw detection mechanism of the present invention.

[0036] Fig.10 It is a schematic structural diagram of the flaw detection assembly of the present invention.

[0037] Fig.11 It is a schematic diagram of the cross-sectional structure of the flaw detection assembly of the present invention.

[0038] Fig.12 It is a structural schematic diagram of the lifting mechanism of the present invention.

[0039] Fig.13 It is a schematic cross-sectional structural diagram of the lifting mechanism of the present invention.

[0040] Fig.14 For the present invention Fig.13 Schematic diagram of the enlarged structure at point B in the middle.

[0041] In the figure: 1. balancing mechanism; 2. limiting mechanism; 3. flaw detection mechanism; 4. lifting mechanism; 11. top crossbeam; 12. adjustment assembly; 13. cross plate; 14. threaded rod; 15. adjusting plate; 16. balancing roller; 21. fixing ring; 22. screw rod; 23. limiting block; 24. bearing; 25. spring ring No. 1; 26. bare rod; 121. electric push rod; 122. U-shaped frame; 123. extension rod; 124. toughness strip; 125. inclined plate; 31. constant temperature box; 32. inner rail; 3 3. Inner slide; 34. Isolation plate; 35. External connecting plate; 36. No. 2 spring ring; 37. Sleeve plate; 38. Return spring; 39. Flaw detection assembly; 30. Through hole; 301. Middle connecting bar; 391. Vertical rail; 392. Slide plate; 393. Folding rod; 394. Infrared detector; 41. Base frame; 42. Fixed rod; 43. Slide table; 44. Flat plate; 45. Clamp plate; 46. Inclined panel; 47. Conical rod; 48. Air pipe; 49. Upper plate; 40. Rising rod; 401. Hollow frame. DETAILED DESCRIPTION

[0042] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment. It should be noted that 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 making creative work are within the scope of protection of the present invention.

[0043] See also Figures 1 to 14 The present invention provides a technical solution: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, it includes a balancing mechanism 1, which is used to allow the device to move smoothly;

[0044] A limiting mechanism 2, which is used for limiting the position and preventing the steel wire rope from shaking;

[0045] A flaw detection mechanism 3, which is used to detect and process surface damage of the steel wire rope;

[0046] A lifting mechanism 4, which is used for adjusting the height of the entire device;

[0047] The balancing mechanism 1 is fixedly mounted on the flaw detection mechanism 3 , the limiting mechanism 2 is fixedly mounted on the outer end of the flaw detection mechanism 3 , and the bottom of the flaw detection mechanism 3 is fixedly connected to the lifting mechanism 4 .

[0048] The balancing mechanism 1 includes a top crossbeam 11, and an adjusting component 12 is arranged at the center of the top crossbeam 11. A cross plate 13 is fixedly connected to the bottom of the top crossbeam 11, and the cross plate 13 is fixedly connected to the top of the thermostatic box 31. Both ends of the cross plate 13 are threadedly connected to threaded rods 14, and the outer side of the threaded rod 14 is slidably adapted to be equipped with a positioning plate 15. The inner side of the positioning plate 15 is rotatably connected to a balancing roller 16, and then the positioning plate 15 is adjusted up and down, so that the balancing roller 16 rotatably connected to the inner side thereof can be attached to the upper side of the wire rope. When the position of the positioning plate 15 is determined, the threaded rod 14 is spirally rotated inward to limit and fix the positioning plate 15, wherein the balancing roller 16 plays a role in keeping the wire rope balanced, and when there is no lifting mechanism 4, the operator manually lifts the top crossbeam 11 to perform rough flaw detection on the wire rope manually.

[0049] The limiting mechanism 2 includes a fixing ring 21, which is fixedly connected to the outer end of the thermostatic box 31. The surface of the fixing ring 21 is threadedly connected with a screw rod 22, and the inner end of the screw rod 22 is rotatably connected to a limiting block 23. The outer side of the screw rod 22 is extruded and adapted with a bearing 24. A No. 1 spring ring 25 is symmetrically connected to both sides of the bearing 24. The end of the No. 1 spring ring 25 away from the bearing 24 is fixedly connected with a light rod 26. The light rod 26 is inserted into the outer side of the fixing ring 21 and extends to the inside. Then, the steel wire rope is passed through the limiting mechanism 2 and the flaw detection mechanism 3 in turn. In the process of the steel wire rope passing through, the screw rod 22 needs to be spirally pulled out outward, and then the limiting block 23 connected to its inner end is rotated to move outward, thereby giving the steel wire rope a certain amount of space to pass through. When the steel wire rope extends into the inside of the flaw detection mechanism 3, the screw 22 is The screw 22 is spirally extended inward again, so that the limit block 23 is slightly attached to the outer surface of the wire rope. In addition, the outer side of the screw rod 22 is connected to the No. 1 spring coil 25 through the bearing 24. Therefore, as the screw rod 22 moves outward or inward, the light rod 26 connected to the other end of the No. 1 spring coil 25 will move outward or inward accordingly. The No. 1 spring coil 25 is a general term for several elastic rings, all of which are tough and thus play a role similar to that of a spring coil, that is, when the four points on the surface of the spring coil are restricted and when one point is under pressure, the other points will shrink together, and the limit block 23 is also fixedly connected to the inner end of the light rod 26. Therefore, several limit blocks 23 clamp the wire rope, thereby limiting the wire rope and preventing it from deviating during the flaw detection process and affecting the flaw detection accuracy.

[0050] like Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11As shown, the adjustment component 12 includes an electric push rod 121, and a U-shaped frame 122 is fixedly connected to the bottom of the electric push rod 121. The U-shaped frame 122 is respectively inserted into the surface of the cross plate 13 and the thermostatic box 31, and extends to the inside of the thermostatic box 31. The outer side of the U-shaped frame 122 is fixedly connected to an extension rod 123. When the wire rope enters the inside of the flaw detection mechanism 3, the electric push rod 121 is started, and the U-shaped frame 122 fixedly connected to the bottom end of the electric push rod 121 will move downward accordingly, and the extension rod 123 fixedly connected to the outer side of the U-shaped frame 122 will move downward. The center part of the inclined panel 46 is squeezed and limited, so as to limit and fix the inclined panel 46 and provide a more stable environment for subsequent flaw detection. The bottom of the U-shaped frame 122 is fixedly connected with a tough strip 124, and the tough strip 124 is slidably adapted inside the constant temperature box 31. The tough strip 124 can be an elastic steel plate or a rubber plate, and the tough strip 124 and the inclined plate 125 are smoothed in contact with the internal surfaces of the constant temperature box 31 to ensure smooth adjustment. The bottom of the tough strip 124 is fixedly connected with an inclined plate 125, and the inclined plate 125 is inserted into the interior of the constant temperature box 31.

[0051] The flaw detection mechanism 3 includes a constant temperature box 31, and a flaw detection component 39 is arranged inside the constant temperature box 31. The flaw detection component 39 includes an infrared detector 394, and the infrared detector 394 is arranged inside the constant temperature box 31. The outer side of the infrared detector 394 is fixedly connected with a folding rod 393. Through the contraction of the second spring coil 36, the second spring coil 36 has the same function as the first spring coil 25, so that it squeezes the infrared detector 394, causing the folding rod 393 fixedly connected to the outer side of the infrared detector 394 to move inward and approach the wire rope, wherein the infrared detector 394 is There are several infrared detectors 394 on the surface of the steel wire rope, which can improve the spatial resolution of the detection: it can more clearly distinguish smaller temperature difference areas on the steel wire rope, which is helpful to find more subtle defects. In addition, it can avoid the fact that infrared flaw detection may not be sensitive enough to deeper internal defects, and some hidden deeper damage may be difficult to detect. The end of the folding rod 393 away from the infrared detector 394 is fixedly connected to a slide plate 392, and the outer side of the slide plate 392 is adapted to slide with a vertical rail 391, and the vertical rail 391 is fixedly connected to the outer end of the constant temperature box 31.

[0052] The inner side of the thermostat 31 is fixedly connected with an inner rail 32, and the inner sliding frame 33 is slidably adapted inside the inner rail 32. The center part of the inner sliding frame 33 is provided with a middle connecting bar 301, and the two ends of the middle connecting bar 301 are symmetrically connected with isolation plates 34. The isolation plates 34 are slidably adapted on both sides of the inner sliding frame 33. The top of the isolation plate 34 is fixedly connected with an outer connecting plate 35, and the bottom of the outer connecting plate 35 is fixedly connected with a return spring 38. The end of the return spring 38 away from the outer connecting plate 35 is fixedly connected to the outer side of the inner sliding frame 33. The surface of the inner sliding frame 33 is provided with a through hole 30, wherein the surface of the through hole 30 is slidably adapted with the isolation plate 34, and the outer connecting plate 35 is slidably adapted on the outer side of the inner sliding frame 33. The end of the outer connecting plate 35 away from the inner sliding frame 33 is fixedly connected with a No. 2 spring ring 36. In addition, as the U-shaped frame 122 moves downward, the toughness bar 124 fixedly connected to the bottom of the U-shaped frame 122 will move downward with the inclined plate 125. The middle toughness strip 124 is tough, and then the sleeve plate 37 squeezed by the inclined plate 125 will move inward, and the No. 2 spring coil 36 fixedly connected to its two ends will be compressed, wherein the No. 2 spring coil 36 has the same function as the No. 2 spring coil 25. When one part thereof is compressed and contracts, the part connected to the other end thereof will also contract synchronously. With the contraction of the No. 2 spring coil 36, the outer connecting plate 35 fixedly connected to its other end moves toward the center, and the bottom of the outer connecting plate 35 is connected to the isolation plate 34, so the isolation plate 34 will move downward along the inner slide 33. At this time, the bottom end of the isolation plate 34 will be attached to the surface of the wire rope, thereby dividing the surface of the wire rope into several parts, paving the way for subsequent flaw detection. The end of the No. 2 spring coil 36 away from the outer connecting plate 35 is fixedly connected to the sleeve plate 37, and the top of the sleeve plate 37 is squeezed and adapted to the inclined plate 125.

[0053] like Fig.12 , Fig.13 and Fig.14As shown, the lifting mechanism 4 includes a base frame 41, fixed rods 42 are fixedly connected to both sides of the inner cavity of the base frame 41, the outer side of the fixed rods 42 is slidably adapted with a slide table 43, the top of the slide table 43 is fixedly connected with a flat plate 44, the top of the flat plate 44 is fixedly connected with a clamping plate 45, the inner side of the clamping plate 45 is slidably adapted with an inclined panel 46, the top of the flat plate 44 is fixedly connected with a hollow frame 401, the top of the hollow frame 401 is plugged with a rising rod 40, the top of the rising rod 40 is fixedly connected to the constant temperature box 31, the bottom of the rising rod 40 is fixedly connected with an upward plate 49, the outer side of the upward plate 49 is slidably adapted with an air pipe 48, the air pipe 48 is fixedly connected to the bottom of the inner cavity of the hollow frame 401, the end of the air pipe 48 away from the upward plate 49 is plugged with a tapered rod 47, the tapered rod 47 The end away from the air pipe 48 is squeezed and fitted with the inclined plate 46, and the operator manually moves the inclined plate 46 inward along the clamping plate 45. At this time, the conical rod 47 squeezed and fitted with the two ends of the inclined plate 46 will be squeezed by it, and the contact surfaces between the inclined plate 46 and the conical rod 47 are both inclined surfaces. At this time, the conical rod 47 will be retracted into the air pipe 48, and then the gas inside the air pipe 48 will be compressed and reversely squeeze the upper plate 49, and then the upper plate 49 will extend from the top of the air pipe 48, and move upward along the hollow frame 401 with the rising rod 40, and the flaw detection mechanism 3 fixedly connected to the top of the rising rod 40 will move upward and reach the same horizontal height as the steel rope four, thereby playing a preparatory role for subsequent flaw detection.

[0054] When the present invention is used: first, by moving the inclined plate 46 inward along the clamping plate 45, the tapered rod 47 that is squeezed and adapted to the two ends of the inclined plate 46 will be squeezed by it and collected in the air pipe 48, and then the gas inside the air pipe 48 will be compressed and reversely squeeze the upper plate 49, and then the upper plate 49 will extend from the top of the air pipe 48 and move upward along the hollow frame 401 with the rising rod 40, and then the flaw detection mechanism 3 fixedly connected to the top of the rising rod 40 will move upward and reach the same level as the steel wire. Then the steel wire rope is passed through the limit mechanism 2 and the flaw detection mechanism 3 in turn, and in the process of the steel wire rope passing through, the screw rod 22 needs to be spirally pulled outward, and then the limit block 23 connected to its inner end is rotated to move outward, thereby giving the steel wire rope a certain passing space, and when the steel wire rope extends into the flaw detection mechanism 3, the screw rod 22 is spirally extended inward again, so that the limit block 23 is slightly attached to the outer surface of the steel wire rope.

[0055] Then adjust the adjusting plate 15 up and down so that the balancing roller 16 connected to the inner side thereof can be attached to the upper side of the wire rope. When the position of the adjusting plate 15 is determined, the threaded rod 14 is screwed inward to limit and fix the adjusting plate 15.

[0056] When the wire rope enters the flaw detection mechanism 3, the electric push rod 121 is started. At this time, the U-shaped frame 122 fixedly connected to the bottom end of the electric push rod 121 will move downward accordingly. At the same time, the extension rod 123 fixedly connected to the outside of the U-shaped frame 122 will move downward and squeeze the center part of the inclined plate 46 to limit the position. In addition, the toughness strip 124 fixedly connected to the bottom of the U-shaped frame 122 will move downward with the inclined plate 125, and then the sleeve plate 37 squeezed by the inclined plate 125 will move inward, and then the No. 2 spring coil 36 fixedly connected to its two ends will be compressed and move toward the center with the outer connecting plate 35 fixedly connected to the other end thereof, and the bottom of the outer connecting plate 35 is connected to the isolation plate 34, so the isolation plate 34 will move downward along the inner slide 33, and at this time the bottom end of the isolation plate 34 will be attached to the surface of the wire rope.

[0057] The above-mentioned embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work all fall within the scope of protection of the present invention.

Claims

1. A superfine steel wire rope flaw detection device for a robot, characterized in that: include: A balancing mechanism (1), the balancing mechanism (1) being used to enable the device to move smoothly; A limiting mechanism (2), the limiting mechanism (2) is used to limit the position of the steel wire rope and prevent it from shaking; A flaw detection mechanism (3), the flaw detection mechanism (3) is used to detect and process surface damage of the steel wire rope; A lifting mechanism (4), the lifting mechanism (4) is used for adjusting the height of the entire device; The balancing mechanism (1) is fixedly mounted on the flaw detection mechanism (3), the limiting mechanism (2) is fixedly mounted on the outer end of the flaw detection mechanism (3), and the bottom of the flaw detection mechanism (3) is fixedly connected to the lifting mechanism (4); The flaw detection mechanism (3) comprises a constant temperature box (31), and a flaw detection component (39) is arranged inside the constant temperature box (31); The flaw detection assembly (39) comprises an infrared detector (394), the infrared detector (394) is arranged inside the constant temperature box (31), a folding rod (393) is fixedly connected to the outside of the infrared detector (394), an end of the folding rod (393) away from the infrared detector (394) is fixedly connected to a slide plate (392), the outside of the slide plate (392) is slidably adapted to be equipped with a vertical rail (391), and the vertical rail (391) is fixedly connected to the outer end of the constant temperature box (31); The balancing mechanism (1) comprises a top crossbeam (11), an adjusting assembly (12) is arranged at the center of the top crossbeam (11), a cross plate (13) is fixedly connected to the bottom of the top crossbeam (11), the cross plate (13) is fixedly connected to the top of the thermostatic box (31), both ends of the cross plate (13) are threadedly connected to threaded rods (14), an outer side of the threaded rod (14) is slidably adapted to be equipped with a positioning plate (15), and an inner side of the positioning plate (15) is rotatably connected to a balancing roller (16); The limiting mechanism (2) comprises a fixing ring (21), the fixing ring (21) being fixedly connected to the outer end of the thermostatic box (31), a screw rod (22) being threadedly connected to the surface of the fixing ring (21), the inner end of the screw rod (22) being rotatably connected to a limiting block (23), the outer side of the screw rod (22) being extruded and adapted with a bearing (24), both sides of the bearing (24) being symmetrically connected to a first spring ring (25), one end of the first spring ring (25) away from the bearing (24) being fixedly connected to a light rod (26), the light rod (26) being inserted through the outer side of the fixing ring (21) and extending to the inner side.

2. The ultra-fine steel wire rope flaw detection device for a robot according to claim 1, characterized in that: The adjustment assembly (12) comprises an electric push rod (121), the bottom of the electric push rod (121) is fixedly connected to a U-shaped frame (122), the U-shaped frame (122) is respectively inserted into the surface of the horizontal plate (13) and the thermostatic box (31) and extends to the interior of the thermostatic box (31), and the outer side of the U-shaped frame (122) is fixedly connected to an extension rod (123).

3. The ultra-fine steel wire rope flaw detection device for a robot according to claim 2, characterized in that: The bottom of the U-shaped frame (122) is fixedly connected to a toughness bar (124), the toughness bar (124) is slidably adapted inside the thermostatic box (31), the bottom of the toughness bar (124) is fixedly connected to an inclined plate (125), the inclined plate (125) is inserted into the interior of the thermostatic box (31).

4. The ultra-fine steel wire rope flaw detection device for a robot according to claim 1, characterized in that: An inner rail (32) is fixedly connected to the inner side of the thermostatic box (31), an inner slide frame (33) is slidably adapted inside the inner rail (32), a central connecting bar (301) is provided at the central portion of the inner slide frame (33), isolation plates (34) are symmetrically connected to the two ends of the central connecting bar (301), and the isolation plates (34) are slidably adapted on both sides of the inner slide frame (33).

5. The ultra-fine steel wire rope flaw detection device for a robot according to claim 4, characterized in that: The top of the isolation plate (34) is fixedly connected to an external connecting plate (35), the bottom of the external connecting plate (35) is fixedly connected to a return spring (38), one end of the return spring (38) away from the external connecting plate (35) is fixedly connected to the outside of the inner slide (33), and a through hole (30) is provided on the surface of the inner slide (33), wherein the surface of the through hole (30) is slidably adapted to the isolation plate (34).

6. The ultra-fine steel wire rope flaw detection device for a robot according to claim 5, characterized in that: The outer connecting plate (35) is slidably fitted on the outer side of the inner slide (33); one end of the outer connecting plate (35) away from the inner slide (33) is fixedly connected to a second spring ring (36); one end of the second spring ring (36) away from the outer connecting plate (35) is fixedly connected to a sleeve plate (37); the top of the sleeve plate (37) is pressed and fitted to the inclined plate (125).

7. The ultra-fine steel wire rope flaw detection device for a robot according to claim 1, characterized in that: The lifting mechanism (4) comprises a base frame (41), fixed rods (42) are fixedly connected to both sides of the inner cavity of the base frame (41), a slide table (43) is slidably adapted on the outer side of the fixed rods (42), a flat plate (44) is fixedly connected to the top of the slide table (43), a clamping plate (45) is fixedly connected to the top of the flat plate (44), and an inclined panel (46) is slidably adapted on the inner side of the clamping plate (45).

8. The ultra-fine steel wire rope flaw detection device for a robot according to claim 7, characterized in that: The top of the flat plate (44) is fixedly connected to a hollow frame (401), the top of the hollow frame (401) is plugged with a rising rod (40), the top of the rising rod (40) is fixedly connected to the constant temperature box (31), the bottom of the rising rod (40) is fixedly connected to an upward plate (49), the outer side of the upward plate (49) is slidably fitted with an air pipe (48), the air pipe (48) is fixedly connected to the bottom of the inner cavity of the hollow frame (401), the end of the air pipe (48) away from the upward plate (49) is plugged with a conical rod (47), and the end of the conical rod (47) away from the air pipe (48) is squeezed and fitted with the inclined panel (46).

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