Wall-climbing robot for weld surface defect detection

Abstract

The invention provides a wall-climbing robot for weld surface defect detection, and relates to the field of wall-climbing robotics.The wall-climbing robot comprises a robot body, a control subsystem, a detection subsystem and a marking subsystem, the detection subsystem is used for detecting the weld surface and transmitting detection data to the control subsystem in real time, the control subsystem analyzes the detection data, and the marking subsystem is used for marking the detection data; an execution signal is sent to the marking subsystem and the robot body, and the robot body and the marking subsystem can carry out marking of different styles according to different defects, so that personnel reinspection is facilitated, and the processing efficiency of workers is greatly improved; the device can replace manual work to carry out high-altitude facade weld surface defect detection operation, the labor intensity of workers is greatly relieved, the operation safety of the workers is guaranteed, meanwhile, high-altitude hanging baskets or scaffolds are not needed for operation, the operation efficiency is improved, the operation cost is reduced, and the popularization value is high.

Description

Technical Field

[0001] The invention relates to the field of wall-climbing robots, and in particular to a wall-climbing robot for detecting weld surface defects. Background Art

[0002] With the development of science and technology and the continuous improvement of industrial level, the manufacture and use of various large steel structures such as ships and storage tanks are becoming more and more common. There are usually a large number of welding connections in the manufacturing process of such structures. However, various defects such as pores and cracks often occur during the welding process. These defects will seriously affect the strength and service life of the structure, and even cause safety hazards. Therefore, it is very necessary to detect welds. The conventional detection method is to carry the detection equipment manually for high-altitude operations, which requires the construction of scaffolding or the use of high-altitude hanging baskets. The efficiency of weld detection is low, the labor intensity of workers is high, and the risk factor is high. Therefore, it is very necessary to design an automated equipment to complete the above detection work.

[0003] A wall-climbing robot is an automated device that can crawl on a facade and complete corresponding tasks. It has been used in some scenarios for weld inspection, but most weld inspection wall-climbing robots lack flexibility or stability. Traditional inspection robots use strong magnetic wheels or crawler structures. The former has high movement flexibility but poor adsorption stability; the latter has high adsorption stability but insufficient flexibility.

[0004] In addition, most inspection robots use cables for power supply and signal transmission, which increases the robot's high-altitude operating load and is not conducive to the robot's flexible inspection operations. It also does not have the function of marking weld defects, which is not conducive to manual re-inspection and repair of welds.

[0005] Therefore, how to design an automated weld surface defect detection device to perform flexible, efficient and stable vertical weld detection operations has become an urgent problem to be solved by technical personnel in this field. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a wall-climbing robot for weld surface defect detection. The robot body and the marking subsystem can mark different defects in different styles to facilitate personnel re-inspection, greatly improving the processing efficiency of the staff. The present invention can replace manual high-altitude vertical weld surface defect detection operations, greatly reducing the labor intensity of workers and ensuring the safety of workers' operations. At the same time, the operation does not require an aerial hanging basket or scaffolding, thereby improving operating efficiency, reducing operating costs, and having great promotion value.

[0007] The present invention is achieved through the following technical solutions:

[0008] A wall-climbing robot for detecting weld surface defects comprises a robot body, a control subsystem, a detection subsystem and a marking subsystem. The marking subsystem, the control subsystem and the detection subsystem are respectively connected to the robot body, and the robot body, the detection subsystem and the marking subsystem are all electrically connected to the control subsystem. The robot body crawls along the wall of the weld to be detected. The detection subsystem is used to detect the weld surface and transmit the detection data to the control subsystem in real time. The control subsystem analyzes the detection data and sends an execution signal to the marking subsystem and the robot body. The robot body and the marking subsystem cooperate to mark the weld according to the execution signal.

[0009] It can be seen that in the above technical scheme, the robot body of the present invention crawls along the wall of the weld to be inspected, the detection subsystem is used to detect the weld surface, and transmits the detection data to the control subsystem in real time, the control subsystem analyzes the detection data, and sends the execution signal to the marking subsystem and the robot body, and the robot body and the marking subsystem cooperate to mark the weld according to the execution signal. The present invention has a compact structure, small size, light weight, easy transportation and carrying, is suitable for operations in various occasions, and has great promotion value.

[0010] According to the above technical solution, preferably, the robot body includes a driving mechanism and a driven mechanism, the front end of the driven mechanism is connected to the rear end of the driving mechanism by a rotating bearing, the driven mechanism is a universal follower structure, and the marking subsystem, control subsystem and detection subsystem are respectively connected to the driving mechanism.

[0011] It can be seen that in the above technical scheme, the present invention adopts a front and rear double permanent magnet arrangement under the robot, the front end of the driven mechanism is connected to the rear end rotary hinge of the driving mechanism through a rotating bearing, and the driven mechanism is a universal follower structure to avoid the problem of insufficient adsorption force of the permanent magnet wheel structure. At the same time, by adding or reducing magnet gaskets, the distance between the magnet and the wall can be adjusted, thereby adjusting the adsorption force. The driven mechanism at the tail can adapt to a variety of working surfaces with different curvature radii.

[0012] According to the above technical solution, preferably, the driving mechanism includes a main frame, a battery assembly, a main magnet, and two sets of independently driven driving wheel assemblies, the two sets of driving wheel assemblies are symmetrically arranged on the left and right sides of the main frame, the battery assembly is fixedly connected to the main frame, the main magnet is arranged on the lower side of the main frame, and the driving wheel assembly is electrically connected to the battery assembly.

[0013] It can be seen that in the above technical solution, the present invention adopts a wheeled structure drive and adopts two sets of independently driven driving wheel assemblies, which increases the movement flexibility while ensuring its anti-overturning ability compared to the crawler structure.

[0014] According to the above technical solution, preferably, the driving wheel assembly includes an integrated joint motor, a motor flange and a driving wheel, the fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange, the other end of the motor flange is fixedly connected to the main frame, and the output end face of the integrated joint motor is fixedly connected to the driving wheel.

[0015] It can be seen that in the above technical solution, the hub of the driving wheel adopts an eccentric design, so that part of the length of the integrated joint motor and the motor flange is embedded in the driving wheel, thereby reducing the overall width to adapt to the wall with a smaller curvature radius. By controlling the high-precision integrated joint motor to provide power to the robot, flexible and accurate motion control of the robot can be achieved.

[0016] According to the above technical solution, preferably, the driven mechanism includes a driven frame, two sets of driven wheels and auxiliary magnets, the driven frame is hingedly connected to the main frame through a rotating bearing, the driven wheels are symmetrically arranged on the left and right sides of the driven frame, and the auxiliary magnets are arranged on the lower side of the driven frame.

[0017] According to the above technical solution, preferably, the marking subsystem is fixedly connected to the side of the main frame, and the marking subsystem performs various forms of marking processing on welds with different defects according to the execution signal. The marking subsystem includes a progressive first-level marking component and a second-level marking component. The first-level marking component drives the second-level marking component and the paint pen to slide up and down synchronously. The first-level marking component drives the paint pen to complete straight line marking, the second-level marking component drives the paint pen tip to swing, and the second-level marking component drives the paint pen to complete curve marking.

[0018] It can be seen that in the above technical solution, the marking subsystem includes a progressive first-level marking component and a second-level marking component, which can mark the location of weld defects and mark different defects in different styles to facilitate personnel review, greatly improving the processing efficiency of staff.

[0019] According to the above technical scheme, preferably, the first-level marking component includes a vertical electric push rod, a spring, a guide rail, a slider, a right-angle mounting plate, a pen clip base, a push rod connector, a saddle clip and a movable pen clip. The right-angle mounting plate is fixedly connected to the main frame, the vertical electric push rod and the guide rail are both arranged on the right-angle mounting plate, the slider is slidably connected to the guide rail, the pen clip base is fixedly connected to the slider, the vertical electric push rod is connected to the pen clip base through the push rod connector and the spring, the lower side of the pen clip base is fixedly connected with a guide rod, the upper end of the guide rod passes through the push rod connector, the two ends of the spring resist the lower end of the guide rod and the push rod connector, the movable pen clip is hingedly connected to the pen clip base, and the movable pen clip and the saddle clip cooperate to clamp and lock the middle part of the paint pen.

[0020] It can be seen that in the above technical solution, the crawling robot moves to the position to be inspected, so that the detection subsystem is facing the weld to be inspected, the detection subsystem detects the surface of the weld, and transmits the detection data to the control subsystem for weld surface defect analysis. If the weld has no defects, the crawling robot automatically moves forward to the next section of the weld to be inspected for inspection. If the weld has defects, the control subsystem issues an instruction to operate the marking subsystem to perform marking actions. Different styles of marking can be performed for different defect types. For example, when there is a bite edge in the weld, it is marked as a straight line. The control subsystem drives the vertical electric push rod to extend, and the vertical push rod moves forward. The electric push rod drives the push rod connecting piece to press the spring downward, and the spring transmits the pressure to the pen clip base through the guide rod. The paint pen moves vertically downward along the guide rail until the paint pen touches the wall and stops moving downward. At this time, the vertical electric push rod continues to compress the spring to compensate for the displacement difference between the paint pen and the telescopic end of the vertical electric push rod with the spring compression amount and give the paint pen a certain pressure. The vertical electric push rod remains in the extended state, and the crawling robot moves forward to draw a straight line mark on the wall. Then the vertical electric push rod contracts and drives the push rod connecting piece to move upward, and then pushes the pen clip base upward to drive the paint pen away from the wall, and the spring returns to a slightly compressed state.

[0021] According to the above technical solution, preferably, the secondary marking assembly includes a horizontal push rod and a movable ring, the fixed part of the horizontal push rod is fixedly connected to the pen clip base, the movable ring is slidably connected to the upper part of the paint pen, the free end of the horizontal push rod and the movable ring are hingedly connected, and the horizontal push rod pushes and pulls the paint pen to realize the left and right swing of the paint pen tip.

[0022] It can be seen that in the above technical solution, when there are surface pores in the weld, it is marked as a curve. After the first-level marking component presses the paint pen to the wall according to the above action, the control subsystem simultaneously controls the forward movement of the crawling robot and the telescopic movement of the horizontal push rod. The telescopic movement of the horizontal push rod drives the swinging movement of the paint pen. The change in the distance from the wall caused by the swinging of the paint pen is compensated by the compression amount of the spring, ensuring that the paint pen is always in contact with the wall while swinging. The robot can make a curve marking by moving forward while the paint pen swings. By controlling the movement speed of the robot and the number of times the horizontal push rod contracts, it is possible to mark curves of different styles. After the marking is completed, the control subsystem stops the telescopic movement of the horizontal push rod, maintains a static contracted state, and then controls the contraction of the vertical electric push rod, and the marking subsystem returns to its initial state.

[0023] According to the above technical solution, preferably, obstacle avoidance components are provided on the front and rear sides of the robot body for real-time monitoring of the front and rear of the robot. The obstacle avoidance components include a laser ranging sensor and a mounting part. The laser ranging sensor is fixedly connected to the robot body through the mounting part, and the laser ranging sensor is connected to the control subsystem signal.

[0024] It can be seen that in the above technical solution, the two groups of obstacle avoidance components arranged in the front and rear can monitor the robot in real time to ensure the safety of the operation.

[0025] According to the above technical solution, preferably, the detection subsystem includes a mounting frame and a detection device, the detection device is fixedly connected to the main frame through the mounting frame, the detection end of the detection device faces downward, and the detection device is signal-connected to the control subsystem.

[0026] The beneficial effects of the present invention are:

[0027] (1) The present invention uses a wall-climbing robot carrying detection equipment to replace manual work in high-altitude vertical weld surface defect detection operations, which greatly reduces the labor intensity of workers and ensures the safety of workers' operations. At the same time, the operation does not require a high-altitude hanging basket or scaffolding, thereby improving operation efficiency and reducing operation costs;

[0028] (2) The present invention has a compact structure, small size, light weight, is easy to transport and carry, and is suitable for operation in a variety of occasions;

[0029] (3) The present invention adopts a double permanent magnet arrangement at the front and rear of the robot to avoid the problem of insufficient adsorption force of the permanent magnet wheel structure. At the same time, the distance between the magnet and the wall can be adjusted by adding or removing the magnet gasket, thereby adjusting the adsorption force. In conjunction with the follower mechanism at the tail, it can adapt to a variety of working surfaces with different curvature radii;

[0030] (4) The present invention adopts a wheeled structure drive, using two sets of independently driven driving wheel assemblies and two sets of driven wheels, which increases the flexibility of movement while ensuring its anti-overturning ability compared to the crawler structure;

[0031] (5) The present invention uses a built-in battery assembly for power supply and an embedded control system. There is no need to drag cables during aerial work, which reduces the load on the robot and increases the flexibility of the robot's movement. The embedded system processes information faster, can complete the inspection work more efficiently, and improve work efficiency.

[0032] (6) The marking subsystem of the present invention includes a progressive primary marking component and a secondary marking component, which can mark the location of weld defects and mark different defects in different styles to facilitate personnel re-inspection, greatly improving the processing efficiency of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 An isometric structural diagram of the present invention is shown;

[0034] Figure 2 A schematic diagram of the top view of the structure of the present invention is shown;

[0035] Figure 3 A bottom-up structural schematic diagram of the present invention is shown;

[0036] Figure 4An isometric structural diagram of the drive mechanism and control subsystem is shown;

[0037] Figure 5 The isometric structural diagram of the main frame, battery assembly, main magnet and control subsystem is shown;

[0038] Figure 6 An exploded schematic diagram of the main frame, battery assembly, main magnet, and control subsystem is shown;

[0039] Figure 7 An isometric structural diagram of a drive wheel assembly is shown;

[0040] Figure 8 An isometric structural diagram of the driven mechanism is shown;

[0041] Fig. 9 A schematic diagram of the structure of the driven mechanism from a top view is shown;

[0042] Fig.10 An isometric structural diagram of the marking subsystem is shown;

[0043] Fig.11 A schematic diagram of the front view structure of the marking subsystem is shown;

[0044] Fig.12 An isometric structural diagram of the detection subsystem is shown;

[0045] Description of reference numerals:

[0046] 1. Robot body; 2. Control subsystem; 3. Detection subsystem; 4. Marking subsystem; 5. Driving mechanism; 6. Follower mechanism; 7. Rotating bearing; 8. Follower frame; 9. Follower wheel; 10. Auxiliary magnet; 11. Main frame; 12. Battery assembly; 13. Main magnet; 14. Driving wheel assembly; 15. Primary marking assembly; 16. Secondary marking assembly; 17. Integrated joint motor; 18. Motor flange; 19. Driving wheel; 20. Vertical electric push rod; 21. Spring; 22. Guide rail; 23. Right-angle mounting plate; 24. Pen clip base; 25. Push rod connector; 26. Movable pen clip; 27. Saddle clip; 28. Horizontal push rod; 29. ​​Moving ring; 30. Obstacle avoidance assembly; 31. Laser ranging sensor; 32. Mounting piece; 33. Mounting frame; 34. Detection equipment; 35. Paint pen; 36. Guide rod; 37. Slider. DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0048] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the invention.

[0049] like Figure 1-12As shown, the present invention provides a wall-climbing robot for detecting surface defects of welds, including a robot body 1, a control subsystem 2, a detection subsystem 3 and a marking subsystem 4. The marking subsystem 4, the control subsystem 2 and the detection subsystem 3 are respectively connected to the robot body, and the robot body, the detection subsystem 3 and the marking subsystem 4 are all electrically connected to the control subsystem 2. The robot body crawls along the wall of the weld to be detected. The detection subsystem 3 is used to detect the surface of the weld and transmit the detection data to the control subsystem 2 in real time. The control subsystem 2 analyzes the detection data and sends an execution signal to the marking subsystem 4 and the robot body 1. The robot body 1 and the marking subsystem 4 cooperate to mark the weld according to the execution signal. , wherein the robot body includes a driving mechanism 5 and a driven mechanism 6, the front end of the driven mechanism 6 is connected to the rear end of the driving mechanism 5 by a rotating bearing 7, the marking subsystem 4, the control subsystem 2 and the detection subsystem 3 are respectively connected to the driving mechanism 5, wherein the driving mechanism 5 includes a main frame 11, a battery assembly 12, a main magnet 13, and two sets of independently driven driving wheel assemblies 14, the two sets of driving wheel assemblies 14 are symmetrically arranged on the left and right sides of the main frame 11, the battery assembly 12 is fixedly connected to the main frame 11, the main magnet 13 is arranged on the lower side of the main frame 11, the driving wheel assembly 14 is electrically connected to the battery assembly 12, and the driven mechanism 6 is a universal follower structure, the driven mechanism 6 includes a driven frame 8, two sets of driven wheels 9 and a sub Magnet 10, driven frame 8 is hingedly connected to main frame 11 through rotating bearing 7, driven wheels 9 are symmetrically arranged on the left and right sides of driven frame 8, auxiliary magnet 10 is arranged on the lower side of driven frame 8, the present invention adopts wheel structure drive, adopts two sets of independently driven driving wheel assemblies 14, and relative to the crawler structure, it increases the flexibility of movement while ensuring its anti-overturning ability. The present invention adopts the front and rear double permanent magnet arrangement under the robot, the front end of driven mechanism 6 is connected to the rear end rotating hinge of driving mechanism 5 through rotating bearing 7, and driven mechanism 6 is a universal follower structure to avoid the problem of insufficient adsorption force of permanent magnet wheel structure, and the distance between magnet and wall can be adjusted by adding or reducing magnet gasket, thereby adjusting the adsorption force, and cooperating with the driven mechanism 6 at the rear It can adapt to a variety of working surfaces with different curvature radii, and the marking subsystem 4 is fixedly connected to the side of the main frame 11. The marking subsystem 4 performs various forms of marking processing on welds with different defects according to the execution signal, and the marking subsystem 4 includes a progressive first-level marking component 15 and a second-level marking component 16. The first-level marking component 15 drives the second-level marking component 16 and the paint pen 35 to slide up and down synchronously. The first-level marking component 15 drives the paint pen 35 to complete straight line marking, and the second-level marking component 16 drives the tip of the paint pen 35 to swing. The second-level marking component 16 drives the paint pen 35 to complete curve marking. The marking subsystem 4 can perform different styles of marking for different defects to facilitate personnel re-inspection, greatly improving the processing efficiency of the staff.

[0050] The robot body of the present invention crawls along the wall of the weld to be inspected, the detection subsystem 3 is used to detect the weld surface and transmit the detection data to the control subsystem 2 in real time, the control subsystem 2 analyzes the detection data, and sends the execution signal to the marking subsystem 4 and the robot body 1, the robot body 1 and the marking subsystem 4 mark the weld according to the execution signal. The present invention has a compact structure, a small size, a light weight, is easy to transport and carry, is suitable for operations in various occasions, and has great promotion value.

[0051] Optionally, in a possible embodiment, the driving wheel assembly 14 includes an integrated joint motor 17, a motor flange 18 and a driving wheel 19, the fixed end face of the integrated joint motor 17 is fixedly connected to one end of the motor flange 18, the other end of the motor flange 18 is fixedly connected to the main frame 11, the output end face of the integrated joint motor 17 is fixedly connected to the driving wheel 19, and the hub of the driving wheel 19 adopts an eccentric design so that part of the length of the integrated joint motor 17 and the motor flange 18 is embedded in the driving wheel 19, thereby reducing the overall width to adapt to a wall with a smaller curvature radius, and providing power to the robot by controlling the high-precision integrated joint motor 17, so as to achieve flexible and accurate motion control of the crawling robot.

[0052] Optionally, in a possible embodiment, the primary marking assembly 15 includes a vertical electric push rod 20, a spring 21, a guide rail 22, a slider 37, a right-angle mounting plate 23, a pen clip base 24, a push rod connector 25, a riding clip 27 and a movable pen clip 26, the right-angle mounting plate 23 is fixedly connected to the main frame 11, the vertical electric push rod 20 and the guide rail 22 are both arranged on the right-angle mounting plate 23, the slider 37 is slidably connected to the guide rail 22, the pen clip base 24 is fixedly connected to the slider, the vertical electric push rod 20 is connected to the pen clip base 24 through the push rod connector 25 and the spring 21, and the lower side of the pen clip base 24 is fixedly connected with the guide rail 22. The guide rod 36, the upper end of the guide rod 36 passes through the push rod connector 25, the two ends of the spring 21 resist the lower end of the guide rod 36 and the push rod connector 25, the movable pen clip 26 is hingedly connected to the pen clip base 24, the movable pen clip 26 and the saddle clip 27 cooperate to clamp and lock the middle part of the paint pen 35, and the secondary marking component 16 includes a horizontal push rod 28 and a moving ring 29, the fixed part of the horizontal push rod 28 is fixedly connected to the pen clip base 24, the moving ring 29 is slidably connected to the upper part of the paint pen 35, the free end of the horizontal push rod 28 is hingedly connected to the moving ring 29, and the horizontal push rod 28 pushes and pulls the paint pen 35 to realize the left and right swing of the pen tip of the paint pen 35.

[0053] Working process:

[0054] The crawling robot moves to the position to be inspected, so that the detection subsystem 3 is facing the weld to be inspected. The detection subsystem 3 detects the surface of the weld and transmits the detection data to the control subsystem 2 for weld surface defect analysis. If the weld has no defects, the crawling robot automatically moves forward to the next section of the weld to be inspected for inspection. If the weld has defects, the control subsystem 2 issues a command to operate the marking subsystem 4 to perform marking actions. Different styles of marking can be performed for different defect types. For example, when there is a bite edge in the weld, it is marked as a straight line. The control subsystem 2 drives the vertical electric push rod to extend, and the vertical electric push rod 20 drives the push rod connector 25 to press the spring downward. 21, the spring 21 transmits the pressure to the pen clip base 24 through the guide rod 36, and the paint pen 35 moves vertically downward along the guide rail 22 until the paint pen 35 touches the wall and stops moving downward. At this time, the vertical electric push rod continues to compress the spring 21, and the displacement difference between the paint pen 35 and the telescopic end of the vertical electric push rod is compensated by the compression amount of the spring 21, and a certain pressure is applied to the paint pen 35. The vertical electric push rod remains in the extended state, and the crawling robot moves forward to draw a straight line mark on the wall. Then the vertical electric push rod contracts and drives the push rod connector 25 to move upward, and then drives the pen clip base 24 to move upward to drive the paint pen 35 away from the wall, and the spring 21 returns to a slightly compressed state;

[0055] When the weld has surface pores or other types of defects, they are marked with different curves. After the primary marking component 15 presses the paint pen 35 to the wall according to the above action, the control subsystem 2 simultaneously controls the forward movement of the crawling robot and the telescopic movement of the horizontal push rod 28. The telescopic movement of the horizontal push rod 28 drives the paint pen 35 to swing. The change in the distance from the wall caused by the swing of the paint pen 35 is compensated by the compression of the spring 21, ensuring that the paint pen 35 is always in contact with the wall while swinging. The robot can make curve markings while the paint pen 35 swings and moves forward. By controlling the movement speed of the robot and the number of times the horizontal push rod 28 contracts, it is possible to mark curves of different styles. After the marking is completed, the control subsystem 2 stops the telescopic movement of the horizontal push rod 28, maintains a static contracted state, and then controls the vertical electric push rod 20 to contract, and the marking subsystem 4 returns to its initial state.

[0056] Optionally, in a possible embodiment, obstacle avoidance components 30 are provided on the front and rear sides of the robot body for real-time monitoring of the front and rear of the robot. The obstacle avoidance components 30 include a laser ranging sensor 31 and a mounting member 32. The laser ranging sensor 31 is fixedly connected to the robot body through the mounting member 32. The laser ranging sensor 31 is connected to the control subsystem 2 signal. The two sets of obstacle avoidance components 30 arranged in the front and rear can monitor the front and rear of the robot in real time to ensure the safety of the operation.

[0057] Optionally, in a possible implementation, the detection subsystem 3 includes a mounting frame 33 and a detection device 34, the detection device 34 is fixedly connected to the main frame 11 via the mounting frame 33, the detection end of the detection device 34 faces downward, and the detection device 34 is signal-connected to the control subsystem 2.

[0058] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A wall-climbing robot for weld surface defect detection, characterized in that: It includes a robot body, a control subsystem, a detection subsystem and a marking subsystem. The marking subsystem, the control subsystem and the detection subsystem are respectively connected to the robot body, and the robot body, the detection subsystem and the marking subsystem are all electrically connected to the control subsystem. The robot body crawls along the wall of the weld to be detected. The detection subsystem is used to detect the weld surface and transmit the detection data to the control subsystem in real time. The control subsystem analyzes the detection data and sends an execution signal to the marking subsystem and the robot body. The robot body and the marking subsystem cooperate to mark the weld according to the execution signal.

2. A wall-climbing robot for weld surface defect detection according to claim 1, characterized in that: The robot body includes a driving mechanism and a driven mechanism. The front end of the driven mechanism is connected to the rear end of the driving mechanism through a rotating bearing. The driven mechanism is a universal follower structure. The marking subsystem, control subsystem and detection subsystem are respectively connected to the driving mechanism.

3. A wall-climbing robot for weld surface defect detection according to claim 2, characterized in that: The driving mechanism includes a main frame, a battery assembly, a main magnet, and two sets of independently driven driving wheel assemblies, the two sets of driving wheel assemblies are symmetrically arranged on the left and right sides of the main frame, the battery assembly is fixedly connected to the main frame, the main magnet is arranged on the lower side of the main frame, and the driving wheel assembly is electrically connected to the battery assembly.

4. A wall-climbing robot for weld surface defect detection according to claim 3, characterized in that: The driving wheel assembly includes an integrated joint motor, a motor flange and a driving wheel. The fixed end face of the integrated joint motor is fixedly connected to one end of the motor flange, the other end of the motor flange is fixedly connected to the main frame, and the output end face of the integrated joint motor is fixedly connected to the driving wheel.

5. A wall-climbing robot for weld surface defect detection according to claim 2, characterized in that: The driven mechanism comprises a driven frame, two sets of driven wheels and auxiliary magnets. The driven frame is hingedly connected to the main frame through a rotating bearing. The driven wheels are symmetrically arranged on the left and right sides of the driven frame. The auxiliary magnets are arranged on the lower side of the driven frame.

6. A wall-climbing robot for weld surface defect detection according to claim 3, characterized in that: The marking subsystem is fixedly connected to the side of the main frame, and performs various forms of marking processing on welds with different defects according to execution signals. The marking subsystem includes a progressive primary marking component and a secondary marking component. The primary marking component drives the secondary marking component and the paint pen to slide up and down synchronously. The primary marking component drives the paint pen to complete straight line marking, and the secondary marking component drives the paint pen tip to swing, and the secondary marking component drives the paint pen to complete curve marking.

7. A wall-climbing robot for weld surface defect detection according to claim 6, characterized in that: The primary marking assembly includes a vertical electric push rod, a spring, a guide rail, a slider, a right-angle mounting plate, a pen clip base, a push rod connecting piece, a saddle clip and a movable pen clip. The right-angle mounting plate is fixedly connected to the main frame, the vertical electric push rod and the guide rail are both arranged on the right-angle mounting plate, the slider is slidably connected to the guide rail, the pen clip base is fixedly connected to the slider, the vertical electric push rod is connected to the pen clip base through the push rod connecting piece and the spring, the lower side of the pen clip base is fixedly connected with a guide rod, the upper end of the guide rod passes through the push rod connecting piece, the two ends of the spring abut against the lower end of the guide rod and the push rod connecting piece, the movable pen clip is hingedly connected to the pen clip base, and the movable pen clip and the saddle clip cooperate to clamp and lock the middle part of the paint pen.

8. A wall-climbing robot for weld surface defect detection according to claim 7, characterized in that: The secondary marking assembly includes a horizontal push rod and a moving ring, the fixed part of the horizontal push rod is fixedly connected to the pen clip base, the moving ring is slidably connected to the upper part of the paint pen, the free end of the horizontal push rod is hingedly connected to the moving ring, and the horizontal push rod pushes and pulls the paint pen to achieve left and right swing of the paint pen tip.

9. A wall-climbing robot for weld surface defect detection according to claim 1, characterized in that: Obstacle avoidance components are provided on the front and rear sides of the robot body for real-time monitoring of the front and rear of the robot. The obstacle avoidance components include a laser ranging sensor and a mounting part. The laser ranging sensor is fixedly connected to the robot body through the mounting part, and the laser ranging sensor is connected to the control subsystem signal.

10. A wall-climbing robot for weld surface defect detection according to claim 3, characterized in that: The detection subsystem includes a mounting frame and a detection device. The detection device is fixedly connected to the main frame via the mounting frame. The detection end of the detection device faces downward. The detection device is signal-connected to the control subsystem.

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