A wall-climbing inspection robot

Abstract

The present invention belongs to the technical field of crawling robots, and in particular, relates to a wall-climbing detection robot, including a body and an industrial control flat panel, the body is provided with four permanent magnetic wheels, the body is equipped with a camera assembly and a detection assembly, the industrial control flat panel is provided with a wire-releasing mechanism, and the control end of the body is electrically connected to the industrial control flat panel through the wire-releasing mechanism, and also includes: a chassis, the chassis is fixedly mounted at the bottom of the body and located between the four permanent magnetic wheels, and strip holes are provided on both sides of the end face of the chassis. The present invention can significantly improve the defect detection efficiency of large pipelines, storage tanks, etc., while greatly reducing the danger and labor intensity of personnel, and effectively improve the safety of the wall-climbing detection robot during operation, and prevent the precision instruments carried from falling and being damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of crawling robots, and in particular relates to a wall-climbing detection robot. Background Art

[0002] With the expansion of application industries and fields, pressure vessels and pipelines are facing increasingly complex and harsh service conditions. In particular, spherical tanks and pressure pipelines are highly hazardous as storage and transportation media and have high storage energy. The safety situation is not optimistic, among which accidents caused by corrosion, welding and material defects and ruptures account for a large proportion.

[0003] At present, magnetic crawling robots can reach complex and changeable working environments that are beyond the reach of humans. Through their integrated non-destructive testing technology, they can realize automated scanning and testing, and are suitable for high-altitude testing of plates, medium and large pipes, spherical tanks, and storage tanks. They can greatly improve the testing efficiency, reduce the risk of personnel and labor intensity, such as a composite magnetic adsorption video detection wall-climbing robot disclosed in patent announcement number CN102673671B;

[0004] Magnetic wall-climbing inspection robots can move freely on metal surfaces such as large pipes and spherical tanks with their magnetic wheels and perform inspection tasks efficiently. However, after long-term service, such equipment will have pits and rust layers on the surface due to corrosion. In these corroded areas, the contact between the magnetic wheel and the metal surface is no longer tight, which causes the magnetic force conduction to be blocked, and then causes the adsorption force to decrease and the robot to be unstable. Magnetic wall-climbing inspection robots are usually equipped with expensive and precise inspection instruments, such as phased array ultrasonic inspection units, TOFD inspection units, etc. Once the robot falls due to unstable adsorption, these precision instruments will be damaged due to violent collisions. What's more serious is that the fallen robots and instruments will pose a threat to the personnel below, and are very likely to injure on-site staff, causing serious personal injury accidents. This not only hinders the smooth progress of the inspection work, but also brings great safety hazards, bringing many adverse effects to the entire inspection operation. Summary of the invention

[0005] The purpose of the present invention is to provide a wall-climbing detection robot in view of the above-mentioned problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions: a wall-climbing detection robot, comprising a body and an industrial control tablet, the body being provided with four permanent magnetic wheels, the body being equipped with a camera assembly and a detection assembly, the industrial control tablet being provided with a wire-releasing mechanism, and the control end of the body being electrically connected to the industrial control tablet through the wire-releasing mechanism, and further comprising:

[0007] A chassis is fixedly mounted on the bottom of the vehicle body and located between the four permanent magnetic wheels, and both sides of the end surface of the chassis are provided with strip holes;

[0008] Two negative pressure adsorption units are respectively arranged under the corresponding strip holes, and the chassis is equipped with a suction mechanism, and the suction mechanism is connected to the two negative pressure adsorption units;

[0009] Two magnetic suction mechanisms are installed on the inner side of the corresponding strip holes, and the two magnetic suction mechanisms are connected to the negative pressure adsorption unit on the same side. The chassis is equipped with two winding and resetting mechanisms, and the two winding and resetting mechanisms are used to drive the magnetic suction mechanism on the same side to move in the strip hole on the same side.

[0010] A cleaning unit is installed on one side of the bottom of the vehicle body, and the cleaning unit is connected to the air outlet end of the suction mechanism;

[0011] The gas detection unit is installed at one end of the chassis, and the gas detection unit is connected with the suction end of the suction mechanism.

[0012] Preferably, the two negative pressure adsorption units each include a hollow bar, a plurality of negative pressure suction cups are fixedly inserted at the bottom of the hollow bar, the end face of the hollow bar is fixedly connected to an air intake pipe, and a normally closed solenoid valve is installed inside the air intake pipe, the side walls of the two hollow bars are each provided with an air supply hole, and an air supply electric-controlled valve is installed inside the two air supply holes, and the normally closed solenoid valve and the air supply electric-controlled valve are both electrically connected to the control end of the vehicle body.

[0013] Preferably, the suction mechanism includes an air cavity opened on one side of the interior of the chassis, a mounting groove is opened at one end of the chassis at a position on one side of the air cavity, an air pump is fixedly installed inside the mounting groove, and the suction end of the air pump is connected to the interior of the air cavity, corrugated hoses are fixedly inserted on both sides of the upper cavity wall of the air cavity, and the two corrugated hoses are connected to the air inlet pipe on the same side.

[0014] Preferably, the two magnetic suction mechanisms each include a T-shaped magnetic isolation column slidably arranged inside the bar-shaped hole, a column-shaped cavity is opened inside the T-shaped magnetic isolation column, a sliding rod is slidably connected to the lower cavity wall of the column-shaped cavity, a mounting frame is fixedly installed on the lower end of the sliding rod, and the hollow bar is detachably installed on the bottom of the mounting frame, an extrusion spring is fixedly arranged between the mounting frame and the bottom of the T-shaped magnetic isolation column, an iron core is fixedly connected to the top of the sliding rod, an electromagnetic column is fixedly connected to the upper cavity wall of the column-shaped cavity, and the electromagnetic column is connected to the control end of the vehicle body.

[0015] Preferably, the two winding and resetting mechanisms both include a storage cavity opened on one side of the interior of the chassis, a winding roller is rotatably provided inside the storage cavity, a plurality of pull ropes are wound and wound around the roller wall of the winding roller, and the movable ends of the pull ropes are fixedly connected to the side walls of the T-shaped magnetic isolation column, a winding motor is installed on the side wall of the chassis, and the output end of the winding motor is transmission-connected to the roller shaft of the winding roller, the winding motor is electrically connected to the control end of the vehicle body, and a proximity switch is fixedly inserted into the hole wall of the strip hole away from the side of the T-shaped magnetic isolation column on the same side.

[0016] Preferably, the cleaning unit includes a fixing bar fixedly mounted on the end of the chassis, and the interior of the fixing bar is hollow, and air outlet hoses are fixedly connected to both ends of the side walls of the fixing bar, and two hollow blocks are fixedly mounted on one side of the bottom of the vehicle body, and the two hollow blocks are connected to the air outlet hose on the same side, and the two hollow blocks are respectively arranged on one side of the corresponding permanent magnetic wheel, and the side walls of the two hollow blocks away from the permanent magnetic wheel are fixedly connected with jet heads, and the air outlet end of the air pump is connected to the interior of the fixing bar.

[0017] Preferably, the gas detection unit includes a strip cavity opened inside the chassis, and two connecting holes are opened between the two strip cavities and the air cavity, the cavity wall of the strip cavity away from the air cavity is provided with an air suction hole, and a normally open solenoid valve is installed inside the air suction hole, the side wall of the chassis is fixedly provided with an air suction hood connected with the air suction hole, the side wall of the air suction hood is provided with a mounting hole, and the mounting hole is threadedly connected with a mounting plate, the mounting plate is provided with a detachable gas detection probe, the detection end of the gas detection probe extends through the mounting hole to the interior of the air suction hood, the side wall of the air suction hood away from the chassis is provided with an air inlet hole, and the normally open solenoid valve and the gas detection probe are both electrically connected to the control end of the vehicle body.

[0018] Preferably, two fixing blocks are fixedly installed inside the fixing bar, and an electric heating rod is fixedly plugged into the side walls of the two fixing blocks, and the electric heating rod is electrically connected to the control end of the vehicle body.

[0019] Compared with the existing technology, the advantages of a wall climbing detection robot are:

[0020] Through the mutual cooperation of the vehicle body, industrial control flat panel, permanent magnet wheel, camera assembly, detection assembly and wire-releasing mechanism, defect detection can be carried out on large pipelines, storage tanks, etc. by means of magnetic wall climbing, which can greatly improve the detection efficiency, reduce personnel danger and labor intensity, and the mutual cooperation of the chassis, strip holes, negative pressure adsorption unit, suction mechanism, magnetic mechanism and winding and resetting mechanism can prevent the wall-climbing robot from falling by means of alternating negative pressure adsorption combined with magnetic suction action, thereby improving the safety of the wall-climbing detection robot during detection operation and preventing the carried precision instruments from falling and being damaged.

[0021] By setting up a cleaning unit, it is possible to cooperate with the suction mechanism to clean dust and other impurities that may exist on the moving path in advance during the vehicle body detection and movement process, thereby avoiding the impact of dust and other impurities on the stability of the vehicle body movement, and also reducing the impact of dust and other impurities on the detection accuracy to a certain extent.

[0022] The gas detection unit can cooperate with the suction mechanism to detect suspicious gases while the vehicle is moving, so that the locations where pipelines, storage tanks, etc. may be damaged can be determined based on the concentration of the suspicious gas. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a wall-climbing detection robot provided by the present invention;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of a chassis of a wall-climbing detection robot provided by the present invention;

[0025] Figure 3 It is a structural schematic diagram of a negative pressure adsorption unit and a magnetic adsorption mechanism of a wall-climbing detection robot provided by the present invention;

[0026] Figure 4 It is a schematic diagram of the connection structure of an air intake pipe and a corrugated hose of a wall-climbing inspection robot provided by the present invention;

[0027] Figure 5 It is a schematic cross-sectional structural diagram of a chassis of a wall-climbing detection robot provided by the present invention;

[0028] Figure 6 The invention provides a wall climbing detection robot. Figure 1 A magnified view of the structure of part A;

[0029] Figure 7 The present invention is a schematic diagram of the internal structure of an air suction hood of a wall-climbing inspection robot provided by the present invention.

[0030] In the figure: 1 body, 2 industrial control flat panel, 3 permanent magnetic wheel, 4 camera assembly, 5 detection assembly, 6 pay-off mechanism, 7 chassis, 8 bar hole, 9 negative pressure adsorption unit, 91 hollow bar, 92 negative pressure suction cup, 93 air intake pipe, 94 normally closed solenoid valve, 95 air supply hole, 96 air supply electric control valve, 10 suction mechanism, 101 air cavity, 102 installation groove, 103 air pump, 104 corrugated hose, 11 magnetic suction mechanism, 111 T-shaped magnetic isolation column, 112 column cavity, 113 slide rod, 114 mounting frame, 115 extrusion spring, 116 iron core , 117 electromagnetic column, 12 winding and resetting mechanism, 121 storage cavity, 122 winding roller, 123 pull rope, 124 winding motor, 125 proximity switch, 13 cleaning unit, 131 fixing strip, 132 air outlet hose, 133 hollow block, 134 nozzle, 14 gas detection unit, 141 strip cavity, 142 connecting hole, 143 suction hole, 144 normally open electromagnetic valve, 145 suction hood, 146 mounting hole, 147 mounting plate, 148 gas detection probe, 149 air inlet, 15 fixing block, 16 electric heating rod. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] like Figure 1-Figure 7 As shown, a wall-climbing detection robot includes a body 1 and an industrial control tablet 2, the body 1 is provided with four permanent magnetic wheels 3, the body 1 is installed with a camera assembly 4 and a detection assembly 5, the industrial control tablet 2 is provided with a wire-releasing mechanism 6, and the control end of the body 1 is electrically connected to the industrial control tablet 2 through the wire-releasing mechanism 6, and also includes: a chassis 7, the chassis 7 is fixedly mounted on the bottom of the body 1 and is located between the four permanent magnetic wheels 3, both sides of the end surface of the chassis 7 are provided with strip holes 8, and two negative pressure adsorption units 9 are respectively arranged under the corresponding strip holes 8 The two negative pressure adsorption units 9 each include a hollow bar 91, a plurality of negative pressure suction cups 92 are fixedly inserted at the bottom of the hollow bar 91, an air intake pipe 93 is fixedly connected to the end face of the hollow bar 91, and a normally closed solenoid valve 94 is installed inside the air intake pipe 93, and air supply holes 95 are opened on the side walls of the two hollow bars 91, and air supply electric control valves 96 are installed inside the two air supply holes 95, the normally closed solenoid valve 94 and the air supply electric control valve 96 are electrically connected to the control end of the vehicle body 1, and the air supply electric control valve 96 opens when power is turned on and automatically closes when power is turned off.

[0033] The chassis 7 is installed with a suction mechanism 10, and the suction mechanism 10 is connected to the two negative pressure adsorption units 9. The suction mechanism 10 includes an air cavity 101 opened on one side of the interior of the chassis 7. An installation groove 102 is opened at one end of the chassis 7 located on one side of the air cavity 101. An air pump 103 is fixedly installed inside the installation groove 102, and the suction end of the air pump 103 is connected to the interior of the air cavity 101. Corrugated hoses 104 are fixedly inserted on both sides of the upper cavity wall of the air cavity 101, and the two corrugated hoses 104 are connected to the air inlet pipe 93 on the same side.

[0034] Both magnetic attraction mechanisms 11 are installed on the inner side of the corresponding bar hole 8, and both magnetic attraction mechanisms 11 are connected to the negative pressure adsorption unit 9 on the same side. Both magnetic attraction mechanisms 11 include a T-shaped magnetic isolation column 111 slidably arranged inside the bar hole 8, and a columnar cavity 112 is opened inside the T-shaped magnetic isolation column 111. The lower cavity wall of the columnar cavity 112 is slidably connected with a sliding rod 113, and the lower end of the sliding rod 113 is fixedly installed with a mounting frame 114, and the hollow bar 91 is detachably installed on the bottom of the mounting frame 114. An extrusion spring 115 is fixedly arranged between the mounting frame 114 and the bottom of the T-shaped magnetic isolation column 111, and the top of the sliding rod 113 is fixedly connected with an iron core 116. The upper cavity wall of the columnar cavity 112 is fixedly connected with an electromagnetic column 117, and the electromagnetic column 117 is connected to the control end of the vehicle body 1.

[0035] The chassis 7 is provided with two reeling and resetting mechanisms 12, and the two reeling and resetting mechanisms 12 are used to drive the magnetic attraction mechanism 11 on the same side to move in the bar-shaped hole 8 on the same side. The two reeling and resetting mechanisms 12 include a storage chamber 121 opened on one side of the chassis 7. A reeling roller 122 is provided inside the storage chamber 121 for rotation. A plurality of pull ropes 123 are wound around the roller wall of the reeling roller 122, and the movable ends of the pull ropes 123 are fixedly connected to the side walls of the T-shaped magnetic isolation column 111. Then, a winding motor 124 is installed on the side wall of the chassis 7, and the output end of the winding motor 124 is connected to the roller shaft of the winding roller 122, and the winding motor 124 is electrically connected to the control end of the vehicle body 1. A proximity switch 125 is fixedly inserted into the hole wall of the strip hole 8 away from the T-shaped magnetic isolation column 111 on the same side. After the proximity switch 125 detects that the position of the T-shaped magnetic isolation column 111 on the same side reaches the set position, the proximity switch 125 will feedback an electrical signal to the control end of the vehicle body 1.

[0036] The cleaning unit 13 is installed on one side of the bottom of the vehicle body 1, and the cleaning unit 13 is connected to the air outlet end of the suction mechanism 10. The cleaning unit 13 includes a fixing bar 131 fixedly installed on the end of the chassis 7, and the interior of the fixing bar 131 is hollow, and both ends of the side walls of the fixing bar 131 are fixedly plugged with air outlet hoses 132. Two hollow blocks 133 are fixedly installed on one side of the bottom of the vehicle body 1, and the two hollow blocks 133 are connected to the air outlet hose 132 on the same side. The two hollow blocks 133 are respectively arranged on one side of the corresponding permanent magnetic wheel 3, and the side walls of the two hollow blocks 133 away from the permanent magnetic wheel 3 are fixedly plugged with jet heads 134. The air outlet end of the air pump 103 is connected to the interior of the fixing bar 131, and the aperture of the air inlet end of the jet head 134 is smaller than the aperture of the air outlet end.

[0037] The gas detection unit 14 is installed at one end of the chassis 7, and the gas detection unit 14 is connected to the suction end of the suction mechanism 10. The gas detection unit 14 includes a strip cavity 141 opened inside the chassis 7, and two connecting holes 142 are commonly opened between the two strip cavities 141 and the air cavity 101. The cavity wall of the strip cavity 141 away from the air cavity 101 is provided with a suction hole 143, and a normally open electromagnetic valve 144 is installed inside the suction hole 143. The side wall of the chassis 7 is fixedly installed with a suction cover 145 connected to the suction hole 143. The suction cover 145 is connected to the suction hole 143. A mounting hole 146 is provided on the side wall of vehicle body 45, and a mounting plate 147 is threadedly connected to the mounting hole 146, and a detachable gas detection probe 148 is installed on the mounting plate 147. The detection end of the gas detection probe 148 extends through the mounting hole 146 to the interior of the air intake hood 145, and an air inlet hole 149 is provided on the side wall of the air intake hood 145 away from the chassis 7. The normally open solenoid valve 144 and the gas detection probe 148 are both electrically connected to the control end of the vehicle body 1, and the gas detection probe 148 can be replaced with an appropriate gas detection probe 148 according to the exhaust gas to be detected.

[0038] Two fixing blocks 15 are fixedly installed inside the fixing bar 131, and the side walls of the two fixing blocks 15 are commonly fixedly plugged with a heating rod 16, which is electrically connected to the control end of the vehicle body 1. The working time and working temperature of the heating rod 16 can be pre-set through the industrial control tablet 2.

[0039] The operating principle of the present invention is now described as follows: the vehicle body 1 is placed on the side wall of a large pipeline or storage tank to be inspected (the large pipeline, storage tank, etc. need to have ferromagnetism), and through the magnetic attraction of the permanent magnetic wheel 3, each permanent magnetic wheel 3 can be adsorbed on the outer wall of the large pipeline or storage tank (the permanent magnetic wheel 3 is made of high-strength rare earth material, such as neodymium iron boron material). Under the action of the driving structure of the vehicle body 1, the four permanent magnetic wheels 3 can make the vehicle body 1 move along the outer wall of the pipeline, storage tank, etc. (the load of the vehicle body 1 in the most severe vertical upward movement reaches 16kg, and it is difficult to pull it down by manpower when it is stationary). Secondly, the driving structure of the vehicle body 1 can cooperate with the permanent magnetic wheels 3 to make the vehicle body 1 turn on the surface of the storage tank, pipeline, etc. (the driving structure adopts a high-power four-motor four-wheel drive mode, which can accurately advance, retreat and turn, and is equipped with a high-precision encoder to achieve programmed step detection accurate to the millimeter level, and the step of longitudinal advance and retreat can be accurately set The vehicle body 1 can be moved by the industrial control tablet 2, which can supply power and communicate with the control end of the vehicle body 1 through the wire-releasing mechanism 6. The image information and detection information generated by the camera component 4 and the detection component 5 on the vehicle body 1 can be transmitted to the industrial control tablet 2 through the wire-releasing mechanism 6. At the same time, the industrial control tablet 2 can control the moving path of the vehicle body 1 through the wire-releasing mechanism 6. Secondly, the vehicle body 1 can move according to the preset moving route, or it can be equipped with a laser patrol structure on the vehicle body 1 so that the vehicle body 1 can automatically patrol along the weld (for example, the laser emitting structure emits a laser to the weld area. Due to the difference in shape between the weld and the surrounding surface, the reflected light characteristics are different. The image sensor collects the reflected light to form an image. After analysis by the image processing system, the weld position and contour are identified. Finally, the control system controls the driving structure to adjust the movement of the vehicle body 1 according to the deviation information to achieve movement along the weld);

[0040] After the vehicle body 1 is placed on the side wall of the pipeline or storage tank, the negative pressure suction cup 92 will be attached to the side wall of the pipeline or storage tank under the action of the extrusion spring 115. Before the vehicle body 1 moves, the air pump 103 will be controlled to work according to a preset program, and the normally open solenoid valve 144 and the normally closed solenoid valve 94 on one side will be controlled to work. At this time, the suction end of the air pump 103 will extract the air inside the negative pressure suction cup 92 through the air cavity 101, the air inlet pipe 93 and the hollow bar 91, so that an air pressure difference can be formed between the inside and the outside of the negative pressure suction cup 92. Under the action of pressure difference, the negative pressure suction cup 92 is stably adsorbed on the outer wall of the pipeline or storage tank (the adsorption force generated by the negative pressure suction cup 92 after adsorption reaches 17kg under the most severe vertical upward movement. When the vehicle body 1 falls due to the failure of the magnetic attraction of the permanent magnetic wheel 3, the negative pressure suction cup 92 can temporarily support the entire vehicle body 1, thereby preventing the vehicle body 1 from falling directly). After the normally open solenoid valve 144 and the normally closed solenoid valve 94 work for 2 seconds, the control end of the vehicle body 1 controls the normally open solenoid valve 144 and the normally closed solenoid valve 94 to cut off the power, and then the vehicle body 1 The control end controls the electromagnetic column 117 at the negative pressure suction cup 92 on the other side to be energized, and the electromagnetic column 117 on the other side will generate a magnetic attraction to the iron core 116 on the same side, so that the sliding rod 113, the mounting frame 114 and the hollow bar 91 can be driven to move the negative pressure suction cup 92 upward by adsorbing the iron core 116, and then the control end of the vehicle body 1 can move the vehicle body 1 by controlling the driving structure. Since the negative pressure suction cup 92 on one side is adsorbed on the outer wall of the pipe or the storage tank, the negative pressure suction cup 92 will not move, while the negative pressure suction cup 92 on the other side is adsorbed on the electromagnetic column 1 17 moves upward under the magnetic attraction, so it will move synchronously with the vehicle body 1, and the negative pressure suction cup 92 adsorbed on the side wall of the pipe or storage tank will produce relative displacement with the vehicle body 1 due to the adsorption effect, so the pull ropes 123 on this side are pulled out, and the negative pressure suction cup 92 moves from the forward end of the vehicle body 1 to the rear end of the vehicle body 1, and when the negative pressure suction cup 92 moves to the rear end of the vehicle body 1, the proximity switch 125 at the bar hole 8 on this side will detect that the T-shaped magnetic isolation column 111 has arrived at the rear end, and the proximity switch 125 will feedback an electrical signal to the control end of the vehicle body 1;

[0041] After the control end of the vehicle body 1 receives the electric signal fed back by the proximity switch 125, the control end of the vehicle body 1 will control the driving structure to pause the movement of the permanent magnet wheel 3. Subsequently, the control end of the vehicle body 1 will control the electromagnetic column 117 on the other side to be powered off. After the electromagnetic column 117 on this side is powered off, under the action of the extrusion spring 115 on the same side, the negative pressure suction cup 92 on this side will fit against the storage tank. At the same time, the control end of the vehicle body 1 will control the normally open electromagnetic valve 144 and the normally closed electromagnetic valve 94 on this side to be powered on for 2 seconds, and synchronously control the air supply electric control valve 96 on the other side to be powered on and opened for 2 seconds. After power is supplied, the air pump 103 will extract the air inside the negative pressure suction cup 92 on this side, so that the negative pressure suction cup 92 is adsorbed on the side wall of the pipeline or the storage tank, and after the air supply electric control valve 96 on the other side is powered on and opened, the external air will be replenished into the negative pressure suction cup 92 to eliminate the pressure difference between the inside and outside of the negative pressure suction cup 92. Subsequently, the control end of the vehicle body 1 controls the electromagnetic column 117 on the other side to be powered on, and controls the winding motor 124 on this side to work at a fixed time. The winding motor 124 drives the winding roller 122 to rotate, so that the pull rope 123 can be wound up, so that the T-shaped magnetic isolation column 111 moves from the rear end of the vehicle body 1 to the front end. At the same time, the control end of the vehicle body 1 The control end controls the driving structure to continue to work, so that the vehicle body 1 continues to move (the two strip holes 8 are divided into left and right sides. Initially, the negative pressure suction cup 92 at the left strip hole 8 is adsorbed with the pipe or storage tank, and then the vehicle body 1 drives the negative pressure suction cup 92 on the right to move synchronously. After receiving the electric signal fed back by the proximity switch 125 on the left, the vehicle body 1 controls the negative pressure suction cup 92 on the right to adsorb with the pipe or storage tank, and the vehicle body 1 controls the negative pressure suction cup 92 on the left to resume moving back and resetting. Therefore, during the movement of the vehicle body 1, the negative pressure suction cups 92 on the left and right sides can be alternately adsorbed, so that during the movement of the vehicle body 1, even if the power is off, When the vehicle body 1 falls due to magnetic suction failure, the vehicle body 1 can also be attached to the side wall of the storage tank or pipe through the negative pressure suction cup 92, and will not fall. An electromagnetic clutch is provided between the output end of the winding motor 124 and the roller shaft of the winding roller 122 on the same side. When the winding motor 124 reels the pull rope 123, the electromagnetic clutch is energized. At this time, the moving plate and the static plate of the electromagnetic clutch are adsorbed, so the winding motor 124 can drive the winding roller 122 to rotate. When the negative pressure suction cup 92 is adsorbed on the side wall of the pipe or storage tank, and the vehicle body 1 moves, the electromagnetic clutch is de-energized. At this time, the moving plate and the static plate are separated, and each pull rope 123 can be smoothly unfolded);

[0042] During the movement of the vehicle body 1, the airflow delivered by the air pump 103 is delivered to the interior of the fixing bar 131, and the air inside the fixing bar 131 is discharged to the interior of the two hollow blocks 133 through the two air outlet hoses 132, and finally ejected through the two jet heads 134. Under the action of the ejected airflow, dust and other impurities that may be attached to the surface of the pipeline or storage tank on the route of the vehicle body 1 will be blown away, thereby preventing dust and other impurities from affecting the walking of the permanent magnetic wheel 3 and the magnetic attraction stability between the permanent magnetic wheel 3 and the pipeline or storage tank;

[0043] Secondly, when the vehicle body 1 is moving, the air suction end of the air pump 103 can inhale the air outside the vehicle body 1 through the cooperation of the air cavity 101, the strip cavity 141, the connecting hole 142, the air suction hole 143, and the air inlet hole 149. At this time, the external air will pass through the gas detection probe 148, and the gas detection probe 148 can detect specific exhaust gas in the gas. For example, if methane is transported inside the large pipeline being detected, the gas detection probe 148 can detect methane. If the methane concentration is high, it may indicate that the large pipeline has a leak. , and the leakage point is around the detection point, at this time, the position should be carefully explored in time, and the gas detection probe 148 can be replaced according to the gas to be detected. In the process of the air pump 103 working, the control end of the vehicle body 1 will control the electric heating rod 16 to work, and the electric heating rod 16 can accelerate the volatilization of the exhaust gas at the leakage point, which is beneficial to the exhaust gas detection, and the heating can cooperate with the thermal imager carried on the vehicle body 1 to detect defects of large pipelines or storage tanks, etc. Whether the electric heating rod 16 works and the heating temperature can be pre-set according to the actual detection requirements;

[0044] When the vehicle body 1 is moving, the detection component 5 can be used to detect large pipelines or storage tanks. The detection component 5 includes multiple detection instruments, such as a TOFD detection unit. TOFD (time difference diffraction) ultrasonic detection technology is an ultrasonic detection method that detects defects by using diffraction waves emitted from the "end angle" or "end point" of internal defects (such as cracks) of the workpiece. The probe detects the diffraction waves of different sound paths and positions at the end angle of the defect, and then the height and depth of the defect can be obtained. The ultrasonic phased array detection unit, the main feature of the ultrasonic phased array is that it uses a multi-chip probe controlled by a computer to generate a focused beam to scan the workpiece and realize the imaging of the detection results. Without moving the probe (at a certain moment), the deflection angle of the sound beam can be quickly changed by changing the software settings, and the detection results can be displayed on the industrial control tablet 2.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wall-climbing detection robot, comprising a body (1) and an industrial control tablet (2), wherein the body (1) is provided with four permanent magnetic wheels (3), the body (1) is installed with a camera assembly (4) and a detection assembly (5), the industrial control tablet (2) is provided with a wire-releasing mechanism (6), and a control end of the body (1) is electrically connected to the industrial control tablet (2) via the wire-releasing mechanism (6), characterized in that: Also includes: A chassis (7) is fixedly mounted on the bottom of the vehicle body (1) and is located between the four permanent magnet wheels (3); both sides of the end surface of the chassis (7) are provided with strip-shaped holes (8); Two negative pressure adsorption units (9) are respectively arranged below the corresponding strip-shaped holes (8); the chassis (7) is equipped with a suction mechanism (10), and the suction mechanism (10) is connected to the two negative pressure adsorption units (9); Two magnetic suction mechanisms (11) are both installed on the inner side of the corresponding strip-shaped hole (8), and the two magnetic suction mechanisms (11) are both connected to the negative pressure adsorption unit (9) on the same side; the chassis (7) is installed with two winding and resetting mechanisms (12), and the two winding and resetting mechanisms (12) are both used to drive the magnetic suction mechanism (11) on the same side to move in the strip-shaped hole (8) on the same side; A cleaning unit (13) is installed on one side of the bottom of the vehicle body (1), and the cleaning unit (13) is connected to the air outlet end of the suction mechanism (10); A gas detection unit (14) is mounted on one end of the chassis (7), and the gas detection unit (14) is connected to the suction end of the suction mechanism (10).

2. A wall-climbing detection robot according to claim 1, characterized in that: The two negative pressure adsorption units (9) each comprise a hollow bar (91), a plurality of negative pressure suction cups (92) are fixedly plugged into the bottom of the hollow bar (91), an air intake pipe (93) is fixedly connected to the end surface of the hollow bar (91), and a normally closed solenoid valve (94) is installed inside the air intake pipe (93), side walls of the two hollow bars (91) are each provided with an air supply hole (95), and an air supply electric control valve (96) is installed inside the two air supply holes (95), and the normally closed solenoid valve (94) and the air supply electric control valve (96) are both electrically connected to a control end of the vehicle body (1).

3. A wall-climbing detection robot according to claim 2, characterized in that: The suction mechanism (10) comprises an air cavity (101) provided on one side of the interior of the chassis (7); a mounting groove (102) is provided at one end of the chassis (7) at a position located on one side of the air cavity (101); an air pump (103) is fixedly installed inside the mounting groove (102); an air suction end of the air pump (103) is connected to the interior of the air cavity (101); corrugated hoses (104) are fixedly plugged into both sides of the upper cavity wall of the air cavity (101); and the two corrugated hoses (104) are connected to the air inlet pipe (93) on the same side.

4. A wall-climbing detection robot according to claim 2, characterized in that: The two magnetic attraction mechanisms (11) each comprise a T-shaped magnetic isolation column (111) slidably arranged inside the bar-shaped hole (8); a column-shaped cavity (112) is provided inside the T-shaped magnetic isolation column (111); a sliding rod (113) is slidably connected to the lower cavity wall of the column-shaped cavity (112); a mounting frame (114) is fixedly installed at the lower end of the sliding rod (113); and a hollow bar (91) is detachably installed at the bottom of the mounting frame (114); a compression spring (115) is fixedly arranged between the mounting frame (114) and the bottom of the T-shaped magnetic isolation column (111); an iron core (116) is fixedly connected to the top of the sliding rod (113); an electromagnetic column (117) is fixedly connected to the upper cavity wall of the column-shaped cavity (112); and the electromagnetic column (117) is connected to the control end of the vehicle body (1).

5. A wall-climbing detection robot according to claim 4, characterized in that: The two reeling and resetting mechanisms (12) each comprise a storage chamber (121) opened on one side of the interior of the chassis (7); a reeling roller (122) is rotatably provided inside the storage chamber (121); a plurality of pull ropes (123) are wound and reeled around the roller wall of the reeling roller (122); and the movable end of each pull rope (123) is fixedly connected to the side wall of the T-shaped magnetic isolation column (111); a reeling motor (124) is installed on the side wall of the chassis (7); and the output end of the reeling motor (124) is transmission-connected to the roller shaft of the reeling roller (122); the reeling motor (124) is electrically connected to the control end of the vehicle body (1); and a proximity switch (125) is fixedly plugged into the hole wall of the strip hole (8) on the side away from the T-shaped magnetic isolation column (111) on the same side.

6. A wall-climbing detection robot according to claim 3, characterized in that: The cleaning unit (13) comprises a fixing bar (131) fixedly mounted on the end of the chassis (7), and the interior of the fixing bar (131) is hollow, and both ends of the side walls of the fixing bar (131) are fixedly plugged with air outlet hoses (132), and two hollow blocks (133) are fixedly mounted on one side of the bottom of the vehicle body (1), and the two hollow blocks (133) are both connected to the air outlet hose (132) on the same side, and the two hollow blocks (133) are respectively arranged on one side of the corresponding permanent magnet wheel (3), and the side walls of the two hollow blocks (133) away from the permanent magnet wheel (3) are fixedly plugged with jet heads (134), and the air outlet end of the air pump (103) is connected to the interior of the fixing bar (131).

7. The wall-climbing detection robot according to claim 3, characterized in that: The gas detection unit (14) comprises a strip-shaped cavity (141) opened inside the chassis (7), and two connecting holes (142) are opened between the two strip-shaped cavities (141) and the gas cavity (101), a cavity wall of the strip-shaped cavity (141) on a side away from the gas cavity (101) is provided with an air suction hole (143), and a normally open solenoid valve (144) is installed inside the air suction hole (143), and an air suction cover (145) connected to the air suction hole (143) is fixedly installed on the side wall of the chassis (7), and the air suction cover (145) is The side wall is provided with a mounting hole (146), and the mounting hole (146) is threadedly connected to a mounting plate (147), the mounting plate (147) being provided with a detachable gas detection probe (148), the detection end of the gas detection probe (148) extending through the mounting hole (146) to the interior of the air suction hood (145), the side wall of the air suction hood (145) away from the chassis (7) is provided with an air inlet hole (149), and the normally open solenoid valve (144) and the gas detection probe (148) are both electrically connected to a control end of the vehicle body (1).

8. The wall-climbing detection robot according to claim 6, characterized in that: Two fixing blocks (15) are fixedly installed inside the fixing strip (131), and an electric heating rod (16) is fixedly plugged into the side walls of the two fixing blocks (15), and the electric heating rod (16) is electrically connected to the control end of the vehicle body (1).

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