A metal surface flaw detection robot

Abstract

The present invention belongs to the field of flaw detection technology, and in particular to a metal surface flaw detection robot, comprising a base, a detection probe arranged above the base, and a metal material trough opened on the upper surface of the base, a propulsion assembly is arranged on the side of the base, and the propulsion assembly includes a sealing cover, an electric push rod, a first sealing piston plate, a rectangular slide cylinder and a second sealing piston plate, and stepping assemblies are arranged on both sides of the base, and the stepping assemblies include a second connecting rod, an optical axis, a first inclined plate, a second inclined plate, a first horizontal plate and a second horizontal plate; the crossbeam drives the U-shaped clamping block to move reciprocatingly horizontally and intermittently longitudinally, thereby driving the detection probe, a grinding wheel and an air collecting hood to move synchronously in an S shape, and the detection probe is located at the front side of the grinding wheel, so that the detection surface of the metal can be polished first, and the dust generated by the polishing can be cleaned before the flaw detection is carried out, thereby ensuring the accuracy of the metal flaw detection.

Description

Technical Field

[0001] The invention belongs to the technical field of flaw detection, and in particular relates to a metal surface flaw detection robot. Background Art

[0002] During the production and processing of steel structures, it is necessary to conduct flaw detection on them to detect various defects inside the workpiece, including longitudinal cracks, transverse cracks, looseness, pores, slag inclusions, etc., so as to ensure the quality of the product;

[0003] Existing metal flaw detection equipment includes ultrasonic flaw detection, ultrasonic thickness measurement, eddy current flaw detection, magnetic flux leakage flaw detection, etc. After the flaw detection equipment finds a problem, the flaw detector alarms to warn that the metal being tested has a quality problem. At this time, it is necessary to control the flaw detection mark through the spray gun to facilitate the subsequent treatment of the unqualified metal;

[0004] Although metal flaw detection equipment can be used to detect problems on the metal surface, dust is easily adhered to the surface of metal when it is stored in an open space, and the metal surface is extremely susceptible to corrosion. In the process of detecting the metal surface with the detection probe in the flaw detection equipment, impurities produced by dust and corrosion can easily affect the metal flaw detection results and reduce the accuracy of metal flaw detection.

[0005] Therefore, a metal surface flaw detection robot is designed to solve the above problems. Summary of the invention

[0006] In order to solve the problems raised in the above background technology, the present invention provides a metal surface flaw detection robot, which can effectively solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: a metal surface flaw detection robot, comprising a base, a detection probe arranged above the base, and a metal material trough opened on the upper surface of the base;

[0008] A propulsion assembly is provided on the side of the base, and the propulsion assembly includes a sealing cover, an electric push rod, a first sealing piston plate, a rectangular slide cylinder and a second sealing piston plate;

[0009] Stepping assemblies are arranged on both sides of the base, and the stepping assemblies include a second connecting rod, an optical axis, a first inclined plate, a second inclined plate, a first horizontal plate, and a second horizontal plate;

[0010] A rotating assembly is arranged at the rear side of the base, and the rotating assembly includes a hexagonal rod, a gear disc, a linkage rod, a lower tooth plate, an upper tooth plate, a guide box, a left special-shaped block, a right special-shaped block, an inverted trapezoidal plate, an auxiliary baffle, a third rotating shaft, a second rope and a gravity bead string;

[0011] A cleaning assembly is provided on the surface of the hexagonal rod, and the cleaning assembly includes a first bevel gear, a second bevel gear, a limiting sleeve, an L-shaped plate, a second bearing, a third bearing, an auxiliary connecting plate, a first synchronous wheel, a synchronous belt, a second synchronous wheel, a first rotating shaft, a gravity ball and a first connecting rope.

[0012] As a preferred metal surface flaw detection robot of the present invention, the left side of the base is fixedly connected with an L-shaped bearing plate, and an electric push rod is installed in a first installation groove opened on the surface of the L-shaped bearing plate, and a sealing cover is fixedly connected to the side of the L-shaped bearing plate close to the base, and a first sealing piston plate is inserted into the interior of the sealing cover, and the first sealing piston plate and the sealing cover are sealingly and slidingly connected, one end of the electric push rod output shaft is fixedly connected to one side of the first sealing piston plate, and a rectangular sliding cylinder connected to the interior of the sealing cover is inserted on the right surface of the sealing cover, and the rectangular sliding cylinder is fixedly connected to the sealing cover, and a second sealing piston plate is inserted into the interior of the rectangular sliding cylinder, and the second sealing piston plate and the rectangular sliding cylinder are sealingly and slidingly connected, and the bottom surface of the rectangular sliding cylinder is slidingly connected with an L-shaped connecting rod, and the second sealing piston plate is fixedly connected to the first connecting rod on the side away from the sealing cover, and the first connecting rod passes through one end of the rectangular sliding cylinder and is fixedly connected to one end of the L-shaped connecting rod.

[0013] As a preferred metal surface flaw detection robot of the present invention, a crossbeam is arranged above the base, and two side support plates are symmetrically and fixedly connected to the bottom surface of the crossbeam, and the upper surface of the base is provided with limiting grooves matching the side support plates, the side support plates are inserted into the limiting grooves and are slidably connected to the base, and the L-shaped connecting rod is fixedly connected to the upper surface of the crossbeam.

[0014] As a preferred embodiment of a metal surface flaw detection robot of the present invention, the bottom surface of the crossbeam is sleeved with a U-shaped block, two rectangular sliding grooves are symmetrically opened on both sides of the crossbeam, and a rectangular sliding block is slidably inserted inside each of the rectangular sliding grooves, the rectangular sliding block is fixedly connected to the U-shaped block, the U-shaped block is slidably connected to the crossbeam, and two second connecting rods are symmetrically fixedly connected on both sides of the U-shaped block, and the bottom surface of each of the U-shaped blocks is fixedly connected to an optical axis, the left side of the base is symmetrically fixedly connected with two left bottom support blocks, the upper surface of the left bottom support block is fixedly connected with a left side baffle, the right side of the base is symmetrically fixedly connected with two right bottom support blocks, and the upper surface of the right bottom support block is fixedly connected with a right side baffle, and a side of the left side baffle close to the right side baffle is equidistantly fixedly connected with a plurality of first horizontal plates and a plurality of first inclined plates, the first horizontal plate and the first inclined plate are staggered, and a side of the right side baffle close to the left side baffle is equidistantly fixedly connected with a plurality of second inclined plates and a plurality of second horizontal plates.

[0015] As a preferred metal surface flaw detection robot of the present invention, the left side baffle and the right side baffle are parallel to the base, each of the first horizontal plates is perpendicular to the left side baffle, each of the second horizontal plates is perpendicular to the right side baffle, the second inclined plate and the second horizontal plate are staggered, and the detection probe is installed on the bottom surface of the U-shaped block.

[0016] As a preferred metal surface flaw detection robot of the present invention, one side of the crossbeam is fixedly connected with a linkage rod, the rear side of the base is fixedly connected with a fitting card plate, a rectangular frame is inserted into the fitting card plate, the fitting card plate and the rectangular frame are slidably connected, a lower tooth plate and an upper tooth plate are fixedly connected into the rectangular frame, the upper tooth plate is located above the lower tooth plate, a guide box is fixedly connected to the upper surface of the rectangular frame, a left special-shaped block is fixedly connected to the interior of the guide box near the left side, a right special-shaped block is fixedly connected to the interior of the guide box near the right side, an inverted trapezoidal plate is fixedly connected to the interior of the guide box, the inverted trapezoidal plate is located between the left special-shaped block and the right special-shaped block, and the linkage rod is inserted in the gap between the inverted trapezoidal plate and the guide box.

[0017] As a preferred metal surface flaw detection robot of the present invention, fifth bearings are installed in the through circular grooves opened on the surfaces of the two side support plates, a hexagonal rod is inserted into the interior of the fifth bearing, one end of the hexagonal rod is fixedly connected to a gear disc, and the gear disc is located between the upper tooth plate and the lower tooth plate.

[0018] As a preferred metal surface flaw detection robot of the present invention, an auxiliary baffle is provided on the left side of the inverted trapezoidal plate, and the rear side of the auxiliary baffle is fixedly connected to a third rotating shaft, the end of the third rotating shaft away from the auxiliary baffle passes through the guide box and is rotatably connected to the guide box, the end of the third rotating shaft away from the auxiliary baffle is fixedly connected to a positioning baffle plate, the surface of the third rotating shaft is fixedly connected to a second rope, and the end of the second rope away from the third rotating shaft is fixedly connected to a gravity bead string.

[0019] The cam is a kind of metal surface flaw detection robot preferably in the present invention, the interior of the limiting sleeve is provided with a hexagonal slot matching the shape of the hexagonal rod, the limiting sleeve is sleeved on the surface of the hexagonal rod and is slidably connected with the hexagonal rod, the surface of the limiting sleeve is sleeved with a third bearing, the surface of the third bearing is fixedly connected with an L-shaped plate, one end of the L-shaped plate away from the third bearing is fixedly connected to the U-shaped block, the surface of the limiting sleeve is sleeved with a second bearing, the surface of the second bearing is fixedly connected with an auxiliary connecting plate, the end of the auxiliary connecting plate away from the second bearing is fixedly connected with an air collecting hood, the interior of the air collecting hood is symmetrically fixedly connected with two third connecting rods, the two third connecting rods are fixedly connected with the first bearing, the interior of the first bearing is provided with a first rotating shaft, the first rotating shaft is rotatably connected to the air collecting hood through the first bearing, and the first rotating shaft The first gear is fixedly provided with a first bevel gear, the surface of the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the second rotating shaft at the center position of the surface of the second bevel gear, the surface of the second rotating shaft is covered with a fourth bearing, the surface of the fourth bearing is fixedly connected with a fourth connecting rod, one end of the fourth connecting rod away from the fourth bearing is fixedly connected to the wind collecting cover, the second rotating shaft is rotatably connected to the wind collecting cover through the fourth bearing, and the end of the second rotating shaft away from the second bevel gear is fixedly connected to the fan blade, the surface of the first rotating shaft is fixedly provided with a first synchronous wheel, the surface of the limiting sliding sleeve is fixedly provided with a second synchronous wheel, the surface of the second synchronous wheel and the first synchronous wheel are covered with a synchronous belt, the first synchronous wheel is transmission-connected by the synchronous belt and the second synchronous wheel, and the end of the first rotating shaft away from the wind collecting cover is fixedly connected to the grinding wheel.

[0020] As a preferred metal surface flaw detection robot of the present invention, the upper surface of the beam is fixedly connected to a water tank, the exhaust hole opened on the upper surface of the wind collecting hood is installed with a conical joint, the end of the conical joint is fixedly connected to a corrugated telescopic tube, the end of the corrugated telescopic tube away from the conical joint extends to the interior of the water tank, and the end of the corrugated telescopic tube located inside the water tank is fixedly connected to a first connecting rope, the end of the first connecting rope away from the corrugated telescopic tube is fixedly connected to a gravity ball, and a side groove is opened on one side of the wind collecting hood.

[0021] Compared with the prior art, the invention has the following beneficial effects: the invention has a scientific and reasonable structure and is safe and convenient to use:

[0022] 1. A propulsion assembly is provided. The operation of the electric push rod drives the first sealing piston plate to slide inside the sealing cover, so that the gas inside the sealing cover is injected into the inside of the rectangular slide cylinder, and the second sealing piston plate is pushed to slide inside the rectangular slide cylinder. When the second sealing piston plate moves, it drives the crossbeam to move synchronously through the first connecting rod and the L-shaped connecting rod. Since the output shaft of the electric push rod slides back and forth, the crossbeam is driven to move back and forth, which is conducive to driving the crossbeam to move back and forth;

[0023] 2. A stepping assembly is provided. The crossbeam drives the U-shaped card block to move synchronously during the movement. The movement of the U-shaped card block drives the two optical axes to move synchronously. When the optical axis on one side moves to fit the surface of the first inclined plate, the optical axis slides on the surface of the first inclined plate, which can drive the U-shaped card block to move, so that the U-shaped card block slides on the surface of the crossbeam. When the optical axis on the other side slides to fit the surface of the second inclined plate, the U-shaped card block can continue to slide on the surface of the crossbeam until the crossbeam drives the optical axis to move in a direction away from the right side baffle. This is conducive to driving the U-shaped card block to slide intermittently along the surface of the crossbeam during the reciprocating movement of the crossbeam, thereby driving the detection probe to move in an S shape, thereby improving the convenience of the detection probe for metal surface flaw detection;

[0024] 3. A cleaning component and a rotating component are provided. The movement of the side support plate drives the gear disc to move. That is, when the gear disc and the upper toothed plate are meshed and connected, the crossbeam drives the linkage rod to slide in the gap between the upper part of the inverted trapezoidal plate and the guide box when moving. The movement of the crossbeam causes the gear disc to rotate clockwise. The rotation of the gear disc drives the hexagonal rod to rotate clockwise. When the crossbeam drives the linkage rod to move to a position close to the auxiliary baffle, it applies a force to the auxiliary baffle until the linkage rod slides out from the surface of the auxiliary baffle. When the linkage rod slides out from the auxiliary baffle, the linkage rod slides out from the auxiliary baffle. After the surface slides out, the second rope is wound around the surface of the third rotating shaft, and under the pull of the gravity of the gravity bead string, the auxiliary baffle automatically rotates to fit the upper end of the guide box. When the crossbeam drives the linkage rod to move in the opposite direction, the linkage rod slides against the surface of the auxiliary baffle and slides to the inclined surface on one side of the inverted trapezoidal plate, and slides under the inverted trapezoidal plate. Since the height of the linkage rod is fixed, the guide box can move upward under the action of the inclined surface and force, and the movement of the guide box drives the rectangular frame to move upward, that is, when the linkage rod slides to the inverted trapezoidal plate, the guide box moves upward. When the crossbeam moves below the trapezoidal plate, the distance that the rectangular frame moves up just makes the gear disc and the lower tooth plate meshing and connecting. When the crossbeam moves in the opposite direction, it continues to drive the hexagonal rod to rotate clockwise. The rotation of the hexagonal rod drives the limit sleeve to rotate synchronously. The rotation of the limit sleeve drives the first rotating shaft to rotate through the second synchronous wheel, the synchronous belt and the first synchronous wheel. The rotation of the first rotating shaft drives the first bevel gear and the grinding wheel to rotate synchronously, thereby driving the fan blades to rotate. Since the hexagonal rod always rotates clockwise, the fan blades always rotate in one direction, avoiding the problem of wind backflow during dust collection, and allowing the dust in the air to settle inside the water tank, avoiding the problem of dust generated by grinding floating in the air and polluting the environment. In the process of driving the U-shaped block to move back and forth horizontally and intermittently longitudinally, the crossbeam drives the detection probe, the grinding wheel and the wind collecting cover to move synchronously in an S shape, and the detection probe is located on the front side of the grinding wheel, so that the detection surface of the metal can be polished first, and the dust generated by grinding can be cleaned before flaw detection, thereby ensuring the accuracy of metal flaw detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the gravity bead string and the guide box in the present invention;

[0028] Figure 3 It is a schematic structural diagram of the first inclined plate and the first horizontal plate in the present invention;

[0029] Figure 4 It is a structural schematic diagram of the first sealing piston plate and the sealing cover in the present invention;

[0030] Figure 5 It is a schematic structural diagram of the first connecting rod and the L-shaped connecting rod in the present invention;

[0031] Figure 6 It is a structural schematic diagram of the guide box and the rectangular frame in the present invention;

[0032] Figure 7 It is a structural schematic diagram of the left special-shaped block and the right special-shaped block in the present invention;

[0033] Figure 8 It is a schematic diagram of the structure of the gravity bead string and the second rope in the present invention;

[0034] Fig. 9 It is a schematic diagram of the structure of the grinding wheel and the air collecting cover in the present invention;

[0035] Fig.10 is a schematic structural diagram of the second connecting rod and the optical axis in the present invention;

[0036] Fig.11 It is a schematic diagram of the structure of the L-shaped plate and the third bearing in the present invention;

[0037] Fig.12 It is a schematic diagram of the structure of the second synchronous wheel and the limiting sliding sleeve in the present invention;

[0038] Fig.13 It is a schematic diagram of the structure of the wind collecting cover and the conical joint in the present invention;

[0039] In the figure:

[0040] 1. Base; 2. Propulsion assembly; 21. L-shaped bearing plate; 22. Sealing cover; 23. Electric push rod; 24. First sealing piston plate; 25. Rectangular slide; 26. Crossbeam; 27. First connecting rod; 28. Second sealing piston plate; 29. ​​L-shaped connecting rod; 210. Limiting groove; 211. Side support plate; 3. Stepping assembly; 31. U-shaped block; 32. Rectangular slide; 33. Second connecting rod; 34. Optical axis; 35. Rectangular slide; 36. Left bottom Support block; 37, right bottom support block; 38, left side baffle; 39, right side baffle; 310, first inclined plate; 311, second inclined plate; 312, first horizontal plate; 313, second horizontal plate; 4, cleaning assembly; 41, fan blade; 42, first bevel gear; 43, second bevel gear; 44, first bearing; 45, limit sleeve; 46, L-shaped plate; 47, hexagonal slot; 48, second bearing; 49, third bearing; 410, auxiliary connecting plate ; 411, water tank; 412, grinding wheel; 413, first synchronous wheel; 414, synchronous belt; 415, second synchronous wheel; 416, first rotating shaft; 417, third connecting rod; 418, second rotating shaft; 419, fourth bearing; 420, fourth connecting rod; 421, wind hood; 422, side groove; 423, conical joint; 424, corrugated telescopic tube; 425, gravity ball; 426, first connecting rope; 5, rotating assembly; 51, through Through circular groove; 52, fifth bearing; 53, hexagonal rod; 54, gear disc; 55, linkage rod; 56, fitting card plate; 57, rectangular frame; 58, lower tooth plate; 59, upper tooth plate; 510, guide box; 511, left special-shaped block; 512, right special-shaped block; 513, inverted trapezoidal plate; 514, auxiliary baffle; 515, third rotating shaft; 516, positioning baffle; 517, second rope; 518, gravity bead string; 6, detection probe; 7, metal trough. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example: Figure 1-Figure 13 As shown, the present invention provides a technical solution.

[0043] A metal surface flaw detection robot comprises a base 1, a detection probe 6 arranged above the base 1, and a metal material trough 7 opened on the upper surface of the base 1;

[0044] A propulsion assembly 2 is disposed on the side of the base 1, and the propulsion assembly 2 includes a sealing cover 22, an electric push rod 23, a first sealing piston plate 24, a rectangular slide cylinder 25 and a second sealing piston plate 28;

[0045] Stepping assemblies 3 are arranged on both sides of the base 1, and the stepping assemblies 3 include a second connecting rod 33, an optical axis 34, a first inclined plate 310, a second inclined plate 311, a first horizontal plate 312 and a second horizontal plate 313;

[0046] A rotating assembly 5 is disposed at the rear side of the base 1, and the rotating assembly 5 includes a hexagonal rod 53, a gear disc 54, a linkage rod 55, a lower tooth plate 58, an upper tooth plate 59, a guide box 510, a left special-shaped block 511, a right special-shaped block 512, an inverted trapezoidal plate 513, an auxiliary baffle 514, a third rotating shaft 515, a second rope 517 and a gravity bead string 518;

[0047] A cleaning assembly 4 is provided on the surface of the hexagonal rod 53, and the cleaning assembly 4 includes a first bevel gear 42, a second bevel gear 43, a limiting sleeve 45, an L-shaped plate 46, a second bearing 48, a third bearing 49, an auxiliary connecting plate 410, a first synchronous wheel 413, a synchronous belt 414, a second synchronous wheel 415, a first rotating shaft 416, a gravity ball 425 and a first connecting rope 426.

[0048] An L-shaped bearing plate 21 is fixedly connected to the left side of the base 1, and an electric push rod 23 is installed in the first installation groove opened on the surface of the L-shaped bearing plate 21. A sealing cover 22 is fixedly connected to the side of the L-shaped bearing plate 21 close to the base 1, and a first sealing piston plate 24 is inserted inside the sealing cover 22. The first sealing piston plate 24 and the sealing cover 22 are sealingly and slidably connected. One end of the output shaft of the electric push rod 23 is fixedly connected to one side of the first sealing piston plate 24. A rectangular slide 25 connected to the inside of the sealing cover 22 is inserted on the right surface of the sealing cover 22. The rectangular slide 25 is fixedly connected to the sealing cover 22, and a second sealing piston plate 28 is inserted inside the rectangular slide 25. The second sealing piston plate 28 and the rectangular slide 25 are sealingly and slidably connected. An L-shaped connecting rod 29 is slidably connected to the bottom surface of the rectangular slide 25, and a first connecting rod 27 is fixedly connected to the side of the second sealing piston plate 28 away from the sealing cover 22. The first connecting rod 27 passes through one end of the rectangular slide 25 and is fixedly connected to one end of the L-shaped connecting rod 29.

[0049] A crossbeam 26 is arranged above the base 1, and two side support plates 211 are symmetrically and fixedly connected to the bottom surface of the crossbeam 26. A limiting groove 210 matching the side support plate 211 is opened on the upper surface of the base 1. The side support plate 211 is inserted into the limiting groove 210 and is slidably connected to the base 1. The L-shaped connecting rod 29 is fixedly connected to the upper surface of the crossbeam 26.

[0050] A U-shaped block 31 is sleeved on the bottom surface of the crossbeam 26, and two rectangular slide grooves 35 are symmetrically provided on both sides of the crossbeam 26. A rectangular slider 32 is slidably inserted inside each rectangular slide groove 35. The rectangular slider 32 is fixedly connected to the U-shaped block 31, and the U-shaped block 31 is slidably connected to the crossbeam 26. Two second connecting rods 33 are symmetrically fixedly connected on both sides of the U-shaped block 31, and an optical axis 34 is fixedly connected to the bottom surface of each U-shaped block 31. Two left bottom support blocks 36 are symmetrically fixedly connected to the left side of the base 1, and the upper surface of the left bottom support block 36 A left side baffle plate 38 is fixedly connected, and two right bottom support blocks 37 are symmetrically fixedly connected to the right side of the base 1. A right side baffle plate 39 is fixedly connected to the upper surface of the right bottom support block 37. A side of the left side baffle plate 38 close to the right side baffle plate 39 is equidistantly fixedly connected with a plurality of first horizontal plates 312 and a plurality of first inclined plates 310. The first horizontal plates 312 and the first inclined plates 310 are alternately arranged. A side of the right side baffle plate 39 close to the left side baffle plate 38 is equidistantly fixedly connected with a plurality of second inclined plates 311 and a plurality of second horizontal plates 313.

[0051] The left side baffle 38 and the right side baffle 39 are parallel to the base 1, each first horizontal plate 312 is perpendicular to the left side baffle 38, each second horizontal plate 313 is perpendicular to the right side baffle 39, the second inclined plate 311 and the second horizontal plate 313 are staggered, and the detection probe 6 is installed on the bottom surface of the U-shaped block 31.

[0052] A linkage rod 55 is fixedly connected to one side of the crossbeam 26, and a fitting card plate 56 is fixedly connected to the rear side of the base 1. A rectangular frame 57 is inserted inside the fitting card plate 56. The fitting card plate 56 and the rectangular frame 57 are slidably connected. A lower tooth plate 58 and an upper tooth plate 59 are fixedly connected inside the rectangular frame 57. The upper tooth plate 59 is located above the lower tooth plate 58. A guide box 510 is fixedly connected to the upper surface of the rectangular frame 57. A left special-shaped block 511 is fixedly connected to the inside of the guide box 510 near the left side, and a right special-shaped block 512 is fixedly connected to the inside of the guide box 510 near the right side. An inverted trapezoidal plate 513 is fixedly connected to the inside of the guide box 510, and the inverted trapezoidal plate 513 is located between the left special-shaped block 511 and the right special-shaped block 512. The linkage rod 55 is inserted in the gap between the inverted trapezoidal plate 513 and the guide box 510.

[0053] A fifth bearing 52 is installed in the through circular grooves 51 opened on the surfaces of the two side support plates 211. A hexagonal rod 53 is inserted into the interior of the fifth bearing 52. One end of the hexagonal rod 53 is fixedly connected to a gear disc 54. The gear disc 54 is located between the upper gear plate 59 and the lower gear plate 58.

[0054] An auxiliary baffle plate 514 is provided on the left side of the inverted trapezoidal plate 513, and a third rotating shaft 515 is fixedly connected to the rear side of the auxiliary baffle plate 514, and one end of the third rotating shaft 515 away from the auxiliary baffle plate 514 passes through the guide box 510 and is rotatably connected to the guide box 510, and one end of the third rotating shaft 515 away from the auxiliary baffle plate 514 is fixedly connected to a positioning baffle plate 516, and a second rope 517 is fixedly connected to the surface of the third rotating shaft 515, and one end of the second rope 517 away from the third rotating shaft 515 is fixedly connected to a gravity bead string 518.

[0055] The interior of the limiting sleeve 45 is provided with a hexagonal slot 47 that matches the shape of the hexagonal rod 53. The limiting sleeve 45 is sleeved on the surface of the hexagonal rod 53 and is slidably connected to the hexagonal rod 53. The surface of the limiting sleeve 45 is sleeved with a third bearing 49. The surface of the third bearing 49 is fixedly connected with an L-shaped plate 46. The end of the L-shaped plate 46 away from the third bearing 49 is fixedly connected to the U-shaped block 31. The surface of the limiting sleeve 45 is sleeved with a second bearing 48. The surface of the second bearing 48 is fixedly connected with an auxiliary connecting plate 410. The end of the auxiliary connecting plate 410 away from the second bearing 48 is fixedly connected with an air collecting cover 421. The interior of the air collecting cover 421 is symmetrically fixedly connected with two third connecting rods 417. The first bearing 44 is fixedly connected between the two third connecting rods 417. The interior of the first bearing 44 is inserted with a first rotating shaft 416. The first rotating shaft 416 is rotatably connected to the air collecting cover 421 through the first bearing 44. The surface of the first rotating shaft 416 is fixedly sleeved with a first bevel gear 42. The surface of the bevel gear 42 is meshedly connected with the second bevel gear 43, and the second rotating shaft 418 is fixedly connected at the center position of the surface of the second bevel gear 43. The surface of the second rotating shaft 418 is sleeved with a fourth bearing 419, and the surface of the fourth bearing 419 is fixedly connected with a fourth connecting rod 420. The end of the fourth connecting rod 420 away from the fourth bearing 419 is fixedly connected to the wind collecting cover 421, and the second rotating shaft 418 is rotatably connected to the wind collecting cover 421 through the fourth bearing 419. The end of the second rotating shaft 418 away from the second bevel gear 43 is fixedly connected with the fan blade 41, the surface of the first rotating shaft 416 is fixedly sleeved with a first synchronous wheel 413, and the surface of the limiting sliding sleeve 45 is fixedly sleeved with a second synchronous wheel 415. The surfaces of the second synchronous wheel 415 and the first synchronous wheel 413 are sleeved with a synchronous belt 414. The first synchronous wheel 413 is transmission-connected with the second synchronous wheel 415 through the synchronous belt 414, and the end of the first rotating shaft 416 away from the wind collecting cover 421 is fixedly connected with the grinding wheel 412.

[0056] The upper surface of the crossbeam 26 is fixedly connected to a water tank 411, and the exhaust hole opened on the upper surface of the wind collecting hood 421 is installed with a conical joint 423, and the end of the conical joint 423 is fixedly connected to a bellows expansion tube 424, and one end of the bellows expansion tube 424 away from the conical joint 423 extends to the inside of the water tank 411, and one end of the bellows expansion tube 424 located inside the water tank 411 is fixedly connected to a first connecting rope 426, and one end of the first connecting rope 426 away from the bellows expansion tube 424 is fixedly connected to a gravity ball 425, and a side groove 422 is opened on one side of the wind collecting hood 421.

[0057] Working principle: When the device is performing metal surface flaw detection, the metal to be detected is placed in the metal material trough 7, and the electric push rod 23 is connected to the external power supply. The operation of the electric push rod 23 drives the first sealing piston plate 24 to slide inside the sealing cover 22. There is a suitable gap between the sealing cover 22 and the L-shaped bearing plate 21 to facilitate the discharge of the gas inside the sealing cover 22. The movement of the first sealing piston plate 24 causes the gas inside the sealing cover 22 to be injected into the rectangular slide 25, and pushes the second sealing piston plate 28 to slide inside the rectangular slide 25. The second sealing piston plate 28 is driven by the second sealing piston plate 24 to slide inside the rectangular slide 25. The movement of the sealing piston plate 28 drives the first connecting rod 27 to move, and the movement of the first connecting rod 27 drives the L-shaped connecting rod 29 to move, thereby driving the cross beam 26 to move synchronously. When the electric push rod 23 is running, it drives the first sealing piston plate 24 to slide back and forth inside the sealing cover 22, thereby driving the cross beam 26 to move back and forth. The movement of the cross beam 26 drives the two side support plates 211 to slide inside the limiting groove 210. Since the size of the sealing cover 22 is larger than that of the rectangular slide cylinder 25, the reciprocating range of the cross beam 26 can be increased, which is conducive to driving the cross beam 26 to move back and forth.

[0058] The crossbeam 26 drives the detection probe 6 to move during the movement, and the flaw detection process can be performed on the metal surface. The crossbeam 26 drives the U-shaped block 31 to move synchronously during the movement. The movement of the U-shaped block 31 drives the two optical axes 34 to move synchronously through the two second connecting rods 33. When the optical axis 34 on one side moves to fit the surface of the first inclined plate 310, the optical axis 34 can slide in line with the surface of the first inclined plate 310 under the action of the inclined setting of the first inclined plate 310, and after sliding to fit the surface of the first horizontal plate 312, the crossbeam 26 drives the U-shaped block 31 to move in the opposite direction, so that the optical axis 34 moves in the opposite direction along the surface of the first horizontal plate 312. The optical axis 34 moves in line with the surface of the first inclined plate 312. 0, the U-shaped card block 31 can be driven to move, so that the U-shaped card block 31 slides on the surface of the beam 26. When the optical axis 34 on the other side slides to fit the surface of the second inclined plate 311, the U-shaped card block 31 can continue to slide on the surface of the beam 26 under the effect of the inclined setting of the second inclined plate 311, until the optical axis 34 moves to fit the surface of the second horizontal plate 313. At this time, the beam 26 drives the optical axis 34 to move in a direction away from the right side baffle 39, which is conducive to driving the U-shaped card block 31 to slide intermittently along the surface of the beam 26 during the reciprocating movement of the beam 26, thereby driving the detection probe 6 to move in an S shape, thereby improving the convenience of the detection probe 6 for metal surface flaw detection.

[0059] The crossbeam 26 drives the side support plate 211 to move synchronously during the reciprocating movement. The movement of the side support plate 211 drives the hexagonal rod 53 to move through the fifth bearing 52. The hexagonal rod 53 drives the gear disc 54 to move during the movement. That is, when the gear disc 54 and the upper toothed plate 59 are meshed and connected, the linkage rod 55 is located above the inverted trapezoidal plate 513. When the crossbeam 26 moves, it drives the linkage rod 55 to slide in the gap between the upper part of the inverted trapezoidal plate 513 and the guide box 510, and the gear disc 54 and the upper toothed plate 59 are meshed and connected. The movement of the crossbeam 26 causes the gear disc 54 to rotate clockwise, and the rotation of the gear disc 54 drives the hexagonal rod 53 to rotate clockwise. When the crossbeam 26 drives the linkage rod 55 to move to a position close to the auxiliary baffle 514, the gear disc 54 and the upper toothed plate 59 are meshed and connected. As the linkage rod 55 continues to move, a force is applied to the auxiliary baffle 514, causing the auxiliary baffle 514 to rotate around the third rotating shaft 515 until the linkage rod 55 slides out from the surface of the auxiliary baffle 514. Because the second rope 517 is wrapped around the surface of the third rotating shaft 515 before the auxiliary baffle 514 rotates, under the action of the gravity of the gravity bead string 518, the auxiliary baffle 514 has a suitable force on the upper end of the inner part of the guide box 510. After the linkage rod 55 slides out from the surface of the auxiliary baffle 514, the second rope 517 is wrapped around the surface of the third rotating shaft 515, and under the pull of the gravity of the gravity bead string 518, the auxiliary baffle 514 automatically rotates until it fits with the upper end of the inner part of the guide box 510. When the movable linkage rod 55 moves in the reverse direction, the auxiliary baffle plate 514 blocks the linkage rod 55, thereby making it slide against the surface of the auxiliary baffle plate 514, slide to the inclined surface on one side of the inverted trapezoidal plate 513, and slide under the inverted trapezoidal plate 513. When the crossbeam 26 drives the linkage rod 55 to slide on the surface of the auxiliary baffle plate 514, the height of the linkage rod 55 is fixed, and under the action of the inclined surface and force, the guide box 510 can move upward. The movement of the guide box 510 drives the rectangular frame 57 to move upward, and under the restriction of the fitting card plate 56, the rectangular frame 57 can move vertically. When the linkage rod 55 slides to the bottom of the inverted trapezoidal plate 513, the distance that the rectangular frame 57 moves upward is just enough to make the gear disc 54 and the lower tooth plate 58 mesh and connect. The disc 54 and the upper toothed plate 59 have a suitable spacing and are not connected. When the crossbeam 26 moves in the opposite direction, it continues to drive the hexagonal rod 53 to rotate clockwise. The rotation of the hexagonal rod 53 drives the limiting sleeve 45 to rotate synchronously. The rotation of the limiting sleeve 45 drives the second synchronous wheel 415 to rotate. The rotation of the second synchronous wheel 415 drives the first synchronous wheel 413 to rotate through the synchronous belt 414, thereby driving the first rotating shaft 416 to rotate. The rotation of the first rotating shaft 416 drives the first bevel gear 42 and the grinding wheel 412 to rotate synchronously. The rotation of the first bevel gear 42 drives the second bevel gear 43 meshing therewith to rotate. The rotation of the second bevel gear 43 drives the second rotating shaft 418 to rotate, thereby driving the fan blade 41 to rotate. Since the hexagonal rod 53 always rotates clockwise,Thereby, the fan blades 41 always rotate in one direction, avoiding the problem of wind backflow during dust collection. In the process of flaw detection on the metal surface through the detection probe 6, since the auxiliary connecting plate 410 is rotatably connected with the limiting sleeve 45 through the second bearing 48, the grinding wheel 412 and the metal surface can be fitted together under the action of gravity of the wind collecting cover 421, the grinding wheel 412 and the first rotating shaft 416, and the metal surface can be polished as the first rotating shaft 416 drives the grinding wheel 412 to rotate. The rotation of the fan blades 41 can make the dust generated by grinding be sucked into the inside of the wind collecting cover 421, and flow into the inside of the bellows 424 along the inside of the tapered joint 423, and flow out from one end of the bellows 424 located inside the water tank 411. 1 is placed with sedimentation liquid, and under the pull of the gravity ball 425, one end of the bellows 424 is located inside the sedimentation liquid, so that the dust in the air can be precipitated inside the water tank 411, avoiding the problem of dust generated by grinding floating in the air and polluting the environment. The U-shaped block 31 and the end of the L-shaped plate 46 are fixedly connected, and the limit sleeve 45 can slide on the surface of the hexagonal rod 53. The crossbeam 26 drives the U-shaped block 31 to move reciprocatingly horizontally and intermittently longitudinally, thereby driving the grinding wheel 412 and the wind collecting cover 421 to move synchronously in an S shape, and the detection probe 6 is located on the front side of the grinding wheel 412, so that the detection surface of the metal can be polished first, and the dust generated by grinding can be cleaned before detection, ensuring the accuracy of the metal flaw detection process.

[0060] It should be noted that the first inclined plate 310 and the second inclined plate 311 are inclined in opposite directions, and the side of the first inclined plate 310 at the corresponding position close to the left side baffle 38 and the side of the second inclined plate 311 at the corresponding position away from the right side baffle 39 are on the same horizontal line, so that the two optical axes 34 can slide into the surfaces of the first inclined plate 310 and the second inclined plate 311 at the corresponding positions respectively, so that the U-shaped block 31 can intermittently slide on the surface of the beam 26, and there is an appropriate force between the rectangular slider 32 and the beam 26 to ensure the firmness of the U-shaped block 31 on the beam 26. The inclination values ​​of the first inclined plate 310 and the second inclined plate 311 are the same, so that the U-shaped block 31 can slide along the surface of the beam 26 the same distance each time.

[0061] It should be noted that the detection probe 6 is installed on the bottom surface of the U-shaped block 31 through a telescopic rod, and the telescopic rod is installed in a groove opened inside the U-shaped block 31. When metal detection is required, the telescopic rod pushes the detection probe 6 to move until the detection probe 6 and the surface of the metal are in contact. When the detection probe 6 and the surface of the metal are in contact, flaw detection can be performed on the metal.

[0062] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A metal surface flaw detection robot, comprising a base (1), a detection probe (6) arranged above the base (1), and a metal material trough (7) provided on the upper surface of the base (1); Features: A propulsion assembly (2) is provided on the side of the base (1), and the propulsion assembly (2) comprises a sealing cover (22), an electric push rod (23), a first sealing piston plate (24), a rectangular slide cylinder (25) and a second sealing piston plate (28); Stepping assemblies (3) are arranged on both sides of the base (1), and the stepping assemblies (3) include a second connecting rod (33), an optical axis (34), a first inclined plate (310), a second inclined plate (311), a first horizontal plate (312) and a second horizontal plate (313); A rotating assembly (5) is arranged at the rear side of the base (1), and the rotating assembly (5) comprises a hexagonal rod (53), a gear disc (54), a linkage rod (55), a lower tooth plate (58), an upper tooth plate (59), a guide box (510), a left special-shaped block (511), a right special-shaped block (512), an inverted trapezoidal plate (513), an auxiliary baffle (514), a third rotating shaft (515), a second rope (517) and a gravity bead string (518); A cleaning assembly (4) is arranged on the surface of the hexagonal rod (53), and the cleaning assembly (4) comprises a first bevel gear (42), a second bevel gear (43), a limiting sleeve (45), an L-shaped plate (46), a second bearing (48), a third bearing (49), an auxiliary connecting plate (410), a first synchronous wheel (413), a synchronous belt (414), a second synchronous wheel (415), a first rotating shaft (416), a gravity ball (425) and a first connecting rope (426).

2. The metal surface flaw detection robot according to claim 1, characterized in that: The left side of the base (1) is fixedly connected to an L-shaped bearing plate (21), a first mounting groove on the surface of the L-shaped bearing plate (21) is installed in an electric push rod (23), a side of the L-shaped bearing plate (21) close to the base (1) is fixedly connected to a sealing cover (22), a first sealing piston plate (24) is inserted inside the sealing cover (22), the first sealing piston plate (24) and the sealing cover (22) are sealingly slidably connected, one end of the output shaft of the electric push rod (23) is fixedly connected to one side of the first sealing piston plate (24), and a sealing cover (22) is inserted on the right surface thereof. 2) An internally connected rectangular slide (25), the rectangular slide (25) and the sealing cover (22) are fixedly connected, a second sealing piston plate (28) is inserted into the interior of the rectangular slide (25), the second sealing piston plate (28) and the rectangular slide (25) are sealingly slidably connected, the bottom surface of the rectangular slide (25) is slidably connected to an L-shaped connecting rod (29), the second sealing piston plate (28) is fixedly connected to a first connecting rod (27) on the side away from the sealing cover (22), and the first connecting rod (27) passes through one end of the rectangular slide (25) and is fixedly connected to one end of the L-shaped connecting rod (29).

3. The metal surface flaw detection robot according to claim 2, characterized in that: A crossbeam (26) is arranged above the base (1); two side support plates (211) are symmetrically and fixedly connected to the bottom surface of the crossbeam (26); a limiting groove (210) matching the side support plates (211) is provided on the upper surface of the base (1); the side support plates (211) are inserted into the limiting groove (210) and are slidably connected to the base (1); and the L-shaped connecting rod (29) is fixedly connected to the upper surface of the crossbeam (26).

4. The metal surface flaw detection robot according to claim 3, characterized in that: The bottom surface of the cross beam (26) is sleeved with a U-shaped block (31), and two rectangular slide grooves (35) are symmetrically provided on both sides of the cross beam (26), and a rectangular slider (32) is slidably inserted inside each of the rectangular slide grooves (35), and the rectangular slider (32) is fixedly connected to the U-shaped block (31), and the U-shaped block (31) is slidably connected to the cross beam (26), and two second connecting rods (33) are symmetrically fixedly connected to the two sides of the U-shaped block (31), and the bottom surface of each of the U-shaped blocks (31) is fixedly connected to an optical axis (34), and two left bottom support blocks (36) are symmetrically fixedly connected to the left side of the base (1), and the left bottom support block (3 6) is fixedly connected to the upper surface of a left side baffle plate (38), two right bottom support blocks (37) are symmetrically fixedly connected to the right side of the base (1), the upper surface of the right bottom support block (37) is fixedly connected to the right side baffle plate (39), a plurality of first horizontal plates (312) and a plurality of first inclined plates (310) are equidistantly fixedly connected to a side of the left side baffle plate (38) close to the right side baffle plate (39), the first horizontal plates (312) and the first inclined plates (310) are staggered, and a plurality of second inclined plates (311) and a plurality of second horizontal plates (313) are equidistantly fixedly connected to a side of the right side baffle plate (39) close to the left side baffle plate (38).

5. The metal surface flaw detection robot according to claim 4, characterized in that: The left side baffle (38) and the right side baffle (39) are both parallel to the base (1), each of the first horizontal plates (312) is perpendicular to the left side baffle (38), each of the second horizontal plates (313) is perpendicular to the right side baffle (39), the second inclined plates (311) and the second horizontal plates (313) are arranged alternately, and the detection probe (6) is installed on the bottom surface of the U-shaped block (31).

6. The metal surface flaw detection robot according to claim 3, characterized in that: A linkage rod (55) is fixedly connected to one side of the cross beam (26), a fitting card plate (56) is fixedly connected to the rear side of the base (1), a rectangular frame (57) is inserted inside the fitting card plate (56), the fitting card plate (56) and the rectangular frame (57) are slidably connected, a lower tooth plate (58) and an upper tooth plate (59) are fixedly connected inside the rectangular frame (57), the upper tooth plate (59) is located above the lower tooth plate (58), and a guide box (57) is fixedly connected to the upper surface of the rectangular frame (57). 10), a left special-shaped block (511) is fixedly connected to the interior of the guide box (510) near the left side, a right special-shaped block (512) is fixedly connected to the interior of the guide box (510) near the right side, an inverted trapezoidal plate (513) is fixedly connected to the interior of the guide box (510), the inverted trapezoidal plate (513) is located between the left special-shaped block (511) and the right special-shaped block (512), and the linkage rod (55) is inserted in the gap between the inverted trapezoidal plate (513) and the guide box (510).

7. The metal surface flaw detection robot according to claim 3, characterized in that: A fifth bearing (52) is installed in each of the through circular grooves (51) formed on the surfaces of the two side support plates (211), a hexagonal rod (53) is inserted into the interior of the fifth bearing (52), one end of the hexagonal rod (53) is fixedly connected to a gear disc (54), and the gear disc (54) is located between the upper gear plate (59) and the lower gear plate (58).

8. The metal surface flaw detection robot according to claim 1, characterized in that: An auxiliary baffle (514) is arranged on the left side of the inverted trapezoidal plate (513), and a third rotating shaft (515) is fixedly connected to the rear side of the auxiliary baffle (514), and one end of the third rotating shaft (515) away from the auxiliary baffle (514) passes through the guide box (510) and is rotatably connected to the guide box (510), and one end of the third rotating shaft (515) away from the auxiliary baffle (514) is fixedly connected to a positioning baffle plate (516), and a second rope (517) is fixedly connected to the surface of the third rotating shaft (515), and one end of the second rope (517) away from the third rotating shaft (515) is fixedly connected to a gravity bead string (518).

9. The metal surface flaw detection robot according to claim 3, characterized in that: A hexagonal slot (47) matching the shape of the hexagonal rod (53) is provided inside the limiting sliding sleeve (45); the limiting sliding sleeve (45) is sleeved on the surface of the hexagonal rod (53) and is slidably connected to the hexagonal rod (53); a third bearing (49) is sleeved on the surface of the limiting sliding sleeve (45); an L-shaped plate (46) is fixedly connected to the surface of the third bearing (49); one end of the L-shaped plate (46) away from the third bearing (49) is fixedly connected to the U-shaped block (31); a second bearing (48) is sleeved on the surface of the limiting sliding sleeve (45); the surface of the second bearing (48) is fixedly connected to the An auxiliary connecting plate (410) is connected, and one end of the auxiliary connecting plate (410) away from the second bearing (48) is fixedly connected to a wind collecting cover (421), and two third connecting rods (417) are symmetrically fixedly connected inside the wind collecting cover (421), and a first bearing (44) is fixedly connected between the two third connecting rods (417), and a first rotating shaft (416) is inserted into the inside of the first bearing (44), and the first rotating shaft (416) is rotatably connected to the wind collecting cover (421) through the first bearing (44), and a first bevel gear (42) is fixedly sleeved on the surface of the first rotating shaft (416). The surface of the first bevel gear (42) is meshingly connected with the second bevel gear (43); a second rotating shaft (418) is fixedly connected at the center position of the surface of the second bevel gear (43); a fourth bearing (419) is sleeved on the surface of the second rotating shaft (418); a fourth connecting rod (420) is fixedly connected to the surface of the fourth bearing (419); an end of the fourth connecting rod (420) away from the fourth bearing (419) is fixedly connected to the wind collecting cover (421); the second rotating shaft (418) is rotatably connected to the wind collecting cover (421) via the fourth bearing (419); The end of (418) away from the second bevel gear (43) is fixedly connected to a fan blade (41), the surface of the first rotating shaft (416) is fixedly sleeved with a first synchronous wheel (413), the surface of the limiting sliding sleeve (45) is fixedly sleeved with a second synchronous wheel (415), the surfaces of the second synchronous wheel (415) and the first synchronous wheel (413) are sleeved with a synchronous belt (414), the first synchronous wheel (413) is transmission-connected to the second synchronous wheel (415) via the synchronous belt (414), and the end of the first rotating shaft (416) away from the wind collecting cover (421) is fixedly connected to a grinding wheel (412).

10. The metal surface flaw detection robot according to claim 9, characterized in that: The upper surface of the cross beam (26) is fixedly connected to a water tank (411); the exhaust hole provided on the upper surface of the wind collecting hood (421) is installed with a conical joint (423); the end of the conical joint (423) is fixedly connected to a bellows telescopic tube (424); the end of the bellows telescopic tube (424) away from the conical joint (423) extends to the inside of the water tank (411); the end of the bellows telescopic tube (424) located inside the water tank (411) is fixedly connected to a first connecting rope (426); the end of the first connecting rope (426) away from the bellows telescopic tube (424) is fixedly connected to a gravity ball (425); and a side groove (422) is provided on one side of the wind collecting hood (421).

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