Magnetic adsorption wall-climbing robot for detecting residual stress of welding seam of container

Abstract

The invention discloses a magnetic adsorption wall-climbing robot for container weld joint residual stress detection, and relates to the technical field of magnetic adsorption wall-climbing robots, the magnetic adsorption wall-climbing robot comprises a driving traveling device, connecting blocks are fixedly connected to the two sides of the driving traveling device, a permanent magnet roller is arranged on one side of each connecting block, and a coupling agent smearing mechanism is arranged at the bottom of each connecting block; by arranging the coupling agent smearing mechanism, when rotating balls abut against the barrel wall, the rotating balls are extruded to drive a rotating sleeve and a telescopic rod to retract towards the inner wall of a telescopic sleeve, and a spring is extruded to deform, so that each rotating ball can be independently attached to the outer portion of the barrel wall; and when welding seams and rust blocks on the barrel wall occur, buffering can be achieved through sliding of the telescopic rod on the inner wall of the telescopic sleeve and deformation of the spring, the rotating ball smeared with the coupling agent is prevented from being impacted and damaged, it is guaranteed that the outer portion of the barrel wall can be stably smeared with the coupling agent, and then it is guaranteed that the detection precision of an ultrasonic detector on the welding seams is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic adsorption wall-climbing robots, and specifically to a magnetic adsorption wall-climbing robot for detecting residual stress in container welds. Background Technique

[0002] A wall-climbing robot is an automated robot that can climb on a vertical wall and complete operations. A wall-climbing robot is also known as a wall-mounted mobile robot. Because operating on a vertical wall surface exceeds human limits, it is also known as an extreme operation robot abroad. A wall-climbing robot must have two basic functions: adsorption and movement, and the common adsorption methods are negative pressure adsorption and permanent magnet adsorption.

[0003] A magnetic adsorption wall-climbing robot described in the patent application with the publication number CN118163877A includes a robot housing. A first fixing plate is fixedly installed at the bottom end of the robot housing. A first rotating column is movably installed through the inside of the first fixing plate. A driving wheel is clamped and installed on the outer side of the first rotating column. A walking wheel is movably installed at the bottom end of the robot housing.

[0004] When a magnetic adsorption wall-climbing robot magnetically crawls on the outer wall of a cylindrical large container and detects its weld, it is necessary to apply a coupling agent in real time to facilitate the stable and accurate detection of an ultrasonic detection probe. However, currently, when automatically applying the coupling agent, problems such as uneven application and unstable application due to unevenness of the container surface caused by rust spots and other reasons are likely to occur, and there are also problems of instability during the driving process of the wall-climbing robot. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a magnetic adsorption wall-climbing robot for detecting residual stress in container welds, achieving the purpose of solving the above problems.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A magnetic adsorption wall-climbing robot for detecting residual stress in container welds includes a driving actuator. Connecting blocks are fixedly connected to both sides of the driving actuator. A permanent magnet roller is arranged on one side of the connecting block. A coupling agent application mechanism is arranged at the bottom of the connecting block. The coupling agent application mechanism includes: A hinge block, the top of the hinge block is fixedly connected to the bottom of the connecting block. A rotating shaft is hinged inside the hinge block. Stopping blocks are fixedly connected to both ends of the rotating shaft. The hinge block is used for hinging the rotating shaft to allow it to rotate. A telescopic sleeve, one end of the telescopic sleeve is fixedly connected to the outer wall of the rotating shaft. A telescopic rod is slidably connected to the inner wall of the telescopic sleeve. A rotating sleeve and a rotating ball are arranged at the bottom of the telescopic rod.

[0007] Preferably, the bottom of the telescopic rod is fixedly connected to one end of the rotating sleeve, and a rotating ball is slidably connected to the bottom of the rotating sleeve, and the rotating ball is embedded in the rotating sleeve.

[0008] Preferably, a spring is fixedly connected to the top of the rotating sleeve, one end of the spring is fixedly connected to a baffle, and the inner wall of the baffle is fixedly connected to the outer wall of the telescopic sleeve.

[0009] Preferably, a torsion spring is fixedly connected to one side of the stopper, one end of the torsion spring is fixedly connected to one side of the hinge block, and the torsion spring is used to reset the stopper and the rotating shaft.

[0010] Preferably, a liquid storage box is fixedly connected to the top of the rotating shaft, a threaded cap is fixedly connected to the top of the liquid storage box, the threaded cap is used to fill the coupling agent into the liquid storage box, and an air port is provided inside the threaded cap.

[0011] Preferably, a stable driving monitoring mechanism is provided on one side of the liquid storage box. The stable driving monitoring mechanism includes a square sleeve, a sliding plate is slidably connected to the inner wall of the square sleeve, a rotating rod is fixedly connected to one side of the sliding plate, and the rotating rod is rotatably connected to one side of the liquid storage box.

[0012] Preferably, a distance sensor is provided on one side of the sliding plate for detecting distance information when the distance from another sliding plate changes. A first connecting rod is fixedly connected to the outer wall of the rotating sleeve, a first rotating sleeve is rotatably connected to the outer wall of the first connecting rod, the first rotating sleeve is fixedly connected to a second rotating sleeve through a hinge rod, and a second connecting rod is rotatably connected to the inner wall of the second rotating sleeve.

[0013] Preferably, one end of the second connecting rod is fixedly connected to the outer wall of the rotating sleeve, a brush is fixedly connected to the bottom of the hinge rod, a laser emitter is fixedly connected to one side of the second rotating sleeve, a laser receiving sensor is fixedly connected to the outer wall of the second connecting rod, and a receiving groove is provided on one side of the laser receiving sensor.

[0014] The present invention provides a magnetic adsorption wall-climbing robot for detecting residual stress in container welds. It has the following beneficial effects: 1. By setting the coupling agent coating mechanism in the present invention, when the rotating ball abuts against the barrel wall, it is squeezed to drive the rotating sleeve and the telescopic rod to retract into the inner wall of the telescopic sleeve, and the spring is squeezed to deform, so that each rotating ball can independently adhere to the outside of the barrel wall. When encountering the weld and rust block on the barrel wall, the telescopic rod slides in the inner wall of the telescopic sleeve and the deformation of the spring are used to achieve buffering, avoiding the impact damage of the rotating ball for coating the coupling agent, ensuring that the coupling agent can be stably coated on the outside of the barrel wall, and then ensuring that the detection accuracy of the ultrasonic detector for the weld is not affected.

[0015] 2. By providing a coupling agent application mechanism in the present invention, when the permanent magnet roller rotates to drive the connecting block to turn, when the connecting block changes from its original axial travel on the barrel wall or travels radially, there will be different height differences at different positions between the arc on the barrel wall and the bottom of the connecting block. At this time, the rotating balls and the rotating sleeves can also ensure that each rotating ball can still stably adhere to the barrel wall on the uneven arc surface through the telescoping of the telescopic rods inside the telescopic sleeves and the elastic force of the springs, without the problem that some rotating balls fall empty and cannot adhere to the barrel wall when the permanent magnet roller turns, making the application of the coupling agent more uniform and reducing the positions where the coupling agent is missed or not applied.

[0016] 3. By providing a coupling agent application mechanism in the present invention, through the opening and closing of the telescopic sleeves and the rotating shafts and the telescoping of the telescopic rods and the telescopic sleeves, when crawling on a smaller container, with the greater elastic force of the springs and torsion springs pushing, after the permanent magnet roller is placed on it, a self-check function of the adsorption force can be realized. If the permanent magnet roller is installed incorrectly or the specification setting is incorrect, the connecting block and the permanent magnet roller will be instantly bounced off, avoiding the problem of falling off due to the relatively steep surface of the smaller container during work. When traveling on the surface of a relatively flat large container, the self-check intensity using the elastic force of the springs and torsion springs is reduced, and the elastic force pushing is reduced, enabling it to be more stable during the longer working time on the outer wall of the large container and reducing its working burden.

[0017] 4. By providing a stable travel monitoring mechanism in the present invention, distance sensors provided on the opposite sides of the two sliding plates are used to judge the distance. The distance of the two sliding plates sliding towards the square sleeve represents the angle of the hinge rotation of the rotating shaft and the telescopic sleeve, and this information is sent to the cloud, facilitating the staff below the large container to understand the travel conditions of the connecting block and the approximate arc and size of the barrel wall in real time, so as to facilitate the staff to take corresponding subsequent measures.

[0018] 5. By providing a stable travel monitoring mechanism in the present invention, when the rotating balls roll on the outer wall of the container to apply the coupling agent, the bristles below the hinge rods will synchronously brush the coupling agent applied by the rotating balls, changing the linear application of the coupling agent by the rotating balls into a surface application, making the application of the coupling agent more uniform and facilitating the ultrasonic detection accuracy.

[0019] 6. By setting up a stable driving monitoring mechanism, the laser receiving sensor can determine the change in its position by receiving lasers from different positions. Subsequently, through cloud computing, the staff can understand in real time the positional relationship between the outermost rotating ball and the rotating ball at the middle position. While using the detection rotating shaft and the opening and closing angle of the telescopic sleeve to judge the arc of the outer wall of the container, the deviation of the rotating sleeves on both sides of the bottom of the connecting block from the middle rotating sleeve can also be judged by the inclination rate of the hinge rod, so as to understand the turning situation of the connecting block and whether it can accurately move along the radial route of the cylindrical container during radial driving, which is convenient for the staff to accurately control the connecting block. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic bottom view structural diagram of the present invention; Figure 3 is a schematic structural diagram of the coupling agent applying mechanism of the present invention Figure 1 ; Figure 4 is a schematic structural diagram of the coupling agent applying mechanism of the present invention Figure 2 ; Figure 5 is a schematic structural movement diagram of the coupling agent applying mechanism of the present invention Figure 1 ; Figure 6 is a schematic structural movement diagram of the coupling agent applying mechanism of the present invention Figure 2 ; Figure 7 is a schematic structural diagram of the stable driving monitoring mechanism of the present invention Figure 1 ; Figure 8 of the present invention Figure 3 is an enlarged view at A of the present invention; Figure 9 of the present invention Figure 3 is an enlarged view at B of the present invention; Figure 10 is a schematic structural diagram of the stable driving monitoring mechanism of the present invention Figure 2 ; Figure 11 is a schematic structural diagram of the stable driving monitoring mechanism of the present invention Figure 3 ; Figure 12 is a schematic structural movement diagram of the hinge rod when it is inclined of the present invention Figure 1 ; Figure 13 is a schematic structural movement diagram of the hinge rod when it is inclined of the present invention Figure 2 .

[0021] In the figure: 1, driving actuator; 2, connecting block; 3, coupling agent applying mechanism; 301, hinge block; 302, rotating shaft; 303, torsion spring; 304, stop block; 305, telescopic sleeve; 306, connecting long plate; 307, telescopic rod; 308, rotating sleeve; 309, rotating ball; 310, spring; 311, baffle; 312, liquid storage box; 313, threaded cover; 4, stable driving monitoring mechanism; 401, square sleeve; 402, sliding plate; 403, rotating rod; 404, first connecting rod; 405, first rotating sleeve; 406, hinge rod; 407, brush hair; 408, second connecting rod; 409, second rotating sleeve; 410, laser emitter; 411, laser receiving sensor; 412, receiving groove; 5, permanent magnet roller. Detailed implementation mode

[0022] Embodiment 1: Please refer to Figures 1 - 3 , the present invention provides a technical solution: a magnetic adsorption wall-climbing robot for detecting residual stress of container welds, including a driving actuator 1, connecting blocks 2 are fixedly connected to both sides of the driving actuator 1, a permanent magnet roller 5 is arranged on one side of the connecting block 2, and a coupling agent applying mechanism 3 is arranged at the bottom of the connecting block 2; The coupling agent applying mechanism 3 includes: A hinge block 301, the top of the hinge block 301 is fixedly connected to the bottom of the connecting block 2, a rotating shaft 302 is hinged to the inner wall of the hinge block 301, stop blocks 304 are fixedly connected to both ends of the rotating shaft 302, and the hinge block 301 is used for hinging the rotating shaft 302 to make it rotate; A telescopic sleeve 305, one end of the telescopic sleeve 305 is fixedly connected to the outer wall of the rotating shaft 302, a telescopic rod 307 is slidably connected to the inner wall of the telescopic sleeve 305, and a rotating sleeve 308 and a rotating ball 309 are arranged at the bottom of the telescopic rod 307; During use, start the driving actuator 1 to drive the permanent magnet rollers 5 on both sides of the connecting block 2 to rotate, so that it is magnetically adsorbed on the outer wall of the barrel of the large container by the magnetism of the permanent magnet rollers 5, and then drive the connecting block 2 and the driving actuator 1 to travel on it by the rotation of the permanent magnet rollers 5, and use the ultrasonic weld detector at the bottom of the driving actuator 1 to perform real-time mobile detection on the welds on the outer wall of the large container; When the connecting block 2 is magnetically adsorbed on the outer wall of the barrel by the magnetism of the permanent magnet rollers 5, the rotating ball 309 at the bottom of the connecting block 2 abuts against the barrel wall. As the connecting block 2 and the permanent magnet rollers 5 move, the coupling agent is applied to the position of the weld to be detected by the rotation of several rotating balls 309, so that the ultrasonic probe can more stably and accurately complete the weld detection.

[0023] Embodiment 2: Please refer to Figures 1 - 6, on the basis of the first embodiment, the present invention provides a technical solution: the bottom of the telescopic rod 307 is fixedly connected to one end of the rotating sleeve 308, and a rotating ball 309 is slidably connected to the bottom of the rotating sleeve 308. The rotating ball 309 is embedded in the rotating sleeve 308.

[0024] The top of the rotating sleeve 308 is fixedly connected to a spring 310. One end of the spring 310 is fixedly connected to a baffle 311. The inner wall of the baffle 311 is fixedly connected to the outer wall of the telescopic sleeve 305.

[0025] One side of the stopper 304 is fixedly connected to a torsion spring 303. One end of the torsion spring 303 is fixedly connected to one side of the hinge block 301. The torsion spring 303 is used to reset the stopper 304 and the rotating shaft 302.

[0026] The top of the rotating shaft 302 is fixedly connected to a liquid storage box 312. The top of the liquid storage box 312 is fixedly connected to a threaded cap 313. The threaded cap 313 is used to fill the coupling agent into the liquid storage box 312. An air port is provided inside the threaded cap 313; When the rotating ball 309 abuts against the barrel wall, it is squeezed to drive the rotating sleeve 308 and the telescopic rod 307 to retract into the inner wall of the telescopic sleeve 305, and the spring 310 is squeezed to deform, so that each rotating ball 309 can independently fit outside the barrel wall. When encountering welds and rust blocks on the barrel wall, the telescopic rod 307 slides in the inner wall of the telescopic sleeve 305 and the deformation of the spring 310 are used to achieve buffering, avoiding the impact damage of the rotating ball 309 applying the coupling agent, ensuring that the coupling agent can be stably applied to the outside of the barrel wall, and then ensuring that the detection accuracy of the ultrasonic detector for the weld is not affected; Since the barrel wall of the large container is a circular columnar structure, when the connecting block 2 and the permanent magnet roller 5 travel along its axis on the outer wall of the barrel wall, the distances between the two sides of the bottom of the connecting block 2 and the barrel wall are the same. At this time, the rotating ball 309 can stably apply the coupling agent to the barrel wall. When the permanent magnet roller 5 rotates to drive the connecting block 2 to turn, when the connecting block 2 changes from the original axial travel on the barrel wall or travels radially, there will be different height differences at different positions between the arc of the barrel wall and the bottom of the connecting block 2. At this time, the rotating ball 309 and the rotating sleeve 308 can also pass through the telescopic movement of the telescopic rod 307 in the inner wall of the telescopic sleeve 305 and the elastic force of the spring 310 to ensure that each rotating ball 309 can still stably fit the barrel wall on the uneven arc surface, and there will be no problem that some rotating balls 309 fall empty and cannot fit the barrel wall when the permanent magnet roller 5 turns, making the application of the coupling agent more uniform and reducing the positions where the coupling agent is missed or not applied; When the rotating ball 309 abuts against the barrel wall and squeezes the spring 310 to deform, the same telescopic rod 307 and the connecting long plate 306 are in an inclined state, so they will be driven by an upward thrust to rotate the rotating shaft 302 and overcome the elastic deformation of the torsion spring 303. Therefore, when the rotating ball 309 is squeezed at the position between the connecting block 2 and the barrel wall, the telescopic rod 307 retracts into the telescopic sleeve 305 to squeeze the spring 310 to deform and the telescopic sleeve 305 drives the rotating shaft 302 to be hinged and rotated to squeeze the torsion spring 303 to deform, which occur simultaneously and act together. When the connecting block 2 is placed on the barrel wall and magnetically adsorbed to the barrel wall by the permanent magnet roller 5, if the volume of the large container is small, then when the connecting block 2 is placed on the surface of the container, the arc of the barrel wall at the bottom between the permanent magnet rollers 5 on the left and right sides is relatively large. The barrel wall with a larger arc will arch up a greater height under the connecting block 2. At this time, the distance between the bottom of the connecting block 2 and the barrel wall is shortened. Therefore, when adsorbing on the surface of a smaller container, the arc of the barrel wall arched at the bottom of the connecting block 2 is larger, and the distance that the rotating ball 309 is squeezed is more. The telescopic rod 307 slides into the telescopic sleeve 305 and the telescopic sleeve 305 drives the rotating shaft 302 to lift at a greater angle. When crawling and adsorbing on the surface of a larger large container, the relative arc of the barrel wall is smaller and flatter, and the distance to push the rotating ball 309 is relatively less. Then the telescopic rod 307 slides in the telescopic sleeve 305 and the lifting angle of the rotating shaft 302 and the telescopic sleeve 305 is smaller. Thus, when crawling and driving on a smaller container, through the greater elastic force of the spring 310 and the torsion spring 303 to push, after the permanent magnet roller 5 is placed on it, the self-check function of the adsorption force can be completed. If the installation of the permanent magnet roller 5 is incorrect or the specification setting is incorrect, the connecting block 2 and the permanent magnet roller 5 will be bounced off instantly, avoiding the problem of falling off due to the relatively steep surface of the smaller container during work. When driving on the surface of a relatively flat large container, the self-checking force using the elastic force of the spring 310 and the torsion spring 303 is reduced, and the elastic force pushing is reduced, so that it can be more stable during the longer working time on the outer wall of the large container and reduce its working burden; The coupling agent in the rotating ball 309 is pre-loaded into the liquid storage box 312, and is communicated to the rotating sleeve 308 through the liquid storage box 312, the rotating shaft 302, the telescopic sleeve 305, and the telescopic rod 307. When the rotating ball 309 rotates, it contacts the coupling agent seeping from the rotating sleeve 308 and smears the outer wall of the rotating ball 309, and smears the coupling agent on the bottom barrel wall.

[0027] Embodiment 3: Please refer to Figures 1 - 13 , based on Embodiment 1 and Embodiment 2, the present invention provides a technical solution: A stable driving monitoring mechanism 4 is provided on one side of the liquid storage box 312. The stable driving monitoring mechanism 4 includes a square sleeve 401. A sliding plate 402 is slidably connected to the inner wall of the square sleeve 401. One side of the sliding plate 402 is fixedly connected to a rotating rod 403, and the rotating rod 403 is rotatably connected to one side of the liquid storage box 312.

[0028] A distance sensor is provided on one side of the sliding plate 402, which is used to detect the distance information when the distance from another sliding plate 402 changes. A first connecting rod 404 is fixedly connected to the outer wall of the rotating sleeve 308. The outer wall of the first connecting rod 404 is rotatably connected to a first rotating sleeve 405. The first rotating sleeve 405 is fixedly connected to a second rotating sleeve 409 through a hinge rod 406. The inner wall of the second rotating sleeve 409 is rotatably connected to a second connecting rod 408.

[0029] One end of the second connecting rod 408 is fixedly connected to the outer wall of the rotating sleeve 308. A brush 407 is fixedly connected to the bottom of the hinge rod 406. A laser emitter 410 is fixedly connected to one side of the second rotating sleeve 409. A laser receiving sensor 411 is fixedly connected to the outer wall of the second connecting rod 408. A receiving groove 412 is provided on one side of the laser receiving sensor 411; When the rotating shaft 302 rotates, it will drive the liquid storage boxes 312 at the top to approach each other, and push the sliding plate 402 into the square sleeve 401 through the rotating rod 403. By using the distance that the sliding plate 402 slides on the inner wall of the square sleeve 401, the distance sensors provided on the opposite sides of the two sliding plates 402 are used to judge the distance between them. The distance that the two sliding plates 402 slide into the square sleeve 401 represents the angle of rotation of the hinge between the rotating shaft 302 and the telescopic sleeve 305. Thus, this information is sent to the cloud, facilitating the staff below the large container to understand the driving conditions of the connecting block 2 in real time, as well as the approximate arc and size of the barrel wall, so that the staff can take corresponding subsequent measures; When the rotating ball 309 rolls on the outer wall of the container to apply the coupling agent, the brush 407 below the hinge rod 406 will synchronously brush the coupling agent applied by the rotating ball 309, changing the linear application of the coupling agent by the rotating ball 309 into a surface application, making the application of the coupling agent more uniform and facilitating the ultrasonic detection accuracy; When the permanent magnet roller 5 turns or the permanent magnet roller 5 and the connecting block 2 travel radially along the barrel wall, due to the arc existing on the barrel wall at the bottom of the connecting block 2, the total lengths formed by the telescopic sleeves 305 and the telescopic rods 307 on both sides and in the middle at the bottom of the connecting block 2 are different. Some telescopic sleeves 305 will slide more into the telescopic rods 307, and some telescopic sleeves 305 slide less in the telescopic rods 307. The elastic force of the spring 310 can stably push each rotating ball 309 against the barrel wall of the container. Because of the different sliding positions of the telescopic rods 307, each rotating sleeve 308 is driven to be in corresponding different positions. At this time, the hinge rod 406 between the first rotating sleeve 405 and the second rotating sleeve 409 will be inclined, and the hinge rod 406 can expand and contract to meet the necessary condition that it can elongate under the inclination. The hinge rod 406 drives the first rotating sleeve 405 to rotate on the outer wall of the first connecting rod 404, and also drives the second rotating sleeve 409 to rotate on the outer wall of the second connecting rod 408. The laser emitted by the laser emitter 410 on the second rotating sleeve 409 will shift in the receiving groove 412 of the laser receiving sensor 411. The laser receiving sensor 411 can judge the change of its position by receiving the laser at different positions. Then, through cloud computing, the staff can know in real time the position relationship between the outermost rotating ball 309 and the rotating ball 309 at the middlemost position at this time. While using the opening and closing angles of the detection rotating shaft 302 and the telescopic sleeve 305 to judge the arc of the outer wall of the container, the deviation of the rotating sleeves 308 on both sides and the middle rotating sleeve 308 at the bottom of the connecting block 2 can also be judged by the inclination rate of the hinge rod 406, so as to know the turning situation of the connecting block 2 and whether it can accurately move along the radial route of the cylindrical container during radial travel, which is convenient for the staff to accurately control the connecting block 2.

[0030] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A magnetic adsorption wall-climbing robot for detecting residual stress of a container weld, comprising a driving vehicle (1), wherein two sides of the driving vehicle (1) are fixedly connected to connecting blocks (2), and one side of the connecting block (2) is provided with a permanent magnetic roller (5), characterized in that: A coupling agent applying mechanism (3) is provided at the bottom of the connecting block (2); The coupling agent applying mechanism (3) comprises: An articulated block (301), the top of the articulated block (301) being fixedly connected to the bottom of the connecting block (2), the inner wall of the articulated block (301) being hinged with a rotating shaft (302), both ends of the rotating shaft (302) being fixedly connected with stoppers (304), and the articulated block (301) being used to articulate the rotating shaft (302) to allow it to rotate; A telescopic sleeve (305), one end of which is fixedly connected to the outer wall of the rotating shaft (302), a telescopic rod (307) is slidably connected to the inner wall of the telescopic sleeve (305), and a rotating sleeve (308) and a rotating ball (309) are provided at the bottom of the telescopic rod (307).

2. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 1, characterized in that: The bottom of the telescopic rod (307) is fixedly connected to one end of the rotating sleeve (308), and the bottom of the rotating sleeve (308) is slidably connected to a rotating ball (309), which is embedded in the rotating sleeve (308).

3. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 2, characterized in that: A spring (310) is fixedly connected to the top of the rotating sleeve (308), one end of the spring (310) is fixedly connected to a baffle (311), and an inner wall of the baffle (311) is fixedly connected to an outer wall of the telescopic sleeve (305).

4. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 3 is characterized in that: A torsion spring (303) is fixedly connected to one side of the stopper (304), and one end of the torsion spring (303) is fixedly connected to one side of the hinge block (301). The torsion spring (303) is used to reset the stopper (304) and the rotating shaft (302).

5. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 4 is characterized in that: A liquid storage box (312) is fixedly connected to the top of the rotating shaft (302), and a threaded cover (313) is fixedly connected to the top of the liquid storage box (312). The threaded cover (313) is used to fill the liquid storage box (312) with coupling agent, and an air port is provided inside the threaded cover (313).

6. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 5, characterized in that: A stable driving monitoring mechanism (4) is provided on one side of the liquid storage box (312), and the stable driving monitoring mechanism (4) comprises a square sleeve (401), a sliding plate (402) is slidably connected to the inner wall of the square sleeve (401), a rotating rod (403) is fixedly connected to one side of the sliding plate (402), and the rotating rod (403) is rotatably connected to one side of the liquid storage box (312).

7. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 6, characterized in that: A distance sensor is provided on one side of the sliding plate (402) for detecting distance information when the distance to another sliding plate (402) changes; the outer wall of the rotating sleeve (308) is fixedly connected to a first connecting rod (404); the outer wall of the first connecting rod (404) is rotatably connected to a first rotating sleeve (405); the first rotating sleeve (405) is fixedly connected to a second rotating sleeve (409) via a hinge rod (406); the inner wall of the second rotating sleeve (409) is rotatably connected to a second connecting rod (408).

8. The magnetic adsorption wall-climbing robot for detecting residual stress of container welds according to claim 7, characterized in that: One end of the second connecting rod (408) is fixedly connected to the outer wall of the rotating sleeve (308), the bottom of the hinged rod (406) is fixedly connected to bristles (407), one side of the second rotating sleeve (409) is fixedly connected to a laser transmitter (410), the outer wall of the second connecting rod (408) is fixedly connected to a laser receiving sensor (411), and one side of the laser receiving sensor (411) is provided with a receiving groove (412).

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