Crawler-type wall-climbing robot for water turbine blade detection

Abstract

The invention provides a crawler-type wall-climbing robot for water turbine blade detection, which comprises a robot rack, chain link type crawlers are arranged on the two sides of the robot rack, a driving assembly is arranged on the inner sides of the chain link type crawlers, a visual positioning device is arranged at the front end of the robot rack, and the driving assembly comprises a driving wheel and a driven wheel. Kidney-shaped grooves are formed in the two sides of the robot rack, a wheel shaft is arranged at one end of the driven wheel and clamped into the kidney-shaped grooves, a coil spring connected with the robot rack is further arranged on the side, away from the driving wheel, of the driven wheel, the coil spring is arranged in the coil spring mounting shell, one end of the coil spring is connected with the wheel shaft, and the problem of automatic detection of the water turbine blades is solved.

Description

Technical Field

[0001] The present invention relates to the field of hydroturbine blade detection, and particularly to a crawler wall-climbing robot for hydroturbine blade detection. Background Art

[0002] During operation, large hydroturbine blades are often impacted by hard objects such as sediment, resulting in various defects or damages such as cracks, wear, and cavitation. These defects significantly reduce the efficiency of the hydroturbine and threaten the safe operation of the hydroturbine. Therefore, regular inspection and maintenance of hydroturbine blades are crucial.

[0003] Currently, the commonly used inspection method is to erect a runner maintenance scaffold or use a gantry crane for hoisting, and inspect defects through methods such as manual visual inspection, knocking, and measurement. This method is limited by human and environmental space factors, time-consuming and laborious, and there are certain safety risks. Summary of the Invention

[0004] The present invention provides a crawler wall-climbing robot for hydroturbine blade detection, which solves the problem of automatic detection of hydroturbine blades.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: a crawler wall-climbing robot for hydroturbine blade detection, including a robot frame. Chain-link crawlers are provided on both sides of the robot frame. A driving component is provided inside the chain-link crawlers. A visual positioning device is provided at the front end of the robot frame. The driving component includes a driving wheel and a driven wheel. Waist-shaped grooves are provided on both sides of the robot frame. One end of the driven wheel is provided with a wheel shaft, and the wheel shaft is clamped into the waist-shaped groove. A torsion spring connected to the robot frame is further provided on the side of the driven wheel away from the driving wheel. A torsion spring is provided inside the torsion spring mounting shell. One end of the torsion spring is connected to the wheel shaft.

[0006] In a preferred solution, the robot frame includes a top mounting plate. Side mounting plates are provided on both sides of the lower end of the top mounting plate. A notch groove is provided at one end of the side mounting plate. A torsion spring connecting member is sleeved on the wheel shaft. One end of the torsion spring passes through the notch groove of the torsion spring mounting shell to be connected to the torsion spring connecting member.

[0007] In a preferred solution, the chain-link crawler includes a plurality of magnet units. The plurality of magnet units are connected end to end to form an annular structure. Each magnet unit is provided with a link connection unit on the inner side of the annular structure. A pin shaft is inserted into the link connection units of adjacent magnet units. Each magnet unit is provided with meshing teeth on the inner side of the annular structure. The driving wheel and the driven wheel are provided with meshing gears, and the meshing gears are meshed with the meshing teeth.

[0008] In a preferred embodiment, the vision positioning device includes a connecting sleeve. One end of the connecting sleeve is connected to the robot frame, and the other end of the connecting sleeve is provided with a flange platform. The flange platform is provided with a rotating shaft, and the rotating shaft is rotatably sleeved with the connecting sleeve. A camera driving motor is provided on the robot frame, and the end of the camera driving motor shaft is connected to the rotating shaft.

[0009] In a preferred embodiment, on one side of both ends of the robot frame away from the top mounting plate, an end anti-disengagement assembly is provided. The end anti-disengagement assembly includes a bottom anti-disengagement mounting plate. Both ends of the bottom anti-disengagement mounting plate are connected to the respective side mounting plates, and a magnetic block is provided on the side of the bottom anti-disengagement mounting plate away from the top mounting plate.

[0010] In a preferred embodiment, hollow holes are provided at both ends of the bottom anti-disengagement mounting plate, and rolling balls are provided at the hollow holes for contacting the water turbine blades.

[0011] In a preferred embodiment, on the side of each hollow hole away from the water turbine blade, a limiting frame is further provided. The limiting frame is provided with a central through hole, and a contact ring sleeve is provided in the central through hole and the hollow hole. The contact ring sleeve abuts against the surface of the rolling ball.

[0012] In a preferred embodiment, connecting ears are provided at both ends of the contact ring sleeve. The connecting ears are provided with second through holes. First through holes are provided on the limiting frame. First adjusting screw sleeves are threadedly connected in the first through holes. First limiting pins are further provided. One end of the first limiting pin is provided with a nail head portion, and the other end of the first limiting pin passes through the second through hole to be connected to the first adjusting screw sleeve. A first spring is sleeved on the first limiting pin, and both ends of the first spring respectively abut against the first adjusting screw sleeve and the connecting ear.

[0013] In a preferred embodiment, a third through hole is provided on the bottom anti-disengagement mounting plate. A second adjusting screw sleeve is threadedly connected in the third through hole. Second limiting pins are further provided. One end of the second limiting pin is provided with a nut portion, and the other end of the second limiting pin passes through the second through hole of the contact ring sleeve on the bottom anti-disengagement mounting plate to be connected to the second adjusting screw sleeve. A second spring is sleeved on the second limiting pin. One end of the second spring abuts against the second adjusting screw sleeve, and the other end of the second spring is connected to the connecting ear.

[0014] In a preferred embodiment, each limiting frame is connected to the bottom anti-disengagement mounting plate through a plurality of connecting columns.

[0015] The beneficial effects of the present invention are as follows: Through the structure in which the distance between the driven wheel structure and the driving wheel can float, the wall-climbing robot can adapt to different curvatures of the surface of the water turbine blade and the transition between the horizontal wall surface and the vertical wall surface, as well as the transition between the water turbine blades adaptively; Anti-detachment components are provided at the front and rear ends of the wall-climbing robot. Aiming at the detachment mechanism of the wall-climbing robot, the adsorption stability is improved on the premise of ensuring the movement flexibility of the wall-climbing robot; The rolling ball structure is adopted to maintain good steering ability on the premise of ensuring the end suction; The rolling ball adopts a design of slight floating and depth adjustment to adapt to blades with different curvatures and specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the drawings and embodiments.

[0017] Figure 1 It is a schematic diagram of the robot.

[0018] Figure 2 It is a schematic diagram of the robot frame.

[0019] Figure 3 It is a schematic diagram of the link-type crawler of the robot.

[0020] Figure 4 It is a schematic diagram of the driven wheel structure of the robot.

[0021] Figure 5 It is a schematic diagram of the end of the robot.

[0022] Figure 6 It is a schematic diagram of the contact of the robot on the straight section of the blade.

[0023] Figure 7 It is a schematic diagram of the contact of the robot on the arc section of the blade.

[0024] Figure 8 It is a schematic diagram of the anti-detachment structure at both ends of the robot.

[0025] Figure 9 It is a structure diagram related to the limit frame.

[0026] Figure 10 It is a cross-sectional view of the contact ring sleeve.

[0027] Figure 11 It is a cross-sectional view of the visual positioning device.

[0028] In the figure: robot frame 1; top mounting plate 101; side mounting plate 102; battery 103; camera drive motor 104; walking drive motor 105; steering wheel 106; electronic component mounting case 107; waist-shaped slot 108; link-type crawler 2; magnet unit 201; link connection unit 202; meshing tooth piece 203; pin shaft 204; drive assembly 3; wheel shaft 301; meshing gear 302; outer side retaining wheel 303; retaining edge bearing 304; torsion spring mounting case 305; torsion spring 306; driving wheel 307; driven wheel 308; torsion spring connecting piece 309; vision positioning device 4; camera 401; flange platform 402; rotating shaft 403; connecting sleeve 404; bushing 405; gasket 406; end anti-disengagement assembly 5; bottom anti-disengagement mounting plate 501; ball 502; magnetic attracting block 503; hollow hole 504; limiting frame 505; connecting column 506; contact ring sleeve 507; central through hole 508; arc-shaped ring surface 509; connecting ear 510; first through hole 511; first adjusting sleeve 512; first limiting pin 513; first spring 514; second through hole 515; third through hole 516; second adjusting sleeve 517; second limiting pin 518; second spring 519. Detailed implementation mode

[0029] Embodiment 1: As Figures 1-11 shown in [description reference], a crawler wall-climbing robot for water turbine blade detection includes a robot frame 1. Link-type crawlers 2 are provided on both sides of the robot frame 1. A drive assembly 3 is provided inside the link-type crawlers 2. A vision positioning device 4 is provided at the front end of the robot frame 1. The drive assembly 3 includes a driving wheel 307 and a driven wheel 308. Waist-shaped slots 108 are provided on both sides of the robot frame 1. One end of the driven wheel 308 is provided with a wheel shaft 301, and the wheel shaft 301 is clamped into the waist-shaped slot 108. A torsion spring 306 connected to the robot frame 1 is further provided on the side of the driven wheel 308 away from the driving wheel 307. The torsion spring 306 is provided inside the torsion spring mounting case 305, and one end of the torsion spring 306 is connected to the wheel shaft 301.

[0030] Each link-type crawler 2 has an independent drive assembly 3, which can drive at the same speed to make the wall-climbing robot move forward or backward. The two link-type crawlers 2 can perform differential movement or reverse movement to drive the wall-climbing robot to turn.

[0031] Two walking drive motors 105 are further provided on the robot frame 1 to drive each driving wheel 307 to rotate.

[0032] In a preferred solution, the robot frame 1 includes a top mounting plate 101. Side mounting plates 102 are provided on both sides at the lower end of the top mounting plate 101. A notch groove is provided at one end of the side mounting plate 102. A torsion spring connecting piece 309 is sleeved on the wheel shaft 301. One end of the torsion spring 306 passes through the notch groove of the torsion spring mounting case 305 to be connected to the torsion spring connecting piece 309.

[0033] The lower end and the middle part of the robot frame 1 are hollowed out and can be used to install electronic components.

[0034] In a preferred solution, the link-type crawler 2 includes a plurality of magnet units 201. The plurality of magnet units 201 are connected end to end to form an annular structure. Each magnet unit 201 is provided with a link connection unit 202 on the inner side of the annular structure. A pin shaft 204 is inserted into the link connection units 202 of adjacent magnet units 201. Each magnet unit 201 is provided with a meshing tooth piece 203 on the inner side of the annular structure. The driving wheel 307 and the driven wheel 308 are provided with meshing gears 302, and the meshing gears 302 are meshed with the meshing tooth pieces 203.

[0035] Each magnet unit 201 is connected by hinges and can rotate relative to each other by a certain angle.

[0036] Since the surface of some positions of the water turbine blade has curvature, when the crawler moves from a plane to a curved surface and at different positions of the curved surface, the postures of the two side link-type crawlers 2 and the magnet units 201 of each link-type crawler 2 need to adapt to the blade surface. Therefore, the distance between the driven wheel 308 and the driving wheel 307 needs to be able to change at any time, so that the tension of the link-type crawler 2 changes. Under the action of magnetic force, the magnet units 201 adaptively fit on the blade surface, providing sufficient adsorption force to support the self-weight of the wall-climbing robot and providing frictional force for walking.

[0037] In a preferred solution, the visual positioning device 4 includes a connecting sleeve 404. One end of the connecting sleeve 404 is connected to the robot frame 1. The other end of the connecting sleeve 404 is provided with a flange 402. The flange 402 is provided with a rotating shaft 403. The rotating shaft 403 is rotatably sleeved with the connecting sleeve 404. A camera driving motor 104 is provided on the robot frame 1, and the shaft end of the camera driving motor 104 is connected to the rotating shaft 403.

[0038] The inner wall of the connecting sleeve 404 is provided with a bushing 405. The bushing 405 is in contact with the outer wall of the rotating shaft 403. The end of the connecting sleeve 404 is provided with a gasket 406. The gasket 406 is in contact with the flange 402.

[0039] The bushing 405 is made of copper, grooved body or Teflon, etc., with a relatively smooth surface and good wear resistance.

[0040] In a preferred solution, on one side of the two ends of the robot frame 1 far from the top mounting plate 101, an end anti-disengagement assembly 5 is provided. The end anti-disengagement assembly 5 includes a bottom anti-disengagement mounting plate 501. The two ends of the bottom anti-disengagement mounting plate 501 are connected to the respective side mounting plates 102. On the side of the bottom anti-disengagement mounting plate 501 far from the top mounting plate 101, a magnetic attraction block 503 is provided.

[0041] The end anti - detachment component 5 is clamped between two link - type crawlers 2. There is one at the bending part of the end of the link - type crawler 2. Since the magnet units 201 of the link - type crawler 2 gradually disengage from the contact with the blade at the end bending part, a magnetic attraction block 503 is added here to maintain the magnetic attraction force at the end, increase the overall adsorption force of the robot, and prevent detachment.

[0042] In a preferred solution, hollow holes 504 are provided at both ends of the bottom anti - detachment mounting plate 501, and rolling balls 502 are provided at the hollow holes 504. The rolling balls 502 are used to contact the turbine blade.

[0043] Since the driven wheel 308 is floating, the tension of the link - type crawler 2 cannot be adjusted too large. When on the arc - shaped contact surface, due to the adaptive depression of some magnet units 201 of the link - type crawler 2, the magnetic attraction block 503 may directly contact the blade. Therefore, rolling balls 502 are added to assist in steering, so that the magnetic attraction block 503 approaches but does not directly contact the turbine blade, avoiding contact friction and affecting steering.

[0044] In a preferred solution, a limiting frame 505 is further provided on the side of each hollow hole 504 away from the turbine blade. The limiting frame 505 is provided with a central through - hole 508, and a contact ring sleeve 507 is provided in the central through - hole 508 and the hollow hole 504. The contact ring sleeve 507 abuts against the surface of the rolling ball 502.

[0045] The contact ring sleeve 507 can be made of wear - resistant materials with low friction coefficients such as copper, Teflon or ceramics. The contact ring sleeve 507 is provided with an arc - shaped ring surface 509, and the arc - shaped ring surface 509 is matched with the outer surface of the rolling ball 502.

[0046] Two contact ring sleeves 507 clamp the rolling ball 502 to prevent the rolling ball 502 from detaching from the bottom anti - detachment mounting plate 501.

[0047] In a preferred solution, connection ears 510 are provided at both ends of the contact ring sleeve 507. The connection ears 510 are provided with second through - holes 515. First through - holes 511 are provided on the limiting frame 505. A first adjusting screw sleeve 512 is threadedly connected in the first through - hole 511. A first limiting nail 513 is also provided. One end of the first limiting nail 513 is provided with a nail head part. The other end of the first limiting nail 513 passes through the second through - hole 515 to be connected with the first adjusting screw sleeve 512. The first limiting nail 513 is sleeved with a first spring 514, and both ends of the first spring 514 respectively abut against the first adjusting screw sleeve 512 and the connection ear 510.

[0048] The first spring 514 is a high - stiffness spring, so that the floating amplitude of the contact ring sleeve 507 is small. It is mainly used to maintain an appropriate clamping force on the rolling ball 502, preventing the rolling ball 502 from being locked or moving up and down due to too small a clamping force.

[0049] The height of the first limiting pin 513 can be adjusted by rotating the first adjusting screw sleeve 512, thereby adjusting the allowable floating amount of the contact ring sleeve 507 and changing the clamping force.

[0050] In the preferred scheme, a third through hole 516 is provided on the bottom anti-slip mounting plate 501, and a second adjusting screw sleeve 517 with a threaded connection is provided in the third through hole 516. A second limiting nail 518 is also provided, and a nut portion is provided at one end of the second limiting nail 518. The other end of the second limiting nail 518 passes through the second through hole 515 of the contact ring sleeve 507 on the bottom anti-slip mounting plate 501 to be connected to the second adjusting screw sleeve 517. A second spring 519 is sleeved on the second limiting nail 518, and one end of the second spring 519 abuts against the second adjusting screw sleeve 517, and the other end of the second spring 519 is connected to the ear 510.

[0051] When the second adjusting screw sleeve 517 and the first adjusting screw sleeve 512 are adjusted toward each other, the ball 502 can be clamped more tightly. When the second adjusting screw sleeve 517 and the first adjusting screw sleeve 512 are adjusted in opposite directions, the ball 502 can be prevented from being loosened, thereby improving smoothness.

[0052] When the second adjusting screw sleeve 517 and the first adjusting screw sleeve 512 are adjusted in the same direction, the initial position of the ball 502 relative to the bottom anti-slip mounting plate 501 can be changed, and the distance between the magnetic block 503 and the blade surface can be changed. The initial position can be adjusted according to different blades to prevent the blade surface curvature from being too large, causing the magnetic block 503 to contact the blade.

[0053] In a preferred solution, each limiting frame 505 is connected to the bottom anti-dropping mounting plate 501 via a plurality of connecting columns 506 .

[0054] Embodiment 2: See also Figure 1 A crawler-type wall-climbing robot for detecting turbine runner blades comprises a robot frame 1, a chain-link crawler 2, a driving assembly 3, a visual positioning device 4 and an end anti-detachment assembly 5, wherein two sets of driving assemblies 3 are installed on the robot frame 1 to provide driving force for the wall-climbing robot to move and turn, a visual positioning device 4 is installed to complete robot positioning and control and turbine blade surface detection image and data collection tasks, and an end anti-detachment assembly 5 is installed to prevent the wall-climbing robot from falling off the turbine blade surface. Two sets of parallel chain-link crawlers 2 are installed on the driving assembly 3 to provide the main adsorption force for the wall-climbing robot to be adsorbed on the turbine blade surface.

[0055] See also Figure 2, the robot frame 1 includes a top mounting plate 101 and two side mounting plates 102, which are vertically connected by corner brackets. The top mounting plate 101 is connected to the electronic component mounting case 107 through aluminum columns, and a relatively large open cavity is formed therebetween for installing the battery 103 to ensure a long endurance of the wall-climbing robot. Inside the electronic component mounting case 107, electronic devices such as a single-chip microcomputer, a video transmission device, and a area array camera are installed to complete the positioning and control of the wall-climbing robot, the transmission of the surface image of the water turbine blade, and the data acquisition task.

[0056] Further, a camera driving motor 104 is installed on the top mounting plate 101 to rotate and detect the camera and adjust the viewing angle. A high-torque walking driving motor 105 is installed on the side mounting plate 102 to drive the wall-climbing robot to move forward and backward and control the turning of the wall-climbing robot in a differential manner. A steering wheel 105 is installed at the end of the walking driving motor 104 to connect with the driving wheel.

[0057] See Figure 3 , each link of the link-type crawler 2 includes a magnet unit 201, a link connection unit 202, and a meshing tooth piece 203, which are fixed by bolts passing through the central screw holes to form a link. The magnet unit 201 is used to provide an adsorption force on the surface of the water turbine blade. The two ends of the link connection unit 202 have metal flanges that can be inserted into the pin shaft 204, and the shape of the meshing tooth piece 203 can mesh with the driving assembly 3.

[0058] Further, two links are connected to each other by inserting the pin shaft 204, and several links are connected end to end to form the link-type crawler 2. Each link unit can rotate independently at a large angle with respect to each other, so that the link-type crawler 2 can adapt to the curved surfaces of water turbine blades with different curvatures.

[0059] In the embodiment of the present invention, see Figure 4 , the driving assembly 3 is formed by connecting a plate-shaped meshing gear 302 and a plate-shaped outer retaining wheel 303 through aluminum columns to form a multi-layer parallel structure. The meshing gear 302 meshes with the link-type crawler 2 to transmit the driving force from the walking driving motor 105 to the crawler. The outer retaining wheel 303 is located on both sides of the crawler to prevent the crawler from falling off and generate a lateral turning force by squeezing with the crawler when the wall-climbing robot turns.

[0060] Further, the driven wheel passes through the core shaft wheel shaft 301 in the middle and is fixed on the wheel shaft 301 through the retaining edge bearing 304. The wheel shaft 301 is slidably fixed in the chute opened on the side fixing plate 102 and is connected through a torsion spring 306 and a torsion spring mounting case 305 fixed on the side fixing plate 102. When the wall-climbing robot moves from a horizontal wall surface to a vertical wall surface, the driven wheel can slide along the chute of the side fixing plate 102 to adjust the distance between the driven wheel and the driving wheel, and further adjust the tension of the link track 2, so as to solve the problem that the driving wheel and the driven wheel rotate out of sync when the wall-climbing robot transitions to a vertical wall surface.

[0061] The end anti-disengagement assembly 5 is installed on the front and rear sides of the side fixing plate 102 and connects the bottom anti-disengagement mounting plate 501 and the side fixing plate 102 through the connecting angle code 504. A magnetic attracting block 503 is installed on the bottom anti-disengagement mounting plate 501 to provide an additional adsorption force at the front and rear ends of the wall-climbing robot and prevent the link track 2 from disengaging from the front and rear ends.

[0062] Furthermore, a rolling ball 502 is installed on the bottom anti-disengagement mounting plate 501. The rolling ball 502 is clamped between the surface of the walking driving motor 105 and the surface of the water turbine blade to form a plate-ball-plate structure, avoiding direct contact between the magnetic attracting block 503 and the surface of the water turbine blade and ensuring the steering flexibility of the wall-climbing robot.

[0063] This case aims at the detection scenario of large water turbine blades, overcomes the difficulties of climbing on the surface of water turbine blades with large curvature complex surfaces and transitioning between water turbine blades, and provides a solution for a water turbine blade detection wall-climbing robot with both adsorption stability and motion flexibility in cooperation with the detection scheme of a rotor unmanned aerial vehicle carrying and releasing the wall-climbing robot.

[0064] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations to the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A crawler wall-climbing robot for water turbine blade detection, characterized in that: It includes a robot frame (1). Chain - link tracks (2) are provided on both sides of the robot frame (1). A driving assembly (3) is provided inside the chain - link tracks (2). A vision positioning device (4) is provided at the front end of the robot frame (1). The driving assembly (3) includes a driving wheel (307) and a driven wheel (308). Waist - shaped slots (108) are provided on both sides of the robot frame (1). One end of the driven wheel (308) is provided with a wheel shaft (301), and the wheel shaft (301) is snapped into the waist - shaped slot (108). On the side of the driven wheel (308) away from the driving wheel (307), there is also a coil spring (306) connected to the robot frame (1). The coil spring (306) is provided inside a coil - spring mounting shell (305), and one end of the coil spring (306) is connected to the wheel shaft (301).

2. The crawler wall-climbing robot for hydroturbine blade detection according to claim 1, characterized in that: The robot frame (1) includes a top mounting plate (101). Side mounting plates (102) are provided on both sides at the lower end of the top mounting plate (101). One end of the side mounting plate (102) is provided with a notch slot. A coil - spring connecting piece (309) is sleeved on the wheel shaft (301). One end of the coil spring (306) passes through the notch slot of the coil - spring mounting shell (305) to be connected to the coil - spring connecting piece (309).

3. The crawler wall-climbing robot for water turbine blade detection according to claim 2, characterized in that: The chain - link track (2) includes a plurality of magnet units (201). The plurality of magnet units (201) are connected end - to - end to form an annular structure. Each magnet unit (201) is provided with a link connecting unit (202) on the inner side of the annular structure. A pin shaft (204) is inserted into the link connecting units (202) of adjacent magnet units (201). Each magnet unit (201) is provided with a meshing tooth piece (203) on the inner side of the annular structure. The driving wheel (307) and the driven wheel (308) are provided with meshing gears (302), and the meshing gears (302) are meshed with the meshing tooth pieces (203).

4. The crawler wall-climbing robot for hydroturbine blade detection according to claim 1, characterized in that: The vision positioning device (4) includes a connecting sleeve (404). One end of the connecting sleeve (404) is connected to the robot frame (1). The other end of the connecting sleeve (404) is provided with a flange platform (402). The flange platform (402) is provided with a rotating shaft (403). The rotating shaft (403) is rotatably sleeved with the connecting sleeve (404). A camera driving motor (104) is provided on the robot frame (1), and the shaft end of the camera driving motor (104) is connected to the rotating shaft (403).

5. The crawler-type wall-climbing robot for hydroturbine blade detection according to claim 2, characterized in that: On both sides of the two ends of the robot frame (1) away from the top mounting plate (101), an end anti - detachment assembly (5) is provided. The end anti - detachment assembly (5) includes a bottom anti - detachment mounting plate (501). Both ends of the bottom anti - detachment mounting plate (501) are connected to the respective side mounting plates (102). A magnetic attraction block (503) is provided on the side of the bottom anti - detachment mounting plate (501) away from the top mounting plate (101).

6. The crawler-type wall-climbing robot for water turbine blade detection according to claim 5, characterized in that: Each end of the bottom anti - detachment mounting plate (501) is provided with a hollow hole (504). A rolling ball (502) is provided at the hollow hole (504), and the rolling ball (502) is used to contact the water turbine blade.

7. The crawler wall-climbing robot for hydroturbine blade detection according to claim 6, characterized in that: On the side of each hollow hole (504) away from the water turbine blade, a limiting frame (505) is further provided. The limiting frame (505) is provided with a central through hole (508). A contact ring sleeve (507) is arranged in the central through hole (508) and the hollow hole (504). The contact ring sleeve (507) abuts against the surface of the rolling ball (502).

8. The crawler wall-climbing robot for water turbine blade detection according to claim 7, characterized in that: Connection ears (510) are arranged at both ends of the contact ring sleeve (507). The connection ears (510) are provided with second through holes (515). A first through hole (511) is arranged on the limiting frame (505). A first adjusting screw sleeve (512) connected by thread is arranged in the first through hole (511). A first limiting pin (513) is further provided. One end of the first limiting pin (513) is provided with a nail cap portion. The other end of the first limiting pin (513) passes through the second through hole (515) to be connected with the first adjusting screw sleeve (512). The first limiting pin (513) is sleeved with a first spring (514). Both ends of the first spring (514) respectively abut against the first adjusting screw sleeve (512) and the connection ear (510).

9. The crawler wall - climbing robot for water turbine blade detection according to claim 8, characterized in that: A third through hole (516) is arranged on the bottom anti - detachment mounting plate (501). A second adjusting screw sleeve (517) connected by thread is arranged in the third through hole (516). A second limiting pin (518) is further provided. One end of the second limiting pin (518) is provided with a nut portion. The other end of the second limiting pin (518) passes through the second through hole (515) of the contact ring sleeve (507) on the bottom anti - detachment mounting plate (501) to be connected with the second adjusting screw sleeve (517). The second limiting pin (518) is sleeved with a second spring (519). One end of the second spring (519) abuts against the second adjusting screw sleeve (517), and the other end of the second spring (519) is connected to the connection ear (510).

10. The crawler wall - climbing robot for water turbine blade detection according to claim 7, characterized in that: Each limiting frame (505) is connected to the bottom anti - detachment mounting plate (501) through a plurality of connecting columns (506).

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