Magnetic type bridge ultrasonic detection robot

Abstract

The invention relates to the technical field of bridge detection, in particular to a magnetic type bridge ultrasonic detection robot which comprises a robot body, a displacement platform capable of moving up and down is mounted in the middle of the robot body, and an electromagnetic ultrasonic detector is clamped in the displacement platform. Wheel carriers are fixedly connected to the left side and the right side of the lower surface of the robot main body, magnetic attraction wheels are rotatably connected to the inner sides of the wheel carriers, a treatment mechanism used for cleaning metal filings adsorbed on the magnetic attraction wheels is arranged on the wheel carriers, and the metal filings adsorbed on the magnetic attraction wheels can be scraped off in time in the bridge detection process through the arrangement of the treatment mechanism; the surface of the magnetic attraction wheel is always kept clean and tidy when rolling to the next position, metal chips are prevented from being attached to the magnetic attraction wheel to influence normal advancing of equipment in the detection process, and the metal chips are prevented from being accumulated on the magnetic attraction wheel to influence stable operation of the detection equipment, so that normal detection work is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and particularly to a magnetic adsorption type bridge ultrasonic detection robot. Background Art

[0002] During the use of steel structure bridges, it is necessary to regularly detect the corrosion thickness at various positions of the bridge body. Electrochemical corrosion or mechanical wear is likely to occur on the surface of the steel, resulting in a gradual reduction in the effective thickness. Through regular thickness detection, the degree of material loss can be quantified and the remaining load-bearing capacity can be evaluated.

[0003] When conducting a retest thickness detection on a steel structure bridge, a magnetic adsorption type bridge ultrasonic detection robot is used. With the remote control of the staff, the retest thickness detection is carried out at various positions of the bridge. Detecting the bridge through the robot can more conveniently detect various positions of the bridge and also reduce the risks during the detection process.

[0004] However, when using a magnetic adsorption type bridge ultrasonic detection robot for detection, it usually walks on the bridge by adsorbing the magnetic wheels on the bridge. During the walking process of the magnetic wheels, the metal chips falling on the bridge will be immediately adsorbed on the magnetic wheels. Excessive adsorption of metal chips will affect the normal walking of the robot and the normal progress of the detection work; excessive adsorption of metal chips on the magnetic wheels will affect the overall balance of the robot, and during the detection process, the detection head of the electromagnetic ultrasonic detector cannot be kept perpendicular to the detection position, affecting the accuracy of the detection results. Summary of the Invention

[0005] Therefore, the present invention provides a magnetic adsorption type bridge ultrasonic detection robot, which solves the above technical problems.

[0006] A magnetic adsorption type bridge ultrasonic detection robot provided by the present invention includes a robot main body. A displacement platform capable of moving up and down is installed at the middle position of the robot main body. An electromagnetic ultrasonic detector is clamped inside the displacement platform. Wheel frames are fixedly connected to both the left and right sides of the lower surface of the robot main body. Magnetic wheels are rotatably connected to the inner sides of the wheel frames. A processing mechanism for cleaning the metal chips adsorbed on the magnetic wheels is arranged on the wheel frames, and recovery mechanisms for collecting the metal chips are arranged on both the front and back surfaces of the wheel frames.

[0007] The processing mechanism includes a cleaning member arranged on the wheel frame for concentrating the metal chips on the magnetic wheels. Support frames are fixedly connected to both the front and back surfaces of the wheel frame. Switch members for controlling the discharge of the concentrated metal chips are arranged on both the front and back sides of the wheel frame. A pushing member for pushing the metal chips concentrated by the cleaning member to both the front and back sides is arranged on the cleaning member. A linkage member for linking the pushing member and the switch member is jointly arranged on the two support frames.

[0008] During the detection process, the cleaning part concentrates the metal chips absorbed on the magnetic wheel into the inside of the cleaning part, and the driving part drives the pushing part to push the metal chips concentrated inside the cleaning part to the front and rear sides of the cleaning part. At the same time, the pushing part drives the switch part to move synchronously through the linkage part, so that when the pushing part moves toward the switch part, the switch part gradually opens to push the metal chips to the inside of the recovery mechanism for centralized collection.

[0009] According to an embodiment of the present invention, the driving member includes a transmission box fixedly connected to the left side of the cleaning member, the top of the front surface of the transmission box is rotatably connected to a bidirectional lead screw, the front end of the bidirectional lead screw is rotatably connected to the cleaning member through an ear plate, the left side of the cleaning member is fixedly connected to a limiting slide, the bidirectional lead screw is threadedly connected to a displacement slide, and the displacement slide is slidably connected to the limiting slide along the front and rear directions.

[0010] According to an embodiment of the present invention, the rear surface of the transmission box is rotatably connected to a pulley, the pulley is connected to the bidirectional lead screw through an internal gear set of the transmission box, and the pulley is connected to the rear side of the magnetic wheel through a synchronous belt.

[0011] According to an embodiment of the present invention, the cleaning piece includes a fixed frame fixedly connected to the wheel frame, chip outlets are opened on the front and rear sides of the fixed frame, a scraper is slidably connected to the upper surface of the fixed frame, the bottom end of the scraper is in contact with the surface of the magnetic wheel, and a plurality of evenly distributed spring telescopic rods are fixedly connected to the upper surface of the scraper, and the bottom end of the spring telescopic rod is fixedly connected to the upper surface of the fixed frame.

[0012] According to an embodiment of the present invention, the switch member includes a conveying square tube fixedly connected to the left and right sides of the cleaning member, the upper surface of the conveying square tube slides in the up and down direction and is penetrated by a baffle, the top of the baffle is fixedly connected to a door-type linkage frame, the two vertical sections of the door-type linkage frame are slidably connected to the conveying square tube in the up and down direction, and a rectangular through hole larger than the size of the top of the baffle is opened at the position corresponding to the baffle on the support frame.

[0013] According to an embodiment of the present invention, the switch component also includes a support plate fixedly connected to the vertical section of the baffle corresponding to the lower surface of the conveying square tube, the upper surface of the support plate is rotatably connected to a threaded rod, the bottom end of the vertical section of the door-type linkage frame is threadedly connected to the threaded rod through ear plate 2, the top of the threaded rod is fixedly connected to a synchronous wheel, the two synchronous wheels distributed on the left and right are connected through synchronous belt 2, and the top of the synchronous wheel away from the robot body is fixedly connected to a transmission gear.

[0014] According to an embodiment of the present invention, the pushing member includes a storage frame fixedly connected to the inner side of the cleaning member, the inner side of the storage frame is slidably connected with a push plate along the front-to-back direction, the top end of the push plate is rotatably connected to two connecting rollers distributed on the left and right, and the top ends of the two connecting rollers are rotatably connected to a linkage plate.

[0015] According to an embodiment of the present invention, an auxiliary roller that converts the sliding friction between the linkage plate and the cleaning member into rolling friction is rotatably connected to the lower surface of the linkage plate.

[0016] According to an embodiment of the present invention, a limiting frame is fixedly connected to the upper surface of the support frame, a limiting sliding sleeve is fixedly connected to the bottom end of the limiting frame, and a rack is slidably connected in the inner sides of two limiting sliding sleeves distributed front and back along the front and back directions.

[0017] According to an embodiment of the present invention, the recycling mechanism includes a stable support fixedly connected to the wheel frame, a collection box is fixedly connected to the bottom end of the stable support, and a cover plate is embedded and clamped on the lower surface of the collection box.

[0018] Applying the technical solution of the present invention: 1. Through the setting of the processing mechanism, the metal chips adsorbed on the magnetic adsorption wheel can be scraped off in time during the bridge detection process, so that the surface of the magnetic adsorption wheel always remains clean when rolling to the next position, avoiding the attachment of metal chips on the magnetic adsorption wheel and affecting the normal progress of the equipment during the detection process, and avoiding the accumulation of metal chips on the magnetic adsorption wheel and affecting the stable operation of the detection equipment, so as to ensure the normal progress of the detection work.

[0019] 2. Through the setting of the recycling mechanism, the scraped metal chips can be collected in time in cooperation with the pushing member, so as to ensure that the metal chips can be completely separated from the magnetic adsorption wheel, avoid the scraped metal chips from returning to the magnetic adsorption wheel again, ensure the cleanliness of the magnetic adsorption wheel, avoid the metal chips from affecting the balance of the detection robot, ensure that the electromagnetic ultrasonic detector is perpendicular to the detection position during the detection process, and ensure the accuracy of the detection result. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the magnetic adsorption type bridge ultrasonic detection robot provided by the present invention.

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the processing mechanism provided by the present invention.

[0023] Figure 3 It is a three-dimensional structural schematic diagram of the driving member and the cleaning member provided by the present invention.

[0024] Figure 4 It is a partial front sectional view of the pushing member provided by the present invention.

[0025] Figure 5 It is a partial three-dimensional cross-sectional structural diagram of the pusher provided by the present invention.

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the switch element provided by the present invention.

[0027] Figure 7 The present invention provides Figure 6 main view.

[0028] Figure 8 It is a three-dimensional structural schematic diagram of the recovery mechanism provided by the present invention.

[0029] Figure numerals: 1. robot body; 2. displacement platform; 3. electromagnetic ultrasonic detector; 4. wheel frame; 5. processing mechanism; 6. recovery mechanism; 51. driving member; 52. cleaning member; 53. switch member; 54. pushing member; 55. linkage member; 56. support frame; 511. displacement slide plate; 512. transmission box; 513. bidirectional lead screw; 514. limit slide; 521. fixed frame; 522. chip outlet; 523. spring expansion Rod; 524, scraper; 531, baffle; 532, threaded rod; 533, conveying square tube; 534, door-type linkage frame; 535, support plate; 536, synchronous wheel; 537, transmission gear; 541, linkage plate; 542, connecting roller; 543, push plate; 544, storage frame; 551, rack; 552, limit frame; 553, limit sliding sleeve; 61, cover plate; 62, collection box; 63, stable bracket; 64, conveying pipe. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0031] like Figure 1 As shown, a magnetic bridge ultrasonic inspection robot includes a robot body 1, a displacement platform 2 capable of moving up and down is installed in the middle position of the robot body 1, an electromagnetic ultrasonic detector 3 is clamped inside the displacement platform 2, wheel frames 4 are fixedly connected to the left and right sides of the lower surface of the robot body 1, a magnetic wheel is rotatably connected to the inner side of the wheel frame 4, a processing mechanism 5 for cleaning metal chips adsorbed on the magnetic wheel is arranged on the wheel frame 4, and a recovery mechanism 6 for collecting metal chips is arranged on the front and rear surfaces of the wheel frame 4, the robot body 1 is remotely connected to an external remote control, and a display for displaying the inspection results is arranged on the remote control.

[0032] As Figure 1 and Figure 2 shown, the processing mechanism 5 includes a cleaning member 52 disposed on the wheel carrier 4 for concentrating the metal chips on the magnetic adsorption wheel. Support frames 56 are fixedly connected to both the front and rear surfaces of the wheel carrier 4. Switch members 53 for controlling the discharge of the concentrated metal chips are disposed on both the front and rear sides of the wheel carrier 4. A pusher member 54 for pushing the metal chips concentrated by the cleaning member 52 to both the front and rear sides is disposed on the cleaning member 52. A linkage member 55 for linking the pusher member 54 and the switch member 53 is commonly disposed on the two support frames 56.

[0033] During specific use, the staff first completes the connection with the robot main body 1 through the remote controller, and then adsorbs the magnetic adsorption wheel on the wheel carrier 4 to the bridge. At this time, the staff can remotely control the robot main body 1 through the remote controller, drive the magnetic adsorption wheel to rotate through the robot main body 1, so as to realize the movement of the detection robot adsorbed on the bridge. After moving to the detection position, the distance between the electromagnetic ultrasonic detector 3 and the detection position is adjusted by moving the displacement platform 2 up and down. After the adjustment is completed, the corrosion thickness measurement detection is performed on the detection position through the electromagnetic ultrasonic detector 3, and the detection result is displayed on the display of the remote controller.

[0034] It should be noted that the displacement platform 2 can be controlled to move up and down through an external electric push rod. A distance sensor is disposed at the bottom of the displacement platform 2. The distance from the bottom of the displacement platform 2 to the bridge surface is sensed through the distance sensor. When the distance sensed by the distance sensor reaches the set distance threshold, the controller controls the external electric push rod to stop working and no longer continues to push the displacement platform 2 down.

[0035] During detection, the magnetic adsorption wheel will adsorb the metal chips on the bridge during walking. At this time, the cleaning member 52 timely scrapes off the metal chips adhered to the magnetic adsorption wheel, and the scraped metal chips accumulate inside the cleaning member 52. At the same time, the magnetic adsorption wheel drives the pusher member 54 to move left and right on the cleaning member 52 through the driving member 51 to push the metal chips accumulated inside the cleaning member 52 to both the front and rear sides of the cleaning member 52. When the pusher member 54 moves closer to one of the switch members 53, the switch member 53 opens, and the pusher member 54 pushes the metal chips into the internal of the recycling mechanism 6 for storage. When the pusher member 54 moves away from the switch member 53, the switch member 53 is closed, as much as possible to prevent the metal chips from falling out of the internal of the recycling mechanism 6 again.

[0036] As Figure 2 、 Figure 3 and Figure 4As shown, the cleaning piece 52 includes a fixed frame 521 fixedly connected to the wheel frame 4, and chip outlets 522 are provided on the front and rear sides of the fixed frame 521. A scraper 524 is slidably connected to the upper surface of the fixed frame 521 and penetrates through it. The bottom end of the scraper 524 fits the surface of the magnetic wheel, and a plurality of evenly distributed spring telescopic rods 523 are fixedly connected to the upper surface of the fixed frame 521. The bottom end of the spring telescopic rod 523 is fixedly connected to the upper surface of the fixed frame 521.

[0037] During specific use, when the metal chips adsorbed on the magnetic wheel are scraped off by the cleaning piece 52, the bottom end of the scraper 524 is always in contact with the surface of the magnetic wheel under the action of the elastic force of the spring telescopic rod 523. As the magnetic wheel rotates, the metal chips passing under the scraper 524 are scraped off from the magnetic wheel. At this time, since the magnetic wheel is always magnetic, the scraped metal chips accumulate on the underside of the scraper 524. As the amount of metal chips accumulated gradually increases, the accumulated metal chips gradually enter the interior of the pushing piece 54.

[0038] like Figure 2 , Figure 3 and Figure 4 As shown, the driving member 51 includes a transmission box 512 fixedly connected to the left side of the fixed frame 521, the top of the front surface of the transmission box 512 is rotatably connected with a bidirectional lead screw 513, the front end of the bidirectional lead screw 513 is rotatably connected to the fixed frame 521 through an ear plate 1, the left side of the fixed frame 521 is fixedly connected with a limiting slide 514, the bidirectional lead screw 513 is threadedly connected with a displacement slide 511, the displacement slide 511 and the limiting slide 514 are slidably connected along the front and rear directions, the rear surface of the transmission box 512 is rotatably connected with a pulley, the pulley is connected to the bidirectional lead screw 513 through an internal gear set of the transmission box 512 (not shown in the figure), and the pulley is connected to the rear side of the magnetic suction wheel through a synchronous belt 1 (not shown in the figure).

[0039] During specific use, when the magnetic wheel rotates, the pulley on the transmission box 512 is driven to rotate synchronously through the synchronous belt 1. At this time, the pulley cooperates with the gear set inside the transmission box 512 to drive the two-way screw 513 to rotate synchronously. During the rotation process, the two-way screw 513 cooperates with the limiting slide 514 to limit the displacement slide 511 in the left and right directions, thereby driving the displacement slide 511 to move forward. When the displacement slide 511 moves to the front end on the two-way screw 513, the displacement slide 511 is connected with the reverse thread. As the two-way screw 513 continues to rotate, the displacement slide 511 starts to move backward, thereby driving the displacement slide 511 to make reciprocating movements in the front and rear directions as the two-way screw 513 continues to rotate.

[0040] like Figure 3 , Figure 4 and Figure 5As shown, the pusher member 54 includes a storage frame 544 fixedly connected to the inner side of the fixed frame 521. A push plate 543 is slidably connected to the inner side of the storage frame 544 in the front-rear direction. Two connecting rollers 542 distributed left and right are rotatably connected to the top end of the push plate 543. A linkage plate 541 is rotatably connected to the top ends of the two connecting rollers 542. The linkage plate 541 is fixedly connected to the displacement slide plate 511. A connecting chute is provided on the upper surface of the fixed frame 521 at the position corresponding to the connecting roller 542. An auxiliary roller is rotatably connected to the lower surface of the linkage plate 541, which changes the sliding friction between the linkage plate 541 and the cleaning member 52 into rolling friction.

[0041] During specific use, when the displacement slide plate 511 makes a reciprocating movement in the front-rear direction, the displacement slide plate 511 drives the push plate 543 to move synchronously through the linkage plate 541. During the movement of the linkage plate 541, it contacts the upper surface of the fixed frame 521 through the auxiliary roller on its lower surface. At the same time, when the connecting roller 542 drives the push plate 543 to move synchronously during the movement of the linkage plate 541, the connecting roller 542 rotates in the connecting chute on the fixed frame 521, which can enable the linkage plate 541 to drive the push plate 543 to move smoothly. During the movement of the push plate 543, the metal chips gradually accumulated under the scraping plate 524 will enter the inner side of the storage frame 544 as the accumulation amount increases. At this time, the push plate 543 pushes the metal chips located inside the storage frame 544 to move synchronously, and pushes the metal chips out of the chip outlet 522 on the fixed frame 521 and drops into the interior of the recycling mechanism 6 for centralized collection.

[0042] As Figure 3 and Figure 6 shown, the linkage member 55 includes a limiting frame 552 fixedly connected to the upper surface of the support frame 56. A limiting sliding sleeve 553 is fixedly connected to the bottom end of the limiting frame 552. A rack 551 is slidably connected to the inner sides of the two limiting sliding sleeves 553 distributed front and rear in the front-rear direction.

[0043] As Figure 3 、 Figure 6 and Figure 7 shown, the switch member 53 includes a conveying square pipe 533 fixedly connected to the fixed frame 521 at the position corresponding to the limiting frame 552. A baffle 531 is slidably connected to the upper surface of the conveying square pipe 533 in the up-down direction and penetrates through it. A gantry linkage frame 534 is fixedly connected to the top end of the baffle 531. The two vertical sections of the gantry linkage frame 534 are slidably connected to the conveying square pipe 533 in the up-down direction. A rectangular through hole larger than the top end size of the baffle 531 is provided on the support frame 56 at the position corresponding to the baffle 531.

[0044] As Figure 3 、 Figure 6 and Figure 7As shown, the switch member 53 further includes a support plate 535 fixedly connected to the lower surface of the conveying square tube 533 corresponding to the vertical section of the baffle 531. A threaded rod 532 is rotatably connected to the upper surface of the support plate 535. The bottom end of the vertical section of the gantry linkage 534 is threadedly connected to the threaded rod 532 through an ear plate II. The top end of the threaded rod 532 is fixedly connected to a synchronous pulley 536. The two synchronous pulleys 536 distributed left and right are drivingly connected through a second synchronous belt. The top end of the synchronous pulley 536 on the side away from the robot main body 1 is fixedly connected to a transmission gear 537, and the transmission gear 537 meshes with the rack 551.

[0045] During specific use, when the displacement slide plate 511 drives the push plate 543 to move, the displacement slide plate 511 moves forward, driving the rack 551 to move forward synchronously inside the two limit sliding sleeves 553. At this time, the rack 551 drives the transmission gear 537 to rotate synchronously. The transmission gear 537 drives the threaded rod 532 to rotate on the support frame 56. At this time, the transmission gear 537 cooperates with the synchronous pulley 536 on its lower surface to drive the threaded rod 532 on the right side to rotate synchronously through the second synchronous belt. At this time, the bottom end of the threaded rod 532 rotates on the upper surface of the support plate 535. The two threaded rods 532 synchronously drive the gantry linkage 534 to move upward through the ear plate II on them. The gantry linkage 534 drives the baffle 531 to move upward, opening the conveying square tube 533. At this time, the gantry linkage 534 gradually pushes the metal chips towards the conveying square tube 533. After the metal chips enter the inside of the conveying square tube 533, they are at a certain distance from the magnetic attraction wheel, and the adsorption force received gradually decreases, and they slide through the conveying square tube 533 into the inside of the recycling mechanism 6.

[0046] When the displacement slide plate 511 moves backward, at this time, the displacement slide plate 511 drives the transmission gear 537 to reverse through the rack 551, closing the baffle 531 on the conveying square tube 533 again. At the same time, the baffle 531 on the other side gradually opens by repeating the above steps. By driving the push plate 543 to move back and forth in the storage box 544 through the displacement slide plate 511, the metal chips are respectively pushed out from the front and rear two chip outlets 522 on the fixed frame 521 into the corresponding recycling mechanism 6 for collection.

[0047] As Figure 1 and Figure 8 shown, the recycling mechanism 6 includes a stable support 63 fixedly connected to the wheel rack 4. The bottom end of the stable support 63 is fixedly connected to a collection box 62. A cover plate 61 is embedded and clamped on the lower surface of the collection box 62. There is a certain clamping force between the cover plate 61 and the collection box 62. When the cover plate 61 is not subjected to external force, the cover plate 61 will not fall off from the collection box 62. The upper surface of the collection box 62 is fixedly and penetratively connected with a transfer pipe 64. One end of the transfer pipe 64 away from the collection box 62 is clamped with the corresponding conveying square tube 533.

[0048] During specific use, when collecting the metal chips ejected by the portal linkage 534 through the recycling mechanism 6, after the metal chips enter the interior of the conveying square pipe 533, they are no longer affected by the suction force of the magnetic suction wheel. At this time, with continuous pushing, the metal chips enter the interior of the collection box 62 through the transfer pipe 64 for collection. After each inspection is completed, the staff can open the cover plate 61 on the collection box 62 to uniformly process the collected metal chips.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0050] In addition, the terms "first", "second", "No. 1", "No. 2" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "No. 1", "No. 2" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0051] In the present invention, unless otherwise clearly specified and defined, the terms "install", "connect", "join", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] The embodiments of this specific implementation manner are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A magnetic adsorption type bridge ultrasonic detection robot, comprising a robot main body. A displacement platform capable of moving up and down is installed at the middle position of the robot main body. An electromagnetic ultrasonic detector is clamped inside the displacement platform. Wheel frames are fixedly connected to both the left and right sides of the lower surface of the robot main body. Magnetic adsorption wheels are rotatably connected to the inner sides of the wheel frames. It is characterized in that: The wheel frame is provided with a processing mechanism for cleaning the metal chips adsorbed on the magnetic wheel, and the front and rear surfaces of the wheel frame are provided with a recovery mechanism for collecting the metal chips; The processing mechanism includes a cleaning member arranged on the wheel frame for collecting the metal chips on the magnetic wheel, the front and rear surfaces of the wheel frame are fixedly connected with a support frame, the front and rear sides of the wheel frame are provided with a switch member for controlling the discharge of the collected metal chips, the cleaning member is provided with a pusher member for pushing the collected metal chips to the front and rear sides, and the two support frames are jointly provided with a linkage member for linking the pusher member and the switch member; During the detection process, the cleaning part concentrates the metal chips absorbed on the magnetic wheel into the inside of the cleaning part. The driving part drives the pushing part to push the metal chips concentrated inside the cleaning part to the front and rear sides of the cleaning part. The pushing part moves toward the switch part, and the switch part opens to push the metal chips to the inside of the recovery mechanism for centralized collection.

2. The magnetic adsorption type bridge ultrasonic detection robot according to claim 1, characterized in that: The driving member includes a transmission box fixedly connected to the left side of the cleaning member, the top of the front surface of the transmission box is rotatably connected to a bidirectional lead screw, the front end of the bidirectional lead screw is rotatably connected to the cleaning member through an ear plate, the left side of the cleaning member is fixedly connected to a limiting slide, the bidirectional lead screw is threadedly connected to a displacement slide, and the displacement slide is slidably connected to the limiting slide along the front and rear directions.

3. The magnetic adsorption type bridge ultrasonic detection robot according to claim 2, characterized in that: The rear surface of the transmission box is rotatably connected with a pulley, the pulley is connected to the bidirectional lead screw through the internal gear set of the transmission box, and the pulley is connected to the rear side of the magnetic wheel through a synchronous belt.

4. A magnetic adsorption type bridge ultrasonic detection robot according to claim 1, characterized in that: The cleaning piece includes a fixed frame fixedly connected to the wheel frame, and chip outlets are opened on the front and rear sides of the fixed frame. A scraper is slidably connected to the upper surface of the fixed frame and penetrates through it. The bottom end of the scraper fits the surface of the magnetic wheel. A plurality of evenly distributed spring telescopic rods are fixedly connected to the upper surface of the scraper, and the bottom ends of the spring telescopic rods are fixedly connected to the upper surface of the fixed frame.

5. The magnetic adsorption type bridge ultrasonic detection robot according to claim 1, characterized in that: The switch component includes a conveying square tube fixedly connected to the left and right sides of the cleaning component, the upper surface of the conveying square tube slides in the up and down direction and is penetrated by a baffle, the top of the baffle is fixedly connected to a door-type linkage frame, the two vertical sections of the door-type linkage frame are slidably connected to the conveying square tube in the up and down direction, and a rectangular through hole larger than the size of the top of the baffle is opened at the position corresponding to the baffle on the support frame.

6. The magnetic adsorption type bridge ultrasonic detection robot according to claim 1, wherein: The switch component also includes a support plate fixedly connected to the vertical section of the baffle corresponding to the lower surface of the conveying square tube, the upper surface of the support plate is rotatably connected with a threaded rod, the bottom end of the vertical section of the door-type linkage frame is threadedly connected to the threaded rod through ear plate 2, the top end of the threaded rod is fixedly connected to a synchronous wheel, the two synchronous wheels distributed on the left and right are connected through synchronous belt 2, and the top end of the synchronous wheel away from the robot body is fixedly connected to a transmission gear.

7. A magnetic adsorption type bridge ultrasonic detection robot according to claim 1, characterized in that: The pusher comprises a storage frame fixedly connected to the inner side of the cleaning member, the inner side of the storage frame is slidably connected with a push plate along the front-rear direction, the top end of the pusher plate is rotatably connected to two connecting rollers distributed left and right, and the top ends of the two connecting rollers are rotatably connected to a linkage plate.

8. A magnetic adsorption type bridge ultrasonic detection robot according to claim 7, characterized in that: The lower surface of the linkage plate is embedded with an auxiliary roller that is rotatably connected to change the sliding friction between the linkage plate and the cleaning piece into rolling friction.

9. The magnetic adsorption type bridge ultrasonic detection robot according to claim 1, characterized in that: The upper surface of the support frame is fixedly connected with a limit frame, the bottom end of the limit frame is fixedly connected with a limit sliding sleeve, and a rack is slidably connected in the inner sides of two limit sliding sleeves distributed front and back along the front and back direction.

10. The magnetic adsorption type bridge ultrasonic detection robot according to claim 5, characterized in that: The recycling mechanism includes a stable support fixedly connected to the wheel frame, the bottom end of the stable support is fixedly connected with a collection box, the lower surface of the collection box is embedded and clamped with a cover plate, the upper surface of the collection box is fixedly and penetratively connected with a transfer pipe, and one end of the transfer pipe away from the collection box is clamped with the corresponding conveying square pipe.

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