Magnetic type bridge ultrasonic detection robot

Abstract

This invention relates to the field of bridge inspection technology, specifically to a magnetic ultrasonic bridge inspection robot. The robot includes a main body with a vertically movable displacement platform mounted in the center. An electromagnetic ultrasonic testing instrument is internally mounted on the displacement platform. Wheel frames are fixedly connected to the left and right sides of the lower surface of the main body, and magnetic wheels are rotatably connected to the inner sides of the wheel frames. The wheel frames are equipped with a processing mechanism for cleaning metal shavings adsorbed on the magnetic wheels. This mechanism allows for timely removal of metal shavings adsorbed on the magnetic wheels during bridge inspection, ensuring the surface of the magnetic wheels remains clean as they roll to the next position. This prevents metal shavings from adhering to the magnetic wheels and affecting the normal movement of the equipment during inspection, and also prevents metal shavings from accumulating on the magnetic wheels and affecting the stable operation of the inspection equipment, thus ensuring the normal progress of the inspection work.

Description

Technical Field

[0001] This invention relates to the field of bridge inspection technology, specifically to a magnetic ultrasonic bridge inspection robot. Background Technology

[0002] During the use of steel structure bridges, it is necessary to regularly conduct corrosion thickness testing on various parts of the bridge body. The surface of steel is prone to electrochemical corrosion or mechanical wear, which leads to a gradual reduction in the effective thickness. By conducting regular thickness testing, the degree of material loss can be quantified and the remaining load-bearing capacity can be assessed.

[0003] When conducting retest thickness measurement on steel structure bridges, a magnetic bridge ultrasonic testing robot is used in conjunction with remote control by staff to perform retest thickness measurement on various locations of the bridge. Using a robot to inspect the bridge makes it more convenient to inspect various locations of the bridge, while also reducing the risks during the inspection process.

[0004] However, when using a magnetic bridge ultrasonic inspection robot, the robot typically moves by attaching itself to the bridge using magnetic wheels. During this movement, metal shavings that fall from the bridge are attracted to the magnetic wheels. Excessive metal shavings can hinder the robot's movement and impede the inspection process. Furthermore, too many metal shavings on the magnetic wheels can affect the robot's overall balance, causing the electromagnetic ultrasonic detector's head to deviate from its perpendicular position during inspection, thus affecting the accuracy of the results. Summary of the Invention

[0005] Therefore, the present invention provides a magnetic bridge ultrasonic inspection robot, which solves the above-mentioned technical problems.

[0006] This invention provides a magnetic bridge ultrasonic inspection robot, comprising a robot body, a displacement platform capable of vertical movement installed in the middle of the robot body, an electromagnetic ultrasonic detector being snapped into the inside of the displacement platform, wheel frames fixedly connected to the left and right sides of the lower surface of the robot body, magnetic wheels rotatably connected to the inner side of the wheel frames, a processing mechanism for cleaning metal shavings adsorbed on the magnetic wheels being provided on the wheel frames, and a recycling mechanism for collecting metal shavings being provided on the front and rear surfaces of the wheel frames.

[0007] The processing mechanism includes a cleaning component mounted on a wheel frame for collecting metal chips on a magnetic roller. Support frames are fixedly connected to the front and rear surfaces of the wheel frame. Switches for controlling the discharge of collected metal chips are provided on both the front and rear sides of the wheel frame. A pusher is provided on the cleaning component to push the collected metal chips forward and backward. A linkage is provided on both support frames to link the pusher and the switch.

[0008] During the inspection process, the cleaning component concentrates the metal shavings adsorbed on the magnetic roller inside the cleaning component. The driving component drives the pushing component to push the metal shavings concentrated inside the cleaning component to the front and back sides of the cleaning component. At the same time, the pushing component drives the switching component to move synchronously through the linkage component. As the pushing component moves towards the switching component, the switching component gradually opens, pushing the metal shavings into the recycling mechanism for centralized collection.

[0009] According to an embodiment of the present invention, the driving component includes a transmission box fixedly connected to the left side of the cleaning component. A bidirectional lead screw is rotatably connected to the top of the front surface of the transmission box. The front end of the bidirectional lead screw is rotatably connected to the cleaning component through an ear plate. A limiting slide is fixedly connected to the left side of the cleaning component. A displacement slide is threaded onto the bidirectional lead screw. The displacement slide and the limiting slide are slidably connected in the front-back direction.

[0010] According to an embodiment of the present invention, a pulley is rotatably connected to the rear surface of the transmission box. The pulley is connected to a bidirectional lead screw via a gear set inside the transmission box. The pulley is also connected to the rear side of the magnetic pulley via a synchronous belt.

[0011] According to an embodiment of the present invention, the cleaning component includes a fixed frame fixedly connected to the wheel frame. The fixed frame has chip outlets on both the front and rear sides. A scraper is slidably connected to the upper surface of the fixed frame and passes through it. The bottom end of the scraper is in contact with the surface of the magnetic roller. A plurality of evenly distributed spring telescopic rods are fixedly connected to the upper surface of the scraper. The bottom ends of the spring telescopic rods are fixedly connected to the upper surface of the fixed frame.

[0012] According to an embodiment of the present invention, the switching 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 along the vertical direction and is connected through a baffle. A gate-shaped linkage frame is fixedly connected to the top of the baffle. The two vertical sections of the gate-shaped linkage frame are slidably connected to the conveying square tube along the vertical direction. A rectangular through hole larger than the top size of the baffle is opened on the support frame at the position corresponding to the baffle.

[0013] According to an embodiment of the present invention, the switching component further includes a support plate fixedly connected to the vertical section of the corresponding baffle on the lower surface of the conveying square tube. A threaded rod is rotatably connected to the upper surface of the support plate. The bottom end of the vertical section of the portal linkage frame is threadedly connected to the threaded rod through an ear plate. A synchronous pulley is fixedly connected to the top end of the threaded rod. Two synchronous pulleys distributed on the left and right are connected by a synchronous belt. A transmission gear is fixedly connected to the top end of the synchronous pulley on the side away from the robot body.

[0014] According to an embodiment of the present invention, the pusher includes a storage frame fixedly connected to the inner side of the cleaning component, a push plate slidably connected to the inner side of the storage frame in the front-back direction, and two left-right distributed connecting rollers rotatably connected to the top of the push plate, and a linkage plate rotatably connected to the top of the two connecting rollers together.

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

[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 sleeve is fixedly connected to the bottom end of the limiting frame, and a rack is slidably connected to the inner sides of the two limiting sleeves distributed in the front and rear directions.

[0017] According to an embodiment of the present invention, the recycling mechanism includes a stabilizing bracket fixedly connected to the wheel frame, a collection box fixedly connected to the bottom end of the stabilizing bracket, and a cover plate embedded and snapped into the lower surface of the collection box.

[0018] The technical solution of this invention is as follows: 1. By setting up the processing mechanism, the metal shavings adsorbed on the magnetic roller can be scraped off in time during the bridge inspection process, so that the surface of the magnetic roller remains clean when it rolls to the next position. This avoids metal shavings adhering to the magnetic roller and affecting the normal movement of the equipment during the inspection process, and also avoids the accumulation of metal shavings on the magnetic roller and affecting the stable operation of the inspection equipment, so as to ensure the normal progress of the inspection work.

[0019] 2. The recycling mechanism allows for the timely collection of scraped metal shavings in conjunction with the pusher, ensuring complete separation of the metal shavings from the magnetic rollers. This prevents the scraped metal shavings from returning to the magnetic rollers, keeping them clean and preventing them from affecting the balance of the inspection robot. It also ensures that the electromagnetic ultrasonic detector remains perpendicular to the inspection position during the inspection process, guaranteeing the accuracy of the inspection results. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the magnetic bridge ultrasonic inspection robot provided by the present invention.

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

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

[0024] Figure 4 This is a partial front sectional view of the pusher component provided by the present invention.

[0025] Figure 5 This is a partial three-dimensional cross-sectional view of the pusher component provided by the present invention.

[0026] Figure 6 This is a three-dimensional structural diagram of the switching device provided by the present invention.

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

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

[0029] Reference numerals: 1. Robot body; 2. Displacement platform; 3. Electromagnetic ultrasonic detector; 4. Wheel frame; 5. Processing mechanism; 6. Recycling mechanism; 51. Drive component; 52. Cleaning component; 53. Switch component; 54. Pushing component; 55. Linkage component; 56. Support frame; 511. Displacement slide plate; 512. Transmission box; 513. Bidirectional lead screw; 514. Limiting slide; 521. Fixing frame; 522. Chip outlet; 523. Spring extension 524. Rod; 531. Scraper; 532. Baffle; 533. Threaded rod; 534. Conveying square tube; 535. Gantry linkage frame; 536. Support plate; 537. Synchronous pulley; 541. Transmission gear; 542. Linkage plate; 543. Connecting roller; 544. Push plate; 545. Storage frame; 556. Rack; 557. Limiting bracket; 558. Limiting sleeve; 69. Cover plate; 60. Collection box; 61. Stabilizing bracket; 62. Conveying pipe. Detailed Implementation

[0030] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to 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 of the robot body 1. An electromagnetic ultrasonic detector 3 is snapped into the inside of 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. Magnetic wheels are rotatably connected to the inner side of the wheel frames 4. A processing mechanism 5 for cleaning metal shavings adsorbed on the magnetic wheels is provided on the wheel frames 4. A recycling mechanism 6 for collecting metal shavings is provided on the front and rear surfaces of the wheel frames 4. The robot body 1 is remotely connected to an external remote controller, which is equipped with a display for displaying the inspection results.

[0032] like Figure 1 and Figure 2 As shown, the processing mechanism 5 includes a cleaning component 52 mounted on the wheel frame 4 for collecting metal chips on the magnetic suction wheel. Support frames 56 are fixedly connected to the front and rear surfaces of the wheel frame 4. Switches 53 for controlling the discharge of collected metal chips are mounted on both the front and rear sides of the wheel frame 4. A pusher 54 is mounted on the cleaning component 52 to push the collected metal chips forward and backward. A linkage 55 is mounted on both support frames 56 to link the pusher 54 and the switch 53.

[0033] In practical use, the staff first connects to the robot body 1 via remote control, and then attaches it to the bridge via the magnetic wheels on the wheel frame 4. At this time, the staff can remotely control the robot body 1 via remote control, which drives the magnetic wheels to rotate, thereby enabling the detection robot to move magnetically on the bridge. After moving to the detection position, the staff adjusts the distance between the electromagnetic ultrasonic detector 3 and the detection position by moving the displacement platform 2 up and down. After adjustment, the electromagnetic ultrasonic detector 3 performs corrosion thickness measurement on the detection position, and the detection results are displayed on the monitor on the remote control.

[0034] It should be noted that the displacement platform 2 can be moved up and down by an external electric push rod. A distance sensor is installed at the bottom of the displacement platform 2. The distance sensor senses the distance from the bottom of the displacement platform 2 to the bridge surface. 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 push the displacement platform 2 down.

[0035] During the inspection, the magnetic roller will attract metal shavings on the bridge as it moves. At this time, the cleaning component 52 will scrape off the metal shavings adhering to the magnetic roller. The scraped metal shavings will accumulate on the inside of the cleaning component 52. At the same time, the magnetic roller will drive the pusher 54 to move left and right on the cleaning component 52 through the drive component 51, pushing the metal shavings accumulated inside the cleaning component 52 to the front and back sides of the cleaning component 52. When the pusher 54 moves closer to one of the switches 53, the switch 53 will open, and the pusher 54 will push the metal shavings into the recycling mechanism 6 for collection. When the pusher 54 moves away from the switch 53, the switch 53 will close, so as to avoid the metal shavings falling out of the recycling mechanism 6 again as much as possible.

[0036] like Figure 2 , Figure 3 and Figure 4As shown, the cleaning component 52 includes a fixed frame 521 fixedly connected to the wheel frame 4. The fixed frame 521 has chip outlets 522 on both the front and rear sides. A scraper 524 is slidably connected to the upper surface of the fixed frame 521 and passes through it. The bottom end of the scraper 524 is in contact with the surface of the magnetic roller. A plurality of evenly distributed spring telescopic rods 523 are fixedly connected to the upper surface of the scraper 524. The bottom ends of the spring telescopic rods 523 are fixedly connected to the upper surface of the fixed frame 521.

[0037] In practical use, when the cleaning component 52 scrapes off the metal shavings adsorbed on the magnetic roller, the bottom end of the scraper 524 is always in contact with the surface of the magnetic roller under the elastic force of the spring telescopic rod 523. As the magnetic roller rotates, the metal shavings passing under the scraper 524 are scraped off the magnetic roller. Since the magnetic roller is always magnetic, the scraped metal shavings accumulate under the scraper 524. As the amount of metal shavings gradually increases, the accumulated metal shavings gradually enter the interior of the pusher component 54.

[0038] like Figure 2 , Figure 3 and Figure 4 As shown, the driving component 51 includes a transmission box 512 fixedly connected to the left side of the fixed frame 521. A bidirectional lead screw 513 is rotatably connected to the top of the front surface of the transmission box 512. The front end of the bidirectional lead screw 513 is rotatably connected to the fixed frame 521 through an ear plate. A limiting slide 514 is fixedly connected to the left side of the fixed frame 521. A displacement slide plate 511 is threaded onto the bidirectional lead screw 513. The displacement slide plate 511 and the limiting slide 514 are slidably connected in the front-back direction. A pulley is rotatably connected to the rear surface of the transmission box 512. The pulley is connected to the bidirectional lead screw 513 through a gear set (not shown in the figure) inside the transmission box 512. The pulley is connected to the rear side of the magnetic pulley (not shown in the figure) through a synchronous belt.

[0039] In practical use, when the magnetic pulley rotates, it drives the pulley on the transmission box 512 to rotate synchronously via the synchronous belt. At this time, the pulley, together with the gear set inside the transmission box 512, drives the bidirectional lead screw 513 to rotate synchronously. During the rotation, the bidirectional lead screw 513, together with the limiting slide 514, limits the left and right displacement slide plate 511, causing the displacement slide plate 511 to move forward. When the displacement slide plate 511 moves to the front end on the bidirectional lead screw 513, the displacement slide plate 511, connected to the reverse thread, starts to move backward as the bidirectional lead screw 513 continues to rotate. Thus, with the continuous rotation of the bidirectional lead screw 513, the displacement slide plate 511 reciprocates in the front and back directions.

[0040] like Figure 3 , Figure 4 and Figure 5As shown, the pusher 54 includes a storage frame 544 fixedly connected to the inside of the fixed frame 521. A push plate 543 is slidably connected to the inside of the storage frame 544 in the front-back direction. Two connecting rollers 542 distributed to the left and right are rotatably connected to the top of the push plate 543. The tops of the two connecting rollers 542 are rotatably connected to a linkage plate 541. The linkage plate 541 is fixedly connected to the displacement slide plate 511. A connecting groove is opened on the upper surface of the fixed frame 521 at the position corresponding to the connecting rollers 542. An auxiliary roller is embedded and rotatably connected to the lower surface of the linkage plate 541 to change the sliding friction between the linkage plate 541 and the cleaning component 52 into rolling friction.

[0041] In practical use, when the displacement slide plate 511 moves back and forth, the displacement slide plate 511 drives the push plate 543 to move synchronously through the linkage plate 541. During the movement, the linkage plate 541 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 moves synchronously with the push plate 543 as the linkage plate 541 moves, the connecting roller 542 rotates in the connecting groove on the fixed frame 521, which allows the linkage plate 541 to smoothly drive the push plate 543 to move. During the movement, the metal shavings on the underside of the scraper 524 gradually accumulate on the push plate 543. As the accumulation increases, they will enter the inside of the collection frame 544. At this time, the push plate 543 pushes the metal shavings located inside the collection frame 544 to move synchronously, pushing the metal shavings out of the shaving outlet 522 on the fixed frame 521 and dropping them into the inside of the recycling mechanism 6 for centralized collection.

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

[0043] like Figure 3 , Figure 6 and Figure 7 As shown, the switch 53 includes a conveying square tube 533 fixedly connected to the fixed frame 521 at the position corresponding to the limit frame 552. The upper surface of the conveying square tube 533 slides in the vertical direction and is connected through a baffle 531. The top of the baffle 531 is fixedly connected to a gantry linkage frame 534. The two vertical sections of the gantry linkage frame 534 are slidably connected to the conveying square tube 533 in the vertical direction. A rectangular through hole larger than the top size of the baffle 531 is opened on the support frame 56 at the position corresponding to the baffle 531.

[0044] like Figure 3 , Figure 6 and Figure 7As shown, the switch 53 also includes a support plate 535 fixedly connected to the vertical section of the baffle 531 on the lower surface of the conveying square tube 533. 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 portal linkage frame 534 is threadedly connected to the threaded rod 532 through the ear plate 2. A synchronous wheel 536 is fixedly connected to the top end of the threaded rod 532. The two synchronous wheels 536 distributed on the left and right are connected by a synchronous belt 2. A transmission gear 537 is fixedly connected to the top end of the synchronous wheel 536 on the side away from the robot body 1. The transmission gear 537 meshes with the rack 551.

[0045] In practical use, as the displacement slide plate 511 moves the push plate 543, the displacement slide plate 511 moves forward, causing the rack 551 to move forward synchronously inside the two limiting sleeves 553. At this time, the rack 551 drives the transmission gear 537 to rotate synchronously, and the transmission gear 537 drives the threaded rod 532 to rotate on the support frame 56. At this time, the transmission gear 537, together with the synchronous wheel 536 on its lower surface, drives the threaded rod 532 on the right side to rotate synchronously through the 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 drive the portal linkage frame 534 to move upward synchronously through the ear plate 2 on it. The portal linkage frame 534 drives the baffle 531 to move upward, opening the conveying square tube 533. At this time, the portal linkage frame 534 gradually pushes the metal chips into the conveying square tube 533. After the metal chips enter the interior of the conveying square tube 533, they are a certain distance away from the magnetic suction wheel, and the adsorption force gradually decreases. They slide through the conveying square tube 533 into the interior of the recycling mechanism 6.

[0046] When the displacement slide plate 511 moves backward, 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 repeats the above steps and gradually opens. The displacement slide plate 511 drives the push plate 543 to move back and forth inside the collection frame 544, pushing the metal chips out from the front and rear chip outlets 522 on the fixed frame 521 to the corresponding recycling mechanism 6 for collection.

[0047] like Figure 1 and Figure 8 As shown, the recycling mechanism 6 includes a stabilizing bracket 63 fixedly connected to the wheel frame 4. A collection box 62 is fixedly connected to the bottom end of the stabilizing bracket 63. A cover plate 61 is embedded and snapped into the lower surface of the collection box 62. The cover plate 61 and the collection box 62 have a certain snapping force. When the cover plate 61 is not subjected to external force, the cover plate 61 will not fall off the collection box 62. A conveying pipe 64 is fixedly and penetrated through the upper surface of the collection box 62. The end of the conveying pipe 64 away from the collection box 62 is snapped into its corresponding conveying square pipe 533.

[0048] In practical use, when collecting metal scraps pushed out by the recycling mechanism 6 pairs of portal linkage frames 534, the metal scraps enter the inside of the conveying square tube 533 and are no longer attracted by the magnetic suction wheel. At this time, with continuous pushing, the metal scraps enter the inside of the collection box 62 from the conveying tube 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 scraps.

[0049] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A magnetic bridge ultrasonic testing robot, comprising a robot body, a displacement platform capable of vertical movement installed in the middle of the robot body, an electromagnetic ultrasonic testing instrument being snapped into the interior of the displacement platform, and wheel frames fixedly connected to the left and right sides of the lower surface of the robot body, with magnetic wheels rotatably connected to the inner sides of the wheel frames, characterized in that: The wheel frame is equipped with a processing mechanism for cleaning metal shavings adsorbed on the magnetic wheels, and the front and rear surfaces of the wheel frame are equipped with recycling mechanisms for collecting metal shavings. The processing mechanism includes a cleaning component mounted on a wheel frame for collecting metal chips on a magnetic roller. Support frames are fixedly connected to the front and rear surfaces of the wheel frame. Switches are mounted on both the front and rear sides of the wheel frame to control the discharge of the collected metal chips. A pusher is mounted on the cleaning component to push the collected metal chips forward and backward. A linkage is mounted on both support frames to link the pusher and the switch. During the inspection process, the cleaning component concentrates the metal shavings adsorbed on the magnetic roller inside the cleaning component. The driving component drives the pushing component to push the metal shavings concentrated inside the cleaning component to the front and back sides of the cleaning component. The pushing component moves towards the switching component, and the switching component opens to push the metal shavings into the recycling mechanism for centralized collection. The driving component includes a transmission box fixedly connected to the left side of the cleaning component. A bidirectional lead screw is rotatably connected to the top of the front surface of the transmission box. The front end of the bidirectional lead screw is rotatably connected to the cleaning component through an ear plate. A limiting slide is fixedly connected to the left side of the cleaning component. A displacement slide is threaded onto the bidirectional lead screw. The displacement slide and the limiting slide are slidably connected in the front-back direction. The rear surface of the transmission box is rotatably connected to a pulley, which is connected to a two-way lead screw through a gear set inside the transmission box. The pulley is also connected to the rear side of the magnetic pulley through a synchronous belt. The cleaning component includes a fixed frame fixedly connected to the wheel frame. The fixed frame has chip outlets on both the front and rear sides. A scraper is slidably connected to the upper surface of the fixed frame and passes through it. The bottom end of the scraper is in contact with the surface of the magnetic roller. Multiple evenly distributed spring telescopic rods are fixedly connected to the upper surface of the scraper. The bottom end of the spring telescopic rods is fixedly connected to the upper surface of the fixed frame. The switching 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 vertical direction and is connected through a baffle. A gate-shaped linkage frame is fixedly connected to the top of the baffle. The two vertical sections of the gate-shaped linkage frame are slidably connected to the conveying square tube in the vertical direction. A rectangular through hole larger than the top size of the baffle is opened on the support frame at the position corresponding to the baffle.

2. The magnetic bridge ultrasonic inspection robot according to claim 1, characterized in that: The switching component also includes a support plate fixedly connected to the vertical section of the corresponding baffle on the lower surface of the conveying square tube. A threaded rod is rotatably connected to the upper surface of the support plate. The bottom end of the vertical section of the portal linkage frame is threadedly connected to the threaded rod through the ear plate two. A synchronous pulley is fixedly connected to the top of the threaded rod. The two synchronous pulleys distributed on the left and right are connected by a synchronous belt two. A transmission gear is fixedly connected to the top of the synchronous pulley on the side away from the robot body.

3. The magnetic bridge ultrasonic inspection robot according to claim 1, characterized in that: The pusher includes a storage frame fixedly connected to the inside of the cleaning component. A pusher plate is slidably connected to the inside of the storage frame in the front-back direction. Two connecting rollers distributed to the left and right are rotatably connected to the top of the pusher plate. The tops of the two connecting rollers are rotatably connected to a linkage plate.

4. The magnetic bridge ultrasonic inspection robot according to claim 3, characterized in that: An auxiliary roller is embedded in the lower surface of the linkage plate to change the sliding friction between the linkage plate and the cleaning part into rolling friction.

5. The magnetic bridge ultrasonic inspection robot according to claim 1, characterized in that: The upper surface of the support frame is fixedly connected to a limiting frame, and the bottom end of the limiting frame is fixedly connected to a limiting sleeve. The inner sides of the two limiting sleeves distributed in the front and rear directions are slidably connected to a rack along the front and rear directions.

6. The magnetic bridge ultrasonic inspection robot according to claim 1, characterized in that: 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. A cover plate is embedded and snapped into the lower surface of the collection box. A conveying pipe is fixedly connected to the upper surface of the collection box and passes through it. The end of the conveying pipe away from the collection box is snapped into its corresponding conveying square tube.

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