Steel shell concrete void detection robot and use method thereof

Abstract

The invention provides a steel shell concrete void detection robot and a use method thereof. The steel shell concrete void detection robot comprises a pair of supporting leg assemblies, a swing arm and an electric control assembly. Each supporting leg assembly comprises a supporting base, a magnetic attraction assembly, a lifting assembly and a rotating assembly. The rotating assembly comprises a rotating shaft, a rotating driver and a gear transmission mechanism; the two ends of the swing arm are fixedly connected to the rotating shafts of the pair of supporting leg assemblies respectively. The electric control assembly is used for controlling the power-on condition of the magnetic attraction assembly, and the rotating shaft is provided with an electric slip ring and an optical fiber slip ring. The detection robot is simple in structure, stable adsorption force can be provided when the detection robot is magnetically fixed to the surface of the structure and is a steel plate, and the walking stability of the robot on the wall face of a steel shell is improved; the double-shaft alternate rotation type walking mode is more suitable for point-like measurement, and each position of the wall surface of a steel shell of an object to be measured can be flexibly reached; the lifting amplitude of the supporting leg assembly can be adjusted according to different steel shell wall face conditions, and the movement flexibility and the obstacle crossing ability of the detection robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection robots, and in particular to a steel shell concrete void detection robot and a use method thereof. Background Art

[0002] In the design of concrete structures for water conservancy and hydropower projects, water pipelines, bridges, submarine tunnels, and prefabricated buildings, steel-shell concrete structures are the preferred option due to their superior mechanical properties, including high strength, ductility, fatigue resistance, and impact resistance. They also offer advantages such as factory prefabrication, mechanical lifting, time savings, and economical and environmentally friendly construction. However, the steel shell and concrete are connected by shear connectors, which hinder the flow of concrete. This prevents the concrete from fully filling the pouring space near the steel plate, creating voids that affect the structural stress. Because this interfacial voiding occurs within the steel shell, detection is challenging and requires the use of non-destructive testing techniques, such as impact echo, impact imaging, and neutron testing. Currently, most of these inspections are performed manually using equipment compatible with the testing technology.

[0003] Therefore, there is an urgent need to develop a robot that can meet the construction requirements of void detection operations at the interface of steel-shell concrete composite structures. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a steel shell concrete void detection robot. The detection robot has a simple structure and can provide stable adsorption force when it is magnetically fixed to a steel plate on the surface of the structure, thereby improving the stability of the robot walking on the steel shell wall of the object to be measured; the dual-axis alternating rotation walking mode is more suitable for point measurement and can flexibly reach various positions on the steel shell wall of the object to be measured; and the lifting range of the leg assembly can be adjusted according to different steel shell wall conditions, thereby improving the movement flexibility and obstacle crossing ability of the detection robot.

[0005] In a first aspect, the present invention provides a steel shell concrete void detection robot, comprising:

[0006] ] a pair of leg assemblies, each leg assembly includes a support base, a magnetic assembly, a lifting assembly and a rotating assembly, the lower surface of the support base is provided with a groove body, and the magnetic assembly is arranged in the groove body; one of the leg assemblies also includes a detection probe, and the detection probe is arranged in the groove body of the leg assembly; the lifting assembly includes a lifting drive, and an outer sleeve and an inner sleeve that fit together, the outer sleeve is fixedly connected to the upper surface of the support base, and the lifting drive is arranged between the outer sleeve and the inner sleeve for driving the outer sleeve to rise and fall along the inner sleeve; the rotating assembly includes a rotating shaft, a rotating drive and a gear transmission mechanism, the rotating drive is fixedly provided at the upper end of the inner sleeve, and drives the rotating shaft to rotate through the gear transmission mechanism; a swing arm, whose two ends are respectively fixedly connected to the rotating shafts of a pair of leg assemblies; and an electronic control assembly for controlling the power supply of the magnetic assembly in each leg assembly so that the magnetic assembly gains or loses magnetic attraction force.

[0007] Furthermore, the magnetic attraction component is composed of a permanent magnet and an electromagnet, and the electric control component is used to control the power supply of the electromagnet;

[0008] Among them, when the electromagnet is not energized, the permanent magnet provides magnetic attraction to adsorb on the wall surface of the object to be detected; when the electromagnet is energized, the electromagnet generates a reverse magnetic field to offset the magnetic field of the permanent magnet, so that the corresponding leg assembly can be detached from the wall surface of the object to be detected.

[0009] Furthermore, a plurality of vertical ridges are provided on the outer wall of the inner casing, and a guide groove is correspondingly provided on the inner wall of the outer casing; the vertical ridges are embedded in the guide grooves.

[0010] Furthermore, a partition is integrally formed on the inner wall surface of the inner sleeve, and the partition divides the inner sleeve into an upper chamber and a lower chamber; a lifting lug is provided on the lower surface of the partition; the lifting drive is a hydraulic telescopic rod, the upper end of which is fixedly connected to the lifting lug and the lower end is fixedly connected to the bottom wall of the outer sleeve.

[0011] Furthermore, the rotation driver is a motor, which is arranged in the upper chamber and fixed to the upper surface of the partition.

[0012] Furthermore, the gear transmission mechanism is composed of a cylindrical gear and an internal gear that mesh with each other, the cylindrical gear is mounted on the output shaft of the motor, and the internal gear is mounted on the lower end of the rotating shaft.

[0013] Furthermore, wire tubes for accommodating power lines and communication lines are also provided in the support leg assembly and the swing arm.

[0014] Furthermore, an electric slip ring and an optical fiber slip ring are installed on the rotating shaft, which are respectively used for circuit and signal communication between the leg assembly and the swing arm during rotation.

[0015] Furthermore, at least one safety rope buckle is provided on the swing arm.

[0016] Furthermore, the swing arm is provided with a slot hole equipped with a cover body, and the slot hole is built with at least one of a three-phase power plug, a waterproof aviation plug, and an RJ-45 interface.

[0017] A second aspect of the present invention provides a method for using the above-mentioned steel shell concrete void detection robot, comprising the following steps:

[0018] S1. Place the detection robot on the object to be tested, so that the first leg assembly and the second leg assembly are magnetically attracted to the steel shell wall of the object to be tested; wherein the first leg assembly is a leg assembly with a detection probe;

[0019] S2. The magnetic component in the first leg assembly is powered on by the electronic control component to make it lose its magnetic attraction, and then the lifting assembly is started to drive the first leg assembly away from the steel shell wall of the object to be measured;

[0020] S3. Control the rotation assembly in the second leg assembly to start, driving the swing arm and the first leg assembly to rotate to a predetermined angle;

[0021] S4. Control the lifting assembly in the first leg assembly to start, drive the first leg assembly down and contact the steel shell wall of the object to be measured; then control the magnetic assembly in the first leg assembly in the power-off state through the electronic control assembly to restore the magnetic attraction, so that the first leg assembly is magnetically attracted to the steel shell wall of the object to be measured;

[0022] S5. Collect information about the object to be tested by the detection probe in the first leg assembly;

[0023] S6. After the acquisition is completed, the electronic control component controls the magnetic component in the second leg assembly to be energized to deactivate the magnetic attraction force. The lifting assembly is then activated to drive the second leg assembly away from the steel shell wall of the object under test.

[0024] S7. Control the rotation assembly in the first leg assembly to start, driving the swing arm and the second leg assembly to rotate to a predetermined angle;

[0025] S8. Control the lifting assembly in the second leg assembly to start, drive the second leg assembly to descend and contact the steel shell wall of the object to be measured; then control the magnetic assembly in the second leg assembly to be in a power-off state through the electronic control assembly to restore the magnetic attraction, so that the second leg assembly is magnetically attracted to the steel shell wall of the object to be measured;

[0026] S9. Repeat the above steps S2 to S8, so that the detection robot can climb and walk on the steel shell wall of the object to be detected.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The steel shell concrete void detection robot provided by the present invention realizes the adsorption and detachment of the leg assembly on the surface of the steel shell of the object to be tested through the cooperation of the magnetic suction assembly and the lifting assembly, and simulates the walking action through the rotation of the swing arm and the leg assembly, thereby realizing the robot's wall climbing and walking on the steel shell wall of the object to be tested. Compared with existing detection robots, the steel shell concrete void detection robot of the present invention has a simple structure, and can provide a stable adsorption force when the surface of the structure is fixed by magnetic suction to a steel plate, thereby improving the stability of the robot walking on the steel shell wall of the object to be tested; the dual-axis alternating rotation walking mode is more suitable for point measurement, and can flexibly reach various positions on the steel shell wall of the object to be tested; and the lifting range of the leg assembly can be adjusted according to different steel shell wall conditions, thereby improving the movement flexibility and obstacle crossing ability of the detection robot.

[0029] 2. The steel shell concrete void detection robot provided by the present invention can be applied to the field of void detection operations at the interface of steel shell concrete composite structures, and can realize all-round, multi-scenario and automated detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural schematic diagram of a steel shell concrete void detection robot according to an embodiment of the present invention;

[0031] Figure 2 for Figure 1 Explosion diagram of the steel shell concrete void detection robot;

[0032] Figure 3 for Figure 2 Explosion diagram of the steel shell concrete void detection robot from another perspective;

[0033] Figure 4 for Figure 1 A schematic diagram of the structure of the rotating component in the steel shell concrete void detection robot;

[0034] Figure 5 for Figure 1 A schematic diagram of the structure of the inner casing of the steel shell concrete void detection robot;

[0035] Figure 6 for Figure 1 Schematic diagram of the walking path of the steel shell concrete void detection robot;

[0036] Description of the numbers in the figure:

[0037] 100, first leg assembly; 110, support base; 111, trough; 120, magnetic assembly; 130, detection probe; 140, lifting assembly; 141, inner casing; 1411, vertical ridge; 1412, partition; 1413, upper chamber; 1414, lower chamber; 1415, lifting lug; 142, outer casing; 1421, guide groove; 143, hydraulic telescopic rod; 150, rotating assembly; 151, rotating shaft; 1511, through hole; 152, motor; 153, cylindrical gear; 154, internal gear;

[0038] 200, second leg assembly;

[0039] 300, swing arm; 310, safety rope buckle; 320, slot hole. DETAILED DESCRIPTION

[0040] The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the following embodiments are merely exemplary illustrations and explanations of the present invention and should not be construed as limiting the scope of protection of the present invention. All technologies implemented based on the above content of the present invention are encompassed within the scope of protection intended by the present invention.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" refers to two or more, unless otherwise clearly and specifically defined.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, direct connections, or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0044] See Figure 1 The present invention provides a steel-shell concrete void detection robot, comprising a pair of leg assemblies, a swing arm 300, and an electronic control assembly. The detection robot is suitable for detecting voids at the interface of a steel-shell concrete composite structure.

[0045] Specifically, the leg assembly includes a support base 110, a magnetic assembly 120, a lifting assembly 140 and a rotating assembly 150, wherein a groove 111 is opened on the lower surface of the support base 110, and the magnetic assembly 120 is embedded in the groove 111, which is used to magnetically attract the leg assembly to the steel shell wall of the object to be tested.

[0046] See Figure 2-3 Lifting assembly 140 includes a lifting actuator and an outer casing 142 and an inner casing 141 that fit together. Outer casing 142 is fixedly connected to the upper surface of support base 110. The lifting actuator is located between outer casing 142 and inner casing 141, driving outer casing 142 to rise and fall along inner casing 141, thereby lifting support base 110 to separate from the steel shell surface of the object under test, or lowering support base 110 to contact the steel shell surface. Depending on the steel shell surface, the lifting range can be controlled to achieve obstacle surmounting, improving the detection robot's movement flexibility and obstacle-surmounting capabilities.

[0047] See Figure 5 In some embodiments of the present invention, a partition 1412 is integrally formed on the inner wall of the inner casing 141. This partition 1412 divides the inner casing 141 into an upper chamber 1413 and a lower chamber 1414. A lifting lug 1415 is provided on the lower surface of the partition 1412. The lifting actuator can be any type of linear drive device, preferably a hydraulic telescopic rod 143. The hydraulic telescopic rod 143 is located in the space enclosed by the outer casing 142 and the lower chamber 1414 of the inner casing 141. Its upper end is fixedly connected to the lifting lug 1415, and its lower end is fixedly connected to the bottom wall of the outer casing 142.

[0048] In some embodiments of the present invention, a plurality of vertical ridges 1411 are provided on the outer wall of the inner casing 141, and corresponding guide grooves 1421 are provided on the inner wall of the outer casing 142. The vertical ridges 1411 are engaged with the guide grooves 1421. In this way, the cooperation between the vertical ridges 1411 and the guide grooves 1421 can guide the lifting and lowering movement of the outer casing 142, thereby improving the stability of the outer casing 142 during the lifting and lowering process.

[0049] The rotating assembly 150 includes a rotating shaft 151, a rotating driver, and a gear transmission mechanism. The rotating driver is fixed to the upper end of the inner sleeve 141. The rotating shaft 151 is driven by the gear transmission mechanism to rotate, thereby driving the swing arm 300 and the other leg assembly to rotate. Figure 4 The rotary driver is provided in the upper chamber 1413 and fixed to the upper surface of the partition 1412. The rotary driver can be various rotary drive devices, preferably a motor 152.

[0050] See Figure 4 In some preferred embodiments of the present invention, the gear transmission mechanism comprises a cylindrical gear 153 and an internal gear 154 that mesh with each other. The cylindrical gear 153 is mounted on the output shaft of the motor 152, while the internal gear 154 is mounted on the lower end of the rotating shaft 151. Thus, the motor 152 drives the cylindrical gear 153 to rotate. Since the internal gear 154 meshes with the cylindrical gear 153, the internal gear 154 also rotates with the cylindrical gear 153, further driving the rotating shaft 151 and the swing arm 300 to rotate.

[0051] See Figure 1 In the present invention, the two ends of the swing arm 300 are respectively fixed to the rotating shaft 151 of the pair of leg assemblies, thereby connecting the pair of leg assemblies together. In some embodiments, the rotating shaft 151 has a through hole 1511, and the swing arm 300 is connected to the through hole 1511 and fixed to the rotating shaft 151.

[0052] In the present invention, one of the leg assemblies further includes a detection probe 130, and the detection probe 130 is disposed in the slot 111 of the leg assembly. The detection probe 130 generally includes a signal excitation device and a feedback collection device required for detection. Since void detection generally utilizes the changes in the response to sound, light, electricity, magnetism, heat, etc. caused by the lack of concrete at the interface of the steel shell concrete composite structure to detect the position, size, shape, number and distribution of the void, the excitation device and the feedback collection device are generally devices that can generate and detect physical field quantities such as sound, light, electricity, magnetism, and heat. For the convenience of description, the leg assembly with the detection probe 130 is defined as the first leg assembly 100, and the leg assembly without the detection probe 130 is defined as the second leg assembly 200.

[0053] In the present invention, the electric control component is used to control the power supply status of the magnetic attraction component 120 in each leg assembly, so that the magnetic attraction component 120 obtains or loses magnetic attraction force. In some embodiments, the magnetic attraction component 120 is composed of a permanent magnet and an electromagnet, and the electric control component is used to control the power supply status of the electromagnet. Specifically, when the electromagnet is not powered, the permanent magnet provides magnetic attraction to adsorb on the steel shell wall of the object to be detected; when the electromagnet is powered, the electromagnet generates a reverse magnetic field to offset the magnetic field of the permanent magnet, so that the corresponding leg assembly can be separated from the steel shell wall of the object to be detected.

[0054] In the present invention, the electronic control component includes a controller, which can be integrated into the detection robot body and control the power on / off state of the magnetic suction component 120 through a built-in control program; it can also be independent of the detection robot and control the power on / off state of the magnetic suction component 120 through a wired or wireless method. Of course, in some embodiments, the electronic control component also has the function of controlling the start and stop of the hydraulic telescopic rod 143 and the motor 152. In a preferred embodiment, the electronic control component needs to control the magnetic suction component 120 in at least one leg assembly to be in a power-off state, thereby effectively preventing the detection robot from falling due to power outages.

[0055] In the present invention, conduits for accommodating power and communication cables are also provided within the outrigger assembly and swing arm 300. The power cable is connected to the electromagnet, hydraulic telescopic rod 143, and motor 152 to provide power, and the communication cable is connected to the detection probe 130 to transmit collected information. To prevent the power and communication cables within the outrigger assembly and swing arm 300 from becoming tangled or loose during rotation, in some preferred embodiments, the power and communication cables are connected at the connection between the rotating shaft 151 and the swing arm 300 using electrical slip rings and fiber optic slip rings, respectively. This ensures that electrical and signal connectivity between the outrigger assembly and the swing arm is maintained during rotation.

[0056] Furthermore, in some embodiments, a slot hole 320 is provided on the swing arm 300. The slot hole 320 is provided with a cover, preferably a rubber cover. The slot hole 320 can be built with at least one of a three-phase power plug, a waterproof aviation plug, and an RJ-45 interface for connecting to an external power source or outputting collected information.

[0057] Furthermore, at least one safety rope buckle 310 is provided on the swing arm 300. In some embodiments, there is a safety rope buckle 310 on each side of the swing arm 300 to prevent the robot from falling due to external force.

[0058] The steel shell concrete void detection robot provided by the present invention has the following usage method:

[0059] S1. The detection robot is placed on the object to be tested, so that the first leg assembly 100 and the second leg assembly 200 are magnetically attracted to the steel shell wall of the object to be tested;

[0060] S2. The magnetic component 120 in the first leg assembly 100 is controlled by the electronic control component to be in an energized state so that it loses its magnetic attraction, and then the control lift assembly 140 is started, driving the first leg assembly 100 away from the steel shell wall of the object to be measured;

[0061] S3. Control the second leg assembly 200 in the rotating assembly 150 to start, driving the swing arm 300 and the first leg assembly 100 to rotate to a predetermined angle;

[0062] S4. The lifting assembly 140 in the first leg assembly 100 is controlled to start, driving the first leg assembly 100 to descend and contact the steel shell wall of the object to be tested; then the magnetic assembly 120 in the first leg assembly 100 is controlled by the electronic control component to be in a power-off state to restore the magnetic attraction, so that the first leg assembly 100 is magnetically attracted to the steel shell wall of the object to be tested;

[0063] S5. The detection probe 130 collects information about the object to be tested through the first leg assembly 100;

[0064] S6. After the acquisition is completed, the magnetic component 120 in the second leg assembly 200 is powered on by the electronic control component to make it lose its magnetic attraction, and then the lifting assembly 140 is started to drive the second leg assembly 200 away from the steel shell wall of the object to be measured;

[0065] S7. Control the first leg assembly 100 in the rotating assembly 150 to start, driving the swing arm 300 and the second leg assembly 200 to rotate to a predetermined angle;

[0066] S8. The lifting assembly 140 in the second leg assembly 200 is controlled to start, driving the second leg assembly 200 to descend and contact the steel shell wall of the object to be tested; then the magnetic assembly 120 in the second leg assembly 200 is controlled by the electronic control component to be in a power-off state to restore the magnetic attraction, so that the second leg assembly 200 is magnetically attracted to the steel shell wall of the object to be tested;

[0067] S9. Repeat the above steps S2 to S8 to achieve the wall climbing walking of the detection robot on the surface of the steel shell of the object to be detected.

[0068] Figure 6 This is a walking path diagram of the steel shell concrete void detection robot of the present invention. As can be seen from the figure, by controlling the rotation angle of the swing arm 300, walking and detection can be achieved at various locations on the surface of the steel shell of the object to be detected.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A steel shell concrete void detection robot, characterized in that: include: ] a pair of leg assemblies, each leg assembly includes a support base, a magnetic assembly, a lifting assembly and a rotating assembly, the lower surface of the support base is provided with a groove body, and the magnetic assembly is arranged in the groove body; one of the leg assemblies also includes a detection probe, and the detection probe is arranged in the groove body of the leg assembly; the lifting assembly includes a lifting drive, and an outer sleeve and an inner sleeve that fit together, the outer sleeve is fixedly connected to the upper surface of the support base, and the lifting drive is arranged between the outer sleeve and the inner sleeve for driving the outer sleeve to rise and fall along the inner sleeve; the rotating assembly includes a rotating shaft, a rotating drive and a gear transmission mechanism, the rotating drive is fixedly provided at the upper end of the inner sleeve, and drives the rotating shaft to rotate through the gear transmission mechanism; a swing arm, whose two ends are respectively fixedly connected to the rotating shafts of a pair of leg assemblies; and an electronic control assembly for controlling the power supply of the magnetic assembly in each leg assembly so that the magnetic assembly gains or loses magnetic attraction force.

2. The steel shell concrete void detection robot according to claim 1, characterized in that: The magnetic attraction component is composed of a permanent magnet and an electromagnet, and the electric control component is used to control the power supply of the electromagnet; Among them, when the electromagnet is not energized, the permanent magnet provides magnetic attraction to adsorb on the wall surface of the object to be detected; when the electromagnet is energized, the electromagnet generates a reverse magnetic field to offset the magnetic field of the permanent magnet, so that the corresponding leg assembly can be separated from the steel shell wall surface of the object to be detected.

3. The steel shell concrete void detection robot according to claim 1, characterized in that: A plurality of vertical ridges are provided on the outer wall of the inner sleeve, and a guide groove is correspondingly provided on the inner wall of the outer sleeve; the vertical ridges are embedded in the guide grooves.

4. The steel shell concrete void detection robot according to claim 1, characterized in that: A partition is integrally formed on the inner wall surface of the inner sleeve, and the partition divides the inner sleeve into an upper chamber and a lower chamber; a lifting lug is provided on the lower surface of the partition; the lifting drive is a hydraulic telescopic rod, the upper end of which is fixedly connected to the lifting lug and the lower end is fixedly connected to the bottom wall of the outer sleeve.

5. The steel shell concrete void detection robot according to claim 4, characterized in that: The rotation driver is a motor, which is arranged in the upper chamber and fixed to the upper surface of the partition.

6. The steel shell concrete void detection robot according to claim 5, characterized in that: The gear transmission mechanism is composed of a cylindrical gear and an internal gear that mesh with each other. The cylindrical gear is installed on the output shaft of the motor, and the internal gear is installed on the lower end of the rotating shaft.

7. The steel shell concrete void detection robot according to claim 1, characterized in that: Wire tubes for accommodating power lines and communication lines are also provided in the support leg assembly and the swing arm.

8. The steel shell concrete void detection robot according to claim 7, characterized in that: An electric slip ring and an optical fiber slip ring are installed on the rotating shaft, which are respectively used for circuit and signal communication between the leg assembly and the swing arm during rotation.

9. The steel shell concrete void detection robot according to claim 1, characterized in that: At least one safety rope buckle is provided on the swing arm; The swing arm is provided with a slot hole equipped with a cover body, and the slot hole is built with at least one of a three-phase power plug, a waterproof aviation plug, and an RJ-45 interface.

10. A method for using the steel shell concrete void detection robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Place the detection robot on the object to be tested, so that the first leg assembly and the second leg assembly are magnetically attracted to the steel shell wall of the object to be tested; wherein the first leg assembly is a leg assembly with a detection probe; S2. The magnetic component in the first leg assembly is powered on by the electronic control component to make it lose its magnetic attraction, and then the lifting assembly is started to drive the first leg assembly away from the steel shell wall of the object to be measured; S3. Control the rotation assembly in the second leg assembly to start, driving the swing arm and the first leg assembly to rotate to a predetermined angle; S4. Control the lifting assembly in the first leg assembly to start, drive the first leg assembly down and contact the steel shell wall of the object to be measured; then control the magnetic assembly in the first leg assembly in the power-off state through the electronic control assembly to restore the magnetic attraction, so that the first leg assembly is magnetically attracted to the steel shell wall of the object to be measured; S5. Collect information about the object to be tested by the detection probe in the first leg assembly; S6. After the acquisition is completed, the electronic control component controls the magnetic component in the second leg assembly to be energized to deactivate the magnetic attraction force. The lifting assembly is then activated to drive the second leg assembly away from the steel shell wall of the object under test. S7. Control the rotation assembly in the first leg assembly to start, driving the swing arm and the second leg assembly to rotate to a predetermined angle; S8. Control the lifting assembly in the second leg assembly to start, drive the second leg assembly to descend and contact the steel shell wall of the object to be measured; then control the magnetic assembly in the second leg assembly to be in a power-off state through the electronic control assembly to restore the magnetic attraction, so that the second leg assembly is magnetically attracted to the steel shell wall of the object to be measured; S9. Repeat the above steps S2 to S8, so that the detection robot can climb and walk on the steel shell wall of the object to be detected.

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