Wall-climbing ultrasonic detection device for metal parts of thermal power plant

Abstract

The invention belongs to the field of metal part detection, and provides a thermal power plant metal part wall-climbing ultrasonic detection device which comprises a wall-climbing robot; the main body mechanism is used for ultrasonic detection of the wall-climbing robot; the wall climbing mechanism is used for assisting the wall climbing robot in wall climbing in the thermal power plant metal part; the adjusting mechanism is arranged in the wall climbing mechanism and assists the wall climbing mechanism in wall climbing adsorption; the driving mechanism is rotationally arranged on the wall-climbing robot and used for driving the wall-climbing robot to walk; the adaptive mechanism is arranged in the driving mechanism and used for self-adaptive change of the driving mechanism and assisting the wall-climbing robot to adjust and walk; the walking wheels are connected to the driving shaft through the elastic movable connecting structures of the connecting shafts and the connecting rings, so that the wall-climbing robot can walk on metal parts with various inclination angles in a self-adaptive mode when the wall-climbing robot is driven to walk and detect through the walking wheels. Therefore, the wall-climbing robot can be conveniently matched with a plurality of magnetic suction heads to stably walk and detect.

Description

Technical Field

[0001] The invention belongs to the field of metal component detection, in particular to a wall-climbing ultrasonic detection device for metal components in a thermal power plant. Background Art

[0002] The wall-climbing ultrasonic testing device is a device that combines wall-climbing robot technology with ultrasonic testing technology. It is mainly used for non-destructive testing on vertical or inclined walls. The principle of ultrasonic testing is to apply a layer of coupling agent between the detection probe and the object to be tested, allowing the coupling agent to serve as a medium for ultrasonic transmission. The ultrasonic wave is incident from the detection probe through the coupling agent and enters the object to be tested. When there is a defect in the object to be tested, the ultrasonic wave will be reflected. At this time, the detection probe acts as a receiving probe, which can receive the reflected ultrasonic wave and determine the defect in the object to be tested by the shape or attenuation of the reflected ultrasonic wave.

[0003] Wall-climbing ultrasonic detection devices have important applications in the inspection of metal components in thermal power plants. Ultrasonic detection devices can detect internal cracks, pores, inclusions, delamination and other defects in metal components of thermal power plants. However, when the wall-climbing ultrasonic detection device is inspecting metal components in power plants, due to dents or damage in the metal components, the wall-climbing ultrasonic detection device is prone to lose its adsorption force with the metal components while moving, and there is a risk of it falling.

[0004] Therefore, those skilled in the art have proposed a wall-climbing ultrasonic detection device for metal parts in thermal power plants to solve the problems raised in the background art. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a wall-climbing ultrasonic detection device for metal parts in thermal power plants, so as to solve the problem in the prior art that the wall-climbing ultrasonic detection device is prone to falling when detecting metal parts in thermal power plants.

[0006] A wall-climbing ultrasonic detection device for metal parts in a thermal power plant comprises: a wall-climbing robot, used for wall-climbing ultrasonic detection of metal parts in the thermal power plant; a main body mechanism, arranged on the wall-climbing robot, used for ultrasonic detection by the wall-climbing robot; a wall-climbing mechanism, fixedly arranged on the bottom of the wall-climbing robot, used for the wall-climbing robot to assist the wall-climbing robot in climbing the metal parts in the thermal power plant; an adjustment mechanism, arranged in the wall-climbing mechanism, used for automatic adjustment of the wall-climbing mechanism, and assisting the wall-climbing mechanism in performing wall-climbing adsorption; a driving mechanism, rotatably arranged on the wall-climbing robot, used for driving the wall-climbing robot to walk; and an adaptation mechanism, arranged in the driving mechanism, used for adaptive changes of the driving mechanism, and assisting the wall-climbing robot in adjusting its walking.

[0007] Preferably, the main body structure includes several cameras fixedly mounted on the wall-climbing robot, several running wheels are rotatably mounted on the side walls of the wall-climbing robot, several reinforcement plates are fixedly mounted on the bottom of the wall-climbing robot; and an ultrasonic detection probe is fixedly mounted on the wall-climbing robot.

[0008] Preferably, the wall-climbing mechanism includes a functional frame fixedly arranged at the middle position of the bottom of the wall-climbing robot, and a plurality of magnetic heads are elastically slidably arranged on the functional frame; and a plurality of walking balls are rollingly arranged on the magnetic heads.

[0009] Preferably, the adjustment mechanism includes an electromagnet fixedly provided on the inner wall of the magnetic head, and a receiving block is fixedly provided on the other end of the electromagnet; a spring 1 is fixedly provided on the electromagnet, and the magnetic head, electromagnet and receiving block are elastically slidably provided on the functional frame through the spring 1.

[0010] Preferably, the adjustment mechanism also includes an electrical conductor fixedly provided on the receiving block, and the electrical conductor is located in the spring 1; the side wall of the magnetic head is fixedly provided with a plurality of limit sliders 1, and the side wall of the receiving block is fixedly provided with a plurality of limit sliders 2.

[0011] Preferably, the driving mechanism includes a connecting shaft fixedly arranged on the inner wall of the walking wheel, and the walking wheel is elastically provided with a driving shaft through the connecting shaft; and the driving shaft is rotatably arranged in the wall-climbing robot.

[0012] Preferably, the adaptation mechanism includes a universal joint fixedly and movably arranged on the driving shaft, a plurality of receiving frames fixedly arranged on the universal joint, a connecting ring elastically and movably arranged on the connecting shaft; and the side wall of the connecting ring is fixedly arranged on the plurality of receiving frames.

[0013] Preferably, the adaptation mechanism further comprises a plurality of springs 2 fixedly arranged on the side wall of the connecting shaft, and the other ends of the plurality of springs 2 are fixedly arranged on the inner wall of the connecting ring.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention is provided with a wall-climbing robot, and an ultrasonic detection device is provided inside the wall-climbing robot for use in detecting metal parts of thermal power plants. A plurality of magnetic heads are elastically slidably connected to the bottom of the wall-climbing robot through a functional frame, so that when the wall-climbing robot moves to detect metal parts, the plurality of magnetic heads can be elastically adsorbed on the metal parts, and can adaptively adjust the adsorption according to the uneven thickness and depressions on the metal parts, so as to achieve the purpose of stable adsorption walking detection of the wall-climbing robot. At the same time, a walking wheel is provided to be connected to the driving shaft through an elastic movable connection structure of a connecting shaft and a connecting ring, so that when the wall-climbing robot is driven for walking detection by the plurality of walking wheels, it can adaptively walk on metal parts with various inclination angles, so that the wall-climbing robot can cooperate with the plurality of magnetic heads for stable walking detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall structural diagram of the wall-climbing ultrasonic detection device of the present invention;

[0017] Figure 2 This is a bottom structural diagram of the wall-climbing ultrasonic detection device of the present invention;

[0018] Figure 3 For the present invention Figure 2 Structural diagram at point A;

[0019] Figure 4 This is a diagram of the electromagnet connection structure of the present invention;

[0020] Figure 5 This is a diagram of the travel wheel connection structure of the present invention;

[0021] Figure 6 This is a diagram of the elastic connection structure of the connecting ring of the present invention.

[0022] In the picture:

[0023] 1. Wall-climbing robot; 2. Camera; 3. Travel wheels; 4. Reinforcement plate; 5. Functional frame; 6. Magnetic head; 7. Travel ball; 8. Limit slider 1; 9. Electromagnet; 10. Support block; 11. Limit slider 2; 12. Spring 1; 13. Electrical wire; 14. Connecting shaft; 15. Connecting ring; 16. Support frame; 17. Universal joint; 18. Drive shaft; 19. Spring 2. DETAILED DESCRIPTION

[0024] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0025] Example 1:

[0026] As attached Figure 1 To the attached Figure 6 As shown:

[0027] The present invention provides a wall-climbing ultrasonic detection device for metal parts in a thermal power plant, comprising: a wall-climbing robot 1, used for wall-climbing ultrasonic detection of metal parts in the thermal power plant; a main body mechanism, arranged on the wall-climbing robot 1, used for ultrasonic detection by the wall-climbing robot 1; a wall-climbing mechanism, fixedly arranged on the bottom of the wall-climbing robot 1, used for assisting the wall-climbing robot 1 in climbing the metal parts in the thermal power plant; an adjustment mechanism, arranged in the wall-climbing mechanism, used for automatic adjustment of the wall-climbing mechanism, and assisting the wall-climbing mechanism in performing wall-climbing adsorption; a driving mechanism, rotatably arranged on the wall-climbing robot 1, used for driving the wall-climbing robot 1 to walk; and an adaptation mechanism, arranged in the driving mechanism, used for adaptively changing the driving mechanism, and assisting the wall-climbing robot 1 in adjusting its walking.

[0028] By providing a wall-climbing robot 1, an ultrasonic detection device is provided inside the wall-climbing robot 1 to facilitate the detection of metal parts in thermal power plants, and a plurality of magnetic heads 6 are elastically slidably connected to the bottom of the wall-climbing robot 1 through a functional frame 5, so that when the wall-climbing robot 1 moves to detect metal parts, the plurality of magnetic heads 6 can be elastically adsorbed on the metal parts, and can adaptively adjust the adsorption according to the uneven thickness and depressions on the metal parts, so as to achieve the purpose of stable adsorption walking detection of the wall-climbing robot 1, and at the same time, the walking wheels 3 are connected to the driving shaft 18 through the elastic movable connection structure of the connecting shaft 14 and the connecting ring 15, so that when the wall-climbing robot 1 is driven to walk and detect by the plurality of walking wheels 3, it can adaptively walk on metal parts with various inclination angles, so that the wall-climbing robot 1 can cooperate with the plurality of magnetic heads 6 to achieve stable walking detection.

[0029] refer to Figure 1 and Figure 2 , the main body includes a camera 2 and a reinforcement plate 4;

[0030] An ultrasonic detection probe is fixedly connected to the wall-climbing robot 1. The wall-climbing robot 1 detects defects in metal components in thermal power plants based on the principle that when ultrasonic waves propagate through metal materials, they will produce reflection, refraction, and waveform conversion when encountering interfaces with different acoustic impedances. By receiving and analyzing these reflected ultrasonic signals, it can determine whether there are defects inside or on the surface of the metal component. (The ultrasonic detection probe is not shown in the figure. This is a mature existing technology that has been widely used in social production and comes in a variety of shapes and styles. Those skilled in the art should be familiar with it and will not be described in detail here.)

[0031] At the same time, a plurality of cameras 2 are fixedly connected to the wall-climbing robot 1, so that when the wall-climbing robot 1 is inspecting metal parts in a thermal power plant, the cameras 2 can capture the scene around the wall-climbing robot 1 and transmit it to the back-end operation center, so that the staff can observe the scene directly based on the pictures captured by the cameras 2, thereby facilitating the simultaneous visual inspection in conjunction with the ultrasonic inspection.

[0032] Secondly, a number of walking wheels 3 are rotatably connected to the side wall of the wall-climbing robot 1, and a number of reinforcement plates 4 are fixedly connected to the bottom of the wall-climbing robot 1, so that the several reinforcement plates 4 can protect the driving structure of the several walking wheels 3, thereby improving the safety of the wall-climbing robot 1, so that the wall-climbing robot 1 can be stably driven by the several walking wheels 3 and used for walking detection in the metal parts of the thermal power plant.

[0033] Example 2:

[0034] refer to Figure 2 and Figure 3 , the wall climbing mechanism includes a functional frame 5, a magnetic head 6 and a walking ball 7;

[0035] By fixing a functional frame 5 at the middle position of the bottom of the wall-climbing robot 1, and setting both side walls of the functional frame 5 to be arc-shaped, and elastically slidingly connecting a plurality of magnetic heads 6 to the bottom and the two arc-shaped side walls of the functional frame 5, when the wall-climbing robot 1 passes through a plurality of running wheels 3 and walks and inspects the metal parts of the thermal power plant, the plurality of magnetic heads 6 can elastically slide out of the functional frame 5 and be adsorbed and connected to the metal parts, so that the functional frame 5 and the wall-climbing robot 1 can be stably adsorbed on the metal parts, and then driven by the plurality of running wheels 3 to walk and inspect, thereby achieving the purpose of inspecting multiple metal parts of the thermal power plant;

[0036] At the same time, a number of walking balls 7 are rollingly connected to the magnetic head 6, and the walking balls 7 are made of aluminum alloy or austenitic stainless steel, so that the walking balls 7 are not affected by the magnetism of the magnetic head 6 when they are rollingly connected to the magnetic head 6. As a result, the wall-climbing robot 1 and the functional frame 5 are adsorbed and connected to the metal parts through the several magnetic heads 6, and the wall-climbing robot 1 is driven by the several reinforcement plates 4 to walk. The several walking balls 7 on the magnetic head 6 will replace the magnetic head 6 to be slidably connected to the metal parts, so that the several magnetic heads 6 can still be conveniently moved and adjusted when they are adsorbed on the metal parts.

[0037] refer to Figure 2 、 Figure 3 and Figure 4 , the adjustment mechanism includes an electromagnet 9, a receiving block 10 and a spring 12;

[0038] By fixing an electromagnet 9 on the magnetic head 6, the magnetic head 6 can have a magnetic attraction ability through the electromagnet 9, and a receiving block 10 is fixedly connected to the other end of the electromagnet 9, and a plurality of limit sliders 8 are fixedly connected to the side wall of the magnetic head 6 in an annular shape, and a plurality of limit sliders 11 are fixedly connected to the side wall of the receiving block 10 in an annular shape. A plurality of limit sliders 1 8 and limit sliders 2 11 are provided to correspond to each other, so that the magnetic head 6 can be slidably connected to the inside of the functional frame 5 through the plurality of limit sliders 1 8 and limit sliders 2 11 during use, thereby facilitating sliding adjustment on the functional frame 5 for adsorption use;

[0039] At the same time, a spring 12 is fixedly connected to the receiving block 10, so that the magnetic head 6 and the receiving block 10 are easily connected to the functional frame 5 by elastic sliding through the spring 12, and an electric wire 13 is fixedly connected to the receiving block 10, and the electric wire 13 is arranged inside the spring 12, so that the spring 12 will not cause entanglement to the electric wire 13 when it is elastically deformed, so that the magnetic head 6 can provide power to the electromagnet 9 through the electric wire 13 during use, so that the electromagnet 9 has magnetic attraction ability, and then the magnetic head 6 conducts magnetic force, so that the wall-climbing robot 1 can be adsorbed and used through a plurality of magnetic heads 6;

[0040] Secondly, when the wall-climbing robot 1 and the functional frame 5 are connected to the metal parts by a plurality of magnetic heads 6 for use, when there is a dent or damage on the wall-climbing robot 1, the plurality of magnetic heads 6 will elastically slide out from the functional frame 5 due to the elastic ability of the spring 12 and the elastic sliding structure of the plurality of limit sliders 1 8 and the limit slider 2 11, and be adsorbed on the dents of the metal parts of the thermal power plant, or some of the magnetic heads 6 are suspended in the damaged parts, while the other magnetic heads 6 can still be adsorbed on the metal parts, so that the wall-climbing robot 1 can still be stably adsorbed on the metal parts, and driven by a plurality of reinforcement plates 4 to walk and perform ultrasonic testing, thereby achieving the purpose of the wall-climbing robot 1 being able to adaptively adjust the adsorption through a plurality of magnetic heads 6, so that the wall-climbing robot 1 can be stably adsorbed for walking detection.

[0041] Example 3:

[0042] refer to Figure 2 、 Figure 5 and Figure 6 , the driving mechanism includes a connecting shaft 14 and a driving shaft 18;

[0043] By fixing a connecting shaft 14 on the inner wall of the walking wheel 3, the walking wheel 3 can be easily connected and driven through the connecting shaft 14, and a drive shaft 18 is movably connected to the connecting shaft 14, so that the drive shaft 18 can be rotatably connected to the wall-climbing robot 1 and located inside the reinforcement plate 4 for protection. The connecting shaft 14 and the drive shaft 18 are movably connected, so that when the walking wheel 3 is in use, the wall-climbing robot 1 can drive several drive shafts 18 to rotate, and then the drive shaft 18 drives the connecting shaft 14 to rotate, so that the wall-climbing robot 1 can drive the walking wheel 3 to rotate through the drive shaft 18 and the connecting shaft 14, thereby achieving the purpose of the wall-climbing robot 1 driving several walking wheels 3 to rotate and driving it to perform walking detection.

[0044] refer to Figure 2 、 Figure 5 and Figure 6 , the adaptation mechanism includes a connecting ring 15, a receiving frame 16 and a spring 2 19;

[0045] A universal joint 17 is movably connected to the drive shaft 18. The universal joint 17 is a common structure for automotive conductive connections. A plurality of receiving frames 16 are fixedly connected to the other end of the universal joint 17. A connecting ring 15 is fixedly connected to the other end of the receiving frames 16. This allows the drive shaft 18 to be movably connected to the connecting ring 15 via the universal joint 17 and the receiving frames 16. When the wall-climbing robot 1 drives the drive shaft 18 to rotate, the magnetic head 6 and the connecting ring 15 can be synchronously driven to rotate.

[0046] At the same time, a plurality of springs 2 19 are fixedly connected to the side wall of the connecting shaft 14, and the other ends of the plurality of springs 2 19 are fixedly connected to the inner wall of the connecting ring 15, and the plurality of springs 2 19 are fixedly connected between the connecting shaft 14 and the connecting ring 15 in a ring shape and at equal distances, so that the connecting shaft 14 and the connecting ring 15 are elastically connected. When the wall-climbing robot 1 drives the walking wheel 3 to rotate through the driving shaft 18 and the connecting shaft 14, when the wall-climbing robot 1 encounters a slope structure or an arc structure during walking with the plurality of walking wheels 3, the driving shaft 18 and the plurality of supporting frames 16 can pass through The universal joint 17 is slightly adjusted and rotated, and cooperates with several springs 19 to enable a large angle adaptive adjustment between the connecting shaft 14 and the connecting ring 15. In this way, when the wall-climbing robot 1 encounters a slope structure or an arc structure of a metal part, the walking wheel 3 can be elastically adaptively tilted through the universal joint 17 and several springs 19 to form an inclination angle that matches the slope structure or the arc structure of the metal part, so that the drive shaft 18 can continuously drive the walking wheel 3 to rotate, thereby driving the wall-climbing robot 1 to perform walking detection in metal parts of thermal power plants with various structures to prevent the walking wheel 3 from slipping in the air.

[0047] Working principle: A functional frame 5 is fixedly connected to the middle position of the bottom of the wall-climbing robot 1, and both side walls of the functional frame 5 are arc-shaped, and a plurality of magnetic heads 6 are elastically slidably connected to the bottom of the functional frame 5 and the two arc-shaped side walls. When the wall-climbing robot 1 and the functional frame 5 are adsorbed and connected to the metal parts through the plurality of magnetic heads 6 for use, when there is a dent or damage on the wall-climbing robot 1, the plurality of magnetic heads 6 will be due to the elasticity of the spring 12 and the plurality of limit sliders 1 8 and limit sliders 2 11. The elastic sliding structure elastically slides out from the functional frame 5 and is adsorbed on the concave part of the metal part of the thermal power plant, or some magnetic heads 6 are suspended in the damaged part, while other magnetic heads 6 can still be adsorbed on the metal part, so that the wall-climbing robot 1 can still be stably adsorbed on the metal part, and is driven by a number of reinforcement plates 4 to walk and perform ultrasonic testing, so as to achieve the purpose of the wall-climbing robot 1 being able to adaptively adjust the adsorption through a number of magnetic heads 6. At the same time, a number of springs 2 19 are fixedly connected to the side wall of the connecting shaft 14, and the springs 2 19 are fixedly connected to the side wall of the connecting shaft 14. The other ends are fixedly connected to the inner wall of the connecting ring 15, and a number of springs 19 are fixedly connected between the connecting shaft 14 and the connecting ring 15 in a ring shape at equal distances, so that the connecting shaft 14 and the connecting ring 15 are elastically connected. As a result, when the wall-climbing robot 1 drives the walking wheels 3 to rotate through the driving shaft 18 and the connecting shaft 14, when the wall-climbing robot 1 is used in conjunction with the several walking wheels 3 and encounters a slope structure or an arc structure during walking, the driving shaft 18 and the several supporting frames 16 can be slightly angularly adjusted through the universal joint 17. The degree of rotation is adjusted, and in combination with a number of springs 2 19, the connecting shaft 14 and the connecting ring 15 can be adaptively adjusted at a large angle. In this way, when the wall-climbing robot 1 encounters a slope structure or an arc structure of a metal part, the walking wheel 3 can be elastically adaptively tilted through the universal joint 17 and a number of springs 2 19 to form an inclination angle that matches the slope structure or the arc structure of the metal part, so that the driving shaft 18 can continuously drive the walking wheel 3 to rotate, so as to drive the wall-climbing robot 1 to perform walking detection in metal parts of thermal power plants with various structures.

[0048] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

[0049] A few final points should be made:

[0050] First, in the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense, and may refer to mechanical or electrical connections, internal communication between two components, or direct connection. "Up," "down," "left," and "right" are only used to indicate relative positional relationships. When the absolute positions of the objects being described change, the relative positional relationships may also change.

[0051] Secondly: The drawings of the embodiments disclosed in the present invention only involve structures related to the embodiments disclosed in the present invention. Other structures may refer to conventional designs. The same embodiment and different embodiments of the present invention may be combined with each other without conflict.

[0052] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

[0053] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A wall-climbing ultrasonic detection device for metal parts in a thermal power plant, characterized in that: include: Wall-climbing robot (1), used for wall-climbing ultrasonic testing of metal parts in thermal power plants; A main body mechanism is provided on the wall-climbing robot (1) and is used for ultrasonic detection of the wall-climbing robot (1); A wall climbing mechanism is fixedly arranged at the bottom of the wall climbing robot (1) and is used for the wall climbing robot (1) to assist in climbing the wall inside the metal parts of the thermal power plant; The adjustment mechanism is arranged in the wall climbing mechanism, and is used for automatic adjustment of the wall climbing mechanism, and assists the wall climbing mechanism in performing wall climbing adsorption; A driving mechanism is rotatably mounted on the wall-climbing robot (1) and is used to drive the wall-climbing robot (1) to walk; The adaptive mechanism is arranged in the driving mechanism and is used for adaptively changing the driving mechanism to assist the wall-climbing robot (1) in adjusting its walking.

2. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 1, characterized in that: The main body mechanism comprises a plurality of cameras (2) fixedly arranged on the wall-climbing robot (1); a plurality of running wheels (3) are rotatably arranged on the side walls of the wall-climbing robot (1); and a plurality of reinforcement plates (4) are fixedly arranged on the bottom of the wall-climbing robot (1); Furthermore, an ultrasonic detection probe is fixedly arranged on the wall-climbing robot (1).

3. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 1, characterized in that: The wall-climbing mechanism comprises a functional frame (5) fixedly arranged at the middle position of the bottom of the wall-climbing robot (1), and a plurality of magnetic suction heads (6) are elastically slidably arranged on the functional frame (5); A plurality of running balls (7) are rollingly arranged on the magnetic head (6).

4. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 3, characterized in that: The adjustment mechanism comprises an electromagnet (9) fixedly arranged on the inner wall of the magnetic suction head (6), and a receiving block (10) is fixedly arranged on the other end of the electromagnet (9); A spring 1 (12) is fixedly provided on the electromagnet (9), and the magnetic head (6), the electromagnet (9) and the receiving block (10) are elastically slidably provided on the functional frame (5) via the spring 1 (12).

5. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 4, characterized in that: The adjustment mechanism further includes an electric wire (13) fixedly arranged on the receiving block (10), and the electric wire (13) is located in the spring 1 (12); The side wall of the magnetic head (6) is fixedly provided with a plurality of limiting sliders (8), and the side wall of the receiving block (10) is fixedly provided with a plurality of limiting sliders (11).

6. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 1, characterized in that: The driving mechanism comprises a connecting shaft (14) fixedly arranged on the inner wall of the running wheel (3), and the running wheel (3) is elastically provided with a driving shaft (18) via the connecting shaft (14); The driving shaft (18) is rotatably arranged in the wall-climbing robot (1).

7. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 6, characterized in that: The adapting mechanism comprises a universal joint (17) fixedly and movably arranged on a driving shaft (18), a plurality of receiving frames (16) fixedly arranged on the universal joint (17), and a connecting ring (15) elastically and movably arranged on the connecting shaft (14); The side wall of the connecting ring (15) is fixedly arranged with a plurality of the supporting frames (16).

8. The wall-climbing ultrasonic detection device for metal parts in a thermal power plant according to claim 7, characterized in that: The adapting mechanism further comprises a plurality of springs 2 (19) fixedly arranged on the side wall of the connecting shaft (14). The other ends of the plurality of springs (19) are fixedly arranged on the inner wall of the connecting ring (15).

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