An ultrasonic testing device for wheeled robots

Abstract

This invention belongs to the field of nondestructive testing and structural health monitoring technology, and relates to an ultrasonic testing device for wheeled robots. The technical solution is as follows: a roller-shaped stator end and a roller-shaped rotor end are coaxially connected by a ring bearing; a detachable conductive slip ring is provided inside the stator end; the slip ring stator is fixed to the stator end housing; a piezoelectric wheel is fixedly mounted on the outer ring of the rotor end; the piezoelectric wheel has a built-in radially polarized annular piezoelectric tube; the drive shaft passes through the hollow channel of the conductive slip ring and the shaft hole of the rotor end; positive and negative signal lines are led out from the piezoelectric wheel and connected to the output lines of the slip ring rotor; the output lines of the slip ring stator are connected to the signal processing system. Its structure is reasonable and highly integrated, achieving a high degree of integration between the ultrasonic testing device and intelligent platforms such as wheeled robots, thereby improving the system's testing flexibility, stability, and spatial adaptability, and expanding application boundaries. Furthermore, the piezoelectric wheel of this ultrasonic testing device does not require any built-in or external coupling agent.

Description

Technical Field

[0001] This invention relates to the field of nondestructive testing and structural health monitoring technology, and in particular to an ultrasonic testing device for wheeled robots. Background Technology

[0002] Piezoelectric ultrasonic sensors are key components in non-destructive testing and structural health monitoring systems. Their basic working principle relies on the direct and inverse piezoelectric effects of piezoelectric materials. Under the mechanical stress of the direct piezoelectric effect, polarization occurs within the material, leading to deformation under the influence of an external electric field or charge. Under the electric field density of the inverse piezoelectric effect, stress is generated within the material, causing deformation under mechanical loads. This enables the excitation and reception of high-frequency sound waves, typically ranging from 20 kHz to hundreds of MHz.

[0003] Currently, piezoelectric ultrasonic sensors are widely used for identifying internal defects in engineering materials such as concrete, steel structures, and composite materials. These sensors offer numerous advantages, including high sensitivity, small size, wide bandwidth, high signal-to-noise ratio, low cost, and ease of integration and deployment. Furthermore, they can integrate excitation and reception functions, facilitating the construction of multi-channel, array-based detection systems.

[0004] However, most existing piezoelectric ultrasonic testing systems employ fixed installations, where the sensor is attached to or embedded in the surface of the structure being tested, and a coupling agent is used to improve acoustic energy transmission efficiency. Coupling agents are commonly used materials in various existing ultrasonic testing devices to improve the quality of transmitted and received signals, and are generally various liquid gels. This type of installation has the following limitations: the installation location is fixed, the detection range is limited, it is generally used for flat surfaces, however, it has poor adaptability to irregular surfaces such as vertical or curved surfaces, it is difficult to deploy in high-altitude, complex, or hazardous environments, and it is difficult to meet the requirements of continuous detection and real-time feedback in dynamic environments, especially when deployed on mobile platforms. These mobile platforms include wall-climbing robots, drones, etc. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide an ultrasonic testing device for wheeled robots. This piezoelectric ultrasonic testing device features a reasonable structure, high integration, and is suitable for dynamic testing tasks. It achieves a high degree of integration between the ultrasonic testing device and intelligent platforms such as wheeled robots, thereby improving the system's testing flexibility, stability, and spatial adaptability, breaking through existing technological bottlenecks, and expanding its application boundaries in engineering structures. Furthermore, the piezoelectric wheel of this ultrasonic testing device does not require any built-in or external coupling agent.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The stator end and rotor end, both in the shape of rollers, are coaxially connected by an annular bearing. The rotor end can rotate axially relative to the stator end. The stator end includes a stator end housing and a detachable conductive slip ring inside. The conductive slip ring is a through-hole slip ring that can rotate 360° around its axis. The conductive slip ring includes a slip ring stator, a slip ring rotor, and a hollow channel. The hollow channel is coaxial with the stator end. The slip ring stator is fixed to the stator end housing. A piezoelectric wheel is fixedly mounted on the outer ring of the rotor end. The piezoelectric wheel is annular, and its outer diameter is larger than that of the rotor end and the stator end. A radially polarized annular piezoelectric tube is built into the piezoelectric wheel. The drive shaft passes through the hollow channel of the conductive slip ring and the through-hole of the rotor end. The slip ring rotor and rotor end of the conductive slip ring are fixed on the drive shaft. A wiring cavity is provided inside the rotor end, and the positive and negative signal lines from the piezoelectric wheel are connected to the output lines of the slip ring rotor in the wiring cavity. The output lines of the slip ring stator are connected to the signal processing system.

[0008] Based on the above technical features: the radially polarized annular piezoelectric tube of the piezoelectric wheel is made of PZT piezoelectric material, with an outer curing adhesive layer. Under electric field excitation, the radially polarized annular piezoelectric tube emits and receives ultrasonic signals along the diameter of the piezoelectric wheel. The outer curing adhesive layer can be made of insulating high-strength epoxy resin.

[0009] Based on the above technical features: a hexagonal coupling is fitted at the intersection of the drive shaft and the side wall of the wiring cavity inside the rotor end, and a linkage screw is screwed into the drive shaft and the hexagonal coupling. A rotor end fixing plate is provided at the end of the rotor end, and a rotor end fixing screw is screwed onto the rotor end fixing plate. Tightening the rotor end fixing screw and the linkage screw fixes the rotor end onto the drive shaft.

[0010] Based on the above technical features: the rotor end sidewall has an adjustment hole, exposing the wiring cavity.

[0011] Based on the above technical features: the end of the stator end housing is provided with an inward radial groove, the anti-rotation plate at the tail of the slip ring stator is inserted into the radial groove, the slip ring fixing screw passes through the radial groove and the anti-rotation plate, and is fixed by the slip ring fixing nut.

[0012] Based on the above technical features: the slip ring rotor is fixed to the transmission main shaft by shaft fixing screws.

[0013] Based on the above technical features, the ring bearing adopts a high-precision deep groove ball bearing. This ensures rotational stability and low frictional resistance, enabling the rotor end to maintain rotational stability at different speeds.

[0014] Based on the above technical features: the piezoelectric wheel is provided with a slot, and the outer ring of the rotor end is provided with a locking block, and the locking block and the slot are adapted to be locked together.

[0015] Based on the above technical features: the stator end housing is made of a single piece of high-strength aluminum alloy. This balances lightweight design with structural strength, ensuring stable support for the conductive slip ring and annular bearing under robot motion and vibration conditions.

[0016] Based on the above technical features: the stator end is fixed on the robot, and the ultrasonic testing device serves as the robot's wheel.

[0017] The beneficial effects of this invention are: the ultrasonic testing device is integrated with a wheeled robot, enabling dynamic deployment; the device has a compact structure and modular design, facilitating maintenance and replacement; the piezoelectric wheel has a good coupling and buffering structure, improving contact stability; it supports multi-channel synchronous excitation and reception, making it suitable for array deployment and intelligent identification; and it is applicable to automated inspection tasks of various engineering structures such as building structures, wind turbine blades, bridges, and storage tanks. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of an ultrasonic testing device for wheeled robots proposed in this invention.

[0019] Figure 2 This is a partial cross-sectional view of an ultrasonic testing device for wheeled robots proposed in this invention.

[0020] Figure 3 This is a schematic plan view of an ultrasonic testing device for wheeled robots proposed in this invention.

[0021] Figure 4 This is an exploded structural diagram of an ultrasonic testing device for wheeled robots proposed in this invention.

[0022] Figure 5 This is a partial cross-sectional view of an exploded structural diagram of an ultrasonic testing device for a wheeled robot proposed in this invention.

[0023] Figure 6 This is a radial cross-sectional view of the piezoelectric wheel.

[0024] Figure 7 This is an isometric cross-sectional view of the piezoelectric wheel.

[0025] In the diagram: 1. Drive shaft; 2. Stator end; 2a. Stator end housing; 3. Conductive slip ring; 4. Rotor end; 5. Piezoelectric wheel; 6. Rotor end fixing plate; 7. Annular bearing; 8. Slip ring fixing screw; 9. Slip ring fixing nut; 10. Hexagonal coupling; 11. Linkage screw; 12. Rotor end fixing screw; 13. Shaft fixing screw; 14. Wiring cavity; 15. Adjustment hole; 16. Anti-rotation plate; 18. Curing adhesive layer; 19. Radial polarized annular piezoelectric tube; 23. Mounting plate. Detailed Implementation

[0026] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0027] In the description of this invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not 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.

[0028] like Figure 1-5 As shown, this embodiment provides an ultrasonic testing device for a wheeled robot, which can be directly used as the robot's wheel.

[0029] The roller-shaped stator end 2 and the roller-shaped rotor end 4 are coaxially connected by an annular bearing 7; the rotor end 4 can rotate axially relative to the stator end 2; the stator end 2 includes a stator end housing 2a and a detachable conductive slip ring 3 inside; the conductive slip ring 3 is a through-hole slip ring that can rotate 360° around the axis; the conductive slip ring 3 includes a slip ring stator, a slip ring rotor, and a hollow channel; the hollow channel is coaxial with the stator end 2; the slip ring stator is fixed to the stator end housing 2a; a piezoelectric wheel 5 is fixedly mounted on the outer ring of the rotor end 4; the piezoelectric wheel 5 is annular, and the outer diameter of the piezoelectric wheel 5 is larger than the outer diameter of the rotor end 4 and the stator end 2; the piezoelectric wheel 5 has a built-in radially polarized annular piezoelectric tube 19 (see Figure 6 and Figure 7 The transmission shaft 1 passes through the hollow channel of the conductive slip ring 3 and the shaft hole of the rotor end 4; the slip ring rotor and rotor end 4 of the conductive slip ring 3 are fixed on the transmission shaft 1. A wiring cavity 14 is provided inside the rotor end 4, and the positive and negative signal lines of the piezoelectric wheel 5 are led out and connected to the output lines of the slip ring rotor in the wiring cavity 14; the output lines of the slip ring stator are connected to the signal processing system.

[0030] The slip ring stator itself is an existing type of precision electromechanical device. Its core function is to solve the problem of wire entanglement during the continuous rotation of the equipment. Its core components include the slip ring stator, the slip ring rotor, and the axial hollow channel. It also has anti-rotation plates 16 for fixing the conductive slip ring 3. The anti-rotation plates 16 are metal plates that extend radially to both sides of the slip ring stator and have screw holes.

[0031] The stator end housing 2a ensures precise axial and radial positioning of the conductive slip ring 3 and the transmission spindle 1, preventing signal distortion and mechanical error accumulation. The hollow channel of the conductive slip ring 3 allows the transmission spindle 1 to pass through, thus ensuring rotational conductivity between the piezoelectric wheel 5 and the signal processing system, meeting the robot's requirements for simultaneous movement and data acquisition during inspection. Compared to wireless signal transmission, the conductive slip ring 3 achieves physical conductivity, avoiding signal interference problems in complex metal environments.

[0032] like Figure 6 and Figure 7 As shown, the piezoelectric wheel 5 is covered with a cured adhesive layer 18. The cured adhesive layer 18 can be made of insulating high-strength epoxy resin, which has good mechanical support and insulation protection properties. Its main functions are: 1. to provide mechanical support and environmental isolation for the internal piezoelectric material; 2. to achieve uniform stress transmission under external force. The geometric center of the cured adhesive layer 18 coincides with the center of gravity of the embedded piezoelectric material, forming a coaxial and concentric system to ensure the radial consistency of stress and electric field distribution.

[0033] The radially polarized annular piezoelectric tube 19 embedded within the cured adhesive layer 18 can be made of PZT piezoelectric material, which is lead zirconate titanate, an important ferroelectric ceramic material. The inner diameter of the radially polarized annular piezoelectric tube 19 is slightly larger than the inner diameter of the cured adhesive layer 18, and its outer diameter is slightly smaller than the outer diameter of the cured adhesive layer 18, thus forming a radial nesting relationship: the radially polarized annular piezoelectric tube 19 completely covers the interior of the cured adhesive layer 18, but maintains a certain thickness in the radial direction. The radially polarized annular piezoelectric tube 19 itself is a polarization element, containing positive and negative poles distributed radially, enabling the transmission and reception of ultrasonic signals along the diameter of the piezoelectric wheel under electric field excitation. Its two positive and negative signal lines are led out from the body of the radially polarized annular piezoelectric tube 19, passing through the cured adhesive layer 18, for connection to external circuitry.

[0034] The spatial relationship between the cured adhesive layer 18 and the radially polarized annular piezoelectric tube 19 is a concentric nested ring. The material relationship between the cured adhesive layer 18 and the radially polarized annular piezoelectric tube 19 is through bonding or co-curing. The functional relationship between the cured adhesive layer 18 and the radially polarized annular piezoelectric tube 19 is as follows: the outer sheath provides mechanical protection and media isolation, preventing electrical short circuits and environmental corrosion in field conditions. The radially polarized annular piezoelectric tube 19 is an active sensing element; the positive and negative signal lines form the signal path, undertaking the function of energy or signal transmission.

[0035] The piezoelectric wheel 5 reduces the drag resistance of contact sensors, improving the continuity and consistency of data acquisition.

[0036] The piezoelectric wheel 5 is ring-shaped to leverage the movement characteristics of a wheeled robot along the detection path, enabling synchronous rolling detection. The outer diameter of the piezoelectric wheel 5 is larger than the outer diameters of the rotor end 4 and the stator end 2; that is, its surface protrudes from the outer surfaces of the rotor end 4 and the stator end 2 to ensure that the piezoelectric wheel 5 directly contacts the surface of the object being detected, such as the ground or wall, during rolling. The surfaces of the rotor end 4 and the stator end 2 do not directly contact the surface of the object being detected.

[0037] Inside the rotor end 4, a hexagonal coupling 10 is fitted at the intersection of the transmission main shaft 1 and the side wall of the wiring cavity 14. A linkage screw 11 is screwed into the hexagonal coupling 10. A rotor end fixing plate 6 is provided at the end of the rotor end 4. A rotor end fixing screw 12 is screwed onto the rotor end fixing plate 6. Tightening the rotor end fixing screw 12 and the linkage screw 11 clamps the rotor end 4 from both sides, fixing it onto the transmission main shaft 1.

[0038] The selection of hexagonal coupling 10 is mainly based on factors such as anti-slip, uniform force distribution and convenient processing. It can ensure stable transmission under multiple disassembly and assembly and continuous rotation, and is not prone to signal inaccuracy or mechanism failure due to slippage between shafts.

[0039] The ring bearing 7 is installed between the stator end housing 2a and the rotor end 4, undertaking the mechanical connection and relative rotation between the two. To provide continuous and smooth rotation, the ring bearing 7 adopts a high-precision deep groove ball bearing, ensuring rotational stability and low frictional resistance, and maintaining the rotational stability of the rotor end 4 at different speeds. Because the detection signal has extremely high requirements for the integrity of the time series, the continuous and smooth rotation provided by the high-precision deep groove ball bearing is crucial.

[0040] In order to integrate the stator end housing 2a and the conductive slip ring 3, the end of the stator end housing 2a is provided with an inward radial groove. The anti-rotation piece 16 at the tail of the slip ring stator is inserted into the radial groove. The slip ring fixing screw 8 is passed through the radial groove of the stator end housing 2a and the anti-rotation piece 16 of the conductive slip ring 3, and the slip ring fixing nut 9 is tightened on the slip ring fixing screw 8. The stator end housing 2a and the conductive slip ring 3 can be integrated and installed.

[0041] To achieve modular quick-disassembly and quick-installation, facilitating on-site maintenance and replacement, the piezoelectric wheel 5 is equipped with a slot, and the outer ring of the rotor end 4 is equipped with a locking block. The locking block and the slot are matched and locked together. The piezoelectric wheel 5 is fixed to the rotor end 4 through the locking block and the slot, achieving modular quick-disassembly and quick-installation, facilitating on-site maintenance and replacement.

[0042] To balance lightweight design and structural strength, the stator end housing 2a is made of a single piece of high-strength aluminum alloy. This component, serving as the static load-bearing structure of the entire detection device, is constructed of a single piece of high-strength aluminum alloy, ensuring stable support for the conductive slip ring 3 and the ring bearing 7 under robot motion and vibration conditions. This ensures precise axial and radial positioning of the conductive slip ring 3 and the transmission structure, preventing signal distortion and mechanical error accumulation, making it irreplaceable.

[0043] Assembly steps of the present invention:

[0044] Step 1: Assemble rotor end 4. The piezoelectric wheel 5 is fitted onto the outer ring of rotor end 4. The rotor end fixing screw 12, rotor end fixing plate 6, rotor end 4, and hexagonal coupling 10 are assembled in place. The piezoelectric wheel 5 encapsulates a radially polarized annular piezoelectric tube 19, from which positive and negative signal lines are led out and guided into the wiring cavity 14 through the pre-reserved wire hole on rotor end 4. Two debugging holes 15 are opened on the side wall of rotor end 4 for subsequent wiring and installation.

[0045] Step 2: Assemble the stator end 2. The conductive slip ring 3 is coaxially embedded in the stator end housing 2a. The stator tail of the conductive slip ring 3 is provided with an anti-rotation plate 16. The end of the stator end housing 2a is provided with an inward radial groove. The anti-rotation plate 16 is inserted into the radial groove. The anti-rotation plate 16 and the radial groove are tightened using slip ring fixing screws 8 and slip ring fixing nuts 9, thereby fixing the conductive slip ring 3 in the stator end housing 2a. The slip ring stator wires pass through the stator end 2 and are connected to the external data processing system. The ring bearing 7 is installed and fixed in the inner groove of the connecting end of the stator end housing 2a.

[0046] Step 3: Assemble the rotor end 4 and stator end 2 with piezoelectric wheel 5. The rotor end 4 and stator end 2 are connected by ring bearing 7; pass the transmission main shaft 1 through the conductive slip ring 3, hexagonal coupling 10, and the shaft hole of rotor end 4 to complete mechanical alignment; adjust the overall tightness, and tighten the linkage screw 11 on hexagonal coupling 10, the shaft fixing screw 13 on conductive slip ring 3, and the rotor end fixing screw 12 on rotor end fixing plate 6 in sequence to complete axial stability fixing.

[0047] Step 4: Connect the positive and negative signal lines from the piezoelectric wheel 5 to the corresponding lines from the slip ring rotor through the debugging hole 15; insulate the connection points and store all lines in the wiring cavity 14 at the rotor end 4 to avoid interference and wear during operation.

[0048] Step 5: After completing the wiring connection and system debugging, use rubber stickers to seal the two debugging holes 15 on the side wall of rotor end 4 to ensure sealing and environmental adaptability.

[0049] The working principle and applications of this invention are as follows:

[0050] The stator end 2 can be fixed to the robot, and this ultrasonic testing device serves as the robot's wheel. A radially outward mounting plate 23 can be reserved at the tail of the stator end 2, and screw holes are reserved on the mounting plate 23.

[0051] First, in terms of detection logic, in this invention, the excited ultrasonic waves are along the diameter direction of the piezoelectric wheel, so that the ultrasonic signal can be injected perpendicularly into the surface being detected (such as the exterior of a building). At the same time, the piezoelectric wheel 5, as a wheel, can continuously detect all the places it passes through while moving with the entire detection device.

[0052] Secondly, in terms of the principle of emitting ultrasonic signals, this invention utilizes the radial polarization of a tubular piezoelectric element to emit ultrasonic waves. The advantages of such a radially polarized annular piezoelectric tube 19 are: it can detect without interruption on the travel trajectory; it has a simple structure and can complete the detection task well; and it has structural load-bearing capacity and transmission capacity.

[0053] Furthermore, the piezoelectric wheel 5 of the present invention does not require any built-in or external coupling agent.

[0054] This invention employs a grouped device setup, with one ultrasonic testing device acting as an exciter, connected to a signal processing system via wires. The signal processing system can be a multifunctional piezoelectric signal detection and analysis system, outputting an excitation electrical signal. This signal generates stress waves in the tested structure, such as a wood or steel structure, utilizing the inverse piezoelectric effect of PZT piezoelectric material. One or more other ultrasonic testing devices act as receivers, receiving the stress wave signal propagating through the structure via the direct piezoelectric effect of PZT piezoelectric material, and then performing signal acquisition and analysis through the signal processing system. If surface cracks or defects exist in the tested structure, the stress wave propagation path will change, resulting in observable changes in the received signal's time delay, amplitude, and spectral characteristics. Combining feature extraction and algorithm analysis allows for defect identification and location. By optimizing the deployment path and excitation frequency, stress waves can penetrate the structure's interior through multiple paths and angles. Defects such as voids, cracks, and interface delamination in the structure will lead to wave reflection, scattering, and mode conversion effects, resulting in anomalies such as energy attenuation, waveform distortion, and frequency drift in the received signal. By combining time-frequency analysis, feature imaging, and other algorithms, spatial localization and qualitative identification of defects inside the structure can be achieved.

[0055] In practical implementation, for example, the base of the wheeled robot is a four-wheeled vehicle, and all four wheels are ultrasonic detection devices of this invention. One front wheel is set as an exciter, and the other three wheels are set as receivers. This is only one example, and the layout and number of exciters and receivers can be adjusted according to the actual situation.

[0056] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An ultrasonic detection device for a wheeled robot, characterized by : The roller-shaped stator end (2) and the roller-shaped rotor end (4) are coaxially sleeved together through an annular bearing (7); the rotor end (4) can rotate axially relative to the stator end (2); the stator end (2) comprises a stator end shell (2a) and a detachably installed conductive slip ring (3); the conductive slip ring (3) adopts a through-hole slip ring capable of rotating 360 degrees around the shaft; the conductive slip ring (3) comprises a slip ring stator, a slip ring rotor and a hollow channel; the hollow channel is coaxial with the stator end (2); the slip ring stator is fixed with the stator end shell (2a); a piezoelectric wheel (5) is fixedly installed on the surface outer ring of the rotor end (4); the piezoelectric wheel (5) is annular, and the outer diameter of the piezoelectric wheel (5) is greater than the outer diameter of the rotor end (4) and the stator end (2); the piezoelectric wheel (5) is internally provided with a radially polarized annular piezoelectric tube (19); the radially polarized annular piezoelectric tube (19) emits or receives ultrasonic signals in the diameter direction of the piezoelectric wheel (5) under the excitation of an electric field; a transmission main shaft (1) passes through the hollow channel of the conductive slip ring (3) and a shaft hole of the rotor end (4); the slip ring rotor of the conductive slip ring (3) and the rotor end (4) are fixed on the transmission main shaft (1); a wiring cavity (14) is internally provided in the rotor end (4), and positive and negative signal lines led out of the piezoelectric wheel (5) are connected with outgoing lines of the slip ring rotor in the wiring cavity (14); outgoing lines of the slip ring stator are connected with a signal processing system.

2. The ultrasonic detection device for a wheeled robot according to claim 1, wherein The radially polarized annular piezoelectric tube (19) of the piezoelectric wheel (5) is made of PZT piezoelectric material, and is externally coated with a cured glue layer (18).

3. The ultrasonic detection device for wheeled robots of claim 1, wherein: In the rotor end (4), a hexagonal coupling (10) is sleeved at the intersection of the transmission main shaft (1) and the side wall of the wiring cavity (14), and a linkage screw (11) is internally screwed with the transmission main shaft (1) and the hexagonal coupling (10); an end of the rotor end (4) is provided with a rotor end fixing plate (6), and a rotor end fixing screw (12) is screwed with the rotor end fixing plate (6); the rotor end fixing screw (12) and the linkage screw (11) are tightened to fix the rotor end (4) on the transmission main shaft (1).

4. The ultrasonic detection device for wheeled robots of claim 1, wherein: A debugging hole (15) is formed in the side wall of the rotor end (4) to expose the wiring cavity (14).

5. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein An end of the stator end shell (2a) is provided with an inward radial clamping groove, a rotation stopping plate (16) at the tail of the slip ring stator is inserted into the radial clamping groove, a slip ring fixing screw (8) passes through the radial clamping groove and the rotation stopping plate (16), and a slip ring fixing nut (9) is used for fixing.

6. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein The slip ring rotor is fixedly installed on the transmission main shaft (1) through a shaft fixing screw (13).

7. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein: The annular bearing (7) adopts a high-precision deep-groove ball thin bearing.

8. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein: A clamping groove is arranged on the piezoelectric wheel (5), and a clamping block is arranged on the surface outer ring of the rotor end (4), and the clamping block and the clamping groove are adaptively clamped.

9. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein: The stator end shell (2a) is made of an integrated high-strength aluminum alloy.

10. The ultrasonic detection apparatus for a wheeled robot of claim 1, wherein: The stator end (2) is fixed to the robot, the ultrasonic detection device serving as a wheel of the robot. The stator end (2) is fixed to the robot, the ultrasonic detection device serving as a wheel of the robot.

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