Wall-climbing robot for detecting apparent defects of containment

Abstract

The invention belongs to the technical field of nuclear power station containment wall-climbing robots, and discloses a containment apparent defect detection wall-climbing robot, which comprises a shell main body and an anti-bumping mechanism, and the anti-bumping mechanism comprises a kinetic energy conversion mechanism and a counterweight smoothing mechanism. The kinetic energy conversion mechanism is provided with a limiting rod, a bearing plate, a first limiting sleeve block, a first rack, a first rotating shaft and a first gear, the balance weight smoothing mechanism is provided with a first belt wheel, a transmission belt, a second belt wheel, a second rotating shaft, a second gear and a second rack, the kinetic energy conversion mechanism can convert bumping force into rotating force, and then the balance weight smoothing mechanism converts the transmission force into translation force. When the robot bumps in the wall climbing process, the influence caused by bumping force can be effectively buffered and counteracted, so that the robot runs more stably, the problems of shaking, displacement deviation and the like caused by bumping are reduced, the robot can accurately crawl along a preset path, and the reliability of detection work is improved.

Description

Technical Field

[0001] This application belongs to the field of nuclear power plant containment wall-climbing robot technology, and particularly relates to a containment apparent defect detection wall-climbing robot. Background Technology

[0002] The containment vessel is the most critical safety barrier in a nuclear power plant. It is usually a huge prestressed reinforced concrete structure with a steel lining on its inner wall, which tightly encloses the nuclear reactor primary loop system. Its core function is to effectively contain radioactive materials and prevent them from leaking into the external environment in the event of an extreme accident. After long-term use, it is necessary to carry out relevant defect detection operations. The containment vessel climbing robot is an intelligent equipment specially designed for automated inspection of the towering structure of the containment vessel.

[0003] In existing technologies, containment wall-climbing robots typically employ magnetically attached tracked locomotion, allowing them to firmly adhere to the wall surface and move freely. Equipped with high-definition cameras, laser scanners, and other sensors, they provide high-definition imaging and precise measurement of surface defects such as concrete cracking and steel lining corrosion within the containment structure, offering crucial data support for assessing the structural integrity and health of the containment. However, existing containment wall-climbing robots suffer from the following core challenges: When using a containment wall-climbing robot, the containment wall is not flat, and the robot body will sway slightly during movement. This will cause the detection components to move in a bumpy manner, which will seriously affect the accuracy of the detection data. It will lead to the inability to effectively identify and quantify the real defects on the containment wall. This unstable movement will cause intermittent failure of ultrasonic coupling, blurring and distortion of optical imaging, and violent fluctuations in probe contact pressure, resulting in a large amount of invalid data containing false signals and noise. This will not only miss key hidden dangers such as microcracks and corrosion pits, but also make it impossible to track the evolution trend of defects due to the non-repeatability of the data. Ultimately, the entire detection work will lose its value in judging the structural safety status and is prone to misjudging the safety of the containment.

[0004] Currently, although the problem of the impact of bumps on the detection components during the inspection process can be solved, the limited range of the detection components during inspection still exists. This severely restricts the wall area that can be covered in a single inspection, making it extremely time-consuming to complete a comprehensive inspection of the entire containment wall. This not only significantly reduces inspection efficiency and increases maintenance costs, but more seriously, during the long inspection intervals, newly emerging minor defects cannot be detected and tracked in a timely manner, which increases the risk of sudden safety incidents and is not conducive to more efficient inspection operations in practice. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide a wall-climbing robot for detecting apparent defects in containment structures, which can avoid the impact of bumps on the detection and improve the detection range.

[0006] To achieve the above objectives, this application provides the following technical solution: A wall-climbing robot for detecting apparent defects in a containment structure includes a main shell and an anti-bump mechanism disposed therein, the anti-bump mechanism comprising: The kinetic energy conversion mechanism includes a limiting rod, a receiving plate, a limiting sleeve, a rack, a rotating shaft, and a gear. The limiting rod is connected to a detachable maintenance plate and is slidably connected to the receiving plate. The limiting sleeve is installed on the top of the detachable maintenance plate. The rack is slidably installed to the limiting sleeve. The rotating shaft is rotatably installed on the inner wall of the outer shell. The gear is connected to the rotating shaft and meshes with the rack. The outer surface of the rack is slidably installed to the detachable maintenance plate. The counterweight smoothing mechanism includes a first pulley, a transmission belt, a second pulley, a second rotating shaft, a second gear, and a second rack. The second rotating shaft is rotatably mounted to the outer casing. The second gear is connected to the second rotating shaft. The second rack meshes with the second gear. The second pulley is connected to the second rotating shaft. The first pulley is connected to the first rotating shaft. The transmission belt is disposed between the first pulley and the second pulley.

[0007] In some embodiments, the outer shell body is provided with a sliding groove, the inner wall of the sliding groove is slidably connected to the rack II, and a limiting sleeve II is provided at the bottom inside the outer shell body, the limiting sleeve II being slidably connected to the rack II.

[0008] In some embodiments, the rack 2 is equipped with a support frame, the top of the support frame is provided with a counterweight block, and the bottom of the counterweight block is in contact with the top of the lever plate after movement.

[0009] In some embodiments, an elastic block is fixedly installed at the bottom of the interior of the outer casing, and the inner wall of the elastic block is fitted with the outer surface of one bottom end of the rack.

[0010] In some embodiments, the outer surface of the first rotating shaft is rotatably mounted to the inner wall of the outer casing body, and the outer surface of the second rotating shaft is rotatably mounted to the inner wall of the outer casing body.

[0011] In some embodiments, the removable access panel is mounted on the upper surface of the housing body.

[0012] In some embodiments, the inner wall of the receiving plate is slidably connected to the outer surface of the limiting rod.

[0013] In some embodiments, rack one is arranged longitudinally, and rack two is arranged transversely.

[0014] In some embodiments, the receiving plate is provided with a placement plate, the placement plate is provided with an electric turntable, the electric turntable is provided with an electric hinge seat, the electric hinge seat is connected to an electric bending arm, and the electric bending arm is connected to a detection scanning component.

[0015] In some embodiments, drive motors are provided on both sides inside the housing body, and a drive wheel is provided at one end of the output shaft of the drive motor.

[0016] In some embodiments, a magnetic track is mounted on the outer surface of the drive wheel, and multiple sets of permanent magnets are installed inside the magnetic track.

[0017] In some embodiments, the magnetic track includes a track matrix made of high-strength engineering rubber or polymer, in which a plurality of permanent magnets are arranged circumferentially at uniform intervals in a pre-embedded or inlaid manner.

[0018] In some embodiments, the permanent magnet is made of rare earth material, forming strong magnetic poles and constituting a closed magnetic circuit. The outer side of the track base is provided with anti-slip patterns, and each track section is connected by non-magnetic metal or non-metal pins.

[0019] Compared with existing technologies, the containment apparent defect detection wall-climbing robot provided in this application has the following advantages: This application utilizes a kinetic energy conversion mechanism to instantly convert the vertical vibration force borne by the detection scanning component and its connected placement plate, limiting rod, and receiving plate into the forward and reverse rotation of the rotating shaft through the meshing of rack one and gear one. This rotational motion is transmitted to the counterweight smoothing mechanism via pulley one, transmission belt, and pulley two, driving rack two to move horizontally, thereby displacing the counterweight block. The counterweight block adjusts its position on the lever plate under different vibration conditions, generating a reverse balancing torque, which dynamically suppresses the vibration of the detection scanning component. This solves problems such as ultrasonic coupling failure, optical imaging blurring, and probe pressure fluctuation caused by vibration, ensuring the authenticity and consistency of the collected defect data such as cracks and corrosion pits, and avoiding the omission of key hidden dangers.

[0020] This application utilizes magnetic tracks and built-in permanent magnets to provide strong attraction, which, combined with a drive motor and drive wheels, ensures stable movement and efficient inspection of the robot on vertical walls. Furthermore, the coordinated operation of the electric turntable, electric articulated seat, and electric bending arm allows for flexible adjustment of the orientation of the detection and scanning components. While not directly expanding the single-scan range, its stable operation reduces the need for repeated inspections, indirectly improving effective detection efficiency. The design of a detachable maintenance plate facilitates maintenance of the internal mechanisms. The setting of limit sleeve one, limit sleeve two, and sliding grooves ensures precise guidance of the movement of rack one and rack two, while the elastic block provides buffering and protection. The entire system has a reasonable structure, high reliability, and effectively reduces maintenance costs and safety risks throughout its lifecycle. Attached Figure Description

[0021] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the technical description will be briefly introduced below.

[0022] Figure 1 A structural schematic diagram of the wall-climbing robot for detecting apparent defects in the containment structure provided in this application; Figure 2 for Figure 1 A top-down view of the structure; Figure 3 A schematic diagram of the internal structure of the wall-climbing robot for detecting apparent defects in the containment structure provided in this application; Figure 4 A partial structural schematic diagram of the wall-climbing robot for detecting apparent defects in the containment structure provided in this application; Figure 5 for Figure 4 A front view structural diagram; Figure 6 for Figure 5 Enlarged schematic diagram of the structure at point A; Figure 7 for Figure 5 A schematic diagram of the side view structure; Figure 8 for Figure 7 Enlarged schematic diagram of the structure at point B.

[0023] Explanation of reference numerals in the attached figures: 1. Outer shell; 2. Removable inspection plate; 3. Drive motor; 4. Drive wheel; 5. Magnetic track; 6. Permanent magnet; 7. Limiting rod; 8. Support plate; 9. Placement plate; 10. Electric turntable; 11. Electric articulated seat; 12. Electric bending arm; 13. Detection and scanning assembly; 14. Limiting sleeve one; 15. Rack one; 16. Rotating shaft one; 17. Gear one; 18. Lever plate; 19. Belt pulley one; 20. Transmission belt; 21. Belt pulley two; 22. Rotating shaft two; 23. Gear two; 24. Rack two; 25. Limiting sleeve two; 26. Sliding groove; 27. Support frame; 28. Counterweight block; 29. ​​Elastic block. Detailed Implementation

[0024] The following detailed description provides further details on specific implementation methods.

[0025] like Figures 1 to 8 As shown, this application provides a wall-climbing robot for detecting apparent defects in a containment structure, including a main body 1, a detachable inspection plate 2, an anti-bump mechanism, a drive motor 3, drive wheels 4, magnetic tracks 5, a permanent magnet 6, a placement plate 9, an electric turntable 10, an electric bending arm 12, and a detection and scanning assembly 13.

[0026] A removable inspection plate 2 is installed inside the upper surface of the outer shell body 1. An anti-bump mechanism is installed inside the outer shell body 1, which includes a kinetic energy conversion mechanism and a counterweight smoothing mechanism. The power input end of the anti-bump mechanism is equipped with a kinetic energy conversion mechanism that converts bumping force into rotational force. This mechanism converts the force upwards or downwards depending on the magnitude of the bumping force. The power output end of the kinetic energy conversion mechanism is equipped with a counterweight smoothing mechanism that converts the transmitted force into translational force. This mechanism smooths the surface to varying degrees depending on the magnitude of the transmitted force.

[0027] like Figure 5 and Figure 6 As shown, the kinetic energy conversion mechanism includes a limit rod 7, a receiving plate 8, a limit sleeve 14, a rack 15, a rotating shaft 16, and a gear 17. The bottom end of the limit rod 7 is fixedly installed on the upper surface of the detachable maintenance plate 2, and the inner wall of the receiving plate 8 is slidably connected to the outer surface of the limit rod 7. The bottom of the limit sleeve 14 is fixedly installed on the top of the detachable maintenance plate 2. The rack 15 is arranged longitudinally, and its outer surface is slidably installed on the inner wall of the limit sleeve 14. The outer surface of the rotating shaft 16 is rotatably installed on the inner wall of the outer shell 1. The inside of the gear 17 is fixedly installed on the outer surface of the rotating shaft 16, and its outer surface meshes with the right side of the rack 15. The outer surface of the rack 15 is slidably installed on the inner wall of the detachable maintenance plate 2.

[0028] like Figure 7 and Figure 8As shown, the counterweight smoothing mechanism includes a first pulley 19, a transmission belt 20, a second pulley 21, a second rotating shaft 22, a second gear 23, and a second rack 24. The outer surface of the second rotating shaft 22 is rotatably mounted to the inner wall of the outer casing 1, and the interior of the second gear 23 is fixedly mounted to the outer surface of the second rotating shaft 22. The second rack 24 is arranged laterally, and its upper surface meshes with the outer surface of the second gear 23. The interior of the second pulley 21 is fixedly mounted to the outer surface of the second rotating shaft 22, the interior of the transmission belt 20 is drive-connected to the outer surface of the second pulley 21, and the outer surface of the first pulley 19 is drive-connected to the interior of the transmission belt 20. The transmission belt 20 is disposed between the first pulley 19 and the second pulley 21, and the inner wall of the first pulley 19 is fixedly mounted to the outer surface of the first rotating shaft 16.

[0029] A sliding groove 26 is provided at the bottom of the inner side of the outer shell 1. The inner wall of the sliding groove 26 is slidably connected to the outer surface of the bottom of the rack 24. A limiting sleeve 25 is fixedly installed at the bottom of the inner side of the outer shell 1. The inner wall of the limiting sleeve 25 is slidably connected to the outer surface of the rack 24. A support frame 27 is fixedly installed on the back of the rack 24. A counterweight block 28 is fixedly installed on the top of the support frame 27. The bottom of the counterweight block 28 fits against the top of the lever plate 18 after it moves. An elastic block 29 is fixedly installed at the bottom of the inner side of the outer shell 1. The inner wall of the elastic block 29 is fitted with the outer surface of the bottom of the rack 15.

[0030] This application features a specially designed anti-bump mechanism. The kinetic energy conversion mechanism converts the bump force into rotational force, and the counterweight smoothing mechanism converts the transmission force into translational force. When the robot encounters bumps during its wall-climbing process, this conversion mechanism can effectively buffer and offset the impact of the bump force, making the robot run more smoothly and reducing problems such as shaking and displacement deviation caused by bumps. This ensures that the robot can accurately crawl along the predetermined path and improves the reliability of the inspection work.

[0031] In the kinetic energy conversion mechanism, the limiting rod 7 is slidably connected to the receiving plate 8. When the robot encounters a bump, the receiving plate 8 can move up and down along the limiting rod 7, causing the rack 15 to move vertically under the limitation of the limiting sleeve block 14 and the inner wall of the detachable maintenance plate 2. The rack 15 meshes with the gear 17, which is fixed on the rotating shaft 16, thereby converting the vertical force generated by the bump into the rotational force of the rotating shaft 16, realizing the efficient conversion of bump kinetic energy into rotational kinetic energy. In the counterweight smoothing mechanism, the pulley 19 is fixed on the rotating shaft 16 and connected to the pulley 21 via the transmission belt 20. The pulley 21 is fixed on the rotating shaft 22. The gear 23 on the rotating shaft 22 meshes with the rack 24. When the rotating shaft 16 rotates, it drives the rotating shaft 22 to rotate via the belt drive, thereby causing the rack 24 to move horizontally under the limitation of the sliding groove 26 and the limiting sleeve block 25. This design allows the rack 24 to drive the support frame 27 and the counterweight block 28 to move horizontally to varying degrees depending on the magnitude of the transmission force. This smooths out the impact of bumps on the robot, ensuring stable operation. The detachable inspection plate 2 allows for easy disassembly and maintenance of internal components such as the limit rod 7, support plate 8, rack 15, gear 17, and pulley 19 when the kinetic energy conversion mechanism and counterweight smoothing mechanism need inspection or maintenance. This reduces maintenance difficulty and cost, improving the robot's maintainability. The kinetic energy conversion mechanism and counterweight smoothing mechanism work together. The kinetic energy conversion mechanism converts the bump force into rotational force, providing power to the counterweight smoothing mechanism, which then uses this power to generate translational force for smoothing. This allows the robot to better adapt to the complex conditions of the containment surface and maintain stable operation under varying degrees of bumps, thereby improving the accuracy and reliability of the robot's detection of surface defects in the containment.

[0032] like Figure 3 and Figure 4 As shown, a placement plate 9 is fixedly installed on the upper surface of the receiving plate 8. An electric turntable 10 is arranged at the center of the upper surface of the placement plate 9. An electric hinge seat 11 is arranged at the center of the upper surface of the electric turntable 10. An electric bending arm 12 is fixedly installed on the left side of the electric hinge seat 11. A detection scanning component 13 is arranged at the left end of the electric bending arm 12.

[0033] The placement plate 9 mounted on the limit rod 7 provides a stable support foundation for the entire inspection device. The electric turntable 10 is positioned in the center of the upper surface of the placement plate 9, which can drive the components on it to rotate. This allows the electric hinge seat 11, the electric bending arm 12, and the inspection scanning assembly 13 to freely adjust their angles in the horizontal direction, thereby covering a wider inspection area. It can inspect surface defects in different orientations of the containment without moving the robot body. The electric hinge seat 11 is mounted in the center of the upper surface of the electric turntable 10, which can adjust its angle. By rotating the electric hinge seat 11, the tilt angle of the electric bending arm 12 can be precisely controlled, so that the inspection scanning assembly 13 can be aligned with the surface of the containment at different pitch angles, meeting the requirements for accurate inspection of the containment at different heights and tilts, and improving the accuracy of the inspection.

[0034] The electric bending arm 12 is flexible and can be bent and adjusted flexibly according to the curvature of the containment surface. When facing parts with complex curved surfaces on the containment, the electric bending arm 12 can be bent into a suitable shape so that the detection scanning component 13 fits tightly against the containment surface, ensuring that the detection scanning component 13 can obtain clear and accurate surface information, effectively solving the limitations of traditional detection equipment in detecting complex curved surfaces.

[0035] The detection and scanning component 13 is a highly integrated multi-sensor fusion structure. Its core includes a high-resolution optical camera and a thermal imaging camera to capture macroscopic images of the wall surface and thermal anomaly distribution. A laser scanner and a structured light projector work together to obtain high-precision three-dimensional point cloud data and quantify crack size. An ultrasonic flaw detector and an eddy current detection probe detect internal defects in concrete and surface cracks in steel lining through contact measurement, respectively. At the same time, the component also integrates a distance sensor and an inertial measurement unit for real-time sensing of the distance from the wall surface and its own attitude to achieve data compensation.

[0036] like Figures 1 to 3 As shown, drive motors 3 are fixedly installed on both sides inside the main body 1. A drive wheel 4 is fixedly installed at one end of the output shaft of the drive motor 3. A magnetic track 5 is installed on the outer surface of the drive wheel 4. Multiple sets of permanent magnets 6 are evenly installed inside the magnetic track 5.

[0037] Multiple sets of permanent magnets 6 are evenly installed inside the magnetic track 5. When in contact with the surface of the containment vessel, the strong magnetic force generated by the permanent magnets 6 enables the magnetic track 5 to be tightly attracted to the containment vessel. The stable attraction effect ensures that the robot's outer shell 1 can be firmly attached to the surface of the containment vessel under various working conditions. Even when encountering a large external impact or when the surface of the containment vessel has a certain degree of inclination, it can effectively prevent the robot from slipping, ensuring the safety and continuity of the inspection work. One end of the output shaft of each drive motor 3 is connected to a drive wheel 4, which drives the magnetic track 5 to rotate. The independent drive design on both sides allows the robot to move flexibly. The large contact area between the magnetic track 5 and the surface of the containment vessel further disperses the weight of the robot, reduces the pressure on the surface of the containment vessel, and also reduces vibration and bumps during movement. The smooth movement helps the inspection scanning component 13 to obtain more accurate and stable surface information of the containment vessel, improving the inspection quality.

[0038] The magnetic track 5 mainly consists of a track substrate made of high-strength engineering rubber or polymer. Multiple sets of high-performance permanent magnets 6 are arranged circumferentially and evenly in a pre-embedded or embedded manner inside the track. These permanent magnets 6 are usually made of rare earth materials such as neodymium iron boron to form strong magnetic poles and constitute a closed magnetic circuit. The outer side of the track substrate is designed with anti-slip patterns to enhance the driving force. Each track section is connected by non-magnetic metal or non-metal pins to ensure that the track can provide a continuous, stable and evenly distributed adsorption force through the array of permanent magnets 6 while rotating flexibly.

[0039] The working principle of this robot is as follows: When the robot moves and shakes on the uneven safety housing wall, the detection and scanning assembly 13 and its supporting structure, electric bending arm 12, electric hinge seat 11, electric turntable 10 and placement plate 9 installed on the detachable maintenance plate 2 will bounce up and down relative to the main body of the outer shell 1 due to inertia. At this time, the limiting rod 7 fixed to the detachable maintenance plate 2 will drive the receiving plate 8 slidably connected to its outer surface to move together. The lower surface of the receiving plate 8 will push the top of the rack 15, so that the rack 15 slides in the vertical direction under the constraint of the limiting sleeve block 14. The movement of the rack 15 drives the gear 17 and the rotating shaft 16 meshing with it to rotate in both directions, thereby converting the vertical bumping force into the forward and reverse rotation of the rotating shaft 16.

[0040] Subsequently, the rotational power of the rotating shaft 16 is transmitted through the counterweight smoothing mechanism: the pulley 19 fixed to the rotating shaft 16 transmits the power to the pulley 21 through the transmission belt 20, thereby driving the rotating shaft 22 and the gear 23 to rotate synchronously. The rotation of the gear 23 drives the rack 24 meshing with it to move horizontally under the guidance of the limiting sleeve 25 and the sliding groove 26. The rack 24 drives the counterweight block 28 to move synchronously through the support frame 27, driving the counterweight block 28 to move horizontally to the corresponding position of the lever plate 18. The weight of the counterweight block 28 generates a reverse torque to suppress the upward movement of the robotic arm, thereby smoothing the upward bumps. Conversely, when downward bumps occur, the counterweight block 28 moves in the opposite direction, reducing its lever arm and weakening its stabilizing effect, allowing the whole to return to its original position more quickly.

[0041] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A wall-climbing robot for detecting apparent defects in containment structures, characterized in that, The device includes a housing body (1) and an anti-bump mechanism disposed therein, the anti-bump mechanism comprising: The kinetic energy conversion mechanism has a limiting rod (7), a receiving plate (8), a limiting sleeve (14), a rack (15), a rotating shaft (16), and a gear (17). The limiting rod (7) is connected to the detachable maintenance plate (2), and the limiting rod (7) is slidably connected to the receiving plate (8). The limiting sleeve (14) is installed on the top of the detachable maintenance plate (2). The rack (15) is slidably installed to the limiting sleeve (14). The rotating shaft (16) is rotatably installed to the outer shell body (1). The gear (17) is connected to the rotating shaft (16). The gear (17) meshes with the rack (15). The outer surface of the rack (15) is slidably installed to the detachable maintenance plate (2). The counterweight smoothing mechanism has a pulley 1 (19), a transmission belt (20), a pulley 2 (21), a rotating shaft 2 (22), a gear 2 (23), and a rack 2 (24). The rotating shaft 2 (22) is rotatably mounted to the outer shell body (1). The gear 2 (23) is connected to the rotating shaft 2 (22). The rack 2 (24) meshes with the gear 2 (23). The pulley 2 (21) is connected to the rotating shaft 2 (22). The pulley 1 (19) is connected to the rotating shaft 1 (16). The transmission belt (20) is disposed between the pulley 1 (19) and the pulley 2 (21).

2. The wall-climbing robot for detecting apparent defects in containment structures according to claim 1, characterized in that, The outer shell body (1) is provided with a sliding groove (26), the inner wall of the sliding groove (26) is slidably connected to the rack two (24), and the bottom of the inner shell body (1) is provided with a limiting sleeve two (25), which is slidably connected to the rack two (24).

3. The containment apparent defect detection wall-climbing robot according to claim 1 or 2, characterized in that, The rack 2 (24) is equipped with a support frame (27), and the top of the support frame (27) is provided with a counterweight block (28). The bottom of the counterweight block (28) is in contact with the top of the lever plate (18) after it is moved.

4. The wall-climbing robot for detecting apparent defects in a containment structure according to claim 1 or 2, characterized in that, An elastic block (29) is fixedly installed at the bottom of the inner part of the outer shell body (1), and the inner wall of the elastic block (29) is fitted with the outer surface of the bottom end of the rack (15).

5. The wall-climbing robot for detecting apparent defects in containment structures according to claim 1, characterized in that, The removable inspection plate (2) is installed on the upper surface of the outer shell body (1).

6. The wall-climbing robot for detecting apparent defects in containment structures according to claim 1, characterized in that, The receiving plate (8) is provided with a placement plate (9), the placement plate (9) is provided with an electric turntable (10), the electric turntable (10) is provided with an electric hinge seat (11), the electric hinge seat (11) is connected to an electric bending arm (12), and the electric bending arm (12) is connected to a detection scanning component (13).

7. The wall-climbing robot for detecting apparent defects in containment structures according to claim 1, characterized in that, The outer shell body (1) has drive motors (3) on both sides inside, and a drive wheel (4) is provided at one end of the output shaft of the drive motor (3).

8. The wall-climbing robot for detecting apparent defects in containment structures according to claim 7, characterized in that, The outer surface of the drive wheel (4) is equipped with a magnetic track (5), and multiple sets of permanent magnets (6) are installed inside the magnetic track (5).

9. The wall-climbing robot for detecting apparent defects in containment structures according to claim 8, characterized in that, The magnetic track (5) includes a track base made of high-strength engineering rubber or polymer, and multiple sets of permanent magnets (6) are arranged circumferentially at uniform intervals inside it in a pre-embedded or inlaid manner.

10. The containment apparent defect detection wall-climbing robot according to claim 8 or 9, characterized in that, The permanent magnet (6) is made of rare earth material, forming strong magnetic poles and forming a closed magnetic circuit. The outer side of the track base is provided with anti-slip patterns, and each track section is connected by non-magnetic metal or non-metal pins.

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