Self-adaptive ultrasonic flaw detection operation mechanism of detection robot and wall-climbing robot

Abstract

The invention discloses a self-adaptive ultrasonic flaw detection operation mechanism of a detection robot and a wall-climbing robot, and relates to the technical field of flaw detection equipment. The device comprises a double-axis linear guide rail, the two ends of the double-axis linear guide rail are slidably connected with racks, and the two racks are arranged in a mirror symmetry mode; the bottom end of the rack is provided with at least one group of probe modules, the probe modules are movably arranged on a double-axis linear guide rail, and at least two groups of passive flexible assemblies are arranged between the rack and the probe modules. According to the invention, through the unique mechanical structure of the multi-connecting-rod mechanism, when the multi-connecting-rod mechanism carries out detection operation and a to-be-detected wall surface is a curved surface, the probe has two-degree-of-freedom self-adaptive adjustment, firstly, the probe can be pressed up and down through the multi-connecting-rod mechanism to reach a position required by the probe for detection; when the probe reaches a specified wall surface, if the wall surface is a curved surface, the probe can be automatically adjusted left and right, so that the probe can be carried on the robot to realize accurate motion control of the probe.

Description

Technical Field

[0001] This invention relates to the field of flaw detection equipment technology, specifically to an adaptive ultrasonic flaw detection mechanism for a testing robot and a wall-climbing robot. Background Technology

[0002] Automated flaw detection primarily refers to the use of automated equipment and technologies to detect and evaluate defects in materials and structures. Non-destructive testing (NDT) refers to a series of techniques used to assess the integrity of materials or structures without compromising their performance. NDT has wide applications in various industrial sectors, such as aerospace, automotive, construction, energy, petrochemicals, and manufacturing. Ultrasonic testing is a widely used NDT method, primarily for detecting internal defects in materials and structures. Its working principle is based on the propagation characteristics of ultrasonic waves in a medium; it reflects the internal structural features of an object by emitting and receiving ultrasonic signals. When ultrasonic signals pass through the object being tested, they are reflected or refracted if they encounter defects or discontinuous areas. The sensor analyzes the internal condition of the material by receiving these reflected or refracted waves.

[0003] Most existing flaw detection mechanisms are rigid or semi-rigidly mounted, or only have a single degree of freedom for adjustment. When the surface to be inspected is curved (such as the body of a storage tank), it is difficult for the probe to maintain a perpendicular fit, easily forming an air gap, which leads to a significant attenuation of ultrasonic energy, severely affecting the reliability and accuracy of the detection signal. Although traditional solutions use actively controlled servo motors or cylinders to drive the probe to adapt to the curved surface, this not only increases the complexity, weight, and cost of the system, but also introduces additional control delays, stability issues, and a higher failure rate in working environments where the robot itself is already vibrating.

[0004] To address this, we propose an adaptive ultrasonic flaw detection mechanism for inspection robots and a wall-climbing robot. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive ultrasonic flaw detection mechanism and a wall-climbing robot for inspection, which can effectively control the flaw detection process, especially when the robot reaches the designated wall surface, the flaw detection mechanism can effectively control the position to perform ultrasonic flaw detection.

[0006] According to a first aspect of the present invention, in order to achieve the above-mentioned objective, the present invention provides the following technical solution: an adaptive ultrasonic flaw detection mechanism for a detection robot, comprising a dual-axis linear guide rail, wherein both ends of the dual-axis linear guide rail are slidably connected to a frame, and the two sets of frames are arranged in a mirror symmetrical manner; At least one set of probe modules is installed at the bottom of the frame, and the probe modules are movably mounted on a dual-axis linear guide rail. At least two sets of passive flexible components are provided between the frame and the probe modules. The two sets of passive flexible components are mirror-symmetrically mounted on both sides of the frame, which are used to make the probe modules passively and adaptively fit the wall surface to be detected without the need for an external driving source. The passive flexible component includes a four-bar structure, a first planar quadrilateral structure, a second planar quadrilateral structure, a spatial four-bar structure, and a spring. The spring and the first planar quadrilateral structure work together to provide elastic restoring force. The spatial four-bar mechanism decomposes the force on the probe module into in-plane components and axial torque, thereby realizing the motion adjustment of the probe module. The spatial four-bar mechanism also transmits the in-plane components to the linkage structure formed by the four-bar structure and the second planar quadrilateral structure, realizing the transmission of components and displacement amplification, thereby achieving passive adaptive contact of the probe module with the wall surface.

[0007] Furthermore, a guide rail slider is slidably connected to the dual-axis linear guide rail, and the guide rail slider is fixedly connected to the frame by bolts.

[0008] Furthermore, the first parallelogram structure includes a first a rod and a parallel a rod rotatably connected to the upper and lower ends of the side wall of the frame. The first a rod and the parallel a rod are arranged in parallel, and the free ends of the first a rod and the parallel a rod are connected to a three-hole rod. The first a rod is connected to the top of the three-hole rod, and the parallel a rod is connected to the bottom of the three-hole rod. One end of the spring is fixed at the connection between the parallel rod a and the frame, and the other end is fixed at the connection between the first rod a and the three-hole rod. It is used to convert the contact force between the probe module and the tank wall into in-plane elastic potential energy storage and to provide a restoring torque to reset the probe module to its initial posture.

[0009] Furthermore, the four-bar structure includes a second a-bar rotatably connected to the side wall of the frame, a first b-bar rotatably connected to the other end of the second a-bar, a c-bar rotatably connected to the top end of the first b-bar, and the other end of the c-bar rotatably connected to the end of the frame.

[0010] Furthermore, the second parallelogram structure includes a second b rod and a fourth b rod rotatably connected to the top and bottom of the first b rod. The free ends of the second b rod and the fourth b rod are connected to a third b rod. The four-bar structure and the second planar quadrilateral structure are structurally linked with the second b rod as a common side, converting the component force into a controllable deformation displacement of the spring, realizing the storage of elastic potential energy, so that the probe module is always in stable contact with the surface of the storage tank.

[0011] Furthermore, the spatial four-bar structure includes a third b-bar, a three-hole bar, a z-bar rotatably connected to the bottom end of the third b-bar, and a vertical retaining bar rotatably connected to the middle position of the three-hole bar, thus forming a spatial four-bar structure.

[0012] Furthermore, the vertical holding rod is configured as a semi-circular rod, and the movement trajectory of the top end of the vertical holding rod is a semi-circle.

[0013] Furthermore, the z-bar comprises three parts: a long bar, a short bar, and a crossbar. The long bar and the short bar are respectively fixed vertically to the two ends of the crossbar, and the long bar and the short bar are parallel to each other. The top end of the long bar is rotatably connected to the third b-bar, and the top end of the short bar is rotatably connected to the bottom end of the vertical retaining rod.

[0014] Furthermore, the probe module includes a clamping link fixedly connected to the crossbar, a connector fixedly installed at the bottom end of the clamping link, a probe housing rotatably connected to one side of the connector, and a pulse echo probe installed inside the probe housing.

[0015] According to a second aspect of the present invention, the present invention provides a wall-climbing robot for flaw detection, wherein the front section of the robot body is equipped with an adaptive ultrasonic flaw detection mechanism for a detection robot as described in the first aspect.

[0016] This invention has at least the following beneficial effects: 1. The multi-link mechanism of the present invention, through its unique mechanical structure, allows the probe to adaptively adjust with two degrees of freedom when performing inspection operations on a curved surface. First, the probe can be pressed up and down through the multi-link mechanism to reach the required position for inspection. When the probe reaches the designated wall surface, if the wall surface is curved, the probe can adjust left and right on its own, so that the probe can be mounted on the robot to achieve precise motion control of the probe.

[0017] 2. This invention ingeniously integrates a tension spring into a first parallelogram mechanism, and converts the impact force on the probe into controllable deformation of the spring through a multi-stage linkage mechanism. This design allows the impact energy to be effectively absorbed and buffered at the moment the probe contacts the wall, converting it into the elastic potential energy of the spring. When the probe passes over an obstacle or wall undulation, the energy stored in the spring is smoothly released, driving the mechanism to reset.

[0018] 3. The core control mechanism of this invention is composed entirely of mechanical components such as connecting rods, rotating shafts, and springs. It can achieve adaptive function without relying on motors, sensors, or complex electronic control systems. This purely mechanical passive design brings multiple advantages, which not only greatly simplifies the system structure and reduces manufacturing costs and later maintenance difficulties, but also avoids the failure of electronic components in complex industrial environments (such as vibration and electromagnetic interference), thus improving the robustness and reliability of the entire system.

[0019] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the overall structure of Embodiment 1 of the present invention; Figure 2 This is a front view schematic diagram of the overall structure of Embodiment 1 of the present invention; Figure 3 This is a top view of the overall structure of Embodiment 1 of the present invention; Figure 4 This is a three-dimensional schematic diagram of a passive flexible component according to Embodiment 1 of the present invention; Figure 5 This is a three-dimensional schematic diagram of the probe module structure according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram illustrating the motion principle of the passive flexible component according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram illustrating the motion principle of the probe module in Embodiment 1 of the present invention; Figure 8 This is a three-dimensional schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0021] Figure label: 1. Wall-climbing robot body; 2. Dual-axis linear guide rail; 3. Guide rail slider; 4. Passive flexible component; 401. Probe module; 402. Frame; 403. First a-rod; 404. Three-hole rod; 405. Parallel a-rod; 406. Second a-rod; 407. First b-rod; 408. C-rod; 409. Second b-rod; 410. Third b-rod; 411. Fourth b-rod; 412. Z-rod; 413. Vertical holding rod; 401-1, Fixture connecting rod; 401-2, Connector; 401-3, Probe housing; 401-4, Pulse echo probe. Detailed Implementation

[0022] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0023] Explanation of related terms: The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows: A fixed connection refers to a connection in which parts or components are fixed in place, with no relative movement between them. These connections are divided into two types: detachable and non-detachable.

[0024] (1) Detachable connections use screws, splines, wedges, etc. to fix parts together. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of bolts, keys, wedges) and properly tightened.

[0025] (2) Non-removable connections mainly refer to welding, riveting, and tenon joints. Since disassembly is required by forging, sawing, or oxyacetylene cutting during repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction, polishing, etc.) when making connections. A movable connection refers to a connection in which parts or components are fixed but have relative motion.

[0026] Rotary connection: refers to a connection method that allows relative rotational movement between two components while maintaining functional connectivity.

[0027] Example 1: Please see Figure 1-7 The present invention provides a technical solution: an adaptive ultrasonic flaw detection mechanism for a detection robot, including a dual-axis linear guide rail 2, both ends of which are slidably connected to a frame 402, and the two sets of frames 402 are arranged in a mirror symmetrical manner; At least one set of probe modules 401 is installed at the bottom of the frame 402, and the probe modules 401 are movably mounted on the dual-axis linear guide rail 2. At least two sets of passive flexible components 4 are provided between the frame 402 and the probe modules 401. The two sets of passive flexible components 4 are mirror-symmetrically mounted on both sides of the frame 402, and are used to make the probe modules 401 passively and adaptively conform to the wall surface to be detected without the need for an external driving source. The passive flexible component 4 includes a four-bar structure, a first planar quadrilateral structure, a second planar quadrilateral structure, a spatial four-bar structure, and a spring. The spring and the first planar quadrilateral structure work together to provide elastic restoring force. The spatial four-bar mechanism decomposes the force on the probe module 401 into in-plane components and axial torque, thereby realizing the motion adjustment of the probe module 401. The spatial four-bar mechanism transmits the in-plane components to the linkage structure formed by the four-bar structure and the second planar quadrilateral structure, realizing the transmission of components and displacement amplification, thereby realizing the passive adaptive contact of the probe module 401 with the wall surface.

[0028] Regarding the technical solution of this embodiment, a guide rail slider 3 is slidably connected on the dual-axis linear guide rail 2. The guide rail slider 3 is fixedly connected to the frame 402 by bolts. The bolt connection facilitates quick disassembly and replacement of the frame 402 or slider components, reducing maintenance downtime. Moreover, the bolts are standard parts, with low procurement and replacement costs, which facilitates large-scale production.

[0029] Regarding the technical solution of this embodiment, the first parallelogram structure includes a first a rod 403 and a parallel a rod 405 rotatably connected to the upper and lower ends of the side wall of the frame 402. The first a rod 403 and the parallel a rod 405 are arranged in parallel, and the free ends of the first a rod 403 and the parallel a rod 405 are connected to a three-hole rod 404. The first a rod 403 is connected to the top end of the three-hole rod 404, and the parallel a rod 405 is connected to the bottom end of the three-hole rod 404. When the probe module 401 is subjected to the reaction force of the storage tank, the movement trajectory of any point on the three-hole rod 404 is an arc. However, since the rod length has a relatively large range of motion, it can be regarded as a vertical translation within a small displacement. Therefore, the three-hole rod 404 itself maintains translation throughout the entire movement process. Therefore, the posture (angle) of the subsequent structure installed on the three-hole rod 404 will not change, only the position (up and down) will move. like Figure 2 As shown, one end of the spring is fixed at the connection between the parallel rod 405 and the frame 402, and the other end is fixed at the connection between the first rod 403 and the three-hole rod 404. The spring is arranged diagonally. When the probe module 401 is subjected to the reaction force of the storage tank, the three-hole rod 404 will move upward. At this time, the spring is stretched, which can convert the contact force between the probe module 401 and the storage tank wall into in-plane elastic potential energy storage and provide a restoring torque to reset the probe module 401 to the initial posture. For example, when the detection robot crosses the weld or uneven area, the probe module 401 can be raised. Once it crosses, the potential energy stored in the spring is immediately released, pulling the parallelogram mechanism back to the initial position. This allows the probe to actively conform to and follow the curved surface contour. Compared with the traditional solution using sensor or motor control, this embodiment can achieve a completely passive adaptive adjustment.

[0030] Regarding the technical solution of this embodiment, the four-bar structure includes a second a-bar 406 rotatably connected to the side wall of the frame 402, a first b-bar 407 rotatably connected to the other end of the second a-bar 406, a c-bar 408 rotatably connected to the top of the first b-bar 407, and the other end of the c-bar 408 rotatably connected to the end of the frame 402. The four-bar mechanism can convert a small input motion in one direction into a larger output motion in another direction. For example, a small swing of the second a-bar 406 can generate an amplified trajectory motion of a specific shape at its end through the lever action of the first b-bar 407. This "amplification effect" allows the probe to adapt to the unevenness of the wall surface with a large range of motion.

[0031] Regarding the technical solution of this embodiment, the second parallelogram structure includes a second b-bar 409 and a fourth b-bar 411 rotatably connected to the top and bottom ends of the first b-bar 407. A third b-bar 410 is connected to the free ends of the second b-bar 409 and the fourth b-bar 411. The four-bar structure and the second planar quadrilateral structure are structurally linked with the second b-bar 409 as a common side, converting the component force into a controllable deformation displacement of a spring, achieving elastic potential energy storage, and ensuring that the probe module 401 remains in stable contact with the tank surface. The second parallelogram structure mainly receives the force from the spatial four-bar structure, thereby generating planar motion. The probe module 401 moves in three-dimensional space. The forces acting on the probe module 401 are complex. Through the linkage mechanism between the four-bar structure and the second planar quadrilateral structure, the force acting on the probe module 401 can be guided and ultimately transformed into a force that drives the three-hole rod 404 in the first parallelogram mechanism to move. This force directly causes the tension spring to undergo tensile deformation. Since the movement of the four-bar structure and the second parallelogram structure is completely deterministic and predictable, a deterministic and linear relationship is established between the spring deformation and the force acting on the probe module 401. This facilitates the transformation of a potentially multi-directional and unstable passive contact process into an ordered, deterministic, and precisely controllable mechanical response process.

[0032] Regarding the technical solution of this embodiment, the spatial four-bar structure includes a third b-bar 410, a three-hole bar 404, a z-bar 412 rotatably connected to the bottom end of the third b-bar 410, and a vertical holding bar 413 rotatably connected to the middle position of the three-hole bar 404. In the spatial four-bar structure, the tank wall is a three-dimensional curved surface, not a simple two-dimensional curve. Only a mechanism that can simultaneously respond to changes in the vertical and horizontal directions can achieve true self-adaptation. The spatial four-bar structure acts as a motion decomposition and coupler. When the probe module 401 is subjected to force, the spatial four-bar structure (especially the z-bar 412) is the force distribution center. According to its own geometric relationship, it automatically decomposes the total force into a force F1 driving the first parallelogram structure and a force F2 driving the four-bar structure on the other side and the second parallelogram combination structure. This force distribution is not fixed, but dynamically changes with the posture of the mechanism. This constitutes a passive "intelligence". When the wall mainly needs vertical adaptation, the mechanism will tend to distribute more motion to the first parallelogram structure; when it mainly needs lateral adaptation, the opposite is true. This dynamic allocation ensures that the mechanism can always respond to external changes in the most efficient way, while its rigid connection also precisely constrains the final range of motion of the probe to prevent overtravel.

[0033] In this embodiment, the vertical holding rod 413 is configured as a semi-circular rod, and the movement trajectory of the top end of the vertical holding rod 413 is semi-circular. The vertical holding rod 413 is a key channel for force transmission. When force is applied to its top end through the z-rod 412, the semi-circular rod body can transmit the force to the three-hole rod 404 more stably and rigidly, effectively reducing the bending deformation of the rod itself. This directly enhances the rigidity of the entire spatial four-bar linkage, provides more stable support for the probe, avoids slight probe wobbling caused by rod deformation, and thus improves detection stability.

[0034] Regarding the technical solution of this embodiment, the z-rod 412 includes three parts: a long rod, a short rod, and a cross rod. The long rod and the short rod are respectively vertically fixed to the two ends of the cross rod, and the long rod and the short rod are parallel to each other. The top end of the long rod is rotatably connected to the third b-rod 410, and the top end of the short rod is rotatably connected to the bottom end of the vertical holding rod 413. In complex three-dimensional motion, the probe module 401 is easily subjected to torque that causes it to deflect. This design of the z-rod 412 greatly enhances its anti-torsion ability, ensuring that no matter how the forces from both sides change, the probe module 401 connected to the cross rod can always maintain the predetermined posture (especially avoiding the probe from rotating around the vertical axis). This is crucial for ensuring that the ultrasonic beam is incident vertically and obtaining accurate detection signals.

[0035] Regarding the technical solution of this embodiment, the probe module 401 includes a clamping link 401-1 fixedly connected to the crossbar. A connector 401-2 is fixedly installed at the bottom end of the clamping link 401-1. A probe housing 401-3 is rotatably connected to one side of the connector 401-2. A pulse echo probe 401-4 is installed inside the probe housing 401-3. This allows the pulse echo probe 401-4 to still make slight pitch adjustments after the z-bar 412 and the clamping link 401-1 have determined its approximate position and orientation. This ensures that the probe's detection surface can fit against the curved surface to the maximum extent at the moment of final contact, guaranteeing that the ultrasonic beam is incident as perpendicularly as possible. This is the ultimate guarantee for achieving high-precision detection.

[0036] The specific working principle and process of this invention are as follows:

[0037] In this invention, the main principle is that the multi-link design enables the flaw detection control mechanism to be passively pressed and adapted to the relevant curved surface, and the probe has a degree of freedom of movement and a degree of freedom of rotation on the vertical wall during operation.

[0038] Its specific workflow, the workflow of the vertical wall's degree of freedom of movement: When the pulse echo probe (hereinafter referred to as the probe) contacts the wall, the wall acts on the probe, providing a support force perpendicular to the probe surface. At the same time, the probe generates joint forces on the four clamping links 401-1, and the clamping links 401-1 generate joint forces on the z-link 412. The spatial four-bar structure has a tendency to move as a whole along the direction of the joint forces. The three-hole rod 404 in the first parallelogram mechanism controls the first a-link 403 and the parallel a-link 404. 05 and the tension spring generate joint force, causing the first a-rod 403 and parallel a-rod 405 to rotate counterclockwise, and the frame 402 to rotate clockwise. At this time, the tension spring generates a spring restoring force on the first parallelogram mechanism. Due to the spring restoring force provided by the tension spring, the first a-rod 403 and parallel a-rod 405 rotate clockwise, causing the three-hole rod 404 to generate a joint force along the vertical wall, thus pressing the probe. When the probe contacts the wall, the wall acts on the probe, providing a force perpendicular to the probe surface. The probe exerts a joint force on the four clamping links 401-1, and the z-link 401-1 exerts a joint force on the z-link 412. This spatial four-bar linkage tends to move along the direction of the joint force. The third b-link 410 exerts a joint force on the second b-link 409 and the fourth b-link 411 in the second parallelogram mechanism, causing the second b-link 409 and the fourth b-link 411 to rotate counterclockwise, while the first b-link 407 rotates clockwise. The first b-link 407... In the four-bar linkage, joint forces are generated on the second a-bar 406 and c-bar 408. The c-bar 408 tends to move clockwise, and the second a-bar 406 tends to move counterclockwise. At this time, due to the spring restoring force provided by the tension spring, the second a-bar 406 rotates clockwise, and the c-bar 408 rotates counterclockwise, causing the first b-bar 407 to rotate clockwise, causing the fourth b-bar 411 to rotate clockwise, which in turn generates joint forces on the z-bar 412, thereby generating joint forces along the vertical wall, causing the probe to be pressed tightly.

[0039] Working process of rotational degree of freedom: When the probe comes into contact with the wall, due to the supporting force of the wall, the connector 401-2 and the probe housing 401-3 rotate relative to each other, so that the probe housing and the probe inside the probe housing are in contact with the wall.

[0040] Example 2: like Figure 8 As shown, this embodiment provides a wall-climbing robot for flaw detection. The front section of the robot body 1 is equipped with an adaptive ultrasonic flaw detection mechanism for a detection robot as described in Embodiment 1. Specifically: The wall-climbing robot body 1 is fixedly connected to the dual-axis linear guide rail 2. The dual-axis linear guide rail 2 is slidably connected to the guide rail sliders 3 on both sides. The frame 402 is fixedly installed on the guide rail sliders 3, and the two sets of frames 402 are arranged in a mirror symmetrical manner. The passive flexible component 4 and the probe module 401 are both installed on the frame 402.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0042] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0044] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A robot adaptive ultrasonic inspection operation mechanism for detecting, characterized by, The double-axle linear guide rail (2) is slidably connected with a rack (402) at both ends, and the two racks (402) are arranged in mirror symmetry; At least one probe module (401) is installed at the bottom end of the rack (402), and the probe module (401) is movably installed on the double-axle linear guide rail (2), and at least two passive flexible assemblies (4) are arranged between the rack (402) and the probe module (401), and the two passive flexible assemblies (4) are symmetrically installed on the two sides of the rack (402), so that the probe module (401) is passively and adaptively attached to the wall surface without an external driving source. The passive flexible assembly (4) includes a four-bar structure, a first planar quadrilateral structure, a second planar quadrilateral structure, a spatial four-bar structure, and a spring, the spring cooperates with the first planar quadrilateral structure to provide elastic restoring force, the spatial four-bar mechanism decomposes the force acting on the probe module (401) into in-plane component and torque around the shaft, thereby realizing the motion adjustment of the probe module (401), and the spatial four-bar mechanism transmits the in-plane component to the linkage structure composed of the four-bar structure and the second planar quadrilateral structure, realizes the conduction and displacement amplification of the component, and thereby realizes the passive and adaptive attachment of the probe module (401) to the wall surface.

2. The adaptive ultrasonic inspection mechanism for robots according to claim 1, characterized in that: The double-axle linear guide rail (2) is slidably connected with a guide rail slider (3), and the guide rail slider (3) and the rack (402) are fixedly connected by bolts.

3. The adaptive ultrasonic inspection mechanism for robots according to claim 1, wherein: The first parallelogram structure includes a first a rod (403) and a parallel a rod (405) rotatably connected to the upper and lower ends of the side wall of the rack (402), the first a rod (403) and the parallel a rod (405) are arranged in parallel, and the free ends of the first a rod (403) and the parallel a rod (405) are connected with a three-hole rod (404), the first a rod (403) is connected to the top end of the three-hole rod (404), and the parallel a rod (405) is connected to the bottom end of the three-hole rod (404). One end of the spring is fixed at the connection between the parallel a rod (405) and the rack (402), and the other end is fixed at the connection between the first a rod (403) and the three-hole rod (404), for converting the contact force between the probe module (401) and the tank wall into elastic potential energy storage in the plane, and providing a restoring torque for resetting the probe module (401) to the initial posture.

4. The adaptive ultrasonic inspection mechanism for a robot according to claim 3, wherein: The four-bar structure includes a second a rod (406) rotatably connected to the side wall of the rack (402), the other end of the second a rod (406) is rotatably connected with a first b rod (407), the top end of the first b rod (407) is rotatably connected with a c rod (408), and the other end of the c rod (408) is rotatably connected to the end of the rack (402).

5. The adaptive ultrasonic inspection mechanism for a robot according to claim 4, wherein: The second parallelogram structure comprises a second b-bar (409) and a fourth b-bar (411) rotatably connected at the top end and the bottom end of the first b-bar (407), and a third b-bar (410) connected at the free end of the second b-bar (409) and the fourth b-bar (411), the four-bar structure and the second plane parallelogram structure are linked in structure with the second b-bar (409) as a common side, the component force is converted into a controllable deformation displacement of the spring, the elastic potential energy is stored, and the probe module (401) is always in stable contact with the surface of the storage tank.

6. The adaptive ultrasonic inspection mechanism for a robot according to claim 5, wherein: The spatial four-bar structure comprises the third b-bar (410), the three-hole bar (404), a z-bar (412) rotatably connected at the bottom end of the third b-bar (410), and a vertical holding bar (413) rotatably connected at the middle position of the three-hole bar (404).

7. The adaptive ultrasonic inspection mechanism for a robot according to claim 6, wherein: The vertical holding bar (413) is arranged in a semicircular shape, and the movement track of the top end of the vertical holding bar (413) is a semicircle.

8. The adaptive ultrasonic inspection mechanism for a robot according to claim 6, wherein: The z-bar (412) comprises three parts, i.e., a long-bar part, a short-bar part, and a cross-bar part, the long-bar part and the short-bar part are respectively fixed perpendicularly at both ends of the cross-bar part, and the long-bar part and the short-bar part are parallel to each other, the top end of the long-bar part is rotatably connected with the third b-bar (410), and the top end of the short-bar part is rotatably connected with the bottom end of the vertical holding bar (413).

9. The adaptive ultrasonic inspection mechanism for a robot according to claim 8, wherein: The probe module (401) comprises a clamp connecting rod (401-1) fixedly connected with the cross-bar part, a connector (401-2) fixedly installed at the bottom end of the clamp connecting rod (401-1), a probe shell (401-3) rotatably connected on one side of the connector (401-2), and a pulse echo probe (401-4) installed in the probe shell (401-3).

10. A flaw detection wall climbing robot, characterized by, The front end of the wall-climbing robot body (1) is provided with the self-adaptive ultrasonic detection work mechanism of the robot according to any one of claims 1 to 9.

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