Welding seam defect positioning device and method for steel structure inner cavity magnetic wall-climbing robot

Abstract

The application discloses a steel structure inner cavity magnetic wall-climbing robot welding seam defect positioning device and method, belongs to the technical field of defect positioning, solves the problem that the existing wall-climbing robot cannot effectively adsorb and stably travel on the inner cavity of a complex-shaped steel structure, and leads to insufficient defect detection adaptability, and comprises a positioning device main body, a magnetic travel mechanism and a self-cleaning defect positioning mechanism, wherein the magnetic travel mechanism comprises a combined magnetic wheel, a self-adaptive protection assembly and a damping reset assembly; in the application, the combined magnetic wheel, the wheel driving motor and the self-adaptive protection assembly are cooperatively matched to non-rigidly fix the combined magnetic wheel, and the combined magnetic wheel is hung in a robot moving seat through the self-adaptive protection assembly; when the robot encounters a recess or a protrusion of an inner cavity wall surface, the corresponding combined magnetic wheel will self-adaptively float up and down, thereby actively adhering to the wall surface, so as to adapt to the inner cavity wall of a steel structure of different shapes and ensure that the robot can be stably adsorbed on the inner wall in the whole process.

Description

Technical Field

[0001] This invention belongs to the field of defect location technology, specifically relating to a device and method for locating weld defects in a magnetic climbing robot for steel structure cavities. Background Technology

[0002] Welding, as a core process in steel structure manufacturing and connection, directly determines the safety, reliability, and service life of the entire structure. Therefore, non-destructive testing of welds, especially the precise location and identification of potential defects (cracks, porosity, slag inclusions, etc.), is a crucial link in ensuring the safe operation of major infrastructure (bridges, ships, high-rise buildings, pressure vessels, energy storage tanks, etc.). Currently, weld defect detection mainly relies on manual inspection and automated equipment. Traditional manual inspection methods, where inspectors use handheld probes to scan the weld surface, are not only labor-intensive and inefficient, but the results are also susceptible to the influence of the inspector's experience, skill level, and subjective judgment, leading to the risk of missed or false detections. Furthermore, manual inspection faces serious safety hazards in high-altitude, high-temperature, toxic, confined, or hazardous environments.

[0003] Chinese patent CN116429906B discloses a beam-climbing robot inspection system for rapid detection of hidden defects. The system includes a vehicle mounted on a steel beam, a robotic arm on one side of the vehicle corresponding to a chain on the steel beam, a navigation and positioning mechanism, a beam-crossing movement mechanism, and a phased array ultrasonic flaw detection mechanism on the vehicle. The end of the robotic arm is equipped with a visible light detection mechanism corresponding to the chain. The system also includes a controller that communicates with the navigation and positioning mechanism, the beam-crossing movement mechanism, the phased array ultrasonic flaw detection mechanism, the robotic arm, and the visible light detection mechanism. However, existing beam-climbing robots using a combination of robotic arms and chains for defect detection are only suitable for specific shapes. For complex-shaped steel structure cavities, such as those with variable cross-sections or numerous curved surfaces, they cannot effectively adhere to and stably move, resulting in insufficient adaptability for defect detection. To address these issues, we propose a magnetic wall-climbing robot weld defect localization device and method for steel structure cavities. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a weld defect location device and method for a magnetic wall-climbing robot for steel structure cavities. This solves the problem that existing beam-climbing robots, which use a combination of robotic arms and chains for defect detection, are only applicable to specific shapes and cannot effectively attract and stably move through complex shapes of steel structure cavities, resulting in insufficient adaptability for defect detection.

[0005] This invention is implemented as follows: a weld defect location device for a magnetic wall-climbing robot inside a steel structure cavity, comprising:

[0006] The positioning device body includes a robot mobile seat, an adaptive protective seat, and a magnetic wheel limiting groove. The adaptive protective seat is fixedly installed on the robot mobile seat, and the magnetic wheel limiting groove is opened in the robot mobile seat.

[0007] A magnetic attraction travel mechanism is installed inside the robot's mobile base. The magnetic attraction travel mechanism is used to attach the main body of the positioning device to the inner wall of the steel structure and adapt to the inner wall of the steel structure with different shapes.

[0008] The self-cleaning defect location mechanism is installed inside the robot's mobile base and is used to detect the location of weld defects.

[0009] The magnetic attraction mechanism includes a combined magnetic attraction wheel, a wheel drive motor, an adaptive protection component, and a vibration damping and reset component. The vibration damping and reset component is installed on one side of the adaptive protection seat and is connected to the adaptive protection component. The combined magnetic attraction wheel is fixedly connected to the wheel drive motor, and the wheel drive motor is connected to the adaptive protection component. The adaptive protection component is used to assist the combined magnetic attraction wheel in adapting to the inner cavity wall of steel structures with different shapes.

[0010] Preferably, the combined magnetic wheel includes an adsorption magnetic wheel and at least one set of anti-slip travel wheels. The adsorption magnetic wheel is detachably installed between the anti-slip travel wheels. The anti-slip travel wheels are fixedly connected to the wheel drive motor, and the wheel drive motor is detachably connected to the adaptive protection component.

[0011] The adaptive protection component includes:

[0012] An adaptive swing cantilever is provided, wherein the adaptive swing cantilever is disposed in a magnetic wheel limiting groove, and wheel drive motors are detachably installed at both ends of the adaptive swing cantilever.

[0013] At least one set of cantilever protection springs, wherein the cantilever protection springs are fixedly installed inside the robot's mobile base, and one end of the cantilever protection springs is fixedly connected to the adaptive swing cantilever.

[0014] The cantilever connecting shaft is fixedly installed on the side wall of the adaptive swing cantilever, and the cantilever connecting shaft is rotatably connected to the robot moving seat.

[0015] The first gear is rotatably mounted in the adaptive protective seat, and one side of the first gear is fixedly connected to the cantilever connecting shaft;

[0016] The second gear is rotatably mounted in the adaptive protection seat and meshes with the first gear. One side of the second gear is connected to the vibration damping and reset assembly.

[0017] Preferably, the vibration damping and reset assembly includes:

[0018] The vibration damping protection ratchet is rotatably mounted in the adaptive protection seat, and one side of the vibration damping protection ratchet is fixedly connected to the second gear;

[0019] At least one set of protective ratchet teeth, which are fixedly installed on the side wall of the shock-absorbing protective ratchet;

[0020] A locking ratchet is engaged with a protective ratchet, and the locking ratchet is fixedly mounted on a first reset torsion spring, which is fixedly mounted on the side wall of the adaptive protection seat.

[0021] A torsion spring mounting base is fixedly installed inside the robot's mobile base, and a second reset torsion spring is fixedly installed inside the torsion spring mounting base. One end of the second reset torsion spring is connected to the shock-absorbing protection ratchet.

[0022] Preferably, it also includes a stabilizing adsorption mechanism for assisting the stable adsorption of the main body of the positioning device, the stabilizing adsorption mechanism being installed at the bottom of the robot's mobile base;

[0023] The stable adsorption mechanism includes:

[0024] The drive hydraulic cylinder is fixedly installed inside the adaptive protection seat;

[0025] A variable-range adsorption component is installed at the bottom of the robot's mobile base and is connected to a drive hydraulic cylinder.

[0026] Preferably, the variable-range adsorption component includes:

[0027] A movable positioning seat is slidably installed inside the robot's mobile seat, and one side of the movable positioning seat is fixedly connected to the drive hydraulic cylinder;

[0028] A variable range drive motor is fixedly installed in a movable positioning seat, and the output shaft of the variable range drive motor is fixedly connected to the variable range drive seat. The variable range drive seat is provided with an arc-shaped drive groove, and the movable positioning seat is provided with a variable range positioning groove. The variable range positioning groove and the arc-shaped drive groove are slidably connected by a variable range slider.

[0029] At least one set of negative pressure adsorption seats, wherein a negative pressure air pump is embedded in the negative pressure adsorption seat, and the negative pressure adsorption seat is detachably mounted on the variable range slider;

[0030] An auxiliary adsorption magnetic pole is embedded in the variable range drive seat, and the auxiliary adsorption magnetic pole is used to enhance the adsorption force of the main body of the positioning device.

[0031] Preferably, the self-cleaning defect location mechanism includes:

[0032] The positioning and adjustment motor is fixedly installed inside the robot's moving base;

[0033] The positioning and cleaning integrated linkage unit is connected to the output shaft of the positioning and adjustment motor and is installed inside the robot's mobile base;

[0034] The positioning adjustment component is connected to the integrated positioning and cleaning unit, and the positioning adjustment component is used to adjust the angle and position of the defect detection component. The defect detection component includes a detection component mounting base and at least one set of defect detection elements. The defect detection elements are detachably installed in the detection component mounting base and are used to locate the position of weld defects.

[0035] The synchronous cleaning component is connected to the integrated positioning and cleaning unit and is used to assist in cleaning the surface of the inner wall of the steel structure when the defect detection component locates defects.

[0036] Preferably, the integrated positioning and cleaning unit includes:

[0037] The third gear is rotatably mounted inside the robot's mobile base, and one side of the third gear is fixedly connected to the output shaft of the positioning adjustment motor.

[0038] At least one set of fourth gears, which mesh with the third gear for transmission;

[0039] The main adjusting screw is fixedly connected to one side of the third gear. The main adjusting screw is rotatably installed in the integrated support. The integrated support is fixedly connected to the robot moving seat, and an adjusting rack seat is provided in the integrated support.

[0040] An auxiliary adjusting screw is fixedly connected to the fourth gear, and the end of the auxiliary adjusting screw away from the fourth gear is rotatably connected to an integral support.

[0041] The main threaded sleeve is threaded onto the outer wall of the main adjusting screw, and is slidably connected to the integral support. The main threaded sleeve is used to support the positioning and adjusting assembly.

[0042] An auxiliary threaded sleeve is threaded onto the outer wall of the auxiliary adjusting screw, and is slidably connected to an integral support. The auxiliary threaded sleeve is also connected to the synchronous cleaning assembly.

[0043] Preferably, the positioning adjustment component includes:

[0044] The first motor is fixedly mounted on the main threaded sleeve block, and the output shaft of the first motor is fixedly connected to the first adjusting rod;

[0045] The second motor is fixedly installed at the end of the first adjusting rod, and the output shaft of the second motor is fixedly connected to the second adjusting rod. The end of the second adjusting rod away from the second motor is fixedly installed with a third motor, and the output shaft of the third motor is fixedly connected to a detection component mounting base.

[0046] Preferably, the synchronous cleaning component includes:

[0047] Synchronous cleaning block is used to assist in cleaning the surface of the inner cavity wall of the steel structure when the defect detection component is locating defects.

[0048] At least one set of auxiliary friction strips, wherein the auxiliary friction strips are detachably mounted on the side wall of the synchronous cleaning block;

[0049] A cleaning support rod is fixedly connected to the synchronous cleaning block. A fifth gear is rotatably connected to one end of the cleaning support rod away from the synchronous cleaning block. The fifth gear is rotatably mounted on the auxiliary threaded sleeve block, and one side of the fifth gear meshes with the adjusting rack seat for transmission.

[0050] On the other hand, the present invention also provides a method for locating weld defects in a magnetic climbing robot for the inner cavity of a steel structure, the method comprising:

[0051] S10, during operation, the main body of the positioning device is placed in the inner wall of the steel structure to be tested. The combined magnetic chuck makes the main body of the positioning device fit tightly against the inner wall of the steel structure. The wheel drive motor is started by the PLC controller, and the wheel drive motor drives the combined magnetic chuck to rotate, thereby causing the combined magnetic chuck to move the main body of the positioning device. When an external force impacts the adaptive swing arm, and the adaptive swing arm drives the combined magnetic chuck to swing, the ratchet mechanism composed of the protective ratchet and the locking ratchet allows the adaptive swing arm to swing and compress the first reset torsion spring and the second reset torsion spring. The first reset torsion spring and the second reset torsion spring absorb the impact energy, so that the combined magnetic chuck can adaptively pass through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring and the second reset torsion spring is released, driving the protective ratchet, the vibration damping protective ratchet, the first gear, and the second gear to reset, so that the adaptive swing arm automatically returns to the initial equilibrium position.

[0052] S20, the PLC controller controls the start of the drive hydraulic cylinder, which drives the movable positioning seat to extend, so that the movable positioning seat drives the variable range drive seat to fit against the inner wall of the steel structure. At the same time, the negative pressure air pump is started, which evacuates the negative pressure adsorption seat, so that the main body of the positioning device is tightly attached to the inner wall of the steel structure. The auxiliary adsorption magnetic pole and the negative pressure air pump work together to switch from passive magnetic adsorption to active composite adsorption. At the same time, when it is necessary to adapt to protrusions of different shapes, the variable range drive motor is turned on, which drives the variable range drive seat to rotate, so that the variable range drive seat drives the variable range slider, the negative pressure adsorption seat, and the negative pressure air pump to adjust the position, thereby achieving a tight fit between the main body of the positioning device and protrusions of different shapes.

[0053] S30, when the main body of the positioning device moves to the area to be inspected on the inner wall of the steel structure, the PLC controller controls the positioning adjustment motor to start. The positioning adjustment motor drives the third gear and the fourth gear to rotate. The third gear drives the main adjustment screw to rotate, and the fourth gear drives the auxiliary adjustment screw to rotate. The main adjustment screw rotates under the drive of the third gear, thereby driving the main threaded sleeve block to slide on the integrated support, driving the positioning adjustment component and the defect detection component to make precise position adjustments. The first motor drives the first adjustment rod to rotate, thereby driving the defect detection component to rotate and adjust. Through the rotation of the second motor, the second adjustment rod further drives the defect detection component to swing, further expanding the adjustment range of the defect detection component. Through the rotation of the third motor, the mounting base of the detection component is finely adjusted within a small range, ensuring that the defect detection component can accurately align with the weld defect position, and the defect detection component is activated to perform real-time detection of weld defect positioning.

[0054] When the fourth gear rotates, it drives the auxiliary adjusting screw to rotate. The auxiliary adjusting screw rotates under the drive of the fourth gear, which drives the auxiliary threaded sleeve block to slide. The auxiliary threaded sleeve block synchronously drives the fifth gear, the cleaning support rod, the synchronous cleaning block, and the auxiliary friction strip to move and rotate at the same time. The synchronous cleaning block and the auxiliary friction strip clean the impurities on the weld surface, providing a clear inspection environment for the defect detection component.

[0055] Compared with the prior art, the embodiments of this application have the following main advantages:

[0056] In this embodiment of the invention, the magnetic attraction mechanism includes a combined magnetic wheel, a wheel drive motor, and an adaptive protection component. The combined magnetic wheel, wheel drive motor, and adaptive protection component work together to ensure that the combined magnetic wheel is not rigidly fixed, but is suspended inside the robot's mobile seat by the adaptive protection component. When the robot encounters a depression or protrusion on the inner wall, the corresponding combined magnetic wheel will adaptively float up and down, thereby actively conforming to the wall. This, in conjunction with the adaptive protection component and the vibration damping and reset component, adapts to the inner wall of the steel structure with different shapes, ensuring that the robot can stably adhere to the inner wall throughout the process, without any interruption of movement or failure of adsorption due to shape changes.

[0057] In this embodiment of the invention, an adaptive protection component is provided. The adaptive protection component consists of an adaptive swinging cantilever, a cantilever connecting shaft, a cantilever protection spring, a first gear, and a second gear. The second gear and the first gear can limit the adaptive swinging cantilever through the meshing force between the gears when the adaptive swinging cantilever swings. At the same time, the meshing method of the second gear and the first gear can also ensure the flexibility of position and angle adjustment of the adaptive swinging cantilever and the combined magnetic chuck when there are protrusions or obstacles on the inner wall of the steel structure. In addition, the cantilever protection spring in the adaptive protection component can play a buffering role during the robot's movement. When encountering irregular inner walls of the steel structure, the cantilever protection spring absorbs part of the impact force through its own elastic deformation, further protecting the adaptive swinging cantilever and the combined magnetic chuck connected to it, avoiding damage due to excessive collision. This ensures that the robot's adaptability and stability in the complex steel structure inner cavity environment are effectively improved without affecting the overall movement of the robot and the weld defect location function, ensuring that the robot can continuously and stably locate and detect weld defects.

[0058] In this embodiment of the invention, a vibration damping and reset assembly is provided. The vibration damping and reset assembly consists of a vibration damping protection ratchet, a protection ratchet, a locking ratchet, a first reset torsion spring, and a second reset torsion spring. The vibration damping and reset assembly can ensure that the robot always maintains the correct posture and adsorption position during movement. Even in the event of an accident, it can quickly return to a stable adsorption state through the action of the reset torsion spring. When an external force (impact protrusion) impacts the adaptive swinging arm, and the adaptive swinging arm drives the combined magnetic chuck to swing, the ratchet mechanism composed of the protection ratchet and the locking ratchet allows the adaptive swinging arm to swing and compress the first reset torsion spring and the second reset torsion spring. This allows the first reset torsion spring and the second reset torsion spring to absorb the impact energy, ensuring that the combined magnetic chuck adaptively passes through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring and the second reset torsion spring is released, driving the protection ratchet, the vibration damping protection ratchet, the first gear, and the second gear to reset, so that the adaptive swinging arm automatically returns to its initial equilibrium position. This further improves the adaptability of the combined magnetic chuck to different types of steel structure inner wall structures.

[0059] In this embodiment of the invention, a stable adsorption mechanism is provided, which consists of a driving hydraulic cylinder and a variable-range adsorption component. The driving hydraulic cylinder and the variable-range adsorption component work together to ensure stable and accurate adsorption in the complex and ever-changing internal environment of the steel structure. During the rotation of the variable-range driving seat, the variable-range slider moves smoothly along a preset trajectory under the joint guidance of the arc-shaped driving groove and the variable-range positioning groove, driving the negative pressure adsorption seat and the negative pressure air pump to flexibly adjust their positions to adapt to various protruding structures with different curvatures and sizes. By combining active composite adsorption with flexible position adjustment, the adaptability and positioning accuracy of the positioning device in the internal cavity of the steel structure are greatly improved, providing a reliable guarantee for the subsequent accurate detection of weld defects.

[0060] In this embodiment of the invention, a self-cleaning defect positioning mechanism is provided. The self-cleaning defect positioning mechanism consists of a positioning adjustment motor, a positioning and cleaning integrated linkage unit, a positioning adjustment component, a synchronous cleaning component, and a defect detection component. The positioning adjustment motor synchronously drives the positioning and cleaning integrated linkage unit to move, which in turn drives the positioning adjustment component, the synchronous cleaning component, and the defect detection component to move synchronously. This allows the position of the defect detection component to be flexibly adjusted, while the synchronous cleaning component is driven by the positioning and cleaning integrated linkage unit. This enables the cleaning of dust and adsorbents on the surface of the inner cavity wall of the steel structure while the position of the defect detection component is being adjusted, thereby improving the efficiency and accuracy of defect positioning and detection.

[0061] In this embodiment of the invention, a synchronous cleaning component is provided. The fifth gear, cleaning support rod, synchronous cleaning block, and auxiliary friction strip in the synchronous cleaning component can move and rotate at the same time as the auxiliary threaded sleeve block moves. This ensures the cleanliness of the inner wall and, at the same time, the synchronous movement with the defect detection component ensures the coordination between the cleaning operation and the robot's movement. This allows the cleaning component to continuously and effectively clean the inner cavity wall surface during the robot's movement. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the weld defect positioning device for a magnetic climbing robot in a steel structure cavity provided by the present invention.

[0063] Figure 2 This is a three-dimensional structural schematic diagram of the weld defect positioning device for a magnetic climbing robot in a steel structure cavity provided by the present invention.

[0064] Figure 3 This is a front view of the steel structure internal cavity magnetic climbing robot weld defect positioning device provided by the present invention.

[0065] Figure 4 This is a top view of the weld defect positioning device for a magnetic climbing robot in a steel structure cavity provided by the present invention.

[0066] Figure 5This is a schematic diagram of the magnetic attraction and travel mechanism provided by the present invention.

[0067] Figure 6 This is an isometric view of the magnetic attraction travel mechanism provided by the present invention.

[0068] Figure 7 This is a top view of the magnetic attraction travel mechanism provided by the present invention.

[0069] Figure 8 This is a bottom view of the magnetic attraction travel mechanism provided by the present invention.

[0070] Figure 9 This is a schematic diagram of the vibration damping and resetting assembly provided by the present invention.

[0071] Figure 10 This is a three-dimensional structural diagram of the vibration damping and resetting component provided by the present invention.

[0072] Figure 11 This is a schematic diagram of the stable adsorption mechanism provided by the present invention.

[0073] Figure 12 This is a three-dimensional structural schematic diagram of the stable adsorption mechanism provided by the present invention.

[0074] Figure 13 This is a bottom view of the stable adsorption mechanism provided by the present invention.

[0075] Figure 14 This is a schematic diagram of the self-cleaning defect location mechanism provided by the present invention.

[0076] Figure 15 This is an isometric drawing of the self-cleaning defect location mechanism provided by the present invention.

[0077] Figure 16 This is a top view of the self-cleaning defect location mechanism provided by the present invention.

[0078] In the diagram: 1-Positioning device body, 11-Robot moving seat, 12-Adaptive protection seat, 13-Magnetic wheel limiting groove, 2-Magnetic attraction traveling mechanism, 21-Combined magnetic attraction wheel, 211-Anti-slip traveling wheel, 212-Adsorption magnetic wheel, 22-Wheel drive motor, 23-Adaptive protection component, 231-Adaptive swing cantilever, 232-Cantilever protection spring, 233-Cantilever connecting shaft, 234-First gear, 235-Second gear, 24-Vibration damping and reset component, 241-Vibration damping protection ratchet, 242-Protective ratchet, 243-Locking ratchet, 244-First reset torsion spring, 245-Torsion spring mounting seat, 246-Second reset torsion spring, 3-Self-cleaning defect positioning mechanism, 31-Positioning adjustment motor, 32-Positioning and cleaning integrated linkage part, 321-Third gear, 322-Fourth gear, 323-Main adjusting screw, 324-Auxiliary adjusting screw 325-Main threaded sleeve block, 326-Auxiliary threaded sleeve block, 327-Integrated support seat, 328-Adjusting rack seat, 33-Synchronous cleaning assembly, 331-Synchronous cleaning block, 332-Auxiliary friction strip, 333-Cleaning support rod, 334-Fifth gear, 34-Positioning adjustment assembly, 341-First motor, 342-First adjusting rod, 343-Second motor, 344-Second adjusting rod, 345-Third motor, 35-Defect detection assembly, 351-Detection assembly mounting seat, 352-Defect detection component, 4-Stable adsorption mechanism, 41-Drive hydraulic cylinder, 42-Variable range adsorption assembly, 421-Variable range drive motor, 422-Movable positioning seat, 423-Variable range drive seat, 424-Variable range positioning groove, 425-Arc-shaped drive groove, 426-Variable range slider, 427-Negative pressure adsorption seat, 428-Auxiliary adsorption magnetic pole. Detailed Implementation

[0079] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0080] Existing beam-climbing robots, which use a combination of robotic arms and chains for defect detection, are only applicable to specific shapes. They cannot effectively attract and stably move through complex-shaped steel structure cavities, resulting in insufficient adaptability for defect detection. To address this issue, we propose a magnetic suction wall-climbing robot weld defect location device and method for steel structure cavities. In short, the device consists of a positioning device body 1, a magnetic suction travel mechanism 2, and a self-cleaning defect location mechanism 3. The positioning device body 1 includes a robot moving seat 11, an adaptive protection seat 12, and a magnetic wheel limiting groove 13, while the magnetic suction travel mechanism 2 includes a combined magnetic suction wheel 21, a wheel drive motor 22, an adaptive protection component 23, and a vibration damping and reset component 24. In this embodiment of the invention, the magnetic attraction travel mechanism 2 includes a combined magnetic attraction wheel 21, a wheel drive motor 22, and an adaptive protection component 23. The combined magnetic attraction wheel 21, the wheel drive motor 22, and the adaptive protection component 23 work together to make the combined magnetic attraction wheel 21 not rigidly fixed, but suspended inside the robot mobile seat 11 by the adaptive protection component 23. When the robot encounters a depression or protrusion on the inner wall, the corresponding combined magnetic attraction wheel 21 will adaptively float up and down, thereby actively conforming to the wall. In conjunction with the adaptive protection component 23 and the vibration damping and reset component 24, it can adapt to the inner wall of steel structure with different shapes, ensuring that the robot can be stably attracted to the inner wall throughout the process, and there will be no interruption of travel or failure of attraction due to shape changes.

[0081] This invention provides a device for locating weld defects in a magnetic climbing robot for steel structures, such as... Figures 1-4 As shown, the weld defect location device for a magnetic wall-climbing robot inside a steel structure specifically includes:

[0082] The positioning device body 1 includes a robot mobile base 11, an adaptive protection base 12, and a magnetic wheel limiting groove 13. The adaptive protection base 12 is fixedly installed on the robot mobile base 11, and the magnetic wheel limiting groove 13 is opened inside the robot mobile base 11. The robot mobile base 11 is a hollow rectangular or circular base, and the adaptive protection base 12 is fixedly installed inside the robot mobile base 11 by plugging or welding. The adaptive protection base 12 is a rectangular base with an opening on one side. The magnetic wheel limiting groove 13 is symmetrically arranged inside the robot mobile base 11. The magnetic wheel limiting groove 13 is a rectangular groove or a "T" shaped groove. A PLC controller is also installed on the side wall of the robot mobile base 11.

[0083] The magnetic attraction travel mechanism 2 is installed inside the robot mobile base 11. The magnetic attraction travel mechanism 2 is used to attract the positioning device body 1 to the inner wall of the steel structure and adapt to the inner wall of the steel structure with different shapes.

[0084] The self-cleaning defect positioning mechanism 3 is installed inside the robot mobile base 11. The self-cleaning defect positioning mechanism 3 is used to detect the location of weld defects.

[0085] Among them, such as Figures 5-8 As shown, the magnetic attraction mechanism 2 includes a combined magnetic attraction wheel 21, a wheel drive motor 22, an adaptive protection component 23, and a vibration damping and reset component 24. The vibration damping and reset component 24 is installed on one side of the adaptive protection seat 12 and is connected to the adaptive protection component 23. The combined magnetic attraction wheel 21 is fixedly connected to the wheel drive motor 22, and the wheel drive motor 22 is connected to the adaptive protection component 23. The adaptive protection component 23 is used to assist the combined magnetic attraction wheel 21 in adapting to the inner wall of steel structures of different shapes.

[0086] In this embodiment of the invention, the magnetic attraction travel mechanism 2 includes a combined magnetic attraction wheel 21, a wheel drive motor 22, and an adaptive protection component 23. The combined magnetic attraction wheel 21, the wheel drive motor 22, and the adaptive protection component 23 work together to make the combined magnetic attraction wheel 21 not rigidly fixed, but suspended inside the robot mobile seat 11 by the adaptive protection component 23. When the robot encounters a depression or protrusion on the inner wall, the corresponding combined magnetic attraction wheel 21 will adaptively float up and down, thereby actively conforming to the wall. In conjunction with the adaptive protection component 23 and the vibration damping and reset component 24, it can adapt to the inner wall of steel structure with different shapes, ensuring that the robot can be stably attracted to the inner wall throughout the process, and there will be no interruption of travel or failure of attraction due to shape changes.

[0087] In a further preferred embodiment of the present invention, such as Figures 5-8 As shown, the combined magnetic roller 21 includes an adsorption magnetic roller 212 and at least one set of anti-slip travel rollers 211. The adsorption magnetic roller 212 is detachably installed between the anti-slip travel rollers 211. The anti-slip travel rollers 211 are fixedly connected to the wheel drive motor 22, and the wheel drive motor 22 is detachably connected to the adaptive protection component 23. There are two sets of anti-slip travel rollers 211, and the anti-slip travel rollers 211 are made of polished stainless steel or PVC. The anti-slip travel rollers 211 and the adsorption magnetic rollers 212 are connected by snap-fit ​​or plug-in. The sidewall of any set of anti-slip travel rollers 211 is fixedly connected to the wheel drive motor 22 by interference fit. The wheel drive motor 22 is electrically connected to the PLC controller. The adsorption magnetic rollers 212 are made of permanent magnet material.

[0088] The adaptive protection component 23 includes:

[0089] An adaptive swing cantilever 231 is provided in the magnetic wheel limiting groove 13, and wheel drive motors 22 are detachably installed at both ends of the adaptive swing cantilever 231. The adaptive swing cantilever 231 is a "U" shaped or bent arm structure, and the adaptive swing cantilever 231 and the wheel drive motor 22 are connected by welding or riveting.

[0090] At least one set of cantilever protection springs 232 are fixedly installed in the robot mobile base 11, and one end of the cantilever protection spring 232 is fixedly connected to the adaptive swing cantilever 231.

[0091] The cantilever connecting shaft 233 is fixedly installed on the side wall of the adaptive swing cantilever 231, and the cantilever connecting shaft 233 is rotatably connected to the robot moving seat 11. The cantilever connecting shaft 233 is rotatably connected to the robot moving seat 11 through bearings or rollers.

[0092] The first gear 234 is rotatably mounted in the adaptive protection seat 12, and one side of the first gear 234 is fixedly connected to the cantilever connecting shaft 233.

[0093] The second gear 235 is rotatably mounted within the adaptive protection seat 12, and meshes with the first gear 234 for transmission. One side of the second gear 235 is connected to the vibration damping and reset assembly 24.

[0094] In this embodiment, the first gear 234 is symmetrically arranged in the adaptive protection seat 12, and there are two sets of the first gear 234. The first gear 234 and the second gear 235 can be bevel gears. The two sides of the second gear 235 mesh with the first gear 234 for transmission. The first gear 234 and the second gear 235 are rotatably connected to the adaptive protection seat 12 through bearings.

[0095] In this embodiment of the invention, an adaptive protection component 23 is provided. The adaptive protection component 23 consists of an adaptive swing cantilever 231, a cantilever connecting shaft 233, a cantilever protection spring 232, a first gear 234, and a second gear 235. The second gear 235 and the first gear 234 can limit the adaptive swing cantilever 231 by the meshing force between the gears when the adaptive swing cantilever 231 swings. At the same time, the meshing method between the second gear 235 and the first gear 234 can also ensure that the position and angle adjustment of the adaptive swing cantilever 231 and the combined magnetic suction wheel 21 are flexible when there are protrusions or obstacles on the inner wall of the steel structure. In addition, the cantilever protection spring 232 in the adaptive protection component 23 can play a buffering role during the robot's movement. When encountering irregular steel structure inner cavity walls, the cantilever protection spring 232 absorbs part of the impact force through its own elastic deformation, further protecting the adaptive swing cantilever 231 and the combined magnetic suction wheel 21 connected to it, avoiding damage due to excessive collisions. This ensures that the robot's adaptability and stability in complex steel structure inner cavity environments are effectively improved without affecting the robot's overall movement and weld defect location function, ensuring that the robot can continuously and stably locate and detect weld defects.

[0096] In a further preferred embodiment of the present invention, such as Figures 9-10 As shown, the vibration damping and reset assembly 24 includes:

[0097] The vibration damping protection ratchet 241 is rotatably mounted in the adaptive protection seat 12, and one side of the vibration damping protection ratchet is fixedly connected to the second gear 235. The vibration damping protection ratchet 241 is fixedly connected to the second gear 235 by welding or plugging.

[0098] At least one set of protective ratchet teeth 242 are fixedly installed on the side wall of the shock-absorbing and protective ratchet, and the protective ratchet teeth 242 are evenly arranged in a clockwise circumferential direction;

[0099] Locking ratchet 243 is engaged with protective ratchet 242 and is fixedly mounted on first reset torsion spring 244. First reset torsion spring 244 is fixedly mounted on the side wall of adaptive protection seat 12. Locking ratchet 243 is made of elastomer or stainless steel and is fixedly connected to first reset torsion spring 244 by welding or riveting.

[0100] A torsion spring mounting base 245 is fixedly installed inside the robot mobile base 11, and a second reset torsion spring 246 is fixedly installed inside the torsion spring mounting base 245. One end of the second reset torsion spring 246 is connected to the shock-absorbing protection ratchet. The torsion spring mounting base 245 is fixedly installed inside the robot mobile base 11 by welding or snap-fit.

[0101] In this embodiment of the invention, a vibration damping and reset assembly 24 is provided. The vibration damping and reset assembly 24 consists of a vibration damping and protection ratchet 241, a protection ratchet 242, a locking ratchet 243, a first reset torsion spring 244, and a second reset torsion spring 246. The vibration damping and reset assembly 24 ensures that the robot maintains the correct posture and adsorption position during movement. Even in the event of an accident, it can quickly return to a stable adsorption state through the action of the reset torsion spring. When an external force (impact protrusion) impacts the adaptive swinging cantilever 231, and the adaptive swinging cantilever 231 drives the combined magnetic suction wheel 21 to swing, the ratchet formed by the protection ratchet 242 and the locking ratchet 243... The wheel mechanism allows the adaptive swing cantilever 231 to swing and compress the first reset torsion spring 244 and the second reset torsion spring 246, so that the first reset torsion spring and the second reset torsion spring 246 absorb impact energy, ensuring that the combined magnetic chuck 21 adaptively passes through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring 244 and the second reset torsion spring 246 is released, driving the protective ratchet 242, the vibration damping protective ratchet 241, the first gear 234, and the second gear 235 to reset, so that the adaptive swing cantilever 231 automatically returns to the initial equilibrium position, thereby further improving the adaptability of the combined magnetic chuck 21 to different types of steel structure inner cavity wall structures.

[0102] During operation, the positioning device body 1 is placed inside the inner wall of the steel structure to be inspected. The combined magnetic chuck 21 keeps the positioning device body 1 pressed tightly against the inner wall of the steel structure. The wheel drive motor 22 is started by the PLC controller, which drives the combined magnetic chuck 21 to rotate, thereby causing the combined magnetic chuck 21 to move the positioning device body 1. When an external force impacts the adaptive swing arm 231, the adaptive swing arm 231 drives the combined magnetic chuck 21 to swing. The ratchet mechanism composed of the protective ratchet 242 and the locking ratchet 243 is activated. The structure allows the adaptive swing cantilever 231 to swing and compress the first reset torsion spring 244 and the second reset torsion spring 246, so that the first reset torsion spring and the second reset torsion spring 246 absorb impact energy. This allows the combined magnetic pulley 21 to adaptively pass through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring 244 and the second reset torsion spring 246 is released, driving the protection ratchet 242, the vibration damping protection ratchet 241, the first gear 234, and the second gear 235 to reset, so that the adaptive swing cantilever 231 automatically returns to its initial equilibrium position.

[0103] In a further preferred embodiment of the present invention, such as Figures 11-13 As shown, the device also includes a stabilizing adsorption mechanism 4 for assisting the positioning device body 1 in stable adsorption, and the stabilizing adsorption mechanism 4 is installed at the bottom of the robot mobile base 11.

[0104] The stable adsorption mechanism 4 includes:

[0105] The driving hydraulic cylinder 41 is fixedly installed in the adaptive protection seat 12. The driving hydraulic cylinder 41 is fixedly installed in the adaptive protection seat 12 by welding or snap-fitting. The driving hydraulic cylinder 41 is electrically connected to the PLC controller.

[0106] A variable-range adsorption component 42 is installed at the bottom of the robot mobile base 11 and is connected to the drive hydraulic cylinder 41.

[0107] In this embodiment, the variable-range adsorption component 42 includes:

[0108] The movable positioning seat 422 is slidably installed inside the robot moving seat 11, and one side of the movable positioning seat 422 is fixedly connected to the driving hydraulic cylinder 41.

[0109] A variable range drive motor 421 is fixedly installed in a movable positioning seat 422, and the output shaft of the variable range drive motor 421 is fixedly connected to a variable range drive seat 423. The variable range drive seat 423 is provided with an arc-shaped drive groove 425, and the movable positioning seat 422 is provided with a variable range positioning groove 424. The variable range positioning groove 424 and the arc-shaped drive groove 425 are slidably connected by a variable range slider 426. The movable positioning seat 422 and the variable range drive seat 423 are both circular seats or circular plates. The movable positioning seat 422 is fixedly connected to the telescopic rod of the drive hydraulic cylinder 41 by plugging or riveting. The variable range drive motor 421 is fixedly installed in the movable positioning seat 422 by snap-fit ​​or welding. The variable range drive motor 421 is electrically connected to the PLC controller. The number of arc-shaped drive grooves 425 and variable range positioning grooves 424 is consistent, and the number is 4-8 sets.

[0110] At least one set of negative pressure adsorption seats 427, wherein a negative pressure air pump is embedded in the negative pressure adsorption seat 427, and the negative pressure adsorption seat 427 is detachably mounted on the variable range slider 426. The negative pressure adsorption seat 427 is connected to the variable range slider 426 by threads or buckles, and the negative pressure adsorption seat 427 is a hollow rectangular seat or a round seat. The negative pressure air pump is electrically connected to the PLC controller.

[0111] An auxiliary adsorption magnetic pole 428 is embedded in the variable range drive seat 423, and the auxiliary adsorption magnetic pole 428 is used to enhance the adsorption force of the positioning device body 1. The auxiliary adsorption magnetic pole 428 is made of permanent magnet material, and the auxiliary adsorption magnetic pole 428 is fixedly installed in the variable range drive seat 423 by riveting or plugging.

[0112] When an external force impacts the adaptive swing cantilever 231, the PLC controller controls the start of the drive hydraulic cylinder 41. The drive hydraulic cylinder 41 drives the movable positioning seat 422 to extend, causing the movable positioning seat 422 to drive the variable range drive seat 423 to fit against the inner wall of the steel structure. At the same time, the negative pressure air pump is started, which evacuates the negative pressure adsorption seat 427, thereby making the main body 1 of the positioning device tightly fit against the inner wall of the steel structure. The auxiliary adsorption magnetic pole 428 works with the negative pressure air pump to switch from passive magnetic adsorption to active composite adsorption. At the same time, when it is necessary to adapt to protrusions of different shapes, the variable range drive motor 421 is turned on. The variable range drive motor 421 drives the variable range drive seat 423 to rotate, causing the variable range drive seat 423 to drive the variable range slider 426, the negative pressure adsorption seat 427, and the negative pressure air pump to adjust their positions, thereby achieving a tight fit between the main body 1 of the positioning device and protrusions of different shapes.

[0113] In this embodiment of the invention, a stable adsorption mechanism 4 is provided, which consists of a driving hydraulic cylinder 41 and a variable range adsorption component 42. The driving hydraulic cylinder 41 and the variable range adsorption component 42 work together to ensure stable and accurate adsorption in the complex and ever-changing internal environment of the steel structure. During the rotation of the variable range driving seat 423, the variable range slider 426 moves smoothly along a preset trajectory under the joint guidance of the arc-shaped driving groove 425 and the variable range positioning groove 424, which drives the negative pressure adsorption seat 427 and the negative pressure air pump to flexibly adjust their positions to adapt to various protruding structures with different curvatures and sizes. By combining active composite adsorption with flexible position adjustment, the adaptability and positioning accuracy of the positioning device in the internal cavity of the steel structure are greatly improved, providing a reliable guarantee for the subsequent accurate detection of weld defects.

[0114] In a further preferred embodiment of the present invention, such as Figures 14-16 As shown, the self-cleaning defect location mechanism 3 includes:

[0115] The positioning adjustment motor 31 is fixedly installed inside the robot mobile base 11. The positioning adjustment motor 31 is electrically connected to the PLC controller, and the positioning adjustment motor 31 is fixedly installed inside the robot mobile base 11 by welding or snap-fit.

[0116] The positioning and cleaning integrated linkage unit 32 is connected to the output shaft of the positioning and adjustment motor 31 and is installed inside the robot mobile base 11.

[0117] The positioning adjustment component 34 is connected to the positioning and cleaning integrated linkage part 32, and the positioning adjustment component 34 is used to adjust the angle and position of the defect detection component 35. The defect detection component 35 includes a detection component mounting base 351 and at least one set of defect detection elements 352. The defect detection elements 352 are detachably installed in the detection component mounting base 351. The defect detection elements 352 are used to locate the position of weld defects. The detection component mounting base 351 is a hollow round or rectangular base, and the defect detection elements 352 are circumferentially arranged in the detection component mounting base 351. The defect detection elements 352 include, but are not limited to, ultrasonic flaw detectors, phased array ultrasonic detectors, high-definition industrial endoscopes / cameras, laser scanning sensors, and infrared thermal imagers.

[0118] The synchronous cleaning component 33 is connected to the positioning and cleaning integrated linkage part 32 and is used to assist in cleaning the surface of the inner cavity wall of the steel structure when the defect detection component 35 locates defects.

[0119] In this embodiment of the invention, a self-cleaning defect positioning mechanism 3 is provided. The self-cleaning defect positioning mechanism 3 consists of a positioning adjustment motor 31, a positioning and cleaning integrated linkage unit 32, a positioning adjustment component 34, a synchronous cleaning component 33, and a defect detection component 35. The positioning adjustment motor 31 synchronously drives the positioning and cleaning integrated linkage unit 32 to move. The positioning and cleaning integrated linkage unit 32 drives the positioning adjustment component 34, the synchronous cleaning component 33, and the defect detection component 35 to move synchronously. This allows the position of the defect detection component 35 to be flexibly adjusted, while the synchronous cleaning component 33 is driven by the positioning and cleaning integrated linkage unit 32. This enables the cleaning of dust and adsorbed substances on the surface of the inner cavity wall of the steel structure while the position of the defect detection component 35 is being adjusted, thereby improving the efficiency and accuracy of defect positioning and detection.

[0120] In a further preferred embodiment of the present invention, such as Figures 14-15 As shown, the integrated positioning and cleaning linkage unit 32 includes:

[0121] The third gear 321 is rotatably mounted inside the robot mobile base 11, and one side of the third gear 321 is fixedly connected to the output shaft of the positioning adjustment motor 31. The third gear 321 is rotatably connected to the robot mobile base 11 through a bearing.

[0122] At least one set of fourth gears 322, which mesh with the third gear 321 for transmission, and the fourth gears 322 are symmetrically arranged on both sides of the third gear 321;

[0123] The main adjusting screw 323 is fixedly connected to one side of the third gear 321. The main adjusting screw 323 is rotatably installed in the integrated support 327. The integrated support 327 is fixedly connected to the robot moving base 11, and an adjusting rack seat 328 is provided in the integrated support 327. The main adjusting screw 323 is fixedly connected to the third gear 321 by plugging or welding, while the integrated support 327 is fixedly connected to the robot moving base 11 by fastening bolts or welding.

[0124] An auxiliary adjusting screw 324 is fixedly connected to the fourth gear 322. The end of the auxiliary adjusting screw 324 away from the fourth gear 322 is rotatably connected to an integral support 327. The auxiliary adjusting screw 324 is symmetrically arranged about the main adjusting screw 323, and the auxiliary adjusting screw 324 is fixedly connected to the fourth gear 322 by plugging or welding.

[0125] The main threaded sleeve 325 is threadedly sleeved on the outer wall of the main adjusting screw 323, and the main threaded sleeve 325 is slidably connected to the integral support 327. The main threaded sleeve 325 is used to support the positioning and adjusting assembly 34.

[0126] An auxiliary threaded sleeve 326 is threaded onto the outer wall of the auxiliary adjusting screw 324, and the auxiliary threaded sleeve 326 is slidably connected to the integral support 327. The auxiliary threaded sleeve 326 is also connected to the synchronous cleaning assembly 33.

[0127] In this embodiment of the invention, a positioning and cleaning integrated linkage unit 32 is provided. The positioning and cleaning integrated linkage unit 32 includes components such as a main adjusting screw 323, an auxiliary adjusting screw 324, a main threaded sleeve 325, and an auxiliary threaded sleeve 326. Through the coordinated cooperation of the main adjusting screw 323, the auxiliary adjusting screw 324, the main threaded sleeve 325, and the auxiliary threaded sleeve 326, the positioning adjustment component 34, the defect detection component 35, and the synchronous cleaning component 33 are synchronously driven. When the robot performs weld defect positioning operation, the main adjusting screw 323 rotates under the drive of the third gear 321, thereby driving the main threaded sleeve 325 to slide on the integrated support 327, driving the positioning adjustment component 34 to perform precise position adjustment, so as to better locate the weld defect. At the same time, the auxiliary adjusting screw 324 rotates under the drive of the fourth gear 322, driving the auxiliary threaded sleeve block 326 to slide, and synchronously driving the synchronous cleaning component 33 to clean the impurities on the weld surface, providing a clear detection environment for the defect detection component 35 and ensuring the accuracy of defect detection.

[0128] In this embodiment, the positioning adjustment component 34 includes:

[0129] The first motor 341 is fixedly mounted on the main threaded sleeve 325, and the output shaft of the first motor 341 is fixedly connected to the first adjusting rod 342. The first motor 341 is fixedly mounted on the main threaded sleeve 325 by snap-fit ​​or bolt, and the first adjusting rod 342 is snap-fitted or interference-fitted with the output shaft of the first motor 341.

[0130] The second motor 343 is fixedly installed at the end of the first adjusting rod 342, and the output shaft of the second motor 343 is fixedly connected to the second adjusting rod 344. The end of the second adjusting rod 344 away from the second motor 343 is fixedly installed with the third motor 345, and the output shaft of the third motor 345 is fixedly connected to the detection component mounting base 351.

[0131] In this embodiment of the invention, a positioning adjustment component 34 is provided. Through the coordinated operation of a first motor 341, a second motor 343, and a third motor 345, the positioning adjustment component 34 enables flexible adjustment of the position and angle of the defect detection component 35. Specifically, the first motor 341 drives the first adjusting rod 342 to rotate, thereby causing the defect detection component 35 to rotate and adjust. The rotation of the second motor 343 causes the second adjusting rod 344 to further drive the defect detection component 35 to swing, further expanding the adjustment range of the defect detection component 35. The rotation of the third motor 345 enables fine adjustment of the detection component mounting base 351 within a small range, ensuring that the defect detection component 352 can be accurately aligned with the weld defect position.

[0132] In a further preferred embodiment of the present invention, such as Figures 14-16 As shown, the synchronous cleaning component 33 includes:

[0133] The synchronous cleaning block 331 is used to assist in cleaning the inner wall surface of the steel structure when the defect detection component 35 locates defects. The synchronous cleaning block 331 is a disc or block structure made of wear-resistant material. The synchronous cleaning block 331 plays a role in quickly cleaning the inner wall surface.

[0134] At least one set of auxiliary friction strips 332 are provided. The auxiliary friction strips 332 are detachably installed on the side wall of the synchronous cleaning block 331. The auxiliary friction strips 332 are made of elastomer material and are arranged circumferentially on the outer side wall of the synchronous cleaning block 331. The setting of the auxiliary friction strips 332 further enhances the cleaning and expands the cleaning area.

[0135] A cleaning support rod 333 is fixedly connected to the synchronous cleaning block 331. A fifth gear 334 is rotatably connected to one end of the cleaning support rod 333 away from the synchronous cleaning block 331. The fifth gear 334 is rotatably mounted on the auxiliary threaded sleeve block 326, and one side of the fifth gear 334 meshes with the adjusting rack seat 328 for transmission.

[0136] In this embodiment of the invention, a synchronous cleaning component 33 is provided. The fifth gear 334, cleaning support rod 333, synchronous cleaning block 331, and auxiliary friction strip 332 in the synchronous cleaning component 33 can move and rotate simultaneously when the auxiliary threaded sleeve block 326 moves. This ensures the cleanliness of the inner wall and, at the same time, moves synchronously with the defect detection component 35 to ensure the coordination between the cleaning operation and the robot's movement. This allows the cleaning component to continuously and effectively clean the inner wall surface during the robot's movement.

[0137] When the main body 1 of the positioning device moves to the area to be inspected on the inner wall of the steel structure, the PLC controller controls the positioning adjustment motor 31 to start. The positioning adjustment motor 31 drives the third gear 321 and the fourth gear 322 to rotate. The third gear 321 drives the main adjusting screw 323 to rotate, and the fourth gear 322 drives the auxiliary adjusting screw 324 to rotate. The main adjusting screw 323 rotates under the drive of the third gear 321, thereby driving the main threaded sleeve 325 to slide on the integrated support 327, driving the positioning adjustment assembly 34 and the defect detection component 352 to perform precise position adjustment. Meanwhile, the first motor 341 drives the first adjusting rod 342 to rotate, thereby driving the defect detection component 352 to rotate and adjust. Through the rotation of the second motor 343, the second adjusting rod 344 is further driven to rotate. The oscillation of the defect detection component 352 further expands its adjustment range. The rotation of the third motor 345 enables fine adjustment of the detection component mounting base 351 within a small range, ensuring that the defect detection component 352 can accurately align with the weld defect location. When the fourth gear 322 rotates, it drives the auxiliary adjusting screw 324 to rotate. The auxiliary adjusting screw 324 rotates under the drive of the fourth gear 322, driving the auxiliary threaded sleeve block 326 to slide. The auxiliary threaded sleeve block 326 synchronously drives the fifth gear 334, the cleaning support rod 333, the synchronous cleaning block 331, and the auxiliary friction strip 332 to move and rotate simultaneously. The synchronous cleaning block 331 and the auxiliary friction strip 332 clean impurities on the weld surface, providing a clear detection environment for the defect detection component 35.

[0138] On the other hand, embodiments of the present invention also provide a method for locating weld defects in a magnetic wall-climbing robot for the inner cavity of a steel structure. This method specifically includes:

[0139] S10, during operation, the positioning device body 1 is placed in the inner wall of the steel structure to be inspected. The combined magnetic chuck 21 keeps the positioning device body 1 tightly against the inner wall of the steel structure. The wheel drive motor 22 is started by the PLC controller, which drives the combined magnetic chuck 21 to rotate, thereby causing the combined magnetic chuck 21 to move the positioning device body 1. When an external force impacts the adaptive swing cantilever 231, the adaptive swing cantilever 231 drives the combined magnetic chuck 21 to swing. The ratchet formed by the protective ratchet 242 and the locking ratchet 243... The wheel mechanism allows the adaptive swing arm 231 to swing and compress the first reset torsion spring 244 and the second reset torsion spring 246, so that the first reset torsion spring and the second reset torsion spring 246 absorb impact energy. This allows the combined magnetic suction wheel 21 to adaptively pass through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring 244 and the second reset torsion spring 246 is released, driving the protection ratchet 242, the vibration damping protection ratchet 241, the first gear 234, and the second gear 235 to reset, so that the adaptive swing arm 231 automatically returns to its initial equilibrium position.

[0140] S20, the PLC controller controls the start of the drive hydraulic cylinder 41, which drives the movable positioning seat 422 to extend, so that the movable positioning seat 422 drives the variable range drive seat 423 to fit against the inner wall of the steel structure. At the same time, the negative pressure air pump is started, which evacuates the negative pressure adsorption seat 427, thereby making the main body 1 of the positioning device tightly fit against the inner wall of the steel structure. The auxiliary adsorption magnetic pole 428 works with the negative pressure air pump to switch from passive magnetic adsorption to active composite adsorption. At the same time, when it is necessary to adapt to protrusions of different shapes, the variable range drive motor 421 is turned on. The variable range drive motor 421 drives the variable range drive seat 423 to rotate, so that the variable range drive seat 423 drives the variable range slider 426, the negative pressure adsorption seat 427, and the negative pressure air pump to adjust the position, thereby achieving a tight fit between the main body 1 of the positioning device and protrusions of different shapes.

[0141] S30, when the main body 1 of the positioning device moves to the area to be inspected on the inner wall of the steel structure, the PLC controller controls the positioning adjustment motor 31 to start. The positioning adjustment motor 31 drives the third gear 321 and the fourth gear 322 to rotate. The third gear 321 drives the main adjusting screw 323 to rotate, and the fourth gear 322 drives the auxiliary adjusting screw 324 to rotate. The main adjusting screw 323 rotates under the drive of the third gear 321, thereby driving the main threaded sleeve 325 to slide on the integrated support 327, driving the positioning adjustment assembly 34 and the defect detection component 352 to perform precise positioning. The position is adjusted by the first motor 341 driving the first adjusting rod 342 to rotate, thereby causing the defect detection component 352 to rotate and adjust; the rotation of the second motor 343 causes the second adjusting rod 344 to further drive the defect detection component 352 to swing, further expanding the adjustment range of the defect detection component 352; the rotation of the third motor 345 realizes fine adjustment of the detection component mounting base 351 within a small range, ensuring that the defect detection component 352 can accurately align with the weld defect position, and the defect detection component 352 is turned on to perform real-time detection of weld defect positioning;

[0142] S40, when the fourth gear 322 rotates, it can drive the auxiliary adjusting screw 324 to rotate. The auxiliary adjusting screw 324 rotates under the drive of the fourth gear 322, driving the auxiliary threaded sleeve block 326 to slide. The auxiliary threaded sleeve block 326 synchronously drives the fifth gear 334, the cleaning support rod 333, the synchronous cleaning block 331, and the auxiliary friction strip 332 to move and rotate. The synchronous cleaning block 331 and the auxiliary friction strip 332 clean the impurities on the weld surface, providing a clear inspection environment for the defect detection component 35.

[0143] In summary, this invention provides a device and method for locating weld defects in a steel structure cavity magnetic climbing robot. In this embodiment, the magnetic travel mechanism 2 includes a combined magnetic wheel 21, a wheel drive motor 22, and an adaptive protection component 23. The combined magnetic wheel 21, wheel drive motor 22, and adaptive protection component 23 work together to ensure that the combined magnetic wheel 21 is not rigidly fixed, but is suspended inside the robot's moving seat 11 by the adaptive protection component 23. When the robot encounters a depression or protrusion on the inner cavity wall, the corresponding combined magnetic wheel 21 will adaptively float up and down, thereby actively conforming to the wall surface. This, in conjunction with the adaptive protection component 23 and the vibration damping and reset component 24, adapts to the inner cavity walls of steel structures of different shapes, ensuring that the robot can stably adhere to the inner wall throughout the process, without interruption of travel or failure of adsorption due to shape changes.

[0144] It should be noted that, for the sake of simplicity, the foregoing embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0145] It should be understood that the disclosed apparatus can be implemented in other ways, given the several embodiments provided in this application. For example, the apparatus embodiments described above are merely illustrative; the division of units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or communication connections shown or discussed may be through some interfaces; the indirect coupling or communication connections between devices or units may be telecommunications or other forms.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A weld defect positioning device for a magnetic wall-climbing robot with an internal steel structure, characterized in that, The device includes: The positioning device body includes a robot mobile seat, an adaptive protective seat, and a magnetic wheel limiting groove. The adaptive protective seat is fixedly installed on the robot mobile seat, and the magnetic wheel limiting groove is opened in the robot mobile seat. A magnetic attraction travel mechanism is installed inside the robot's mobile base. The magnetic attraction travel mechanism is used to attach the main body of the positioning device to the inner wall of the steel structure and adapt to the inner wall of the steel structure with different shapes. The self-cleaning defect location mechanism is installed inside the robot's mobile base and is used to detect the location of weld defects. The magnetic attraction mechanism includes a combined magnetic attraction wheel, a wheel drive motor, an adaptive protection component, and a vibration damping and reset component. The vibration damping and reset component is installed on one side of the adaptive protection seat and is connected to the adaptive protection component. The combined magnetic attraction wheel is fixedly connected to the wheel drive motor, and the wheel drive motor is connected to the adaptive protection component. The adaptive protection component is used to assist the combined magnetic attraction wheel in adapting to the inner cavity wall of steel structures with different shapes.

2. The steel structure internal cavity magnetic climbing robot weld defect positioning device as described in claim 1, characterized in that: The combined magnetic wheel includes an adsorption magnetic wheel and at least one set of anti-slip travel wheels. The adsorption magnetic wheel is detachably installed between the anti-slip travel wheels. The anti-slip travel wheels are fixedly connected to the wheel drive motor, and the wheel drive motor is detachably connected to the adaptive protection component. The adaptive protection component includes: An adaptive swing cantilever is provided, wherein the adaptive swing cantilever is disposed in a magnetic wheel limiting groove, and wheel drive motors are detachably installed at both ends of the adaptive swing cantilever. At least one set of cantilever protection springs, wherein the cantilever protection springs are fixedly installed inside the robot's mobile base, and one end of the cantilever protection springs is fixedly connected to the adaptive swing cantilever. The cantilever connecting shaft is fixedly installed on the side wall of the adaptive swing cantilever, and the cantilever connecting shaft is rotatably connected to the robot moving seat. The first gear is rotatably mounted in the adaptive protective seat, and one side of the first gear is fixedly connected to the cantilever connecting shaft; The second gear is rotatably mounted in the adaptive protection seat and meshes with the first gear. One side of the second gear is connected to the vibration damping and reset assembly.

3. The steel structure internal cavity magnetic climbing robot weld defect positioning device as described in claim 2, characterized in that: The vibration damping and reset assembly includes: The vibration damping protection ratchet is rotatably mounted in the adaptive protection seat, and one side of the vibration damping protection ratchet is fixedly connected to the second gear; At least one set of protective ratchet teeth, which are fixedly installed on the side wall of the shock-absorbing protective ratchet; A locking ratchet is engaged with a protective ratchet, and the locking ratchet is fixedly mounted on a first reset torsion spring, which is fixedly mounted on the side wall of the adaptive protection seat. A torsion spring mounting base is fixedly installed inside the robot's mobile base, and a second reset torsion spring is fixedly installed inside the torsion spring mounting base. One end of the second reset torsion spring is connected to the shock-absorbing protection ratchet.

4. The steel structure internal cavity magnetic wall-climbing robot weld defect positioning device as described in claim 2, characterized in that: It also includes a stabilizing adsorption mechanism for assisting the stable adsorption of the main body of the positioning device, the stabilizing adsorption mechanism being installed at the bottom of the robot's mobile base; The stable adsorption mechanism includes: The drive hydraulic cylinder is fixedly installed inside the adaptive protection seat; A variable-range adsorption component is installed at the bottom of the robot's mobile base and is connected to a drive hydraulic cylinder.

5. The steel structure internal cavity magnetic wall-climbing robot weld defect positioning device as described in claim 4, characterized in that: The variable-range adsorption component includes: A movable positioning seat is slidably installed inside the robot's mobile seat, and one side of the movable positioning seat is fixedly connected to the drive hydraulic cylinder; A variable range drive motor is fixedly installed in a movable positioning seat, and the output shaft of the variable range drive motor is fixedly connected to the variable range drive seat. The variable range drive seat is provided with an arc-shaped drive groove, and the movable positioning seat is provided with a variable range positioning groove. The variable range positioning groove and the arc-shaped drive groove are slidably connected by a variable range slider. At least one set of negative pressure adsorption seats, wherein a negative pressure air pump is embedded in the negative pressure adsorption seat, and the negative pressure adsorption seat is detachably mounted on the variable range slider; An auxiliary adsorption magnetic pole is embedded in the variable range drive seat, and the auxiliary adsorption magnetic pole is used to enhance the adsorption force of the main body of the positioning device.

6. The steel structure internal cavity magnetic climbing robot weld defect positioning device as described in any one of claims 2-5, characterized in that: The self-cleaning defect location mechanism includes: The positioning and adjustment motor is fixedly installed inside the robot's moving base; The positioning and cleaning integrated linkage unit is connected to the output shaft of the positioning and adjustment motor and is installed inside the robot's mobile base; The positioning adjustment component is connected to the integrated positioning and cleaning unit, and the positioning adjustment component is used to adjust the angle and position of the defect detection component. The defect detection component includes a detection component mounting base and at least one set of defect detection elements. The defect detection elements are detachably installed in the detection component mounting base and are used to locate the position of weld defects. The synchronous cleaning component is connected to the integrated positioning and cleaning unit and is used to assist in cleaning the surface of the inner wall of the steel structure when the defect detection component locates defects.

7. The steel structure internal cavity magnetic wall-climbing robot weld defect positioning device as described in claim 6, characterized in that: The integrated positioning and cleaning unit includes: The third gear is rotatably mounted inside the robot's mobile base, and one side of the third gear is fixedly connected to the output shaft of the positioning adjustment motor. At least one set of fourth gears, which mesh with the third gear for transmission; The main adjusting screw is fixedly connected to one side of the third gear. The main adjusting screw is rotatably installed in the integrated support. The integrated support is fixedly connected to the robot moving seat, and an adjusting rack seat is provided in the integrated support. An auxiliary adjusting screw is fixedly connected to the fourth gear, and the end of the auxiliary adjusting screw away from the fourth gear is rotatably connected to an integral support. The main threaded sleeve is threaded onto the outer wall of the main adjusting screw, and is slidably connected to the integral support. The main threaded sleeve is used to support the positioning and adjusting assembly. An auxiliary threaded sleeve is threaded onto the outer wall of the auxiliary adjusting screw, and is slidably connected to an integral support. The auxiliary threaded sleeve is also connected to the synchronous cleaning assembly.

8. The steel structure internal cavity magnetic climbing robot weld defect positioning device as described in claim 7, characterized in that: The positioning adjustment component includes: The first motor is fixedly mounted on the main threaded sleeve block, and the output shaft of the first motor is fixedly connected to the first adjusting rod; The second motor is fixedly installed at the end of the first adjusting rod, and the output shaft of the second motor is fixedly connected to the second adjusting rod. The end of the second adjusting rod away from the second motor is fixedly installed with a third motor, and the output shaft of the third motor is fixedly connected to a detection component mounting base.

9. The steel structure internal cavity magnetic climbing robot weld defect positioning device as described in claim 7, characterized in that: The synchronous cleaning component includes: Synchronous cleaning block is used to assist in cleaning the surface of the inner cavity wall of the steel structure when the defect detection component is locating defects. At least one set of auxiliary friction strips, wherein the auxiliary friction strips are detachably mounted on the side wall of the synchronous cleaning block; A cleaning support rod is fixedly connected to the synchronous cleaning block. A fifth gear is rotatably connected to one end of the cleaning support rod away from the synchronous cleaning block. The fifth gear is rotatably mounted on the auxiliary threaded sleeve block, and one side of the fifth gear meshes with the adjusting rack seat for transmission.

10. A method for locating weld defects in a magnetic climbing robot for steel structures, implemented using the magnetic climbing robot weld defect location device for steel structures as described in any one of claims 1-9, characterized in that: The method for locating weld defects in the magnetic wall-climbing robot within the steel structure cavity includes: S10, during operation, the main body of the positioning device is placed in the inner wall of the steel structure to be tested. The combined magnetic chuck makes the main body of the positioning device fit tightly against the inner wall of the steel structure. The wheel drive motor is started by the PLC controller, and the wheel drive motor drives the combined magnetic chuck to rotate, thereby causing the combined magnetic chuck to move the main body of the positioning device. When an external force impacts the adaptive swing arm, and the adaptive swing arm drives the combined magnetic chuck to swing, the ratchet mechanism composed of the protective ratchet and the locking ratchet allows the adaptive swing arm to swing and compress the first reset torsion spring and the second reset torsion spring. The first reset torsion spring and the second reset torsion spring absorb the impact energy, so that the combined magnetic chuck can adaptively pass through the protrusion. After the external force disappears, the energy stored in the first reset torsion spring and the second reset torsion spring is released, driving the protective ratchet, the vibration damping protective ratchet, the first gear, and the second gear to reset, so that the adaptive swing arm automatically returns to the initial equilibrium position. S20, the PLC controller controls the start of the drive hydraulic cylinder, which drives the movable positioning seat to extend, so that the movable positioning seat drives the variable range drive seat to fit against the inner wall of the steel structure. At the same time, the negative pressure air pump is started, which evacuates the negative pressure adsorption seat, so that the main body of the positioning device is tightly attached to the inner wall of the steel structure. The auxiliary adsorption magnetic pole and the negative pressure air pump work together to switch from passive magnetic adsorption to active composite adsorption. At the same time, when it is necessary to adapt to protrusions of different shapes, the variable range drive motor is turned on, which drives the variable range drive seat to rotate, so that the variable range drive seat drives the variable range slider, the negative pressure adsorption seat, and the negative pressure air pump to adjust the position, thereby achieving a tight fit between the main body of the positioning device and protrusions of different shapes. S30, when the main body of the positioning device moves to the area to be inspected on the inner wall of the steel structure, the PLC controller controls the positioning adjustment motor to start. The positioning adjustment motor drives the third gear and the fourth gear to rotate. The third gear drives the main adjustment screw to rotate, and the fourth gear drives the auxiliary adjustment screw to rotate. The main adjustment screw rotates under the drive of the third gear, thereby driving the main threaded sleeve block to slide on the integrated support, driving the positioning adjustment component and the defect detection component to make precise position adjustments. The first motor drives the first adjustment rod to rotate, thereby driving the defect detection component to rotate and adjust. Through the rotation of the second motor, the second adjustment rod further drives the defect detection component to swing, further expanding the adjustment range of the defect detection component. Through the rotation of the third motor, the mounting base of the detection component is finely adjusted within a small range, ensuring that the defect detection component can accurately align with the weld defect position, and the defect detection component is activated to perform real-time detection of weld defect positioning. When the fourth gear rotates, it drives the auxiliary adjusting screw to rotate. The auxiliary adjusting screw rotates under the drive of the fourth gear, which drives the auxiliary threaded sleeve block to slide. The auxiliary threaded sleeve block synchronously drives the fifth gear, the cleaning support rod, the synchronous cleaning block, and the auxiliary friction strip to move and rotate at the same time. The synchronous cleaning block and the auxiliary friction strip clean the impurities on the weld surface, providing a clear inspection environment for the defect detection component.

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