A sub-mother type wall climbing detection system and detection method

Abstract

The application provides a child-mother type traction wall climbing detection system and a detection method. The child-mother type traction wall climbing detection system comprises a carrier robot and a working robot. A winding mechanism and a cable wound on the winding mechanism are arranged in the carrier robot. The winding mechanism comprises a winding shaft and a servo motor. The cable is wound on the winding shaft. The servo motor is connected with the winding shaft. The servo motor can drive the winding shaft to rotate so as to tighten or loosen the cable. The working robot is arranged in the carrier robot. A plurality of lifting rings are arranged on the working robot. The plurality of lifting rings are arranged at intervals and are sleeved on the position where the cable extends out of the winding mechanism. The child-mother type traction wall climbing detection system further comprises an anchoring unit. The anchoring unit is connected with the end of the cable which is not connected with the winding mechanism. The anchoring unit can be fixed to one end of a curved weld. The carrier robot moves from the anchoring position of the anchoring unit to the other end of the weld, so as to pull the cable out of the winding mechanism.

Description

Technical Field

[0001] This invention relates to the field of curved surface weld inspection technology, specifically a mother-daughter type traction climbing wall inspection system and inspection method. Background Technology

[0002] In the manufacturing, operation, and maintenance of industrial equipment such as large storage tanks, pressure vessels, ship hulls, and pipelines, curved welds are crucial for ensuring structural strength and sealing performance. Their quality inspection requires long-term, efficient, and precise operations. Traditional curved weld inspection often relies on manual, handheld flaw detection equipment used for climbing, which is not only labor-intensive and inefficient but also poses serious safety hazards in high-altitude, high-risk, and confined environments, making it difficult to meet the demands of automated and intelligent inspection.

[0003] With the development of robotics technology, wall-climbing robots are gradually being applied in the field of weld inspection. While mother-and-child wall-climbing robots are already used in some operational scenarios, a system specifically designed for inspecting curved weld seams is still immature. Existing mother-and-child robots mostly adopt an independent walking mode without unified path constraints. There is a lack of stable and reliable traction and path guidance structures between the mother and child robots. The child robot is prone to loss of control and detachment when working at heights on curved surfaces, and the mother robot cannot perform collaborative functions such as cable laying, anchoring, and retrieval. Furthermore, traditional cable deployment and retrieval mechanisms lack precise servo control, leading to frequent problems such as cable slack, tangling, and pulling, affecting both the smoothness of robot movement and the accuracy of ensuring the working path aligns with the weld seam. In addition, inspecting curved weld seams places high demands on the robot's adaptability to curved surfaces, obstacle-crossing ability, and modular operation. Existing robots are mostly rigid, single-unit structures, making it difficult to move flexibly to conform to the curvature of curved surfaces and adapt to the inspection needs of weld seams with different curvatures and sizes. Moreover, the integration of the inspection module and the moving mechanism is low, resulting in poor overall system versatility and high maintenance costs.

[0004] Therefore, it is necessary to design a mother-daughter type traction wall-climbing robot to perform inspection of curved weld seams. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mother-daughter type traction climbing wall detection system and detection method.

[0006] This invention is achieved through the following technical solution: A mother-and-child traction wall-climbing inspection system for inspecting welds on curved surfaces includes a transport robot and a working robot. The transport robot houses a cable winding mechanism and a cable wound around it. The winding mechanism includes a winding spool and a servo motor. The cable is wound around the winding spool, and the servo motor is connected to the winding spool, driving it to rotate and thus tighten or loosen the cable. The working robot is located inside the transport robot and has multiple lifting rings spaced apart and fitted around the points where the cable extends out of the winding mechanism. The working robot also includes... An adsorption magnet is positioned below the working robot. The mother-daughter traction climbing detection system also includes an anchoring unit, which is connected to the end of the cable that is not connected to the winding mechanism. The anchoring unit can be fixed to one end of the curved weld. The transport robot moves from the anchoring position of the anchoring unit to the other end of the weld, thereby pulling the cable out of the winding mechanism. The transport robot includes a locking unit, which can lock the transport robot. After leaving the transport robot, the working robot moves along the cable through multiple lifting rings to perform inspection work on the weld on the curved surface along the cable direction.

[0007] Furthermore, the transport robot includes a transport vehicle body and a first moving wheel assembly. The chassis of the transport vehicle body is provided with a receiving groove, the first moving wheel assembly is disposed in the receiving groove, and the locking unit is disposed at the bottom of the transport vehicle body.

[0008] Furthermore, the first moving wheel assembly includes a first drive unit and a moving wheel disposed at the output end of the first drive unit. The first drive unit is installed in a receiving groove, the output end of the first drive unit extends out of the vehicle body, and the moving wheel is located outside the vehicle body.

[0009] Furthermore, the first moving wheel assembly consists of four parts, located at the four corners of the vehicle body.

[0010] Furthermore, an exit is provided at one end of the transport vehicle. The working robot can exit the transport robot through the exit along the cable path, or enter the transport robot through the exit along the cable path.

[0011] Furthermore, the work robot includes multiple work vehicles connected by universal joints, each work vehicle is equipped with a lifting ring, and multiple lifting rings are provided at intervals.

[0012] Furthermore, the work vehicle body includes a second drive unit and a second moving wheel assembly disposed at the output end of the second drive unit. The second drive unit is disposed inside the work vehicle body, and the second moving wheel assembly is disposed outside the work vehicle body.

[0013] Furthermore, the second moving wheel assembly includes at least two bullseye wheels, which are offset from each other.

[0014] Furthermore, the work robot also includes an adsorption magnet, which is located under each work vehicle body; the universal joint is set as a ball joint.

[0015] A method for detecting mother-daughter type traction wall climbing, using the aforementioned mother-daughter type traction wall climbing detection system, includes the following steps: S1. Remove the anchoring unit from the transport robot and fix it to one end of the weld; S2. The winding shaft of the winding mechanism loosens the cable under the action of the servo motor. The transport robot moves from the anchoring position of the anchoring unit to the other end of the weld, thereby arranging the cable along the weld. When the transport robot reaches the other end of the weld, the transport robot is fixed to the other end of the weld under the action of the locking unit. S3. The work robot leaves the inside of the transport robot and moves along the cable to perform inspection work on the weld. S4. After the inspection is completed, the working robot enters the transport robot along the cable, the anchoring unit is released from one end of the weld, and the winding shaft of the winding mechanism retracts the cable and the anchoring unit under the action of the servo motor.

[0016] The advantages and beneficial effects of this invention are as follows: Through the cooperation of the carrier robot and the working robot and the cable traction guidance, the working robot can move precisely along the weld seam and avoid deviation when walking on the curved surface; the servo winding mechanism realizes the precise winding and unwinding of the cable and prevents slack and entanglement; the anchoring unit and the locking unit are fixed at both ends to form a stable working track, which greatly improves the positioning accuracy and operation safety of the curved weld seam inspection and solves the problems of falling from height and loss of path control. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the mother-daughter type traction climbing wall detection system of the present invention when performing curved surface weld inspection.

[0019] Figure 2 This is a schematic diagram of the structure of the working robot of the present invention when it is housed inside the transport robot.

[0020] Figure 3 This is an axonometric view of the robot used in this invention.

[0021] Figure 4 This is a top view of the robot used in this invention.

[0022] Figure 5 This is a flowchart of the mother-daughter type traction wall climbing detection method of the present invention.

[0023] In the picture: 1. Transport robot; 11. Cable winding mechanism; 12. Cable; 13. Locking unit; 14. Transport vehicle body; 15. First moving wheel assembly; 151. First drive unit; 152. Moving wheel; 16. Anchoring unit; 2. Operation robot; 21. Lifting ring; 22. Operation vehicle body; 23. Universal joint; 24. Second drive unit; 25. Second moving wheel assembly; 26. Adsorption magnet; 100. Weld seam. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0025] This embodiment provides a mother-daughter type traction wall-climbing detection system, such as Figure 1 and Figure 2 As shown, the mother-daughter traction climbing inspection system is used to inspect welds 100 on curved surfaces. The system includes a transport robot 1 and a working robot 2. The transport robot 1 houses a cable winding mechanism 11 and a cable 12 wound around it. The winding mechanism 11 includes a winding spool and a servo motor. The cable 12 is wound around the winding spool, and the servo motor is connected to the winding spool, driving it to rotate and thus tighten or loosen the cable 12. The working robot 2 is located inside the transport robot 1 and has multiple lifting rings 21 spaced apart and positioned at the point where the cable 12 extends out of the winding mechanism 11. The working robot 2 also includes a suction device. Magnet 26 is located below the working robot 2. The mother-daughter traction climbing detection system also includes an anchoring unit 16. The anchoring unit 16 is connected to the end of the cable 12 that is not connected to the winding mechanism 11. The anchoring unit 16 can be fixed to one end of the curved weld 100. The transport robot 1 moves from the anchoring position of the anchoring unit 16 to the other end of the weld 100, thereby pulling the cable 12 out of the winding mechanism 11. The transport robot 1 includes a locking unit 13, which can lock the transport robot 1. After leaving the transport robot 1, the working robot 2 moves along the cable 12 through multiple lifting rings 21 to perform detection work on the weld 100 on the curved surface along the direction of the cable 12.

[0026] Understandably, through the collaboration of the transport robot 1 and the working robot 2, and the traction and guidance of the cable 12, the working robot 2 can move precisely along the weld 100, avoiding deviation when walking on the curved surface; the servo winding mechanism 11 enables the precise winding and unwinding of the cable 12, preventing slack and entanglement; the anchoring unit 16 and the locking unit 13 are fixed at both ends to form a stable working track, which greatly improves the positioning accuracy and operational safety of the curved weld 100 inspection, and solves the problems of falling from height and loss of path control.

[0027] Furthermore, such as Figure 1 and Figure 2 As shown, the transport robot 1 includes a transport vehicle body 14 and a first moving wheel assembly 15. The chassis of the transport vehicle body 14 is provided with a receiving groove, the first moving wheel assembly 15 is disposed in the receiving groove, and the locking unit 13 is disposed at the bottom of the transport vehicle body 14.

[0028] Understandably, the chassis of the transport vehicle body 14 has a compact layout, which reduces the overall height and improves the fit of the curved surface; the bottom locking unit 13 acts directly on the wall, which is reliable and fast-responding, ensuring that the transport robot 1 can be stably parked at the end of the weld 100, providing a stable reference for the operation robot 2.

[0029] Furthermore, such as Figure 1 and Figure 2 As shown, the first moving wheel assembly 15 includes a first drive unit 151 and a moving wheel 152 disposed at the output end of the first drive unit 151. The first drive unit 151 is installed in the receiving groove, the output end of the first drive unit 151 extends out of the vehicle body 14, and the moving wheel 152 is located outside the vehicle body 14.

[0030] Understandably, the first drive unit 151 is built-in and the moving wheel 152 is external, which provides good protection and efficient transmission. The power is directly output to the moving wheel 152, and the walking control is precise, which makes it easy for the transport robot 1 to lay the cable smoothly and in a straight line along the weld 100, ensuring that the cable 12 is consistent with the direction of the weld 100.

[0031] Furthermore, four first moving wheel assemblies 15 are provided, located at the four corners of the transport vehicle body 14 respectively.

[0032] Understandably, the four sets of 152 moving wheels at the four corners provide even force and stable support, making it less prone to tilting or slipping when walking on curved walls. This enhances its obstacle-crossing and anti-overturning capabilities, making it suitable for walking on curved surfaces with large curvature.

[0033] Furthermore, one end of the transport vehicle body 14 is provided with an exit. The working robot 2 can leave the interior of the transport robot 1 through the exit along the cable 12 path, or enter the interior of the transport robot 1 through the exit along the cable 12 path.

[0034] Understandably, the transport vehicle body 14 is equipped with a dedicated entrance and exit, and the operating robot 2 can automatically enter and exit the transport robot 1 along the cable 12 to achieve autonomous storage and delivery without human intervention, thereby improving the system's automation and convenience.

[0035] Furthermore, such as Figure 3 and Figure 4 As shown, the work robot 2 includes multiple work vehicle bodies 22 connected by universal joints 23. Each work vehicle body 22 is equipped with a lifting ring 21, and multiple lifting rings 21 are provided and spaced apart.

[0036] Understandably, the work robot 2 uses multiple bodies and universal joints 23 for flexible connection, which can bend adaptively with the curvature of the surface and has a high degree of surface fit; multiple lifting rings 21 are spaced with cables 12, which ensures balanced force and stable guidance, and avoids walking jamming or derailment.

[0037] Furthermore, such as Figure 3 and Figure 4 As shown, the work vehicle body 22 includes a second drive unit 24 and a second moving wheel assembly 25 disposed at the output end of the second drive unit 24. The second drive unit 24 is disposed inside the work vehicle body 22, and the second moving wheel assembly 25 is disposed outside the work vehicle body 22.

[0038] Understandably, the work vehicle body 22 has an independent drive system with external wheel sets, providing ample power and flexible steering, enabling it to move autonomously and stably along the cable 12; the drive system has strong built-in protection, making it suitable for harsh testing environments and ensuring higher reliability.

[0039] Furthermore, such as Figure 3 and Figure 4 As shown, the second moving wheel assembly 25 includes at least two bullseye wheels, which are offset from each other.

[0040] Understandably, the misaligned bullseye wheels enable omnidirectional movement, provide seamless steering, and enhance obstacle-crossing capabilities; they allow for smooth passage on curved surfaces and weld seams, significantly improving the robot's adaptability to complex walls and weld seam obstacles.

[0041] Furthermore, such as Figure 3 and Figure 4 As shown, the work robot 2 also includes an adsorption magnet 26, which is located below each work vehicle body 22; the universal joint 23 is configured as a ball joint.

[0042] Understandably, the bottom adsorption magnet 26 provides reliable wall adhesion to prevent slippage; the ball joint has a wide range of universal adjustment and better flexibility, allowing the robot to closely fit any curvature surface and achieve more complete detection coverage.

[0043] This embodiment also provides a method for detecting mother-daughter type traction wall climbing, such as... Figure 1 , Figure 2 and Figure 5 As shown, the above-mentioned mother-daughter type traction wall climbing detection system is used, including the following steps: S1. Take the anchoring unit 16 out of the transport robot 1 and fix it to one end of the weld 100; S2. The winding shaft of the winding mechanism 11 releases the cable 12 under the action of the servo motor. The transport robot 1 moves from the anchoring position of the anchoring unit 16 toward the other end of the weld 100, thereby arranging the cable 12 along the weld 100. When the transport robot 1 reaches the other end of the weld 100, the transport robot 1 is fixed to the other end of the weld 100 under the action of the locking unit 13. S3. The work robot 2 leaves the interior of the transport robot 1 and moves along the cable 12 to perform inspection work on the weld 100. S4. After the inspection is completed, the work robot 2 enters the interior of the transport robot 1 along the cable 12, the anchoring unit 16 is released from the weld 100, and the winding shaft of the winding mechanism 11 retracts the cable 12 and the anchoring unit 16 under the action of the servo motor.

[0044] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mother-daughter type traction climbing wall inspection system for inspecting welds on curved surfaces, characterized in that, The system includes a transport robot and a work robot. The transport robot contains a cable winding mechanism and a cable wound around it. The cable winding mechanism includes a spool and a servo motor. The cable is wound around the spool, and the servo motor is connected to the spool, driving it to rotate and tighten or loosen the cable. The work robot is located inside the transport robot and has multiple lifting rings spaced apart and positioned at the point where the cable extends out of the cable winding mechanism. The work robot also includes an adsorption magnet located below it. The mother-daughter traction climbing detection system also includes an anchoring unit connected to the end of the cable not connected to the cable winding mechanism. The anchoring unit can be fixed to one end of the curved weld. The transport robot moves from its anchoring position towards the other end of the weld, pulling the cable out of the cable winding mechanism. The transport robot includes a locking unit that can lock it in place. After leaving the transport robot, the work robot moves along the cable via the multiple lifting rings to perform inspection work on the weld on the curved surface along the cable direction.

2. The mother-daughter type traction wall-climbing detection system according to claim 1, characterized in that, The transport robot includes a transport vehicle body and a first moving wheel assembly. The chassis of the transport vehicle body is provided with a receiving groove, the first moving wheel assembly is disposed in the receiving groove, and the locking unit is disposed at the bottom of the transport vehicle body.

3. The mother-daughter type traction wall-climbing detection system according to claim 2, characterized in that, The first moving wheel assembly includes a first drive unit and a moving wheel disposed at the output end of the first drive unit. The first drive unit is installed in a receiving groove, the output end of the first drive unit extends out of the vehicle body, and the moving wheel is located outside the vehicle body.

4. The mother-daughter type traction wall-climbing detection system according to any one of claims 2 or 3, characterized in that, The first moving wheel assembly consists of four parts, located at the four corners of the vehicle body.

5. The mother-daughter type traction wall-climbing detection system according to claim 2, characterized in that, An exit is provided at one end of the transport vehicle. The working robot can exit the transport robot through the exit along the cable path, or enter the transport robot through the exit along the cable path.

6. The mother-daughter type traction wall-climbing detection system according to claim 5, characterized in that, The work robot consists of multiple work vehicles connected by universal joints. Each work vehicle is equipped with multiple lifting rings that are spaced apart.

7. The mother-daughter type traction wall-climbing detection system according to claim 6, characterized in that, The work vehicle body includes a second drive unit and a second moving wheel assembly disposed at the output end of the second drive unit. The second drive unit is disposed inside the work vehicle body, and the second moving wheel assembly is disposed outside the work vehicle body.

8. The mother-daughter type traction wall-climbing detection system according to claim 7, characterized in that, The second moving wheel assembly includes at least two bullseye wheels, which are staggered.

9. The mother-daughter type traction wall-climbing detection system according to claim 6, characterized in that, The work robot also includes an adsorption magnet, which is located under each work vehicle body; the universal joint is set as a ball joint.

10. A method for detecting mother-daughter type traction wall climbing, characterized in that, The mother-daughter type traction climbing detection system as described in any one of claims 1-9 includes the following steps: S1. Remove the anchoring unit from the transport robot and fix it to one end of the weld; S2. The winding shaft of the winding mechanism loosens the cable under the action of the servo motor. The transport robot moves from the anchoring position of the anchoring unit to the other end of the weld, thereby arranging the cable along the weld. When the transport robot reaches the other end of the weld, the transport robot is fixed to the other end of the weld under the action of the locking unit. S3. The work robot leaves the inside of the transport robot and moves along the cable to perform inspection work on the weld. S4. After the inspection is completed, the working robot enters the transport robot along the cable, the anchoring unit is released from one end of the weld, and the winding shaft of the winding mechanism retracts the cable and the anchoring unit under the action of the servo motor.

Images