Lifting structure and hanging rail type climbing robot

Abstract

This invention relates to the field of robotics and discloses a lifting structure, including a first hydraulic rod, a gimbal, and at least one camera. It also includes a support mechanism mounted on the camera, with a cavity inside, capable of being lifted and lowered by the first hydraulic rod and rotated by the gimbal; and a detection mechanism with multiple probes. A rail-mounted climbing robot includes the aforementioned lifting structure and a robot body capable of walking on a suspended track. This lifting structure and rail-mounted climbing robot, by setting up a rotating component and a support mechanism, utilize motor power to stably conceal the detection mechanism within the cavity of the shell during non-detection periods. When flaw detection is required, it can be promptly exposed by flipping, thus avoiding unnecessary mechanical collisions and spatial interference when the robot crawls through complex pipe networks, effectively protecting the core detection components.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a lifting structure and a rail-mounted climbing robot. Background Technology

[0002] With the development of specialized robot technology, track-mounted climbing robots are widely used in automated non-destructive testing of high-risk, high-altitude metal structures such as large storage tanks and bridge pipelines. Among these, ultrasonic contact testing (UT) is the most commonly used method for detecting internal defects and wall thickness. Because ultrasonic waves attenuate extremely quickly in air, the requirements for acoustic coupling in flaw detection operations are extremely high. The air gap between the piezoelectric probe and the metal surface being tested must be completely eliminated by a fluid coupling agent (such as water, machine oil, or a special flaw detection colloid) to ensure effective transmission of ultrasonic energy and reception of echoes.

[0003] Currently, the main function of existing rail-mounted robotic ultrasonic flaw detection lifting mechanisms is limited to rigidly or semi-rigidly pushing the probe onto the surface being tested. Regarding the supply and application of the coupling agent, existing technologies typically employ simple pipelines independent of the lifting mechanism, using either high-pressure spraying in front of the probe's travel direction or a simple gravity dripping method for crude liquid supply.

[0004] However, in practical engineering applications, the existing lifting and liquid supply structure has the following problems regarding the application and retention of the coupling agent: The working surfaces of rail-mounted robots are mostly vertical surfaces, steeply inclined surfaces, or complex pipe walls. When using conventional external spraying or dripping methods, due to the lack of effective mechanical restraint, the coupling agent is easily slipped off by gravity or blown away by the ambient wind after contacting the surface being measured, making it difficult to form a uniform and continuous acoustic water film at the bottom of the probe. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a lifting structure and a rail-mounted climbing robot that can simultaneously drive a camera to lift and lower, and also inspect objects requiring ultrasonic flaw detection.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a lifting structure, comprising a first hydraulic rod, a gimbal, and at least one camera, and further comprising: The support mechanism is mounted on the camera. The support mechanism has a cavity inside. The support mechanism can be raised and lowered by the first hydraulic rod and rotated by the gimbal. The testing facility is equipped with various probes. The liquid supply mechanism has its outlet facing the surface of the object to be tested, and is used to spray coupling agent onto the surface of the object to be tested. The power mechanism is installed inside the chamber of the support mechanism. The output end of the power mechanism is connected to the detection mechanism and the liquid supply mechanism. The power mechanism can drive the detection mechanism to rotate out of the chamber and extend outward to reach the surface of the object to be measured. During the extension of the detection mechanism, the probe on the detection mechanism is driven to switch and rotate.

[0007] Furthermore, it also includes two guiding mechanisms, one end of which is mounted on the support mechanism and the other end is slidably connected to the power mechanism, for guiding and limiting when the power mechanism drives the detection mechanism to extend or retract.

[0008] Furthermore, the support mechanism includes a housing, a first plate, a second plate, and at least one first rod. One end of the first rod is fixedly connected to the outer wall of the camera, and the other end of the first rod is fixedly connected to the outer wall of the upper surface of the housing. The interior of the housing forms a cavity with an open bottom. One side of the first plate is fixedly connected to one side of the second plate. The outer walls of both the first and second plates abut against the inner wall of the cavity opening. The detection mechanism, the liquid supply mechanism, and the power mechanism are all located inside the cavity and connected to the side of the first plate closest to the cavity.

[0009] Furthermore, the power mechanism includes a rotating assembly, a ratchet assembly, a lateral drive member, and a shifting assembly. One end of the rotating assembly is connected to the cavity, and the output end of the rotating assembly is connected to the first plate, the ratchet assembly, and the lateral drive member. The other end of the ratchet assembly and the output end of the lateral drive member are both connected to the shifting assembly. The other end of the shifting assembly is connected to the detection mechanism, and the output end of the lateral drive member is also connected to the liquid supply mechanism.

[0010] Furthermore, the rotating assembly includes a motor, a third plate, and a second rod. The base of the motor is fixedly connected to the inner wall of the cavity, and the output shaft of the motor is fixedly connected to one end of the second rod. The other end of the second rod is rotatably connected to the housing through a first bearing. The cross-section of the third plate is L-shaped. The outer wall of the second rod is also fixedly connected to one end of the third plate. The other end of the third plate is fixedly connected to the side of the first plate near the cavity. A first groove is provided at the corner of the L-shape of the third plate. The first groove is connected to both the ratchet assembly and the lateral drive component. The ratchet assembly includes a first ring plate, a third spring, a fourth plate, a second ring plate, a third ring plate, a U-shaped rod, at least two third rods, and a number of teeth. The inner wall of the first ring plate is slidably connected to the outer wall of the second hydraulic rod. One side of the first ring plate abuts against the first groove. The other side of the first ring plate is fixedly connected to one end of the third spring. The other end of the third spring is fixedly connected to one side of the fourth plate. The other side of the fourth plate is fixedly connected to one end of each of the two third rods. The other ends of each of the two third rods are fixedly connected to the side wall of the U-shaped rod. Both ends of the U-shaped rod are connected to a shifting assembly. The outer wall of the fourth plate is fixedly connected to the inner wall of the second ring plate. The inner wall of the third ring plate is rotatably connected to the outer walls of the two third rods through a second bearing. The number of teeth is divided into two groups, which are staggered and abut against each other. The two groups of teeth are fixedly connected to the adjacent sides of the second and third ring plates, respectively. The cross-sections of the two groups of teeth are both right-angled trapezoids, and the directions of the right-angled trapezoids of the two groups of teeth are opposite. The third ring plate is also connected to a guide mechanism.

[0011] Furthermore, the lateral drive component is a second hydraulic rod, the outer wall of which is fixedly connected to the corner of the L-shape of the third plate, and the output end of the second hydraulic rod is connected to both the shifting component and the liquid supply mechanism. The transposition assembly includes a first circular plate, a fourth ring plate, and a second circular plate. The first and second circular plates are concentric circles with the same diameter. The output end of the second hydraulic rod passes through the first circular plate and is rotatably connected to the axis of the second circular plate via a third bearing. The output end of the second hydraulic rod is fixedly connected to the axis of the first circular plate. The detection mechanism is connected to both the first and second circular plates. The outer wall of the second circular plate is fixedly connected to the inner wall of the fourth ring plate. The side of the fourth ring plate closest to the first circular plate is fixedly connected to both ends of the U-shaped rod. The side of the first circular plate furthest from the second circular plate is connected to the liquid supply mechanism. A ring-shaped sealing ring is fixedly connected to the side of the fourth ring plate away from the first circular plate, and the other side of the ring-shaped sealing ring faces the object to be measured.

[0012] Furthermore, the testing mechanism includes an ultrasonic probe, several ultrasonic delay blocks, and several adaptive components. A first through-hole is formed on the surface of the first circular plate, and several second through-holes and several third through-holes are formed on the surface of the second circular plate. The number of second through-holes and third through-holes are matched, and a third groove is formed between two adjacent second through-holes and third through-holes. The outer wall of the ultrasonic probe is fixedly connected to the inner wall of the first through-hole. The outer walls of several ultrasonic delay blocks are slidably connected to the inner walls of several second through-holes, and the ultrasonic delay blocks are aligned with the position of the ultrasonic probe. Several adaptive components are located in several third through-holes, and the adaptive components are also connected to the ultrasonic delay blocks through the third groove. The adaptive component includes a second spring, a telescopic rod, and a second block. One end of the second block is fixedly connected to the side wall of the ultrasonic delay block, and one side of the second block is fixedly connected to one end of both the second spring and the telescopic rod. The other ends of the second spring and the telescopic rod abut against the side of the first circular plate near the second circular plate. The surface of the ultrasonic probe near the ultrasonic delay block is flush with the surface of the first circular plate.

[0013] Furthermore, the liquid supply mechanism includes a housing, a ring, and two pipes. The outer wall of the housing is fixedly connected to the inner wall of the cavity. One side of the outer wall of the housing and one side of the outer wall of the ring are respectively fixedly connected to one end of the two pipes. The two pipes are fixedly connected by a hose. A pump is installed inside the housing. One side of the outer wall of the ring is fixedly connected to the side of the first circular plate away from the second circular plate. A flow channel is opened inside the output end of the second hydraulic rod. The flow flows sequentially through the cavity of the housing, the input end of the pump, the output end of the pump, the pipe connected to the housing, the hose between the two pipes, the pipe connected to the ring, the ring, and the flow channel.

[0014] Furthermore, both guide mechanisms include a first block, a first spring, a fifth plate, an inclined slide rail, and two linear slide rails. One end of the first block and the bottom surface of the two linear slide rails are fixedly connected to the side of the first plate near the cavity. One side of the first block is fixedly connected to one end of the first spring, and the other end of the first spring is fixedly connected to one side of the fifth plate. The lower end of the fifth plate is slidably connected to both linear slide rails, and the upper end of the fifth plate is fixedly connected to one end of the inclined slide rail. A second groove is opened through the surface of the third ring plate, and the other end of the inclined slide rail extends through to the side of the second groove away from the second ring plate. The inclined slide rails of the two guide mechanisms have opposite inclination directions.

[0015] The present invention also provides a rail-mounted climbing robot, including the above-mentioned lifting structure, and a robot body capable of walking on a suspended track.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This type of lifting structure and rail-mounted climbing robot, by setting up rotating components and support mechanisms, can use the power of a motor to stably hide the inspection mechanism in the cavity of the shell when not inspecting. When flaw detection is needed, it can be flipped over and exposed in time, which can avoid unnecessary mechanical collisions and spatial interference when the robot is crawling in complex pipe networks, and effectively protect the core inspection components.

[0017] This type of lifting structure and rail-mounted climbing robot, by setting up a ratchet assembly, a switching assembly, and a guide inclined slide rail, transforms the linear motion of the second hydraulic rod pushing forward into the rotational switching motion of the second circular plate. Combined with the unidirectional slippage characteristic of the two sets of teeth, the position will not be reversed when retracting. Thus, when encountering pipes of different thicknesses or curvatures on the inspection route, the equipment can automatically switch and adapt to the corresponding ultrasonic delay block, improving efficiency and eliminating the need for manual intervention to change probes during the inspection process.

[0018] This type of lifting structure and rail-mounted climbing robot, by setting adaptive components, adds a second spring and telescopic rod to the back of each ultrasonic delay block, which is equivalent to adding a flexible and yielding buffer base. When the entire detection mechanism comes into contact with the object surface, those ultrasonic delay blocks that are not aligned with the probe and have not yet worked will be passively retracted after touching the tube wall. This not only avoids mutual interference under the compact layout of multiple probes, but also ensures that the main probe that is actually working can fit against the surface to be tested.

[0019] This lifting structure and rail-mounted climbing robot solves the long-standing problem of coupling agent leakage in traditional water spraying methods by setting up a liquid supply mechanism and annular sealing ring. It relies on the pump to accurately inject the coupling agent into the gap being probed along the flow channel, while the outermost annular sealing ring presses against the surface of the object to form a miniature closed water pool, which firmly holds the coupling agent, preventing it from being lost due to gravity or blown away by the wind. This ensures the continuous stability of the ultrasonic acoustic water film and avoids the waste of coupling agent. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall appearance of the present invention; Figure 2 This is a detailed connection diagram of the components of the present invention, including the first hydraulic rod, the camera, and the support mechanism. Figure 3 This invention is based on Figure 2 Detailed connection diagram of each component after the first plate is unfolded; Figure 4 This is a detailed connection diagram of the guiding mechanism, liquid supply mechanism, and power mechanism of the present invention; Figure 5 This is a front view of the support mechanism and the components located inside the housing of the present invention; Figure 6 This invention is based on Figure 4 Detailed connection diagram of each component after the displacement of the middle ratchet assembly; Figure 7 This is a schematic diagram showing the components of the present invention, including the support mechanism, the guide mechanism, and the rotating assembly. Figure 8This is a detailed connection diagram of the ratchet assembly, the second hydraulic rod, and the shifting assembly of the present invention; Figure 9 For the present invention Figure 8 A breakdown diagram of the components; Figure 10 This is a side view of the transposition assembly, ring, and tube components of the present invention. Figure 11 This is a schematic diagram showing the disassembled components of the present invention, including the transposition assembly, the detection mechanism, and the ring body. Figure 12 For the present invention Figure 11 Enlarged view of point A in the middle; Figure 13 For the present invention Figure 11 Enlarged diagram of point B in the middle.

[0021] In the picture: 1. Robot body; 2. First hydraulic rod; 3. Gimbal; 4. Camera; 5. Support mechanism; 51. First rod; 52. Shell; 521. Cavity; 53. First plate; 54. Second plate; 6. Guiding mechanism; 61. First block; 62. Linear slide rail; 63. First spring; 64. Fifth plate; 65. Inclined slide rail; 7. Testing mechanism; 71. Ultrasonic probe; 72. Ultrasonic delay block; 73. Adaptive component; 731. Second spring; 732. Telescopic rod; 733. Second block; 8. Liquid supply mechanism; 81. Box body; 82. Ring body; 83. Pipe body; 9. Power mechanism; 91. Rotating assembly; 911. Motor; 912. Third plate; 913. Second rod; 914. First groove; 92. Ratchet assembly; 921. First ring plate; 922. Third spring; 923. Fourth plate; 924. Second ring plate; 925. Third ring plate; 926. Third rod; 927. U-shaped rod; 928. Tooth; 929. Second groove; 93. Second hydraulic rod; 931. Flow channel; 94. Transposition assembly; 941. First circular plate; 942. Fourth ring plate; 943. Second circular plate; 944. Annular sealing ring; 945. First port; 946. Second port; 947. Third port; 948. Third groove. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Please see Figures 1-13A lifting structure includes a first hydraulic rod 2, a gimbal 3, and at least one camera 4, and further includes: The support mechanism 5 is mounted on the camera 4. The support mechanism 5 has a cavity inside. The support mechanism 5 can be lifted and lowered by the first hydraulic rod 2 and rotated by the gimbal 3. Testing unit 7 has multiple probes; The liquid supply mechanism 8 has its outlet facing the surface of the object to be tested, and is used to spray coupling agent onto the surface of the object to be tested. The power mechanism 9 is installed inside the chamber of the support mechanism 5. The output end of the power mechanism 9 is connected to the detection mechanism 7 and the liquid supply mechanism 8. The power mechanism 9 can drive the detection mechanism 7 to rotate out of the chamber and extend outward to reach the surface of the object to be measured. During the extension of the detection mechanism 7, the power mechanism 9 drives the probe on the detection mechanism 7 to switch rotation.

[0024] It also includes two guide mechanisms 6, one end of which is mounted on the support mechanism 5 and the other end is slidably connected to the power mechanism 9, for guiding and limiting when the power mechanism 9 drives the detection mechanism 7 to extend or retract.

[0025] Furthermore, in order to provide support and necessary shielding for components such as the detection mechanism 7, the liquid supply mechanism 8, and the power mechanism 9, and to ensure that components such as the detection mechanism 7, the liquid supply mechanism 8, and the power mechanism 9 can move up and down and rotate with the camera 4, as a preferred embodiment of the present invention, the support mechanism 5 includes a housing 52, a first plate 53, a second plate 54, and at least one first rod 51. One end of the first rod 51 is fixedly connected to the outer wall of the camera 4, and the other end of the first rod 51 is fixedly connected to the outer wall of the upper surface of the housing 52. The interior of the housing 52 forms a cavity 521 with an open bottom. One side of the first plate 53 is fixedly connected to one side of the second plate 54. The outer walls of the first plate 53 and the second plate 54 abut against the inner wall of the opening of the cavity 521. The detection mechanism 7, the liquid supply mechanism 8, and the power mechanism 9 are all located inside the cavity 521 and connected to the side of the first plate 53 near the cavity 521. Specifically, by setting up a support mechanism 5, the internal shell 52, first plate 53, second plate 54 and first rod 51 provide a stable physical installation foundation and necessary shielding and protection space for core detection components such as detection mechanism 7, liquid supply mechanism 8 and power mechanism 9. At the same time, it ensures that these components can form a whole with camera 4 and move up and down and rotate synchronously with camera 4.

[0026] Furthermore, in order to accurately deliver the detection mechanism 7 to the surface of the object when ultrasonic testing is required (such as a pipe or storage tank), as a preferred embodiment of the present invention, the power mechanism 9 includes a rotating assembly 91, a ratchet assembly 92, a lateral drive member, and a shifting assembly 94. One end of the rotating assembly 91 is connected to the cavity 521, and the output end of the rotating assembly 91 is connected to the first plate 53, the ratchet assembly 92, and the lateral drive member. The other end of the ratchet assembly 92 and the output end of the lateral drive member are both connected to the shifting assembly 94. The other end of the shifting assembly 94 is connected to the detection mechanism 7, and the output end of the lateral drive member is also connected to the liquid supply mechanism 8. Specifically, by setting up a power mechanism 9 and integrating a rotating assembly 91, a ratchet assembly 92, a second hydraulic rod 93, and a shifting assembly 94, it is possible to accurately deliver the detection mechanism 7 from its hidden state and tightly fit it onto the surface of the object to be tested when ultrasonic testing is required on complex pipes or storage tanks, and to safely retract it after the testing is completed.

[0027] Furthermore, in order to promptly release the detection mechanism 7 from the housing 52 when flaw detection is required, as a preferred embodiment of the present invention, the rotating assembly 91 includes a motor 911, a third plate 912, and a second rod 913. The base of the motor 911 is fixedly connected to the inner wall of the cavity 521, the output shaft of the motor 911 is fixedly connected to one end of the second rod 913, and the other end of the second rod 913 is rotatably connected to the housing 52 through a first bearing. The cross-section of the third plate 912 is L-shaped, and the outer wall of the second rod 913 is also fixedly connected to one end of the third plate 912. The other end of the third plate 912 is fixedly connected to the side of the first plate 53 near the cavity 521. A first groove 914 is provided at the corner of the L-shape of the third plate 912, and the first groove 914 is connected to both the ratchet assembly 92 and the transverse drive component. Specifically, by setting up a rotating component 91, the power output of the motor 911 drives the second rod 913 and the third plate 912. When a flaw detection command is received, the detection mechanism 7, which was originally hidden in the cavity 521, is flipped over in time to expose the outside of the shell 52, thus avoiding mechanical interference during detection.

[0028] Furthermore, since the detection mechanism 7 is located inside the cavity 521 during non-detection periods, there is a gap between the detection mechanism 7 and the object located outside the housing 52 when the detection mechanism 7 wants to detect the object. In order to ensure that the detection mechanism 7 can fit against the surface of the external object, as a preferred embodiment of the present invention, the lateral drive member is a second hydraulic rod 93. The outer wall of the second hydraulic rod 93 is fixedly connected to the corner of the L-shaped third plate 912. The output end of the second hydraulic rod 93 is connected to both the shifting component 94 and the liquid supply mechanism 8. Specifically, by setting the lateral drive component as the second hydraulic rod 93, the spatial gap between the detection mechanism 7 and the surface of the object to be tested after it is flipped to the outside is compensated, and the detection mechanism 7 is forced to push and stick tightly to the surface of the object to be tested through linear telescopic action.

[0029] Furthermore, various objects may be inspected during a single inspection route, and different pipes, cylinders, etc., have different surface curvatures. To ensure that the detection mechanism 7 maintains a better fit at all times, and to prevent the adjusted detection mechanism 7 from being reset when the lateral drive component retracts the detection mechanism 7, as a preferred embodiment of the present invention, the ratchet assembly 92 includes a first ring plate 921, a third spring 922, a fourth plate 923, a second ring plate 924, a third ring plate 925, a U-shaped rod 927, at least two third rod bodies 926, and a plurality of teeth 928. The inner wall of the first ring plate 921 is slidably connected to the outer wall of the second hydraulic rod 93. One side of the first ring plate 921 abuts against the first groove 914, and the other side of the first ring plate 921 is fixedly connected to one end of the third spring 922. One end is fixedly connected to one side of the fourth plate 923, and the other side of the fourth plate 923 is fixedly connected to one end of each of the two third rods 926. The other ends of each of the two third rods 926 are fixedly connected to the side wall of the U-shaped rod 927. Both ends of the U-shaped rod 927 are connected to the shifting assembly 94. The outer wall of the fourth plate 923 is fixedly connected to the inner wall of the second ring plate 924. The inner wall of the third ring plate 925 is rotatably connected to the outer walls of the two third rods 926 through the second bearing. Several teeth 928 are evenly divided into two groups. The two groups of teeth 928 are staggered and abut against each other. The two groups of teeth 928 are fixedly connected to the adjacent side of the second ring plate 924 and the third ring plate 925, respectively. The cross sections of the two groups of teeth 928 are both right-angled trapezoids, and the directions of the right-angled trapezoids of the two groups of teeth 928 are opposite. The third ring plate 925 is also connected to the guide mechanism 6. More specifically, the transposition assembly 94 includes a first circular plate 941, a fourth ring plate 942, and a second circular plate 943. The first circular plate 941 and the second circular plate 943 are concentric circles with the same diameter. The output end of the second hydraulic rod 93 passes through the first circular plate 941 and is rotatably connected to the axis of the second circular plate 943 via a third bearing. The output end of the second hydraulic rod 93 is fixedly connected to the axis of the first circular plate 941. The detection mechanism 7 is connected to both the first circular plate 941 and the second circular plate 943. The outer wall of the second circular plate 943 is fixedly connected to the inner wall of the fourth ring plate 942. The side of the fourth ring plate 942 closest to the first circular plate 941 is fixedly connected to both ends of the U-shaped rod 927. The side of the first circular plate 941 furthest from the second circular plate 943 is connected to the liquid supply mechanism 8. Specifically, by setting up a ratchet assembly 92 and a shifting assembly 94, and utilizing the cooperation of transmission components such as the first ring plate 921, the third spring 922, and the second ring plate 924, the first circular plate 941 and the second circular plate 943 are driven to rotate during the forward extension of the second hydraulic rod 93. This causes the ultrasonic delay blocks 72 with different curvatures carried inside to automatically switch positions, thereby perfectly adapting to the surface curvature of different pipes or cylinders on the inspection route. Furthermore, during retraction, the unidirectional slippage characteristic of the two sets of teeth 928 is used to prevent the reset action from disrupting the adjusted probe position.

[0030] Furthermore, since the cross-sections of the two sets of teeth 928 are both right-angled trapezoids and arranged in opposite directions, when the third ring plate 925 rotates forward under the drive of the inclined slide rail 65, the right-angled vertical surfaces of the two sets of teeth 928 abut against each other, thereby achieving rigid power transmission and driving displacement. When the third ring plate 925 rotates in the reverse direction to reset, the inclined surfaces of the two sets of teeth 928 contact each other and slide relative to each other. At this time, the rotational power of the third ring plate 925 is converted into an axial thrust that pushes the third spring 922 backward, thereby achieving unidirectional slippage and ensuring that the ultrasonic delay block 72, which has been switched and aligned, will not reverse with the reset action.

[0031] Meanwhile, in terms of structural assembly, the transposition component 94 and the second circular plate 943 fixedly connected to it have a certain basic rotational damping at the axis. This inherent rotational damping force is greater than the circumferential frictional thrust generated when the inclined surfaces of the two sets of teeth 928 slip and contact. This ensures that during the reset slipping stage, the ultrasonic delay block 72 can stay stably in its original position and will never reverse or shift due to the frictional disengagement of the teeth 928.

[0032] Furthermore, since the liquid supply mechanism 8 needs to apply coupling agent between the detection mechanism 7 and the object surface during ultrasonic flaw detection, in order to avoid the coupling agent flowing away and being wasted before contact and during testing, as a preferred embodiment of the present invention, the fourth ring plate 942 is fixedly connected to the side away from the first circular plate 941 with an annular sealing ring 944, and the other side of the annular sealing ring 944 faces the object to be tested. Specifically, by setting an annular sealing ring 944, a miniature closed fluid environment is formed when the fourth ring plate 942 is in close contact with the surface of the object to be tested, which prevents the coupling agent sprayed by the liquid supply mechanism 8 from sliding away due to gravity before contact or during the test, thus reducing the waste of coupling agent.

[0033] Furthermore, in order for the detection mechanism 7 to perform ultrasonic testing on the surfaces of various objects to be tested, as a preferred embodiment of the present invention, the detection mechanism 7 includes an ultrasonic probe 71, a plurality of ultrasonic delay blocks 72, and a plurality of adaptive components 73. A first through-hole 945 is provided through the surface of the first circular plate 941, and a plurality of second through-holes 946 and a plurality of third through-holes 947 are provided through the surface of the second circular plate 943. The number of second through-holes 946 and third through-holes 947 are matched, and a third groove 948 is provided between two adjacent second through-holes 946 and third through-holes 947. The outer wall of the ultrasonic probe 71 is fixedly connected to the inner wall of the first through-hole 945. The outer walls of the plurality of ultrasonic delay blocks 72 are slidably connected to the inner walls of the plurality of second through-holes 946, and the ultrasonic delay blocks 72 are aligned with the ultrasonic probe 71. The plurality of adaptive components 73 are located in the plurality of third through-holes 947, and the adaptive components 73 are also connected to the ultrasonic delay blocks 72 through the third groove 948. Specifically, by setting up a detection mechanism 7, integrating an ultrasonic probe 71 and several ultrasonic delay blocks 72 with different curvature characteristics, the rail-mounted robot is equipped with the core operational capability of performing high-precision ultrasonic defect and wall thickness detection on the surfaces of various complex and non-planar objects to be tested.

[0034] Furthermore, since different objects under test have different contact points with the ultrasonic delay blocks 72 of the detection mechanism 7, interference may occur. To avoid interference, as a preferred embodiment of the present invention, the adaptive component 73 includes a second spring 731, a telescopic rod 732, and a second block 733. One end of the second block 733 is fixedly connected to the side wall of the ultrasonic delay block 72, and one side of the second block 733 is fixedly connected to one end of both the second spring 731 and the telescopic rod 732. The other ends of the second spring 731 and the telescopic rod 732 abut against the side of the first circular plate 941 near the second circular plate 943. The surface of the ultrasonic probe 71 near the ultrasonic delay block 72 is flush with the surface of the first circular plate 941. Specifically, by setting the adaptive component 73, the flexible retraction mechanism composed of the second spring 731 and the telescopic rod 732 enables other ultrasonic delay blocks 72 that are not in working alignment with the ultrasonic probe 71 to passively retract when touching the object to be tested during the detection operation, thus avoiding mechanical spatial interference and collision caused by the compact layout of multiple probes.

[0035] Furthermore, in order to spray a coupling agent onto the surface of the object to be tested when the testing mechanism 7 performs ultrasonic testing on the surface of the object to be tested, as a preferred embodiment of the present invention, the liquid supply mechanism 8 includes a housing 81, a ring 82, and two tubes 83. The outer wall of the housing 81 is fixedly connected to the inner wall of the cavity 521. One side of the outer wall of the housing 81 and one side of the outer wall of the ring 82 are respectively fixedly connected to one end of the two tubes 83. The two tubes 83 are fixedly connected to each other by a hose. A pump is provided inside the housing 81. One side of the outer wall of the ring 82 is fixedly connected to the side of the first circular plate 941 away from the second circular plate 943. A flow channel 931 is opened inside the output end of the second hydraulic rod 93. The cavity of the housing 81, the input end of the pump, the output end of the pump, the tube 83 connected to the housing 81, the hose between the two tubes 83, the tube 83 connected to the ring 82, the ring 82, and the flow channel 931 flow sequentially. Specifically, by setting up a liquid supply mechanism 8, the coupling agent is continuously pumped through the pipe 83 to the ring 82 and the flow channel 931 by the pump body built into the housing 81, so that when the detection mechanism 7 performs ultrasonic flaw detection, the coupling agent is automatically and accurately injected between the surface of the object to be tested and the working probe, thereby dispelling the air gap between the acoustic interfaces.

[0036] Furthermore, the central outlet of the second circular plate 943 is adjacent to the ultrasonic delay block 72, which is currently in working alignment. Due to the extremely small gap between the two, together with the outermost annular sealing ring 944 forming a closed boundary on the surface to be tested, it can ensure that the coupling agent flowing out from the flow channel 931 can be directly and uniformly confined between the working probe and the surface of the object to be tested, thus avoiding the coupling agent from spreading disorderly in all directions.

[0037] Furthermore, in order to further improve the extension length of the detection mechanism 7, as a preferred embodiment of the present invention, both guide mechanisms 6 include a first block 61, a first spring 63, a fifth plate 64, an inclined slide rail 65, and two linear slide rails 62. One end of the first block 61 and the bottom surface of the two linear slide rails 62 are fixedly connected to the side of the first plate 53 near the cavity 521. One side of the first block 61 is fixedly connected to one end of the first spring 63, and the other end of the first spring 63 is fixedly connected to one side of the fifth plate 64. The lower end of the fifth plate 64 is slidably connected to both linear slide rails 62, and the upper end of the fifth plate 64 is fixedly connected to one end of the inclined slide rail 65. A second groove 929 is provided through the surface of the third ring plate 925, and the other end of the inclined slide rail 65 extends through the second groove 929 to the side away from the second ring plate 924. The inclined directions of the inclined slide rails 65 of the two guide mechanisms 6 are opposite. Specifically, by setting the guide mechanism 6, the inclined slide rail 65 provides precise stroke triggering and guiding support for the rotation and repositioning action of the ratchet assembly 92. In addition, in conjunction with the sliding of the linear slide rail 62, the effective extension length of the detection mechanism 7 pushing outward can be further improved.

[0038] It should be noted that the overall shape of the inclined slide rail 65 is formed by splicing a straight section near the end of the fifth plate 64 and an inclined section away from the end of the fifth plate 64. The design of the straight section provides a buffer stroke for the short-distance extension and retraction of the detection mechanism 7 without triggering the ratchet shifting action. This allows the detection mechanism 7 to move by simply shrinking away from the surface of the object when facing different detection points of the same object, without having to fully retract to trigger the shifting action, thus improving the efficiency of continuous multi-point detection.

[0039] The present invention also provides a rail-mounted climbing robot, including the above-mentioned lifting structure, and a robot body 1 capable of walking on a suspended track.

[0040] Working principle: Before the inspection begins, we can first install the corresponding ultrasonic delay blocks 72 in sequence on the second circular plate 943 according to the surface contour of the object to be measured on the inspection route of the robot body 1. Since the inspection route is fixed, the ultrasonic delay blocks 72 that are rotated each time can be perfectly adapted to the surface of the next object to be measured.

[0041] During normal inspection, the robot body 1 moves on the track and can take pictures of the surrounding environment through the camera 4. The first hydraulic rod 2 and the gimbal 3 can drive the camera 4 to rise, fall and rotate. When it encounters a position that needs to be ultrasonically tested, the camera 4 is first turned to face the target. Because the support mechanism 5 is fixed on the camera 4, the detection mechanism 7 hidden inside is naturally aligned with the object to be tested.

[0042] When preparing for testing, first start the motor 911. The output shaft of the motor 911, through the second rod 913, drives the third plate 912, the first plate 53, and the guide mechanism 6, the detection mechanism 7 and the power mechanism 9 mounted on it to rotate as a whole. This allows the detection mechanism 7 to be flipped out from inside the housing 52, preventing interference with the housing 52 when it is pushed forward later.

[0043] Next, the second hydraulic rod 93 is activated, causing it to extend outward. It will push the shifting assembly 94 and the detection mechanism 7 above it outward together, moving towards the object to be tested. During this extension process, the fourth ring plate 942 of the shifting assembly 94 will pull the ratchet assembly 92, including the U-shaped rod 927, the third rod 926, and the third ring plate 925, to move together.

[0044] Because the second groove 929 on the third ring plate 925 is stuck on the inclined slide rail 65 of the guide mechanism 6, and the inclination directions of the two inclined slide rails 65 are opposite, only one inclined slide rail 65 will be active when it extends forward. This active inclined slide rail 65 will force the third ring plate 925 to rotate in the direction of the motor 911. When the third ring plate 925 rotates, it will drive the second ring plate 924 to rotate through the two sets of meshing teeth 928, and then drive the entire switching assembly 94 and the second circular plate 943 to rotate. In this way, the next required ultrasonic delay block 72 will be automatically rotated and aligned with the ultrasonic probe 71 inside.

[0045] As the second hydraulic rod 93 continues to push forward, several ultrasonic delay blocks 72 at the front end will press against the surface of the object. Because each ultrasonic delay block 72 is equipped with a second spring 731 and a telescopic rod 732, those ultrasonic delay blocks 72 that are not working (that is, not aligned with the probe) will automatically retract and compress the spring after hitting the object; while the ultrasonic delay block 72 that is aligned with the ultrasonic probe 71 will not retract after it is close to the surface of the ultrasonic probe 71. This ensures a tight fit of the working probe and avoids hard collisions and interference with other spare probes.

[0046] After the coupling agent is completely adhered, the pump in the liquid supply mechanism 8 is turned on, and the coupling agent in the housing 81 is pumped into the ring 82 through the tube 83 and the hose. Then, it flows out directly from the center of the second circular plate 943 through the flow channel 931 inside the second hydraulic rod 93. This coupling agent will flow precisely to the working ultrasonic delay block 72. At the same time, the outermost annular sealing ring 944 adheres to the surface of the object, forming a micro-closed area that can hold the coupling agent for a period of time to prevent it from flowing away and being wasted. It will not separate until the test is completed.

[0047] If you just want to measure at a different position on the same object, you don't need to retract the second hydraulic rod 93 completely. There is a straight section behind the inclined slide rail 65, which, together with the linear slide rail 62, can provide a certain buffer margin. So you only need to retract it a little bit to let the ultrasonic delay block 72 leave the surface of the object, move to the next point, and then push it up.

[0048] If measuring a pipe wall of a different shape, the second hydraulic rod 93 needs to be fully retracted. During the retraction, the tilting slide rail 65 that was in action disengages, and the other tilting slide rail 65 on the opposite side engages the second groove 929, pushing the third ring plate 925 to rotate in the opposite direction and reset. However, at this time, the two sets of teeth 928 between the second ring plate 924 and the third ring plate 925 are at opposite angles, which will cause slippage. The reverse rotation of the third ring plate 925 will only compress the third spring 922 backward, and will not rotate the second circular plate 943 back together. Therefore, the ultrasonic delay block 72 will not reset and will steadily maintain the progress. When it extends again, it will continue to switch to the next block. The whole process is completed automatically, which is very convenient.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended technical solutions and their equivalents.

Claims

1. A lifting structure, comprising a first hydraulic rod (2), a gimbal (3), and at least one camera (4), characterized in that, Also includes: The support mechanism (5) is mounted on the camera (4). The support mechanism (5) has a cavity inside. The support mechanism (5) can be lifted and lowered by the first hydraulic rod (2) and rotated by the gimbal (3). The testing unit (7) has multiple probes; The liquid supply mechanism (8) has its liquid outlet facing the surface of the object to be tested, and is used to spray coupling agent onto the surface of the object to be tested. The power mechanism (9) is installed inside the chamber of the support mechanism (5). The output end of the power mechanism (9) is connected to the detection mechanism (7) and the liquid supply mechanism (8). The power mechanism (9) can drive the detection mechanism (7) to rotate out of the chamber and extend outward to reach the surface of the object to be tested. During the extension of the detection mechanism (7), the probe on the detection mechanism (7) is driven to switch and rotate.

2. The lifting structure according to claim 1, characterized in that, It also includes two guide mechanisms (6), one end of which is mounted on the support mechanism (5) and the other end is slidably connected to the power mechanism (9), for guiding and limiting when the power mechanism (9) drives the detection mechanism (7) to extend and retract.

3. The lifting structure according to claim 2, characterized in that, The support mechanism (5) includes a housing (52), a first plate (53), a second plate (54) and at least one first rod (51). One end of the first rod (51) is fixedly connected to the outer wall of the camera (4), and the other end of the first rod (51) is fixedly connected to the outer wall of the upper surface of the housing (52). The interior of the housing (52) forms a cavity (521) with an open bottom. One side of the first plate (53) is fixedly connected to one side of the second plate (54). The outer walls of the first plate (53) and the second plate (54) abut against the inner wall of the opening of the cavity (521). The detection mechanism (7), the liquid supply mechanism (8) and the power mechanism (9) are all located inside the cavity (521) and connected to the side of the first plate (53) near the cavity (521).

4. A lifting structure according to claim 3, characterized in that, The power mechanism (9) includes a rotating assembly (91), a ratchet assembly (92), a lateral drive, and a shifting assembly (94). One end of the rotating assembly (91) is connected to the cavity (521). The output end of the rotating assembly (91) is connected to the first plate (53), the ratchet assembly (92), and the lateral drive. The other end of the ratchet assembly (92) and the output end of the lateral drive are both connected to the shifting assembly (94). The other end of the shifting assembly (94) is connected to the detection mechanism (7). The output end of the lateral drive is also connected to the liquid supply mechanism (8).

5. A lifting structure according to claim 4, characterized in that, The rotating assembly (91) includes a motor (911), a third plate (912), and a second rod (913). The base of the motor (911) is fixedly connected to the inner wall of the cavity (521). The output shaft of the motor (911) is fixedly connected to one end of the second rod (913). The other end of the second rod (913) is rotatably connected to the housing (52) through a first bearing. The cross-section of the third plate (912) is L-shaped. The outer wall of the second rod (913) is also fixedly connected to one end of the third plate (912). The other end of the third plate (912) is fixedly connected to the side of the first plate (53) near the cavity (521). A first groove (914) is provided at the corner of the L-shape of the third plate (912). The first groove (914) is connected to both the ratchet assembly (92) and the transverse drive component. The ratchet assembly (92) includes a first ring plate (921), a third spring (922), a fourth plate (923), a second ring plate (924), a third ring plate (925), a U-shaped rod (927), at least two third rods (926), and a plurality of teeth (928). The inner wall of the first ring plate (921) is slidably connected to the outer wall of the second hydraulic rod (93). One side of the first ring plate (921) abuts against the first groove (914), and the other side of the first ring plate (921) is fixedly connected to one end of the third spring (922). The other end of the third spring (922) is fixedly connected to one side of the fourth plate (923), and the other side of the fourth plate (923) is fixedly connected to one end of each of the two third rods (926). The other end of (926) is fixedly connected to the side wall of the U-shaped rod (927). Both ends of the U-shaped rod (927) are connected to the shifting component (94). The outer wall of the fourth plate (923) is fixedly connected to the inner wall of the second ring plate (924). The inner wall of the third ring plate (925) is rotatably connected to the outer walls of the two third rods (926) through the second bearing. Several teeth (928) are divided into two groups. The two groups of teeth (928) are misaligned and abut against each other. The two groups of teeth (928) are fixedly connected to the adjacent side of the second ring plate (924) and the third ring plate (925) respectively. The cross sections of the two groups of teeth (928) are both right-angled trapezoids, and the directions of the right-angled trapezoids of the two groups of teeth (928) are opposite. The third ring plate (925) is also connected to the guide mechanism (6).

6. A lifting structure according to claim 5, characterized in that, The lateral drive component is a second hydraulic rod (93). The outer wall of the second hydraulic rod (93) is fixedly connected to the L-shaped corner of the third plate (912). The output end of the second hydraulic rod (93) is connected to the shifting component (94) and the liquid supply mechanism (8). The transposition assembly (94) includes a first circular plate (941), a fourth ring plate (942), and a second circular plate (943). The first circular plate (941) and the second circular plate (943) are concentric circles, and the first circular plate (941) and the second circular plate (943) have the same diameter. The output end of the second hydraulic rod (93) passes through the first circular plate (941) and is rotatably connected to the axis of the second circular plate (943) through a third bearing. The output end of the second hydraulic rod (93) is fixedly connected to the axis of the first circular plate (941). The detection mechanism (7) is connected to both the first circular plate (941) and the second circular plate (943). The outer wall of the second circular plate (943) is fixedly connected to the inner wall of the fourth ring plate (942). The side of the fourth ring plate (942) closest to the first circular plate (941) is fixedly connected to both ends of the U-shaped rod (927). The side of the first circular plate (941) away from the second circular plate (943) is connected to the liquid supply mechanism (8). The fourth ring plate (942) is fixedly connected to an annular sealing ring (944) on the side away from the first circular plate (941), and the other side of the annular sealing ring (944) faces the object to be tested.

7. A lifting structure according to claim 6, characterized in that, The detection mechanism (7) includes an ultrasonic probe (71), a plurality of ultrasonic delay blocks (72) and a plurality of adaptive components (73). A first through-hole (945) is provided through the surface of the first circular plate (941), and a plurality of second through-holes (946) and a plurality of third through-holes (947) are provided through the surface of the second circular plate (943). The number of second through-holes (946) and third through-holes (947) are matched, and a third groove (948) is provided between two adjacent second through-holes (946) and third through-holes (947). The outer wall of the ultrasonic probe (71) is fixedly connected to the inner wall of the first through-hole (945). The outer walls of the plurality of ultrasonic delay blocks (72) are slidably connected to the inner walls of the plurality of second through-holes (946), and the ultrasonic delay blocks (72) are aligned with the ultrasonic probe (71). A plurality of adaptive components (73) are located in the plurality of third through-holes (947), and the adaptive components (73) are also connected to the ultrasonic delay blocks (72) through the third groove (948). The adaptive component (73) includes a second spring (731), a telescopic rod (732), and a second block (733). One end of the second block (733) is fixedly connected to the side wall of the ultrasonic delay block (72). One side of the second block (733) is fixedly connected to one end of both the second spring (731) and the telescopic rod (732). The other ends of the second spring (731) and the telescopic rod (732) abut against the side of the first circular plate (941) near the second circular plate (943). The surface of the ultrasonic probe (71) near the ultrasonic delay block (72) is flush with the surface of the first circular plate (941).

8. A lifting structure according to claim 7, characterized in that, The liquid supply mechanism (8) includes a box (81), a ring (82) and two pipes (83). The outer wall of the box (81) is fixedly connected to the inner wall of the cavity (521). One side of the outer wall of the box (81) and one side of the outer wall of the ring (82) are respectively fixedly connected to one end of the two pipes (83). The two pipes (83) are fixedly connected by a hose. A pump is installed inside the box (81). One side of the outer wall of the ring (82) is fixedly connected to the side of the first circular plate (941) away from the second circular plate (943). A flow channel (931) is opened inside the output end of the second hydraulic rod (93). The cavity of the box (81), the input end of the pump, the output end of the pump, the pipe (83) connected to the box (81), the hose between the two pipes (83), the pipe (83) connected to the ring (82), the ring (82), and the flow channel (931) flow in sequence.

9. A lifting structure according to claim 8, characterized in that, Both guide mechanisms (6) include a first block (61), a first spring (63), a fifth plate (64), an inclined slide rail (65), and two linear slide rails (62). One end of the first block (61) and the bottom surface of the two linear slide rails (62) are fixedly connected to the side of the first plate (53) near the cavity (521). One side of the first block (61) is fixedly connected to one end of the first spring (63), and the other end of the first spring (63) is fixedly connected to the fifth plate. (64) is fixedly connected to one side, the lower end of the fifth plate (64) is slidably connected to both linear slide rails (62), the upper end of the fifth plate (64) is fixedly connected to one end of the inclined slide rail (65), the surface of the third ring plate (925) is provided with a second groove (929), the other end of the inclined slide rail (65) extends to the side of the second groove (929) away from the second ring plate (924), and the inclined slide rails (65) of the two guide mechanisms (6) are inclined in opposite directions.

10. A rail-mounted hill-climbing robot, characterized in that, The lifting structure includes any one of claims 1-9 above, and also includes a robot body (1) capable of walking on a suspended track.

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