Magnetic climbing robot

Abstract

The utility model discloses a magnetic climbing robot, and relates to the technical field of wind power tower maintenance operation, the magnetic climbing robot comprises a body, a positioning device and a detection device, the positioning device comprises a transmitting unit and a camera shooting unit, and the camera shooting unit is used for obtaining position information of a welding seam; the transmitting unit can transmit a laser beam to the wind power tower tube so as to improve the recognizable degree of a welding seam; the detection device comprises a sliding assembly and a detection probe, the detection probe is used for detecting the weld joint, and the sliding assembly is in electric signal connection with the camera shooting unit and can drive the detection probe to move in the first direction of the magnetic climbing robot. According to the technical scheme provided by the utility model, the technical problem that the detection efficiency is low when an existing magnetic climbing robot performs welding seam detection operation can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of maintenance operations of wind power tower barrels, and particularly relates to a magnetic climbing robot. Background Art

[0002] As an important component of wind power generation equipment, the wind power tower barrel mainly plays a supporting role. When the wind power tower barrel is in use, the welds need to be regularly inspected and repaired if necessary. At present, a magnetic climbing robot is mainly used to carry an ultrasonic detection probe to detect the welds of the wind power tower barrel. However, the existing magnetic climbing robots have the problem of low detection efficiency when performing weld detection operations.

[0003] Therefore, it is necessary to provide a new magnetic climbing robot to solve the above technical problems. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a magnetic climbing robot, aiming to solve the technical problem of low detection efficiency of the existing magnetic climbing robots when performing weld detection operations.

[0005] To achieve the above purpose, a magnetic climbing robot proposed by the utility model includes:

[0006] A body;

[0007] A positioning device, the positioning device includes a transmitting unit and a camera unit; the camera unit is used to obtain the position information of the weld, and the transmitting unit can emit a laser beam to the wind power tower barrel to improve the recognizability of the weld;

[0008] A detection device, the detection device includes a sliding component and a detection probe, the detection probe is used to detect the weld, the sliding component is electrically connected to the camera unit, and the sliding component can drive the detection probe to move along the first direction of the magnetic climbing robot.

[0009] In an embodiment, the body includes a main body, a driving member and a permanent magnet wheel set, the permanent magnet wheel set is rotatably arranged on the main body, and the driving member is arranged on the main body and is in transmission connection with the permanent magnet wheel set.

[0010] In an embodiment, the permanent magnet wheel set includes a transmission shaft, an armature, a rubber wheel and a permanent magnet, and the armature, the rubber wheel and the permanent magnet are all in transmission connection with the driving member through the transmission shaft.

[0011] In an embodiment, the number of the armatures is two, the number of the rubber wheels is two, and one of the rubber wheels, one of the armatures, the permanent magnet, the other armature and the other rubber wheel are arranged in sequence along the axial direction of the transmission shaft.

[0012] In one embodiment, a scraping blade is provided on the main body corresponding to the positions of the armature and the permanent magnet.

[0013] In one embodiment, the main body further includes a driven wheel set, and the driven wheel set is arranged at an interval from the permanent magnet wheel set along the second direction of the magnetic climbing robot;

[0014] And the number of the permanent magnet wheel sets is two, and the two permanent magnet wheel sets are arranged at an interval along the first direction of the magnetic climbing robot.

[0015] In one embodiment, the detection device further includes a lifting assembly and an adjusting assembly, and the sliding assembly, the lifting assembly, the adjusting assembly and the detection probe are connected in sequence;

[0016] The sliding assembly includes a sliding seat arranged on the main body, a slider slidably arranged on the sliding seat along the first direction of the magnetic climbing robot, and a driving body drivingly connected to the slider;

[0017] The lifting assembly includes a first mounting block connected to the slider, a driving unit arranged on the first mounting block, a second mounting block, and a scissor unit connecting the first mounting block and the second mounting block;

[0018] The adjusting assembly includes a mounting seat and a plurality of elastic members; one end of each elastic member is arranged on the second mounting block, and the other end is connected to the mounting seat, and the detection probe is arranged on the mounting seat; the driving unit can drive the scissor unit to move so as to drive the elastic members to move along the third direction of the magnetic climbing robot.

[0019] In one embodiment, a rod body is provided at one end of the elastic member away from the second mounting block, and the rod body is rotatably connected to the mounting seat.

[0020] In one embodiment, a first connecting block is slidably arranged on the first mounting block, and a second connecting block is slidably arranged on the second mounting block. The scissor unit includes a first connecting rod and a second connecting rod hinged to each other; one end of the first connecting rod is hinged to the first mounting block, and the other end is hinged to the second connecting block; one end of the second connecting rod is hinged to the second mounting block, and the other end is hinged to the first connecting block; the driving unit drives the first connecting block to slide through a lead screw.

[0021] In one embodiment, a first limit switch is arranged on the second mounting block, and the first limit switch can abut against the top surface of the mounting seat;

[0022] A second limit switch is arranged on the first mounting block, and the second limit switch can abut against the side of the first connecting block away from the first connecting rod;

[0023] The sliding seat is provided with two third limit switches at intervals, and both of the two third limit switches can be in contact with the slider.

[0024] The technical solution of the present utility model obtains the position information of the weld seam by setting the transmitting unit and the imaging unit, and drives the detection probe to move through the sliding assembly, so that the detection probe can always be aligned with the weld seam, thereby improving the detection efficiency. In this embodiment, the transmitting unit is used to emit a light beam to the wind power tower barrel to form a detection area on the surface of the wind power tower barrel, thereby improving the recognizability of the weld seam, and the imaging unit is used to obtain the position information of the weld seam. The sliding assembly can receive the position information of the weld seam obtained by the imaging unit, and drive the detection probe to move along the first direction according to the position information of the weld seam obtained by the imaging unit, so that the detection probe can always be aligned with the weld seam. Specifically, when the traveling direction of the magnetic climbing robot deviates, the sliding assembly can drive the detection probe to move along the first direction according to the position information of the weld seam obtained by the imaging unit to compensate for the error generated due to the deviation of the traveling direction of the magnetic climbing robot, so that the detection probe can always be aligned with the weld seam. When the magnetic climbing robot detects the weld seam, the sliding assembly can continuously compensate for the error generated due to the deviation of the traveling direction of the magnetic climbing robot, thereby improving the detection efficiency. This magnetic climbing robot can continuously compensate for the error generated due to the deviation of the traveling direction of the magnetic climbing robot when detecting the weld seam, so that the detection probe can always be aligned with the weld seam. Compared with the related technology in which the position and traveling direction of the magnetic climbing robot are adjusted after a large deviation occurs in the magnetic climbing robot, it can effectively save time and improve the detection efficiency. This magnetic climbing robot is applied to the technical field of wind power tower barrel maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0026] Figure 1 It is a schematic structural diagram of the magnetic climbing robot in the embodiment provided by the present utility model;

[0027] Figure 2 It is Figure 1 Another perspective schematic diagram of;

[0028] Figure 3 It is Figure 2 The enlarged view at A in;

[0029] Figure 4 It is a schematic connection diagram of the detection device and the positioning device in the embodiment provided by the present utility model;

[0030] Figure 5 Another perspective schematic diagram of Figure 4 ; Schematic diagram of the structure of the lifting assembly in the embodiment provided by the present utility model.

[0031] Figure 6 Schematic diagram of the structure of the lifting assembly in the embodiment provided by the present utility model.

[0032] Explanation of the reference numerals in the drawings:

[0033] 100, body; 110, main body; 111, wiper blade; 120, driving member; 130, permanent magnet wheel set; 131, armature; 132, rubber wheel; 133, permanent magnet; 140, driven wheel set; 200, positioning device; 210, transmitting unit; 220, imaging unit; 230, mounting plate; 300, detection device; 310, sliding assembly; 311, sliding seat; 3111, third limit switch; 312, slider; 313, driving body; 320, lifting assembly; 321, first mounting block; 3211, first connecting block; 3212, second limit switch; 322, driving unit; 323, second mounting block; 3231, second connecting block; 3232, first limit switch; 324, scissor unit; 3241, first connecting rod; 3242, second connecting rod; 330, adjusting assembly; 331, mounting seat; 332, elastic member; 3321, rod body; 340, detection probe.

[0034] The realization, functional features and advantages of the object of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts belong to the scope of protection of the present utility model.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if the embodiments of the present utility model involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously.

[0038] In addition, the technical solutions between the various embodiments of the present utility model can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0039] Currently, the weld inspection of wind power tower barrels is mainly completed by magnetic climbing robots. During the actual operation process, researchers found that when the magnetic climbing robot travels circumferentially around the wind power tower barrel, due to the action of its own gravity, the magnetic climbing robot will have a downward deviation in its travel direction (that is, the travel direction of the magnetic climbing robot will tilt downward). After the travel direction of the magnetic climbing robot deviates, it often takes a lot of time to readjust the position and travel direction of the magnetic climbing robot to ensure that the detection probe of the magnetic climbing robot is aligned with the weld, which will increase the detection time and affect the detection efficiency.

[0040] The present utility model provides a magnetic climbing robot, aiming to solve the technical problem of low detection efficiency of existing magnetic climbing robots during weld inspection operations.

[0041] Please refer to Figure 1 and Figure 2 , in an embodiment of the present utility model, the magnetic climbing robot includes a body 100, a positioning device 200, and a detection device 300. The positioning device 200 includes a transmitting unit 210 and a camera unit 220. The camera unit 220 is used to obtain the position information of the weld; the transmitting unit 210 can emit a laser beam towards the wind power tower barrel to improve the recognizability of the weld; the detection device 300 includes a sliding component 310 and a detection probe 340. The detection probe 340 is used to detect the weld. The sliding component 310 is electrically connected to the camera unit 220, and the sliding component 310 can drive the detection probe 340 to move along the first direction of the magnetic climbing robot. Among them, the first direction refers to Figure 1 and Figure 4 the direction indicated by Y in

[0042] The technical solution of the present utility model obtains the position information of the weld seam by setting the transmitting unit 210 and the imaging unit 220, and drives the detection probe 340 to move through the sliding assembly 310, so that the detection probe 340 can always be aligned with the weld seam, thereby improving the detection efficiency. In this embodiment, the transmitting unit 210 is used to emit a light beam to the wind power tower barrel to form a detection area on the surface of the wind power tower barrel, thereby improving the recognizability of the weld seam, and the imaging unit 220 is used to obtain the position information of the weld seam. The sliding assembly 310 can receive the position information of the weld seam obtained by the imaging unit 220, and drive the detection probe 340 to move in the first direction according to the position information of the weld seam obtained by the imaging unit 220, so that the detection probe 340 can always be aligned with the weld seam. Specifically, when the traveling direction of the magnetic climbing robot deviates, the sliding assembly 310 can drive the detection probe 340 to move in the first direction according to the position information of the weld seam obtained by the imaging unit 220 to compensate for the error caused by the deviation of the traveling direction of the magnetic climbing robot, so that the detection probe 340 can always be aligned with the weld seam. When the magnetic climbing robot detects the weld seam, the sliding assembly 310 can continuously compensate for the error caused by the deviation of the traveling direction of the magnetic climbing robot, thereby improving the detection efficiency. This magnetic climbing robot can continuously compensate for the error caused by the deviation of the traveling direction of the magnetic climbing robot when detecting the weld seam, so that the detection probe is always aligned with the weld seam. Compared with the related technology in which the position and traveling direction of the magnetic climbing robot are adjusted after a large deviation occurs in the magnetic climbing robot, it can effectively save time and improve the detection efficiency. This magnetic climbing robot is applied to the technical field of wind power tower barrel maintenance operations.

[0043] It should be noted that for the detection probe to be aligned with the weld seam mentioned above, it only needs to ensure that the position deviation between the probe and the weld seam is within the allowable range (for example: the deviation range is less than 2 mm). The transmitting unit 210 can be a laser generator, and the imaging unit 220 can be a vision camera. Both the transmitting unit 210 and the imaging unit 220 are installed on the main body 100 through the mounting plate 230, and both the transmitting unit 210 and the imaging unit 220 are located at the front end of the main body 100. The purpose of using the transmitting unit 210 to emit a laser beam to the wind power tower barrel is to improve the recognizability of the weld seam. The specific reason is that both the weld seam and the surface of the wind power tower barrel are coated with paint with the same color. If the position information of the weld seam is directly obtained by using the imaging unit to take pictures, the weld seam may not be accurately recognized. By emitting a laser beam to the wind power tower barrel through the transmitting unit 210, the recognizability of the weld seam can be improved, which is convenient for the imaging unit to obtain the position information of the weld seam. In the related technology, when the magnetic climbing robot travels on the surface of the wind power tower barrel, it cannot ensure that the position deviation between the detection probe 340 and the weld seam is within the allowable range. However, through this magnetic climbing robot, the position of the detection probe 340 can be adjusted in real time according to the position of the weld seam to ensure that the position deviation between the detection probe 340 and the weld seam is always within the allowable range.

[0044] Please refer to Figure 2 In an embodiment of the present utility model, the body 100 includes a main body 110, a driving member 120, and a permanent magnet wheel set 130. The permanent magnet wheel set 130 is rotatably disposed on the main body 110, and the driving member 120 is disposed on the main body 110 and is in transmission connection with the permanent magnet wheel set 130. Specifically, the driving member 120 is used to drive the permanent magnet wheel set 130 to rotate to realize the travel of the magnetic climbing robot. The permanent magnet wheel set 130 can provide a certain magnetic suction force to ensure that the magnetic climbing robot can be adsorbed on the surface of the wind power tower barrel.

[0045] Please refer to Figure 3 In an embodiment of the present utility model, the permanent magnet wheel set 130 includes a transmission shaft, an armature 131, a rubber wheel 132, and a permanent magnet 133. The armature 131, the rubber wheel 132, and the permanent magnet 133 are all in transmission connection with the driving member 120 through the transmission shaft. Specifically, the magnetic suction force between the permanent magnet 133 and the surface of the wind power tower barrel can make the magnetic climbing robot adsorbed on the surface of the wind power tower barrel. The armature 131 is used to increase the magnetic suction force, and the rubber wheel 132 can reduce the indentation left on the wind power tower barrel when the magnetic climbing robot performs weld inspection operations. The combination of the armature 131, the rubber wheel 132, and the permanent magnet 133 can have various different combination forms: The rubber wheel 132 can be one and is disposed on the outer side of one side of the magnetic wheel set; it can also be two and are respectively disposed on the outer sides of both sides of the permanent magnet wheel set 130; One permanent magnet 133 is located between two armatures 131 and also in the middle of the permanent magnet wheel set 130. In this way, the suction force is large, but the mass increases; it can also be one permanent magnet 133 and one armature 131, and the permanent magnet 133 is located between the rubber wheel 132 and the armature 131. In this way, the suction force is small, but the mass decreases. The rubber wheel 132 can be a hard rubber wheel or a hard rubber is covered on the outer circumference of an iron disc. The diameter of the rubber wheel 132 is larger than the diameter of the permanent magnet 133. In this way, during the rolling process of the magnetic climbing robot on the surface of the wind power tower barrel, the rubber wheel 132 contacts the surface of the wind power tower barrel and rolls on the surface of the wind power tower barrel, while there is a certain gap between the permanent magnet 133 and the surface of the wind power tower barrel. In this way, the magnetic climbing robot can be adsorbed on the surface of the equipment by the magnetic suction force between the permanent magnet 133 and the wind power tower barrel and will not fall off, and it is ensured that the permanent magnet 133 will not contact the surface of the wind power tower barrel, avoiding the collision and breakage between the permanent magnet 133 and the iron surface of the wind power tower barrel. After multiple tests, the permanent magnet wheel set 130 can generate a sufficiently large magnetic adsorption force to ensure that equipment weighing from dozens of kilograms to hundreds of kilograms can be stably adsorbed on the iron wall surface.

[0046] In a specific embodiment, the number of armatures 131 is two, and the number of rubber wheels 132 is two. One rubber wheel 132, one armature 131, a permanent magnet 133, the other armature 131, and the other rubber wheel 132 are arranged in sequence along the axis direction of the transmission shaft. That is to say, the permanent magnet wheel group 130 is arranged in sequence according to the order of rubber wheel 132, armature 131, permanent magnet 133, armature 131, and rubber wheel 132, and the structure of each permanent magnet wheel group 130 is the same. In addition, the number of permanent magnets 133 and armatures 131 can also be multiple, and multiple permanent magnets 133 and armatures 131 are arranged alternately. The permanent magnets 133 and armatures 131 can be made into circles with the same shape and size.

[0047] Please refer to Figure 3 , in an embodiment of the present utility model, a scraping blade 111 is provided on the main body 110 corresponding to the positions of the armature 131 and the permanent magnet 133. Due to the use of the permanent magnet 133 and traveling on the iron wall surface of the wind power tower barrel, iron filings or rust will adhere to the permanent magnet wheel group 130, which easily causes the gap between the permanent magnet 133 and the iron wall surface to be too large, reducing the magnetic suction force and easily causing the risk of the magnetic climbing robot falling. The scraping blade 111 is provided to timely remove excessive rust slag on the permanent magnet wheel group 130, which can ensure the magnetic suction force of the permanent magnet wheel group 130 and avoid the magnetic climbing robot from falling due to too small magnetic suction force. Specifically, the scraping blade 111 is specifically arranged in the direction tangent to the permanent magnet 133 and the armature 131, and the setting distance is 1 mm to 10 mm, which is convenient for scraping the rust slag adsorbed by the armature 131 and the permanent magnet 133 during traveling and does not affect the rotation of the armature 131 and the permanent magnet 133. The scraping blade 111 can be fixed on the main body 110 or movably arranged on the main body 110 to facilitate manual adjustment of the height of the scraping blade 111.

[0048] Please refer to Figure 2 , in an embodiment of the present utility model, the main body 100 further includes a driven wheel group 140. The driven wheel group 140 is arranged at intervals from the permanent magnet wheel group 130 along the second direction of the magnetic climbing robot; and the number of the permanent magnet wheel groups 130 is two, and the two permanent magnet wheel groups 130 are arranged at intervals along the first direction of the magnetic climbing robot. Among them, the second direction refers to the direction indicated by X in Figure 1 . Specifically, the driven wheel group 140 can be either a single rubber wheel 132 or a universal wheel, and the structure of the driven wheel group 140 can also be designed to be the same as that of the permanent magnet wheel group 130 to increase the magnetic suction force of the magnetic climbing robot and avoid the magnetic climbing robot from falling.

[0049] Please refer to Figure 1 、 Figure 4 and Figure 5, in an embodiment of the present utility model, the detection device 300 further includes a lifting assembly 320 and an adjustment assembly 330. The sliding assembly 310, the lifting assembly 320, the adjustment assembly 330, and the detection probe 340 are connected in sequence. The sliding assembly 310 includes a sliding seat 311 disposed on the main body 100, a slider 312 slidably disposed on the sliding seat 311 along the first direction of the magnetic climbing robot, and a driving body 313 drivingly connected to the slider 312. The lifting assembly 320 includes a first mounting block 321 connected to the slider 312, a driving unit 322 disposed on the first mounting block 321, a second mounting block 323, and a scissor unit 324 connecting the first mounting block 321 and the second mounting block 323. The adjustment assembly 330 includes a mounting seat 331 and a plurality of elastic members 332. One end of each elastic member 332 is disposed on the second mounting block 323, and the other end is connected to the mounting seat 331. The detection probe 340 is disposed on the mounting seat 331. The driving unit 322 can drive the scissor unit 324 to move, so as to drive the elastic members 332 to move along the third direction of the magnetic climbing robot. Wherein, the third direction is Figure 1 and Figure 4 the direction indicated by Z in

[0050] In this embodiment, the detection probe 340 is mounted on the mounting seat 331 and fixed by a plurality of elastic members 332. Specifically, the elastic members 332 can provide a thrust force to make the detection probe 340 abut against the surface of the wind power tower barrel. Moreover, the elastic members 332 have a certain ductility, which enables the detection probe 340 to adaptively adjust the angle according to the changes of the arc surface and weld seams of the wind power tower barrel. That is, by fixing the detection probe 340 with the elastic members 332, the detection probe 340 can be adaptively adjusted in angle to adapt to the complex working conditions on the surface of the wind power tower barrel. The driving unit 322 can drive the scissor unit 324 to move, so as to drive the elastic members 332 to move along the third direction of the magnetic climbing robot. That is, by driving the inspection unit with the driving unit 322, the distance between the elastic members 332 and the surface of the wind power tower barrel can be adjusted to ensure the ductility of the elastic members 332, and further ensure the adaptive adjustment ability of the detection probe 340, that is, to ensure that the detection probe 340 can adaptively adjust the angle according to the changes of the arc surface and weld seams of the wind power tower barrel. For example: when the detection probe 340 passes over a protrusion on the surface of the wind power tower barrel, the detection probe 340 will squeeze the elastic members 332, thereby weakening the ductility of the elastic members 332. At this time, the lifting assembly 320 can drive the elastic members 332 to move away from the wind power tower barrel to weaken the extrusion of the detection probe 340 on the elastic members 332, and restore the ductility of the elastic members 332, thereby ensuring the adaptive adjustment ability of the detection probe 340. The sliding assembly 310 includes a sliding seat 311 and a slider 312. The slider 312 can slide along the first direction of the magnetic climbing robot and drive the detection probe 340 to slide along the first direction, so that the detection probe 340 is aligned with the weld seam on the wind power tower barrel.

[0051] In a specific embodiment, the driving body 313 drives the slider 312 to slide through a lead screw. The elastic member 332 can be a compression spring, and the number of elastic members 332 is four. The four elastic members 332 are arranged in a rectangle.

[0052] Please refer to Figure 4 and Figure 5 , in an embodiment of the present invention, a rod body 3321 is provided at one end of the elastic member 332 away from the second mounting block 323, and the rod body 3321 is rotatably connected to the mounting seat 331. Specifically, the elastic member 332 is rotatably connected to the mounting seat 331 through the rod body 3321, which can improve the adaptive adjustment ability of the detection probe 340. In a specific embodiment, a receiving hole is formed in the mounting seat 331, and a rotating shaft perpendicular to its central axis is installed in the receiving hole. The rod body 3321 is hinged to the rotating shaft.

[0053] Please refer to Figure 6 , in an embodiment of the present invention, a first connecting block 3211 is slidably arranged on the first mounting block 321, a second connecting block 3231 is slidably arranged on the second mounting block 323, and the scissor unit 324 includes a first connecting rod 3241 and a second connecting rod 3242 that are hinged to each other; one end of the first connecting rod 3241 is hinged to the first mounting block 321, and the other end is hinged to the second connecting block 3231; one end of the second connecting rod 3242 is hinged to the second mounting block 323, and the other end is hinged to the first connecting block 3211; the driving unit 322 drives the first connecting block 3211 to slide through a lead screw. Specifically, when the driving unit 322 drives the first connecting block 3211 to slide, that is, the distance between the ends of the first connecting rod 3241 and the second connecting rod 3242 close to the first mounting block 321 is increased or decreased, it will drive the first connecting rod 3241 and the second connecting rod 3242 to rotate relative to each other, and then drive the distance between the ends of the first connecting rod 3241 and the second connecting rod 3242 close to the second mounting block 323 to increase or decrease. Thus, it will drive the first mounting block 321 and the second mounting block 323 to move in the direction of approaching or separating from each other, and further drive the elastic member 332 to move in the third direction.

[0054] Please refer to Figure 5In one embodiment of the utility model, the second mounting block 323 is provided with a first limit switch 3232, and the first limit switch 3232 can abut against the top surface of the mounting seat 331; in this embodiment, the first limit switch 3232 is used to limit the position of the mounting seat 331, which can prevent the detection probe 340 from over-extruding the elastic member 332 and causing damage to the elastic member 332. Specifically, when the detection probe 340 passes through the protrusion on the surface of the wind turbine tower, the detection probe 340 will squeeze the elastic member 332. If the height of the protrusion is too large, the detection probe 340 will over-extrude the elastic member 332. By setting the first limit switch 3232, the position of the detection probe 340 can be limited to prevent the detection probe 340 from over-extruding the elastic member 332. In a specific embodiment, the first limit switch 3232 is connected to the electrical signal of the controller of the magnetic climbing robot. When the mounting base 331 abuts against the first limit switch 3232 and triggers the first limit switch 3232, the first limit switch 3232 can promptly transmit a stop signal to the controller of the magnetic climbing robot to promptly shut down the magnetic climbing robot and avoid damage to the elastic member 332.

[0055] See also Figure 6 In one embodiment of the utility model, the first mounting block 321 is provided with a second limit switch 3212, and the second limit switch 3212 can abut against the side of the first connecting block 3211 away from the first connecting rod 3241; in this embodiment, the second limit switch 3212 can abut against the side of the first connecting block 3211 away from the first connecting rod 3241, which can prevent the distance between the first connecting rod 3241 and the end of the second connecting rod 3242 close to the first mounting block 321 from being too large, thereby avoiding damage to the scissor unit 324 due to excessive rotation.

[0056] See also Figure 4 In one embodiment of the utility model, two third limit switches 3111 are arranged at intervals on the slide 311, and both third limit switches 3111 can abut against the slider 312. In this embodiment, the third limit switch 3111 can limit the position of the slider 312, and further limit the position of the detection probe 340, so as to ensure that the detection probe 340 is within the detection area of ​​the magnetic climbing robot.

[0057] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A magnetic climbing robot, characterized in that: include: ontology; A positioning device, the positioning device comprising a transmitting unit and a camera unit, the camera unit being used to obtain position information of the weld; The transmitting unit can transmit a laser beam to the wind power tower to improve the recognizability of the weld; The detection device includes a sliding component and a detection probe, the detection probe is used to detect the weld, the sliding component is electrically connected to the camera unit, and the sliding component can drive the detection probe to move along the first direction of the magnetic climbing robot.

2. The magnetic climbing robot according to claim 1, characterized in that: The main body comprises a main body, a driving member and a permanent magnetic wheel group. The permanent magnetic wheel group is rotatably arranged on the main body, and the driving member is arranged on the main body and is transmission-connected with the permanent magnetic wheel group.

3. The magnetic climbing robot according to claim 2, characterized in that: The permanent magnet wheel set comprises a transmission shaft, an armature, a rubber wheel and a permanent magnet. The armature, the rubber wheel and the permanent magnet are all transmission-connected to the driving member via a transmission shaft.

4. The magnetic climbing robot according to claim 3, characterized in that: The number of the armatures is two, the number of the rubber wheels is two, and one of the rubber wheels, one of the armatures, the permanent magnet, another armature and another rubber wheel are arranged in sequence along the axial direction of the transmission shaft.

5. The magnetic climbing robot according to claim 3, characterized in that: The main body is provided with scrapers at positions corresponding to the armature and the permanent magnet.

6. The magnetic climbing robot according to claim 2, characterized in that: The body further comprises a driven wheel set, and the driven wheel set is spaced apart from the permanent magnetic wheel set along the second direction of the magnetic climbing robot; And the number of the permanent magnetic wheel groups is two, and the two permanent magnetic wheel groups are arranged at intervals along the first direction of the magnetic climbing robot.

7. The magnetic climbing robot according to claim 1, characterized in that: The detection device further comprises a lifting assembly and an adjusting assembly, wherein the sliding assembly, the lifting assembly, the adjusting assembly and the detection probe are connected in sequence; The sliding assembly comprises a sliding seat arranged on the body, a slider arranged on the sliding seat slidably along the first direction of the magnetic climbing robot, and a driving body transmission-connected to the slider; The lifting assembly includes a first mounting block connected to the slider, a driving unit provided on the first mounting block, a second mounting block, and a scissor unit connecting the first mounting block and the second mounting block; The adjustment assembly includes a mounting seat and a plurality of elastic members; one end of each of the elastic members is arranged on the second mounting block, and the other end is connected to the mounting seat, and the detection probe is arranged on the mounting seat; the driving unit can drive the scissors unit to move, so as to drive the elastic members to move along the third direction of the magnetic climbing robot.

8. The magnetic climbing robot according to claim 7, characterized in that: A rod body is disposed at one end of the elastic member away from the second mounting block, and the rod body is rotatably connected to the mounting seat.

9. The magnetic climbing robot according to claim 7, characterized in that: The first mounting block is slidably provided with a first connecting block, and the second mounting block is slidably provided with a second connecting block. The scissor-type unit includes a first connecting rod and a second connecting rod hinged to each other; one end of the first connecting rod is hinged to the first mounting block, and the other end is hinged to the second connecting block; one end of the second connecting rod is hinged to the second mounting block, and the other end is hinged to the first connecting block; the driving unit drives the first connecting block to slide via a screw rod.

10. The magnetic climbing robot according to claim 9, characterized in that: The second mounting block is provided with a first limit switch, and the first limit switch can abut against the top surface of the mounting seat; The first mounting block is provided with a second limit switch, and the second limit switch can abut against a side of the first connecting block away from the first connecting rod; The slide seat is provided with two third limit switches at intervals, and both of the two third limit switches can abut against the slide block.

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