Nondestructive testing device carried by steel wire rope autonomous crawling robot

Abstract

The utility model belongs to the technical field of steel wire rope detection, and particularly relates to a nondestructive testing device carried by an autonomous crawling robot for a steel wire rope. According to the technical scheme, the nondestructive testing device carried by the autonomous crawling robot for the steel wire rope comprises the autonomous crawling robot, a flaw detection loading instrument and a flaw detection instrument, the flaw detection loading instrument is connected to the front end of the autonomous crawling robot 1 in the running direction, and the flaw detection instrument is connected to the rear end of the autonomous crawling robot 1 in the running direction; and the autonomous crawling robot is clamped on the steel wire rope. The utility model provides a nondestructive testing device carried by an autonomous crawling robot for a steel wire rope.

Description

Technical Field

[0001] The utility model belongs to the technical field of wire rope detection, and particularly relates to a non-destructive testing device carried by a wire rope autonomous crawling robot. Background Art

[0002] The wire ropes on industrial equipment must be regularly subjected to non-destructive flaw detection, and the state of the wire ropes is evaluated through the detection results. At present, the main non-destructive flaw detection devices for wire ropes on the market are mainly of two types: handheld and fixed.

[0003] The handheld wire rope non-destructive flaw detection device is installed on the wire rope by the staff. The staff holds the handle area of the handheld wire rope non-destructive flaw detection device. When the wire rope is moving, the handheld wire rope non-destructive flaw detection device collects data on the moving wire rope for flaw detection. The fixed wire rope non-destructive flaw detection device has an installation base and can be installed and fixed according to the layout of the area to be detected, and then the detection work is carried out. The above two working methods are both restricted by the use environment and the wire rope must be able to move to achieve. Such a working method has a greater safety risk and is likely to drive the wire rope non-destructive flaw detection device to cause accidents. If the wire rope cannot move, the flaw detection cannot be carried out. Moreover, the existing wire rope non-destructive flaw detection methods cannot reach the end area of the wire rope, resulting in detection dead zones.

[0004] The length of the single-sided vertical wire rope of some fully balanced vertical ship lifts exceeds one hundred meters, and there is a section of wire rope that cannot move. The existing devices cannot perform non-destructive flaw detection on it. Therefore, the non-destructive flaw detection work of wire ropes has always been a pain point and a difficult point for the operation and maintenance units. Therefore, it is very necessary to study an automatic climbing robot adapted to ultra-long vertical wire ropes and equipped with a non-destructive detection device for use to solve the above problems. Summary of the Utility Model

[0005] In order to solve the above problems existing in the prior art, the purpose of the utility model is to provide a non-destructive testing device carried by a wire rope autonomous crawling robot.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A non-destructive testing device carried by a wire rope autonomous crawling robot includes an autonomous crawling robot, a flaw detection loading instrument, and a flaw detection instrument. The flaw detection loading instrument is connected to the front end of the autonomous crawling robot in the running direction, the flaw detection instrument is connected to the rear end of the autonomous crawling robot in the running direction, and the autonomous crawling robot is clamped on the wire rope.

[0008] The utility model drives the flaw detection loading instrument below the robot to apply magnetic loading to the wire rope through the crawling of the wire rope self - crawling robot. At the same time, it drives the flaw detection instrument above the robot to detect the flaw of the magnetized wire rope that has been traversed through the crawling of the wire rope self - crawling robot. In this way, the wire rope does not move, and the flaw detection of the wire rope is realized by driving the non - destructive flaw detection device to crawl through the crawling of the robot. The application range of the flaw detection of the wire rope is not restricted and can be used anywhere. And the control of the whole robot is realized through remote control. Therefore, in the whole process of flaw detection, not too many personnel are required to participate, and the wire rope does not need to move. So the working environment is relatively safe. Only when the wire rope stops working, the staff need to mount the non - destructive flaw detection device on the wire rope self - climbing robot, install it on the wire rope, and then remotely control the robot to crawl along the wire rope. During the crawling of the robot, the non - destructive flaw detection device mounted on it realizes the flaw detection work of the wire rope. The whole working process is simple and convenient, without any risk factors, and the working effect is high, without any flaw detection dead zones. This method of using the wire rope self - crawling robot equipped with non - destructive detection devices can thoroughly conduct non - destructive flaw detection on all wire ropes of large vertical ship lifts.

[0009] The utility model mounts the non - destructive flaw detection equipment on the intelligent climbing robot for ultra - high, ultra - long and large - volume wire ropes. The climbing power of the robot overcomes gravity and drives the non - destructive flaw detection equipment to climb, realizing the work of automatically crawling on the ultra - long vertical wire rope for non - destructive flaw detection of the wire rope; this operation mode can conduct non - destructive flaw detection when the wire rope stops working, avoiding the risk of accidents caused by driving the non - destructive flaw detection device of the wire rope when the previous fixed non - destructive flaw detection equipment for wire ropes needs to cooperate with the operation of the equipment wire rope for detection, and the working efficiency is high, without any flaw detection dead zones.

[0010] As a preferred solution of the utility model, both the flaw detection loading instrument and the flaw detection instrument are divided into two - part structures. After the two - part structures of the flaw detection loading instrument are assembled, they are sleeved on the wire rope, and the two - part structures of the flaw detection loading instrument are connected by a buckle lock. After the two - part structures of the flaw detection instrument are assembled, they are sleeved on the wire rope, and the two - part structures of the flaw detection instrument are connected by a buckle lock.

[0011] As a preferred solution of the utility model, robot side handles are fixed on both sides of the self - crawling robot, and connecting side handles are fixed on one side of the flaw detection loading instrument and one side of the flaw detection instrument. The robot side handles on one side of the self - crawling robot are respectively connected to the two connecting side handles, and the robot side handles on the other side of the self - crawling robot are respectively connected to the flaw detection loading instrument and the flaw detection instrument through double - headed hook chains.

[0012] As a preferred embodiment of the present utility model, the robot side handle and the connecting side handle are connected through a handle fastening sleeve and a spring pin.

[0013] As a preferred embodiment of the present utility model, a connecting ear is fixed on the connecting side handle, and the connecting ear is respectively connected to a flaw detection loading instrument and a flaw detection detector through a ring-type screw nut sleeve.

[0014] As a preferred embodiment of the present utility model, a ring-type screw nut sleeve is also connected to a part of the structures of the flaw detection loading instrument and the flaw detection detector far away from the connecting side handle. A ring is connected to the robot side handle on the side of the autonomous crawling robot far away from the connecting side handle. One end of a double-headed hook chain is hooked to the ring-type screw nut sleeve on a part of the structure of the flaw detection loading instrument or the flaw detection detector far away from the connecting side handle, and the other end of the double-headed hook chain is hooked to the ring.

[0015] As a preferred embodiment of the present utility model, rollers are installed on both sides of the flaw detection loading instrument and both sides of the flaw detection detector, and the rollers roll on the steel wire rope.

[0016] As a preferred embodiment of the present utility model, the autonomous crawling robot includes a crawling bottom plate. A crawling cylinder is arranged on the crawling bottom plate. Clamping crawling units are arranged on both sides of the steel wire rope. The clamping crawling unit on one side of the steel wire rope is connected to the piston rod of the crawling cylinder, and the clamping crawling unit on the other side of the steel wire rope is fixed to the crawling bottom plate.

[0017] As a preferred embodiment of the present utility model, the clamping crawling unit includes a power wheel frame. The power wheel frame on one side of the steel wire rope is connected to the piston rod of the crawling cylinder, and the power wheel frame on the other side of the steel wire rope is fixed to the crawling bottom plate. An electric motor is installed on the power wheel frame. The output end of the electric motor is connected to a transmission gear set. The output end of the transmission gear set is connected to a power wheel. The power wheel is rotatably connected to the power wheel frame, and when the power wheel rotates, it crawls along the steel wire rope.

[0018] As a preferred embodiment of the present utility model, an autonomous crawling robot frame housing is fixed on the crawling bottom plate, and the autonomous crawling robot frame housing covers the clamping crawling unit on the side of the steel wire rope where the crawling cylinder is not arranged; an autonomous crawling robot slide rail is fixed on the crawling bottom plate, and an autonomous crawling robot slide cover is slidably connected to the autonomous crawling robot slide rail. After the autonomous crawling robot slide cover slides, it covers the steel wire rope.

[0019] The beneficial effects of the present utility model are as follows:

[0020] 1. By means of the autonomous crawling robot carrying the flaw detection loading instrument and the flaw detection detector, the present utility model realizes the full non-destructive flaw detection work on the steel wire ropes of large vertical ship lifts, which does not require too many personnel to participate in the completion and does not require the movement of the steel wire ropes. Therefore, the working environment is relatively safe.

[0021] 2. In the present utility model, when the wire rope stops working, only the staff needs to mount the non-destructive testing device on the wire rope self-climbing robot, then install it on the wire rope, and then remotely control the robot to crawl along the wire rope. During the crawling process of the robot, the non-destructive testing device mounted on it realizes the work of detecting the wire rope for flaws. The entire working process is simple and convenient to operate, without any risk factors, and has high working efficiency without any dead zones for flaw detection. This method of using a wire rope automatic crawling robot equipped with a non-destructive testing device can thoroughly perform non-destructive flaw detection on all wire ropes of large vertical ship lifts. Description of the Drawings

[0022] Figure 1 is the structural schematic diagram of the present utility model;

[0023] Figure 2 is the partial structure diagram of the present utility model;

[0024] Figure 3 is the assembly drawing of the robot side handle and the connecting side handle;

[0025] Figure 4 is the cross-sectional view of the robot side handle and the connecting side handle;

[0026] Figure 5 is Figure 4 the partial enlarged view at position A in

[0027] Figure 6 is the assembly drawing of the self-climbing robot and the wire rope;

[0028] Figure 7 is the structural schematic diagram of the self-climbing robot in the first direction;

[0029] Figure 8 is the structural schematic diagram of the self-climbing robot in the second direction.

[0030] In the figure: 1 - self-climbing robot; 2 - flaw detection loading instrument; 3 - flaw detection instrument; 4 - buckle lock; 5 - connecting side handle; 6 - double-headed hook cable chain; 7 - ring-type screw nut sleeve; 11 - crawling bottom plate; 12 - crawling cylinder; 13 - solenoid valve; 14 - clamping and crawling unit; 15 - self-climbing robot sliding cover; 16 - self-climbing robot frame housing; 17 - robot side handle; 51 - connecting ear; 141 - electric motor; 142 - transmission gear set; 143 - driving wheel frame; 144 - driving wheel; 171 - handle fastening sleeve; 172 - spring pin; 173 - ring. Detailed Embodiment

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. The components of the embodiments of the present utility model described and illustrated herein can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other.

[0033] As Figure 1 and Figure 2 shown, the wire rope autonomous crawling robot of this embodiment is equipped with a non-destructive testing device, including an autonomous crawling robot 1, a flaw detection loading instrument 2 and a flaw detection instrument 3. The flaw detection loading instrument 2 and the flaw detection instrument 3 are respectively arranged at both ends of the autonomous crawling robot 1. The flaw detection loading instrument 2 is arranged at the front end in the running direction of the autonomous crawling robot 1, and the flaw detection instrument 3 is arranged at the rear end in the running direction of the autonomous crawling robot 1. The hanging rope use mode of the flaw detection loading instrument 2 and the flaw detection instrument 3 with the wire rope is specifically realized through a hinge and a buckle lock 4 structure. Specifically, referring to Figure 2 the flaw detection loading instrument 2 and the flaw detection instrument 3 are both connected to the autonomous crawling robot 1 through a handle safety pin, a double-headed hook cable 6. There are two groups of robot side end handles 17 on both sides of the autonomous crawling robot 1, and the autonomous crawling robot 1 is connected to the flaw detection loading instrument 2 and the flaw detection instrument 3 through the two groups of robot side end handles 17.

[0034] Its working principle is that after the wire rope is magnetized by the flaw detection loading instrument 2 first, the wire rope is then flaw detected by the flaw detection instrument 3; this process realizes the non-destructive flaw detection of the wire rope, quantitatively detects the loss rate of the effective cross-sectional area of the actual load-bearing metal caused by various damages such as internal and external wire breaks, wear, corrosion, and fatigue of the wire rope, correctly evaluates the remaining load-bearing capacity and service life of the measured wire rope, provides a scientific basis for users to use safely and renew reasonably in line with standards and specifications, and is a high-tech guarantee for effectively preventing wire rope breakage accidents, reasonably reducing the wire rope usage cost, and scientifically improving the wire rope operation efficiency.

[0035] Further, a standard ring-type screw nut sleeve 7 is installed on a set of robot side handles 17. A lifting ring 173 is provided on the ring-type screw nut sleeve 7. Lifting rings 173 are also provided on both the flaw detection loading instrument 2 and the flaw detection detector 3. The ring-type screw nut sleeve 7 and the lifting ring 173 are connected by a double-headed hook cable 6. Standard female snap hooks are provided at both ends of the double-headed hook cable 6. Among them, the female snap hook can be opened and closed.

[0036] During specific use: First, hang one end of the double-headed hook cable 6 on the ring-type screw nut sleeve 7 on the flaw detection loading instrument 2 and the flaw detection detector 3, and tighten the nut on the spring buckle to prevent the spring buckle from loosening. Then, fasten the female snap hook at the other hooked end of the double-headed hook cable 6 to the robot side handle 17, and tighten the nut on the spring buckle to prevent the spring buckle from loosening. Since the hanging rope of the flaw detection loading instrument 2 and the flaw detection detector 3 and the steel wire rope are connected by a hinge and a buckle lock 4 structure to realize the opening and closing of the flaw detection loading instrument 2 and the flaw detection detector 3, the connection method between the other ends of the flaw detection loading instrument 2 and the flaw detection detector 3 and the wire rope autonomous crawling robot 1 can only adopt a flexible connection. Considering the overall structural strength and the convenience of use, the double-headed hook cable 6 is used to connect the other ends of the flaw detection loading instrument 2 and the flaw detection detector 3 to the other end of the wire rope autonomous crawling robot 1. This not only does not affect the operation and usability of all module units, but also has relatively stable structural strength and is relatively beautiful as a whole.

[0037] Further, a set of connecting side handles 5 are provided on one side of each of the flaw detection loading instrument 2 and the flaw detection detector 3. One side of the flaw detection loading instrument 2 and the flaw detection detector 3 is respectively connected to another set of robot side handles 17 through the corresponding connecting side handles 5 by handle safety pins.

[0038] Further, referring to Figures 3 to 5 , the handle safety pin includes a handle fastening sleeve 171 and a spring pin 172. The inner wall of the handle fastening sleeve 171 is provided with internal threads. Both ends of the robot side handle 17 are of stainless steel rod-like structures. The outer surface of the robot side handle 17 near the stainless steel rod-like part is provided with external threads. The connecting side handle 5 is a stainless steel pipe. The outer surface of one end of the connecting side handle 5 is provided with external threads. The stainless steel rod end of the robot side handle 17 is inserted into the connecting side handle 5. The external thread ends of the connecting side handle 5 and the robot side handle 17 are connected. The handle fastening sleeve 171 is sleeved on the connection part of the robot side handle 17 and the connecting side handle 5 through threads. Under the action of the handle fastening sleeve 171, the robot side handle 17 and the connecting side handle 5 can be stably connected together. A through hole for installing the spring pin 172 is provided on the robot side handle 17, and the spring pin 172 is a standard part.

[0039] When the flaw detection loading instrument 2 and the flaw detection detector 3 are used in conjunction with the autonomous climbing robot, insert the bar end of the robot side handle 17 into the stainless steel tube connecting the side handle 5. Then, pull out the spring pin 172 on the handle structure of the autonomous climbing robot, and screw the handle fastening sleeve 171 towards the side handle 5. After screwing the internal thread of the handle fastening sleeve 171 with the external thread of the stainless steel tube at the handle end of the cleaning and lubrication module and the external thread of the bar structure at the handle end of the autonomous climbing robot, insert the spring pin 172 into the hole position of the handle structure of the autonomous climbing robot to achieve the connection between the robot side handle 17 and the connecting side handle 5.

[0040] The advantages of the above structure are as follows: Considering the special nature of the robot's use and working environment, convenient operation of the loading / dismounting module is required. Therefore, through this handle fixing method for the two relatively heavy modules, an ideal connection method is obtained. In this way, even if resonance occurs during use, the handle connection will not become loose, and frequent loading / dismounting of the module will not cause structural wear and failure.

[0041] As Figures 6 to 8 shown, the autonomous crawling robot 1 includes a crawling bottom plate 11. On one side of the upper surface of the crawling bottom plate 11, a crawling cylinder 12 and a solenoid valve 13 are provided. The solenoid valve 13 is electrically connected to the crawling cylinder 12. On both sides of the upper surface of the crawling bottom plate 11, clamping crawling units 14 are symmetrically arranged. The clamping crawling unit 14 on the same side as the crawling cylinder 12 is connected to the piston rod of the crawling cylinder 12. The crawling cylinder 12 drives the connected clamping crawling unit 14, causing this group of clamping crawling units 14 to approach the other group of clamping crawling units 14 arranged opposite to it. The symmetrically arranged clamping crawling units 14 cooperate to clamp and release the steel wire rope. On the upper surface of the crawling bottom plate 11, an autonomous crawling robot sliding cover 15 and an autonomous crawling robot frame housing 16 are fixedly arranged. The autonomous crawling robot sliding cover 15 and the autonomous crawling robot frame housing 16 respectively protect the two groups of clamping crawling units 14 on both sides of the upper surface of the crawling bottom plate 11. Autonomous crawling robot side handles are provided on the outer sides of the autonomous crawling robot sliding cover 15 and the autonomous crawling robot frame housing 16, and the connection with the lubrication and cleaning module is achieved through the autonomous crawling robot side handles.

[0042] Specifically, two sets of the crawling cylinders 12 are provided on one side of the upper surface of the crawling base plate 11, and two sets of the clamping and crawling units 14 are provided on the same side of the crawling base plate 11. A total of four sets of the clamping and crawling units 14 are provided on the crawling base plate 11. The two sets of the clamping and crawling units 14 close to the crawling cylinders 12 are respectively connected to the piston rods of the two crawling cylinders 12. The clamping and crawling unit 14 includes an electric motor 141, a transmission gear set 142, and a power wheel frame 143. The electric motor 141 is fixedly arranged on the crawling base plate 11. The transmission gear set 142 is correspondingly arranged with the output shaft of the electric motor 141. The power wheel frame 143 is fixedly arranged on the crawling base plate 11. Two power wheels 144 are rotatably arranged on the power wheel frame 143, and the rotation directions of the two power wheels 144 are the same. The power wheels 144 are connected to the transmission gear set 142. Under the driving action of the electric motor 141, through the transmission of the transmission gear set 142, the power wheels 144 can be driven to rotate. Through the rotation of the power wheels 144, the autonomous crawling robot 1 can realize self-help crawling along the steel wire rope.

[0043] Meanwhile, the present utility model also provides a usage method of a non-destructive testing device carried by a steel wire rope autonomous crawling robot, which specifically includes the following steps:

[0044] 1) First, insert the bar end of the robot side handle 17 into the stainless steel tube connecting the side handle 5, then pull out the spring pin 172 on the handle structure of the autonomous climbing robot, and screw the handle fastening sleeve 171 towards the connecting side handle 5. After screwing the internal thread of the handle fastening sleeve 171 with the external thread of the stainless steel tube at the handle end of the cleaning and lubricating module and the external thread of the bar structure at the handle end of the autonomous climbing robot together, insert the spring pin 172 into the hole position of the handle structure of the autonomous climbing robot to realize the connection between the robot side handle 17 and the connecting side handle 5.

[0045] 2) Hang one end of the double-headed hook chain 6 on the ring-type screw nut sleeve 7 on the flaw detection loading instrument 2 and the flaw detection detector 3, tighten the nut on the spring buckle to prevent the spring buckle from loosening. Then, hook the spring buckle with a nut at the other end of the double-headed hook chain 6 on the ring 173 of the robot side handle 17, and tighten the nut on the spring buckle to prevent the spring buckle from loosening;

[0046] 3) The stable connection of the flaw detection loader 2, the flaw detection detector 3 and the autonomous crawling robot 1 is achieved through steps 1) and 2). The autonomous crawling robot 1 drives the flaw detection loader 2 and the flaw detection detector 3 to move along the steel wire rope. First, the flaw detection loader 2 applies magnetic force to the steel wire rope, and then the flaw detection detector 3 performs flaw detection on the steel wire rope. This process realizes the non-destructive flaw detection of the steel wire rope, quantitatively detects the loss rate of the effective cross-sectional area of the actual load-bearing metal caused by various damages such as internal and external broken wires, wear, corrosion, and fatigue of the steel wire rope, correctly evaluates the remaining load-bearing capacity and service life of the measured steel wire rope, provides a scientific basis for users to use safely and renew reasonably in line with standards and specifications, and is a high-tech guarantee for effectively preventing steel wire rope breakage accidents, reasonably reducing the rope usage cost of steel wire ropes, and scientifically improving the operation efficiency of steel wire ropes.

[0047] 4) The autonomous crawling robot 1 includes a total of four groups of clamping and crawling units 14. Among them, the two groups of clamping and crawling units 14 on the same side approach the two groups of clamping and crawling units 14 on the corresponding other side under the control of the two crawling cylinders 12 respectively, and the clamping and loosening of the steel wire rope by the clamping and crawling units 14 are realized through the control of the crawling cylinders 12. At present, when in the loosened state, the maximum distance between the driving wheels 144 is 80 mm, and the applicable steel wire rope diameter range during normal use is 60 - 80 mm. When in the clamped state with the steel wire rope, the contact length between the driving wheels 144 and the steel wire rope is 330 mm. The longer contact area makes the overall operation of the robot more stable and reliable when the robot is in the clamped state with the steel wire rope and in the power crawling state.

[0048] 5) When the driving wheels 144 on both sides of the crawling base plate 11 clamp the steel wire rope, through the forward and reverse rotation cooperation of the electric motors 141 of the four groups of clamping and crawling units 14, the driving transmission through the transmission gear set 142 drives the driving wheels 144 to rotate in the corresponding reverse directions, thereby controlling the forward and backward movement of the present invention on the steel wire rope. The crawling speed of the robot on the steel wire rope is controlled by a synchronous motor, with a maximum climbing speed of 10 m / min and a maximum descending speed of 15 m / min.

[0049] 6) The present invention is small in volume and large in load capacity, with a total weight of 16 kg and a load capacity of up to 120 kg, and has a mechanism unit for auxiliary winding and unwinding pipelines synchronized with it, realizing the synchronous winding or unwinding of 130 meters of combined pipelines during the crawling process of the robot.

[0050] 7) The overall design of the present invention is modular, realizing simultaneous lubrication operations of two or more robots, improving the lubrication operation efficiency. Both the hardware structure design and the software program control function are modular, facilitating the input and withdrawal of each hardware device and function module of the robot, and realizing the input and withdrawal of the corresponding adapted software control functions.

[0051] 8) The utility model can be used as a mounting platform and can bidirectionally mount standardized oil injection modules or other operation modules (such as functions like wire rope flaw detection, camera shooting, etc.) along the direction of the wire rope, realizing bidirectional lubrication in the vertical direction of the wire rope without being restricted by the lubrication direction.

[0052] The utility model is not limited to the above optional embodiments. Anyone can obtain other various forms of products under the inspiration of the utility model. However, no matter what changes are made in its shape or structure, as long as the technical solutions fall within the scope defined by the claims of the utility model, they are all within the protection scope of the utility model.

Claims

1. A wire rope autonomous crawling robot equipped with a non-destructive testing device, characterized in that: The invention comprises an autonomous crawling robot (1), a flaw detection loader (2) and a flaw detection detector (3); the flaw detection loader (2) is connected to the front end of the autonomous crawling robot (1) in the running direction; the flaw detection detector (3) is connected to the rear end of the autonomous crawling robot (1) in the running direction; and the autonomous crawling robot (1) is clamped on a steel wire rope.

2. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 1, characterized in that: The flaw detection loading instrument (2) and the flaw detection testing instrument (3) are both divided into two parts of the structure. The two parts of the flaw detection loading instrument (2) are assembled and sleeved on the steel wire rope. The two parts of the flaw detection loading instrument (2) are connected by a buckle lock (4). The two parts of the flaw detection testing instrument (3) are assembled and sleeved on the steel wire rope. The two parts of the flaw detection testing instrument (3) are connected by a buckle lock (4).

3. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 2, characterized in that: Robot side handles (17) are fixed on both sides of the autonomous crawling robot (1), and connecting side handles (5) are fixed on one side of the flaw detector loader (2) and one side of the flaw detector (3). The robot side handle (17) on one side of the autonomous crawling robot (1) is respectively connected to the two connecting side handles (5), and the robot side handle (17) on the other side of the autonomous crawling robot (1) is respectively connected to the flaw detector loader (2) and the flaw detector (3) through a double-head hook chain (6).

4. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 3, characterized in that: The robot side handle (17) is connected to the connecting side handle (5) via a handle fastening sleeve (171) and a spring pin (172).

5. The nondestructive testing device mounted on a steel wire rope autonomous crawling robot according to claim 3, characterized in that: A connecting ear (51) is fixed on the connecting side end handle (5), and the connecting ear (51) is connected to the flaw detector loader (2) and the flaw detector (3) respectively through a lifting ring type screw nut sleeve (7).

6. The non-destructive testing device mounted on the wire rope autonomous crawling robot according to claim 5, characterized in that: A portion of the structure of the flaw detector loader (2) and the flaw detector (3) away from the side handle (5) connected to the flaw detector is also connected to a lifting ring type screw nut sleeve (7); a robot side handle (17) on the autonomous crawling robot (1) away from the side handle (5) connected to the flaw detector loader (2) or the flaw detector (3) is connected to a lifting ring (173); one end of the double-headed hook chain (6) is connected to the lifting ring type screw nut sleeve (7) on a portion of the structure of the flaw detector loader (2) or the flaw detector (3) away from the side handle (5) connected to the flaw detector, and the other end of the double-headed hook chain (6) is connected to the lifting ring (173).

7. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 1, characterized in that: Rollers are installed on both sides of the flaw detection loading device (2) and both sides of the flaw detection detector (3), and the rollers roll on the steel wire rope.

8. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 1, characterized in that: The autonomous crawling robot (1) comprises a crawling base plate (11), a crawling cylinder (12) is arranged on the crawling base plate (11), clamping crawling units (14) are arranged on both sides of the wire rope, the clamping crawling unit (14) on one side of the wire rope is connected to the piston rod of the crawling cylinder (12), and the clamping crawling unit (14) on the other side of the wire rope is fixed to the crawling base plate (11).

9. The non-destructive testing device mounted on a steel wire rope autonomous crawling robot according to claim 8, characterized in that: The clamping crawling unit (14) comprises a power wheel frame (143), wherein the power wheel frame (143) on one side of the steel wire rope is connected to the piston rod of the crawling cylinder (12), and the power wheel frame (143) on the other side of the steel wire rope is fixed to the crawling base plate (11), an electric motor (141) is installed on the power wheel frame (143), the output end of the electric motor (141) is connected to a transmission gear set (142), and the output end of the transmission gear set (142) is connected to a power wheel (144), the power wheel (144) is rotatably connected to the power wheel frame (143), and the power wheel (144) crawls along the steel wire rope when rotating.

10. The wire rope autonomous crawling robot equipped with a non-destructive testing device according to claim 8, characterized in that: An autonomous crawling robot frame shell (16) is fixed on the crawling base plate (11), and the autonomous crawling robot frame shell (16) covers the clamping crawling unit (14) on the side of the steel wire rope where the crawling cylinder (12) is not provided; an autonomous crawling robot slide rail is fixed on the crawling base plate (11), and the autonomous crawling robot slide rail is slidably connected to an autonomous crawling robot slide cover (15), and the autonomous crawling robot slide cover (15) covers the steel wire rope after sliding.

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