Wireless control corrosion scanning robot

Abstract

The utility model discloses a wireless control corrosion scanning robot which comprises a control box, bases are installed on the left side and the right side of the control box through movable connecting pieces respectively, a lithium battery and a main controller are installed in a shell of the control box, a driving motor is installed at the front end of each base, and a driving magnetic attraction wheel is installed at the output end of each driving motor through a coupler. A driven magnetic attraction wheel is installed at the rear end of the base, and the main controller is electrically connected with the driving motor. The base is movably connected with the control box, so that pipelines and storage tanks with various curvatures are tightly attached, the adsorption capacity of the permanent magnet suction wheels and detected materials is improved, vibration generated by hard connection walking of the robot and the pipelines can be effectively absorbed, and the influence on scanning results is reduced. The height-adjustable probe and the anti-twisting block are used for adapting to different detection requirements, so that the probe is tightly attached to detected materials with different curvatures, the situation that the probe twists in the scanning process to affect the detection result is avoided, the universality of the robot is improved, and the stability is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field, and particularly relates to a wirelessly controlled corrosion scanning robot. Background Technique

[0002] A corrosion scanning robot is a device specifically designed to carry a scanning probe for non-destructive corrosion detection of the surface or interior of materials. It can receive instructions and accurately travel to specific points on the surface of the material to be measured for scanning operations. This kind of robot shows high efficiency and flexibility superior to manual scanning when performing tasks, and is especially suitable for corrosion monitoring of positions that are difficult for humans to reach, such as aircraft fuselages, pipelines, storage tanks, etc. However, when facing tasks of narrow and long-distance detection, existing pulsed eddy current corrosion scanning robots usually have problems such as short power supply lines and easy knotting of wire harnesses, with relatively low working efficiency and unable to meet the requirements of fast and large-scale detection. In addition, when encountering components with different pipe diameters or components with rust and weld scars on the surface, existing scanning robots are difficult to pass through, thus affecting the comprehensiveness and accuracy of detection. Therefore, how to improve the working efficiency of corrosion scanning robots in industrial detection tasks, and how to enable them to flexibly cope with stable and accurate detection of different pipe diameters and materials with depressions on the surface has become the focus of technical improvement. Content of the Utility Model

[0003] The purpose of the utility model is to provide a wirelessly controlled corrosion scanning robot to solve the problems raised in the above background technique.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A wirelessly controlled corrosion scanning robot, including a control box. The left and right sides of the control box are respectively installed with bases through movable connectors. Inside the control box shell, a lithium battery and a main controller are installed. At the front end of the base, a driving motor is installed. The output end of the driving motor is installed with a driving magnetic wheel through a coupling. At the rear end of the base, a driven magnetic wheel is installed. The main controller is electrically connected to the driving motor;

[0005] One end of a scanning probe support is installed at the rear end of the control box. The other end of the scanning probe support is installed with an up and down adjusting rod. The up and down adjusting rod penetrates through the scanning probe support and is fixed to the scanning probe support through a locking component. A scanning probe is installed at the lower end of the up and down adjusting rod. A probe adjusting component is arranged between the up and down adjusting rod and the scanning probe.

[0006] Preferably, the locking component includes a clamping ring sleeved on the outer wall of the up and down adjusting rod, and a clamping ring adjusting wrench is installed on the outer wall of the clamping ring.

[0007] Preferably, the probe adjustment assembly includes a fixing bracket, the fixing bracket is fixedly connected to the lower end of the up-and-down adjusting rod, one end of the fixing bracket is installed with a scanning probe through a fixing screw, and an anti-twisting block is installed between the other end of the fixing bracket and the scanning probe through a fixing screw.

[0008] Preferably, one end of the scanning probe bracket is fixedly installed with a one-word connecting piece, the one-word connecting piece is fixedly installed at the rear side of the control box through a disassembly wrench, and a wire clamp is arranged on the probe wire of the scanning probe.

[0009] Preferably, the movable connecting piece is a spring hinge, and a locking wrench is installed on the side wall of the spring hinge.

[0010] Preferably, a motor clamping plate is installed between the driving motor and the driving magnetic wheel, the driven magnetic wheel is installed on the bearing seat through a bearing, and a flat gasket is arranged between the bearing seat and the base.

[0011] Preferably, an anti-falling wire hanging ring is fixedly installed at the rear end of the control box, and the anti-falling wire hanging ring is connected to the wire clamp through a steel wire rope.

[0012] Preferably, the main controller integrates an MCU and a wireless module.

[0013] A wirelessly controlled corrosion scanning robot proposed by the present utility model has the beneficial effects that: through the movable connection between the base and the control box, the present utility model realizes close fitting to pipelines and storage tanks with various curvatures, improves the adsorption ability of the permanent magnet suction wheels to the inspected materials, and at the same time can effectively absorb the vibration generated by the hard connection walking of the robot and the pipeline, reducing the influence on the scanning result. The height-adjustable probe and the anti-twisting block are used to adapt to different detection requirements, so that the probe closely fits the inspected materials with different curvatures, avoiding the influence of the probe twisting on the detection result during the scanning process, improving the versatility of the robot and enhancing the stability. The main controller integrating the MCU and the wireless module realizes precise control and instant data transmission. The design of the anti-falling wire hanging ring and the steel wire rope can concentrate the falling force of the probe signal wire on the robot body during high-altitude scanning, improving the service life of the probe wire and the aviation plug connector, enhancing the safety, and prolonging the service life of the equipment. In summary, this robot shows significant advantages in terms of structure, function and safety, and supports the improvement of corrosion detection efficiency and accuracy. Description of the Drawings

[0014] Figure 1 It is a schematic structural diagram of the present utility model;

[0015] Figure 2 It is a schematic structural diagram of the control box of the present utility model;

[0016] Figure 3 It is a schematic structural diagram of the base of the present utility model.

[0017] Figure 4 This is a schematic structural diagram of the scanning probe of the present utility model.

[0018] In the figure: 100, control box; 110, anti-falling wire suspension ring; 200, base; 210, movable connecting piece; 220, driving motor; 230, active magnetic suction wheel; 240, driven magnetic suction wheel; 250, locking wrench; 260, motor clamping plate; 270, bearing seat; 280, flat gasket; 300, scanning probe support; 310, up-and-down adjusting rod; 320, scanning probe; 330, clamping ring; 340, clamping ring adjusting wrench; 350, fixing frame; 360, anti-twisting block; 370, one-word connecting piece; 380, disassembly wrench; 390, wire clamp. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with 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 the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0020] Please refer to Figures 1-4 , the present utility model provides a technical solution: a wirelessly controlled corrosion scanning robot, including a control box 100, characterized in that: bases 200 are respectively installed on the left and right sides of the control box 100 through movable connecting pieces 210, a lithium battery and a main controller are installed inside the housing of the control box 100, a driving motor 220 is installed at the front end of the base 200, the output end of the driving motor 220 is installed with an active magnetic suction wheel 230 through a coupling, a driven magnetic suction wheel 240 is installed at the rear end of the base 200, and the main controller is electrically connected to the driving motor 220;

[0021] One end of a scanning probe support 300 is installed at the rear end of the control box 100, the other end of the scanning probe support 300 is installed with an up-and-down adjusting rod 310, the up-and-down adjusting rod 310 penetrates through the scanning probe support 300 and is fixed on the scanning probe support 300 through a locking component, the lower end of the up-and-down adjusting rod 310 is installed with a scanning probe 320, and a probe adjustment component is arranged between the up-and-down adjusting rod 310 and the scanning probe 320.

[0022] The locking component includes a clamping ring 330 sleeved on the outer wall of the up-and-down adjusting rod 310, and a clamping ring adjusting wrench 340 is installed on the outer wall of the clamping ring 330.

[0023] The probe adjustment assembly includes a fixing bracket 350. The fixing bracket 350 is fixedly connected to the lower end of the up-and-down adjusting rod 310. One end of the fixing bracket 350 is installed with a scanning probe 320 through a fixing screw, and an anti-twisting block 360 is installed between the other end of the fixing bracket 350 and the scanning probe 320 through a fixing screw.

[0024] One end of the scanning probe bracket 300 is fixedly installed with a one-piece connecting piece 370. The one-piece connecting piece 370 is fixedly installed at the rear side of the control box 100 through a disassembly wrench 380. A wire clamp 390 is arranged on the probe wire of the scanning probe 320.

[0025] The movable connecting piece 210 is a spring hinge. A locking wrench 250 is installed on the side wall of the spring hinge. This design restricts the possibility of the hinge rotating greatly to a certain extent, but still allows its fine angle adjustment. When locked, the damping effect will be significantly improved, which means that when the robot encounters a bumpy road section during travel, the enhanced damping can be effectively utilized to buffer and offset the vibration, thereby improving the overall stability and smoothness.

[0026] A motor clamping plate 260 is installed between the driving motor 220 and the driving magnetic wheel 230. The driven magnetic wheel 240 is installed on the bearing seat 270 through a bearing. A flat gasket 280 is arranged between the bearing seat 270 and the base 200.

[0027] An anti-falling wire hanging ring 110 is fixedly installed at the rear end of the control box 100. The anti-falling wire hanging ring 110 is connected to the wire clamp 390 through a steel wire rope. This device usually needs to carry the probe to climb upwards. The probe is wired to the ground detection instrument through a probe wire. The probe wire has a large mass. Especially after climbing dozens of meters, the gravity of the probe wire has a great pulling force on the probe. The probe wire and the probe are only connected through a plug. Pulling for a long time is easy to damage. Therefore, an anti-falling ring needs to be designed at the rear side to ensure that the gravity of the probe wire is borne by the machine itself and reduce the pulling force borne by the plug.

[0028] The main controller integrates an MCU and a wireless module inside, which not only endows the main controller with the ability to precisely control the operation of the motor, but also enables it to efficiently receive the encoding signals of the two motors on both sides, so as to achieve precise synchronization of the motors. In addition, the main controller can also feedback the travel distance and position information inside and transmit it wirelessly to the designated receiving end to ensure the timeliness and accuracy of data transmission.

[0029] The detailed connection means are well-known techniques in the art. The following mainly introduces the working principle and process, and the specific work is as follows: Before use, fix the scanning probe 320 on the fixing frame 350 with fixing screws, and also lock the anti-twisting block 360 to the scanning probe 320 with fixing screws. Connect the control box 100 and the base 200 with the locking wrench 250 to keep the control box 100 and the base 200 horizontal. First, adsorb the active magnetic wheel 230 and the driven magnetic wheel 240 on one side to the surface of the material to be inspected to determine the scanning position, then adsorb the other side, and then lock the locking wrench 250. Then rotate the clamping ring adjustment wrench 340 to adjust the height of the upper and lower adjustment rods 310 and thus adjust the height of the probe. Adjust up and down to the appropriate height and lock the clamping ring adjustment wrench 340. Finally, connect the probe wire of the scanning probe 320 to the anti-falling wire sling 110 through a steel wire rope. When in use, after receiving the travel command, the robot carries the scanning probe and walks on the surface of the material to be inspected. The drive adopts a front-wheel drive form, with a 12V DC reduction motor on each of the left and right sides to achieve forward and backward movement. The material to be inspected can be a plane or a pipe with a certain curvature. During the travel process, the scanning data and distance information are transmitted back in real time and processed and recorded by the host computer. Currently, the commonly used scanning probe is a pulsed eddy current scanning probe, which is responsible for sending excitation signals and receiving echo signals. Scanning probes using other non-destructive testing technologies can also be equipped.

[0030] In practical applications, the wirelessly controlled corrosion scanning robot of the present utility model also has multiple advantages and innovation points. First of all, by adopting the magnetic wheel design, the robot can firmly adsorb on the surface of the material to be inspected. Whether it is a plane or a pipe with a certain curvature, it can ensure stable and flexible movement. This design not only improves the scanning efficiency but also reduces the detection errors caused by the sliding or falling off of the robot.

[0031] Secondly, the robot of the present utility model is equipped with a scanning probe with adjustable height. Through the upper and lower adjustment rods and the probe adjustment assembly, users can easily adjust the position and angle of the probe to meet the detection requirements of different materials and complex surfaces. At the same time, the design of the anti-twisting block further enhances the stability of the probe and avoids interference caused by the shaking of the probe during the detection process.

[0032] In addition, the MCU and wireless module integrated in the main controller enable the robot to have powerful data processing and communication capabilities. By receiving and processing the encoder signals of the two motors in real time, the main controller can accurately control the synchronous operation of the motors, ensuring the stability and accuracy of the robot during the travel process. At the same time, the wireless transmission function enables the detection data to be immediately transmitted back to the designated receiving end, providing great convenience for subsequent data processing and analysis.

[0033] In terms of safety, the design of the anti-falling wire sling and wire rope effectively shares the gravity of the probe wire, reduces the tension borne by the aviation plug, thereby extending the service life of the equipment and reducing the failure rate. At the same time, with the design of the spring hinge and locking wrench, when encountering uneven positions such as pipeline welding points, the height of the wheels can be adjusted adaptively. The four wheels are independently connected, which can play a shock-absorbing role and provide good buffering and stability guarantee.

[0034] In summary, the wireless control corrosion detection robot of the present utility model shows significant advantages and innovations in terms of structural design, function realization, and safety guarantee. It not only improves the efficiency and accuracy of corrosion detection but also provides strong support for the technological progress and industrial upgrading of related fields.

[0035] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A wireless controlled corrosion scanning robot, comprising a control box (100), characterized in that: The left and right sides of the control box (100) are respectively provided with a base (200) via a movable connecting piece (210); a lithium battery and a main controller are installed inside the housing of the control box (100); a driving motor (220) is installed at the front end of the base (200); an active magnetic attraction wheel (230) is installed at the output end of the driving motor (220) via a coupling; a driven magnetic attraction wheel (240) is installed at the rear end of the base (200); and the main controller is electrically connected to the driving motor (220); One end of a scanning probe bracket (300) is mounted on the rear end of the control box (100), and an up-down adjustment rod (310) is mounted on the other end of the scanning probe bracket (300). The up-down adjustment rod (310) passes through the scanning probe bracket (300) and is fixed to the scanning probe bracket (300) via a locking assembly. A scanning probe (320) is mounted on the lower end of the up-down adjustment rod (310), and a probe adjustment assembly is provided between the up-down adjustment rod (310) and the scanning probe (320).

2. A wireless controlled corrosion scanning robot according to claim 1, characterized in that: The locking assembly comprises a clamping ring (330) sleeved on the outer wall of the upper and lower adjustment rods (310), and a clamping ring adjustment wrench (340) is installed on the outer wall of the clamping ring (330).

3. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The probe adjustment assembly comprises a fixing frame (350), the fixing frame (350) being fixedly connected to the lower end of the upper and lower adjustment rods (310), one end of the fixing frame (350) being mounted with a scanning probe (320) via a fixing screw, and an anti-twisting block (360) being mounted between the other end of the fixing frame (350) and the scanning probe (320) via a fixing screw.

4. The wireless controlled corrosion scanning robot according to claim 3, characterized in that: A straight-line connector (370) is fixedly mounted on one end of the scanning probe bracket (300); the straight-line connector (370) is fixedly mounted on the rear side of the control box (100) by means of a disassembly wrench (380); and a wire clip (390) is provided on the probe wire of the scanning probe (320).

5. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The movable connection member (210) is a spring hinge, and a locking wrench (250) is installed on the side wall of the spring hinge.

6. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: A motor clamp (260) is installed between the driving motor (220) and the active magnetic attraction wheel (230), the driven magnetic attraction wheel (240) is installed on a bearing seat (270) via a bearing, and a flat gasket (280) is provided between the bearing seat (270) and the base (200).

7. The wireless controlled corrosion scanning robot according to claim 4, characterized in that: A fall prevention wire eyelet (110) is fixedly mounted on the rear end of the control box (100), and the fall prevention wire eyelet (110) is connected to the wire clamp (390) via a steel wire rope.

8. The wireless controlled corrosion scanning robot according to claim 1, characterized in that: The main controller integrates MCU and wireless module.

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