Wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection equipment

Abstract

The utility model discloses wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection equipment which comprises a mounting seat, a power supply mechanism, a coupling liquid supply mechanism and a driving mechanism are arranged at the top of the mounting seat, a rotary driving mechanism is arranged at the bottom of the mounting seat, and an axial moving mechanism is arranged in the center of the top of the mounting seat; the axial moving mechanism comprises a supporting seat, a screw rod, a coupler B, a connecting shaft, a connecting shaft supporting seat, a synchronous belt pulley A, a sliding seat, a linear sliding rail, a positioning sliding seat and a driving seat, and an ultrasonic detection mechanism is arranged on one side of the driving seat; the rotary driving mechanism and the ultrasonic detection mechanism are matched to carry out annular rotary scanning on the outer wall of the pipe fitting, a large use space does not need to be occupied, the size is small, the use flexibility of the flaw detection equipment is improved, erection of the flaw detection equipment can be rapidly completed, the flow of flaw detection operation of a pipe fitting weld joint is simplified, and the working efficiency is improved. And the efficiency of pipe fitting weld joint flaw detection operation is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe fitting weld detection, in particular to wireless magnetic adsorption wall climbing robot weld ultrasonic flaw detection equipment. Background Art

[0002] After the pipe is welded, it is necessary to use flaw detection equipment to inspect its welds. The current flaw detection equipment has poor flexibility in use. In order to meet the flaw detection needs of larger-sized pipes, the existing flaw detection equipment generally takes up a large use space and is large in size, which is not convenient for equipment installation. Usually, multiple people are required to cooperate in adjusting the position of the equipment body and the pipe multiple times to complete the flaw detection operation of the pipe, resulting in low efficiency of the inspection operation of the pipe welds and poor practicality of the equipment. For this reason, we proposed a wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device to solve the above problems. Utility Model Content

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device.

[0004] The utility model solves its technical problem through the following technical solutions: it includes a mounting seat, the top of the mounting seat is provided with a power supply mechanism, the outer side of the mounting seat is provided with a coupling liquid supply mechanism, the bottom of the mounting seat is provided with a rotation drive mechanism, the rotation drive mechanism includes a mounting slide, the mounting slide is provided at the bottom of the mounting seat, the inner wall of the mounting slide is provided with a plurality of mounting screw holes, the outer side of the mounting slide is slidably connected with a rotating seat A, the inner wall of the rotating seat A is rotatably connected with the mounting shaft A, the outer side of the mounting shaft A is fixed with a magnetic wheel A, the side of the mounting seat close to the mounting slide is fixed with a motor mounting seat A by bolts, one side of the motor mounting seat A is fixed with a servo motor A by bolts, the output end of the servo motor A is provided with a driving shaft A, one end of the driving shaft A is fixed with a coupling A, one side of the coupling A is fixed with a mounting shaft B, one end of the mounting shaft B is fixed with a magnetic wheel B, the outer side of the mounting shaft B is rotatably connected with the rotating seat, and an axial movement mechanism is provided in the center of the top of the mounting seat;

[0005] The axial movement mechanism includes a support seat, which is fixed to the top of the mounting seat by bolts, and the inner wall of the support seat is rotatably connected to a screw rod, one end of the screw rod is fixed with a coupling B, one side of the coupling B is fixed with a connecting shaft, one end of the connecting shaft is rotatably connected to a connecting shaft support seat, and a synchronous pulley A is fixed to the outside of the connecting shaft, a sliding seat is provided on the outside of the screw rod, a linear slide is fixed to the bottom of the sliding seat, and a positioning slide is slidably connected to the outside of the linear slide, and the positioning slide is fixed to the mounting seat by bolts, a driving seat is fixed to one side of the linear slide, a driving mechanism is provided on the outside of the mounting seat, and an ultrasonic detection mechanism is provided on one side of the driving seat.

[0006] As a further solution of the present invention: a pair of handrails are fixed to the edge of the top of the mounting base.

[0007] As a further solution of the present invention: the power supply mechanism includes a lithium battery, which is fixed to the top of the mounting base by bolts, a power supply control module is fixed to the side of the mounting base close to the lithium battery by bolts, and multiple drive plates are fixed to the center of the bottom of the mounting base by bolts.

[0008] As a further solution of the present invention: the coupling liquid supply mechanism includes a mounting shell, the mounting shell is fixed to the top of the mounting base by bolts, the top of the mounting shell is fixed with a cover plate by bolts, the inner wall of the mounting shell is fixed with a supporting shaft, one end of the supporting shaft is rotatably connected to a coupling liquid storage box, one side of the coupling liquid storage box is rotatably connected to a hollow shaft, one end of the hollow shaft is rotatably connected to a mounting slip ring, a suction pipe is fixed to the inner wall of the mounting slip ring, a positioning block is provided at one end of the suction pipe, the positioning block is fixed to the coupling liquid storage box by bolts, the edge of the bottom of the mounting base is fixed with an oil pump mounting base by bolts, the inner wall of the oil pump mounting base is fixed with an oil pump by bolts, a feed nozzle is fixed to one side of the oil pump, and a discharge nozzle is fixed to the side of the oil pump close to the feed nozzle.

[0009] As a further solution of the present invention: a plurality of fastening bolts A are provided on the outer side of the rotating seat A, and a plurality of fastening bolts B are provided on the outer side of the rotating seat.

[0010] As a further solution of the present invention: the mounting seat is fixed with a limit switch by bolts near the top of the positioning slide.

[0011] As a further solution of the present invention: the driving mechanism includes a motor mounting base B, which is fixed to the top of the mounting base by bolts, a servo motor B is fixed to one side of the motor mounting base B, a drive shaft B is fixed to the output end of the servo motor B, a synchronous pulley is fixed to the outside of the drive shaft B, a synchronous belt is provided on the outside of the synchronous pulley, and the synchronous belt is sleeved on the outside of the synchronous pulley A.

[0012] As a further solution of the present invention: the ultrasonic detection mechanism includes a mounting slide, which is fixed to one side of the driving seat by bolts, the inner wall of the mounting slide is slidably connected to a mounting slide column, a spring is provided on the outer side of the mounting slide column, a probe frame is fixed to the bottom of the mounting slide column, a probe tooling is fixed to the inner wall of the probe frame by bolts, a connecting pipe is fixed to the top of the probe tooling, and an ultrasonic board is fixed to the bottom of the mounting seat near the driving plate by bolts.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0014] 1. The outer wall of the pipe is scanned in a circular rotation by the cooperation of the rotary drive mechanism and the ultrasonic detection mechanism. The inspected pipe can also be fixed on a roller frame and driven to rotate. The flaw detection equipment is placed in a convenient observation position. The rotation speed matching of the roller frame, the pipe, and the magnetic wheel makes the flaw detection equipment stationary relative to the pipe, facilitating real-time observation by workers and ensuring the stability of the flaw detection. It does not require a large space and is small in size, which improves the flexibility of the flaw detection equipment during use and can quickly complete the installation of the flaw detection equipment, simplifying the process of pipe weld flaw detection and improving the efficiency of pipe weld flaw detection and inspection operations.

[0015] 2. When the axial position of the ultrasonic detection mechanism needs to be adjusted, the axial movement mechanism drives the ultrasonic detection mechanism to move, thereby adjusting the axial position of the ultrasonic detection mechanism. On the basis of increasing the axial movement distance, reliability is ensured to meet the flaw detection operations of welds of different sizes, thereby improving the compatibility and practicality of the flaw detection equipment.

[0016] 3. Install the rotating seat A on the installation slot by aligning the fastening bolts A with the installation screw holes. Similarly, install the rotating seat on the installation slot by fastening the bolts B. The distance between the two sets of magnetic wheels A and B can be adjusted according to the size of the pipe to meet the needs of pipes with different diameters to improve the compatibility of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shows a schematic diagram of the main structure provided according to an embodiment of the utility model;

[0018] Figure 2 A bottom-view structural diagram according to an embodiment of the present utility model is shown;

[0019] Figure 3 The figure shows a schematic diagram of the front structure of the axial movement mechanism provided according to an embodiment of the present utility model;

[0020] Figure 4 Shown is a diagram according to an embodiment of the present invention. Figure 3 A schematic diagram of the enlarged structure of the middle part A;

[0021] Figure 5 The figure shows a left side structural schematic diagram of the axial movement mechanism provided according to an embodiment of the present utility model;

[0022] Figure 6 A schematic cross-sectional view of a coupling liquid supply mechanism according to an embodiment of the present invention is shown;

[0023] Figure 7 A schematic structural diagram of a rotary drive mechanism according to an embodiment of the present utility model is shown;

[0024] Figure 8 A schematic cross-sectional view of the rotary drive mechanism provided according to an embodiment of the present utility model is shown.

[0025] Legend:

[0026] 100 mounting base, 110 handrail, 210 lithium battery, 220 power supply control module, 230 drive board, 310 mounting shell, 311 cover plate, 320 support shaft, 330 coupling liquid storage box, 331 hollow shaft, 340 mounting slip ring, 350 suction pipe, 351 positioning block, 360 oil pump mounting base, 370 oil pump, 371 feed nozzle, 372 discharge nozzle, 410 mounting chute, 411 mounting screw hole, 420 rotating base A, 421 fastening bolt A, 430 mounting shaft A, 440 magnetic wheel A, 450 motor mounting base A, 460 servo motor A, 461 drive shaft A, 462 coupling A, 4 63 mounting shaft B, 470 magnetic wheel B, 480 rotating seat, 481 fastening bolt B, 510 support seat, 520 screw rod, 521 coupling B, 530 connecting shaft, 531 connecting shaft support seat, 540 synchronous pulley A, 550 sliding seat, 560 linear slide, 570 positioning slide, 571 limit switch, 580 drive seat, 610 motor mounting seat B, 620 servo motor B, 621 drive shaft B, 630 synchronous pulley, 631 synchronous belt, 710 mounting slide, 720 mounting slide column, 721 spring, 730 probe holder, 740 probe tooling, 741 connecting pipe, 750 ultrasonic board. DETAILED DESCRIPTION

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0028] In the description of the present invention, “plurality” means two or more, unless otherwise clearly defined.

[0029] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to the specific circumstances.

[0030] See also Figure 1-8 The utility model provides a technical solution: including a mounting base 100, a pair of handrails 110 are fixed to the edge of the top of the mounting base 100, a power supply mechanism is provided on the top of the mounting base 100, a coupling liquid supply mechanism is provided on the outside of the mounting base 100, and a rotation drive mechanism is provided on the bottom of the mounting base 100. The rotation drive mechanism includes a mounting slot 410, a mounting screw hole 411, a rotating seat A420 and a mounting shaft A430, and a magnetic wheel A440 is fixed to the outside of the mounting shaft A430. The mounting base 100 is close to the mounting slot 41 A motor mounting base A450 is fixed to one side of the 0 by bolts, a servo motor A460 is fixed to one side of the motor mounting base A450 by bolts, a drive shaft A461 is provided at the output end of the servo motor A460, one end of the drive shaft A461 is fixed to a coupling A462, one side of the coupling A462 is fixed to a mounting shaft B463, one end of the mounting shaft B463 is fixed to a magnetic wheel B470, the outer side of the mounting shaft B463 is rotatably connected to a rotating base 480, and an axial movement mechanism is provided in the center of the top of the mounting base 100;

[0031] The axial movement mechanism includes a support seat 510, a screw rod 520, a coupling B521, a connecting shaft 530, a connecting shaft support seat 531 and a synchronous pulley A540. A sliding seat 550 is provided on the outside of the screw rod 520. A linear slide 560 is fixed to the bottom of the sliding seat 550. A positioning slide 570 is slidably connected to the outside of the linear slide 560. The positioning slide 570 is fixed to the mounting seat 100 by bolts. A driving seat 580 is fixed on one side of the linear slide 560. A driving mechanism is provided on the outside of the mounting seat 100. An ultrasonic detection mechanism is provided on one side of the driving seat 580. The outer wall of the pipe is subjected to circumferential rotation scanning by the cooperation of the rotary driving mechanism and the ultrasonic detection mechanism. A roller frame can also be used to fix the inspected pipe and drive it to rotate. The flaw detection equipment is placed in a position that is easy to observe. The rotation speed matching of the roller frame, the pipe fitting, and the magnetic wheel makes the flaw detection equipment stationary relative to the pipe fitting, which is convenient for workers to observe in real time and ensures the stability of the flaw detection. It does not need to occupy a large use space and is small in size, which improves the flexibility of the flaw detection equipment when used. The flaw detection equipment can be set up quickly, simplifying the process of flaw detection operation of pipe fitting welds and improving the efficiency of flaw detection operation of pipe fitting welds. When the axial position of the ultrasonic detection mechanism needs to be adjusted, the ultrasonic detection mechanism is driven to move by the axial moving mechanism, and the axial position of the ultrasonic detection mechanism can be adjusted. On the basis of increasing the axial moving distance, reliability is ensured to meet the flaw detection operations of welds of different sizes, thereby improving the compatibility and practicality of the flaw detection equipment when used.

[0032] Specifically, the power supply mechanism includes a lithium battery 210, which is fixed to the top of the mounting base 100 by bolts, and a power supply control module 220 is fixed to the side of the mounting base 100 close to the lithium battery 210 by bolts, and multiple drive plates 230 are fixed to the center of the bottom of the mounting base 100 by bolts; the operation of each mechanism on the device is controlled by the cooperation of the lithium battery 210, the power supply control module 220 and the drive plate 230.

[0033] Specifically, the coupling liquid supply mechanism includes a mounting shell 310, which is fixed to the top of the mounting base 100 by bolts, and a cover plate 311 is fixed to the top of the mounting shell 310 by bolts. A support shaft 320 is fixed to the inner wall of the mounting shell 310, and one end of the support shaft 320 is rotatably connected to a coupling liquid storage box 330. One side of the coupling liquid storage box 330 is rotatably connected to a hollow shaft 331, and one end of the hollow shaft 331 is rotatably connected to a mounting slip ring 340. A suction pipe 350 is fixed to the inner wall of the mounting slip ring 340. A positioning block 351 is provided at one end of 350, and the positioning block 351 is fixedly connected to the coupling liquid storage box 330 by bolts. The edge of the bottom of the mounting base 100 is fixed with an oil pump mounting base 360 ​​by bolts. The inner wall of the oil pump mounting base 360 ​​is fixed with an oil pump 370 by bolts. A feed nozzle 371 is fixed on one side of the oil pump 370, and a discharge nozzle 372 is fixed on the side of the oil pump 370 close to the feed nozzle 371. By providing a coupling liquid supply mechanism, the coupling liquid is placed inside the coupling liquid storage box 330, and the coupling liquid storage box 330 is connected to the coupling liquid storage box 330 by supporting the rotating shaft 320 and the hollow rotating shaft 331. The coupling fluid storage box 330 can be kept in a vertical position under the action of gravity during the detection operation to prevent the coupling fluid from tipping over. During the rotation of the coupling fluid storage box 330, the suction tube 350 keeps rotating with the hollow shaft 331 under the action of the installation slip ring 340. When the equipment is installed, one end of the infusion tube is connected to the feed nozzle 371, and the other end of the infusion tube is inserted into the hollow shaft 331 and abutted against the end of the suction tube 350. The other infusion tube is connected to the discharge nozzle 372, and the other end is connected to the ultrasonic detection mechanism. The coupling liquid stored in the coupling liquid storage box 330 can be extracted through the cooperation of the infusion tube and the suction tube 350, and the coupling liquid is transported to the ultrasonic detection mechanism through the cooperation of the discharge nozzle 372 and the infusion tube, and finally smeared on the outside of the pipe to reduce the attenuation and reflection of the ultrasonic wave during the propagation process, so that the ultrasonic wave can better enter the material to be detected for detection. It should be noted that the infusion tube mentioned above is common knowledge, so it is not presented in the accompanying drawings. It can be fully implemented by those skilled in the art. Needless to say, the content protected by this utility model does not involve improvements to the internal structure and method.

[0034] Specifically, a plurality of fastening bolts A421 are provided on the outside of the rotating seat A420, and a plurality of fastening bolts B481 are provided on the outside of the rotating seat 480; the rotating seat A420 is installed on the installation slide groove 410 by aligning the fastening bolts A421 with the installation screw holes 411, and similarly, the rotating seat 480 is installed on the installation slide groove 410 by fastening bolts B481. The distance between the two sets of magnetic wheels A440 and magnetic wheels B470 can be adjusted according to the size of the pipe fittings to meet the needs of pipe fittings of different diameters to be inspected, thereby improving the compatibility of the equipment.

[0035] Specifically, the mounting base 100 is fixed with a limit switch 571 by bolts near the top of the positioning slide 570; the limit switch 571 is provided to limit the movement of the slide 550 to prevent the slide 550 from moving beyond the travel range.

[0036] Specifically, the driving mechanism includes a motor mounting base B610, which is fixed to the top of the mounting base 100 by bolts. A servo motor B620 is fixed to one side of the motor mounting base B610, and a driving shaft B621 is fixed to the output end of the servo motor B620. A synchronous pulley 630 is fixed to the outside of the driving shaft B621, and a synchronous belt 631 is provided on the outside of the synchronous pulley 630. The synchronous belt 631 is sleeved on the outside of the synchronous pulley A540. By providing a driving mechanism to drive the ultrasonic detection mechanism to move, the axial position of the ultrasonic detection mechanism can be adjusted. On the basis of increasing the axial moving distance, reliability is ensured to meet the flaw detection operations of welds of different sizes.

[0037] The cam 720 of the embodiment of the present invention is a kind of ultrasonic testing device, and the cam 720 of the embodiment of the present invention is a kind of ultrasonic testing device, and the cam 720 of the embodiment of the present invention is a kind of ultrasonic testing device.

[0038] Working principle: When in use, during the inspection operation, the flaw detection equipment is placed on the weld part of the pipe by holding the handrail 110, and the equipment is adsorbed on the outer wall of the pipe by the cooperation of the magnetic wheel A440 and the rotating seat 480. The drive shaft A461 is driven to rotate by the servo motor A460, and the drive shaft A461 drives the magnetic wheel B470 to rotate through the coupling A462 and the installation shaft B463. The rotation of the magnetic wheel B470 drives the flaw detection equipment to move on the outer wall of the pipe, and then drives the ultrasonic detection mechanism to move. The ultrasonic board 750 cooperates with the probe tooling 740 to release ultrasonic waves to the pipe, so as to realize the ultrasonic flaw detection operation of the pipe weld. During the process, under the pressure of the spring 721, the probe holder 730 and the pipe surface are closely fitted, which can be used for The outer wall of the pipe is scanned in a circular rotation. The roller frame can also be used to fix the inspected pipe and drive it to rotate. The flaw detection equipment is placed in a position that is convenient for observation. The rotation speed matching of the roller frame, the pipe and the magnetic wheel makes the flaw detection equipment stationary relative to the pipe, which is convenient for workers to observe in real time and ensure the stability of the flaw detection. Before the detection operation, the coupling liquid is placed inside the coupling liquid storage box 330. The coupling liquid storage box 330 can maintain free rotation inside the installation shell 310 through the support shaft 320 and the hollow shaft 331. During the detection operation, the coupling liquid storage box 330 can always maintain a vertical state under the action of gravity to prevent the coupling liquid from tipping over. During the rotation of the coupling liquid storage box 330, the suction pipe 350 is installed on the slip ring Under the action of 340, it keeps rotating with the hollow rotating shaft 331. When the equipment is installed, one end of the infusion tube is connected to the feed nozzle 371, and the other end of the infusion tube is inserted into the hollow rotating shaft 331 and pressed against the end of the suction tube 350. Another infusion tube is connected to the discharge nozzle 372, and its other end is docked with the ultrasonic detection mechanism. 380 can extract the coupling liquid stored in the coupling liquid storage box 330 through the infusion tube and the suction tube 350, and transport the coupling liquid to the ultrasonic detection mechanism through the discharge nozzle 372 and the infusion tube, and finally apply it to the outside of the pipe to reduce the attenuation and reflection of the ultrasonic wave during the propagation process. When the axial position of the ultrasonic detection mechanism needs to be adjusted, the drive shaft B is driven by the servo motor B620. 621 rotates, the driving shaft B621 rotates to drive the synchronous pulley 630 to rotate, the synchronous pulley 630 drives the synchronous pulley A540 to rotate through the synchronous belt 631, the rotation of the synchronous pulley A540 drives the connecting shaft 530 to rotate, the connecting shaft 530 drives the screw rod 520 to rotate through the coupling B521, the rotation of the screw rod 520 drives the synchronous pulley A540 to move, the movement of the synchronous pulley A540 drives the linear slide 560 to slide on the positioning slide 570, the movement of the linear slide 560 drives the drive seat 580 to move, and then drives the ultrasonic detection mechanism to move, which can adjust the axial position of the ultrasonic detection mechanism. On the basis of increasing the axial movement distance, reliability is ensured to meet the flaw detection operations of welds of different sizes.

[0039] The servo motor involved in the embodiment, its supporting control system, electromagnetic switch and pipeline route can also be provided by the manufacturer. In addition, the power supply module, circuit and electronic components and control module involved in the utility model are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the utility model does not involve improvements to the internal structure and method.

[0040] Although the present invention discloses embodiments and drawings, those skilled in the art will understand that various replacements, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. Wireless magnetic adsorption wall climbing robot weld ultrasonic flaw detection equipment, characterized by: The invention comprises a mounting base (100), wherein a power supply mechanism is provided on the top of the mounting base (100), a coupling liquid supply mechanism is provided on the outside of the mounting base (100), a rotation drive mechanism is provided on the bottom of the mounting base (100), and the rotation drive mechanism comprises a mounting slot (410), wherein the mounting slot (410) is provided at the bottom of the mounting base (100), a plurality of mounting screw holes (411) are provided on the inner wall of the mounting slot (410), a rotating base A (420) is slidably connected to the outer side of the mounting slot (410), a mounting shaft A (430) is rotatably connected to the inner wall of the rotating base A (420), and a magnetic wheel A (440) is fixed to the outer side of the mounting shaft A (430). A motor mounting seat A (450) is fixed to one side of the mounting seat (100) close to the mounting slot (410) by bolts, a servo motor A (460) is fixed to one side of the motor mounting seat A (450) by bolts, a drive shaft A (461) is provided at the output end of the servo motor A (460), a coupling A (462) is fixed to one end of the drive shaft A (461), a mounting shaft B (463) is fixed to one side of the coupling A (462), a magnetic wheel B (470) is fixed to one end of the mounting shaft B (463), an outer side of the mounting shaft B (463) is rotatably connected to a rotating seat (480), and an axial moving mechanism is provided at the center of the top of the mounting seat (100); The axial movement mechanism includes a support seat (510), the support seat (510) is fixed to the top of the mounting seat (100) by bolts, the inner wall of the support seat (510) is rotatably connected to a screw rod (520), one end of the screw rod (520) is fixed to a coupling B (521), one side of the coupling B (521) is fixed to a connecting shaft (530), one end of the connecting shaft (530) is rotatably connected to a connecting shaft support seat (531), and the outer side of the connecting shaft (530) is fixed to a synchronous pulley A (540). ), a sliding seat (550) is provided on the outer side of the screw rod (520), a linear slide rail (560) is fixed to the bottom of the sliding seat (550), a positioning slide rail (570) is slidably connected to the outer side of the linear slide rail (560), and the positioning slide rail (570) is fixedly connected to the mounting seat (100) by bolts, a driving seat (580) is fixed on one side of the linear slide rail (560), a driving mechanism is provided on the outer side of the mounting seat (100), and an ultrasonic detection mechanism is provided on one side of the driving seat (580).

2. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection equipment according to claim 1 is characterized in that: A pair of handrails (110) are fixed to the edge of the top of the mounting seat (100).

3. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 1 is characterized in that: The power supply mechanism comprises a lithium battery (210), the lithium battery (210) being fixed to the top of a mounting base (100) by means of bolts, a power supply control module (220) being fixed to a side of the mounting base (100) close to the lithium battery (210) by means of bolts, and a plurality of drive plates (230) being fixed to the center of the bottom of the mounting base (100) by means of bolts.

4. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 1 is characterized in that: The coupling liquid supply mechanism includes a mounting shell (310), the mounting shell (310) is fixed to the top of the mounting seat (100) by bolts, the top of the mounting shell (310) is fixed with a cover plate (311) by bolts, the inner wall of the mounting shell (310) is fixed with a support shaft (320), one end of the support shaft (320) is rotatably connected to a coupling liquid storage box (330), one side of the coupling liquid storage box (330) is rotatably connected to a hollow shaft (331), one end of the hollow shaft (331) is rotatably connected to a mounting slip ring (340), and the A suction pipe (350) is fixed to the inner wall of the mounting slip ring (340), a positioning block (351) is provided at one end of the suction pipe (350), and the positioning block (351) is fixedly connected to the coupling liquid storage box (330) by bolts. The edge of the bottom of the mounting seat (100) is fixed with an oil pump mounting seat (360) by bolts, and an oil pump (370) is fixed to the inner wall of the oil pump mounting seat (360) by bolts. A feed nozzle (371) is fixed to one side of the oil pump (370), and a discharge nozzle (372) is fixed to the side of the oil pump (370) close to the feed nozzle (371).

5. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 1 is characterized in that: A plurality of fastening bolts A (421) are provided on the outer side of the rotating seat A (420), and a plurality of fastening bolts B (481) are provided on the outer side of the rotating seat (480).

6. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 1 is characterized in that: The mounting seat (100) is fixed with a limit switch (571) by bolts near the top of the positioning slide (570).

7. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 1 is characterized in that: The driving mechanism includes a motor mounting base B (610), wherein the motor mounting base B (610) is fixed to the top of the mounting base (100) by bolts, a servo motor B (620) is fixed to one side of the motor mounting base B (610), a driving shaft B (621) is fixed to the output end of the servo motor B (620), a synchronous pulley (630) is fixed to the outer side of the driving shaft B (621), a synchronous belt (631) is provided on the outer side of the synchronous pulley (630), and the synchronous belt (631) is sleeved on the outer side of the synchronous pulley A (540).

8. The wireless magnetic adsorption wall-climbing robot weld ultrasonic flaw detection device according to claim 3 is characterized in that: The ultrasonic detection mechanism includes a mounting slide (710), the mounting slide (710) is fixed to one side of the driving seat (580) by bolts, the inner wall of the mounting slide (710) is slidably connected to the mounting slide (720), the outer side of the mounting slide (720) is provided with a spring (721), the bottom of the mounting slide (720) is fixed with a probe frame (730), the inner wall of the probe frame (730) is fixed with a probe tool (740) by bolts, the top of the probe tool (740) is fixed with a connecting pipe (741), and the bottom of the mounting seat (100) near the driving plate (230) is fixed with an ultrasonic board (750) by bolts.

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