Ultrasonic inspection robot based on lifting mechanical arm

Abstract

The utility model belongs to the technical field of defect damage inspection, and discloses an ultrasonic inspection robot based on a lifting mechanical arm, which comprises a four-wheel-foot type structure mobile platform, a height adjusting assembly, a mechanical arm, a space sensing module and a tail end executing mechanism, and the height adjusting assembly is fixedly arranged at the top of the four-wheel-foot type structure mobile platform; a bearing platform is fixedly installed on the top of the height adjusting assembly, and the mechanical arm is fixedly installed on the bearing platform. The space sensing module comprises a laser radar and a binocular depth camera, the laser radar is installed on the upper surface of the four-wheel-foot-type structure mobile platform through bolts, and the binocular depth camera is fixedly installed at the front end of the height adjusting assembly; the tail end executing mechanism comprises an ultrasonic C scanning probe and a laser displacement sensor. The ultrasonic C scanning probe and the laser displacement sensor are fixed to the tail end of the mechanical arm through a clamping device. According to the utility model, the omission ratio and the false detection rate in a complex environment can be obviously reduced, and the defect detection rate is obviously improved.

Description

Technical Field

[0001] This utility model relates to the field of defect and damage inspection technology, and in particular to an ultrasonic inspection robot based on a lifting robotic arm. Background Technology

[0002] Industrial equipment is widely used in modern engineering applications, and its quality directly affects the safety of industrial production. However, during application, due to various reasons such as material quality issues and environmental factors, various defects, such as cracks and voids, may develop inside industrial equipment. These defects not only reduce the strength of the equipment but may also cause structural safety problems. Therefore, non-destructive testing of industrial equipment to detect and address these defects in a timely manner is of great significance.

[0003] Traditional manual inspection methods face technical limitations. In high-risk fields such as petrochemicals and nuclear power, equipment defect detection has long relied on manual operation using handheld ultrasonic probes. This method suffers from drawbacks including: personnel being exposed to hazardous environments such as high temperatures and radiation; detection quality being significantly affected by the operator's experience; and low detection efficiency.

[0004] Limitations of stationary automated testing equipment:

[0005] Most existing automated ultrasonic testing systems are fixedly installed using guide rails. While this type of equipment improves testing consistency, it has significant drawbacks: deployment requires modification of on-site facilities, limiting its applicability; and it cannot handle the inspection of curved surfaces or irregularly shaped components.

[0006] Technical challenges of mobile detection platforms:

[0007] Although wheeled / tracked inspection robots that have emerged in recent years have the ability to move, their terrain adaptability has a fundamental defect: insufficient maximum obstacle crossing height; easy to slip and become unstable on wet, slippery, and loose ground; vibration causes ultrasonic probe coupling failure.

[0008] To address this, we propose an ultrasonic inspection robot based on a lifting robotic arm. Utility Model Content

[0009] The purpose of this invention is to provide an ultrasonic inspection robot based on a lifting robotic arm, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0010] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0011] An ultrasonic inspection robot based on a lifting robotic arm includes a four-wheeled legged mobile platform, a height adjustment component, a robotic arm, a spatial perception module, and an end effector.

[0012] The robot's main control unit is integrated within the abdominal compartment of the four-wheeled legged mobile platform.

[0013] The height adjustment component is fixedly installed on the top of the four-wheeled legged mobile platform;

[0014] A support platform is fixedly mounted on the top of the height adjustment component, and the robotic arm is fixedly mounted on the support platform.

[0015] The spatial perception module includes a lidar and a binocular depth camera. The lidar is bolted to the upper surface of the four-wheeled legged mobile platform, and the binocular depth camera is fixedly mounted at the front end of the height adjustment assembly.

[0016] The end effector includes an ultrasonic C-scan probe and a laser displacement sensor, which are fixed to the end of the robotic arm by a clamping device.

[0017] The four-wheeled legged mobile platform, the height adjustment component, the robotic arm, the spatial perception module, and the end effector are all electrically connected to the robot's main control unit.

[0018] According to this utility model, an ultrasonic inspection robot based on a lifting robotic arm is provided, wherein the four-wheeled mobile platform is a four-legged bionic mechanical dog, and the four legs of the four-legged bionic mechanical dog are respectively rotatably equipped with a first all-terrain rubber drive wheel, a second all-terrain rubber drive wheel, a third all-terrain rubber drive wheel and a fourth all-terrain rubber drive wheel, and each of the first all-terrain rubber drive wheel, the second all-terrain rubber drive wheel, the third all-terrain rubber drive wheel and the fourth all-terrain rubber drive wheel integrates a hub motor.

[0019] According to the present invention, an ultrasonic inspection robot based on a lifting robotic arm is provided, wherein the robotic arm is a six-degree-of-freedom robotic arm.

[0020] According to the present invention, an ultrasonic inspection robot based on a lifting robotic arm is provided, wherein the height adjustment component includes a servo electric cylinder, the servo electric cylinder is fixedly mounted on the top of the four-wheeled legged mobile platform via a base, the motor of the servo electric cylinder is fixedly mounted on the top of the base, a top flange is fixedly connected to the bottom of the support platform, and the top flange is fixedly connected to the top of the piston rod of the servo electric cylinder.

[0021] According to the present invention, an ultrasonic inspection robot based on a lifting robotic arm further includes a guiding mechanism. The guiding mechanism includes a central web and guide rods. Both ends of the central web are fixedly connected to double parallel guide rails. The central web is fixedly installed on the top of the outer wall of the cylinder body of the servo electric cylinder. The upper end of the piston rod slides through the central web. Guide holes are provided on the double parallel guide rails. Both ends of the bottom of the top flange are fixedly connected to the guide rods. The lower end of the guide rods slides through the guide holes.

[0022] According to the present invention, an ultrasonic inspection robot based on a lifting robotic arm is provided, wherein the clamping device includes a laser displacement sensor fixing part and an ultrasonic probe fixing part. The laser displacement sensor fixing part is fixedly installed at the end of the robotic arm, the ultrasonic probe fixing part is fixedly installed at the bottom of the laser displacement sensor fixing part, the laser displacement sensor is fixedly installed at the bottom of the laser displacement sensor fixing part, and the ultrasonic C-scan probe is fixedly installed on the ultrasonic probe fixing part, the ultrasonic C-scan probe being located below the laser displacement sensor.

[0023] According to the present invention, an ultrasonic inspection robot based on a lifting robotic arm is provided, wherein a vertical hollow partition plate is fixedly installed inside the abdominal compartment, the vertical hollow partition plate dividing the interior of the abdominal compartment into a front control area and a rear energy area, the robot main controller is fixedly installed in the front control area, and a power module is fixedly installed in the rear energy area through a power supply anti-vibration bracket.

[0024] In an ultrasonic inspection robot based on a lifting robotic arm according to the present invention, the binocular depth camera is fixedly mounted on the front end of the base by a mounting bracket.

[0025] This utility model has at least the following beneficial effects:

[0026] This invention achieves multi-source data fusion for environmental modeling, target localization, and defect detection through the coordinated operation of lidar, binocular depth camera, ultrasonic displacement sensor, and ultrasonic C-scan sensor. It significantly reduces the false detection rate and missed detection rate in complex environments, significantly improves the defect detection rate, and is not limited by the scene.

[0027] The quadrupedal bionic structure combined with all-terrain rubber drive wheels can adapt to unstructured terrains such as stairs, slopes, and gravel roads. With the dynamic height adjustment function of the servo electric cylinder, it ensures the stable detection posture of the robotic arm end in rugged environments, and the terrain passability is significantly improved compared with traditional wheeled robots. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0029] Figure 1 This is a schematic diagram of the ultrasonic inspection robot based on a lifting robotic arm proposed in this utility model.

[0030] Figure 2 This is a schematic diagram of the left-side structure of the ultrasonic inspection robot based on a lifting robotic arm proposed in this utility model.

[0031] Figure 3 This is a partial structural diagram of the abdominal compartment in this utility model;

[0032] Figure 4 This is a top view of a partial structural diagram of the abdominal compartment in this utility model;

[0033] Figure 5 This is a schematic diagram of the end effector in this utility model;

[0034] Figure 6 This is a schematic diagram of the robotic arm in this utility model;

[0035] Figure 7 This is a structural diagram of the height adjustment component in this utility model;

[0036] Figure 8 This is a structural diagram of the binocular depth camera and its mounting bracket in this utility model.

[0037] Explanation of icon numbers:

[0038] 1. Four-wheeled mobile platform; 2. Servo electric cylinder; 3. Robotic arm; 4. Load-bearing platform; 5. LiDAR; 6. Binocular depth camera; 7. Ultrasonic C-scan probe; 8. Laser displacement sensor; 9. Clamping device; 11. First all-terrain rubber drive wheel; 12. Second all-terrain rubber drive wheel; 13. Third all-terrain rubber drive wheel; 14. Fourth all-terrain rubber drive wheel; 15. Abdominal compartment; 16. Robot main controller; 17. Power module; 21. Electric motor; 22. Base; 23. Cylinder; 24. Piston rod; 25. Guide mechanism; 61. Mounting bracket; 91. Laser displacement sensor fixing part; 92. Ultrasonic probe fixing part; 151. Vertical hollowed-out partition plate; 171. Power supply anti-vibration bracket; 251. Double parallel guide rails; 252. Central web plate; 253. Guide rod; 254. Top flange. Detailed Implementation

[0039] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0040] Please refer to Figures 1 to 8 As shown, an embodiment of this utility model provides an ultrasonic inspection robot based on a lifting robotic arm, including a four-wheeled legged mobile platform 1, a height adjustment component, a robotic arm 3, a spatial perception module, and an end effector.

[0041] The robot main control unit 16 is integrated in the belly compartment 15 of the four-wheeled legged mobile platform 1.

[0042] The height adjustment component is fixedly installed on the top of the four-wheeled legged mobile platform 1;

[0043] The top of the height adjustment assembly is fixedly mounted with a support platform 4, and the robotic arm 3 is fixedly mounted on the support platform 4;

[0044] The spatial perception module includes a lidar 5 and a binocular depth camera 6. The lidar 5 is bolted to the upper surface of the four-wheeled mobile platform 1, and the binocular depth camera 6 is fixedly mounted at the front end of the height adjustment assembly.

[0045] The end effector includes an ultrasonic C-scan probe 7 and a laser displacement sensor 8, which are fixed to the end of the robotic arm 3 by a clamping device 9.

[0046] The four-wheeled mobile platform 1, height adjustment component, robotic arm 3, spatial perception module, and end effector are all electrically connected to the robot main controller 16.

[0047] The system architecture is divided into a perception system, an intelligent control system, and an execution system. The robot's perception system consists of a LiDAR (5), a binocular depth camera (6), an ultrasonic C-scan probe (7), a laser displacement sensor (8), and an inertial navigation unit within the four-wheeled mobile platform (1). The inertial navigation unit is integrated into the robot's main controller (16). The perception system can acquire environmental information and target object data. The intelligent control system includes a motion planning module, a detection and localization module, and a multi-source data fusion processor, all installed within the four-wheeled mobile platform (1). The intelligent control system performs mapping and navigation, motion planning, and damage analysis based on the information acquired by the perception system. The execution system includes the four-wheeled mobile platform (1), a servo electric cylinder (2), and a robotic arm (3), responsible for executing motion commands issued by the intelligent control system.

[0048] In this embodiment, a vertically oriented perforated partition plate 151 is fixedly installed inside the abdominal compartment 15. The vertically oriented perforated partition plate 151 divides the interior of the abdominal compartment 15 into a front control area and a rear energy area. The robot main controller 16 is fixedly installed in the front control area, and the power module 17 is fixedly installed in the rear energy area through a power supply anti-vibration bracket 171. The power supply anti-vibration bracket 171 with a perforated design is fixed to the abdominal compartment 15, taking into account both heat dissipation and stability, and maintaining stable power output in a mechanical vibration environment. Among them, the abdominal compartment 15 serves as the basic load-bearing unit. Its surface is precision-machined to form the positioning reference for the main control module 16 and the power module 17. The vertically oriented perforated partition plate 151 adopts a topology optimization design and forms a vertical cross support system with the base plate through laser welding. Its umbrella-shaped perforated structure not only physically isolates the control area and the energy area, but also forms an airflow channel that runs through the compartment, so that the structural load-bearing capacity and heat dissipation efficiency produce a synergistic gain effect, achieving dual-dimensional optimization of mechanical stress transmission and thermal field distribution.

[0049] In this embodiment, the four-wheeled mobile platform 1 is a four-legged bionic mechanical dog. The four legs of the four-legged bionic mechanical dog are respectively equipped with a first all-terrain rubber drive wheel 11, a second all-terrain rubber drive wheel 12, a third all-terrain rubber drive wheel 13, and a fourth all-terrain rubber drive wheel 14. The first all-terrain rubber drive wheel 11, the second all-terrain rubber drive wheel 12, the third all-terrain rubber drive wheel 13, and the fourth all-terrain rubber drive wheel 14 all integrate hub motors and use all-terrain rubber wheels. The tire tread is designed with deep grooves and combined with flexible tire material to achieve flexible contact with the ground, effectively absorb vibration and improve obstacle crossing ability. The four-wheeled mobile platform 1 integrates an intelligent control system, which realizes autonomous navigation and dynamic motion control through a multi-level architecture. It can match the optimal motion strategy in real time based on the laser radar point cloud features and historical motion data, and coordinate the distribution of four-wheel drive torque through a dynamic weight algorithm. Each foot drive wheel adopts an all-terrain adaptive rubber wheel design, which has the gripping performance of complex terrain and the shape adaptability under extreme working conditions.

[0050] In this embodiment, the robotic arm 3 is a six-degree-of-freedom robotic arm, mounted on the upper surface of the support platform 4. It is fixed with four-point bolts, and its base forms an integrated support structure with the support platform 4 through a high-rigidity connection interface. The four-point bolts are pre-tightened in a symmetrical diamond pattern. To adapt to mobile detection scenarios, the intelligent control system incorporates a platform attitude feedforward compensation algorithm. By calculating the real-time pose disturbance components of the mobile platform, it reverses the target trajectory in the joint space, ensuring that the ultrasonic probe maintains positioning stability during mobile detection.

[0051] In this embodiment, the height adjustment component includes a servo electric cylinder 2, which is fixedly mounted on the top of the four-wheeled foot structure mobile platform 1 via a base 22. The motor 21 of the servo electric cylinder 2 is fixedly mounted on the top of the base 22. A top flange 254 is fixedly connected to the bottom of the bearing platform 4. The top flange 254 is fixedly connected to the top of the piston rod 24 of the servo electric cylinder 2. A guide mechanism 25 is also provided on the base 22. The guide mechanism 25 includes a central web plate 252 and a guide rod 253. Both ends of the central web plate 252 are fixedly connected to double parallel guide rails 251. The central web plate 252 is fixedly mounted on the top of the outer wall of the cylinder body 23 of the servo electric cylinder 2. The upper end of the piston rod 24 slides through the central web plate 252. A guide hole is provided on the double parallel guide rails 251. Both ends of the bottom of the top flange 254 are fixedly connected to the guide rod 253. The lower end of the guide rod 253 slides through the guide hole.

[0052] The guide mechanism 25 is an H-type guide mechanism, which consists of double parallel guide rails 251, a central web plate 252, double guide rods 253, and a top flange 254. The double parallel guide rails 251 are arranged longitudinally in parallel and serve as the main load-bearing and guiding components. The central web plate 252 is a reinforcing plate vertically connected to the middle of the double guide rails, forming an H-shaped cross section to improve the overall bending stiffness. The double parallel guide rails 251 and the central web plate 252 are rigidly connected by continuous welding or high-strength bolts. The top flange 254 is fixed to the end face of the double guide rods 253 by threads. The main function of the guide mechanism 25 is to guide and restrict the movement path of the servo electric cylinder 2 to ensure its stable and accurate operation during operation. The height adjustment strategy of the servo electric cylinder 2 is based on the fusion data of LiDAR 5 and binocular depth camera 6: LiDAR 5 provides global height information of the target device, and binocular vision camera 6 calculates the local height deviation of the target surface through stereo matching algorithm. The control layer generates the target displacement of electric cylinder 2 accordingly, realizing adaptive matching of the working reference plane of the robotic arm, so that the initial working height of the end effector maintains a preset safe distance from the target surface.

[0053] In this embodiment, the clamping device 9 includes a laser displacement sensor fixing part 91 and an ultrasonic probe fixing part 92. The laser displacement sensor fixing part 91 is fixedly installed at the end of the robotic arm 3, the ultrasonic probe fixing part 92 is fixedly installed at the bottom of the laser displacement sensor fixing part 91, the laser displacement sensor 8 is fixedly installed at the bottom of the laser displacement sensor fixing part 91, the ultrasonic C-scan probe 7 is fixedly installed on the ultrasonic probe fixing part 92, and the ultrasonic C-scan probe 7 is located below the laser displacement sensor 8. The binocular depth camera 6 is fixedly installed at the front end of the base 22 through the mounting bracket 61.

[0054] The scanning axis of LiDAR 5 is strictly coaxially aligned with the longitudinal centerline of the four-wheeled mobile platform 1, forming a unified spatial reference perception architecture. This eliminates environmental modeling distortion caused by non-coaxial installation. It is used to perceive environmental information around the ultrasonic inspection robot based on a lifting robotic arm, acquiring laser point cloud data. This data can be combined with visual information acquired by the binocular depth camera 6 to construct an environmental map. LiDAR 5 achieves three-dimensional environmental perception through active detection and reflection signal analysis of multi-beam pulsed lasers. Its core workflow is as follows: the laser array emits discrete laser beams into space. After reflection from the surface of the target object, the echo signal is received by a high-sensitivity photodetector. The single-point ranging value of each laser beam is accurately calculated based on the time-of-flight method. Simultaneously, wide-area scanning coverage in the horizontal and vertical dimensions is achieved through a rotating scanning mechanism or solid-state phased array technology. The discrete point cloud data is fused according to a spatiotemporal reference to generate a high-density three-dimensional coordinate point cloud. This point cloud, through feature extraction and surface reconstruction algorithms, constructs a millimeter-level precision environmental geometric model in real time, providing a spatial reference framework for autonomous navigation, obstacle recognition, and detection path planning.

[0055] The binocular depth camera 6 achieves 3D perception based on stereo vision principles: It simultaneously acquires scene images using two parallel cameras, performs feature matching on the two images using an epipolar constraint algorithm, calculates the horizontal parallax of the target point in the left and right views, and constructs a parallax-depth mapping relationship by combining the camera baseline distance and lens geometry model, ultimately generating a dense depth map. To enhance matching accuracy in weakly textured areas, an active structured light projector projects a specific coded pattern onto the scene, and analyzes the pattern deformation features to assist in stereo matching. The system has a built-in dynamic calibration module that can compensate online for camera pose shifts caused by mechanical vibration and temperature drift, ensuring the stability of depth perception under complex working conditions.

[0056] The working principle and usage process of this utility model are as follows: When in use, the inspection robot is placed in the working environment. Then, based on the laser radar 5 and binocular depth camera 6 installed on the four-wheeled legged mobile platform 1, the robot constructs an environmental map and path planning, driving the mobile platform to the target area. Upon reaching the target area, the robot approaches the workpiece to be tested, controls the actuator of the servo electric cylinder 2 to move, and adjusts the position of the robotic arm 3 so that its movement space covers the area to be tested. Then, hand-eye calibration is performed, transforming the three-dimensional coordinates of the position to be tested from the camera coordinate system to the robotic arm base coordinate system, generating the robotic arm end-effector pose. Robotic arm motion planning is then performed, controlling the robotic arm end-effector to approach the surface of the workpiece to be tested. The distance between the plane of the ultrasonic C-scan probe 7 and the plane to be tested is measured using the laser displacement sensor 8, guiding the robotic arm end-effector to the correct detection pose, aligning the ultrasonic probe with the workpiece. After reaching each detection point, the ultrasonic C-scan probe is responsible for acquiring and transmitting ultrasonic signals at that measurement point. The collected data is then imaged and processed on an oscilloscope or other devices to record the workpiece damage condition.

[0057] In summary, this ultrasonic inspection robot based on a lifting robotic arm, combined with a lidar 5, a binocular depth camera 6, an ultrasonic C-scan probe 7, a laser displacement sensor 8, a multi-degree-of-freedom mechanical structure, and a motion control system, has all-terrain adaptive capabilities, enabling autonomous inspection in complex environments and significantly improving defect detection rate and inspection efficiency.

[0058] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the present invention's conception through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An ultrasonic inspection robot based on a lifting mechanical arm, characterized in that, The four-wheel foot structure mobile platform (1), a height adjusting assembly, a mechanical arm (3), a space perception module and an end execution mechanism are comprised. The robot main control (16) is integrated in the abdomen cabin (15) of the four-wheel foot structure mobile platform (1). The height adjusting assembly is fixedly installed on the top of the four-wheel foot structure mobile platform (1). The top of the height adjusting assembly is fixedly installed with a bearing platform (4), and the mechanical arm (3) is fixedly installed on the bearing platform (4). The space perception module comprises a laser radar (5) and a binocular depth camera (6), the laser radar (5) is bolted on the upper surface of the four-wheel foot structure mobile platform (1), and the binocular depth camera (6) is fixedly installed at the front end of the height adjusting assembly. The end execution mechanism comprises an ultrasonic C-scan probe (7) and a laser displacement sensor (8), and the ultrasonic C-scan probe (7) and the laser displacement sensor (8) are fixed on the end of the mechanical arm (3) through a clamping device (9). The four-wheel foot structure mobile platform (1), the height adjusting assembly, the mechanical arm (3), the space perception module and the end execution mechanism are electrically connected with the robot main control (16).

2. The ultrasonic inspection robot based on lifting mechanical arm according to claim 1, characterized in that: The four-wheel foot structure mobile platform (1) is a four-legged bionic mechanical dog, first, second, third and fourth full-terrain rubber driving wheels (11, 12, 13 and 14) are rotatably installed on the four legs of the four-legged bionic mechanical dog, and hub motors are integrated in the first, second, third and fourth full-terrain rubber driving wheels (11, 12, 13 and 14).

3. The ultrasonic inspection robot based on lifting mechanical arm according to claim 2, characterized in that: The mechanical arm (3) is a six-degree-of-freedom mechanical arm.

4. The ultrasonic inspection robot based on lifting mechanical arm according to claim 3, characterized in that: The height adjusting assembly comprises a servo electric cylinder (2), the servo electric cylinder (2) is fixedly installed on the top of the four-wheel foot structure mobile platform (1) through a base (22), the motor (21) of the servo electric cylinder (2) is fixedly installed on the top of the base (22), the bottom of the bearing platform (4) is fixedly connected with a top flange (254), and the top flange (254) is fixedly connected with the top of the piston rod (24) of the servo electric cylinder (2).

5. The ultrasonic inspection robot based on lifting mechanical arm according to claim 4, characterized in that: A guide mechanism (25) is further comprised, the guide mechanism (25) comprises a central web (252) and a guide rod (253), both ends of the central web (252) are fixedly connected with double parallel guide rails (251), the central web (252) is fixedly installed on the outer wall top of the cylinder body (23) of the servo electric cylinder (2), the upper end of the piston rod (24) slides through the central web (252), guide holes are formed in the double parallel guide rails (251), and the bottom of the top flange (254) is fixedly connected with the guide rod (253) at both ends. The four-wheel foot structure mobile platform (1), a height adjusting assembly, a mechanical arm (3), a space perception module and an end execution mechanism are comprised.

6. The ultrasonic inspection robot based on lifting mechanical arm according to claim 5, characterized in that: The clamping device (9) comprises a laser displacement sensor fixing portion (91) and an ultrasonic probe fixing portion (92), the laser displacement sensor fixing portion (91) is fixedly installed at the end of the mechanical arm (3), the ultrasonic probe fixing portion (92) is fixedly installed at the bottom of the laser displacement sensor fixing portion (91), the laser displacement sensor (8) is fixedly installed at the bottom of the laser displacement sensor fixing portion (91), and the ultrasonic C-scan probe (7) is fixedly installed on the ultrasonic probe fixing portion (92), and the ultrasonic C-scan probe (7) is located below the laser displacement sensor (8).

7. The ultrasonic inspection robot based on lifting mechanical arm according to claim 6, characterized in that: The inside of the abdominal cabin (15) is fixedly installed with a vertical hollow partition plate (151), the inside of the abdominal cabin (15) is divided into a front control area and a rear energy area by the vertical hollow partition plate (151), the robot master control (16) is fixedly installed in the front control area, and the rear energy area is fixedly installed with a power module (17) through a power anti-seismic support (171).

8. The ultrasonic inspection robot based on lifting mechanical arm according to claim 6, characterized in that: The binocular depth camera (6) is fixedly installed at the front end of the base (22) through a mounting support (61).

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