Flaw detection assembly of wall-climbing robot

Abstract

The utility model is applicable to the technical field of flaw detection components of wall-climbing robots, and provides a flaw detection component of a wall-climbing robot, which comprises a connecting part, a protective part is arranged on one side of the connecting part, a plurality of groups of roller shafts are arranged on one side, far away from the connecting part, of the protective part, and a plurality of groups of flaw detection sensors are arranged on the outer walls of the roller shafts; the protection part comprises a top protection plate, the top protection plate is arranged close to one side of the connection part, side protection plates are symmetrically arranged on the two sides of the top protection plate, end edges are arranged on the sides, away from the top protection plate, of the side protection plates, and front protection plates are arranged on the sides, close to the connection part, of the two side protection plates. The two groups of side protection plates and the front protection plate form a semi-enclosed opening area, the two groups of end edges define the opening area, and the flaw detection sensor is arranged in the opening area. The device solves the problems of maintenance and replacement of the detection device, and achieves the effects of improving the detection precision, reducing mutual interference, achieving rapid and convenient disassembly and assembly effects and improving the safety performance of the device.

Description

TECHNICAL FIELD

[0001] The utility model relates to the flaw detection subassembly technical field of wall -climbing robot, more specifically, it relates to a kind of flaw detection subassembly of wall -climbing robot. BACKGROUND

[0002] There are a large number of metal cans made of iron or steel in the industrial field. The surface of such metal cans may appear dirt, paint removal, and even rust cracking after long-term exposure to wind and sun, weathering and erosion. Magnetic wall-climbing robots are usually used for cleaning or detecting the inner and outer surfaces of iron cans.

[0003] Currently, wall-climbing robots mainly install detection devices inside the robot to achieve accurate detection of the surface condition of metal cans. This internal installation method has significant advantages in terms of space utilization, effectively reducing the space occupied by the detection device, making the robot more compact in overall structure, and allowing more flexible movement and operation on the metal can wall. However, this design still has defects. When the sensor inside the wall-climbing robot is damaged, the maintenance personnel have to disassemble the entire robot to repair or replace it. This process is extremely tedious, not only consuming a lot of time and effort, but also greatly affecting the maintenance efficiency, which may cause the production or detection process to stop, causing many inconveniences and potential economic losses to related work.

[0004] Therefore, a flaw detection subassembly for wall-climbing robots is proposed to solve the problem of detection device maintenance and replacement. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the utility model is to provide a flaw detection subassembly for wall-climbing robots that improves detection accuracy, reduces the possibility of mutual interference, achieves quick and convenient disassembly, and improves the safety performance of the device.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions:

[0007] A flaw detection subassembly for wall-climbing robots, comprising a connecting portion, a protective portion is provided on one side of the connecting portion, a plurality of roller shafts are provided on the side of the protective portion away from the connecting portion, and a plurality of flaw detection sensors are provided on the outer wall of the roller shaft; wherein the protective portion comprises a top guard plate provided on the side close to the connecting portion, side guard plates are symmetrically provided on both sides of the top guard plate, end edges are provided on the side of the side guard plates away from the top guard plate, a front guard plate is provided on the side of the two side guard plates close to the connecting portion, the two side guard plates and the front guard plate form a half-enclosed opening area, the end edges define the opening area, and the flaw detection sensors are arranged inside the opening area.

[0008] By adopting the technical scheme, the semi-enclosed opening area reduces the use of materials and lowers the production cost.

[0009] The utility model further sets up: the connecting portion includes robot connecting rod, the robot connecting rod is close to the side of protection portion one and is provided with sensing frame connecting rod, the robot connecting rod and sensing frame connecting rod form T type structure, the top of sensing frame connecting rod is penetrated and is provided with a plurality of fixed through -hole.

[0010] By adopting the technical scheme, when the connecting portion is placed inside the robot, the transmission distance of the signal can be shortened, the response time is reduced, and the detection accuracy is improved.

[0011] The utility model further sets up: the top guard plate is close to the side of connecting portion and is provided with a plurality of groups of lug, a plurality of lug number and a plurality of fixed through -hole number are identical, the top of lug is penetrated and is provided with lug through -hole, the lug through -hole and fixed through -hole shape adaptation.

[0012] The utility model further sets up: the side guard plate is penetrated and is provided with a plurality of groups of shaft pin hole far from the side of opening area, a plurality of shaft pin hole number and a plurality of roller axle number are identical, the roller axle is fixedly connected with shaft pin hole.

[0013] The utility model further sets up: the side guard plate includes first connecting area, second connecting area and third connecting area, the first connecting area is close to front guard plate and is provided with and is fixedly connected with top guard plate, the second connecting area is set up in the first connecting area far from the side of front guard plate, the third connecting area connects first connecting area with second connecting area, and the first connecting area, second connecting area and third connecting area are integrally formed and set up.

[0014] By adopting the technical scheme, the front guard plate is arranged at the back of the robot, and if there is a sharp protrusion on the surface of the tank body, but the height of the robot chassis is higher than that of the roller axle, the front guard plate can prevent the robot from moving forward to avoid damaging the roller axle and improve the safety performance of the device.

[0015] The utility model further sets up: the first connecting area is higher than the second connecting area, the third connecting area has a slope, the high point of the slope of the third connecting area is connected with the first connecting area, and the low point of the slope of the third connecting area is connected with the second connecting area.

[0016] By adopting the above technical scheme, the slope surface of the third connecting area strengthens the connecting strength, reduces the stress concentration on the second connecting area, and further improves the service life of the whole side guard plate by dispersing the stress.

[0017] In summary, the present application includes at least one of the following beneficial technical effects:

[0018] 1. Reduce the use of materials through the semi-enclosed opening area, reduce production cost.

[0019] 2. When the connecting part is placed inside the robot, the signal transmission distance can be shortened, the response time can be reduced, and the detection accuracy can be improved. When the connecting part is placed outside the robot, a through hole is provided on the robot connecting rod, and the robot is connected, the connecting distance between the device and the robot can be lengthened, and the possibility of mutual interference can be reduced. At the same time, the two installation methods can achieve the effect of quick and convenient disassembly.

[0020] 3. Improve the safety performance of the device through the front guard plate; strengthen the connecting strength through the slope surface of the third connecting area, reduce the stress concentration on the second connecting area, and further improve the service life of the whole side guard plate by dispersing the stress. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structure diagram of the flaw detection assembly of the wall climbing robot of the present application.

[0022] Figure 2 It is a structure diagram of the connecting part in the present application.

[0023] Figure 3 It is a structure diagram of the protection part in the present application.

[0024] Figure 4 It is Figure 3 It is a local enlarged view of area A in the present application.

[0025] Explanation of reference numerals: 1, connecting part; 11, robot connecting rod; 12, sensing frame connecting rod; 13, fixed through hole;

[0026] 2, protection part; 21, top guard plate; 22, side guard plate; 221, end edge; 222, first connecting area; 223, second connecting area; 224, third connecting area; 23, front guard plate; 24, hanging lug; 25, shaft pin hole; 26, hanging lug through hole; 27, opening area;

[0027] 3, roller shaft;

[0028] 4, flaw detection sensor. DETAILED DESCRIPTION

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0031] Example 1, please refer to Figures 1-4 The present invention provides the following technical solution:

[0032] Specifically, it refers to a flaw detection component for a wall-climbing robot, see [link / reference]. Figure 1 The system includes a connecting part 1 for connecting to a robot. A protective part 2 is provided on one side of the connecting part 1, which connects the connecting part 1 and the roller shaft 3 and provides protection for the flaw detection sensor 4. Multiple sets of roller shafts 3 are provided on the side of the protective part 2 away from the connecting part 1. The roller shafts 3 are connected to the flaw detection sensor 4. Multiple sets of flaw detection sensors 4 are provided on the outer wall of the roller shaft 3. An ultrasonic sensor is provided inside the flaw detection sensor 4 and is fixedly connected to the roller shaft 3. A dry coupling roller is provided on the outside of the flaw detection sensor 4 and is rotatably connected to the roller shaft 3. The flaw detection sensor 4 is used to detect whether there are cracks in the tank. The distance between the multiple sets of roller shafts 3 is greater than the diameter of the dry coupling roller of the flaw detection sensor 4. The multiple sets of flaw detection sensors 4 can be arranged in parallel or staggered on the front and rear sets of roller shafts 3. When arranged in parallel, repeated detection can be performed to improve detection quality and reduce the probability of detection errors. When arranged in staggered, detection efficiency can be improved.

[0033] See Figure 2 The connecting part 1 includes a robot connecting rod 11. A sensor frame connecting rod 12 is provided on the side of the robot connecting rod 11 near the protective part 2. The robot connecting rod 11 and the sensor frame connecting rod 12 form a T-shaped structure. Multiple sets of fixing through holes 13 are opened through the top of the sensor frame connecting rod 12. The connecting part 1 can be placed inside or outside the robot. When the connecting part 1 is placed inside the robot, the signal transmission distance can be shortened, the response time can be reduced, and the detection accuracy can be improved. When the connecting part 1 is placed outside the robot, the through holes are opened on the robot connecting rod 11 to connect with the robot, which can lengthen the connection distance between the device and the robot and reduce the possibility of mutual interference.

[0034] See Figures 3-4The protection part 2 includes a top guard plate 21 arranged close to the connecting part 1, two side guard plates 22 arranged symmetrically on both sides of the top guard plate 21, and end edges 221 arranged on the side away from the top guard plate 21 of the side guard plates 22. Two groups of side guard plates 22 are arranged close to the connecting part 1 and have a front guard plate 23. The two groups of side guard plates 22 and the front guard plate 23 form a semi-enclosed opening area 27, and the two groups of end edges 221 define the opening area 27. The flaw detection sensor 4 is arranged inside the opening area 27. The semi-enclosed opening area 27 reduces the use of materials and lowers the production cost. The top guard plate 21 is arranged close to the connecting part 1 and has a plurality of hanging ears 24, the number of which is consistent with the number of the plurality of fixing holes 13. The top end of the hanging ear 24 penetrates and has a hanging ear hole 26, which is adapted to the shape of the fixing hole 13. The side guard plate 22 penetrates and has a plurality of shaft pin holes 25 on the side away from the opening area 27, the number of which is consistent with the number of the plurality of roller shafts 3. The roller shaft 3 is fixedly connected with the shaft pin hole 25. The side guard plate 22 includes a first connecting area 222, a second connecting area 223, and a third connecting area 224. The first connecting area 222 is arranged close to the front guard plate 23 and is fixedly connected with the top guard plate 21. The second connecting area 223 is arranged on the side away from the front guard plate 23 of the first connecting area 222. The third connecting area 224 connects the first connecting area 222 and the second connecting area 223. The first connecting area 222, the second connecting area 223, and the third connecting area 224 are integrally formed. The first connecting area 222 is arranged higher than the second connecting area 223. The third connecting area 224 has a slope surface, the high point of which is connected with the first connecting area 222, and the low point of which is connected with the second connecting area 223.

[0035] Specifically, the device is installed at the tail of the robot in the direction of travel, connected by bolts or pins. If the connecting part 1 is installed inside the robot, it can be quickly disassembled through the fixing hole 13 and the hanging ear hole 26. If the connecting part 1 is installed outside the robot, it can be quickly disassembled through the hole on the connecting rod 11 of the robot. Both installation methods can achieve quick and convenient disassembly. The front guard plate 23 is arranged at the back of the robot. If there is a sharp protrusion on the surface of the tank, but the height of the robot chassis is higher than that of the roller shaft 3, the front guard plate 23 can prevent the robot from moving forward and avoid damaging the roller shaft 3, thereby improving the safety performance of the device. The slope surface of the third connecting area 224 strengthens the connection between the top guard plate 21, the first connecting area 222, and the second connecting area 223, reduces the stress concentration on the second connecting area 223, and improves the service life of the side guard plate 22 by dispersing stress.

[0036] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

Claims

1. A wall-climbing robot comprising a flaw detection assembly characterized by: The utility model provides a kind of inspection sensor, including connecting part (1), the connecting part (1) one side is provided with protective part (2), the protective part (2) is provided with multiple groups of gyro wheel shaft (3) away from the one side of connecting part (1), the outer wall of gyro wheel shaft (3) is provided with multiple groups of flaw detection sensor (4); Wherein, the protective part (2) includes top guard plate (21), the top guard plate (21) is close to the one side of connecting part (1) and is provided, the both sides of top guard plate (21) are symmetrically provided with side guard plate (22), the side guard plate (22) is provided with end edge (221) away from the one side of top guard plate (21), two groups of side guard plate (22) are close to the one side of connecting part (1) and are provided with front guard plate (23), two groups of side guard plate (22) and front guard plate (23) form half-enclosed opening area (27), two groups of end edge (221) define opening area (27), and flaw detection sensor (4) is arranged in opening area (27) inside.

2. The wall-climbing robot inspection assembly of claim 1, wherein: The connecting part (1) includes robot connecting rod (11), the robot connecting rod (11) is close to the one side of protective part (2) and is provided with sensing frame connecting rod (12), the robot connecting rod (11) and sensing frame connecting rod (12) form T-shaped structure, and the top of sensing frame connecting rod (12) is provided with a plurality of fixed through holes (13).

3. The wall-climbing robot inspection assembly of claim 2, wherein: The top of the top guard plate (21) is close to the one side of the connecting part (1) and is provided with a plurality of hanging ears (24), and the number of the plurality of hanging ears (24) is consistent with the number of the plurality of fixed through holes (13). The top of the hanging ear (24) is provided with a hanging ear through hole (26), and the shape of the hanging ear through hole (26) is matched with the shape of the fixed through hole (13).

4. The wall-climbing robot inspection assembly of claim 1, wherein: The side guard plate (22) is provided with a plurality of shaft pin holes (25) away from the one side of the opening area (27), and the number of the plurality of shaft pin holes (25) is consistent with the number of the plurality of gyro wheel shafts (3). The gyro wheel shaft (3) is fixedly connected with the shaft pin hole (25).

5. The wall-climbing robot inspection assembly of claim 1, wherein: The side guard plate (22) includes a first connecting area (222), a second connecting area (223) and a third connecting area (224). The first connecting area (222) is close to the front guard plate (23) and is fixedly connected with the top guard plate (21). The second connecting area (223) is provided on the side away from the front guard plate (23) of the first connecting area (222). The third connecting area (224) connects the first connecting area (222) and the second connecting area (223). The first connecting area (222), the second connecting area (223) and the third connecting area (224) are integrally formed.

6. The wall-climbing robot inspection assembly of claim 5, wherein: The first connecting area (222) is higher than the second connecting area (223). The third connecting area (224) has a slope surface. The high point of the slope surface of the third connecting area (224) is connected with the first connecting area (222). The low point of the slope surface of the third connecting area (224) is connected with the second connecting area (223).

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