Wall-climbing robot for flaw detection

Abstract

The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot for flaw detection, which comprises a vehicle body, a driving seat mounted at the top of the vehicle body, control equipment mounted at the top of the driving seat, a magnetic attraction mechanism mounted at the bottom of the vehicle body, and an adjusting part mounted at the top of the driving seat, the control equipment is used for adjusting the detection distance and angle; the detection part is mounted on the adjusting part, and the detection part performs flaw detection in a visual manner; wherein four wheels are mounted on the vehicle body. According to the utility model, the adjusting part is arranged, specifically, when the motor I is started, the gear I drives the gear ring to rotate, and the rotating column rotates along with the motor I so as to adjust the detection angle, and when the motor II is started, the gear II drives the moving arm to translate in the fixed seat through the convex teeth on the moving arm, so that the detection part can be moved to different detection positions; therefore, the multi-azimuth detection effect is achieved, and the situation of blind areas can be greatly reduced.

Description

Technical Field

[0001] This application relates to the field of wall-climbing robot technology, and in particular to a wall-climbing robot for flaw detection. Background Technology

[0002] Wall-climbing robots for flaw detection are intelligent devices that can autonomously move and perform non-destructive testing tasks on vertical or inclined surfaces (such as building facades, spherical storage tanks, pipelines, etc.).

[0003] According to the authorized patent CN219237208U, a wall-climbing robot for flaw detection of spherical storage tanks is proposed. This invention uses a permanent magnet and a magnetic conductor to create magnetism, thereby attracting the spherical storage tank. When the tank needs to be removed after use, a dual-axis stepper motor reverses, causing the permanent magnet to rotate to a vertical position and be positioned between two non-magnetic conductors, thus demagnetizing the magnetic conductors and facilitating the removal of the wall-climbing robot. This solves the problem of inconvenience in removing the robot when using only a permanent magnet for attraction in existing technologies. However, it still has the following shortcomings:

[0004] The flaw detection equipment on this wall-climbing robot lacks adjustment capabilities, resulting in significant limitations during the detection process. Furthermore, the detection range is small, only able to detect the area around the robot's movement. For corners, the robot has difficulty moving to those areas, thus creating blind spots for flaw detection and affecting the results. Utility Model Content

[0005] To address the problems mentioned in the background section, this application provides a wall-climbing robot for flaw detection.

[0006] This application provides a wall-climbing robot for flaw detection, employing the following technical solution: It includes a vehicle body, a drive base mounted on the top of the vehicle body, a control device mounted on the top of the drive base, and a magnetic suction mechanism mounted on the bottom of the vehicle body. It also includes:

[0007] An adjustment unit, mounted on top of the drive unit, and control devices are used to adjust the detection distance and angle; and

[0008] The inspection department is installed on the adjustment department and uses visual methods to perform flaw detection.

[0009] The vehicle body is equipped with four wheels, and the drive unit drives the wheels to move via a stepper motor. A cavity is opened in the center of the drive unit.

[0010] Optionally, the adjustment part includes a fixed base;

[0011] A rotating assembly, mounted on the bottom of a fixed base, is used to drive the fixed base to rotate; and

[0012] Telescopic assembly, which is installed inside the fixed base, is used for translation on the fixed base;

[0013] The fixed base is used to support the telescopic component, and the rotating component is connected to the cavity on the drive base.

[0014] Optionally, the inspection unit includes a mounting base on which a flaw detector is mounted. A plug is fixedly connected to the left side of the mounting base, and two bolts are provided on the left side of the mounting base.

[0015] The lighting assembly is mounted on top of the mounting base and is used to provide illumination when the flaw detector is inspecting the object.

[0016] Optionally, the rotating assembly includes a rotating column rotatably connected to the top of the drive base, a gear ring fixedly connected to the outside of the rotating column, a motor fixedly connected to the top of the drive base, a gear fixedly connected to the output end of the motor, and the gear meshing with the gear ring.

[0017] Optionally, the telescopic assembly includes a movable arm that is slidably connected inside the fixed base, a baffle is fixedly connected to the top of the fixed base, a second motor is fixedly connected to the inside of the baffle, a second gear is fixedly connected to the output end of the second motor, and several protruding teeth are fixedly connected to the top of the movable arm.

[0018] Among them, gear two is meshed with a convex tooth, the top of the rotating column is fixedly connected to the bottom of the fixed seat, and the gear ring is set in the cavity on the drive seat.

[0019] Optionally, two limiting slide grooves are provided on the inner side of the fixed base. Limiting slide rails are fixedly connected to the front and back of the movable arm. The limiting slide rails are slidably connected inside the limiting slide grooves. The limiting slide rails and limiting slide grooves cooperate to limit the movable arm.

[0020] Optionally, a docking groove is provided on the right side of the mobile arm, and a mounting plate is fixedly connected to the bottom of the right side of the mobile arm. The plug on the mounting base is inserted into the docking groove, and the bolt on the mounting base is inserted into the mounting plate. After the bolt on the mounting base is inserted into the mounting plate, it is locked and fixed with a nut.

[0021] Optionally, the lighting assembly includes a bracket fixedly connected to the top of the mounting base, an electric push rod fixedly connected to the left side of the bracket, a lighting lamp hinged to the top of the bracket, a connecting rod fixedly connected to the bottom of the lighting lamp, a connecting block fixedly connected to the output end of the electric push rod through a flange, and a push shaft fixedly connected to the back of the connecting block.

[0022] The connecting rod has a straight groove inside, and the push shaft is slidably connected in the straight groove.

[0023] In summary, this application includes the following beneficial technical effects:

[0024] This invention features an adjustment mechanism. Specifically, when motor one is started, gear one drives gear ring to rotate, and the rotating column rotates along with it, thereby adjusting the detection angle. When motor two is started, gear two drives the moving arm to translate within the fixed base via the teeth on the moving arm. This allows the detection unit to be moved to different detection positions, thus achieving multi-directional detection. This method can significantly reduce blind spots.

[0025] This invention improves visual inspection efficiency by incorporating an illumination component, specifically a lighting lamp, to provide illumination. By activating an electric push rod to move a connecting block, the connecting block drives a push shaft to push a connecting rod, which in turn causes the lighting lamp to rotate on the bracket, thereby adjusting the lighting angle and achieving better illumination. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the internal cross-sectional structure of the drive seat of this utility model;

[0028] Figure 3 This is a schematic diagram of the internal cross-sectional structure of the fixing base of this utility model;

[0029] Figure 4 This is a schematic diagram of the overall structure of the monitoring unit of this utility model.

[0030] Reference numerals: 1. Vehicle body; 11. Drive seat; 13. Magnetic attraction mechanism; 12. Control equipment; 2. Adjustment unit; 21. Fixed seat; 22. Rotating assembly; 221. Rotating column; 222. Gear ring; 223. Motor 1; 224. Gear 1; 23. Telescopic assembly; 231. Stop shell; 232. Motor 2; 233. Gear 2; 234. Moving arm; 235. Limiting slide groove; 236. Limiting slide rail; 24. Docking groove; 25. Mounting plate; 3. Detection unit; 31. Mounting seat; 311. Insert block; 32. Flaw detector; 33. Lighting assembly; 331. Bracket; 332. Electric push rod; 333. Lighting lamp; 334. Connecting rod; 335. Connecting block; 336. Push shaft. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0032] This application discloses a wall-climbing robot for flaw detection. For example... Figure 1 As shown, the system includes a vehicle body 1, a drive seat 11 mounted on top of the vehicle body 1, a control device 12 mounted on top of the drive seat 11, and a magnetic attraction mechanism 13 mounted on the bottom of the vehicle body 1. It also includes:

[0033] Adjustment unit 2, mounted on top of drive base 11, and control device 12 used to adjust detection distance and angle; and

[0034] Inspection unit 3 is installed on adjustment unit 2 and performs flaw detection using vision.

[0035] The vehicle body 1 is equipped with four wheels, and the drive seat 11 drives the wheels to move through a stepper motor. A cavity is opened in the center of the drive seat 11. The steering function is achieved by adjusting the different speeds of the wheels through the stepper motor.

[0036] Adjustment unit 2 includes a fixed base 21;

[0037] Rotating component 22, mounted on the bottom of fixed base 21, is used to drive the fixed base 21 to rotate; and

[0038] Telescopic component 23 is installed inside the fixed base 21 and is used to translate on the fixed base 21;

[0039] The fixed base 21 is used to support the telescopic component 23, and the rotating component 22 is connected to the cavity on the drive base 11.

[0040] The inspection unit 3 includes a mounting base 31, on which a flaw detector 32 is mounted. A plug 311 is fixedly connected to the left side of the mounting base 31, and two bolts are provided on the left side of the mounting base 31.

[0041] The lighting assembly 33 is mounted on top of the mounting base 31 and is used to provide illumination when the flaw detector 32 is inspected.

[0042] like Figures 2-3 As shown, the rotating assembly 22 includes a rotating column 221 rotatably connected to the top of the drive base 11. A gear ring 222 is fixedly connected to the outer side of the rotating column 221. A motor 223 is fixedly connected to the top of the drive base 11. A gear 224 is fixedly connected to the output end of the motor 223. The gear 224 meshes with the gear ring 222. Two protruding rings are provided on the outer surface of the rotating column 221, which are respectively provided on the top of the drive base 11 and in the internal cavity, for limiting the rotating column 221 on the drive base 11.

[0043] The telescopic assembly 23 includes a movable arm 234 slidably connected inside the fixed base 21. A baffle 231 is fixedly connected to the top of the fixed base 21. A motor 232 is fixedly connected to the inner side of the baffle 231. A gear 233 is fixedly connected to the output end of the motor 232. Several protruding teeth are fixedly connected to the top of the movable arm 234. When the motor 232 is started, the gear 224 drives the gear ring 222 to rotate. At this time, the rotating column 221 will rotate together, thereby adjusting the detection angle. When the motor 232 is started, the gear 233 drives the movable arm 234 to translate within the fixed base 21 through the protruding teeth on the movable arm 234. This can move the detection unit 3 to different detection positions, thereby satisfying the multi-directional detection effect. This method can greatly reduce the blind spot.

[0044] Among them, gear 233 meshes with a convex tooth, the top of the rotating column 221 is fixedly connected to the bottom of the fixed seat 21, and the gear ring 222 is set in the cavity on the drive seat 11.

[0045] The fixed base 21 has two limiting slide grooves 235 on its inner side. The front and back of the movable arm 234 are fixedly connected to the limiting slide rails 236. The limiting slide rails 236 are slidably connected inside the limiting slide grooves 235. The limiting slide rails 236 and the limiting slide grooves 235 cooperate to limit the movable arm 234. The limiting slide rails 236 and the limiting slide grooves 235 cooperate to limit the movable arm 234 and make the movement of the movable arm 234 more stable.

[0046] like Figure 4 As shown, a docking groove 24 is provided on the right side of the movable arm 234, and a mounting plate 25 is fixedly connected to the bottom right side of the movable arm 234. The insert block 311 on the mounting base 31 is inserted into the docking groove 24, and the bolt on the mounting base 31 is inserted into the mounting plate 25. After the bolt on the mounting base 31 is inserted into the mounting plate 25, it is locked and fixed with a nut. The insert block 311 is inserted into the docking groove 24 to position and install the mounting base 31, and to make the mounting base 31 more stable after installation.

[0047] The lighting assembly 33 includes a bracket 331 fixedly connected to the top of the mounting base 31. An electric push rod 332 is fixedly connected to the left side of the bracket 331. A lighting lamp 333 is hinged to the top of the bracket 331. A connecting rod 334 is fixedly connected to the bottom of the lighting lamp 333. A connecting block 335 is fixedly connected to the output end of the electric push rod 332 through a flange. A push shaft 336 is fixedly connected to the back of the connecting block 335. The lighting lamp 333 is used to provide illumination, thereby improving the visual inspection effect during the inspection process. By activating the electric push rod 332, the connecting block 335 moves, which in turn drives the push shaft 336 to push the connecting rod 334. The connecting rod 334 then causes the lighting lamp 333 to rotate on the bracket 331, thereby adjusting the illumination angle of the lighting lamp 333 to achieve a better lighting effect.

[0048] The connecting rod 334 has a straight groove inside, and the push shaft 336 is slidably connected in the straight groove.

[0049] The implementation principle of a wall-climbing robot for flaw detection in this application embodiment is as follows:

[0050] In use, the vehicle body 1 is placed on the pipe, and then the magnetic attraction mechanism 13 is activated by the control device 12 to magnetically attach the vehicle body 1 to the inner wall of the pipe. The drive seat 11 is then controlled to move the vehicle body 1. The magnetic attraction mechanism 13 generates an attraction force through a permanent magnet (such as a neodymium iron boron magnet) or an electromagnet. The drive seat 11 moves the wheels of the vehicle body 1 via a stepper motor. The flaw detector 32 on the mounting base 31 then performs visual inspection on the pipe surface using a binocular stereo camera or an infrared thermal imager. Used for crack identification and water seepage detection, and the lighting lamp 333 provides illumination to improve the visual inspection effect during the inspection process. By activating the electric push rod 332, the connecting block 335 is moved, which in turn drives the push shaft 336 to push the connecting rod 334. Since the push shaft 336 slides inside the connecting rod 334, the connecting rod 334 can be pushed smoothly. The connecting rod 334 will then cause the lighting lamp 333 to rotate on the bracket 331, thereby adjusting the illumination angle of the lighting lamp 333 to achieve a better lighting effect.

[0051] When the control device 12 starts the motor 223, the gear 224 drives the gear ring 222 to rotate. At this time, the rotating column 221 will rotate together, and the fixed seat 21 will rotate together with the telescopic component 23 to drive the detection part 3 to rotate, thereby adjusting the detection angle. When the control device 12 starts the motor 232, the gear 233 drives the moving arm 234 to translate within the fixed seat 21 through the convex teeth on the moving arm 234. By controlling the different rotation directions of the gear 233, the movement direction of the moving arm 234 is controlled. The moving arm 234 slides within the limiting slide groove 235 through the limiting slide rail 236, making the movement of the moving arm 234 more stable. By moving the moving arm 234, the detection part 3 can be moved to different detection positions, thereby satisfying the multi-directional detection effect.

[0052] Mounting base 31 is inserted into mating groove 24 via insert block 311, and bolts on mounting base 31 are inserted into mounting plate 25 and locked in place with nuts. This method allows for quick disassembly by removing the nuts, releasing mounting base 31 from its fixation, and then pulling mounting base 31 out, facilitating subsequent maintenance.

Claims

1. A wall-climbing robot for flaw detection, comprising a vehicle body (1), a drive seat (11) mounted on the top of the vehicle body (1), a control device (12) mounted on the top of the drive seat (11), and a magnetic suction mechanism (13) mounted on the bottom of the vehicle body (1), characterized in that, Also includes: An adjustment unit (2) is installed on the top of the drive seat (11), and a control device (12) is used to adjust the detection distance and angle; as well as The detection unit (3) is installed on the adjustment unit (2) and performs flaw detection by means of vision; The vehicle body (1) is equipped with four wheels, and the drive seat (11) drives the wheels to move through a stepper motor. A cavity is provided at the center of the drive seat (11). The adjustment part (2) includes a fixed base (21); A rotating assembly (22) is mounted on the bottom of a fixed base (21) and is used to drive the fixed base (21) to rotate; and Telescopic assembly (23), which is installed inside the fixed base (21), is used to translate on the fixed base (21); The fixed seat (21) is used to support the telescopic component (23), and the rotating component (22) is connected to the cavity on the drive seat (11).

2. The wall-climbing robot for flaw detection according to claim 1, characterized in that, The detection unit (3) includes a mounting base (31), on which a flaw detector (32) is mounted. A plug (311) is fixedly connected to the left side of the mounting base (31), and two bolts are provided on the left side of the mounting base (31). An illumination assembly (33) is mounted on top of a mounting base (31) and is used to provide illumination for the flaw detector (32) during inspection.

3. A wall-climbing robot for flaw detection according to claim 2, characterized in that, The rotating assembly (22) includes a rotating column (221) rotatably connected to the top of the drive seat (11), a gear ring (222) fixedly connected to the outside of the rotating column (221), a motor (223) fixedly connected to the top of the drive seat (11), a gear (224) fixedly connected to the output end of the motor (223), and the gear (224) meshing with the gear ring (222). The telescopic assembly (23) includes a movable arm (234) slidably connected inside the fixed base (21). A baffle (231) is fixedly connected to the top of the fixed base (21). A motor (232) is fixedly connected to the inner side of the baffle (231). A gear (233) is fixedly connected to the output end of the motor (232). A number of protruding teeth are fixedly connected to the top of the movable arm (234). Among them, the second gear (233) is meshed with the convex tooth, the top of the rotating column (221) is fixedly connected to the bottom of the fixed seat (21), and the gear ring (222) is set in the cavity on the drive seat (11).

4. A wall-climbing robot for flaw detection according to claim 3, characterized in that, The fixed base (21) has two limiting slide grooves (235) on its inner side. The moving arm (234) is fixedly connected to the front and back of the limiting slide rail (236). The limiting slide rail (236) is slidably connected inside the limiting slide groove (235). The limiting slide rail (236) and the limiting slide groove (235) cooperate to limit the moving arm (234).

5. A wall-climbing robot for flaw detection according to claim 4, characterized in that, The movable arm (234) has a docking groove (24) on its right side. A mounting plate (25) is fixedly connected to the bottom right side of the movable arm (234). The plug (311) on the mounting base (31) is inserted into the docking groove (24). The bolt on the mounting base (31) is inserted into the mounting plate (25). After the bolt on the mounting base (31) is inserted into the mounting plate (25), it is locked and fixed with a nut.

6. A wall-climbing robot for flaw detection according to claim 3, characterized in that, The lighting assembly (33) includes a bracket (331) fixedly connected to the top of the mounting base (31), an electric push rod (332) fixedly connected to the left side of the bracket (331), a lighting lamp (333) hinged to the top of the bracket (331), a connecting rod (334) fixedly connected to the bottom of the lighting lamp (333), a connecting block (335) fixedly connected to the output end of the electric push rod (332) through a flange, and a push shaft (336) fixedly connected to the back of the connecting block (335). The connecting rod (334) has a straight groove inside, and the push shaft (336) is slidably connected in the straight groove.

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