Magnetic attraction wheel and magnetic attraction detection robot

Abstract

The utility model provides a kind of magnetic attraction wheel and magnetic adsorption detection robot, belong to robot technical field, including wheel body, wheel body includes hub, rubber layer, magnetic attraction subassembly and magnetically conductive metal layer, wherein, the middle part of hub is equipped with shaft hole for assembly along axial direction, rubber layer is surrounded in the circumferential direction of hub, magnetic attraction subassembly includes multiple permanent magnets, multiple permanent magnets are evenly embedded in the circumferential side wall of rubber layer, magnetically conductive metal layer is connected between hub and rubber layer, for gathering the magnetic induction line of permanent magnet to form closed loop.The utility model provides a kind of magnetic attraction wheel and magnetic adsorption detection robot, suitable for railway station steel structure disease detection, realize the unmanned replacement of high-altitude high-risk scene, save working time, improve work efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of magnetic robot technology, and more specifically, it relates to a magnetic wheel and a magnetic adsorption detection robot. Background Technology

[0002] Steel structure supports are crucial components of high-speed railway station buildings and canopies. Defects in these supports severely impact their safety and durability, constantly threatening the station's security. Furthermore, the complex environment (narrow spaces, high-altitude operations, electromagnetic interference, etc.) limits the use of traditional equipment.

[0003] Existing inspection methods (mainly involving workers climbing to work with handheld inspection instruments) not only fail to guarantee worker safety but also result in low inspection efficiency and incomplete or inaccurate inspections. Currently, some magnetic adsorption inspection robots are made by combining an inspection body with magnetic wheels. However, most magnetic wheels on the market have a magnetic or metal structure that directly contacts the steel structure. Permanent magnets are brittle and easily damaged by scratches. When performing ultrasonic testing on steel structure supports, a coupling agent is required. When such magnetic wheels come into contact with the coupling agent, problems such as wheel slippage, metal corrosion, and reduced magnetic force can occur, causing the inspection robot to lose its operational capability. Utility Model Content

[0004] The purpose of this utility model is to provide a magnetic wheel and a magnetic adsorption detection robot, which is suitable for detecting defects in the steel structure of railway stations, realizing unmanned replacement in high-altitude and high-risk scenarios, saving working time and improving work efficiency.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a magnetic chuck, comprising: The hub has an axial hole in its middle section for assembly. A rubber layer is provided around the circumference of the hub; The magnetic attraction component includes multiple permanent magnets, which are uniformly embedded in the circumferential sidewall of the rubber layer. A magnetically conductive metal layer is connected between the hub and the rubber layer to gather the magnetic field lines of the permanent magnet to form a closed loop.

[0006] In one possible implementation, there are multiple magnetic absorbing components, which are arranged axially on the rubber layer, and the permanent magnets in two adjacent magnetic absorbing components are staggered.

[0007] In one possible implementation, the hub is a product made of a non-magnetic material.

[0008] In one possible implementation, the outer surface of the permanent magnet is provided with a protective coating.

[0009] The advantages of the magnetic chuck provided by this utility model are as follows: Compared with the prior art, the magnetic chuck of this utility model uses a hub made of non-magnetic material to avoid interference with the magnetic field. At the same time, its lightweight characteristics reduce the load on the inspection robot and are suitable for high-altitude operations. The permanent magnet is wrapped with a rubber layer, which not only acts as a buffer when the permanent magnet comes into contact with the steel structure, preventing the brittle permanent magnet from being damaged by hard contact, but also prevents the wheel from slipping when it comes into contact with the coupling agent due to the high coefficient of friction. At the same time, it isolates the coupling agent from direct contact with the magnetic conductive metal layer to avoid metal corrosion. Multiple permanent magnets are evenly embedded and fixed to the hub by fixing bolts, which not only ensures the balanced circumferential magnetic force distribution of the wheel, preventing the inspection robot from adsorbing off-center or falling off on curved steel structures, but also improves the connection strength of the permanent magnets. The magnetic conductive metal layer, as a low magnetic resistance medium, guides the magnetic field lines of the permanent magnets to concentrate and propagate to form a closed loop, greatly reducing magnetic leakage. This not only improves the magnetic chuck's adsorption force, but also avoids magnetic force attenuation caused by magnetic leakage, ensuring the adsorption stability of the inspection robot during long-term operation.

[0010] This utility model also provides a magnetic adsorption detection robot, which uses the above-mentioned magnetic wheels and includes: The frame has the wheels at its bottom; A walking motor is mounted on the frame and connected to the wheel body for driving the wheel body to rotate so that the frame can move on the object being inspected. A coupling agent spraying assembly, mounted on the vehicle frame, is used to spray coupling agent onto the object being tested; An ultrasonic testing component, mounted on the vehicle frame, is used to perform ultrasonic testing on the object being tested.

[0011] In one possible implementation, the frame includes: The support frame, the coupling agent spraying assembly and the ultrasonic detection assembly are both mounted on the support frame, and the two ends of the support frame are equipped with steering gears; There are two bogies, which are rotatably connected to both ends of the support frame. The wheels and the travel motor are both mounted on the bogies. The steering servo is driven to the bogie on the same side and is used to drive the bogie to rotate.

[0012] In one possible implementation, the coupling agent spraying assembly includes: A coupling agent storage box, fixed to the vehicle frame, is used to store coupling agent; A coupling agent nozzle is located at the bottom of the vehicle frame; A discharge pump is located inside the coupling agent storage tank, and its discharge end is connected to the coupling agent nozzle through a delivery pipe.

[0013] In one possible implementation, the ultrasonic detection component includes: An ultrasonic testing module includes an ultrasonic board and an ultrasonic probe. The ultrasonic board is fixed to the frame and electrically connected to the ultrasonic probe. It is used to output an excitation signal to the ultrasonic probe to drive the ultrasonic probe to emit ultrasonic waves and to receive the reflected wave signal fed back by the ultrasonic probe. A telescopic mechanism is provided on the vehicle frame, and the ultrasonic probe is mounted on the actuating end of the telescopic mechanism. The telescopic mechanism is used to drive the ultrasonic probe to come into contact with or move away from the object being tested.

[0014] In one possible implementation, the actuating end of the telescopic mechanism is further provided with a pressure sensor, which is used to monitor the pressure data of the ultrasonic probe.

[0015] In one possible implementation, the frame is covered with a protective shell, and cameras are provided at both the front end of the protective shell and the bottom of the frame.

[0016] The beneficial effects of the magnetic adsorption inspection robot provided by this utility model are as follows: Compared with the prior art, the magnetic adsorption inspection robot of this utility model adopts the above-mentioned magnetic suction wheel as the walking and adsorption component, which has all the beneficial effects of the above-mentioned magnetic suction wheel, completely replaces the traditional manual climbing inspection mode, effectively solves the problems of low efficiency and incompleteness of traditional inspection, adapts to the complex environment of railway station with narrow space, high altitude and high risk, electromagnetic interference, etc., ensures the continuous and stable development of inspection work, and further improves the efficiency and quality of steel structure defect inspection in railway stations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural diagram of a magnetic chuck provided for an embodiment of this utility model; Figure 2 A three-dimensional structural schematic diagram of the magnetic adsorption detection robot provided in an embodiment of this utility model; Figure 3 A three-dimensional structural diagram of the magnetic adsorption detection robot after removing the protective shell, provided for an embodiment of this utility model; Figure 4 A three-dimensional structural diagram of the vehicle frame provided in an embodiment of this utility model; Figure 5A schematic diagram of the connection structure between the frame and the telescopic mechanism provided in an embodiment of this utility model.

[0019] Explanation of reference numerals in the attached figures: 1. Wheel body; 11. Wheel hub; 111. Axle hole; 12. Rubber layer; 13. Permanent magnet; 131. Fixing bolt; 14. Magnetic conductive metal layer; 2. Support frame; 21. Cargo plate; 211. Clearance notch; 22. First U-shaped frame; 23. Protective shell; 3. Bogie; 31. Second U-shaped frame; 4. Travel motor; 5. Steering servo; 51. Connecting rod; 6. Coupling agent storage box; 61. Coupling agent nozzle; 7. Ultrasonic board; 71. Ultrasonic probe; 72. Pressure sensor; 8. Mounting plate; 801. Mounting hole; 802. Limiting groove; 81. Cargo cylinder; 811. Limiting protrusion; 82. Rack; 83. Gear; 9. Camera. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Please see Figure 1The present invention provides a magnetic chuck wheel. The magnetic chuck wheel includes a wheel body 1, which comprises a hub 11, a rubber layer 12, a magnetic chuck assembly, and a magnetically conductive metal layer 14. The hub 11 has an axially oriented shaft hole 111 at its center. The rubber layer 12 surrounds the hub 11 circumferentially. The magnetic chuck assembly includes multiple permanent magnets 13, which are uniformly embedded in the circumferential sidewalls of the rubber layer 12. The magnetically conductive metal layer 14 connects the hub 11 and the rubber layer 12, and is used to gather the magnetic field lines of the permanent magnets 13 to form a closed loop.

[0025] In this embodiment, the hub 11 is made of non-magnetic material. In practical applications, the hub 11 is made of 6061 aluminum alloy. The hub 11 is 50mm wide and 100mm in diameter. This design can, on the one hand, avoid the magnetic field generated by the hub 11 itself from interfering with the magnetic force distribution of the magnetic attraction component, ensuring stable adsorption force; on the other hand, 6061 aluminum alloy is both lightweight and corrosion resistant, which can reduce the overall weight of the detection robot and reduce the load on the wheel body 1. It is also suitable for the humid environment that may exist in railway station buildings, such as contact with coupling agents, and avoids the hub 11 from rusting and affecting its service life.

[0026] In this embodiment, the rubber layer 12 is a ring-shaped structure made of EPDM rubber or silicone rubber with a thickness of 10mm. The magnetic metal layer 14 is a ring-shaped structure made of Q235 steel with a thickness of 2mm. The rubber layer 12 is bonded and fixed to the magnetic metal layer 14. The magnetic metal layer 14 is fixed to the hub 11 by interference fit, bolting, welding, or other methods. The permanent magnet 13 is a cylindrical structure with a diameter of about 15mm and a height of slightly less than 10mm. Multiple permanent magnets 13 are evenly embedded in the rubber layer 12 and penetrate the rubber layer 12 to contact the magnetic metal layer 14. The even distribution of multiple permanent magnets 13 can make the magnetic force distribution in the circumference of the wheel 1 balanced, avoiding insufficient local adsorption force that would cause the detection robot to deviate or fall off on curved steel structures (such as cylindrical pillars).

[0027] In this embodiment, to enhance the connection strength of the permanent magnet 13, a fixing bolt 131 is inserted into the middle of the permanent magnet 13. The fixing bolt 131 passes through the magnetically conductive metal layer 14 and is bolted to the hub 11, thereby fixing the permanent magnet 13 to the hub 11. In application, since the outer surface of the rubber layer 12 is slightly higher than that of the permanent magnet 13, when the wheel 1 rotates, the rubber layer 12 can provide a buffering effect when the permanent magnet 13 contacts the steel structure, preventing the brittle permanent magnet 13 from being damaged by hard contact with the steel structure. At the same time, the rubber layer 12 also has a high coefficient of friction. When the wheel 1 comes into contact with the coupling agent required for ultrasonic testing, the rubber layer 12 can also prevent the wheel 1 from slipping, ensuring that the inspection robot moves smoothly on the surface of the steel structure. In addition, the rubber layer 12 can also isolate the coupling agent from direct contact with the magnetically conductive metal layer 14, preventing metal corrosion.

[0028] In this embodiment, the magnetically conductive metal layer 14 serves as a low magnetic resistance medium, which can guide the magnetic field lines of the permanent magnet 13 to concentrate and propagate within the magnetically conductive metal layer 14, forming a closed loop of permanent magnet 13N pole → magnetically conductive metal layer 14 → permanent magnet 13S pole. This significantly reduces magnetic leakage, thereby improving the attraction force of the magnetic chuck (increased magnetic field line density) and avoiding magnetic force attenuation caused by magnetic leakage, thus ensuring the adsorption stability of the detection robot during long-term operation.

[0029] This invention provides a magnetic chuck wheel. Compared with existing technologies, the hub 11, made of non-magnetic material, avoids interference with the magnetic field. Its lightweight nature reduces the load on the inspection robot, making it suitable for high-altitude operations. A rubber layer 12 encases the permanent magnet 13, which acts as a buffer when the permanent magnet 13 contacts the steel structure, preventing damage to the brittle permanent magnet 13 due to hard contact. Its high coefficient of friction also prevents slippage when the wheel 1 contacts the coupling agent, while simultaneously isolating the coupling agent from direct contact with the magnetically conductive metal layer 14 to prevent metal corrosion. Multiple permanent magnets 13 are evenly embedded and fixed to the hub 11 by bolts 131, ensuring a balanced circumferential magnetic force distribution on the wheel 1, preventing adsorption shift or detachment of the inspection robot on curved steel structures, and improving the connection strength of the permanent magnets 13. The magnetically conductive metal layer 14, as a low magnetic resistance medium, guides the concentrated propagation of the magnetic field lines of the permanent magnets 13 to form a closed loop, significantly reducing magnetic leakage. This improves the magnetic chuck wheel's adsorption force and avoids magnetic attenuation caused by magnetic leakage, ensuring the adsorption stability of the inspection robot during long-term operation.

[0030] In some embodiments, please refer to Figure 1There are multiple magnetic assemblies, which are arranged sequentially along the axial direction of the wheel body 1 (i.e., the width direction of the hub 11). Each magnetic assembly contains multiple permanent magnets 13 that are uniformly embedded in the rubber layer 12 in the circumferential direction. The permanent magnets 13 in two adjacent magnetic assemblies are staggered and do not overlap in the circumferential position. This design significantly increases the axial magnetic force coverage between the wheel 1 and the steel structure, avoiding the problem of blind spots in the axial adsorption of a single magnetic component. Furthermore, the interlacing of permanent magnets 13 in adjacent components makes the circumferential magnetic force distribution of the wheel 1 denser and more continuous, completely eliminating circumferential magnetic breakpoints. This ensures that the adsorption force between the wheel 1 and the steel structure is balanced across the entire axial and circumferential directions. This balanced adsorption force not only further prevents insufficient local adsorption force, displacement, or detachment of the inspection robot on cylindrical or other curved steel structures, but also reduces fluctuations in adsorption force when the wheel 1 rotates, making the robot move more smoothly and adapting to the need for conforming movement on complex curved surfaces. Simultaneously, the dense and continuous magnetic force distribution enhances the overall adsorption strength of the magnetic wheel, improving the safety and stability of the robot in high-altitude, inclined, and other high-risk scenarios.

[0031] In some embodiments, a protective coating is provided on the outer surface of the permanent magnet 13. In application, the protective coating includes an inner and outer anti-rust and anti-corrosion layer (such as a copper-plated metal layer) and a wear-resistant layer (such as a nickel-plated metal layer). Both the anti-rust and anti-corrosion layer and the wear-resistant layer are prepared by electroplating. By setting the protective coating, an anti-corrosion and anti-rust barrier is constructed, which can effectively resist the erosion of the humid environment of railway station buildings, ultrasonic testing coupling agents and other corrosive media, avoid structural damage or performance degradation of the permanent magnet 13 due to rust, and extend the service life of the permanent magnet 13.

[0032] Please see Figures 1 to 5 This utility model also provides a magnetic adsorption inspection robot that uses the aforementioned magnetic wheels. It includes a frame, a walking motor 4, a coupling agent spraying assembly, and an ultrasonic detection assembly. The bottom of the frame is provided with the aforementioned wheel 1. The walking motor 4 is mounted on the frame and is connected to the wheel 1 for driving the wheel 1 to rotate so that the frame can move on the object being inspected. The coupling agent spraying assembly is mounted on the frame for spraying coupling agent onto the object being inspected. The ultrasonic detection assembly is mounted on the frame for performing ultrasonic detection on the object being inspected.

[0033] In this embodiment, the aforementioned vehicle frame consists of a support frame 2 and a bogie 3. The support frame 2 includes a horizontally arranged load plate 21. The aforementioned coupling agent spraying assembly and ultrasonic detection assembly are both mounted on the load plate 21. Two longitudinally arranged first U-shaped frames 22 are respectively provided at the front and rear ends of the load plate 21. The openings of the first U-shaped frames 22 are arranged downwards. A steering servo 5 is fixed at the upper end inside the first U-shaped frame 22. A connecting plate is arranged laterally in the middle of the first U-shaped frame 22. A connecting rod 51 is passed through the middle of the connecting plate. The upper end of the connecting rod 51 is connected to the output shaft of the steering servo 5. The connecting rod 51 is rotatably connected to the connecting plate through a bearing.

[0034] In this embodiment, there are two bogies 3, which are respectively set at the front and rear ends of the support frame 2. In application, the bogie 3 is a longitudinally arranged second U-shaped frame 31 with its opening facing downwards. The upper end of the second U-shaped frame 31 extends into the interior of the first U-shaped frame 22 through a clearance notch 211 at the end of the load plate 21 and is fixedly connected to the lower end of the connecting rod 51. The wheel 1 is rotatably connected to the lower end of the second U-shaped frame 31 through a connecting shaft. The travel motor 4 is fixed on the outer side of the lower end of the second U-shaped frame 31, corresponding to the wheel 1, and is driven by the connecting shaft to provide driving force to the wheel 1. In this embodiment, the width of the clearance notch 211 on the load plate 21 is greater than the lateral width of the second U-shaped frame 31, and the steering servo 5 can drive the second U-shaped frame 31 to rotate freely within the clearance notch 211 through the connecting rod 51.

[0035] In some embodiments, please refer to Figures 2 to 3 The aforementioned coupling agent spraying assembly includes a coupling agent storage tank 6, a coupling agent nozzle 61, and a discharge pump. The coupling agent storage tank 6 is fixed above the carrier plate 21 by a bracket and contains coupling agent. The discharge pump is located inside the coupling agent storage tank 6. The coupling agent nozzle 61 is fixed to the lower end face of the carrier plate 21 and faces downward. The discharge end of the discharge pump is connected to the coupling agent nozzle 61 through a feed pipe (not shown in the figure). In application, the coupling agent stored in the coupling agent storage tank 6 can be sprayed onto the surface of the object being tested by the coupling agent nozzle 61 using the discharge pump.

[0036] In some embodiments, please refer to Figures 2 to 5 The aforementioned ultrasonic testing component includes an ultrasonic testing module and a telescopic mechanism.

[0037] The ultrasonic testing module includes an ultrasonic board 7 and an ultrasonic probe 71. The ultrasonic board 7 is the core control and signal processing unit of the existing ultrasonic testing equipment. Its core components include ultrasonic transmitting and receiving circuits, ultra-high-speed analog-to-digital conversion circuits, high-speed signal processing circuits, and wireless communication circuits. It also integrates anti-interference components, high and low temperature resistant structures, and parameter adjustment modules. Its core functions are: driving the ultrasonic probe 71 to emit ultrasonic waves, receiving the echo signal reflected from the steel structure by the ultrasonic probe 71, extracting defect characteristics (such as cracks and corrosion) through high-speed processing, and wirelessly transmitting the data to the terminal. In this embodiment, the ultrasonic board 7 can be of models such as MetaScan UT or MetaScan PA.

[0038] A telescopic mechanism is mounted on the carrier plate 21, and the ultrasonic probe 71 is installed on the actuating end of the telescopic mechanism. The telescopic mechanism is used to drive the ultrasonic probe 71 to contact or move away from the object being tested. In application, the telescopic mechanism specifically includes a mounting plate 8, a carrier cylinder 81, a rack 82, a gear 83, and a drive motor. The mounting plate 8 is bolted to the carrier plate 21, and a mounting hole 801 is provided through the middle of the mounting plate 8. The carrier cylinder 81 is longitudinally slidably inserted into the mounting hole 801. A clearance through hole for the carrier cylinder 81 is provided on the carrier plate 21 corresponding to the mounting hole 801. The rack 82 is longitudinally arranged on the mounting plate 8 and located on one side of the mounting hole 801. A limiting groove 802 is provided on the side of the mounting hole 801 near the rack 82. On the outer wall of the carrier cylinder 81... A limiting protrusion 811 is longitudinally provided corresponding to the limiting groove 802. The limiting protrusion 811 and the limiting groove 802 are inserted into each other to form a limiting structure for limiting the rotation of the loading cylinder 81. The gear 83 is rotatably disposed on the upper end of the limiting protrusion 811 and meshes with the rack 82. The drive motor is installed at the upper end inside the loading cylinder 81. The drive shaft of the drive motor is connected to the gear 83 for transmission. The ultrasonic probe 71 is fixed at the lower end of the loading cylinder 81. In application, by driving the gear 83 to rotate forward and reverse by the drive motor, the loading cylinder 81 can move up and down relative to the loading plate 21 under the cooperation of the gear 83 and the rack 82. The distance from which the loading cylinder 81 extends to the bottom of the loading plate 21 can be adjusted so that the ultrasonic probe 71 comes into contact with or moves away from the object being tested.

[0039] In this embodiment, a pressure sensor 72 is also provided at the bottom of the loading cylinder 81. The pressure sensor 72 moves synchronously with the ultrasonic probe 71, and the sound wave emitting end of the ultrasonic probe 71 is flush with the pressure sensor 72. When the ultrasonic probe 71 presses against the object being tested, the pressure sensor 72 can detect the pressure data at the ultrasonic probe 71. This prevents excessive pressure from damaging the ultrasonic probe 71, and the pressure data feedback ensures the normal operation of the probe, thus ensuring the smooth and successful progress of the steel structure defect detection work.

[0040] In some embodiments, please refer to Figure 2 A protective shell 23 is provided on the frame. The protective shell 23 is fixed to the load plate 21 and the first U-shaped plate by bolts. The coupling agent storage box 6 is connected to the load plate 21 through the protective shell 23. In this embodiment, cameras 9 are provided at the front end of the protective shell 23 and the bottom of the load plate 21. The cameras 9 can be used to view the path conditions in front of the robot and to view the entire process of steel structure defect detection.

[0041] This utility model provides a magnetic adsorption inspection robot. Compared with the prior art, it uses the aforementioned magnetic wheels as the walking and adsorption components, laying a solid foundation for the robot's stable adsorption and movement on high-altitude and curved steel structures. The chassis, through a split structure of the support frame 2 and the bogie 3, allows the steering servo 5 to drive the second U-shaped frame 31 to rotate freely via the connecting rod 51, significantly improving the robot's steering flexibility and enabling it to flexibly adapt to the inspection paths of curved steel structures such as cylindrical pillars, meeting the movement requirements of complex inspection scenarios. The coupling agent spraying assembly, through the cooperation of the coupling agent storage tank 6, the discharge pump, and the coupling agent nozzle 61, achieves precise spraying of the coupling agent without manual assistance, improving the continuity of the inspection process. In the ultrasonic inspection assembly, the telescopic mechanism... The adjustable ultrasonic probe 71 maintains a stable contact with the object being inspected, ensuring stable contact. The pressure sensor 72 monitors the contact pressure in real time, preventing damage to the probe from excessive pressure and ensuring stable transmission of the detection signal. The protective shell 23 provides protection for the internal components. Cameras 9, located at the front of the protective shell 23 and the bottom of the carrier plate 21, provide real-time feedback on the path ahead and the entire inspection process. The magnetic adsorption inspection robot provided by this invention completely replaces the traditional manual climbing inspection mode, effectively solving the problems of low efficiency and incompleteness in traditional inspections. It is suitable for complex environments such as narrow spaces, high-altitude high risks, and electromagnetic interference in railway stations, ensuring continuous and stable inspection work and further improving the efficiency and quality of steel structure defect inspection in railway stations.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A magnetic chuck, characterized in that, Includes a wheel body (1), said wheel body (1) comprising: The hub (11) has a shaft hole (111) for assembly along the axial direction in its middle part; A rubber layer (12) surrounds the circumference of the hub (11); The magnetic attraction assembly includes a plurality of permanent magnets (13), which are uniformly embedded in the circumferential sidewall of the rubber layer (12); A magnetically conductive metal layer (14) is connected between the hub (11) and the rubber layer (12) to gather the magnetic field lines of the permanent magnet (13) to form a closed loop.

2. A magnetic chuck as described in claim 1, characterized in that, There are multiple magnetic absorbing components, which are arranged axially on the rubber layer (12), and the permanent magnets (13) in two adjacent magnetic absorbing components are staggered.

3. A magnetic chuck as described in claim 1, characterized in that, The hub (11) is a non-magnetic material product.

4. A magnetic chuck as described in claim 1, characterized in that, The outer surface of the permanent magnet (13) is provided with a protective coating.

5. A magnetic adsorption detection robot, using the magnetic wheels as described in any one of claims 1-4, characterized in that, include: The frame has the wheels (1) at its bottom; A walking motor (4) is mounted on the frame and is connected to the wheel (1) for driving the wheel (1) to rotate so that the frame can walk on the object being inspected. A coupling agent spraying assembly, mounted on the vehicle frame, is used to spray coupling agent onto the object being tested; An ultrasonic testing component, mounted on the vehicle frame, is used to perform ultrasonic testing on the object being tested.

6. The magnetic adsorption detection robot as described in claim 5, characterized in that, The vehicle frame includes: The support frame (2) is provided with both the coupling agent spraying assembly and the ultrasonic detection assembly. Steering servos (5) are provided at both ends of the support frame (2). There are two bogies (3), which are rotatably connected to the two ends of the support frame (2). The wheel body (1) and the travel motor (4) are both mounted on the bogie (3). The steering servo (5) is connected to the bogie (3) on the same side and is used to drive the bogie (3) to rotate.

7. The magnetic adsorption detection robot as described in claim 5, characterized in that, The coupling agent spraying assembly includes: A coupling agent storage box (6) is fixed to the vehicle frame and is used to store coupling agent; A coupling agent nozzle (61) is located at the bottom of the vehicle frame; A discharge pump is located inside the coupling agent storage tank (6), and its discharge end is connected to the coupling agent nozzle (61) through a delivery pipe.

8. The magnetic adsorption detection robot as described in claim 5, characterized in that, The ultrasonic detection component includes: The ultrasonic testing module includes an ultrasonic board (7) and an ultrasonic probe (71). The ultrasonic board (7) is fixed on the frame and electrically connected to the ultrasonic probe (71). It is used to output an excitation signal to the ultrasonic probe (71) to drive the ultrasonic probe (71) to emit ultrasonic waves and to receive the reflected wave signal fed back by the ultrasonic probe (71). A telescopic mechanism is provided on the vehicle frame, and the ultrasonic probe (71) is installed on the actuating end of the telescopic mechanism. The telescopic mechanism is used to drive the ultrasonic probe (71) to come into contact with or move away from the object being tested.

9. The magnetic adsorption detection robot as described in claim 8, characterized in that, The telescopic mechanism is also equipped with a pressure sensor (72) at its actuating end, which is used to monitor the pressure data of the ultrasonic probe (71).

10. A magnetic adsorption detection robot as described in claim 5, characterized in that, The frame is covered with a protective shell (23), and cameras (9) are provided at the front end of the protective shell (23) and at the bottom of the frame.

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