Retractable mechanical arm type steel structure damage ultrasonic testing device

Abstract

The application discloses a telescopic mechanical arm type steel structure damage ultrasonic detection device, relates to the technical field of steel structure damage ultrasonic detection, and comprises an ultrasonic detection probe, a multistage telescopic mechanical arm assembly and a multi-angle supporting assembly. The multistage telescopic mechanical arm assembly is arranged on one side of the ultrasonic detection probe, and comprises a main supporting arm, a telescopic mechanical arm, a detection end mechanical arm, a telescopic driving part and a clamping part. The telescopic mechanical arm is slidingly arranged in the main supporting arm, the detection end mechanical arm is slidingly arranged in the telescopic mechanical arm, the telescopic driving part is used for driving the telescopic mechanical arm and the detection end mechanical arm to be telescopic, and the clamping part is used for clamping and positioning the ultrasonic detection probe. The multi-angle supporting assembly comprises a supporting column and an angle adjusting part, and the angle adjusting part is used for adjusting the elevation angle of the main supporting arm. The application has the effects of improving the use safety and efficiency of the steel structure damage ultrasonic detection device.

Description

Technical Field

[0001] This application relates to the field of ultrasonic testing technology for steel structure damage, and in particular to a telescopic robotic arm-type ultrasonic testing device for steel structure damage. Background Technology

[0002] Ultrasonic testing devices for steel structure damage are a type of equipment that utilizes the properties of ultrasonic waves propagating in materials to detect whether there is damage inside or on the surface of a steel structure. They typically consist of a controller, a signal transmission line, and a probe. In practical applications, workers need to place the probe at the location to be tested, and then the controller will operate to perform flaw detection at the location to be tested.

[0003] However, when it is necessary to conduct flaw detection on steel structures located at high altitudes, staff need to climb to the detection position and place the probe at the test location before the flaw detection can be carried out. This method is not only inefficient, but also poses significant safety hazards to the staff during the climbing and movement process, resulting in poor safety and efficiency of the ultrasonic testing device for steel structure damage. Utility Model Content

[0004] To address the issues of poor safety and efficiency in the use of ultrasonic testing devices for steel structure damage, this application provides a telescopic robotic arm-type ultrasonic testing device for steel structure damage.

[0005] This application provides a telescopic robotic arm-type ultrasonic detection device for steel structure damage, employing the following technical solution: A telescopic robotic arm-type ultrasonic testing device for steel structure damage includes: an ultrasonic testing probe, a multi-stage telescopic robotic arm assembly, and a multi-angle support assembly. The multi-stage telescopic robotic arm assembly is disposed on one side of the ultrasonic testing probe and includes a main support arm, a telescopic robotic arm, a detection end robotic arm, a telescopic drive component, and a clamping component. The telescopic robotic arm is slidably disposed within the main support arm, and the detection end robotic arm is slidably disposed within the telescopic robotic arm. The telescopic drive component is disposed within the main support arm and is used to drive the telescopic robotic arm and the detection end robotic arm to extend and retract. The clamping component is hinged to the end of the detection end robotic arm located outside the telescopic robotic arm and is used to clamp and position the ultrasonic testing probe. The multi-angle support assembly is disposed below the main support arm and includes a support column and an angle adjustment component. The support column is sleeved on the outside of the main support arm and rotatably connected to the main support arm. The angle adjustment component is disposed on one side of the support column and is used to adjust the elevation angle of the main support arm.

[0006] By adopting the above technical solution, the ultrasonic testing probe is clamped and fixed by the clamping component during use. The position of the ultrasonic testing probe is adjusted by controlling the extension length of the telescopic robotic arm and the detection end robotic arm according to the actual situation. At the same time, the elevation angle of the main support arm is adjusted by the angle adjustment component, thereby enabling the ultrasonic testing probe to perform ultrasonic flaw detection on steel structures at different heights.

[0007] Optionally, one end of the ultrasonic testing probe is electrically connected to a signal transmission wire, and multiple wire limiting rings are fixedly installed on the outside of the main support arm, with each wire limiting ring sleeved on the outside of the signal transmission wire.

[0008] By adopting the above technical solution, the ultrasonic detection probe is transmitted and transmitted through a signal transmission wire. Multiple wire limiting rings are used to prevent the signal transmission wire from detaching and limit its movement. This reduces the risk of the signal transmission wire breaking due to random shaking during use or interfering with the extension and retraction of the telescopic robotic arm or the detection end robotic arm.

[0009] Optionally, the telescopic drive component includes a main moving screw and a secondary moving screw. The main moving screw is rotatably disposed inside the main support arm and is threadedly connected to one end of the telescopic mechanical arm located inside the main support arm.

[0010] By adopting the above technical solution and controlling the rotation of the main moving screw, the telescopic robotic arm can slide within the main support arm under the action of the thread, following the rotation of the main moving screw.

[0011] Optionally, the auxiliary moving lead screw is slidably sleeved on the outside of the main moving lead screw in the axial direction, and is threadedly connected to one end of the detection end robotic arm located inside the telescopic robotic arm. The end of the auxiliary moving lead screw located inside the telescopic robotic arm is rotatably connected to the inner bottom surface of the telescopic robotic arm.

[0012] By adopting the above technical solution, the auxiliary moving lead screw is slidably engaged with the main moving lead screw, so that the auxiliary moving lead screw can rotate synchronously with the rotation of the main moving lead screw. In this way, the extension and retraction state of the detection end robotic arm can be controlled by the rotation of the auxiliary moving lead screw.

[0013] Optionally, the telescopic drive component further includes a gear transmission box, a drive bevel gear, and a moving handle. The gear transmission box is fixedly connected to one end of the main support arm, the drive bevel gear is fixedly connected to one end of the main moving screw located inside the gear transmission box, and the moving handle is fixedly connected to the side of the gear transmission box opposite to the main support arm.

[0014] By adopting the above technical solution, the drive bevel gear is protected from operation and dust by the gear transmission box, the rotation of the drive bevel gear drives the main moving screw in a spiral manner, and the main support arm is moved as a whole by lifting the moving handle.

[0015] Optionally, the telescopic drive component further includes a drive shaft, a transmission bevel gear, and a drive handwheel. The drive shaft is rotatably mounted on one side of the gear transmission box. The transmission bevel gear is fixedly connected to one end of the drive shaft located inside the gear transmission box and meshes with the drive bevel gear. The drive handwheel is fixedly connected to one end of the drive shaft located outside the gear transmission box.

[0016] By adopting the above technical solution, the drive shaft connects and fixes the transmission bevel gear and the drive handwheel, so that the drive shaft can drive the transmission bevel gear to rotate synchronously with the rotation of the drive handwheel, and the main moving screw is controlled by the meshing of the transmission bevel gear and the drive bevel gear.

[0017] Optionally, the clamping component includes a clamping member, a spring washer, and a clamping bolt. One end of the clamping member is hinged to the detection end robotic arm, and the other end of the clamping member is open. The spring washer is fixedly connected to the inner wall of the clamping member, and the clamping bolt is located at the opening of the clamping member for adjusting the opening gap of the clamping member.

[0018] By adopting the above technical solution, the angle of the ultrasonic detection probe can be adjusted by adjusting the elevation angle of the clamping component, and the clamping and fixing effect of the ultrasonic detection probe can be controlled by adjusting the opening gap of the clamping component through the clamping bolts. In addition, due to the presence of the spring pad, the clamping component will not damage the ultrasonic detection probe when clamping it.

[0019] Optionally, the angle adjustment component includes a pair of limiting shafts and a worm gear. The pair of limiting shafts are respectively fixedly disposed on both sides of the main support arm and are rotatably connected to the support column. The worm gear is fixedly connected to one of the limiting shafts.

[0020] By adopting the above technical solution, the main support arm is supported and rotated by the cooperation of the limiting pivot and the support column, and the support column is rotated by the rotation of the drive worm gear, thereby enabling the elevation angle of the ultrasonic detection probe to be adjusted.

[0021] Optionally, the angle adjustment component further includes a worm gear and an adjustment handwheel. The worm gear is rotatably mounted on one side of the support column and meshes with a worm wheel. The adjustment handwheel is fixedly connected to one end of the worm gear.

[0022] By adopting the above technical solution, the worm gear is rotated synchronously by controlling the rotation of the worm, and the worm is driven to rotate by rotating the adjusting handwheel.

[0023] Optionally, the multi-angle support assembly further includes a counterweight chassis and a locking bolt rod. The counterweight chassis is rotatably mounted below the support column, and the lower part of the support column is threaded with a locking bolt rod for locking and positioning the support column and the counterweight chassis.

[0024] By adopting the above technical solution, the counterweight chassis plays a supporting and limiting role for the support column, and the locking state of the support column and the counterweight chassis is synchronously controlled by tightening or loosening the locking bolt rod.

[0025] In summary, the embodiments of this application provide a telescopic robotic arm-type ultrasonic detection device for steel structure damage, which includes at least one of the following beneficial technical effects: 1. By setting up a multi-stage telescopic robotic arm assembly, the detection position of the ultrasonic probe can be adjusted according to the actual detection needs, eliminating the need for staff to climb and ensuring the safety of the ultrasonic detection device for steel structure damage. 2. By setting up multi-angle support components, the flexibility of multi-angle adjustment of the ultrasonic probe is improved, thereby increasing the detection efficiency of the ultrasonic testing device for steel structure damage. Attached Figure Description

[0026] Figure 1 A schematic diagram of a retractable robotic arm-type ultrasonic damage detection device for steel structures is provided in an embodiment of this application. Figure 2 A top sectional view of a telescopic robotic arm-type ultrasonic damage detection device for steel structures provided in an embodiment of this application; Figure 3 for Figure 2 Enlarged view of a portion of the structure at point A; Figure 4 for Figure 2 Enlarged view of the structure at point B in the middle; Figure 5 A partial structural schematic diagram of a telescopic robotic arm-type ultrasonic damage detection device for steel structures provided in this application embodiment; Figure 6 for Figure 5 Enlarged view of the structure at point C.

[0027] Explanation of the markings in the image: 1. Ultrasonic testing probe; 2. Multi-stage telescopic robotic arm assembly; 201. Main support arm; 202. Telescopic robotic arm; 203. Detection end robotic arm; 204. Main moving lead screw; 205. Secondary moving lead screw; 206. Gear transmission box; 207. Drive bevel gear; 208. Moving handle; 209. Drive shaft; 210. Transmission bevel gear; 211. Drive handwheel; 212. Clamping component; 213. Spring pad; 214. Clamping bolt; 3. Multi-angle support assembly; 301. Support column; 302. Limiting pivot; 303. Worm gear; 304. Worm; 305. Adjusting handwheel; 306. Counterweight chassis; 307. Locking bolt rod; 4. Signal transmission cable; 5. Wire limiting ring. Detailed Implementation

[0028] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0029] Combination Figure 1 and Figure 2 This application discloses a telescopic robotic arm-type ultrasonic testing device for steel structure damage, comprising: an ultrasonic testing probe 1, a multi-stage telescopic robotic arm assembly 2, and a multi-angle support assembly 3. In practical applications, the ultrasonic testing probe 1 and the multi-stage telescopic robotic arm assembly 2 are combined and positioned. The multi-stage telescopic extension of the multi-stage telescopic robotic arm assembly 2 allows the ultrasonic testing probe 1 to perform flaw detection on steel structures at different heights. Furthermore, the multi-angle support assembly 3 allows for multi-angle adjustment of the ultrasonic testing probe 1, ensuring its flexibility of use.

[0030] Combination Figure 1 One end of the ultrasonic testing probe 1 is electrically connected to a signal transmission wire 4. Multiple wire limiting rings 5 ​​are fixedly installed on the outer side of the main support arm 201, all of which are sleeved on the outside of the signal transmission wire 4. The ultrasonic testing probe 1 transmits signals through the signal transmission wire 4, and the multiple wire limiting rings 5 ​​prevent the signal transmission wire 4 from detaching, reducing the risk of the signal transmission wire 4 breaking due to random shaking during use or interfering with the extension and retraction of the telescopic robotic arm 202 and the detection end robotic arm 203.

[0031] In addition, the other end of the signal transmission wire 4 is connected to a controller, and the length of the signal transmission wire 4 is greater than the sum of the lengths of the main support arm 201, the telescopic robotic arm 202, and the detection end robotic arm 203.

[0032] Among them, the ultrasonic testing probe 1 can be the ZXUD-60 digital ultrasonic flaw detector.

[0033] Combination Figure 1 and Figure 2 A multi-stage telescopic robotic arm assembly 2 is disposed on one side of the ultrasonic testing probe 1. The multi-stage telescopic robotic arm assembly 2 includes a main support arm 201, a telescopic robotic arm 202, a testing end robotic arm 203, a telescopic drive component, and a clamping component. The telescopic robotic arm 202 is slidably disposed within the main support arm 201, and the testing end robotic arm 203 is slidably disposed within the telescopic robotic arm 202. The position of the ultrasonic testing probe 1 can be adjusted according to actual conditions by sliding and telescopically extending the telescopic robotic arm 202 and the testing end robotic arm 203.

[0034] Combination Figure 2 and Figure 3 A telescopic drive component is disposed within the main support arm 201 and is used to drive the telescopic robotic arm 202 and the detection end robotic arm 203 to extend and retract. The telescopic drive component includes a main moving lead screw 204 and a secondary moving lead screw 205. The main moving lead screw 204 is rotatably disposed within the main support arm 201 and is threadedly connected to one end of the telescopic robotic arm 202 located within the main support arm 201. By controlling the rotation of the main moving lead screw 204, the telescopic robotic arm 202 can slide within the main support arm 201 under the action of the thread.

[0035] Combination Figure 2 and Figure 3 The auxiliary moving lead screw 205 is slidably sleeved on the outside of the main moving lead screw 204 along the axial direction, and is threadedly connected to one end of the detection end robotic arm 203 located inside the telescopic robotic arm 202. The end of the auxiliary moving lead screw 205 located inside the telescopic robotic arm 202 is rotatably connected to the inner bottom surface of the telescopic robotic arm 202. By slidingly engaging the auxiliary moving lead screw 205 with the main moving lead screw 204, the auxiliary moving lead screw 205 can rotate synchronously with the rotation of the main moving lead screw 204, thereby controlling the extension and retraction states of the detection end robotic arm 203 through the rotation of the auxiliary moving lead screw 205.

[0036] It is worth noting that the auxiliary moving screw 205 and the main moving screw 204 are in sliding engagement. The sliding engagement can be achieved by having several grooves on the outer side of the main moving screw 204 and several protrusions integrally formed on the inner wall of the auxiliary moving screw 205. Through the engagement of the protrusions and grooves, the auxiliary moving screw 205 can rotate synchronously with the rotation of the main moving screw 204, and can move synchronously along the axial direction of the main moving screw 204 with the movement of the telescopic robotic arm 202.

[0037] Combination Figure 2The telescopic drive component also includes a gear transmission box 206, a drive bevel gear 207, and a moving handle 208. The gear transmission box 206 is fixedly connected to one end of the main support arm 201. The gear transmission box 206 provides operational protection and dust protection for the drive bevel gear 207 and the transmission bevel gear 210.

[0038] Combination Figure 5 and Figure 6 The drive bevel gear 207 is fixedly connected to one end of the main moving lead screw 204 located inside the gear transmission box 206. The rotation of the drive bevel gear 207 drives the main moving lead screw 204 in a rotary manner.

[0039] Combination Figure 1 and Figure 2 The movable handle 208 is fixedly connected to the gear transmission box 206 on the side opposite to the main support arm 201, and the main support arm 201 can be moved as a whole by lifting the movable handle 208.

[0040] Combination Figure 5 and Figure 6 The telescopic drive component also includes a drive shaft 209, a transmission bevel gear 210, and a drive handwheel 211. The drive shaft 209 is rotatably mounted on one side of the gear transmission box 206. The transmission bevel gear 210 is fixedly connected to one end of the drive shaft 209 located inside the gear transmission box 206 and meshes with the drive bevel gear 207. The drive handwheel 211 is fixedly connected to the other end of the drive shaft 209 located outside the gear transmission box 206. The drive shaft 209 connects and fixes the transmission bevel gear 210 and the drive handwheel 211, allowing the drive shaft 209 to drive the transmission bevel gear 210 to rotate synchronously with the rotation of the drive handwheel 211. The meshing of the transmission bevel gear 210 and the drive bevel gear 207 controls the transmission of the main moving lead screw 204.

[0041] Combination Figure 2 and Figure 4 The clamping component is hinged to one end of the detection end robotic arm 203 outside the telescopic robotic arm 202, and is used to clamp and position the ultrasonic detection probe 1. The clamping component includes a clamping part 212, a spring washer 213, and a clamping bolt 214. One end of the clamping part 212 is hinged to the detection end robotic arm 203, and the angle of the ultrasonic detection probe 1 is adjusted by adjusting the elevation angle of the clamping part 212.

[0042] The clamping component 212 has an opening at the other end to facilitate the clamping and positioning of the ultrasonic testing probe 1.

[0043] Combination Figure 2 and Figure 4The spring washer 213 is fixedly connected to the inner wall of the clamping member 212, and the clamping bolt 214 is provided at the opening of the clamping member 212 for adjusting the opening gap of the clamping member 212. The clamping and fixing effect of the ultrasonic detection probe 1 is controlled by adjusting the opening gap of the clamping member 212 by the clamping bolt 214. In addition, due to the presence of the spring washer 213, the clamping member 212 will not damage the ultrasonic detection probe 1 when clamping it.

[0044] Among them, the spring pad 213 is made of rubber.

[0045] Combination Figure 5 and Figure 6 The multi-angle support assembly 3 is located below the main support arm 201. The multi-angle support assembly 3 includes a support column 301 and an angle adjustment component. The support column 301 is sleeved on the outside of the main support arm 201 and is rotatably connected to the main support arm 201. The support column 301 is used to limit the assembly of the limiting pivot 302, thereby providing support and limiting for the main support arm 201.

[0046] Combination Figure 5 and Figure 6 An angle adjustment component is located on one side of the support column 301 and is used to adjust the elevation angle of the main support arm 201. The angle adjustment component includes a pair of limiting shafts 302 and a worm gear 303. The pair of limiting shafts 302 are fixedly mounted on both sides of the main support arm 201 and are rotatably connected to the support column 301. The main support arm 201 is supported and its rotation is limited through the cooperation of the limiting shafts 302 and the support column 301.

[0047] Combination Figure 5 and Figure 6 The worm gear 303 is fixedly connected to one of the limiting shafts 302. By driving the rotation of the worm gear 303, the support column 301 is rotated, thereby enabling the elevation angle adjustment of the ultrasonic detection probe 1.

[0048] Combination Figure 5 and Figure 6 The angle adjustment component also includes a worm gear 304 and an adjusting handwheel 305. The worm gear 304 is rotatably mounted on one side of the support column 301 and meshes with the worm wheel 303. The adjusting handwheel 305 is fixedly connected to one end of the worm gear 304. The worm wheel 303 is rotated synchronously by controlling the rotation of the worm gear 304, and the worm gear 304 is driven to rotate by rotating the adjusting handwheel 305.

[0049] It is worth noting that the lead angle of the worm 304 is smaller than the equivalent friction angle, thus enabling it to have a self-locking function and ensuring the stability of the worm 304 and worm wheel 303 in adjusting the angle of the limit shaft 302.

[0050] Combination Figure 5 The multi-angle support assembly 3 also includes a counterweight base 306 and a locking bolt rod 307. The counterweight base 306 is rotatably mounted below the support column 301. The locking bolt rod 307 is threadedly connected to the lower part of the support column 301 for locking and positioning the support column 301 and the counterweight base 306. The counterweight base 306 provides support and limits the support column 301, and the locking state of the support column 301 and the counterweight base 306 is synchronously controlled by tightening or loosening the locking bolt rod 307.

[0051] In practical use, the ultrasonic detection probe 1 is fixed in the clamping part 212 by tightening the clamping bolt 214, and one end of the signal transmission wire 4 is electrically connected to the ultrasonic detection probe 1, and the other end of the signal transmission wire 4 is electrically connected to the controller.

[0052] Subsequently, the locking bolt rod 307 is loosened, allowing the support column 301 to rotate on the counterweight chassis 306. The support column 301 is rotated to the designated direction according to actual usage requirements, and then locked again after rotation. Then, based on the actual situation, the worm gear 304 is driven to rotate by controlling the adjustment handwheel 305. The elevation angle of the main support arm 201 is adjusted through the cooperation of the worm wheel 303 and the worm gear 304.

[0053] Furthermore, by controlling the rotation of the drive handwheel 211, the transmission bevel gear 210 is driven to rotate, allowing the main moving screw 204 to rotate under the meshing action of the drive bevel gear 207 and the transmission bevel gear 210. The rotation of the main moving screw 204 drives the telescopic robotic arm 202 to extend and retract. Simultaneously, the auxiliary moving screw 205 rotates synchronously with the main moving screw 204, thereby synchronously driving the detection end robotic arm 203 to extend and retract. Through the extension and retraction of the telescopic robotic arm 202 and the detection end robotic arm 203, and the adjustment of the elevation angle of the main support arm 201, the ultrasonic testing probe 1 is moved to the steel structure flaw detection position. Finally, the controller is activated, and ultrasonic flaw detection is performed through the cooperation of the controller, signal transmission wire 4, and ultrasonic testing probe 1.

[0054] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

Claims

1. A telescopic robotic arm-type ultrasonic detection device for steel structure damage, characterized in that, include: An ultrasonic testing probe (1), a multi-stage telescopic robotic arm assembly (2), and a multi-angle support assembly (3) are provided. The multi-stage telescopic robotic arm assembly (2) is located on one side of the ultrasonic testing probe (1). The multi-stage telescopic robotic arm assembly (2) includes a main support arm (201), a telescopic robotic arm (202), a detection end robotic arm (203), a telescopic drive component, and a clamping component. The telescopic robotic arm (202) is slidably disposed within the main support arm (201). The detection end robotic arm (203) is slidably disposed within the telescopic robotic arm (202). The telescopic drive component is disposed within the main support arm (201) and is used to drive the telescopic robotic arm (202) and the detection end robotic arm (203) to extend and retract. The clamping component is hinged to one end of the detection end robotic arm (203) located outside the telescopic robotic arm (202) and is used to clamp and position the ultrasonic testing probe (1). The telescopic drive component includes a main moving screw (204) and a secondary moving screw (205). The main moving screw (204) is rotatably disposed inside the main support arm (201) and is threadedly connected to one end of the telescopic mechanical arm (202) located inside the main support arm (201). The secondary moving screw (205) is slidably sleeved on the outside of the main moving screw (204) in the axial direction and is threadedly connected to one end of the detection end mechanical arm (203) located inside the telescopic mechanical arm (202). One end of the secondary moving screw (205) located inside the telescopic mechanical arm (202) is rotatably connected to the inner bottom surface of the telescopic mechanical arm (202). The multi-angle support assembly (3) is located below the main support arm (201). The multi-angle support assembly (3) includes a support column (301) and an angle adjustment component. The support column (301) is sleeved on the outside of the main support arm (201) and is rotatably connected to the main support arm (201). The angle adjustment component is located on one side of the support column (301) and is used to adjust the elevation angle of the main support arm (201).

2. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 1, characterized in that: One end of the ultrasonic detection probe (1) is electrically connected to a signal transmission wire (4), and multiple wire limiting rings (5) are fixedly installed on the outside of the main support arm (201). The multiple wire limiting rings (5) are all sleeved on the outside of the signal transmission wire (4).

3. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 1, characterized in that: The telescopic drive component also includes a gear transmission box (206), a drive bevel gear (207), and a moving handle (208). The gear transmission box (206) is fixedly connected to one end of the main support arm (201). The drive bevel gear (207) is fixedly connected to one end of the main moving screw (204) located inside the gear transmission box (206). The moving handle (208) is fixedly connected to the side of the gear transmission box (206) away from the main support arm (201).

4. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 3, characterized in that: The telescopic drive component also includes a drive shaft (209), a transmission bevel gear (210), and a drive handwheel (211). The drive shaft (209) is rotatably disposed on one side of the gear transmission box (206). The transmission bevel gear (210) is fixedly connected to one end of the drive shaft (209) located inside the gear transmission box (206) and meshes with the drive bevel gear (207). The drive handwheel (211) is fixedly connected to one end of the drive shaft (209) located outside the gear transmission box (206).

5. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 1, characterized in that: The clamping component includes a clamping member (212), a spring pad (213), and a clamping bolt (214). One end of the clamping member (212) is hinged to the detection end robotic arm (203), and the other end of the clamping member (212) is open. The spring pad (213) is fixedly connected to the inner wall of the clamping member (212). The clamping bolt (214) is located at the opening of the clamping member (212) and is used to adjust the opening gap of the clamping member (212).

6. The telescopic robotic arm-type ultrasonic detection device for steel structure damage according to claim 1, characterized in that: The angle adjustment component includes a pair of limiting shafts (302) and a worm gear (303). The pair of limiting shafts (302) are respectively fixedly disposed on both sides of the main support arm (201) and are rotatably connected to the support column (301). The worm gear (303) is fixedly connected to one of the limiting shafts (302).

7. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 6, characterized in that: The angle adjustment component also includes a worm (304) and an adjustment handwheel (305). The worm (304) is rotatably disposed on one side of the support column (301) and meshes with the worm wheel (303). The adjustment handwheel (305) is fixedly connected to one end of the worm (304).

8. The retractable robotic arm-type ultrasonic detection device for steel structure damage according to claim 1, characterized in that: The multi-angle support assembly (3) also includes a counterweight chassis (306) and a locking bolt rod (307). The counterweight chassis (306) is rotatably disposed below the support column (301). The support column (301) is threadedly connected to the lower part of the support column (301) for locking and positioning the support column (301) and the counterweight chassis (306).

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