CN216646344U - Self-adaptive wall-climbing magnetic particle inspection robot - Google Patents

Abstract

The utility model belongs to the field of mechanical automation engineering, and particularly relates to a self-adaptive wall-climbing magnetic powder detection robot, wherein driving modules are respectively installed at four corners of a chassis of the robot, each driving module comprises an adsorption moving assembly, a magnetic suspension spraying module, a magnetic powder detection module, an automatic weld tracking module and a fluorescence feedback module are sequentially installed at the bottom of the chassis, a lifting module is installed at the top of the chassis and connected with one end of a suspension module through the chassis of the robot, the other end of the suspension module is connected with the magnetic powder detection module, and a control module and an auxiliary device are installed at the top of the chassis. The utility model can realize the adsorption movement of the robot on the wall surface of the ferromagnetic material, realize automatic tracking along the welding line and realize magnetic powder detection and video feedback on the welding line. The utility model has the characteristics of automatic tracking, flexible control, strong adaptability and the like.

Description

Self-adaptive wall-climbing magnetic particle inspection robot

Technical Field

The utility model belongs to the field of mechanical automation engineering, and particularly relates to a self-adaptive wall-climbing magnetic powder detection robot.

Background

At present, a large number of oil storage tanks for containing different petrochemical products are used in the petrochemical industry, and most of the stored substances are inflammable, explosive and toxic, so that the oil storage tanks belong to high-energy hazardous operation units. After the oil storage tank is used for a period of time, impurities in the crude oil can be deposited on the bottom and the wall of the tank, so that the effective capacity of the oil storage tank is reduced, and the efficiency of the oil storage tank is influenced; meanwhile, because petrochemical products have strong corrosivity, the oil storage tank is easily corroded, especially the surface of the inner wall of the oil tank. It should be noted that, because a T-shaped welding seam structure is often adopted between the edge plate and the wall plate at the bottom of the oil storage tank, the internal defects of the T-shaped welding seam have great harm to the safe operation of the oil tank. Therefore, the oil storage tank needs to be periodically inspected and repaired and sludge in the tank is removed, and the cleaning and detection of the oil storage tank directly affect the safety and service life of the oil tank. At present, the traditional oil tank detection method in China mainly utilizes manpower, and the manual method has the problems of high labor intensity, long construction period, poor safety, low crude oil recovery rate, environmental pollution and the like. With the great construction of large-scale petroleum storage tanks in China and the increasing attention on the problem of environmental protection, manual operation does not meet the objective requirements of environment and development, and the elimination of manual operation is inevitable historically.

With the advent and development of robotics, it is highly desirable to perform work by using a robot instead of a human. The wall climbing detection robot is a special robot combining a moving technology and a wall surface adsorption technology, can move in dangerous environments such as a vertical wall surface and the like, and can carry a detection tool to complete detection and visual inspection tasks. The wall-climbing magnetic particle inspection robot usually carries a magnetic particle flaw detector to perform weld joint inspection, can replace manual work to perform operation, and embodies huge application value and research significance in improving production efficiency, reducing labor intensity of workers and operation risk.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems of long implementation period, high operation risk, low detection efficiency and the like of the conventional large spherical tank and storage tank under the condition of manual detection. The robot can realize free motion of the inner walls of the large spherical tank and the storage tank through four-wheel adsorption and driving, can automatically identify welding seams inside the storage tank and realize track tracking, and can lift and compress the detection module to improve the detection efficiency.

The purpose of the utility model is realized by the following technical scheme:

the robot comprises a chassis, a control module, and a lifting module, a hanging module, a magnetic powder detection module, an automatic weld tracking module, a driving module, a magnetic suspension spraying module, a video feedback module and a fluorescence feedback module which are respectively connected with the control module, wherein the bottom of the chassis is provided with a plurality of driving modules, each driving module comprises an adsorption tank wall and an adsorption moving assembly for driving a robot to move, the magnetic suspension spraying module, the automatic weld tracking module and the fluorescence feedback module are respectively arranged at the bottom of the chassis, the lifting module is arranged at the top of the chassis, one end of the hanging module is connected with the lifting module, and the other end of the hanging module is connected with the magnetic powder detection module below the chassis; the control module is arranged at the top of the chassis, and the front end and the rear end of the moving direction of the top of the chassis are respectively provided with the video feedback modules.

Wherein: the adsorption moving assembly comprises an outer side plate, a bearing retainer ring, a supporting bearing, an inner shaft sleeve, an outer shaft sleeve, an inner side plate, a rotating disc, a rear cover, an inner rubber wheel, an outer rubber wheel, an adsorption wheel, an outer cover, a driving motor and an extension shaft, wherein the outer cover is fixed on the chassis, one end of the outer cover is connected with the bearing retainer ring, the other end of the outer cover is in sealing threaded connection with the rear cover, the driving motor is installed inside the outer cover, the output end of the driving motor is connected with one end of the extension shaft, and the other end of the extension shaft is located outside the outer cover and fixedly connected with the outer side plate; the outer cover is rotatably connected with a rotating disc, and the inner side plate is rotatably connected with the rotating disc and hermetically connected with the outer cover; the cover is equipped with interior axle sleeve on the dustcoat between outer panel and the interior plate, interior axle sleeve outside is equipped with outer axle sleeve, rotate through the support bearing who sets up at both ends between outer axle sleeve and the interior axle sleeve and be connected, outer rubber wheel, adsorption wheel and interior rubber wheel are located between outer panel and the interior plate, and the cover is located on the outer axle sleeve, outer lane, outer rubber wheel, adsorption wheel, interior rubber wheel and the interior plate of outer panel link to each other in proper order.

The outer cover is provided with a sealing groove, a sealing felt is arranged in the sealing groove, and the inner side plate is in rotary contact with the sealing felt to realize dynamic sealing.

The outer ring of the supporting bearing at one end between the outer shaft sleeve and the inner shaft sleeve is axially limited by the outer side plate and a shaft shoulder on the inner surface of the outer shaft sleeve, and the inner ring is axially limited by the bearing retainer ring and the inner shaft sleeve; the outer ring of the supporting bearing at the other end between the outer shaft sleeve and the inner shaft sleeve is axially limited through the inner side plate and the shaft shoulder on the inner surface of the outer shaft sleeve, and the inner ring is axially limited through the shaft shoulder on the outer surface of the outer cover and the inner shaft sleeve.

The lifting module comprises a shield, an electric push rod, a lifting truss, a supporting block and a lifting plate, the shield is fixed on the chassis, the electric push rod is arranged in the shield, the bottom of the electric push rod is fixed on the chassis, and the top of the electric push rod is connected with the lifting truss; the top end of the supporting block is connected with the lifting truss, and the bottom end of the supporting block is connected with the lifting plate.

The lifting module is connected with the magnetic particle detection module through at least one suspension module, the suspension module comprises a spring assembly, the spring assembly comprises an upper spring cover, a telescopic shaft, a spring base and a switching plate, the upper spring cover is installed on the lifting module, the lower end of the telescopic shaft is connected with the spring base, the upper end of the telescopic shaft penetrates through guide holes formed in the upper spring cover and the lifting module, the spring base is fixed at the top of the switching plate, the spring sleeve is arranged on the telescopic shaft, two ends of the spring sleeve are respectively connected with the upper spring cover and the spring base, and the bottom of the switching plate is connected with the magnetic particle detection module.

The fluorescent feedback module comprises a camera shield, an adjusting support, a fixing column, a camera, a transparent cover, a black light lamp, a locking nut and a hydrophobic membrane, the camera is fixed on the chassis through the fixing column, the camera shield covers the outside of the camera, one end of the camera shield is connected with the chassis, the other end of the camera shield is in threaded connection with the locking nut, the locking nut tightly presses the transparent cover on the camera shield through threaded connection, and the hydrophobic membrane is attached to the transparent cover and the locking nut; the camera is characterized in that adjusting supports are symmetrically arranged on two sides of the camera shield, one end of each adjusting support is installed on the chassis, the other end of each adjusting support is connected with a black light, and the angle of each black light is just opposite to the front view angle of the camera through the adjusting supports.

The auxiliary device is installed at the top of the chassis and comprises handles, folding supports and safety beams, the handles are installed at the front end and the rear end of the top of the chassis and the left end and the right end of the top of the chassis, the folding supports are installed at the left end and the right end of the chassis, the tops of the folding supports at the two ends are respectively connected with the two ends of the safety beams, and safety ropes are hung on the safety beams.

The utility model has the advantages and positive effects that:

1. the utility model provides a self-adaptive wall-climbing magnetic particle inspection robot which is strong in adaptability and capable of realizing high-efficiency magnetic particle inspection operation of the robot in a tank.

2. The utility model can realize the bidirectional identification and automatic tracking of the welding line in the tank and correct the track deviation in the robot detection process.

3. According to the magnetic particle detection module, the pre-tightening force adjustment and obstacle crossing capability improvement of the magnetic particle detection module can be realized through the lifting module and the suspension module, and the detection efficiency of the robot is improved.

4. The utility model can realize the fluorescent magnetic powder detection of the robot in the dark environment.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of the bottom of the base pan of the present invention;

FIG. 3 is a schematic diagram of the internal structure of the driving module according to the present invention;

FIG. 4 is a schematic structural diagram of a lifting module, a suspension module and a magnetic particle testing module according to the present invention;

FIG. 5 is a schematic structural diagram of a fluorescence feedback module according to the present invention;

FIG. 6 is a second schematic structural diagram of a fluorescence feedback module according to the present invention;

FIG. 7 is a schematic view of the auxiliary device of the present invention;

wherein: 1 is a chassis, 2 is a control module, 3 is a lifting module, 4 is a suspension module, 5 is a magnetic powder detection module, 6 is an automatic weld tracking module, 7 is a driving module, 8 is a magnetic suspension spraying module, 9 is a video feedback module, 10 is a fluorescence feedback module, 11 is an auxiliary device, 12 is an outer panel, 13 is a bearing retainer ring, 14 is a support bearing, 15 is an inner shaft sleeve, 16 is an outer shaft sleeve, 17 is an inner panel, 18 is a rotary disc, 19 is a rear cover, 20 is a sealing felt, 21 is an inner rubber wheel, 22 is an outer rubber wheel, 23 is an adsorption wheel, 24 is an outer cover, 25 is a driving motor, 26 is an extension shaft, 27 is a shield, 28 is an electric push rod, 29 is a lifting truss, 30 is a support block, 31 is a lifting plate, 32 is a spring upper cover, 33 is a telescopic shaft, 34 is a spring, 35 is a spring base, 36 is an adapter plate, 37 is a camera shield, 38 is an adjusting bracket, 39 is a fixed column, 40 is a camera, 41 is a transparent cover, 42 is a black light lamp, 43 is a locknut, 44 is a hydrophobic film, 45 is a handle, 46 is a folding bracket, 47 is a safety beam, 48 is a bolt rod, and 49 is a herringbone groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model comprises a chassis 1, a control module 2, and a lifting module 3, a hanging module 4, a magnetic powder detection module 5, an automatic weld tracking module 6, a driving module 7, a magnetic suspension spraying module 8, a video feedback module 9 and a fluorescence feedback module 10 which are respectively connected with the control module 2, wherein the bottom of the chassis 1 is provided with a plurality of driving modules 7, and each driving module 7 comprises an adsorption tank wall and an adsorption moving component for driving a robot to move; the chassis 1 of the embodiment is square, and four corners of the square bottom are respectively provided with a driving module 7; the magnetic suspension spraying module 8, the automatic weld joint tracking module 6 and the fluorescence feedback module 10 are respectively arranged at the bottom of the chassis 1, the lifting module 3 is arranged at the top of the chassis 1 and connected with one end of the suspension module 4 after penetrating through the chassis 1, and the other end of the suspension module 4 is connected with the magnetic powder detection module 5 positioned below the chassis 1; the control module 2 is installed on the top of the chassis 1 and located behind the lifting module 3, the video feedback modules 9 are respectively installed on the front end and the rear end of the moving direction of the top of the chassis 1, and the video feedback modules 9 in the embodiment are in the prior art. The magnetic suspension spraying module 8, the magnetic powder detection module 5, the automatic weld tracking module 6 and the fluorescence feedback module 10 of the embodiment are sequentially arranged along the central axis of the bottom of the chassis 1. An auxiliary device 11 is also mounted on the top of the chassis 1.

As shown in fig. 1, 2 and 3, the adsorption moving assembly of the present embodiment includes an outer plate 12, a bearing retainer 13, a support bearing 14, an inner shaft sleeve 15, an outer shaft sleeve 16, an inner plate 17, a rotating disk 18, a rear cover 19, a sealing felt 20, an inner rubber wheel 21, an outer rubber wheel 22, an adsorption wheel 23, an outer cover 24, a driving motor 25 and an extension shaft 26, wherein the outer cover 24 is fixed on the chassis 1, one end of the outer cover is connected with the bearing retainer 13, the other end of the outer cover is connected with the rear cover 19 in a sealing and threaded manner, the driving motor 25 is installed in a space enclosed by the outer cover 24 and the rear cover 19, and the outer cover 24 and the rear cover 19 protect the driving motor 25; the output end of the driving motor 25 is connected with one end key of the extension shaft 26, and the other end of the extension shaft 26 is positioned outside the outer cover 24 and is fixedly connected with the outer side plate 12; the outer cover 24 is rotatably connected with a rotating disk 18, the inner side plate 17 is sleeved on the outer cover 24 and is rotatably connected with the rotating disk 18, a sealing groove is formed in the outer cover 24, a sealing felt 20 is arranged in the sealing groove, and the inner side plate 17 and the sealing felt 20 are in rotary contact to realize rotary sealing. An outer cover 24 between the outer side plate 12 and the inner side plate 17 is sleeved with an inner shaft sleeve 15, an outer shaft sleeve 16 is arranged outside the inner shaft sleeve 15, the outer shaft sleeve 16 is rotatably connected with the inner shaft sleeve 15 through supporting bearings 14 arranged at two ends, an outer rubber wheel 22, an adsorption wheel 23 and an inner rubber wheel 21 are positioned between the outer side plate 12 and the inner side plate 17 and sleeved on the outer shaft sleeve 16, and the outer ring of the outer side plate 12, the outer rubber wheel 22, the adsorption wheel 23, the inner rubber wheel 21 and the inner side plate 17 are sequentially connected through bolt rods 48. In the embodiment, the outer ring of the support bearing 14 at one end between the outer shaft sleeve 16 and the inner shaft sleeve 15 is axially limited by the outer side plate 12 and the shaft shoulder on the inner surface of the outer shaft sleeve 16, and the inner ring is axially limited by the bearing retainer 13 and the inner shaft sleeve 15; the outer ring of the support bearing 14 at the other end between the outer sleeve 16 and the inner sleeve 15 is axially limited by the inner side plate 17 and the shoulder on the inner surface of the outer sleeve 16, and the inner ring is axially limited by the shoulder on the outer surface of the outer cover 24 and the inner sleeve 15.

In this embodiment, the adsorption wheel 23 is made of N45 neodymium iron boron strong magnet, the magnetization direction is axial magnetization, the inner rubber wheel 21 and the outer rubber wheel 22 are made of wear-resistant rubber with shore hardness of 65, and herringbone grooves 49 with a depth of 1.5 mm are formed in the outer surfaces of the inner rubber wheel 21 and the outer rubber wheel 22, so that friction can be increased.

As shown in fig. 1, 2 and 4, the suspension module 4 of the present embodiment has a top connected to the lifting module 3 and a bottom connected to the magnetic particle inspection module 5, and the lifting module 3 passes through the chassis 1 and is fixed on the chassis 1. The lifting module 3 of this embodiment includes a protective cover 27, two electric push rods 28, a lifting truss 29, a supporting block 30 and a lifting plate 31, the protective cover 27 is fixed on the chassis 1, the electric push rods 28 are arranged inside the protective cover 27, the electric push rods 28 of this embodiment are respectively located at the left and right sides in the protective cover 7, the bottom of each electric push rod 28 is fixed on the chassis 1, and the top is connected with two ends of the lifting truss 29; the supporting block 30 is located between the two electric push rods 28, the top end of the supporting block 30 is connected with the lifting truss 29, the bottom end is connected with the lifting plate 31, and the lifting plate 31 is fixedly connected with the suspension module 4.

The maximum stroke of the electric push rod 28 of the embodiment does not exceed 30mm, and the rated thrust is not less than 10 KG.

Promote between module 3 and the magnetic particle testing module 5 to hang the module 4 through at least one and be connected, the module 4 that hangs of this embodiment is four, installs the four corners at square promotion board 31 respectively. Hang module 4 and include spring assembly, spring assembly includes spring upper cover 32, telescopic shaft 33, spring 34, spring base 35 and adapter plate 36, spring upper cover 32 is fixed on the promotion board 31 in promoting module 3, the lower extreme and the spring base 35 of telescopic shaft 33 are connected, the guiding hole of seting up on spring upper cover 32 and the promotion board 31 is passed to the upper end, spring base 35 is fixed at the top of adapter plate 36, spring 34 is settled in the space that is enclosed by spring upper cover 32 and spring base 35, and the cover is on telescopic shaft 33, both ends link to each other with spring upper cover 32 and spring base 35 respectively, the bottom of adapter plate 36 links to each other with magnetic particle testing module 5.

The magnetic powder detection module 5 of the embodiment is the prior art and can be purchased from Zhongchang flaw detection equipment Limited in Shenzhen.

As shown in fig. 1, 2, 5 and 6, the fluorescence feedback module 10 of the present embodiment includes a camera shield 37, an adjusting bracket 38, a fixing column 39, a camera 40, a transparent cover 41, a black light 42, a lock nut 43 and a hydrophobic film 44, wherein the camera 40 is fixed on the chassis 1 through the fixing column 39, the camera shield 37 is sleeved outside the camera 40, one end of the camera shield 37 is fixedly connected with the chassis 1, the other end of the camera shield 37 is in threaded connection with the lock nut 43, the lock nut 43 presses the transparent cover 41 against the camera shield 37 through threaded connection, and the hydrophobic film 44 is attached to the outer side of the transparent cover 41 and the lock nut 43, so as to prevent water drops from adhering to affect the view; the two sides of the camera shield 37 are symmetrically provided with adjusting brackets 38, one end of each adjusting bracket 38 is connected with the bottom of the chassis 1, and the other end of each adjusting bracket 38 is fixed with a black light lamp 42 through a jackscrew. The black light lamp 42 installed on the adjusting bracket 38 can rotate 360 degrees and can also be adjusted up, down, left and right, and the angle of the adjusting bracket 38 is adjusted to enable the black light lamp 42 to be over against the front view angle of the camera 40. The adjusting bracket 38 of the present embodiment is a commercially available product, and is a gimbal produced by hongda laser technology limited, shenzhen.

As shown in fig. 1, 2 and 7, the auxiliary device 11 of the present embodiment includes six handles 45, two folding brackets 46 and a safety beam 47, two of the handles 45 are mounted on the front end of the top of the chassis 1, two of the handles are mounted on the rear end of the top of the chassis 1, and one handle is mounted on the rear end of each of the left and right ends of the chassis 1. The two folding supports 46 are arranged at the positions, which are arranged on the left end and the right end of the top of the chassis 1, of the front sides, the tops of the folding supports 46 at the two ends are respectively connected with the two ends of the safety beam 47, and the safety beam 47 can be provided with safety ropes to realize safety protection.

The automatic welding seam tracking module 6 is the prior art, can be purchased from Beijing Hokkohn science and technology Limited, can realize laser recognition on a convex welding seam defect with the height not more than 10mm and a concave welding seam defect with the depth not more than 5mm in the moving process, realizes automatic tracking on a welding seam defect track near a central line through the control module 2, and can realize track tracking and correction in the forward and backward bidirectional movement of the robot.

The magnetic suspension spraying module 8 of the embodiment is the prior art, and can realize constant-current voltage-stabilizing magnetic suspension spraying in the wall-climbing magnetic powder detection operation process.

The working principle of the utility model is as follows:

this embodiment is four wheel drive's wall climbing magnetic particle inspection robot, can realize freely moving around jar inner wall, realizes the absorption to the jar wall through adsorption wheel 23 among the drive module 7. The driving motor 25 is connected with the extension shaft 26 in a key mode, output torque is transmitted to the outer side plate 12, and the outer side plate 12, the outer rubber wheel 22, the adsorption wheel 23, the inner rubber wheel 21 and the inner side plate 17 are sequentially penetrated through by the bolt rods 48 and connected with one another to drive the whole wheel to rotate.

After the robot enters the tank, the robot moves forwards linearly in any direction, the automatic welding seam tracking module 6 detects that a welding seam defect exists in a range of +/-50 mm along the central axis direction, the automatic welding seam tracking module 6 can identify the characteristics of the welding seam defect, and the driving module 7 of the robot is adjusted through the control module 2, so that the robot body moves gradually along the welding seam direction.

When the robot got into jar in, electric putter 28 on the lifting module 3 was in the biggest stroke state (the biggest stroke is no longer than 30mm), arrived the welding seam along the welding seam direction and waits to examine regional back, and electric putter 28 resumes the normal position, drives and hangs module 4 and magnetic particle testing module 5 and compress tightly to jar wall on, when strideing across the horizontal welding seam, because hang the existence of module 4, magnetic particle testing module 5 can follow the welding seam and rise, and extrusion spring 34 realizes strideing across of welding seam.

When the detection operation begins, need open magnetic suspension and spray module 8, magnetic particle testing module 5 and fluorescence feedback module 10, the robot moves with the speed that is not higher than 1m/min along the welding seam, magnetic suspension sprays module 8 and spouts magnetic suspension with the constant flow of constant pressure to wait to examine the welding seam region, magnetic particle testing module 5 begins the operation and will spray to waiting to examine the magnetic suspension in region and magnetize, then the ultraviolet ray that black light lamp 42 launches among the fluorescence feedback module 10 is shone to waiting to detect after the region, camera 40 can catch the welding seam defect characteristic in waiting to detect the region and pass back to robot control terminal. And then the robot continues to run along the welding line, and finally all welding line detection areas are detected.

After the detection is finished, the self-adaptive wall-climbing magnetic powder detection robot closes the magnetic suspension spraying module 8 and the magnetic powder detection module 5. An electric push rod 28 on the lifting module 3 is opened and pushed to the maximum stroke state, and the suspension module 4 and the magnetic powder detection module 5 are lifted to be separated from the wall surface. The robot travels along the weld 6 through the weld automatic tracking module and reaches the initial position.

The fluorescence feedback module 10 of the present invention can detect weld defects in both bright and dark environments. Under bright environment, the magnetic suspension spraying module 8 needs to adopt black magnetic powder spraying liquid, and under dark environment, the magnetic suspension spraying module 8 needs to adopt fluorescent magnetic powder spraying liquid.

Claims (8)

1. The utility model provides a wall magnetic particle testing robot is climbed to self-adaptation which characterized in that: the device comprises a chassis (1), a control module (2), and a lifting module (3), a hanging module (4), a magnetic powder detection module (5), a welding line automatic tracking module (6), a driving module (7), a magnetic suspension spraying module (8), a video feedback module (9) and a fluorescence feedback module (10) which are respectively connected with the control module (2), wherein a plurality of driving modules (7) are installed at the bottom of the chassis (1), each driving module (7) comprises an adsorption tank wall and an adsorption moving assembly for driving a robot to move, the magnetic suspension spraying module (8), the welding line automatic tracking module (6) and the fluorescence feedback module (10) are respectively installed at the bottom of the chassis (1), the lifting module (3) is installed at the top of the chassis (1), one end of the hanging module (4) is connected with the lifting module (3), the other end of the suspension module (4) is connected with a magnetic powder detection module (5) positioned below the chassis (1); the control module (2) is arranged on the top of the chassis (1), and the front end and the rear end of the moving direction of the top of the chassis (1) are respectively provided with a video feedback module (9).

2. The adaptive wall-climbing magnetic particle inspection robot of claim 1, characterized in that: the adsorption moving assembly comprises an outer side plate (12), a bearing retainer ring (13), a supporting bearing (14), an inner shaft sleeve (15), an outer shaft sleeve (16), an inner side plate (17), a rotating disc (18), a rear cover (19), an inner rubber wheel (21), an outer rubber wheel (22), an adsorption wheel (23), an outer cover (24), a driving motor (25) and an extension shaft (26), wherein the outer cover (24) is fixed on the chassis (1), one end of the outer cover is connected with the bearing retainer ring (13), the other end of the outer cover is in sealing threaded connection with the rear cover (19), the driving motor (25) is installed inside the outer cover (24), the output end of the driving motor is connected with one end of the extension shaft (26), and the other end of the extension shaft (26) is located outside the outer cover (24) and is fixedly connected with the outer side plate (12); the outer cover (24) is rotatably connected with a rotating disc (18), and the inner side plate (17) is rotatably connected with the rotating disc (18) and is hermetically connected with the outer cover (24); the utility model discloses a rubber wheel, including outer panel (12), inner side board (17), outer cover (24) between outer panel (12) and inner side board (17) are gone up the cover and are equipped with inner shaft sleeve (15), inner shaft sleeve (15) outside is equipped with outer axle sleeve (16), rotate through support bearing (14) that set up at both ends between outer axle sleeve (16) and inner shaft sleeve (15) and be connected, outer rubber wheel (22), adsorption wheel (23) and interior rubber wheel (21) are located between outer panel (12) and inner side board (17), and the cover is located on outer axle sleeve (16), the outer lane of outer panel (12), outer rubber wheel (22), adsorption wheel (23), interior rubber wheel (21) and inner side board (17) link to each other in proper order.

3. The adaptive wall-climbing magnetic particle inspection robot of claim 2, characterized in that: the outer cover (24) is provided with a sealing groove, a sealing felt (20) is arranged in the sealing groove, and the inner side plate (17) is in rotary contact with the sealing felt (20) to realize dynamic sealing.

4. The adaptive wall-climbing magnetic particle inspection robot of claim 2, characterized in that: the outer ring of a supporting bearing (14) at one end between the outer shaft sleeve (16) and the inner shaft sleeve (15) is axially limited through the outer side plate (12) and a shaft shoulder on the inner surface of the outer shaft sleeve (16), and the inner ring is axially limited through the bearing retainer ring (13) and the inner shaft sleeve (15); the outer ring of the supporting bearing (14) at the other end between the outer shaft sleeve (16) and the inner shaft sleeve (15) is axially limited through the inner side plate (17) and a shaft shoulder on the inner surface of the outer shaft sleeve (16), and the inner ring is axially limited through the shaft shoulder on the outer surface of the outer cover (24) and the inner shaft sleeve (15).

5. The adaptive wall-climbing magnetic particle inspection robot of claim 1, characterized in that: the lifting module (3) comprises a protective cover (27), an electric push rod (28), a lifting truss (29), a supporting block (30) and a lifting plate (31), the protective cover (27) is fixed on the chassis (1), the electric push rod (28) is arranged in the protective cover (27), the bottom of the electric push rod (28) is fixed on the chassis (1), and the top of the electric push rod (28) is connected with the lifting truss (29); the top end of the supporting block (30) is connected with the lifting truss (29), and the bottom end of the supporting block is connected with the lifting plate (31).

6. The adaptive wall-climbing magnetic particle inspection robot of claim 1, characterized in that: the lifting module (3) is connected with the magnetic particle detection module (5) through at least one suspension module (4), the suspension module (4) comprises a spring assembly, the spring assembly comprises a spring upper cover (32), a telescopic shaft (33), a spring (34), a spring base (35) and an adapter plate (36), the spring upper cover (32) is arranged on the lifting module (3), the lower end of the telescopic shaft (33) is connected with the spring base (35), the upper end of the telescopic shaft penetrates through guide holes formed in the spring upper cover (32) and the lifting module (3), the spring base (35) is fixed on the top of the adapter plate (36), the spring (34) is sleeved on the telescopic shaft (33), two ends of the spring are respectively connected with the spring upper cover (32) and the spring base (35), the bottom of the adapter plate (36) is connected with the magnetic particle detection module (5).

7. The adaptive wall-climbing magnetic particle inspection robot of claim 1, characterized in that: the fluorescence feedback module (10) comprises a camera shield (37), an adjusting support (38), a fixing column (39), a camera (40), a transparent cover (41), a black light lamp (42), a locking nut (43) and a hydrophobic membrane (44), wherein the camera (40) is fixed on the chassis (1) through the fixing column (39), the camera shield (37) covers the outside of the camera (40), one end of the camera shield (37) is connected with the chassis (1), the other end of the camera shield (37) is in threaded connection with the locking nut (43), the locking nut (43) presses the transparent cover (41) on the camera shield (37) through threaded connection, and the hydrophobic membrane (44) is attached to the transparent cover (41) and the locking nut (43); the two sides of the camera shield (37) are symmetrically provided with adjusting supports (38), one ends of the adjusting supports (38) are installed on the chassis (1), the other ends of the adjusting supports are connected with black light lamps (42), and the angles of the black light lamps (42) are just opposite to the front view angle of the camera (40) through the adjusting supports (38).

8. The adaptive wall-climbing magnetic particle inspection robot of claim 1, characterized in that: auxiliary device (11) are installed at the top of chassis (1), auxiliary device (11) are including handle (45), folding support (46) and safe crossbeam (47), handle (45) are all installed at both ends and the left and right sides both ends around chassis (1) top, install folding support (46) both ends about chassis (1), both ends the top of folding support (46) links to each other with the both ends of safe crossbeam (47) respectively, the safety rope has been hung on safe crossbeam (47).

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