Automatic magnetic powder detection system of crawling robot

Abstract

The invention relates to an automatic magnetic powder detection system of a crawling robot. The system comprises a magnetic crawling robot, a magnetic powder detection device carried on the robot, and a detection system control circuit device for controlling operation of each part of the system, a ground control box and a control terminal for controlling the crawling robot to act and a power supply device are arranged on the ground in a matched mode. A vehicle body of the magnetic crawling robot is of a front-back split type structure and comprises a front vehicle head, a rear vehicle head and a vehicle frame, the vehicle frame comprises a vehicle-mounted plate and downward-probing connecting arms fixedly connected with the front end and the rear end of the vehicle-mounted plate respectively, and the vehicle-mounted plate and the downward-probing connecting arms at the two ends are in an n shape, the lower ends of downward-probing connecting arms at the two ends of the vehicle-mounted plate are hinged to the front vehicle head and the rear vehicle head respectively, and each magnetic wheel is provided with an independent driving motor mechanism. The magnetic powder detection device comprises a crossed magnet yoke, a magnetic powder camera, an illuminating lamp and a matched magnetic suspension spraying device which are arranged below the magnetic crawling robot body. The problems existing in the prior art are solved.

Description

technical field [0001] The invention relates to the technical field of nondestructive testing, in particular to a crawling robot magnetic particle automatic testing system. Background technique [0002] When there is a discontinuity of the cutting magnetic force line on the surface of the workpiece, because the magnetic permeability of the discontinuity part is low and the magnetic resistance is large, the magnetic induction line will change its path. Most of the magnetic flux that changes its path will pass through the workpiece at the bottom of the discontinuity with low reluctance. When the magnetic induction intensity of the workpiece is relatively large, it is difficult for the bottom of the discontinuity to accept more magnetic flux, or the discontinuity part When the size is large, part of the magnetic flux will escape the workpiece from the discontinuity, cross the discontinuity and then enter the workpiece. The leakage of this magnetic flux will also cause magnetic ...

AI Technical Summary

Problems solved by technology

Existing conventional detection methods need to be equipped with scaffolding, manual detection, manual spraying of magnetic suspension, magnetization, and observation of magnetic flux leakage changes. The defects of the existing technology are: 1. Manual detection is not only heavy workload but also high cost; 2. High places The magnetic particle spraying and observation of the magnetic particle detection are inconvenient; 3. The measurement data cannot be reproduced

[0005] At present, domestic automatic detection robots have some general-purpose products, such as time-of-difference diffraction ultrasonic detection TOFD, phased array ultrasonic PAUT and other automatic detection equipment, but they are not suitable for the working conditions of magnetic particle detection; There are also a very small number of papers about this project, such as "Design and Research of Magnetic Particle Flaw Inspection Wall-climbing Inspection Robot", but its defect is that its research design is crawler-type, which is difficult to turn, not easy to go over the weld, and the car body design Problems such as cumbersome and complex, poor flexibility, etc., its practicability needs to be strengthened, and it has not been applied to the market

[0006] Another example is the patent applied by Zhejiang Special Institute in 2015: 201510173038.3 "A Wall Climbing Robot for Magnetic Particle Burn Detection". The time passability is still not high, and the car body is poorly mounted, and the detection function is limited. The power design of the car body is poor in power performance, which will also affect its safety. The magnetization device designed by it cannot completely avoid contact with the workpiece. The collision of the surface has a high probability of colliding with the surface of the workpiece in actual use; the structure of the camera device is very unreasonable and cannot clearly and accurately observe and display the surface defects of the workpiece and the defects of the weld seam.

[0007] At present, there is no practical equipment for automatic detection of magnetic particles in China.

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