Detection robot based on rag type magneto-dependent sensor and fixed magnet yoke with gap

Abstract

The invention discloses a detection robot based on a rag type magneto-dependent sensor and a fixed magnet yoke with a gap, and relates to the field of mechanical automation engineering. Comprising a vehicle body, a driving system, a calibration and video detection system, a magnetic flux leakage and displacement detection system, a magnetization and adsorption system, a transmission cable, a ground station control box and an automatic tracking holder which are connected with one another. The vehicle body comprises a multifunctional hoisting handle, a shell, a control box, a rear handle and a body support. According to the multifunctional hoisting handle, the hoisting function can be achieved through the hoisting ring screw, the position can be changed through the rapid inserting and pulling pin so that different forms can be achieved, a hoisting support is changed into the front handle, and the front handle and the rear handle move a robot together; the skeleton is also provided with a control box for controlling the driving system and the calibration and video detection system; and the robot body bracket is made of a carbon fiber material. The invention provides the detection robot which is based on the cleaning cloth type magneto-dependent sensor and the fixed magnet yoke and is high in sensitivity and precision.

Description

technical field [0001] The invention relates to the field of mechanical automation engineering, in particular to a detection robot based on a rag-type magnetic sensor and a fixed magnetic yoke with a gap. Background technique [0002] Large pressure equipment such as supercritical power plant boilers and spherical tanks usually work in harsh environments such as high pressure and corrosion, and their safety and reliability are of paramount importance. Due to the pressure and medium corrosion of the inner wall of the pressure equipment, the tank wall may have pits, cracks, holes and other defects. These defects will not only cause medium leakage, but may even cause explosions and fires. Therefore, regular inspections must be carried out. At present, the surface inspection of pressure-bearing equipment is mainly based on the inner surface inspection, and most of them are done manually. If the height or diameter of the tank is larger than the height of the human body, it is nec...

AI Technical Summary

Problems solved by technology

However, most of the currently developed wall-climbing magnetic particle automatic detection robots are wall-climbing robots plus detection equipment, which has the following disadvantages: First, the currently developed magnetic particle detection robots mainly use cross-yoke magnetic particle flaw detectors. For pressure equipment, due to Its structural characteristics, when the surface of the workpiece to be inspected is a curved surface or due to the influence of welding seam misalignment and edge angle, its four magnetic poles cannot be in good contact with the surface of the workpiece, and a certain magnetic pole will be suspended in the air (on the spherical surface ), or produce four magnetic poles in line contact with the surface of the workpiece (on the cylindrical surface), so that a large magnetic resistance is generated between a certain pair of magnetic poles, thereby reducing the detection sensitivity in some directions ;Although the NB / T 47013.4-2015 standard stipulates that the maximum gap should not exceed 0.5mm, it is difficult to guarantee the maximum gap of 0.5mm in actual testing

Seventh, the post-cleaning of the remaining magnetic powder after the magnetic particle inspection is usually difficult to achieve, which will have an impact on the subsequent production environment (especially where the purity of the medium is required)

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