A semi-automatic magnetic particle flaw detection robot

Abstract

A semi-automatic magnetic particle flaw detection robot of the present invention comprises a moving body of the magnetic particle flaw detection robot, a flexible detection module, a magnetic suspension liquid spraying module and a magnetic adsorption control module. The flexible detection module, the magnetic suspension liquid spraying module and the magnetic adsorption control module are all arranged on the moving body. By setting the flexible detection module, the movement ability of the magnetic yoke can be improved, the adaptability of the magnetic yoke to walls with different curvatures can be enhanced, and it also has the ability to cross obstacles. By setting the magnetic suspension liquid spraying module, the spraying of the magnetic suspension liquid can be facilitated, the spraying angle can be easily adjusted, the replacement of the magnetic suspension liquid tank can be convenient and fast, and the whole module is small and compact. By setting the magnetic adsorption control module, the movement range of the magnet on the bearing sleeve can be restricted, and the suction force control of the magnet on the magnetic conductive wall surface and demagnetization can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a semi-automatic magnetic particle flaw detection robot. Background Art

[0002] With the continuous advancement of globalization, the demand for the large-scale manufacturing of large components such as large ships and heavy machinery is increasing. The manufacturing of these large components often requires welding, and defects may exist at the welded joints, which will seriously affect the quality of the components and even pose safety problems. In traditional weld inspection, workers need to wear masks and use inspection instruments to carry out inspection operations. The working environment is poor and the risk is relatively high. Therefore, there is an urgent need for a product that can replace manual work in detecting surface defects of welds, can adapt to different working surfaces, and has lower costs and higher work efficiency. Summary of the Invention

[0003] In view of the deficiencies of the prior art, the present invention provides a semi-automatic magnetic particle flaw detection robot, which solves the problems of poor existing welding working environment and relatively high risk for workers during operation mentioned in the above background art by setting a flexible detection module, a magnetic suspension liquid spraying module, and a magnetic adsorption control module.

[0004] To achieve the above object, the present invention is realized through the following technical solutions: A semi-automatic magnetic particle flaw detection robot, comprising:

[0005] A moving body, with vehicle body modules provided at both the front and rear ends of the moving body, and a main body connected between the two vehicle body modules;

[0006] A magnetic adsorption control module, connected to both ends of the vehicle body module;

[0007] A flexible detection module, provided inside the main body;

[0008] A magnetic suspension liquid spraying module, provided inside the main body.

[0009] In some embodiments of the present application, a sealed box is further provided inside the main body, and a stepping motor is provided inside the sealed box;

[0010] Two stepping motors are provided inside the front vehicle body module, and the two stepping motors are arranged on the left and right sides of the rear vehicle body module.

[0011] Two stepping motors with brakes are provided inside the rear vehicle body module, and the two stepping motors with brakes are arranged on the left and right sides of the rear vehicle body module.

[0012] In some embodiments of the present application, the magnetic adsorption control module includes: an inflatable tire, a wheel hub, a tire fixing member, a harmonic reducer, a bearing sleeve, a motor connecting shaft, a synchronous belt, a synchronous belt pulley, a magnet fixing member, a magnet connecting plate, a demagnetization handle, a magnet, a yoke, a magnet retaining ring, and a magnet limiting member;

[0013] The inflatable tire is connected to the wheel hub through the tire fixing member. Both ends of the bearing sleeve are respectively connected to the harmonic reducer and the side plate of the vehicle body module. The output end of the reducer is connected with a synchronous belt pulley and an inflatable tire, and the synchronous belt is sleeved on the synchronous belt pulley;

[0014] The magnet is adsorbed on the yoke. One end of the yoke is connected to the magnet connecting plate, and the other end of the magnet connecting plate is connected to the magnet fixing member. A hole is formed between the magnet connecting plate and the magnet fixing member, and the hole is sleeved on the bearing sleeve with a gap;

[0015] There are two magnet retaining rings and two magnet limiting members. The two magnet retaining rings are connected to form a hole, and the hole is sleeved on the bearing sleeve with a gap. A hole is formed at the connection of the two magnet limiting members, and the hole is sleeved on the bearing sleeve with a gap;

[0016] One end of the demagnetization handle passes through the above three gaps in sequence and is installed on the magnet fixing member;

[0017] A demagnetization sleeve is sleeved between the other ends of the demagnetization handles at both ends of the vehicle body module.

[0018] In some embodiments of the present application, the stepping motor in the body is connected to the harmonic reducer through the motor connecting shaft, and the movement control of the robot is realized through the stepping motor of the vehicle body module and the stepping motor with a brake.

[0019] In some embodiments of the present application, the flexible detection module includes two flexible detection parts, and the two flexible detection parts are connected through a camera fixing plate, and a camera is arranged on the camera fixing plate.

[0020] In some embodiments of the present application, the flexible detection part includes: an auxiliary obstacle-crossing small wheel fixing plate, a magnetic yoke, an outer magnetic yoke fixing member, a limiting plate, a copper sleeve, a flange, a copper sleeve fixing member, a rectangular spring fixing shaft, an inner magnetic yoke fixing member, a rectangular spring, and an auxiliary obstacle-crossing small wheel;

[0021] There are two inner yoke fixing parts which are arranged vertically. The rectangular spring fixing shafts are respectively connected to the ends of the two inner yoke fixing parts that are away from each other. The rectangular spring is sleeved on the rectangular spring fixing shaft, the copper sleeve is sleeved on the rectangular spring, the copper sleeve fixing part is arranged on the copper sleeve, and the flange is arranged on the copper sleeve fixing part;

[0022] Limit plates are arranged on the inner yoke fixing parts. Both of the two inner yoke fixing parts are connected to the yoke. The auxiliary obstacle-crossing small wheel fixing plate is installed at the bottom of the yoke, and the auxiliary obstacle-crossing small wheel is installed on the auxiliary obstacle-crossing small wheel fixing plate;

[0023] Outer yoke fixing parts are respectively arranged on the opposite sides of the two flexible detection parts. The two outer yoke fixing parts are connected by a yoke connecting plate, and the camera fixing plate connection is installed on the yoke connecting plate.

[0024] In some embodiments of the present application, the magnetic suspension liquid spraying module includes: a liquid spraying mechanism fixing plate, a nozzle pressing part, a U-shaped fixing plate for the magnetic suspension liquid tank, a slider, a magnetic suspension liquid tank sleeve, a lead screw motor fixing plate, a lead screw motor, a cover for the magnetic suspension liquid tank sleeve, a magnetic suspension liquid tank, a shaft for the magnetic suspension liquid tank, a nozzle sleeve, and a guide plate;

[0025] The cover for the magnetic suspension liquid tank sleeve is detachably connected above the magnetic suspension liquid tank sleeve. The magnetic suspension liquid tank is arranged inside the magnetic suspension liquid tank sleeve. The nozzle of the magnetic suspension liquid tank is arranged at the bottom of the magnetic suspension liquid tank sleeve. The nozzle sleeve is arranged at the nozzle of the magnetic suspension liquid tank. The shaft for the magnetic suspension liquid tank is arranged below the magnetic suspension liquid tank sleeve. The shaft for the magnetic suspension liquid tank is connected to the U-shaped fixing plate for the magnetic suspension liquid tank, and the U-shaped fixing plate for the magnetic suspension liquid tank is connected to the liquid spraying mechanism fixing plate. A strip-shaped hole is arranged on the liquid spraying mechanism fixing plate;

[0026] The lead screw motor fixing plate is connected to the side of the magnetic suspension liquid tank sleeve. The lead screw motor is connected to the lead screw motor fixing plate. A slider is arranged on the lead screw motor. The slider is connected to the nozzle pressing part, and the nozzle pressing part is arranged below the nozzle sleeve.

[0027] In some embodiments of the present application, a light-shielding strip mounting plate is arranged at the bottom edge of the body, and a light-shielding strip is arranged on the light-shielding strip mounting plate.

[0028] The present invention discloses a semi-automatic magnetic particle flaw detection robot, which includes a moving body of the magnetic particle flaw detection robot, a flexible detection module, a magnetic suspension liquid spraying module, and a magnetic adsorption control module. The magnetic adsorption control module is arranged on the vehicle body module of the moving body. A stepping motor and a stepping motor with a brake are connected through the magnetic adsorption control module, and the movement control of the robot is realized through the stepping motor and the stepping motor with a brake. The flexible detection module adds springs to the required movement space of the magnetic yoke, and the flexibility of the flexible detection module is realized by using the springs, so that it can adapt to magnetic conductive wall surfaces with different curvatures. In addition, adding wheels to the magnetic yoke not only improves the overall movement performance of the robot but also endows it with the ability to cross obstacles. The magnetic suspension liquid spraying module can adjust the height according to the working wall surface, and a rotating shaft connection is adopted between the magnetic suspension liquid tank sleeve and the U-shaped fixing plate of the magnetic suspension liquid tank, so that the spraying angle of the magnetic suspension liquid tank can be adjusted within a certain range, and the spraying area of the magnetic suspension liquid spraying module has the best coverage effect in the detection areas on different curvature wall surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is one of the schematic diagrams of the semi-automatic magnetic particle flaw detection robot of the present invention;

[0030] Figure 2 is one of the schematic diagrams of the semi-automatic magnetic particle flaw detection robot of the present invention;

[0031] Figure 3 is the side view of the semi-automatic magnetic particle flaw detection robot of the present invention;

[0032] Figure 4 is one of the bottom views of the semi-automatic magnetic particle flaw detection robot of the present invention;

[0033] Figure 5 is one of the bottom views of the semi-automatic magnetic particle flaw detection robot of the present invention;

[0034] Figure 6 is the schematic diagram of the flexible detection module of the present invention;

[0035] Figure 7 is the schematic diagram of the magnetic suspension liquid spraying module of the present invention;

[0036] Figure 8 is the schematic diagram of the rotation of the magnetic suspension liquid spraying module of the present invention;

[0037] Figure 9 is the schematic diagram of the magnetic adsorption control module of the present invention;

[0038] Figure 10 is the exploded view of the magnetic adsorption control module of the present invention;

[0039] Reference Signs:

[0040] 101. Metal handle; 102. Motor housing; 103. Upper body panel; 104. Rear housing panel; 105. Aviation socket; 106. Upper housing panel; 107. Inclined housing panel; 108. Left and right housing panels; 109. Demagnetization sleeve; 402. Light-shielding strip mounting plate; 403. Light-shielding strip; 501. Motor mounting plate; 502. Stepper motor with brake; 503. Magnetic adsorption control module; 504. Magnetic suspension liquid spraying module; 505. Stepper motor; 506. Flexible detection module; 507. Flexible detection fixing plate; 601. Auxiliary obstacle-crossing wheel fixing plate; 602. Magnetic yoke; 603. Outer magnetic yoke fixing piece; 604. Magnetic yoke connecting plate; 605. Limiting plate; 606. Camera fixing plate; 607. Copper sleeve; 608. Camera; 609. Fastening screw; 610. Flange; 611. Copper sleeve fixing piece; 612. Rectangular spring fixing shaft; 613. Inner magnetic yoke fixing piece; 614. Rectangular spring; 615. Auxiliary obstacle-crossing wheel; 701. Liquid spraying mechanism fixing plate; 702. Motor encoder; 703. Nozzle pressing piece; 704. U-shaped fixing plate for magnetic suspension liquid tank; 705. Slide block; 706. Magnetic suspension liquid tank sleeve; 707. Lead screw motor fixing plate; 708. Lead screw motor; 709. Cover for magnetic suspension liquid tank sleeve; 710. Buckle; 711. Hinge; 712. Magnetic suspension liquid tank; 713. Shaft of magnetic suspension liquid tank; 714. Nozzle sleeve; 715. Guide plate; 901. Pneumatic tire; 902. Wheel hub; 903. Tire fixing piece; 904. Harmonic reducer; 905. Bearing sleeve; 906. Motor connecting shaft; 907. Synchronous belt; 908. Synchronous belt pulley; 909. Magnet fixing piece; 910. Magnet connecting plate; 911. Demagnetization handle; 912. Magnet; 913. Yoke iron; 914. Magnet gasket; 915. Magnet clamp. Detailed implementation manners

[0041] The following combines the accompanying drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0042] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0043] 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 quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0044] In the description of this application, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "joined" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] As Figure 1-5 shown, according to one semi-automatic magnetic particle flaw detection robot in some embodiments of this application, it includes a moving body, a flexible detection module 506, a magnetic suspension liquid spraying module 504, and a magnetic adsorption control module 503. The middle of the moving body is the main body, and vehicle body modules are arranged at both the left and right ends of the main body. The upper vehicle body plate 103, the lower vehicle body plate 401, and the vehicle body side plate 110 are connected by screws to form the frame of the vehicle body. The rear shell plate 104, the upper shell plate 106, the inclined shell plate 107, the left and right shell plates 108, and the front shell plate 201 are connected by screws to form the shell of the main body;

[0046] Magnetic adsorption control modules 503 are arranged at both ends of the frame of the vehicle body, and a flexible detection module 506 and a magnetic suspension liquid spraying module 504 are arranged inside the main body; by setting the flexible detection module 506, the movement ability of the magnetic yoke can be improved, the movement range can be expanded, the adaptability of the robot to walls with different curvatures becomes stronger, and it also has the ability to cross obstacles; by setting the magnetic suspension liquid spraying module 504, the spraying angle of the robot can be easily adjusted; by setting the magnetic adsorption control module 503, the suction force of the robot on the wall can be controlled.

[0047] The flexible detection module 506 includes two said flexible detection parts, and the two flexible detection parts are connected by a camera fixing plate 606, and a camera 608 is arranged on the camera fixing plate 606; through the transmission of the camera, the detection situation can be observed in real time, and at the same time, photos can also be taken for recording.

[0048] The flexible detection part includes: the auxiliary obstacle-crossing wheel fixing plate 601, the yoke 602, the outer yoke fixing piece 603, the limiting plate 605, the copper sleeve 607, the flange 610, the copper sleeve fixing piece 611, the rectangular spring fixing shaft 706, the inner yoke fixing piece 613, the rectangular spring 614 and the auxiliary obstacle-crossing wheel 615;

[0049] The two inner yoke fixing pieces 613 are arranged up and down to fasten the yoke 602. At the upper ends of the two inner yoke fixing pieces 613 that are away from each other, two rectangular spring fixing shafts 612 are respectively fixed by screws. At the same time, the rectangular spring 614 is sleeved on the rectangular spring fixing shaft 612. The copper sleeve 607 is installed on the rectangular spring. The whole is installed in the copper sleeve fixing piece 611. The flange 609 is fixed on the copper sleeve fixing piece 611. The up-and-down position of the yoke 602 can be adjusted by the fastening screw 610. The limiting plate 605 is installed on the inner yoke fixing piece 613 to play a limiting role. Two outer yoke fixing pieces 603 are installed on the outside; eight auxiliary obstacle-crossing wheels 615 are installed on the legs of the yoke 602. The auxiliary obstacle-crossing wheels 615 are installed on the auxiliary obstacle-crossing wheel fixing plate 601, realizing the function of moving the yoke 602; through the compression of the rectangular spring 614, the flexible detection mechanism can be attached to the wall surfaces with different curvatures. At the same time, when the flexible detection mechanism encounters an obstacle, the auxiliary obstacle-crossing wheel 615 and the rectangular spring 614 achieve the effect of crossing the obstacle.

[0050] It should be noted that in the flexible detection module of the present application, springs are added to the required moving space of the yoke, and the flexibility of the detection module is realized by using the springs, so that it can adapt to the magnetic conduction wall surfaces with different curvatures. In addition, adding wheels to the yoke not only improves the overall movement performance of the robot, but also enables it to have the ability to cross obstacles.

[0051] The magnetic suspension liquid spraying module mainly includes: a liquid spraying mechanism fixing plate 701, a motor encoder 702, a nozzle pressing part 703, a U-shaped fixing plate 704 for the magnetic suspension liquid tank, a slider 705, a magnetic suspension liquid tank sleeve 706, a lead screw motor fixing plate 707, a lead screw motor 708, a magnetic suspension liquid tank cover 709, a buckle 710, a hinge 711, a magnetic suspension liquid tank 712, a magnetic suspension liquid tank shaft 713, a nozzle sleeve 714, and a guide plate 715; the liquid spraying mechanism fixing plate 701 has a strip-shaped hole, and the entire magnetic suspension liquid spraying module can be connected to the vehicle body of the robot through screw connection; the U-shaped fixing plate 704 for the magnetic suspension liquid tank is fixed on the liquid spraying mechanism fixing plate 701 through screw connection; there is a retaining edge inside the lower part of the magnetic suspension liquid tank sleeve 706, and its upper part is connected to the magnetic suspension liquid tank sleeve cover 709 through the hinge 711 and the buckle 710. The magnetic suspension liquid tank sleeve 706 is connected to the buckle 710, the magnetic suspension liquid tank sleeve cover 709, and the hinge 711 by screw connections respectively. The replacement of the magnetic suspension liquid tank 711 can be flexibly realized by using the hinge 711 and the buckle 710; the magnetic suspension liquid tank shaft 713 is fixed on the U-shaped fixing plate 704 for the magnetic suspension liquid tank through screw connection, and its shaft end is connected to the magnetic suspension liquid tank sleeve 706; the nozzle sleeve 714 is stuck at the nozzle of the magnetic suspension liquid tank 712 and is locked on the nozzle by screws on the side. The lead screw motor fixing plate 707 is fixed on the side of the magnetic suspension liquid tank sleeve, the lead screw motor 708 is fixed on the lead screw motor fixing plate 707, the slider on the lead screw motor 708 is connected to the nozzle pressing part 703, and the end of the nozzle pressing part 703 is connected to the guide plate 715. They are all connected by screws. The spraying of the magnetic suspension liquid can be realized through the reciprocating movement of the nozzle pressing part 703. Through the above components, the spraying of the magnetic suspension liquid is convenient and its spraying angle is easy to adjust. The replacement of the magnetic suspension liquid tank 712 is convenient and fast, and the whole module is more compact and small.

[0052] It should be noted that the magnetic suspension liquid spraying module of the present application has the characteristics of easy adjustment of the spraying angle, simple and convenient liquid spraying, and fast replacement of the magnetic suspension liquid tank: the strip-shaped hole used in the fixing of the liquid spraying mechanism module can enable the entire magnetic suspension liquid spraying module to adjust the height of the working wall surface, and the magnetic suspension liquid tank sleeve and the U-shaped fixing plate of the magnetic suspension liquid tank are connected by a rotating shaft, which can enable the spraying angle of the magnetic suspension liquid tank to be adjusted within a certain range. Through the above design, the spraying area of the magnetic suspension liquid spraying module can have the best coverage effect in the detection areas on different curvature wall surfaces.

[0053] The magnetic adsorption control module mainly includes: an inflatable tire 901, a wheel hub 902, a tire fixing part 903, a harmonic reducer 904, a bearing sleeve 905, a motor connecting shaft 906, a synchronous belt 907, a synchronous belt pulley 908, a magnet fixing part 909, a magnet connecting plate 910, a demagnetizing handle 911, a magnet 912, a yoke 913, a magnet retaining ring 914, a magnet limiting part 915, and a demagnetizing sleeve 109; the inflatable tire 901 and the wheel hub 902 are fixed together by screws through the tire fixing part 903, and the harmonic reducer 904 and the motor connecting shaft 906 are connected together by screws and the bearing sleeve 905; the magnet 912 is directly bonded to the yoke 913, the yoke 913 is connected to the magnet connecting plate 910 by screws, and the magnet connecting plate 910 is connected to the magnet fixing part 909 by long screws. Since the magnet connecting plate 910 and the magnet fixing part 909 are sleeved on the bearing sleeve 905 with a gap in the middle, the up and down movement of the magnet can be achieved by tightening the screws, and the height of the magnet from the wall surface can be adjusted, so as to realize the function of changing the adsorption force; two magnet retaining rings 914 are connected by screws and two magnet limiting parts 915 and sleeved on the bearing sleeve 905, realizing the prevention of the axial movement of the magnet; the whole part is sleeved on the bearing sleeve 905, and the bearing sleeve is installed on the synchronous belt pulley 908. At the same time, the synchronous belt 907 is sleeved on the synchronous belt pulley 908, so that the connection between the magnet 912 and the synchronous belt pulley 908 can be realized to make the robot adsorb on the wall surface; the demagnetizing handle 911 passes through the magnet retaining ring 91 and is installed on the magnet fixing part 909. By rotating the demagnetizing handle 911, the adsorption direction of the magnet can be changed. There is a demagnetizing handle 911 at each of the left and right ends of the robot, and a demagnetizing sleeve 109 is sleeved on the two demagnetizing handles 911. There are locking screws on the demagnetizing sleeve 109 to achieve fixation. When the robot adsorbs on the wall surface, the adsorption direction of the magnet is perpendicular to the wall surface. By rotating the demagnetizing sleeve, the adsorption directions of the magnets at the left and right ends are no longer perpendicular to the wall surface, so that the adsorption force is reduced, and the robot can be easily disassembled from the wall surface.

[0054] It should be noted that in this application, three magnets with different magnetization directions in a assembled form are adopted. The magnet module of this form has good performance and strong adsorption force. By rotating the demagnetizing sleeve, the rotation of the magnet can be driven. The rotation of the magnet also causes the angle between the magnetic force direction and the working wall surface to be different, so that the effective component force of the magnetic force changes. Therefore, by rotating the demagnetizing sleeve, the semi-automatic flaw detector can be easily detached from the ferromagnetic wall surface;

[0055] Moreover, the magnetic force of this application is adjustable: In the first aspect, an inflatable tire plus a synchronous belt is adopted. This method can not only increase the contact area and friction coefficient between the robot and the wall surface, but also adjust the distance between the magnet and the magnetically conductive wall surface by the inflation degree of the inflatable tire. In addition, the synchronous belt also limits the compression amount of the inflatable tire to avoid the problem of excessive adsorption force. In the other aspect, the distance between the magnet and the magnetically conductive wall surface is adjusted by adjusting the long screw on the magnet fixing part. Through the above two aspects of design, the adsorption ability of the robot is guaranteed, and its motion performance is also ensured.

[0056] A seal box is also arranged inside the moving body for waterproofing and protecting against magnetic suspension liquid to ensure the safe and stable operation of the motor. A stepping motor 505 is arranged inside the seal box. The stepping motor 505 is connected to a harmonic reducer 904 and a motor connecting shaft 906, and the motion control of the robot is realized through the stepping motor 505 of the vehicle body module and the stepping motor 502 with a brake.

[0057] In some embodiments of this application, handles 101 are installed on the outer sides of the vehicle bodies of the robots, which is convenient for the staff to carry.

[0058] In some embodiments of this application, an aviation socket 105 is also arranged on the outer shell of the body for power transmission and signal connection of the robot.

[0059] In some embodiments of this application, a light-shielding strip mounting plate 402 is fixedly connected to the bottom plate of the body by screws, and the light-shielding strip 403 is then fixedly connected to the light-shielding strip mounting plate 402 by screws to fix the light-shielding strip 403.

[0060] The working process of this invention in practical application is as follows:

[0061] Power-on self-check and reset process: When the semi-automatic magnetic particle flaw detection robot receives a reset instruction after power-on, the lead screw motor rotates forward, drives the nozzle pressing part to move downward through the lead screw motor slider until the slider completely moves to the bottom of the lead screw guide rail. At this time, the lead screw motor rotates forward, and the slider moves up a little distance. Record this position as the vertical original position to complete the reset in the vertical direction. The detection of the basic functions of the black light, magnetic yoke, white light, and photographing is carried out by controlling the signal on and off of the relay circuit. After completing these steps, the power-on self-check and reset process of the whole machine ends.

[0062] Basic motion process of the moving body: Set the two stepping motors on the left to rotate forward, and the two stepping motors with brakes on the right to rotate backward. Then, give the four motors on the vehicle body the same rotation speed to achieve the forward movement of the semi-automatic magnetic particle flaw detection robot. Set the two stepping motors on the left to rotate backward, and the two stepping motors with brakes on the right to rotate forward. Then, give the four motors on the vehicle body the same rotation speed to achieve the backward movement of the semi-automatic magnetic particle flaw detection robot. Use the differential principle to turn the vehicle body. In the forward state, when the two motors on the left rotate faster, the vehicle body turns right; when the two motors on the right rotate faster, the vehicle body turns left.

[0063] Automatic detection process: Control the lead screw motor to complete the vertical reset work. Control the rotation directions of the stepping motor and the stepping motor with brakes to the forward direction and give the same rotation speed to achieve the forward movement of the robot body until the robot moves to the area to be detected and stops. The slider of the lead screw motor drives the nozzle pressing part to move upward to press the nozzle sleeve to achieve the spraying of magnetic suspension liquid. At the same time, use the relay to turn on the magnetic yoke and the black light. After the magnetic yoke excitation ends, the camera automatically saves the picture of the detection result. The black light is in the off state and the lead screw motor rotates backward, and the slider drives the nozzle pressing part to move downward to release the nozzle sleeve. The above is a working process of automatic detection, and then the process is cycled until the automatic detection is turned off.

[0064] Reset process after work is completed: When all the detection operations are completed, the device receives the stop information. After completing the current detection process, perform the vertical reset again. This action has been specifically described above and will not be elaborated again. The above is the working process of the entire device, and the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0065] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in the technical field, without departing from the technical principle of the present invention, several improvements and replacements can be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. A semi-automatic magnetic particle flaw detection robot, characterized in that: Comprising: A moving body, with vehicle body modules provided at both the front and rear ends of the moving body, and a body connected between the two vehicle body modules; A magnetic adsorption control module, which is connected to both ends of the vehicle body module; A flexible detection module, which is arranged inside the body; A magnetic suspension liquid spraying module, which is arranged inside the body; The magnetic adsorption control module includes: an inflatable tire, a wheel hub, a tire fixing part, a harmonic reducer, a bearing sleeve, a motor connecting shaft, a synchronous belt, a synchronous belt pulley, a magnet fixing part, a magnet connecting plate, a demagnetizing handle, a magnet, a yoke, a magnet retaining ring and a magnet limiting part; The inflatable tire is connected to the wheel hub through the tire fixing part, both ends of the bearing sleeve are respectively connected to the harmonic reducer and the side plate of the vehicle body module, the output end of the reducer is connected with a synchronous belt pulley and an inflatable tire, and the synchronous belt is sleeved on the synchronous belt pulley; The magnet is adsorbed on the yoke, one end of the yoke is connected to the magnet connecting plate, the other end of the magnet connecting plate is connected to the magnet fixing part, a hole is formed between the magnet connecting plate and the magnet fixing part, the hole is sleeved on the bearing sleeve and there is a gap; There are two magnet retaining rings and two magnet limiting parts. The two magnet retaining rings are connected to form a hole, the hole is sleeved on the bearing sleeve and there is a gap, a hole is formed at the connection of the two magnet limiting parts, the hole is sleeved on the bearing sleeve and there is a gap; One end of the demagnetizing handle passes through the above three gaps in sequence and is installed on the magnet fixing part; A demagnetizing sleeve is sleeved between the other ends of the demagnetizing handles at both ends of the vehicle body; The flexible detection module includes two flexible detection parts, which are connected by a camera fixing plate, and a camera is arranged on the camera fixing plate; The flexible detection part includes: an auxiliary obstacle-crossing small wheel fixing plate, a magnetic yoke, an outer magnetic yoke fixing part, a limiting plate, a copper sleeve, a flange, a copper sleeve fixing part, a rectangular spring fixing shaft, an inner magnetic yoke fixing part, a rectangular spring and an auxiliary obstacle-crossing small wheel; There are two inner magnetic yoke fixing parts which are arranged up and down. One ends of the two inner magnetic yoke fixing parts away from each other are respectively connected with the rectangular spring fixing shaft. The rectangular spring is sleeved on the rectangular spring fixing shaft, the copper sleeve is sleeved on the rectangular spring, the copper sleeve fixing part is arranged on the copper sleeve, and the flange is arranged on the copper sleeve fixing part; A limiting plate is arranged on the inner magnetic yoke fixing part, both inner magnetic yoke fixing parts are connected to the magnetic yoke, the auxiliary obstacle-crossing small wheel fixing plate is installed at the bottom of the magnetic yoke, and the auxiliary obstacle-crossing small wheel is installed on the auxiliary obstacle-crossing small wheel fixing plate; Outer magnetic yoke fixing parts are respectively arranged on the opposite sides of the two flexible detection parts, the two outer magnetic yoke fixing parts are connected by a magnetic yoke connecting plate, and the camera fixing plate is installed on the magnetic yoke connecting plate.

2. The semi-automatic magnetic particle flaw detection robot according to claim 1, wherein: A sealing box is further arranged inside the body, and a stepping motor is arranged inside the sealing box; There are two stepper motors installed inside the front vehicle body module, and the two stepper motors are arranged on the left and right sides of the front vehicle body module. There are two stepper motors with brakes installed inside the rear vehicle body module, and the two stepper motors with brakes are arranged on the left and right sides of the rear vehicle body module.

3. The semi-automatic magnetic particle flaw detection robot according to claim 2, wherein The stepper motor inside the body is connected to the harmonic reducer through the motor connecting shaft, and the movement control of the robot is realized through the stepper motor and the stepper motor with brake of the vehicle body module.

4. The semi-automatic magnetic particle flaw detection robot according to claim 1, wherein, The magnetic suspension liquid spraying module includes: a liquid spraying mechanism fixing plate, a nozzle pressing part, a U-shaped fixing plate for the magnetic suspension liquid tank, a slider, a magnetic suspension liquid tank sleeve, a lead screw motor fixing plate, a lead screw motor, a cover for the magnetic suspension liquid tank sleeve, a magnetic suspension liquid tank, a shaft for the magnetic suspension liquid tank, a nozzle sleeve and a guide plate; The cover for the magnetic suspension liquid tank sleeve is detachably connected above the magnetic suspension liquid tank sleeve. The magnetic suspension liquid tank is arranged inside the magnetic suspension liquid tank sleeve. The nozzle of the magnetic suspension liquid tank is arranged at the bottom of the magnetic suspension liquid tank sleeve. The nozzle sleeve is arranged at the nozzle of the magnetic suspension liquid tank. The shaft for the magnetic suspension liquid tank is arranged below the magnetic suspension liquid tank sleeve. The shaft for the magnetic suspension liquid tank is connected to the U-shaped fixing plate for the magnetic suspension liquid tank, and the U-shaped fixing plate for the magnetic suspension liquid tank is connected to the liquid spraying mechanism fixing plate. A strip-shaped hole is arranged on the liquid spraying mechanism fixing plate; The lead screw motor fixing plate is connected to the side of the magnetic suspension liquid tank sleeve. The lead screw motor is connected to the lead screw motor fixing plate. A slider is arranged on the lead screw motor. The slider is connected to the nozzle pressing part, and the nozzle pressing part is arranged below the nozzle sleeve.

5. The semi-automatic magnetic particle flaw detection robot according to any one of claims 1-4, characterized in that, A light-shielding strip mounting plate is arranged at the bottom edge of the body, and a light-shielding strip is arranged on the light-shielding strip mounting plate.

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