Negative pressure suction cup type crawling robot for non-metal material discontinuity detection and detection method

Abstract

The invention relates to the technical field of nondestructive testing, and discloses a negative pressure suction cup type crawling robot for non-metallic material discontinuity detection and a detection method thereof.The crawling robot with a suction cup is adopted, and an air pressure vibration excitation unit and a vibration signal collecting and processing unit are arranged in the negative pressure suction cup of the crawling robot; through switching of a positive pressure source and a negative pressure source in the negative pressure suction cup and superposition of periodic air pressure vibration excitation, negative pressure adsorption and vibration excitation are ingeniously combined to obtain and detect non-metallic material discontinuity. Compared with a traditional detection mode, an additional complex vibration generation device is not needed, the equipment structure is simplified, the cost and the maintenance difficulty are reduced, meanwhile, the vibration frequency and strength can be accurately controlled, and the detection requirements of different types of non-metallic materials are met.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive testing, and in particular to a negative pressure suction cup type crawling robot and a testing method for non-metallic material discontinuity testing. Background Art

[0002] In the era of vigorous development of advanced manufacturing and energy industries, non-metallic composite materials have been widely used in key fields such as aerospace and wind power generation due to their excellent strength-to-weight ratio, corrosion resistance and good insulation performance. However, for major equipment in service at high altitude, the potential structural discontinuity problems of non-metallic composite materials, such as debonding, will pose a great threat to the safe operation of the equipment if they are not discovered and handled in time. Taking aircraft as an example, the debonding defects inside the wing composite material may gradually expand during the flight, eventually leading to structural failure and causing serious flight accidents. Similarly, in the field of wind power generation, the towering wind turbine blades have been subjected to strong winds and complex meteorological conditions at high altitudes for a long time. If the non-metallic composite materials inside the blades have discontinuities such as debonding, they may be locally deformed or even broken under the continuous action of strong winds, which will not only cause economic losses such as downtime and maintenance of wind turbines, but also the broken blades falling from high altitude may pose a serious threat to the surrounding environment and personnel safety.

[0003] At present, the most widely used device is one that uses a negative pressure suction cup crawling robot combined with a video detection sensor to inspect high-altitude major equipment. However, the existing video detection is limited by the resolution and imaging principles, and it is difficult to meet the needs of high-resolution detection of tiny defects. In addition, the research and development, production and maintenance costs of such detection equipment are high. Therefore, there is an urgent need for an innovative, efficient and economical detection technology to ensure the safe and stable operation of major equipment in service at high altitudes. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a negative pressure suction cup crawling robot and a detection method for non-metallic material discontinuity detection, and the present invention is implemented as follows:

[0005] A negative pressure suction cup crawling robot for non-metallic material discontinuity detection includes a crawling robot body, a driving device, a negative pressure suction cup module, and a video image detection module.

[0006] The negative pressure suction cup module also includes:

[0007] Each suction cup is provided with an air pressure vibration excitation unit for controlling the air pressure to generate vibration;

[0008] The vibration signal acquisition and processing unit is used to receive the internal reflection wave signal of the non-metallic material, and combine it with the moving position information to draw and generate the acoustic detection map.

[0009] Furthermore, the specific structure of the negative pressure suction cup module includes:

[0010] An air pump having a negative pressure source and a positive pressure source;

[0011] A suction cup, comprising a suction cup body and a suction cup cavity;

[0012] The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through a single air path, and comprises:

[0013] A three-way high-speed solenoid valve, a first port of which is connected to a negative pressure source of an air pump, a second port of which is connected to a positive pressure source of an air pump, and a third port of which is connected to a suction cup cavity through an air pipeline;

[0014] The air circuit controller is used to quickly switch the air circuit state, that is, to quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

[0015] Alternatively, the specific structure of the negative pressure suction cup module is:

[0016] including an air pump having a negative pressure source and a positive pressure source;

[0017] The suction cup comprises a suction cup body and a suction cup cavity, wherein the suction cup cavity comprises an adsorption cavity and a vibration cavity, wherein the adsorption cavity is connected to a negative pressure source of an air pump through a first air path pipeline, and the vibration cavity is connected to a positive pressure source of an air pump through a second air path pipeline;

[0018] The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through dual air paths, and comprises:

[0019] A two-way high-speed solenoid valve, one port of which is connected to the positive pressure source of the air pump, and the other port of which is connected to the vibration cavity through a second air pipeline;

[0020] The air circuit controller is used to quickly switch the air circuit state, that is, to quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

[0021] Furthermore, the suction cup body is designed as a gradient composite suction cup, and the gradient composite suction cup includes, from top to bottom:

[0022] Rigid vibration layer, elastic contact layer and flexible sealing layer.

[0023] Furthermore, a plurality of protrusions are arranged at the bottom of the elastic contact layer.

[0024] The present invention also discloses a detection method of a negative pressure suction cup type crawling robot for non-metallic material discontinuity detection. The detection method adopts the negative pressure suction cup type crawling robot, and comprises:

[0025] A high-precision detection mode, in which the negative pressure suction cup crawling robot stops and all suction cups are adsorbed before detection;

[0026] The rapid inspection mode performs inspection synchronously during the movement of the negative pressure suction cup crawling robot.

[0027] Furthermore, the high-precision detection mode includes the following steps:

[0028] S1. Establishment of full adsorption state

[0029] Control all suction cups to start the air pump negative pressure source, and continuously pump air to make the suction cup cavity (adsorption cavity) reach the preset static negative pressure threshold and maintain adsorption stability;

[0030] S2. Vibration parameter matching

[0031] According to the acoustic characteristics of the non-metallic material being tested, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller;

[0032] S3. Vibration excitation and signal acquisition

[0033] When all suction cups maintain adsorption, the air pressure vibration excitation unit is started, and periodic pulse air pressure is input into the suction cup cavity (vibration cavity) through the high-speed electromagnetic valve, and the vibration signal acquisition and processing unit is synchronously triggered to receive the reflected wave signal;

[0034] S4. Dynamic path planning

[0035] Based on the preset detection area network, after completing the current position detection signal collection, control the negative pressure suction cup crawling robot to move to the next detection position, and repeat S1-S3 until the entire area is covered;

[0036] S5. Acoustic detection spectrum synthesis

[0037] The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, and the three-dimensional defect distribution map is reconstructed through the synthetic aperture focusing algorithm.

[0038] Furthermore, the fast inspection mode includes the following steps:

[0039] S1. Dynamic marking of suction cup group

[0040] During the continuous movement of the negative pressure suction cup type crawling robot, the suction cup group in the adsorption state is dynamically marked as the detection group suction cup;

[0041] S2. Vibration parameter matching

[0042] According to the acoustic characteristics of the non-metallic material being tested, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller;

[0043] S3. Mobile synchronous vibration excitation and signal acquisition

[0044] The suction cup of the detection group starts the air pressure vibration excitation unit, inputs periodic pulse air pressure into the suction cup cavity (vibration cavity) through the high-speed solenoid valve, and synchronously triggers the vibration signal acquisition and processing unit to receive the reflected wave signal;

[0045] S4. Dynamic path planning

[0046] Based on the preset detection area network, the negative pressure suction cup crawling robot is controlled to move along a preset path, and S1-S3 are repeatedly executed during the movement until the entire area is covered;

[0047] S5. Acoustic detection spectrum synthesis

[0048] The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, and the three-dimensional defect distribution map is reconstructed through the synthetic aperture focusing algorithm.

[0049] S6. Defect verification and marking

[0050] For suspected defect areas in the acoustic detection spectrum, the suspected defect areas are areas where the reflected wave amplitude exceeds the threshold value ±15%, secondary excitation is initiated, and the defect type is further verified using a multi-frequency composite vibration mode, and visual marks are superimposed through the video image detection module.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] A crawling robot with a suction cup is used. The negative pressure suction cup is equipped with a pneumatic vibration excitation unit and a vibration signal acquisition and processing unit. By switching the positive pressure source and the negative pressure source in the negative pressure suction cup and superimposing periodic pneumatic vibration excitation, the negative pressure adsorption and vibration excitation are cleverly combined to obtain the discontinuity detection of non-metallic materials. Compared with traditional detection methods, there is no need for additional complex vibration generating devices, which simplifies the equipment structure, reduces costs and maintenance difficulties, and can also accurately control the vibration frequency and intensity to meet the detection needs of different types of non-metallic materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the examples of the present invention or the technical solutions in the prior art or the drawings required for use in the description of the prior art, a brief introduction is given. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 It is a brief structural schematic diagram of the negative pressure suction cup crawling robot of the present invention.

[0055] Figure 2This is a schematic diagram of the negative pressure suction cup of Example 1 connected to a three-way high-speed solenoid valve.

[0056] Figure 3 Schematic diagram of the structure of the negative pressure suction cup of the first embodiment.

[0057] Figure 4 This is a schematic diagram of the structure of the negative pressure suction cup of the second embodiment.

[0058] Figure 5 This is a schematic diagram of the negative pressure suction cup module.

[0059] 10-Crawling robot body;

[0060] 20 - suction cup, 21 - suction cup body, 22 - suction cup cavity, 221 - adsorption cavity, 222 - vibration cavity; 30 - three-way high-speed solenoid valve, 31 - first port, 32 - second port, 33 - third port. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but only represents selected embodiments of the present invention.

[0062] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0063] Embodiment 1

[0064] This embodiment is a basic structure. Taking the detection of aviation composite materials as an example, a negative pressure suction cup crawling robot is designed, including a crawling robot body 10, a driving device, a negative pressure suction cup module, and a video image detection module. The crawling robot can adopt a tracked, chained, wheeled or multi-legged bionic crawling structure. The negative pressure suction cup module can be combined with a walking component. For example, the negative pressure suction cup module can be set at the bottom of the body of a tracked crawling robot, a chained crawling robot or a wheeled crawling robot, or at the bottom of the crawling foot of a multi-legged bionic crawling structure. Refer to the attached Figure 1 This is one implementation of the negative pressure suction cup crawling robot of the present invention. Other crawling robot body structures may be used in other embodiments.

[0065] In this embodiment, the crawling robot body is made of lightweight and high-strength material to ensure that the structural strength can carry various types of testing equipment, and the robot can move flexibly on the surface of the composite material.

[0066] The driving device uses multiple brushless DC motors as driving sources and is equipped with a motion control system to control the movement of the robot and the application of air pressure by the air pump by receiving instructions from the host computer.

[0067] The specific structure of the negative pressure suction cup module includes an air pump and a plurality of suction cups 20, each suction cup 20 works independently, and the negative pressure suction cup module also includes an air pressure vibration excitation unit and a vibration signal acquisition and processing unit.

[0068] Each suction cup is provided with an air pressure vibration excitation unit, which is used to control the air pressure to generate vibration; the vibration signal acquisition and processing unit is used to receive the internal reflection wave signal of the non-metallic material, and draw and generate a spectrum of acoustic detection in combination with the mobile position information.

[0069] Furthermore, the air pump has a negative pressure source and a positive pressure source. In this embodiment, a high-performance air pump can be selected. The negative pressure source can at least generate a maximum negative pressure of -100kPa, and the positive pressure source can at least output a maximum positive pressure of 1MPa. The air pump flow rate reaches 50L / min, ensuring that the suction cup can quickly reach the preset negative pressure value and provide sufficient pulse air pressure for vibration excitation.

[0070] Reference Figure 3 The suction cup 20 includes a suction cup body 21 and a suction cup cavity 22. The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through a single air path, and includes a three-way high-speed solenoid valve 30 and an air path controller. The first port 31 of the three-way high-speed solenoid valve is connected to the negative pressure source of the air pump, the second port 32 is connected to the positive pressure source of the air pump, and the third port 33 is connected to the suction cup cavity 22 through an air path pipeline:

[0071] The air circuit controller is used to quickly switch the air circuit state, that is, quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

[0072] Negative pressure adsorption stage: switch the three-way high-speed solenoid valve to connect the first port (connected to the negative pressure source of the air pump) and the third port (connected to the suction cup cavity) so that the suction cup generates negative pressure to achieve the adsorption function.

[0073] Vibration excitation stage: by quickly switching the three-way high-speed solenoid valve, the second port (connected to the positive pressure source of the air pump) and the first port (connected to the negative pressure source of the air pump) are alternately connected to the third port (connected to the suction cup cavity), thereby generating a rapid change in air pressure in the suction cup cavity to achieve vibration excitation.

[0074] Release stage: switch the three-way high-speed solenoid valve to connect the second port (connected to the positive pressure source of the air pump) and the third port (connected to the suction cup cavity) to restore the air pressure in the suction cup to normal, thereby releasing the adsorbed non-metallic material surface.

[0075] In this embodiment, the three-way high-speed solenoid valve in the air pressure vibration excitation unit on each suction cup has a response time of less than 5ms, and can quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation. The air circuit controller uses an editable logic controller to accurately control the switching time and sequence of the air circuit state by writing a program.

[0076] Embodiment 2

[0077] Compared with the first embodiment, the present embodiment adopts a double-air-path type of negative pressure adsorption and vibration excitation. The suction cup 20 includes a suction cup body 21 and a suction cup cavity 22.

[0078] For further information, see Attachment Figure 4 The suction cup cavity 22 includes an adsorption cavity 221 and a vibration cavity 222, that is, the cavity for applying negative pressure and positive pressure is separated, the adsorption cavity is connected to the negative pressure source of the air pump through a first air pipeline, and the vibration cavity is connected to the positive pressure source of the air pump through a second air pipeline;

[0079] The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through dual air circuits, and includes a dual-pass high-speed solenoid valve and an air circuit controller;

[0080] The two-way high-speed solenoid valve comprises two ports, one of which is connected to the positive pressure source of the air pump, and the other is connected to the vibration cavity through a second air pipeline.

[0081] The air circuit controller is used to quickly switch the air circuit state, that is, quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

[0082] Furthermore, the suction cup body is designed as a gradient composite suction cup, which includes a rigid vibration layer, an elastic contact layer and a flexible sealing layer from top to bottom. Compared with the traditional suction cup, the gradient composite suction cup can achieve stronger and more stable adsorption force under different working conditions through the synergistic effect of each layer, and can adapt to objects of different shapes, materials and surface characteristics.

[0083] The presence of the elastic contact layer and the flexible sealing layer enables the suction cup to better protect the surface of the adsorbed object during the adsorption process, avoiding scratches, deformation and other losses caused by rigid contact or excessive extrusion. It is particularly suitable for adsorbing fragile, easily deformed or objects with high surface requirements.

[0084] Furthermore, a plurality of protrusions are provided at the bottom of the elastic contact layer to improve the adsorption of the suction cup.

[0085] In the detection mode, the crawler robot is placed at the starting position of the aircraft fuselage aviation composite laminate inspection, the air pump is started, and all the suction cups are evacuated to make the suction cup cavity reach the preset static negative pressure. The crawler robot is firmly adsorbed on the material surface, and the drive device controls the robot to move to the first detection point according to the preset line-by-line scanning path. After reaching the position, the air pressure vibration excitation unit switches to the positive pressure mode, inputs periodic pulse air pressure into the suction cup cavity, and the vibration information acquisition and processing unit starts to receive the reflected wave signal.

[0086] Embodiment 3

[0087] The present invention also discloses a detection method of a negative pressure suction cup type crawling robot for detecting discontinuity of non-metallic materials. The detection method adopts the negative pressure suction cup type crawling robot and includes a high-precision detection mode and a rapid inspection mode.

[0088] The high-precision detection mode is to perform detection after the negative pressure suction cup type crawling robot stops crawling and all suction cups are adsorbed;

[0089] The rapid inspection mode is to perform inspection synchronously during the movement of the negative pressure suction cup type crawling robot.

[0090] Taking the composite material inspection on a specific aircraft wing as an example, a laminate with a size of 2m×1m is inspected, and the material is a carbon fiber reinforced resin matrix composite material. A negative pressure suction cup crawler robot is used for inspection. The preset inspection area network divides the wing laminate into 200×100 inspection points with a spacing of 1cm and a starting inspection position of (0,0).

[0091] The high-precision detection mode includes the following steps:

[0092] S1. Establishment of full adsorption state

[0093] The crawling robot moves to the starting detection point in advance, controls all suction cups to start the air pump negative pressure source, and continuously pumps air to make the suction cup cavity (or the adsorption cavity in the second embodiment) reach the preset static negative pressure threshold value, and maintains the adsorption stability;

[0094] S2. Vibration parameter matching

[0095] According to the acoustic characteristics of the non-metallic material being tested, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller;

[0096] According to the acoustic properties of the material, the air pressure vibration excitation unit parameters are adjusted through the air circuit controller. In the subsequent testing process, these parameters are further optimized and adjusted based on the actual signal feedback.

[0097] S3. Vibration excitation and signal acquisition

[0098] When all suction cups are in the adsorption state, the air pressure vibration excitation unit is started, and periodic pulse air pressure is input to the suction cup cavity (or the vibration cavity in the second embodiment) through the high-speed electromagnetic valve, and the vibration signal acquisition and processing unit is synchronously triggered to receive the reflected wave signal:

[0099] S4. Dynamic path planning

[0100] Based on the preset 200×100 detection area network, after completing the current position detection signal acquisition, the negative pressure suction cup crawling robot is controlled to move to the next detection position, and steps S1-S3 are repeated until the entire area is covered;

[0101] S5. Acoustic detection spectrum synthesis

[0102] The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, and the peak value of the reflected wave amplitude is used as the key parameter to reconstruct the three-dimensional defect distribution map through the synthetic aperture focusing algorithm. The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates.

[0103] The fast inspection mode includes the following steps:

[0104] S1. Dynamic marking of suction cup group

[0105] During the continuous movement of the negative pressure suction cup crawling robot, the suction cup group in the adsorption state is dynamically marked as the detection group suction cup; in this embodiment, the suction cups on the crawler are marked, and when walking, the suction cups that are in contact with the surface to be tested are marked as the detection group suction cups. In other embodiments, if a four-legged crawling robot is used, a negative pressure suction cup is set at the bottom of each of the four crawling feet, and the negative pressure suction cups are marked with serial numbers. When the crawling robot moves from point (0, 0) to (1, 0), the suction cup group No. 1 in the adsorption state is dynamically marked as the detection group suction cup. When it moves to point (2, 0), the suction cup group No. 2 is marked as the detection suction cup, and so on.

[0106] S2. Vibration parameter matching

[0107] Similar to the high-precision detection mode, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller according to the acoustic characteristics of the non-metallic material being tested, and fine-tuned later according to actual conditions.

[0108] S3. Mobile synchronous vibration excitation and signal acquisition

[0109] The suction cup of the detection group starts the air pressure vibration excitation unit, inputs periodic pulse air pressure into the suction cup cavity (or the vibration cavity in the second embodiment) through the high-speed electromagnetic valve, and synchronously triggers the vibration signal acquisition and processing unit to receive the reflected wave signal;

[0110] S4. Dynamic path planning

[0111] Based on the preset detection area network, the negative pressure suction cup crawling robot is controlled to move along a preset path, and S1-S3 are repeatedly executed during the movement until the entire area is covered;

[0112] S5. Acoustic detection spectrum synthesis

[0113] The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, the complex peak of the reflected wave is extracted as the time domain characteristic parameter, and the functional correspondence between the time domain, coordinates (X, Y) and the peak value of the reflected wave amplitude (mV) is established. The three-dimensional defect distribution map is reconstructed through the synthetic aperture focusing algorithm.

[0114] S6. Defect verification and marking

[0115] For the suspected defect area in the acoustic detection spectrum, the suspected defect area is the area where the reflected wave amplitude exceeds the threshold ±15%, and the secondary excitation is started, and then the multi-frequency composite vibration mode is used to verify the defect type. For example, if the reflection wave amplitude is 20mV, the amplitude range is 17-23mV. When the reflection wave amplitude is detected to be 15mV at a certain detection point, that is, it exceeds the threshold range, the secondary excitation is started, and multiple frequencies can be used for composite vibration excitation. The defects in the area are judged according to the detection data, and the visual mark is superimposed through the video image detection module.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A negative pressure suction cup crawling robot for non-metallic material discontinuity detection, comprising a crawling robot body, a driving device, a negative pressure suction cup module, and a video image detection module, characterized in that: The negative pressure suction cup module also includes: Each suction cup is provided with an air pressure vibration excitation unit for controlling the air pressure to generate vibration; The vibration signal acquisition and processing unit is used to receive the internal reflection wave signal of the non-metallic material, and combine it with the moving position information to draw and generate the acoustic detection map.

2. The negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 1, characterized in that: The specific structure of the negative pressure suction cup module includes: An air pump having a negative pressure source and a positive pressure source; A suction cup, comprising a suction cup body and a suction cup cavity; The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through a single air path, and comprises: A three-way high-speed solenoid valve, a first port of which is connected to a negative pressure source of an air pump, a second port of which is connected to a positive pressure source of an air pump, and a third port of which is connected to a suction cup cavity through an air pipeline; The air circuit controller is used to quickly switch the air circuit state, that is, to quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

3. The negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 1, characterized in that: The specific structure of the negative pressure suction cup module is: including an air pump having a negative pressure source and a positive pressure source; The suction cup comprises a suction cup body and a suction cup cavity, wherein the suction cup cavity comprises an adsorption cavity and a vibration cavity, wherein the adsorption cavity is connected to a negative pressure source of an air pump through a first air path pipeline, and the vibration cavity is connected to a positive pressure source of an air pump through a second air path pipeline; The air pressure vibration excitation unit realizes negative pressure adsorption and vibration excitation through dual air paths, and comprises: A two-way high-speed solenoid valve, one port of which is connected to the positive pressure source of the air pump, and the other port is connected to the vibration cavity through a second air pipeline; The air circuit controller is used to quickly switch the air circuit state, that is, to quickly switch between the air pump negative pressure source continuously pumping air to establish static negative pressure and the air pump positive pressure source inputting pulsed air pressure to generate vibration excitation.

4. The negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 2 or 3, characterized in that: The suction cup body is designed as a gradient composite suction cup, and the gradient composite suction cup comprises, from top to bottom, a rigid vibration layer, an elastic contact layer and a flexible sealing layer.

5. The negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 4, characterized in that: A plurality of protrusions are arranged at the bottom of the elastic contact layer.

6. A method for detecting discontinuity of non-metallic materials using a negative pressure suction cup crawling robot, using the above-mentioned negative pressure suction cup crawling robot, characterized in that: include: A high-precision detection mode, in which the negative pressure suction cup crawling robot stops and all suction cups are adsorbed before detection; The rapid inspection mode performs inspection synchronously during the movement of the negative pressure suction cup crawling robot.

7. The detection method of the negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 6, characterized in that: The high-precision detection mode includes the following steps: S1. Establishment of full adsorption state Control all suction cups to start the air pump negative pressure source, and continuously pump air to make the suction cup cavity (adsorption cavity) reach the preset static negative pressure threshold and maintain adsorption stability; S2. Vibration parameter matching According to the acoustic characteristics of the non-metallic material being tested, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller; S3. Vibration excitation and signal acquisition When all suction cups maintain adsorption, the air pressure vibration excitation unit is started, and periodic pulse air pressure is input into the suction cup cavity (vibration cavity) through the high-speed electromagnetic valve, and the vibration signal acquisition and processing unit is synchronously triggered to receive the reflected wave signal; S4. Dynamic path planning Based on the preset detection area network, after completing the current position detection signal collection, control the negative pressure suction cup crawling robot to move to the next detection position, and repeat S1-S3 until the entire area is covered; S5. Acoustic detection spectrum synthesis The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, and the three-dimensional defect distribution map is reconstructed through the synthetic aperture focusing algorithm.

8. The detection method of the negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 6, characterized in that: The fast inspection mode includes the following steps: S1. Dynamic marking of suction cup group During the continuous movement of the negative pressure suction cup type crawling robot, the suction cup group in the adsorption state is dynamically marked as the detection group suction cup; S2. Vibration parameter matching According to the acoustic characteristics of the non-metallic material being tested, the pulse frequency, duty cycle and positive pressure amplitude of the air pressure vibration excitation unit are adjusted through the air circuit controller; S3. Mobile synchronous vibration excitation and signal acquisition The suction cup of the detection group starts the air pressure vibration excitation unit, inputs periodic pulse air pressure into the suction cup cavity (vibration cavity) through the high-speed solenoid valve, and synchronously triggers the vibration signal acquisition and processing unit to receive the reflected wave signal; S4. Dynamic path planning Based on the preset detection area network, the negative pressure suction cup crawling robot is controlled to move along a preset path, and S1-S3 are repeatedly executed during the movement until the entire area is covered; S5. Acoustic detection spectrum synthesis The time domain characteristics of the vibration signal of each detection point are associated with the position coordinates, and the three-dimensional defect distribution map is reconstructed through the synthetic aperture focusing algorithm.

9. The detection method of the negative pressure suction cup crawling robot for non-metallic material discontinuity detection according to claim 7, characterized in that: The following steps are also included: S6. Defect verification and marking For suspected defect areas in the acoustic detection spectrum, the suspected defect areas are areas where the reflected wave amplitude exceeds the threshold value ±15%, secondary excitation is initiated, and the defect type is further verified using a multi-frequency composite vibration mode, and visual marks are superimposed through the video image detection module.

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