Self-adaptive magnetic particle detection robot for curvature of wall surface of pressure container

Abstract

The invention discloses a pressure vessel wall surface curvature self-adaptive magnetic powder detection robot, which relates to the field of pressure vessel wall surface detection, and comprises a rack, a magnetization system mounted on the rack, and a steering magnetic suction wheel assembly, a driving magnetic suction wheel assembly, a magnetic suction ball wheel assembly, a camera and an obstacle avoidance device which are connected with the rack, the steering magnetic attraction wheel assembly and the driving magnetic attraction wheel assembly are located at the two ends of the rack correspondingly. The camera is located at the bottom of the rack. The obstacle avoidance device is located at one end of the rack in the advancing direction. The magnetic attraction ball wheel assembly comprises a first fixing frame, a ball wheel in relative sliding fit with the first fixing frame, and an elastic piece arranged in the sliding direction of the ball wheel. The elastic piece is located between the first fixing frame and the ball wheel. The first fixing frame is fixedly connected with the rack. The robot is used for solving the problems that in the prior art, curvature adaptability is poor, and safety is poor, and the purposes of improving the self-adaptive capacity of the robot for detecting the wall face of the pressure container and reducing potential safety hazards are achieved.

Description

Technical Field

[0001] The present invention relates to the field of pressure vessel wall detection, and particularly to a magnetic particle detection robot with self-adaptive wall curvature for pressure vessels. Background Art

[0002] With the continuous progress of industrial technology and the increasingly strict requirements for work safety, the surface defect detection of large metal components (such as pressure vessels, storage tanks, pipelines, etc.) has become particularly important.

[0003] Magnetic particle testing, as a mature non-destructive testing method for detecting wall defects of ferromagnetic workpieces, can use magnetic fields and magnetic powders to detect surface or near-surface defects of materials. Its working principle can be summarized as follows: applying a magnetic field to magnetize a ferromagnetic component to generate magnetic induction lines inside it. If there are defects such as cracks and pores on the surface of the component, the magnetic induction lines will be distorted at the defects, forming a local "leakage magnetic field"; after spraying magnetic powder, the leakage magnetic field will adsorb the magnetic powder and accumulate at the defects to form obvious magnetic marks; by visual inspection or image acquisition, the position and shape of the magnetic marks are identified to judge the defect characteristics.

[0004] Although robots using magnetic particle testing technology for non-destructive testing of pressure vessel walls have emerged in the prior art, most of them can only work on flat surfaces, and the research focus is mostly on wall-climbing stability and improving obstacle avoidance capabilities. For various large pressure vessels with arc-shaped or spherical walls of different curvatures, their adaptability is relatively weak, and there is a greater risk of falling when encountering discontinuous, smooth or undulating walls. Therefore, the prior art has poor safety when detecting complex wall structures. Summary of the Invention

[0005] The present invention provides a magnetic particle detection robot with self-adaptive wall curvature for pressure vessels to solve the problems of weak curvature adaptability and poor safety in the prior art, and achieve the purpose of improving the self-adaptive ability of the pressure vessel wall detection robot and reducing potential safety hazards.

[0006] The present invention is realized through the following technical solutions: A magnetic particle detection robot with self-adaptive wall curvature for pressure vessels includes a frame, a magnetization system installed on the frame, and further includes a steering magnetic wheel assembly, a driving magnetic wheel assembly, a magnetic ball wheel assembly, a camera, and an obstacle avoidance device connected to the frame; The steering magnetic wheel assembly and the driving magnetic wheel assembly are respectively located at both ends of the frame; The camera is located at the bottom of the frame, and the obstacle avoidance device is located at one end of the frame in the advancing direction; The magnetic adsorption ball wheel assembly includes a first fixing frame, a ball wheel that is slidably and cooperatively connected to the first fixing frame, and an elastic member disposed along the sliding direction of the ball wheel; the elastic member is located between the first fixing frame and the ball wheel; the first fixing frame is fixedly connected to the machine frame.

[0007] Aiming at the problems of weak curvature adaptability and poor safety of the pressure vessel wall inspection robot in the prior art, the present invention proposes a pressure vessel wall curvature adaptive magnetic particle inspection robot. The magnetization system therein is used to magnetize the pressure vessel wall and spray magnetic suspension liquid, the driving magnetic adsorption wheel assembly is used to drive the walking of the whole device, the steering magnetic adsorption wheel assembly is used to control the walking direction of the whole device, and the magnetic adsorption ball wheel assembly is used to improve the walking stability of the whole device and provide a curvature adaptive function. The camera and the obstacle avoidance device can be realized based on the prior art and will not be elaborated here.

[0008] In this application, the steering magnetic adsorption wheel assembly and the driving magnetic adsorption wheel assembly are respectively located at both ends of the machine frame, so that the robot moves along the direction of the steering magnetic adsorption wheel assembly or the driving magnetic adsorption wheel assembly when walking, thereby ensuring the steering control stability. As the name implies, the steering magnetic adsorption wheel assembly, the driving magnetic adsorption wheel assembly, and the magnetic adsorption ball wheel assembly in this application all have magnetic adsorption performance and can adsorb on the pressure vessel wall through magnetic force, thereby ensuring the wall climbing stability of this application and reducing its falling risk, especially suitable for working on an arc-shaped wall. The magnetic adsorption ball wheel assembly in this application realizes contact with the pressure vessel wall through the rotation of the ball wheel; the elastic member always applies a pressure towards the pressure vessel wall to the ball wheel, so that the ball wheel always maintains contact with the pressure vessel wall, thereby significantly improving the adaptability of this application to arc-shaped walls with different curvatures, and also significantly improving the passing stability of this application and further reducing potential safety hazards when facing a discontinuous, smooth or undulating wall.

[0009] When this application works specifically, the driving magnetic adsorption wheel assembly provides the walking power, the steering magnetic adsorption wheel assembly controls the walking direction, the magnetic adsorption ball wheel assembly always maintains contact with the pressure vessel wall, the pressure vessel wall is magnetized and the magnetic suspension liquid is sprayed through the magnetization system, and the magnetic traces are identified through the camera.

[0010] Further, sliding grooves are provided on both opposite sides of the first fixing frame, and guiding optical rods are fixedly arranged in the sliding grooves; the magnetic adsorption ball wheel assembly further includes a sliding member slidably connected in the sliding grooves; the sliding member is rotatably connected to the ball wheel, the guiding optical rod movably passes through the sliding member, the elastic member is sleeved outside the guiding optical rod, and both ends of the elastic member are respectively connected to the first fixing frame and the sliding member.

[0011] For the ball wheel in this solution, sliding members are rotatably connected to both opposite ends thereof, and the two sliding members are respectively located in the sliding grooves on both sides, so it will not affect the rolling of the ball wheel itself. The sliding members on both sides can slide independently, enabling the ball wheel to adapt to more complex wall structures and curvatures, and further improving the adaptive ability of the present application to the spherical or arc-shaped pressure vessel wall surface during the working process.

[0012] Further, the ball wheel is made of a non-metallic material and is hollow inside; it further includes a second fixing frame, a fixing ring, a fixing shaft, a magnet fixing frame mounting ring and a magnet fixing frame located inside the ball wheel. The second fixing frame is fixedly connected to the sliding member, the fixing ring is fixedly connected to the second fixing frame, the fixing shaft is fixedly connected radially inside the fixing ring, the magnet fixing frame mounting ring is rotatably connected to the fixing shaft, the magnet fixing frame is hinged to the magnet fixing frame mounting ring, the axis of the fixing shaft is perpendicular to the axis of the guiding optical rod, and the axis of the fixing shaft intersects perpendicularly with the axis of the magnet fixing frame mounting ring; a first magnetic attraction assembly is mounted on the magnet fixing frame.

[0013] During the research process, the inventor team of this case found that since the ball wheel needs to be in a rolling state during the walking process of the present application, if the traditional process is used to keep the magnetic attraction between the magnetic attraction ball wheel assembly and the wall surface all the time, magnetic bodies need to be arranged in all directions of the ball wheel, which will increase the consumption of magnetic bodies, resulting in higher costs, and will also cause the overall mass of the ball wheel to be larger, which is not conducive to the adsorption stability. It will also cause the magnetic field around the ball wheel to be chaotic and dispersed, and the magnetic attraction ability is not concentrated, which is not conducive to the stable walking and working of the present application on the curved wall surface of the pressure vessel. Based on this, the ball wheel in this solution is hollow inside, and the magnetic attraction components are built therein. The two sides of the second fixing frame are respectively connected to the sliding members at both ends. Since the sliding members always tend to move towards the wall surface, the magnet fixing frame always faces the direction where the wall surface is located, and then the first magnetic attraction assembly is always located close to the pressure vessel wall surface. The first magnetic attraction assembly will not make a circumferential movement as the ball wheel rolls, and the distance between it and the pressure vessel wall surface always remains relatively stable, thereby ensuring that the magnetic field is concentrated and stable, avoiding the defect of insufficient magnetic attraction ability caused by magnetic field dispersion, and significantly improving the working stability of the magnetic attraction ball wheel assembly in the present application, thus further ensuring the adaptive performance of the present application. Moreover, in the present application, the magnet fixing frame can rotate around the axis of the fixing shaft, driving the first magnetic attraction assembly to rotate synchronously, and the magnet fixing frame can also rotate around the axis of the magnet fixing frame mounting ring. Therefore, the magnet fixing frame in this solution has two degrees of freedom of rotation directions, and the two rotation directions are perpendicular to each other, ensuring that the first magnetic attraction assembly has a strong adaptive ability and can adaptively adjust its angular orientation inside the ball wheel based on the magnetic field distribution, which is more conducive to the stable working of the present application under working conditions such as turning and obstacle crossing. In addition, the ball wheel body in this solution is made of a non-metallic material, which can avoid being magnetized and avoid causing magnetic field interference.

[0014] Further, the magnetic block fixing frame is fan-shaped; the first magnetic attraction assembly includes three radially magnetized magnets circumferentially distributed on the magnetic block fixing frame and tangentially magnetized magnets located between two adjacent radially magnetized magnets; the magnetization directions of two adjacent radially magnetized magnets are opposite, and the magnetization directions of the two tangentially magnetized magnets are opposite.

[0015] In this solution, the fan-shaped magnetic block fixing frame is convenient for matching with the spherical ball wheel. The first magnetic attraction assembly in this solution includes three radially magnetized magnets and two tangentially magnetized magnets, and the radially magnetized magnets and the tangentially magnetized magnets are distributed at intervals. It is not difficult to understand that the radially magnetized magnet refers to a magnet whose magnetization direction is along the radial direction of the fan shape, and the tangentially magnetized magnet refers to a magnet whose magnetization direction is along the tangential direction of the fan shape; moreover, in this solution, the magnetization directions of two adjacent radially magnetized magnets are opposite, and the magnetization directions of the two tangentially magnetized magnets are opposite. The main magnetic attraction function is exerted by the radially magnetized magnets, and at the same time, the tangentially magnetized magnets play a role in guiding the magnetic force lines for transition. This arrangement method can greatly reduce the amount of magnets while maximizing the magnetic attraction ability, thereby reducing the overall mass of the ball wheel and improving the wall-climbing stability.

[0016] Further, the steering magnetic attraction wheel assembly includes a first fixing plate fixedly connected to the frame, a steering frame rotatably connected to the first fixing plate, a magnetic attraction wheel mounted on the steering frame through a first bearing, and a first driving device for driving the steering frame to rotate; the axis of rotation of the steering frame is perpendicular to the axis of the magnetic attraction wheel.

[0017] In this solution, the first driving device drives the steering frame to rotate, and the steering frame drives the magnetic attraction wheel connected thereto to rotate synchronously, thereby realizing the adjustment and control of the traveling direction of the present application.

[0018] Further, the driving magnetic attraction wheel assembly includes a magnetic attraction wheel mounting frame, a magnetic attraction wheel rotatably connected to the magnetic attraction wheel mounting frame, and a second driving device for driving the magnetic attraction wheel to rotate.

[0019] In this solution, the second driving device rotates the magnetic attraction wheel in the driving magnetic attraction wheel assembly, thereby providing power for the movement of the present application on the wall surface of the pressure vessel.

[0020] Further, the magnetic attraction wheel includes a flexible wheel skin, a central shaft, a magnetic conduction ring fixedly sleeved on the central shaft, two permanent magnets and two armatures; the two permanent magnets are respectively located on the two axial sides of the magnetic conduction ring, and the two armatures are respectively located on the sides of the two permanent magnets axially away from the magnetic conduction ring; the two permanent magnets are magnetized along the axial direction, and the magnetization directions of the two permanent magnets are opposite; the flexible wheel skin is sleeved outside the magnetic conduction ring, the permanent magnets and the armatures.

[0021] In this application, magnetic wheels are provided in both the steering magnetic wheel assembly and the driving magnetic wheel assembly. The magnetic wheels in both assemblies can adopt the magnetic wheel structure defined in this solution. Specifically, the magnetic wheel in this solution includes a rotatable central shaft, on which an armature, a permanent magnet, a magnetic conductive ring, a permanent magnet, and an armature are sequentially sleeved. That is, there are two armatures at both ends, and a magnetic conductive ring in the middle. A permanent magnet is provided between the magnetic conductive ring and any one of the armatures; moreover, both permanent magnets are magnetized axially, and the magnetization directions of the two permanent magnets are opposite. The flexible wheel skin in this solution can be made of non-magnetic conductive materials such as rubber, silica gel, or leather, and the magnetic conductive ring in this solution is a ring structure made of magnetic conductive materials.

[0022] Through the design of the magnetic wheel in this solution, the magnetic lines of force generated by the permanent magnet can form a closed magnetic conduction loop with the magnetic conductive metal wall surfaces on both axial sides through the armature and the magnetic conductive ring, thereby greatly reducing the magnetic leakage amount, significantly improving the adsorption ability of the magnetic wheel on the wall surface of the pressure vessel, significantly improving the wall-climbing ability of this application, and reducing the falling risk.

[0023] Furthermore, the magnetization system includes: a magnetic suspension storage container, a spray head, a pump for pumping the magnetic suspension from the magnetic suspension storage container to the spray head, as well as a third fixing frame, a number of magnetic particle inspection bodies fixedly connected to the third fixing frame, and magnetic particle inspection probes hinged to the magnetic particle inspection bodies.

[0024] When this solution is working specifically, the magnetic particle inspection body is started, the wall surface to be inspected is magnetized by the magnetic particle inspection probe, and then the magnetic suspension is sprayed onto the magnetized wall surface through the spray head to form magnetic traces. The magnetic trace images are collected by a camera, and then defect analysis can be carried out. Among them, the relative positional relationship between the spray head and the magnetic particle inspection probe can be adaptively arranged according to the walking direction during the specific use of this application, so that the wall surface is first magnetized by the magnetic particle inspection probe and then sprayed by the spray head.

[0025] Furthermore, the third fixing frame is fixedly connected to a lifting plate, and a third driving device for driving the lifting plate to lift relative to the wall surface to be measured is further included.

[0026] In the prior art, during the magnetic particle testing process of the pressure vessel wall surface, the magnetization system is fixed relative to the machine body. When the pressure vessel wall surface is flat, a relatively stable and small gap can be maintained between the magnetization system and the wall surface, which is beneficial to ensuring the magnetization effect. However, when facing arc-shaped or spherical pressure vessel wall surfaces with different curvatures, discontinuous smoothness or undulations, it is easy to cause interference between the magnetization system and the wall surface, which not only easily interferes with the normal movement of the magnetic particle testing robot but also easily damages the magnetization system. Based on this, in this solution, the third fixing frame is fixed on the lifting plate. Since the magnetic particle testing machine body is installed on the third fixing frame, with the lifting and lowering of the lifting plate, the third fixing frame, the magnetic particle testing machine body, the magnetic particle testing probe, etc. can be driven to lift and lower synchronously, realizing the contact or separation between the magnetic particle testing probe and the wall surface to be tested. When testing is required, control the magnetic particle testing probe to approach the wall surface until the set distance is reached. When the robot needs to move after testing the current position, drive the magnetic particle testing machine body to lift away from the wall surface, so that the magnetic particle testing probe does not contact the wall surface. It can be seen that this solution significantly improves the adaptability to the detection of wall surfaces with different curvatures, is beneficial to the normal operation of the magnetization system and the magnetic particle testing robot, extends the service life, and at the same time is beneficial to ensuring the stability of the magnetization effect under different curvatures or wall surface forms.

[0027] In this solution, the third driving device can drive the lifting plate to perform linear reciprocating motion through any existing linear driving method, such as common electric, hydraulic or pneumatic driving, etc.

[0028] Furthermore, two magnetic particle testing machine bodies are installed on each third fixing frame, and each magnetic particle testing machine body is hinged with a magnetic particle testing probe. It also includes a first guide rail, two first sliders slidably fitted on the first guide rail, and a second connecting rod hinged to the first slider; a transmission sleeve is fixedly connected to the first slider, and the two transmission sleeves are respectively sleeved outside the two corresponding magnetic particle testing probes on the third fixing frame. It further includes a second guide rail, a second slider slidably fitted on the second guide rail, and a fourth driving device for driving the second slider to slide along the second guide rail; the second guide rail is perpendicular to the first guide rail; the end of the second connecting rod away from the first slider is hinged to the second slider.

[0029] In the prior art, the angles of magnetic particle inspection probes are relatively fixed with respect to the body. When the wall surface of a pressure vessel is flat, the probes can always maintain a working state perpendicular to the wall surface. However, for the wall surfaces of arc-shaped or spherical pressure vessels with curvature, it is difficult to effectively keep the probe angles in the optimal state. To overcome the above problems, in this solution, the magnetic particle inspection probes are distributed in pairs. When the angles of the magnetic particle inspection probes need to be adjusted, the fourth driving device drives the second slider to slide on the second guide rail, driving the two first sliders to move towards or away from each other on the first guide rail. As a result, the two relatively distributed magnetic particle inspection probes have a tendency to approach or move away from each other. Also, since the magnetic particle inspection probes are hinged to the magnetic particle inspection body, the two magnetic particle inspection probes can be synchronously rotated inward or outward, thereby quickly adjusting the inclination angle of the magnetic particle inspection probes to adapt to the inspection requirements of wall surfaces with different curvatures, which is beneficial to effectively keeping the angles of the magnetic particle inspection probes in the optimal working state and more conducive to ensuring the magnetization effect on the wall surface of the pressure vessel.

[0030] Compared with the prior art, the present invention has at least the following advantages and beneficial effects: 1. For the magnetic particle inspection robot with self-adaptive curvature of the pressure vessel wall surface of the present invention, the magnetic suction ball wheel assembly makes contact with the wall surface of the pressure vessel by rotating the ball wheel. The elastic member always applies a pressure towards the wall surface of the pressure vessel to the ball wheel, so that the ball wheel always maintains contact with the wall surface of the pressure vessel, thereby significantly improving the self-adaptive ability of the present application to arc-shaped wall surfaces with different curvatures, and also significantly improving the passing stability of the present application and further reducing potential safety hazards when facing discontinuous, smooth or undulating wall surfaces.

[0031] 2. For the magnetic particle inspection robot with self-adaptive curvature of the pressure vessel wall surface of the present invention, the first magnetic suction assembly is always located close to the wall surface of the pressure vessel. The first magnetic suction assembly does not perform circumferential movement as the ball wheel rolls, and the distance between it and the wall surface of the pressure vessel always remains relatively stable, thereby ensuring that the magnetic field is concentrated and stable, avoiding the defect of insufficient magnetic suction ability caused by magnetic field dispersion, significantly improving the working stability of the magnetic suction ball wheel assembly in the present application, and thus further ensuring the self-adaptive performance of the present application.

[0032] 3. For the magnetic particle inspection robot with self-adaptive curvature of the pressure vessel wall surface of the present invention, the magnetic block fixing frame has two degrees of freedom of rotation direction, ensuring that the first magnetic suction assembly has a strong self-adaptive ability, and can adaptively adjust its angular orientation inside the ball wheel based on the magnetic field distribution, which is more conducive to the stable operation of the present application under working conditions such as turning and obstacle crossing.

[0033] 4. In the spherical wheel of the magnetic particle inspection robot with self - adaptive wall curvature of a pressure vessel according to the present invention, the radial magnetization magnet plays the main magnetic attraction function, and at the same time, the tangential magnetization magnet guides the magnetic lines of force for transition. This arrangement can greatly reduce the amount of magnets while maximizing the magnetic attraction ability, thereby reducing the overall mass of the spherical wheel and improving the wall - climbing stability.

[0034] 5. In the magnetic particle inspection robot with self - adaptive wall curvature of a pressure vessel according to the present invention, through the design of the magnetic attraction wheel, the magnetic lines of force generated by the permanent magnet are formed into a closed magnetic conduction loop with the magnetic conduction metal wall surfaces on both axial sides by the armature and the magnetic conduction ring, thereby greatly reducing the magnetic leakage. This significantly improves the adsorption ability of the magnetic attraction wheel on the wall of the pressure vessel, significantly improves the wall - climbing ability of this application, and reduces the falling risk.

[0035] 6. The magnetic particle inspection robot with self - adaptive wall curvature of a pressure vessel according to the present invention can adjust the distance between the magnetic particle inspection probe and the wall of the pressure vessel, significantly improving the adaptability to the detection of walls with different curvatures, facilitating the normal operation of the magnetization system and the magnetic particle inspection robot, extending the service life, and at the same time facilitating the stability of the magnetization effect under different curvatures or wall forms.

[0036] 7. The magnetic particle inspection robot with self - adaptive wall curvature of a pressure vessel according to the present invention can quickly adjust the inclination angle of the magnetic particle inspection probe to meet the detection requirements of walls with different curvatures, which is conducive to effectively maintaining the angle of the magnetic particle inspection probe in the best working state and is more conducive to ensuring the magnetization effect on the wall of the pressure vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not limit the embodiments of the present invention. In the drawings: Figure 1 is a schematic structural diagram of a specific embodiment of the present invention; Figure 2 is an internal structural diagram of a specific embodiment of the present invention from one perspective; Figure 3 is an internal structural diagram of a specific embodiment of the present invention from another perspective; Figure 4 is a schematic bottom - view structural diagram of a specific embodiment of the present invention; Figure 5 is a schematic structural diagram of the magnetic - attraction spherical - wheel assembly in a specific embodiment of the present invention; Figure 6 is an internal structural diagram of the spherical wheel in a specific embodiment of the present invention; Figure 7 is a schematic diagram of the first magnetic - attraction assembly in a specific embodiment of the present invention; Figure 8 Structural schematic diagram of the steering magnetic attraction wheel assembly in a specific embodiment of the present invention; Figure 9 Structural schematic diagram of the driving magnetic attraction wheel assembly in a specific embodiment of the present invention; Figure 10 Structural schematic diagram of the magnetic attraction wheel in a specific embodiment of the present invention; Figure 11 Internal schematic diagram of the magnetic attraction wheel in a specific embodiment of the present invention; Figure 12 Schematic diagram of the magnetic field distribution of the magnetic attraction wheel in a specific embodiment of the present invention; Figure 13 Structural schematic diagram of the magnetization system in a specific embodiment of the present invention; Figure 14 Structural schematic diagram of the yoke height adjustment mechanism in a specific embodiment of the present invention; Figure 15 Structural schematic diagram of the yoke probe inclination angle adjustment mechanism in a specific embodiment of the present invention.

[0038] Marks in the drawings and corresponding component names: 1 - Outer shell, 2 - Steering magnetic attraction wheel assembly, 3 - Magnetic attraction ball wheel assembly, 4 - Frame, 5 - Fourth fixing plate, 6 - Driving magnetic attraction wheel assembly, 7 - Second fixing plate, 8 - Microcomputer, 9 - Third fixing plate, 10 - Obstacle avoidance device, 11 - Magnetization system, 12 - Yoke probe inclination angle adjustment mechanism, 13 - Yoke height adjustment mechanism, 14 - Camera; 21 - First driving device, 22 - Fourth fixing frame, 23 - First fixing plate, 24 - Bogie, 25 - Magnetic attraction wheel, 26 - First bearing, 251 - Flexible wheel skin, 252 - Central shaft end fixing part, 253 - Central shaft, 254 - Armature, 255 - Magnetic conduction ring, 256 - Permanent magnet; 31 - First fixing frame, 32 - Elastic member, 33 - Sliding member, 34 - Ball hub, 35 - Ball wheel, 36 - Guide optical rod, 37 - Second bearing, 38 - Second fixing frame, 39 - Fixed ring, 310 - Fixed shaft, 311 - Magnet block fixing frame mounting ring, 312 - Radially magnetized magnet, 313 - Tangentially magnetized magnet, 314 - Magnet block fixing frame; 61 - Magnetic attraction wheel mounting frame, 63 - First motor support, 64 - Second driving device; 111 - Third fixing frame, 112 - Magnetic particle testing machine body, 113 - Magnetic particle testing probe, 114 - Magnetic suspension storage container, 115 - Container placement plate, 116 - Magnetic suspension delivery pipe, 117 - Pump, 118 - Sprayer; 121 - First fixing rod, 122 - Second fixing rod, 123 - Second motor bracket, 124 - Crank, 125 - Connecting rod, 126 - Fourth driving device, 127 - Second slider, 128 - Second guide rail, 129 - Second connecting rod, 1210 - First guide rail, 1211 - Transmission sleeve, 1212 - First slider; 131 - Third driving device, 132 - Lifting plate. Detailed implementation mode

[0039] To make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments and drawings. The illustrative embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention. In the description of this application, it should be understood that the orientation or positional relationships indicated by terms such as "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention 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 cannot be understood as a limitation on the protection scope of this application.

[0040] Embodiment 1

[0041] As Figures 1 to 7 shown, a magnetic particle testing robot with self - adaptive wall curvature for pressure vessels includes a frame 4, a magnetization system 11 installed on the frame 4, and also includes a steering magnetic wheel assembly 2, a driving magnetic wheel assembly 6, a magnetic ball wheel assembly 3, a camera 14, and an obstacle avoidance device 10 connected to the frame 4; The steering magnetic wheel assembly 2 and the driving magnetic wheel assembly 6 are respectively located at both ends of the frame 4; The camera 14 is located at the bottom of the frame 4, and the obstacle avoidance device 10 is located at one end in the advancing direction of the frame 4; As Figure 5 shown in Figure 6 shown, the magnetic ball wheel assembly 3 includes a first fixing frame 31, a ball wheel 35 that is slidably and relatively fitted with the first fixing frame 31, and an elastic member 32 arranged along the sliding direction of the ball wheel 35; the elastic member 32 is located between the first fixing frame 31 and the ball wheel 35; the first fixing frame 31 is fixedly connected to the frame 4.

[0042] In this embodiment: There are two groups of magnetic ball wheel assemblies 3, which are respectively located on the left and right sides of the frame, that is, symmetrically distributed on both sides of the line connecting the steering magnetic wheel assembly 2 and the driving magnetic wheel assembly 6.

[0043] The magnetization system 11 is shielded by the housing 1; the obstacle avoidance device 10 uses a lidar and is installed on the third fixing plate 9; the elastic member 32 is a spring.

[0044] Chutes are provided on both opposite sides of the first fixing frame 31, and guiding optical rods 36 are fixedly arranged in the chutes; the magnetic suction ball wheel assembly 3 further includes a sliding member 33 slidably connected in the chutes; the sliding member 33 is rotatably connected to the ball wheel 35, the guiding optical rod 36 movably passes through the sliding member 33, the elastic member 32 is sleeved outside the guiding optical rod 36, and both ends of the elastic member 32 are respectively connected to the first fixing frame 31 and the sliding member 33.

[0045] The ball wheel 35 is made of a non-metallic material and is hollow inside. In this embodiment, it is preferably made of a rubber material.

[0046] It further includes a second fixing frame 38, a fixing ring 39, a fixing shaft 310, a magnet fixing frame mounting ring 311 and a magnet fixing frame 314 located inside the ball wheel 35. The second fixing frame 38 is fixedly connected to the sliding member 33, the fixing ring 39 is fixedly connected to the second fixing frame 38, the fixing shaft 310 is fixedly connected in the fixing ring 39 along the radial direction, the magnet fixing frame mounting ring 311 is rotatably connected to the fixing shaft 310, the magnet fixing frame 314 is hinged to the magnet fixing frame mounting ring 311, the axis of the fixing shaft 310 is perpendicular to the axis of the guiding optical rod 36, and the axis of the fixing shaft 310 perpendicularly intersects with the axis of the magnet fixing frame mounting ring 311; a first magnetic suction assembly is installed on the magnet fixing frame 314.

[0047] The magnet fixing frame 314 is fan-shaped; the first magnetic suction assembly includes three radially magnetized magnets 312 circumferentially distributed on the magnet fixing frame 314 and tangentially magnetized magnets 313 located between adjacent two radially magnetized magnets 312; the magnetization directions of adjacent two radially magnetized magnets 312 are opposite, and the magnetization directions of the two tangentially magnetized magnets 313 are opposite. Please refer to Figure 7 , Figure 7 for the magnetization directions of each magnet shown.

[0048] In this embodiment, both opposite sides of the ball wheel 35 have ball hubs 34. The second bearing 37 is installed on the sliding member 33, and the outer ring of the second bearing 37 is installed in the hole of the ball hub 34. The ball wheel 35 can rotate around the axis of the second bearing 37 on the sliding member 33 to achieve rolling.

[0049] In this embodiment, the magnet fixing frame 314 is made of a magnetic conductive material (such as iron or ferroalloy), which can increase the magnetic energy product utilization rate of the first magnetic suction assembly, reduce magnetic leakage, and better fix each radially magnetized magnet 312 and tangentially magnetized magnet 313 at the same time.

[0050] In a more preferred embodiment, the tangential magnetized magnet 313 is smaller than the radial magnetized magnet 312 in both the radial length and the circumferential width; meanwhile, the tangential magnetized magnet 313 and the radial magnetized magnet 312 are arranged in alignment at the outer diameter end of the sector; this arrangement can increase the adsorption force while reducing the self-weight.

[0051] In a more preferred embodiment, mounting grooves matching the respective radial magnetized magnets 312 and tangential magnetized magnets 313 are formed on the magnet fixing bracket 314 to facilitate the installation of the corresponding magnets.

[0052] In a more preferred embodiment, it further includes a microcomputer 8 fixedly installed on the second fixing plate 7. The microcomputer 8 is used to process the magnetic particle inspection images collected by the camera 14 and perform automatic defect analysis.

[0053] It should be noted that Figures 2 to 4 for the sake of easy display, the structure of the outer shell 1 is hidden in all cases. In addition, Figures 1 to 4 structures such as the elastic member 32, the sliding groove, and the sliding member 33 are not shown in the figures. It can be understood that these structures are all arranged on the inner wall of the first fixing bracket 31 and are not easily observable from the outside. For the understanding of these structures, reference can be made to Figures 5 to 7 .

[0054] Embodiment 2

[0055] A magnetic particle inspection robot with self-adaptive wall curvature for pressure vessels. On the basis of Embodiment 1, as Figures 1 to 12 shown, the steering magnetic attraction wheel assembly 2 includes a first fixing plate 23 fixedly connected to the frame 4, a steering frame 24 rotatably connected to the first fixing plate 23, a magnetic attraction wheel 25 installed on the steering frame 24 through a first bearing 26, and a first driving device 21 for driving the steering frame 24 to rotate; the axis of the steering frame 24 is perpendicular to the axis of the magnetic attraction wheel 25.

[0056] The driving magnetic attraction wheel assembly 6 includes a magnetic attraction wheel mounting bracket 61, a magnetic attraction wheel 25 rotatably connected to the magnetic attraction wheel mounting bracket 61, and a second driving device 64 for driving the magnetic attraction wheel 25 to rotate.

[0057] In this embodiment, the first driving device 21 is installed on the fourth fixing bracket 22. The fourth fixing bracket 22 is fixedly connected to the first fixing plate 23, and the first fixing plate 23 is fixedly connected to the frame 4.

[0058] In this embodiment, the second driving device 64 is installed on the first motor bracket 63. The first motor bracket 63 is fixedly connected to the second fixing plate 7, and the second fixing plate 7 is fixedly connected to the frame 4.

[0059] In this embodiment, the magnetic wheels 25 in the steering magnetic wheel assembly 2 and the driving magnetic wheel assembly 6 both adopt the following identical structure: The magnetic wheel 25 includes a flexible wheel skin 251, a central shaft 253, a magnetic conduction ring 255 fixedly sleeved on the central shaft 253, two permanent magnets 256, and two armatures 254; the two permanent magnets 256 are respectively located on the two axial sides of the magnetic conduction ring 255, and the two armatures 254 are respectively located on the side of the two permanent magnets 256 away from the magnetic conduction ring 255 along the axis; the two permanent magnets 256 are both magnetized along the axis, and the magnetization directions of the two permanent magnets 256 are opposite; the flexible wheel skin 251 is sleeved outside the magnetic conduction ring 255, the permanent magnets 256, and the armatures 254.

[0060] Please refer to Figure 12 , Figure 12 which shows the magnetization direction and the magnetic induction line direction inside the magnetic wheel 25.

[0061] In this embodiment, the first driving device 21 and the second driving device 64 are both motors.

[0062] Preferably, the flexible wheel skin 251 is made of rubber; the central shaft 253 is fixedly connected to the central shaft end fixing member 252, and the central shaft 253 is installed on the first bearings 26 on both sides of the bogie 24; the central shaft end fixing member 252, the armature 254, the magnetic conduction ring 255, and the permanent magnet 256 are fixed together by screws through four threaded holes.

[0063] Embodiment 3

[0064] A pressure vessel wall curvature adaptive magnetic particle inspection robot, based on Embodiment 1 or 2, as Figures 1 to 15 shown, the magnetization system 11 includes: a magnetic suspension storage container 114, a nozzle 118, a pump 117 for pumping the magnetic suspension from the magnetic suspension storage container 114 to the nozzle 118, as well as a third fixing frame 111, a number of magnetic particle inspection bodies 112 fixedly connected to the third fixing frame 111, and magnetic particle inspection probes 113 hinged to the magnetic particle inspection bodies 112.

[0065] Among them, the magnetic suspension storage container 114 is installed on the container placement plate 115; the magnetic suspension storage container 114 and the water inlet end of the pump 117, and the nozzle 118 and the water outlet end of the pump 117 are both connected through a magnetic suspension delivery pipe 116. In addition, the nozzle 118 is adjacent to the magnetic particle inspection probe 113.

[0066] This embodiment further includes a yoke probe inclination angle adjustment mechanism 12 and a yoke height adjustment mechanism 13 that match the magnetization system.

[0067] The yoke height adjustment mechanism 13 is as Figure 14As shown, it includes a lifting plate 132 fixedly connected to a third fixing frame 111, and also includes a third driving device 131 for driving the lifting plate 132 to lift relative to the wall surface to be measured. The third driving device 131 is preferably an electric push rod. Preferably, the third driving device 131 is installed on a fourth fixing plate 5, and the fourth fixing plate 5 is fixedly connected to the frame 4.

[0068] The yoke probe inclination angle adjusting mechanism 12 is as Figure 15 shown, two magnetic particle testing bodies 112 are installed on each third fixing frame 111, and each magnetic particle testing body 112 is hinged with a magnetic particle testing probe 113; It also includes a first guide rail 1210, two first sliders 1212 slidably fitted on the first guide rail 1210, and a second connecting rod 129 hinged to the first sliders 1212; a transmission sleeve 1211 is fixedly connected to the first sliders 1212, and the two transmission sleeves 1211 are respectively sleeved outside the two corresponding magnetic particle testing probes 113 on the third fixing frame 111; It also includes a second guide rail 128, a second slider 127 slidably fitted on the second guide rail 128, and a fourth driving device 126 for driving the second slider 127 to slide along the second guide rail 128; the second guide rail 128 is perpendicular to the first guide rail 1210; one end of the second connecting rod 129 far from the first slider 1212 is hinged to the second slider 127. Among them, the fourth driving device 126 is preferably a motor.

[0069] In this embodiment, the fourth driving device 126 is installed on a second motor bracket 123, the second motor bracket 123 is installed on a second fixing rod 122, one end of the second fixing rod 122 is fixedly connected to a first fixing rod 121, the first fixing rod 121 is perpendicular to the second fixing rod 122, and the second fixing rod 122 is parallel to the first guide rail 1210; the output shaft of the fourth driving device 126 is fixedly connected to one end of a crank 124, the other end of the crank 124 is hinged to a connecting rod 125, and the end of the connecting rod 125 far from the crank 124 is hinged to the second slider 127.

[0070] In this embodiment, the crank 124, the connecting rod 125, the second slider 127, and the second guide rail 128 form a crank-slider mechanism, so as to realize the adjustment of the inclination angle of the magnetic particle testing probe 113 to adapt to the detection of wall surfaces with different curvatures.

[0071] In a more preferred embodiment, a distance measuring sensor can also be set, and the distance measuring sensor is installed on the outer wall of the magnetic particle testing probe 113 for monitoring the distance between the magnetic particle testing probe 113 and the wall surface to be measured, and further controlling the automatic operation of the yoke height adjusting mechanism 13.

[0072] The specific embodiments described above further elaborate on the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only for the specific embodiments of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0073] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article, or device. In addition, the term "connected" used in this text, without special explanation, can be directly connected or indirectly connected via other components.

Claims

1. An adaptive magnetic particle inspection robot for the wall curvature of a pressure vessel, comprising a frame (4) and a magnetization system (11) installed on the frame (4), characterized in that, It also includes a steering magnetic attraction wheel assembly (2), a driving magnetic attraction wheel assembly (6), a magnetic attraction ball wheel assembly (3), a camera (14), and an obstacle avoidance device (10) connected to the frame (4). The steering magnetic attraction wheel assembly (2) and the driving magnetic attraction wheel assembly (6) are respectively located at both ends of the frame (4). The camera (14) is located at the bottom of the frame (4), and the obstacle avoidance device (10) is located at one end in the advancing direction of the frame (4). The magnetic attraction ball wheel assembly (3) includes a first fixing frame (31), a ball wheel (35) slidably and relatively fitted with the first fixing frame (31), and an elastic member (32) arranged along the sliding direction of the ball wheel (35); the elastic member (32) is located between the first fixing frame (31) and the ball wheel (35); the first fixing frame (31) is fixedly connected to the frame (4).

2. The curvature self-adaptive magnetic particle inspection robot for the wall of a pressure vessel according to claim 1, wherein Chute grooves are arranged on both opposite sides of the first fixing frame (31), and guiding optical rods (36) are fixedly arranged in the chute grooves; the magnetic attraction ball wheel assembly (3) further includes a sliding member (33) slidably connected in the chute grooves; the sliding member (33) is rotatably connected to the ball wheel (35), the guiding optical rod (36) movably passes through the sliding member (33), the elastic member (32) is sleeved outside the guiding optical rod (36), and both ends of the elastic member (32) are respectively connected to the first fixing frame (31) and the sliding member (33).

3. The magnetic particle inspection robot with self-adaptive wall surface curvature of a pressure vessel according to claim 2, wherein The ball wheel (35) is made of a non-metallic material and is hollow inside; it also includes a second fixing frame (38), a fixing ring (39), a fixing shaft (310), a magnetic block fixing frame mounting ring (311), and a magnetic block fixing frame (314) located inside the ball wheel (35), the second fixing frame (38) is fixedly connected to the sliding member (33), the fixing ring (39) is fixedly connected to the second fixing frame (38), the fixing shaft (310) is fixedly connected in the fixing ring (39) along the radial direction, the magnetic block fixing frame mounting ring (311) is rotatably connected to the fixing shaft (310), the magnetic block fixing frame (314) is hinged to the magnetic block fixing frame mounting ring (311), the axis of the fixing shaft (310) is perpendicular to the axis of the guiding optical rod (36), and the axis of the fixing shaft (310) perpendicularly intersects with the axis of the magnetic block fixing frame mounting ring (311); a first magnetic attraction assembly is mounted on the magnetic block fixing frame (314).

4. The magnetic particle inspection robot with self-adaptive wall curvature for pressure vessels according to claim 3, characterized in that The magnetic block fixing frame (314) is fan-shaped; the first magnetic attraction assembly includes three radially magnetized magnets (312) circumferentially distributed on the magnetic block fixing frame (314), and tangentially magnetized magnets (313) located between two adjacent radially magnetized magnets (312); the magnetization directions of two adjacent radially magnetized magnets (312) are opposite, and the magnetization directions of the two tangentially magnetized magnets (313) are opposite.

5. The magnetic particle inspection robot with self-adaptive wall curvature of a pressure vessel according to claim 1, characterized in that The steering magnetic wheel assembly (2) includes a first fixed plate (23) fixedly connected to the frame (4), a bogie (24) rotatably connected to the first fixed plate (23), a magnetic wheel (25) mounted on the bogie (24) through a first bearing (26), and a first driving device (21) for driving the bogie (24) to rotate; the axis of rotation of the bogie (24) is perpendicular to the axis of the magnetic wheel (25).

6. The magnetic particle testing robot with self-adaptive wall curvature for pressure vessels according to claim 1, wherein The driving magnetic wheel assembly (6) includes a magnetic wheel mounting bracket (61), a magnetic wheel (25) rotatably connected to the magnetic wheel mounting bracket (61), and a second driving device (64) for driving the magnetic wheel (25) to rotate.

7. A pressure vessel wall curvature adaptive magnetic particle inspection robot according to claim 5 or 6, characterized in that The magnetic wheel (25) includes a flexible wheel skin (251), a central shaft (253), a magnetic conduction ring (255) fixedly sleeved on the central shaft (253), two permanent magnets (256), and two armatures (254); the two permanent magnets (256) are respectively located on the axial two sides of the magnetic conduction ring (255), and the two armatures (254) are respectively located on the side of the two permanent magnets (256) away from the magnetic conduction ring (255) along the axis; the two permanent magnets (256) are magnetized along the axis, and the magnetization directions of the two permanent magnets (256) are opposite; the flexible wheel skin (251) is sleeved outside the magnetic conduction ring (255), the permanent magnets (256), and the armatures (254).

8. A magnetic particle testing robot with self - adaptive wall curvature for pressure vessels according to claim 1, characterized in that, The magnetization system (11) includes: a magnetic suspension storage container (114), a spray head (118), a pump (117) for pumping the magnetic suspension from the magnetic suspension storage container (114) to the spray head (118), a third fixed bracket (111), a plurality of magnetic powder detection bodies (112) fixedly connected to the third fixed bracket (111), and a magnetic powder detection probe (113) hinged to the magnetic powder detection body (112).

9. A magnetic particle testing robot with self-adaptive wall curvature for pressure vessels according to claim 8, characterized in that, The third fixed bracket (111) is fixedly connected to the lifting plate (132), and further includes a third driving device (131) for driving the lifting plate (132) to lift relative to the wall surface to be measured.

10. A magnetic particle testing robot with self - adaptive wall curvature for pressure vessels according to claim 8, characterized in that, Two magnetic powder detection bodies (112) are installed on each third fixed bracket (111), and a magnetic powder detection probe (113) is hinged to each magnetic powder detection body (112); It further includes a first guide rail (1210), two first sliders (1212) slidably engaged with the first guide rail (1210), and a second connecting rod (129) hinged to the first sliders (1212); a transmission sleeve (1211) is fixedly connected to the first sliders (1212), and the two transmission sleeves (1211) are respectively sleeved outside the corresponding two magnetic powder detection probes (113) on the third fixed bracket (111); It further includes a second guide rail (128), a second slider (127) slidably fitted on the second guide rail (128), and a fourth driving device (126) for driving the second slider (127) to slide along the second guide rail (128); the second guide rail (128) is perpendicular to the first guide rail (1210); one end of the second connecting rod (129) far from the first slider (1212) is hinged to the second slider (127).

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