A pressure vessel wall curvature adaptive magnetic particle inspection robot

Abstract

The present invention discloses a pressure vessel wall curvature adaptive magnetic powder inspection robot, which relates to the field of pressure vessel wall inspection, including a frame, a magnetization system installed on the frame, and also including 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 forward direction; the magnetic ball wheel assembly includes a first fixed frame, a ball wheel that slides relative to the first fixed frame, and an elastic member arranged along the sliding direction of the ball wheel; the elastic member is located between the first fixed frame and the ball wheel; and the first fixed frame is fixedly connected to the frame. The present invention is used to solve the problems of weak curvature adaptability and poor safety in the prior art, and to achieve the purpose of improving the adaptive ability of the pressure vessel wall inspection robot and reducing safety hazards.

Description

Technical Field

[0001] The present invention relates to the field of pressure vessel wall detection, and in particular to a pressure vessel wall curvature adaptive magnetic powder detection robot. Background Art

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

[0003] Magnetic particle testing is a mature non-destructive testing method for ferromagnetic workpiece wall defects. It can use magnetic fields and magnetic powder to detect surface or near-surface defects of materials. Its working principle can be summarized as follows: a magnetic field is applied to the ferromagnetic component for magnetization, so that magnetic lines of flux are generated inside it. If there are defects such as cracks and pores on the surface of the component, the magnetic lines of flux will be distorted at the defect, forming a local "leakage magnetic field"; after spraying magnetic powder, the leakage magnetic field will absorb the magnetic powder and accumulate at the defect to form obvious magnetic traces; the position and shape of the magnetic traces are identified by the naked eye or image acquisition, thereby judging the characteristics of the defect.

[0004] Although robots that use magnetic particle inspection technology to perform non-destructive inspection on pressure vessel walls have appeared in the existing technology, most of them can only work on flat surfaces, and the research and development focus is mostly on wall climbing stability and improving obstacle avoidance capabilities. They have weak adaptability to various large pressure vessels with curved or spherical walls of different curvatures, and there is a greater risk of falling when encountering discontinuous smooth or undulating walls. Therefore, the existing technology has poor safety when inspecting complex wall structures. Summary of the Invention

[0005] The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot to solve the problems of weak curvature adaptability and poor safety in the prior art, thereby achieving the purpose of improving the adaptive ability of the pressure vessel wall inspection robot and reducing safety hazards.

[0006] The present invention is achieved through the following technical solutions:

[0007] A pressure vessel wall curvature adaptive magnetic particle inspection robot comprises a frame, a magnetization system mounted on the frame, 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;

[0008] The steering magnetic wheel assembly and the driving magnetic wheel assembly are respectively located at two ends of the frame;

[0009] The camera is located at the bottom of the rack, and the obstacle avoidance device is located at one end of the rack in the forward direction;

[0010] The magnetic ball wheel assembly includes a first fixing frame, a ball wheel that slides relative to the first fixing frame, and an elastic member arranged 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 frame.

[0011] To address the weak curvature adaptability and poor safety of existing pressure vessel wall inspection robots, the present invention proposes a pressure vessel wall curvature-adaptive magnetic particle inspection robot. The robot includes a magnetization system for magnetizing the pressure vessel wall and spraying a magnetic suspension, a drive magnetic wheel assembly for driving the entire device, a steering magnetic wheel assembly for controlling the device's direction of travel, and a magnetic ball wheel assembly for improving the device's stability and providing curvature adaptation. The camera and obstacle avoidance system can be implemented based on existing technologies and will not be elaborated on here.

[0012] In the present application, the steering magnetic wheel assembly and the driving magnetic wheel assembly are respectively located at the two ends of the frame, so that the robot moves in the direction of the steering magnetic wheel assembly or the driving magnetic wheel assembly when walking, thereby ensuring the stability of the steering control. As the name implies, the steering magnetic wheel assembly, the driving magnetic wheel assembly, and the magnetic ball wheel assembly in the present application all have magnetic properties and can be adsorbed on the wall of the pressure vessel by magnetic force, thereby ensuring the wall climbing stability of the present application and reducing its risk of falling, and are particularly suitable for working on curved walls. The magnetic ball wheel assembly in the present application achieves contact with the wall of the pressure vessel by rotating the ball wheel; the elastic member always applies pressure to the ball wheel toward the wall of the pressure vessel, so that the ball wheel always maintains contact with the wall of the pressure vessel, thereby significantly improving the adaptability of the present application to curved walls of different curvatures, and when facing discontinuously smooth or undulating walls, it can also significantly improve the passing stability of the present application and further reduce safety hazards.

[0013] When this application is working, the driving magnetic wheel assembly provides walking power, the steering magnetic wheel assembly controls the walking direction, the magnetic ball wheel assembly always maintains contact with the wall of the pressure vessel, the pressure vessel wall is magnetized and magnetic suspension is sprayed through the magnetization system, and the magnetic traces are identified through the camera.

[0014] Furthermore, slide grooves are provided on opposite sides of the first fixed frame, and a guide light rod is fixedly provided in the slide groove; the magnetic ball wheel assembly also includes a sliding member slidably connected to the slide groove; the sliding member is rotatably connected to the ball wheel, and the guide light rod moves through the sliding member; the elastic member is sleeved outside the guide light rod, and the two ends of the elastic member are respectively connected to the first fixed frame and the sliding member.

[0015] The spherical wheel in this embodiment is rotatably connected to sliding members at both ends, located in respective grooves on either side. This prevents the wheel from interfering with its own rolling motion. The independent sliding of the sliding members allows the wheel to adapt to more complex wall structures and curvatures, further enhancing its ability to adapt to spherical or curved pressure vessel walls during operation.

[0016] Furthermore, the ball wheel is made of non-metallic material and is hollow inside; it also includes a second fixing frame, a fixing ring, a fixing shaft, a magnetic block fixing frame mounting ring and a magnetic block 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 radially fixedly connected to the fixing ring, the magnetic block fixing frame mounting ring is rotatably connected to the fixing shaft, the magnetic block fixing frame is hinged to the magnetic block fixing frame mounting ring, the axis of the fixing shaft is perpendicular to the axis of the guide light rod, and the axis of the fixing shaft intersects perpendicularly with the axis of the magnetic block fixing frame mounting ring; a first magnetic attraction component is installed on the magnetic block fixing frame.

[0017] During the research process, the inventor team of this case found that since the ball wheel of this application needs to be in a rolling state during the walking process, if the traditional process is used to maintain the constant magnetic attraction between the magnetic ball wheel assembly and the wall, it is necessary to set magnetic bodies in all directions of the ball wheel. This will increase the amount of magnetic bodies used, resulting in higher costs, and will 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 capacity to be unconcentrated, which is not conducive to the stable walking and work of this application on the curved wall of the pressure vessel. Based on this, the ball wheel in this solution is hollow inside, and the magnetic component is built into it. The two sides of the second fixed frame are respectively connected to the sliding parts at both ends. Since the sliding parts always have a tendency to move toward the wall, the magnetic block fixing frame is always facing the direction of the wall, so that the first magnetic component is always located close to the wall of the pressure vessel. The first magnetic component will not move circumferentially with the rolling of the ball wheel, and it always maintains a relatively stable distance between it and the wall of the pressure vessel, thereby ensuring that the magnetic field is concentrated and stable, avoiding the defect of insufficient magnetic attraction capacity caused by magnetic field dispersion, and significantly improving the working stability of the magnetic ball wheel assembly in this application, thereby further ensuring the adaptive performance of this application. Furthermore, the magnetic block holder in this application can rotate about the fixed axis, driving the first magnetic attraction component to rotate synchronously. The magnetic block holder can also rotate about the axis of the magnetic block holder mounting ring. Therefore, the magnetic block holder of this solution has two degrees of freedom of rotation, and these two rotation directions are perpendicular to each other. This ensures that the first magnetic attraction component has strong adaptability and can adaptively adjust its angular orientation within the ball wheel based on the magnetic field distribution, which is more conducive to the stable operation of this application under conditions such as turning and obstacle crossing. In addition, the ball wheel body in this solution is made of non-metallic material to avoid magnetization and avoid causing magnetic field interference.

[0018] Furthermore, the magnetic block fixing frame is fan-shaped; the first magnetic attraction component includes three radially magnetized magnets distributed circumferentially on the magnetic block fixing frame, and a tangentially magnetized magnet located between two adjacent radially magnetized magnets; the magnetizing directions of the two adjacent radially magnetized magnets are opposite, and the magnetizing directions of the two tangentially magnetized magnets are opposite.

[0019] In this solution, the magnetic block fixing frame is fan-shaped to facilitate adaptation to the spherical ball wheel. The first magnetic attraction component 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 magnets refer to magnets whose magnetization direction is along the radial direction of the fan, and the tangentially magnetized magnets refer to magnets whose magnetization direction is along the tangential direction of the fan; and in this solution, the magnetization directions of the two adjacent radially magnetized magnets are opposite, and the magnetization directions of the two tangentially magnetized magnets are opposite. The radially magnetized magnets play the main magnetic attraction function, and the tangentially magnetized magnets play a transitional guidance role for the magnetic lines of force. This arrangement can greatly reduce the amount of magnets used while trying to improve the magnetic attraction capacity, thereby reducing the overall mass of the ball wheel and improving the wall climbing stability.

[0020] Furthermore, the steering magnetic wheel assembly includes a first fixed plate fixedly connected to the frame, a bogie rotatably connected to the first fixed plate, a magnetic wheel mounted on the bogie through a first bearing, and a first driving device for driving the bogie to rotate; the rotating shaft of the bogie is perpendicular to the axis of the magnetic wheel.

[0021] In this solution, the bogie is driven to rotate by the first driving device, and the bogie drives the magnetic wheel connected thereto to rotate synchronously, thereby realizing the adjustment and control of the walking direction of this application.

[0022] Furthermore, the driving magnetic wheel assembly includes a magnetic wheel mounting frame, a magnetic wheel rotatably connected to the magnetic wheel mounting frame, and a second driving device for driving the magnetic wheel to rotate.

[0023] This solution uses a second driving device to drive the magnetic wheel in the magnetic wheel assembly to rotate, thereby providing power for the movement of the present application on the wall of the pressure vessel.

[0024] Furthermore, the magnetic wheel includes a flexible wheel skin, a central axis, a magnetic ring fixedly mounted on the central axis, two permanent magnets and two armatures; the two permanent magnets are respectively located on both sides of the axial direction of the magnetic ring, and the two armatures are respectively located on the side of the two permanent magnets axially away from the magnetic ring; the two permanent magnets are both magnetized axially, and the magnetization directions of the two permanent magnets are opposite; the flexible wheel skin is sleeved on the outside of the magnetic ring, permanent magnet and armature.

[0025] In the present application, magnetic wheels are provided in both the steering magnetic wheel assembly and the driving magnetic wheel assembly, and the magnetic wheels in both assemblies can be implemented using the magnetic wheel structure defined in this solution. Specifically, the magnetic wheel in this solution includes a rotatable central axis, on which an armature, a permanent magnet, a magnetic ring, a permanent magnet, and an armature are sequentially sleeved, that is, there are two armatures at both ends, a magnetic ring in the middle, and a permanent magnet is provided between the magnetic ring and any armature; and 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 materials such as rubber, silicone or leather, and the magnetic ring in this solution is an annular structure made of magnetic material.

[0026] Through the design of the magnetic wheel in this solution, the magnetic lines of force generated by the permanent magnet can be connected to the magnetic metal walls on both sides of the axial direction through the armature and the magnetic ring to form a closed magnetic circuit, thereby greatly reducing the amount of magnetic leakage, significantly improving the adsorption capacity of the magnetic wheel on the wall of the pressure vessel, significantly improving the wall climbing ability of this application, and reducing the risk of falling.

[0027] Furthermore, the magnetization system includes: a magnetic suspension storage container, a nozzle, a pump for pumping the magnetic suspension from the magnetic suspension storage container to the nozzle, a third fixed frame, a plurality of magnetic particle detection bodies fixedly connected to the third fixed frame, and a magnetic particle detection probe hinged to the magnetic particle detection body.

[0028] During operation, this solution activates the magnetic particle inspection system, magnetizes the surface to be inspected using the magnetic particle inspection probe, and then sprays magnetic suspension onto the magnetized surface through a nozzle, forming magnetic traces. A camera captures these traces for defect analysis. The relative position of the nozzle and magnetic particle inspection probe can be adaptively arranged based on the specific travel direction of this application, ensuring that the magnetic particle inspection probe magnetizes the surface first, followed by the nozzle spraying.

[0029] Furthermore, the third fixing frame is fixedly connected to the lifting plate, and further comprises a third driving device for driving the lifting plate to move up and down relative to the measured wall surface.

[0030] In the prior art, during the magnetic particle inspection of the pressure vessel wall, the magnetization system is fixed relative to the body. When the pressure vessel wall is flat, a relatively stable and small gap can be maintained between the magnetization system and the wall, which is conducive to ensuring the magnetization effect. However, when facing an arc-shaped or spherical pressure vessel wall with different curvatures, discontinuous smoothness or undulations, it is easy to cause interference between the magnetization system and the wall, which not only easily interferes with the normal movement of the magnetic particle inspection robot, but also easily causes damage to the magnetization system. Based on this, the present solution fixes the third fixed frame on the lifting plate. Since the magnetic particle inspection body is installed on the third fixed frame, the third fixed frame, the magnetic particle inspection body, the magnetic particle inspection probe, etc. can be driven to rise and fall synchronously with the lifting of the lifting plate, so as to achieve contact or separation between the magnetic particle inspection probe and the wall to be inspected. When inspection is required, the magnetic particle inspection probe is controlled to approach the wall until the set distance is reached. After the current position is inspected and the robot needs to move, the magnetic particle inspection body is driven to rise in the direction away from the wall so that the magnetic particle inspection probe does not contact the wall. It can be seen that this solution significantly improves the adaptability to the detection of walls with different curvatures, is conducive to the normal operation of the magnetization system and the magnetic particle inspection robot, and extends its service life. At the same time, it is conducive to ensuring the stability of the magnetization effect under different curvatures or wall shapes.

[0031] 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.

[0032] Furthermore, two magnetic particle detection bodies are mounted on each third fixing frame, and each magnetic particle detection body is hingedly connected to a magnetic particle detection probe;

[0033] The invention also includes a first guide rail, two first sliders slidingly engaged with 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 corresponding two magnetic particle detection probes on the third fixing frame;

[0034] It also includes a second guide rail, a second slider slidingly 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; and the second connecting rod is hinged to the second slider at one end away from the first slider.

[0035] In the prior art, the angle of the magnetic particle detection probe is fixed relative to the body. When the pressure vessel wall is flat, it can always work perpendicular to the wall. However, for curved or spherical pressure vessel walls with curvature, it is difficult to effectively maintain the probe angle in the optimal state. In order to overcome the above problems, the present solution distributes the magnetic particle detection probes in pairs. When the angle of the magnetic particle detection probe needs to be adjusted, the second slider is driven to slide on the second guide rail by a fourth drive device, driving the two first sliders to move toward or away from each other on the first guide rail, thereby making the two relatively distributed magnetic particle detection probes have a tendency to move toward or away from each other. Since the magnetic particle detection probe is hinged on the magnetic particle detection body, the two magnetic particle detection probes can be rotated inward or outward synchronously, thereby quickly adjusting the inclination angle of the magnetic particle detection probe to meet the detection requirements of walls with different curvatures. This is conducive to effectively maintaining the angle of the magnetic particle detection probe in the optimal working state and is more conducive to ensuring the magnetization effect on the pressure vessel wall.

[0036] Compared with the prior art, the present invention has at least the following advantages and beneficial effects:

[0037] 1. The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot, in which a magnetic ball wheel assembly achieves contact with the pressure vessel wall by rotating the ball wheel; an elastic member always applies pressure toward 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 the present application to curved walls with different curvatures, and also significantly improving the passing stability of the present application when facing discontinuously smooth or undulating walls, and further reducing safety hazards.

[0038] 2. The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot, in which the first magnetic component is always located close to the pressure vessel wall. The first magnetic component does not make circumferential motion as the ball wheel rolls, and a relatively stable distance is always maintained between the first magnetic component and the pressure vessel wall, thereby ensuring that the magnetic field is concentrated and stable, avoiding the defect of insufficient magnetic attraction capacity caused by magnetic field dispersion, and significantly improving the working stability of the magnetic ball wheel assembly in the present application, thereby further ensuring the adaptive performance of the present application.

[0039] 3. The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot, in which the magnetic block fixing frame has two degrees of freedom in rotation direction, ensuring that the first magnetic suction component has extremely strong adaptability 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 steering and obstacle crossing.

[0040] 4. The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot, in which radially magnetized magnets are used in the ball wheel to exert the main magnetic attraction function, while tangentially magnetized magnets are used to guide the magnetic lines of force. This arrangement can greatly reduce the amount of magnets used while trying to improve the magnetic attraction ability, thereby reducing the overall mass of the ball wheel and improving the wall climbing stability.

[0041] 5. The present invention provides a pressure vessel wall curvature adaptive magnetic powder inspection robot. Through the design of the magnetic wheel, the armature and the magnetic ring form a closed magnetic circuit with the magnetic lines of force generated by the permanent magnet and the magnetic metal walls on both sides of the axial direction, thereby greatly reducing the amount of magnetic leakage, significantly improving the adsorption capacity of the magnetic wheel on the pressure vessel wall, significantly improving the wall climbing ability of the application, and reducing the risk of falling.

[0042] 6. The present invention provides a pressure vessel wall curvature adaptive magnetic particle inspection robot, which can adjust the distance between the magnetic particle inspection probe and the pressure vessel wall, significantly improving the adaptability to the inspection 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 helping to ensure the stability of the magnetization effect under different curvatures or wall shapes.

[0043] 7. The present invention provides a pressure vessel wall curvature adaptive magnetic particle inspection robot, which can quickly adjust the inclination angle of the magnetic particle inspection probe to adapt to the inspection requirements of walls with different curvatures. It is beneficial to effectively maintain the angle of the magnetic particle inspection probe in the best working state and is more conducive to ensuring the magnetization effect on the pressure vessel wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0045] Figure 1 It is a structural schematic diagram of a specific embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the internal structure of a specific embodiment of the present invention at one viewing angle;

[0047] Figure 3 A schematic diagram of the internal structure of a specific embodiment of the present invention from another perspective;

[0048] Figure 4 A schematic diagram of the bottom structure of a specific embodiment of the present invention;

[0049] Figure 5 This is a structural diagram of a magnetic ball wheel assembly in a specific embodiment of the present invention;

[0050] Figure 6This is a schematic diagram of the internal structure of the ball wheel in a specific embodiment of the present invention;

[0051] Figure 7 is a schematic diagram of a first magnetic attraction component in a specific embodiment of the present invention;

[0052] Figure 8 This is a structural diagram of a steering magnetic wheel assembly in a specific embodiment of the present invention;

[0053] Figure 9 This is a schematic structural diagram of a driving magnetic wheel assembly in a specific embodiment of the present invention;

[0054] Figure 10 This is a schematic structural diagram of a magnetic wheel in a specific embodiment of the present invention;

[0055] Figure 11 This is a schematic diagram of the interior of the magnetic wheel in a specific embodiment of the present invention;

[0056] Figure 12 Schematic diagram of the magnetic field distribution of the magnetic attraction wheel in a specific embodiment of the present invention;

[0057] Figure 13 A schematic structural diagram of a magnetization system in a specific embodiment of the present invention;

[0058] Figure 14 Schematic diagram of the structure of the yoke height adjustment mechanism in a specific embodiment of the present invention;

[0059] Figure 15 It is a structural schematic diagram of the magnetic yoke probe inclination adjustment mechanism in a specific embodiment of the present invention.

[0060] Markings and corresponding parts names in the accompanying drawings:

[0061] 1-housing, 2-steering magnetic wheel assembly, 3-magnetic ball wheel assembly, 4-frame, 5-fourth fixing plate, 6-driving magnetic wheel assembly, 7-second fixing plate, 8-microcomputer, 9-third fixing plate, 10-obstacle avoidance device, 11-magnetization system, 12-yoke probe tilt adjustment mechanism, 13-yoke height adjustment mechanism, 14-camera;

[0062] 21 - first drive device, 22 - fourth fixing frame, 23 - first fixing plate, 24 - bogie, 25 - magnetic wheel, 26 - first bearing, 251 - flexible wheel skin, 252 - center axis end fixing member, 253 - center axis, 254 - armature, 255 - magnetic ring, 256 - permanent magnet;

[0063] 31 - first fixing frame, 32 - elastic member, 33 - sliding member, 34 - ball wheel hub, 35 - ball wheel, 36 - guide light rod, 37 - second bearing, 38 - second fixing frame, 39 - fixing ring, 310 - fixing shaft, 311 - magnetic block fixing frame mounting ring, 312 - radially magnetized magnet, 313 - tangentially magnetized magnet, 314 - magnetic block fixing frame;

[0064] 61-magnetic wheel mounting frame, 63-first motor bracket, 64-second driving device;

[0065] 111 - third fixing frame, 112 - magnetic particle detection body, 113 - magnetic particle detection probe, 114 - magnetic suspension storage container, 115 - container placement plate, 116 - magnetic suspension delivery pipe, 117 - pump, 118 - nozzle;

[0066] 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;

[0067] 131-the third driving device, 132-the lifting plate. DETAILED DESCRIPTION

[0068] In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with the examples and drawings. The schematic embodiments of the present invention and their description 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 orientations or positional relationships indicated by terms such as "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying 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 limiting the scope of protection of this application.

[0069] Example 1

[0070] like Figures 1 to 7 The pressure vessel wall curvature adaptive magnetic particle inspection robot shown includes a frame 4, a magnetization system 11 mounted on the frame 4, 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;

[0071] The steering magnetic wheel assembly 2 and the driving magnetic wheel assembly 6 are respectively located at two ends of the frame 4;

[0072] The camera 14 is located at the bottom of the frame 4, and the obstacle avoidance device 10 is located at one end of the frame 4 in the forward direction;

[0073] like Figure 5 and Figure 6 As shown, the magnetic ball wheel assembly 3 includes a first fixed frame 31, a ball wheel 35 that slides relative to the first fixed 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 fixed frame 31 and the ball wheel 35; the first fixed frame 31 is fixedly connected to the frame 4.

[0074] In this embodiment, there are two groups of magnetic ball wheel assemblies 3, which are 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.

[0075] The magnetization system 11 is shielded and protected by the housing 1; the obstacle avoidance device 10 uses a laser radar and is installed on the third fixing plate 9; and the elastic member 32 is a spring.

[0076] Slide grooves are provided on opposite sides of the first fixed frame 31, and a guide light rod 36 is fixedly provided in the slide grooves; the magnetic ball wheel assembly 3 also includes a sliding member 33 slidably connected in the slide grooves; the sliding member 33 is rotatably connected to the ball wheel 35, and the guide light rod 36 moves through the sliding member 33; the elastic member 32 is sleeved outside the guide light rod 36, and the two ends of the elastic member 32 are respectively connected to the first fixed frame 31 and the sliding member 33.

[0077] The ball wheel 35 is made of non-metallic material and is hollow inside. In this embodiment, it is preferably made of rubber material.

[0078] 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 radially fixedly connected to the fixing ring 39, 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 guide light rod 36, and the axis of the fixing shaft 310 is perpendicular to the axis of the magnetic block fixing frame mounting ring 311; the first magnetic attraction component is installed on the magnetic block fixing frame 314.

[0079] The magnetic block holder 314 is fan-shaped; the first magnetic attraction component includes three radial magnetizing magnets 312 distributed along the circumference of the magnetic block holder 314, and a tangential magnetizing magnet 313 located between two adjacent radial magnetizing magnets 312; the magnetizing directions of the two adjacent radial magnetizing magnets 312 are opposite, and the magnetizing directions of the two tangential magnetizing magnets 313 are opposite. Please refer to Figure 7 , Figure 7 The magnetization direction of each magnet is shown in FIG.

[0080] In this embodiment, the ball wheel 35 has ball hubs 34 on opposite sides, and the second bearing 37 is mounted on the sliding member 33. The outer ring of the second bearing 37 is mounted 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.

[0081] In this embodiment, the magnetic block fixing frame 314 is made of a magnetic conductive material (such as iron or iron alloy), which can increase the magnetic energy utilization rate of the first magnetic attraction component, reduce magnetic leakage, and better fix the radial magnetized magnets 312 and the tangential magnetized magnets 313.

[0082] In a more preferred embodiment, the radial length and circumferential width of the tangential magnet 313 are both smaller than those of the radial magnet 312. At the same time, the tangential magnet 313 and the radial magnet 312 are aligned at the outer diameter end of the sector. This arrangement can increase the adsorption force while reducing the dead weight.

[0083] In a more preferred embodiment, mounting slots matching the radially magnetized magnets 312 and the tangentially magnetized magnets 313 are provided on the magnetic block fixing frame 314 to facilitate the installation of the corresponding magnets.

[0084] In a more preferred embodiment, a microcomputer 8 fixedly mounted on the second fixing plate 7 is further included. The microcomputer 8 is used to process the magnetic particle detection images collected by the camera 14 and perform automatic defect analysis.

[0085] It should be noted that in Figure 2-Figure 4 For the sake of convenience in display, the shell 1 structure is hidden. Figures 1 to 4 The elastic member 32, the slide groove, the sliding member 33 and other structures are not shown in the figure. It can be understood that these structures are all arranged on the inner wall of the first fixing frame 31 and are not easy to observe from the outside. For the understanding of these structures, please refer to Figure 5-Figure 7 .

[0086] Example 2

[0087] A pressure vessel wall curvature adaptive magnetic particle inspection robot, based on embodiment 1, as Figures 1 to 12As shown, 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 rotating shaft of the bogie 24 is perpendicular to the axis of the magnetic wheel 25.

[0088] The driving magnetic wheel assembly 6 includes a magnetic wheel mounting frame 61 , a magnetic wheel 25 rotatably connected to the magnetic wheel mounting frame 61 , and a second driving device 64 for driving the magnetic wheel 25 to rotate.

[0089] In this embodiment, the first driving device 21 is mounted on the fourth fixing frame 22 , the fourth fixing frame 22 is fixedly connected to the first fixing plate 23 , and the first fixing plate 23 is fixedly connected to the frame 4 .

[0090] In this embodiment, the second driving device 64 is mounted 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 .

[0091] In this embodiment, the magnetic wheels 25 in the steering magnetic wheel assembly 2 and the driving magnetic wheel assembly 6 all adopt the following identical structure: the magnetic wheel 25 includes a flexible wheel skin 251, a central shaft 253, a magnetic 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 both axial sides of the magnetic ring 255, and the two armatures 254 are respectively located on the side of the two permanent magnets 256 axially away from the magnetic ring 255; the two permanent magnets 256 are both magnetized along the axial direction, and the magnetization directions of the two permanent magnets 256 are opposite; the flexible wheel skin 251 is sleeved on the outside of the magnetic ring 255, the permanent magnet 256 and the armature 254.

[0092] Please refer to Figure 12 , Figure 12 Schematically shows the magnetization direction and the direction of the magnetic flux lines inside the magnetic wheel 25.

[0093] In this embodiment, the first driving device 21 and the second driving device 64 are both motors.

[0094] Preferably, the flexible wheel skin 251 is made of rubber; the center shaft 253 is fixedly connected to the center shaft end fixing piece 252, and the center shaft 253 is installed on the first bearing 26 on both sides of the bogie 24; the center shaft end fixing piece 252, the armature 254, the magnetic ring 255, and the permanent magnet 256 are fixed together with screws through four threaded holes.

[0095] Example 3

[0096] A pressure vessel wall curvature adaptive magnetic particle inspection robot, based on embodiment 1 or 2, as Figures 1 to 15 As 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, a third fixed frame 111, a plurality of magnetic particle detection bodies 112 fixedly connected to the third fixed frame 111, and a magnetic particle detection probe 113 hinged to the magnetic particle detection body 112.

[0097] The magnetic suspension liquid storage container 114 is mounted on a container placement plate 115. The magnetic suspension liquid storage container 114 is connected to the water supply end of a pump 117, and the nozzle 118 is connected to the water supply end of the pump 117 via a magnetic suspension liquid delivery pipe 116. Furthermore, the nozzle 118 is adjacent to the magnetic particle detection probe 113.

[0098] This embodiment also includes a yoke probe tilt adjustment mechanism 12 and a yoke height adjustment mechanism 13 that match the magnetization system.

[0099] The yoke height adjustment mechanism 13 is as follows Figure 14 As shown, the apparatus includes a lifting plate 132 fixedly connected to the third fixing frame 111, and also includes a third driving device 131 for driving the lifting plate 132 to rise and fall relative to the measured wall surface. The third driving device 131 is preferably an electric push rod. Preferably, the third driving device 131 is mounted on the fourth fixing plate 5, which is fixedly connected to the frame 4.

[0100] The yoke probe inclination adjustment mechanism 12 is as follows Figure 15 As shown, two magnetic particle detection bodies 112 are installed on each third fixing frame 111, and each magnetic particle detection body 112 is hingedly connected to a magnetic particle detection probe 113;

[0101] The third fixing frame 111 further includes a first guide rail 1210, two first sliders 1212 that slide on the first guide rail 1210, and a second connecting rod 129 hingedly connected to the first sliders 1212. A transmission sleeve 1211 is fixedly connected to the first slider 1212, and the two transmission sleeves 1211 are respectively sleeved outside the corresponding two magnetic particle detection probes 113 on the third fixing frame 111.

[0102] The system further includes a second guide rail 128, a second slider 127 slidably engaged with the second guide rail 128, and a fourth drive 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. The second connecting rod 129 is hingedly connected to the second slider 127 at one end away from the first slider 1212. The fourth drive device 126 is preferably a motor.

[0103] In this embodiment, the fourth drive device 126 is installed on the second motor bracket 123, the second motor bracket 123 is installed on the second fixed rod 122, one end of the second fixed rod 122 is fixedly connected to the first fixed rod 121, the first fixed rod 121 and the second fixed rod 122 are perpendicular to each other, and the second fixed rod 122 is parallel to the first guide rail 1210; the output shaft of the fourth drive device 126 is fixedly connected to one end of the crank 124, the other end of the crank 124 is hinged to the connecting rod 125, and the end of the connecting rod 125 away from the crank 124 is hinged to the second slider 127.

[0104] 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, thereby adjusting the inclination angle of the magnetic particle detection probe 113 to adapt to the detection of walls with different curvatures.

[0105] In a more preferred embodiment, a distance measuring sensor can also be provided, which is installed on the outer wall of the magnetic particle detection probe 113 to monitor the distance between the magnetic particle detection probe 113 and the measured wall surface, thereby controlling the automatic operation of the yoke height adjustment mechanism 13.

[0106] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0107] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In addition, the term "connected" as used in this document, unless otherwise specified, may refer to a direct connection or an indirect connection via other components.

Claims

1. A pressure vessel wall curvature adaptive magnetic particle inspection robot, comprising a frame (4) and a magnetization system (11) mounted on the frame (4), characterized in that: It 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 attraction wheel assembly (2) and the driving magnetic attraction wheel assembly (6) are respectively located at two 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 of the frame (4) in the forward direction; The magnetic ball wheel assembly (3) comprises a first fixing frame (31), a ball wheel (35) slidingly engaged 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); Slide grooves are provided on opposite sides of the first fixed frame (31), and a guide light rod (36) is fixedly provided in the slide grooves; the magnetic ball wheel assembly (3) further comprises a sliding member (33) slidably connected in the slide grooves; the sliding member (33) is rotatably connected to the ball wheel (35), the guide light rod (36) moves through the sliding member (33), the elastic member (32) is sleeved outside the guide light rod (36), and the two ends of the elastic member (32) are respectively connected to the first fixed frame (31) and the sliding member (33); The ball wheel (35) is made of 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 to the fixing ring (39) in a 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 guide light rod (36), and the axis of the fixing shaft (310) and the axis of the magnetic block fixing frame mounting ring (311) intersect perpendicularly; a first magnetic attraction component is installed on the magnetic block fixing frame (314); The magnetic block fixing frame (314) is fan-shaped; the first magnetic attraction component comprises three radial magnetizing magnets (312) distributed along the circumferential direction on the magnetic block fixing frame (314), and a tangential magnetizing magnet (313) located between two adjacent radial magnetizing magnets (312); the magnetizing directions of the two adjacent radial magnetizing magnets (312) are opposite, and the magnetizing directions of the two tangential magnetizing magnets (313) are opposite; The radial length and circumferential width of the tangential magnetizing magnet (313) are both smaller than those of the radial magnetizing magnet (312); at the same time, the tangential magnetizing magnet (313) and the radial magnetizing magnet (312) are aligned at the outer diameter end of the sector; The magnetic block fixing frame (314) is made of magnetic conductive material; The magnetization system (11) comprises: 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), a third fixed frame (111), a plurality of magnetic particle detection bodies (112) fixedly connected to the third fixed frame (111), and a magnetic particle detection probe (113) hingedly connected to the magnetic particle detection body (112); Two magnetic particle detection bodies (112) are installed on each third fixing frame (111), and each magnetic particle detection body (112) is hingedly connected to a magnetic particle detection probe (113); It also includes a first guide rail (1210), two first sliders (1212) slidingly engaged with the first guide rail (1210), and a second connecting rod (129) hinged to the first slider (1212); a transmission sleeve (1211) is fixedly connected to the first slider (1212), and the two transmission sleeves (1211) are respectively sleeved outside the corresponding two magnetic particle detection probes (113) on the third fixed frame (111); It also includes a second guide rail (128), a second slider (127) slidably engaged with 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) and the first guide rail (1210) are perpendicular to each other; the second connecting rod (129) is hinged to the second slider (127) at one end away from the first slider (1212); It also includes a distance sensor, which is installed on the outer wall of the magnetic powder detection probe (113) and is used to monitor the distance between the magnetic powder detection probe (113) and the measured wall surface, and control the magnetic yoke height adjustment mechanism (13); The two magnetic particle detection probes (113) rotate inward or outward synchronously.

2. The pressure vessel wall curvature adaptive magnetic particle inspection robot according to claim 1, characterized in that: The steering magnetic wheel assembly (2) comprises 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) via a first bearing (26), and a first driving device (21) for driving the bogie (24) to rotate; the rotating shaft of the bogie (24) is perpendicular to the axis of the magnetic wheel (25).

3. The pressure vessel wall curvature adaptive magnetic particle inspection robot according to claim 1, characterized in that: The driving magnetic wheel assembly (6) comprises a magnetic wheel mounting frame (61), a magnetic wheel (25) rotatably connected to the magnetic wheel mounting frame (61), and a second driving device (64) for driving the magnetic wheel (25) to rotate.

4. A pressure vessel wall curvature adaptive magnetic particle inspection robot according to claim 2 or 3, characterized in that: The magnetic wheel (25) comprises a flexible wheel skin (251), a central shaft (253), a magnetic 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 both axial sides of the magnetic ring (255), and the two armatures (254) are respectively located on one side of the two permanent magnets (256) away from the magnetic ring (255) in the axial direction; the two permanent magnets (256) are both magnetized in the axial direction, and the magnetization directions of the two permanent magnets (256) are opposite; the flexible wheel skin (251) is sleeved outside the magnetic ring (255), the permanent magnets (256) and the armature (254).

5. The pressure vessel wall curvature adaptive magnetic particle inspection robot according to claim 1, characterized in that: The third fixing frame (111) is fixedly connected to the lifting plate (132), and further comprises a third driving device (131) for driving the lifting plate (132) to move up and down relative to the measured wall surface.

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