Hydrogen storage cylinder metal liner array eddy current detection manipulator

Abstract

The invention belongs to the technical field of mechanical arm equipment, and particularly relates to a hydrogen storage cylinder metal inner container array eddy current detection mechanical arm which comprises a mechanical arm body, a supporting table and a control module used for controlling the mechanical arm body to operate, and the bottom end of the mechanical arm body and the bottom end of the control module are both fixedly connected with the upper surface of the supporting table. The outer walls of the four supporting legs of the supporting table are jointly and fixedly connected with a bottom plate. The manipulator has the functions of controlling the probe of the array eddy current detector to be stably arranged in the metal inner container of the hydrogen storage bottle and accurately detecting the defects of the inner wall of the metal inner container of the hydrogen storage bottle, and also has the function of adjusting the distance between the probe of the array eddy current detector and the inner wall of the metal inner container of the hydrogen storage bottle; according to the hydrogen storage cylinder metal inner container defect detection manipulator, the accuracy and effect of hydrogen storage cylinder metal inner container defect detection can be effectively improved, the use safety and reliability of the hydrogen storage cylinder metal inner container are guaranteed, the manipulator further has a defect marking function, and the convenience of hydrogen storage cylinder metal inner container inner wall defect repair is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulator equipment, and particularly relates to a manipulator for eddy current detection of a hydrogen storage bottle metal inner liner array. Background Art

[0002] Hydrogen storage bottles are under long-term high pressure, corrosion and other harsh working conditions, and the inner liner is prone to defects such as cracks and corrosion pits, which directly threaten safety. Array eddy current detection synchronously collects signals through a multi-coil array, can quickly cover a large detection area, and has a significantly improved efficiency compared with traditional single-coil eddy current detection. It can accurately locate the defect position, quantify the size, and can also distinguish defect types (such as cracks and material inhomogeneity) through phase and amplitude analysis. At the same time, the detection process is non-contact and does not require a coupling agent, which is suitable for complex curved surfaces and narrow spaces, and can achieve efficient, accurate, and full-coverage detection of the defects of the hydrogen storage bottle inner liner without damaging the inner liner structure. Currently, in order to realize the intelligence and automation of the production of hydrogen storage bottle metal inner liners in factories, a manipulator is used to control the array eddy current probe, which can not only complete automatic detection but also avoid the errors caused by manually holding the probe, ensuring the reliability of the detection results.

[0003] Existing hydrogen storage bottle metal inner liners, as Figure 7 shown, mainly consist of a straight barrel body (A), an arc end cap (B), and a bottle mouth end (C). To enhance the pressure resistance performance, the thickness at the arc end cap is increased. Currently, due to the limitation of the inner diameter of the bottle mouth end during the array eddy current detection process of the hydrogen storage bottle metal inner liner, it is difficult for the manipulator to control the probe of the array eddy current detector to enter the inside of the hydrogen storage bottle metal inner liner for inner wall defect detection. As a result, most of the array eddy current detections of the hydrogen storage bottle metal inner liner are carried out on the outer wall. However, as the wall thickness of the inner liner increases, the accuracy of the outer wall detection decreases significantly, especially it is difficult to detect micro-defects on the inner wall, which poses a safety hazard to the hydrogen storage bottle metal inner liner, not only affecting the accuracy and effect of the array eddy current detection of the hydrogen storage bottle metal inner liner but also affecting the safety of the use of the hydrogen storage bottle metal inner liner.

[0004] Therefore, we propose a manipulator for array eddy current detection of a hydrogen storage bottle metal inner liner to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a manipulator for array eddy current detection of a hydrogen storage bottle metal inner liner in view of the above problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A manipulator for array eddy current detection of a hydrogen storage bottle metal inner liner includes a manipulator main body, a support table, and a control module for controlling the operation of the manipulator main body. The bottom ends of the manipulator main body and the control module are both fixedly connected to the upper surface of the support table, and a bottom plate is fixedly connected to the outer walls of the four support legs of the support table; The top connection end of the manipulator main body is fixedly connected with a connecting rod member, and a detection auxiliary mechanism is fixedly connected to the outer wall of the bottom end of the connecting rod member; An array eddy current detector is fixedly connected to the upper surface of the support platform; An inner container positioning mechanism is fixedly connected to the upper surface of the support platform; A defect marking mechanism is fixedly connected to the upper surface of the bottom plate.

[0007] In the above-mentioned array eddy current detection manipulator for the metal inner container of a hydrogen storage cylinder, the detection auxiliary mechanism includes a concave connecting round block fixedly connected to the outer wall of the bottom end of the connecting rod member. A connecting ring is movably sleeved on the outer wall of the concave connecting round block. A first electric thin push rod is fixedly connected to the outer wall of the connecting ring. A connecting block is fixedly connected to the moving end of the first electric thin push rod. Two fixing through holes are opened on the outer wall of the connecting block. The outer wall of the probe of the array eddy current detector is fixedly connected to the hole wall of one of the fixing through holes. A laser distance sensor is fixedly connected to the hole wall of the other fixing through hole. An inelastic rope is fixedly connected to the outer wall of the fixed end of the first electric thin push rod. A second electric thin push rod is fixedly connected to the outer wall of the connecting rod member. The moving end of the second electric thin push rod is fixedly connected to the outer side end of the inelastic rope. A elastic short rope is fixedly connected to the side wall of the connecting block. The outer side end of the elastic short rope is fixedly connected to the middle outer wall of the connecting rod member.

[0008] In the above-mentioned array eddy current detection manipulator for the metal inner container of a hydrogen storage cylinder, the ranging end of the laser distance sensor and the bottom end of the probe of the array eddy current detector are on the same horizontal plane. An annular groove matched with the elastic short rope is opened on the outer wall of the connecting ring.

[0009] In the above-mentioned array eddy current detection manipulator for the metal inner container of a hydrogen storage cylinder, a first bearing is fixedly sleeved on the outer wall of the top end of the connecting rod member. A positioning insertion ring is fixedly sleeved on the outer wall of the outer ring of the first bearing.

[0010] In the above-mentioned array eddy current detection manipulator for the metal inner container of a hydrogen storage cylinder, the inner container positioning mechanism includes a support ring fixedly connected to the upper surface of the support platform. A second bearing is fixedly connected to the inner wall of the support ring. A three-jaw chuck is fixedly connected to the inner wall of the inner ring of the second bearing. A servo motor is fixedly connected to the inner wall of the support platform. The driving end of the servo motor passes through the upper surface of the support platform and is fixedly connected to the bottom end of the three-jaw chuck.

[0011] In the above-mentioned eddy current detection manipulator for the metal inner liner array of a hydrogen storage bottle, the defect marking mechanism includes a storage box fixedly connected to the upper surface of the bottom plate. A micro pump is fixedly connected to the inner wall of the storage box. The interior of the storage box is filled with a marking liquid layer. The output end of the micro pump is fixedly communicated with a thin tube. The output end of the thin tube passes through the upper surface of the storage box. A cavity is formed inside the connecting block. A fixing through hole matching the thin tube is formed on the outer wall of the top end of the connecting rod member. The output end of the thin tube is fixedly communicated with the cavity located in the connecting block. A one-way nozzle is fixedly communicated with the bottom end of the cavity.

[0012] In the above-mentioned eddy current detection manipulator for the metal inner liner array of a hydrogen storage bottle, a threaded filling hole for marking liquid replenishment is formed on the outer wall of the top end of the storage box, and a sealing plug is threadedly connected to the hole wall of the threaded filling hole.

[0013] In the above-mentioned eddy current detection manipulator for the metal inner liner array of a hydrogen storage bottle, a PLC controller is fixedly connected to the upper surface of the bottom plate. The output ends of the laser distance sensor and the array eddy current detector are electrically connected to the input end of the PLC controller through wires. The input ends of the first electric thin push rod, the second electric thin push rod and the micro pump are electrically connected to the output end of the PLC controller through wires.

[0014] Compared with the existing technology, the advantages of an eddy current detection manipulator for the metal inner liner array of a hydrogen storage bottle are as follows: By providing the manipulator main body, the inner liner positioning mechanism, the connecting rod body and the detection auxiliary mechanism, when the inner wall defect of the metal inner liner of the hydrogen storage bottle needs to be detected, the staff positions and fastens the metal inner liner of the hydrogen storage bottle through the inner liner positioning mechanism. Then, the control module is used to control the manipulator main body to insert the connecting rod member into the metal inner liner of the hydrogen storage bottle. At the same time, the detection auxiliary mechanism and the probe of the array eddy current detector are placed inside the metal inner liner of the hydrogen storage bottle to detect the inner wall defect. During the detection process, the inner liner positioning mechanism controls the rotation of the metal inner liner of the hydrogen storage bottle. The manipulator main body controls the position of the probe of the array eddy current detector to gradually rise through the connecting rod member, and the detection auxiliary mechanism controls the probe of the array eddy current detector to comprehensively detect the inner walls of the straight cylinder body A and the two arc end covers B. This mechanism enables the manipulator to have the function of stably placing the probe of the array eddy current detector inside the metal inner liner of the hydrogen storage bottle and accurately detecting the inner wall defect of the metal inner liner of the hydrogen storage bottle, without being affected by the wall thickness change of the metal inner liner of the hydrogen storage bottle, further improving the accuracy and effect of the defect detection of the metal inner liner of the hydrogen storage bottle, and ensuring the safety and reliability of the use of the metal inner liner of the hydrogen storage bottle.

[0015] Through the provided detection assistance mechanism, when the probe of the array eddy current detector moves along with the detection assistance mechanism to detect the inner wall of the metal inner liner of the hydrogen storage bottle, the laser ranging sensor emits a laser beam to the inner wall of the metal inner liner of the hydrogen storage bottle and measures the distance between the probe of the array eddy current detector and the inner wall of the metal inner liner of the hydrogen storage bottle. The laser ranging sensor converts the detected value into an electrical signal and sends it to the PLC controller. After receiving the electrical signal, the PLC controller performs a numerical comparison, and the PLC controller cooperates with the first electric fine push rod to adjust the distance between the probe of the array eddy current detector and the inner wall of the metal inner liner of the hydrogen storage bottle to meet the standard distance range preset by the PLC controller, avoiding the situation that the eddy current detection data is inaccurate due to the probe of the array eddy current detector being too far away from the inner wall of the metal inner liner of the hydrogen storage bottle. This mechanism enables the manipulator to adjust the distance between the probe of the array eddy current detector and the inner wall of the metal inner liner of the hydrogen storage bottle, further ensuring the accuracy of the defect detection of the inner wall of the metal inner liner of the hydrogen storage bottle.

[0016] Through the provided defect marking mechanism, when the manipulator body controls the probe of the array eddy current detector to detect the inner wall of the metal inner liner of the hydrogen storage bottle through the connecting rod and the detection assistance mechanism and discovers a defect, the array eddy current detector will send a signal to the PLC controller. The PLC controller controls the defect marking mechanism to spray the marking liquid to the inner wall of the metal inner liner of the hydrogen storage bottle near the defect according to the received electrical signal. Through the marking of the marking liquid, it is convenient for the maintenance personnel to quickly locate the defect position and repair it with professional tools. This mechanism enables the manipulator to have the function of marking the defects on the inner wall of the metal inner liner of the hydrogen storage bottle and improves the convenience of repairing the defects on the inner wall of the metal inner liner of the hydrogen storage bottle. Brief Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 2 is a schematic structural diagram of the top part of the connecting rod in a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 3 is a schematic structural diagram of the detection assistance mechanism in a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 4 is a schematic structural diagram of the connecting ring part in a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 5 is a schematic structural diagram of the defect marking mechanism in a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 6 is a schematic cross-sectional view of the connecting block in a manipulator for array eddy current detection of the metal inner liner of a hydrogen storage bottle provided by the present invention; Figure 7 is a schematic structural diagram of the existing metal inner liner of a hydrogen storage bottle.

[0018] In the figure: 1 manipulator main body, 2 support platform, 3 control module, 4 bottom plate, 5 connecting rod member, 6 detection auxiliary mechanism, 61 concave connecting circular block, 62 connecting ring, 63 first electric thin push rod, 64 connecting block, 65 laser distance sensor, 66 inelastic rope, 67 second electric thin push rod, 68 elastic short rope, 7 array eddy current detector, 8 inner liner positioning mechanism, 81 support ring, 82 second bearing, 83 three-jaw chuck, 84 servo motor, 9 defect marking mechanism, 91 storage box, 92 micro pump, 93 marking liquid layer, 94 thin tube, 95 cavity, 96 one-way nozzle, 10 annular groove, 11 first bearing, 12 positioning insertion ring, 13 sealing plug, 14 PLC controller. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] As Figures 1-7 shown, a manipulator for array eddy current detection of a hydrogen storage bottle metal inner liner includes a manipulator main body 1, a support platform 2, and a control module 3 for controlling the operation of the manipulator main body 1. The bottom ends of the manipulator main body 1 and the control module 3 are fixedly connected to the upper surface of the support platform 2. The outer walls of the four support legs of the support platform 2 are commonly fixedly connected with a bottom plate 4. The top connection end of the manipulator main body 1 is fixedly connected with a connecting rod member 5. The outer wall of the top end of the connecting rod member 5 is fixedly sleeved with a first bearing 11. The outer wall of the outer ring of the first bearing 11 is fixedly sleeved with a positioning insertion ring 12, and the positioning insertion ring 12 can ensure the stability of the position of the top of the hydrogen storage bottle metal inner liner.

[0021] The outer wall of the bottom end of the connecting rod member 5 is fixedly connected with a detection auxiliary mechanism 6. The detection auxiliary mechanism 6 includes a concave connecting circular block 61 fixedly connected with the outer wall of the bottom end of the connecting rod member 5. A connecting ring 62 is movably sleeved on the outer wall of the concave connecting circular block 61. A first electric thin push rod 63 is fixedly connected to the outer wall of the connecting ring 62. The moving end of the first electric thin push rod 63 is fixedly connected with a connecting block 64. Two fixing through holes are formed in the outer wall of the connecting block 64. The outer wall of the probe of the array eddy current detector 7 is fixedly connected with the hole wall of one of the fixing through holes. The hole wall of the other fixing through hole is fixedly connected with a laser distance sensor 65. An inelastic rope 66 is fixedly connected to the outer wall of the fixed end of the first electric thin push rod 63. A second electric thin push rod 67 is fixedly connected to the outer wall of the connecting rod member 5. The moving end of the second electric thin push rod 67 is fixedly connected with the outer end of the inelastic rope 66. An elastic short rope 68 is fixedly connected to the side wall of the connecting block 64. The outer end of the elastic short rope 68 is fixedly connected with the outer wall of the middle part of the connecting rod member 5.

[0022] An array eddy current detector 7 is fixedly connected to the upper surface of the support platform 2. An inner container positioning mechanism 8 is fixedly connected to the upper surface of the support platform 2. The inner container positioning mechanism 8 includes a support ring 81 fixedly connected to the upper surface of the support platform 2. A second bearing 82 is fixedly connected to the inner wall of the support ring 81. The inner wall of the inner ring of the second bearing 82 is fixedly connected with a three-jaw chuck 83. Anti-slip tooth patterns are provided on the clamping jaws of the three-jaw chuck 83. A servo motor 84 is fixedly connected to the inner wall of the support platform 2. The driving end of the servo motor 84 passes through the upper surface of the support platform 2 and is fixedly connected with the bottom end of the three-jaw chuck 83. The ranging end of the laser distance sensor 65 and the bottom end of the probe of the array eddy current detector 7 are on the same horizontal plane, ensuring the accuracy of measuring the distance between the probe of the array eddy current detector 7 and the inner wall indirectly. An annular groove 10 matching with the elastic short rope 68 is formed in the outer wall of the connecting ring 62. The annular groove 10 can ensure the stability of the telescopic movement of the elastic short rope 68. This mechanism can drive the metal inner container of the hydrogen storage bottle 360 degrees, ensuring that the inner wall of the metal inner container of the hydrogen storage bottle can be accurately detected.

[0023] The upper surface of the bottom plate 4 is fixedly connected with a defect marking mechanism 9. The defect marking mechanism 9 includes a storage box 91 fixedly connected to the upper surface of the bottom plate 4. The inner wall of the storage box 91 is fixedly connected with a micro pump 92. The inside of the storage box 91 is filled with a marking liquid layer 93. The output end of the micro pump 92 is fixedly communicated with a thin tube 94. The output end of the thin tube 94 passes through the upper surface of the storage box 91. A cavity 95 is formed inside the connecting block 64. A fixing through hole matching with the thin tube 94 is formed on the outer wall of the top end of the connecting rod member 5. The output end of the thin tube 94 is fixedly communicated with the cavity 95 located in the connecting block 64. The bottom end of the cavity 95 is fixedly communicated with a one-way nozzle 96. A threaded filling hole for marking liquid supplement is formed on the outer wall of the top end of the storage box 91, and a sealing plug 13 is threadedly connected to the hole wall of the threaded filling hole. This mechanism enables the manipulator to have the function of marking the inner wall defects of the metal inner liner of the hydrogen storage cylinder, and improves the convenience of repairing the inner wall defects of the metal inner liner of the hydrogen storage cylinder.

[0024] The upper surface of the bottom plate 4 is fixedly connected with a PLC controller 14. The output ends of the laser ranging sensor 65 and the array eddy current detector 7 are electrically connected to the input end of the PLC controller 14 through wires. The input ends of the first electric thin push rod 63, the second electric thin push rod 67 and the micro pump 92 are electrically connected to the output end of the PLC controller 14 through wires. This electrified equipment and electrical connection are all prior arts and will not be elaborated here.

[0025] Now, the operation principle of the present invention is described as follows: When the inner wall defects of the metal inner liner of the hydrogen storage cylinder need to be detected, at this time, the outer wall and the inner walls of the two bottle mouths C of the metal inner liner of the hydrogen storage cylinder are all in a qualified state. Then, the staff places the metal inner liner of the hydrogen storage cylinder on the three-jaw chuck 83 and positions and fastens it through the three-jaw chuck 83. Then, the control module 3 controls the manipulator main body 1 to insert the connecting rod member 5 into the metal inner liner of the hydrogen storage cylinder, and at the same time, places the detection auxiliary mechanism 6 and the probe of the array eddy current detector 7 inside the metal inner liner of the hydrogen storage cylinder for inner wall defect detection. During the detection process, the control module 3 strictly controls the operation of the manipulator main body 1 according to the pre-stored program, so that the manipulator main body 1 drives the connecting rod member 5 to rise a certain distance (5 cm) every 30 seconds. This rising distance can be set independently through the program pre-stored in the control module 3. After each rise, the inner liner positioning mechanism 8 is controlled by the PLC controller 14 to drive the metal inner liner of the hydrogen storage cylinder to rotate 360 degrees. During the rotation of the metal inner liner of the hydrogen storage cylinder by 360 degrees, it is detected by the probe of the array eddy current detector 7. When the array eddy current detector 7 finds a defect, it is displayed on its own display screen, and at the same time, a signal is sent to the PLC controller 14. Moreover, the time for the inner liner positioning mechanism 8 to control the metal inner liner of the hydrogen storage cylinder to rotate 360 degrees is set to 20 seconds to ensure sufficient detection time for the array eddy current detector 7, realizing the comprehensive detection of the straight barrel body A and the inner walls of the two arc end covers B of the metal inner liner of the hydrogen storage cylinder; Specifically, after the manipulator main body 1 vertically inserts the detection auxiliary mechanism 6 through the connecting rod member 5, the PLC controller 14 controls the mobile end of the second electric fine push rod 67 to move out one-sixth of the full stroke according to the pre-stored program. At this time, the inelastic rope 66 is relaxed, and the first electric fine push rod 63 loses the restraint of the inelastic rope 66 and is affected by the recovery force of the elastic short rope 68. The first electric fine push rod 63 deflects counterclockwise by 30 degrees on the concave connecting round block 61 through the connecting ring 62. Then, the laser distance sensor 65 cooperates with the first electric fine push rod 63 to adjust the position of the connecting block 64. The adjustment of the connecting block 64 takes 10 seconds to ensure that the probe of the array eddy current detector 7 is always at a standard detection distance (1 mm - 2 mm) preset by the PLC controller 14 from the inner wall of the metal inner liner of the hydrogen storage bottle. After that, the PLC controller 14 controls the driving end of the servo motor 84 to rotate 360 degrees for 20 seconds according to the qualified distance electrical signal fed back by the laser distance sensor 65. The driving end of the servo motor 84 drives the three-jaw chuck 83 to rotate, and the three-jaw chuck 83 drives the metal inner liner of the hydrogen storage bottle to rotate 360 degrees. After the 360-degree rotation is completed, the manipulator main body 1 rises a certain distance under the control of the control module 3, and the mobile end of the second electric fine push rod 67 moves out one-sixth of the full stroke again. At this time, the first electric fine push rod 63 deflects counterclockwise by 60 degrees on the concave connecting round block 61 through the connecting ring 62. Then, the inner liner positioning mechanism 8 controls the metal inner liner of the hydrogen storage bottle to rotate 360 degrees. At this time, the defect detection of the inner wall of the bottom arc end cover B of the metal inner liner of the hydrogen storage bottle is completed. When the manipulator main body 1 drives the detection auxiliary mechanism 6 to rise a certain distance again through the connecting rod member 5, the PLC controller 14 controls the mobile end of the second electric fine push rod 67 to move out one-sixth of the full stroke again. The mobile end of the second electric fine push rod 67 moves out to half of the full stroke, and at this time, the first electric fine push rod 63 is in a horizontal state. Then, the probe of the array eddy current detector 7 on the connecting block 64 is also in a horizontal state. During the defect detection process of the entire straight barrel body A inner wall of the metal inner liner of the hydrogen storage bottle, the probe of the array eddy current detector 7 is in a horizontal state. When detecting the inner wall of the top arc end cover B of the metal inner liner of the hydrogen storage bottle, the extension end of the second electric fine push rod 67 gradually extends at a distance of one-sixth of the full stroke to ensure that the probe angle of the array eddy current detector 7 adapts to the inner wall of the top arc end cover B of the metal inner liner of the hydrogen storage bottle, so as to accurately detect the defects of the inner wall of the top arc end cover B of the metal inner liner of the hydrogen storage bottle comprehensively. After the detection of the inner wall of the metal inner liner of the hydrogen storage bottle is completed, the PLC controller 14 controls the mobile end of the second electric fine push rod 67 to fully contract, so that the first electric fine push rod 63 is in a vertical state again. At the same time, the manipulator main body 1 takes out the detection auxiliary mechanism 6 from the inside of the metal inner liner of the hydrogen storage bottle through the connecting rod member 5. This mechanism enables the manipulator to have the function of stably placing the probe of the array eddy current detector 7 inside the metal inner liner of the hydrogen storage bottle and accurately detecting the defects of the inner wall of the metal inner liner of the hydrogen storage bottle, and will not be affected by the change of the wall thickness of the metal inner liner of the hydrogen storage bottle, further improving the accuracy and effect of the defect detection of the metal inner liner of the hydrogen storage bottle.and ensure the safety and reliability of the use of the metal inner liner of the hydrogen storage cylinder; When the probe of the array eddy current detector 7 detects along with the detection auxiliary mechanism 6 on the inner wall of the metal inner liner of the hydrogen storage cylinder, the laser ranging sensor 65 emits a laser beam to the inner wall of the metal inner liner of the hydrogen storage cylinder and measures the distance between the laser ranging sensor 65 and the inner wall of the metal inner liner of the hydrogen storage cylinder, that is, measures the distance between the probe of the array eddy current detector 7 and the inner wall of the metal inner liner of the hydrogen storage cylinder. The laser ranging sensor 65 converts the detected value into an electrical signal and sends it to the PLC controller 14. After receiving the electrical signal, the PLC controller 14 conducts a numerical comparison. If the ranging value does not meet the standard distance range (1 mm - 2 mm) preset by the PLC controller 14, the PLC controller 14 controls the extension end of the first electric thin push rod 63 to move. The first electric thin push rod 63 pushes the connecting block 64 closer to the inner wall of the metal inner liner of the hydrogen storage cylinder and drives the probe of the array eddy current detector 7 closer until the distance between the probe of the array eddy current detector 7 and the inner wall of the metal inner liner of the hydrogen storage cylinder meets the standard detection distance preset by the PLC controller 14, avoiding the situation that the eddy current detection data is inaccurate due to the probe of the array eddy current detector 7 being too far away from the inner wall of the metal inner liner of the hydrogen storage cylinder. This mechanism enables the manipulator to adjust the distance between the probe of the array eddy current detector 7 and the inner wall of the metal inner liner of the hydrogen storage cylinder, further ensuring the accuracy of the defect detection on the inner wall of the metal inner liner of the hydrogen storage cylinder; When the probe of the array eddy current detector 7 detects a defect on the inner wall of the metal inner liner of the hydrogen storage cylinder under the control of the manipulator main body 1 through the connecting rod member 5 and the detection auxiliary mechanism 6, the array eddy current detector 7 sends a signal to the PLC controller 14. The PLC controller 14 controls the micro pump 92 to start for 5 seconds according to the received electrical signal. The micro pump 92 transports the marking liquid in the marking liquid layer 93 in the storage tank 91 to the cavity 95 through the thin tube 94, and then sprays it to the inner wall of the metal inner liner of the hydrogen storage cylinder near the defect through the one-way nozzle 96. Moreover, the marking liquid in the marking liquid layer 93 is selected as a non-solidifying and easily wipeable liquid. Through the marking of the marking liquid, it is convenient for maintenance personnel to quickly locate the defect position. During the positioning process, the staff draws a circle with the marking liquid point as the center and the length of the connecting block 64 as the radius. The defect point can be quickly found within this circle range, and it is convenient for maintenance personnel to repair the defect on the inner wall of the metal inner liner of the hydrogen storage cylinder. After the defect is repaired, the staff wipes the marking liquid point with a tool to ensure the cleanliness of the inner wall of the metal inner liner of the hydrogen storage cylinder. If there are too many defects on the inner wall of the metal inner liner of the hydrogen storage cylinder, it has no repair value. The staff can remove the metal inner liner of the hydrogen storage cylinder from the three-jaw chuck 83 and transport the unqualified metal inner liner of the hydrogen storage cylinder to the raw material workshop for recycling. This mechanism enables the manipulator to have the function of marking the defects on the inner wall of the metal inner liner of the hydrogen storage cylinder and improves the convenience of repairing the defects on the inner wall of the metal inner liner of the hydrogen storage cylinder.

[0026] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A metal inner liner array eddy current detection manipulator for a hydrogen storage cylinder, comprising a manipulator main body (1), a support table (2), and a control module (3) for controlling the operation of the manipulator main body (1), characterized in that, The bottom ends of the manipulator main body (1) and the control module (3) are both fixedly connected to the upper surface of the support table (2), and a bottom plate (4) is fixedly connected to the outer walls of the four support legs of the support table (2); The top connection end of the manipulator main body (1) is fixedly connected with a connecting rod member (5), and a detection auxiliary mechanism (6) is fixedly connected to the outer wall of the bottom end of the connecting rod member (5); An array eddy current detector (7) is fixedly connected to the upper surface of the support table (2); An inner liner positioning mechanism (8) is fixedly connected to the upper surface of the support table (2); A defect marking mechanism (9) is fixedly connected to the upper surface of the bottom plate (4).

2. The eddy current detection manipulator for the metal inner liner array of a hydrogen storage cylinder according to claim 1, wherein, The detection auxiliary mechanism (6) includes a concave connecting circular block (61) fixedly connected to the outer wall of the bottom end of the connecting rod member (5). A connecting ring (62) is movably sleeved on the outer wall of the concave connecting circular block (61). A first electric thin push rod (63) is fixedly connected to the outer wall of the connecting ring (62). A connecting block (64) is fixedly connected to the moving end of the first electric thin push rod (63). Two fixed through holes are formed in the outer wall of the connecting block (64). The outer wall of the probe of the array eddy current detector (7) is fixedly connected to the hole wall of one of the fixed through holes, and a laser distance sensor (65) is fixedly connected to the hole wall of the other fixed through hole. An inelastic rope (66) is fixedly connected to the outer wall of the fixed end of the first electric thin push rod (63). A second electric thin push rod (67) is fixedly connected to the outer wall of the connecting rod member (5). The moving end of the second electric thin push rod (67) is fixedly connected to the outer end of the inelastic rope (66). A elastic short rope (68) is fixedly connected to the side wall of the connecting block (64). The outer end of the elastic short rope (68) is fixedly connected to the middle outer wall of the connecting rod member (5).

3. The eddy current detection manipulator for the metal inner liner array of a hydrogen storage cylinder according to claim 2, wherein The ranging end of the laser distance sensor (65) and the bottom end of the probe of the array eddy current detector (7) are on the same horizontal plane, and an annular groove (10) matching the elastic short rope (68) is formed in the outer wall of the connecting ring (62).

4. A hydrogen storage cylinder metal inner liner array eddy current detection manipulator according to claim 1, characterized in that, A first bearing (11) is fixedly sleeved on the outer wall of the top end of the connecting rod member (5), and a positioning insertion ring (12) is fixedly sleeved on the outer wall of the outer ring of the first bearing (11).

5. A manipulator for eddy current inspection of a metal inner liner array of a hydrogen storage cylinder according to claim 1, characterized in that, The inner liner positioning mechanism (8) includes a support ring (81) fixedly connected to the upper surface of the support table (2). A second bearing (82) is fixedly connected to the inner wall of the support ring (81). A three-jaw chuck (83) is fixedly connected to the inner wall of the second bearing (82). A servo motor (84) is fixedly connected to the inner wall of the support table (2). The driving end of the servo motor (84) passes through the upper surface of the support table (2) and is fixedly connected to the bottom end of the three-jaw chuck (83).

6. A hydrogen storage cylinder metal inner liner array eddy current detection manipulator according to claim 2, characterized in that, The defect marking mechanism (9) includes a storage tank (91) fixedly connected to the upper surface of the bottom plate (4). A micro pump (92) is fixedly connected to the inner wall of the storage tank (91). A marking liquid layer (93) is filled inside the storage tank (91). The output end of the micro pump (92) is fixedly communicated with a thin tube (94). The output end of the thin tube (94) passes through the upper surface of the storage tank (91). A cavity (95) is formed inside the connecting block (64). A fixing through hole matching the thin tube (94) is formed in the outer wall of the top end of the connecting rod member (5). The output end of the thin tube (94) is fixedly communicated with the cavity (95) located in the connecting block (64). A one-way nozzle (96) is fixedly communicated with the bottom end of the cavity (95).

7. A manipulator for eddy current testing of a metal inner liner array of a hydrogen storage cylinder according to claim 6, characterized in that, A threaded filling hole for marking liquid supplement is formed in the outer wall of the top end of the storage tank (91), and a sealing plug (13) is threadedly connected to the hole wall of the threaded filling hole.

8. A hydrogen storage cylinder metal inner liner array eddy current detection manipulator according to claim 6, characterized in that, A PLC controller (14) is fixedly connected to the upper surface of the bottom plate (4). The output ends of the laser distance measuring sensor (65) and the array eddy current detector (7) are electrically connected to the input end of the PLC controller (14) through wires. The input ends of the first electric thin push rod (63), the second electric thin push rod (67) and the micro pump (92) are electrically connected to the output end of the PLC controller (14) through wires.

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