A manipulator for eddy current detection of hydrogen storage bottle metal liner array

Abstract

The present invention belongs to the technical field of manipulator equipment, and in particular relates to a manipulator for array eddy current detection of the metal liner of a hydrogen storage bottle, comprising a manipulator body, a support platform, and a control module for controlling the operation of the manipulator body, the bottom ends of the manipulator body and the control module are fixedly connected to the upper surface of the support platform, and the outer walls of the four supporting legs of the support platform are fixedly connected to a bottom plate. The present invention enables the manipulator to control the probe of the array eddy current detector to be stably placed inside the metal liner of the hydrogen storage bottle, and to perform precise detection of defects on the inner wall of the metal liner of the hydrogen storage bottle. At the same time, it has the function of adjusting the distance between the probe of the array eddy current detector and the inner wall of the metal liner of the hydrogen storage bottle, which can effectively improve the accuracy and effect of defect detection of the metal liner of the hydrogen storage bottle, and ensure the safety and reliability of the use of the metal liner of the hydrogen storage bottle. In addition, the manipulator also has the function of defect marking, and improves the convenience of repairing defects on the inner wall of the metal liner of the hydrogen storage bottle.

Description

Technical Field

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

[0002] Hydrogen storage bottles are subjected to harsh working conditions such as high pressure and corrosion for a long time. The inner liner is prone to defects such as cracks and corrosion pits, which directly threaten safety. Array eddy current testing uses a multi-coil array to synchronously collect signals, which can quickly cover a large detection area. Compared with traditional single-coil eddy current testing, the efficiency is significantly improved. It can accurately locate the defect position and quantify the size. It can also distinguish the defect type (such as cracks, uneven material) through phase and amplitude analysis. At the same time, the detection process is non-contact and does not require coupling agents. It is suitable for complex surfaces and narrow spaces. It can achieve efficient, accurate and full coverage detection of defects in the hydrogen storage bottle liner without destroying the liner structure. In order to realize the intelligent and automated production of the metal liner of the hydrogen storage bottle, the current factory uses a robot to control the array eddy current probe, which can not only complete automatic detection, but also avoid the errors caused by manual handheld probes, thereby ensuring the reliability of the test results.

[0003] Existing hydrogen storage bottle metal liner such as Figure 7 As shown, it is mainly composed of a straight bottle body (A), a curved end cap (B) and a bottle mouth (C). In order to enhance the pressure resistance, the thickness of the curved end cap is increased. At present, due to the limitation of the inner diameter of the bottle mouth, the array eddy current detection process of the metal liner of the hydrogen storage bottle is not easy to control the array eddy current detector probe to enter the metal liner of the hydrogen storage bottle for inner wall defect detection. As a result, the array eddy current detection of the metal liner of the hydrogen storage bottle is mostly performed on the outer wall. However, with the increase of the wall thickness of the inner liner, the accuracy of the outer wall detection decreases significantly, and it is especially difficult to detect micro defects on the inner wall, which makes the metal liner of the hydrogen storage bottle a safety hazard. It not only affects the accuracy and effect of the array eddy current detection of the metal liner of the hydrogen storage bottle, but also affects the safety of the use of the metal liner of the hydrogen storage bottle.

[0004] To this end, we propose an eddy current detection robot for the metal liner array of hydrogen storage bottles to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to address the above problems and provide a hydrogen storage bottle metal liner array eddy current detection robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions: a hydrogen storage bottle metal liner array eddy current detection manipulator, comprising a manipulator body, a support platform and a control module for controlling the operation of the manipulator body, wherein the bottom ends of the manipulator body and the control module are fixedly connected to the upper surface of the support platform, and the outer walls of the four support legs of the support platform are fixedly connected to a bottom plate;

[0007] The top connecting end of the manipulator body is fixedly connected to a connecting rod, and the outer wall of the bottom end of the connecting rod is fixedly connected to a detection auxiliary mechanism;

[0008] An array eddy current detector is fixedly connected to the upper surface of the support platform;

[0009] The upper surface of the support platform is fixedly connected with an inner liner positioning mechanism;

[0010] A defect marking mechanism is fixedly connected to the upper surface of the base plate.

[0011] In the above-mentioned eddy current detection robot for the metal liner array of a hydrogen storage bottle, the detection auxiliary mechanism includes a concave connecting circular block fixedly connected to the outer wall of the bottom end of the connecting rod, the outer wall of the concave connecting circular block is movably sleeved with a connecting ring, the outer wall of the connecting ring is fixedly connected to a first electric thin push rod, the movable end of the first electric thin push rod is fixedly connected to the connecting block, and the outer wall of the connecting block is provided with two fixed through holes, one of the hole walls of the fixed through holes is fixedly connected to the outer wall of the probe of the array eddy current detector, and the other hole wall of the fixed through hole is fixedly connected to a laser ranging sensor, the outer wall of the fixed end of the first electric thin push rod is fixedly connected to an inelastic rope, the outer wall of the connecting rod is fixedly connected to a second electric thin push rod, the movable end of the second electric thin push rod is fixedly connected to the outer end of the inelastic rope, the side wall of the connecting block is fixedly connected to an elastic short rope, and the outer end of the elastic short rope is fixedly connected to the middle outer wall of the connecting rod.

[0012] In the above-mentioned hydrogen storage bottle metal liner array eddy current detection robot, the ranging end of the laser ranging sensor and the bottom end of the probe of the array eddy current detector are on the same horizontal plane, and the outer wall of the connecting ring is provided with an annular groove that cooperates with the elastic short rope.

[0013] In the above-mentioned eddy current detection robot for the metal liner array of hydrogen storage bottles, a first bearing is fixedly sleeved on the outer wall of the top end of the connecting rod, and a positioning insert is fixedly sleeved on the outer wall of the outer ring of the first bearing.

[0014] In the above-mentioned eddy current detection robot for the metal liner array of a hydrogen storage bottle, the liner positioning mechanism includes a support ring fixedly connected to the upper surface of the support platform, the inner wall of the support ring is fixedly connected to a second bearing, the inner wall of the inner ring of the second bearing is fixedly connected to a three-jaw chuck, the inner wall of the support platform is fixedly connected to a servo motor, 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.

[0015] In the above-mentioned eddy current detection robot for the metal liner array of a hydrogen storage bottle, the defect marking mechanism includes a storage box fixedly connected to the upper surface of the base plate, the inner wall of the storage box is fixedly connected to a micro pump, the interior of the storage box is filled with a marking liquid layer, the output end of the micro pump is fixedly connected to a thin tube, the output end of the thin tube passes through the upper surface of the storage box, a cavity is opened inside the connecting block, and a fixed through hole is opened on the top outer wall of the connecting rod to match the thin tube, the output end of the thin tube is fixedly connected to the cavity located in the connecting block, and the bottom end of the cavity is fixedly connected to a one-way nozzle.

[0016] In the above-mentioned eddy current detection robot for the metal liner array of hydrogen storage bottles, a threaded filling hole for replenishing the marking liquid is opened on the top outer wall of the storage box, and a sealing plug is threadedly connected to the hole wall of the threaded filling hole.

[0017] In the above-mentioned hydrogen storage bottle metal liner array eddy current detection robot, the upper surface of the base plate is fixedly connected to a PLC controller, the output ends of the laser ranging sensor and the array eddy current detector are electrically connected to the input end of the PLC controller through wires, and the input ends of the first electric push rod, the second electric push rod and the micro pump are electrically connected to the output end of the PLC controller through wires.

[0018] Compared with existing technologies, the advantages of a hydrogen storage bottle metal liner array eddy current detection manipulator are:

[0019] Through the set manipulator main body, liner positioning mechanism, connecting rod body and detection auxiliary mechanism, when the metal liner of the hydrogen storage bottle needs to be inspected for inner wall defects, the staff positions and tightens the metal liner of the hydrogen storage bottle through the liner positioning mechanism, and then controls the manipulator main body through the control module to insert the connecting rod into the metal liner of the hydrogen storage bottle, and at the same time places the detection auxiliary mechanism and the probe of the array eddy current detector inside the metal liner of the hydrogen storage bottle to perform inner wall defect detection. During the detection process, the liner positioning mechanism controls the rotation of the metal liner of the hydrogen storage bottle, and the manipulator main body controls the probe position of the array eddy current detector to gradually rise through the connecting rod, and controls the probe of the array eddy current detector to fully detect the inner walls of the straight bottle body A and the two curved end caps B through the detection auxiliary mechanism. This mechanism enables the manipulator to control the probe of the array eddy current detector to be stably placed inside the metal liner of the hydrogen storage bottle and to perform accurate detection of inner wall defects of the metal liner of the hydrogen storage bottle, without being affected by changes in the wall thickness of the metal liner of the hydrogen storage bottle, further improving the accuracy and effect of the metal liner defect detection of the hydrogen storage bottle, and ensuring the safety and reliability of the use of the metal liner of the hydrogen storage bottle.

[0020] Through the detection auxiliary mechanism set up, when the probe of the array eddy current detector follows the detection auxiliary mechanism to detect the inner wall of the metal liner of the hydrogen storage bottle, the laser ranging sensor emits a laser beam to the inner wall of the metal 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 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. 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 liner of the hydrogen storage bottle to meet the standard distance range preset by the PLC controller, so as to avoid the situation where the probe of the array eddy current detector is too far away from the inner wall of the metal liner of the hydrogen storage bottle and the eddy current detection data is inaccurate. 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 liner of the hydrogen storage bottle, thereby further ensuring the accuracy of the defect detection of the inner wall of the metal liner of the hydrogen storage bottle.

[0021] Through the defect marking mechanism set up, when the robot body controls the probe of the array eddy current detector through the connecting rod and the detection auxiliary mechanism to detect defects on the inner wall of the metal liner of the hydrogen storage bottle, the array eddy current detector will send a signal to the PLC controller. The PLC controller controls the defect marking mechanism to spray marking liquid to the inner wall of the metal liner of the hydrogen storage bottle near the defect according to the received electrical signal. The marking of the marking liquid can facilitate maintenance personnel to quickly locate the defect position and repair it with professional tools. This mechanism enables the robot to have the function of marking defects on the inner wall of the metal liner of the hydrogen storage bottle, and improves the convenience of repairing defects on the inner wall of the metal liner of the hydrogen storage bottle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a structural schematic diagram of an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0023] Figure 2 This is a structural schematic diagram of the top portion of a connecting rod in an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0024] Figure 3 This is a structural schematic diagram of a detection auxiliary mechanism in an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0025] Figure 4 This is a structural diagram of the connecting ring part of an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0026] Figure 5 This is a structural schematic diagram of a defect marking mechanism in an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0027] Figure 6This is a structural schematic diagram of a cross-section of a connecting block in an eddy current detection manipulator for a metal liner array of a hydrogen storage bottle provided by the present invention;

[0028] Figure 7 It is a structural schematic diagram of the metal liner of an existing hydrogen storage bottle.

[0029] In the figure: 1 robot body, 2 support platform, 3 control module, 4 bottom plate, 5 connecting rod, 6 detection auxiliary mechanism, 61 concave connecting round block, 62 connecting ring, 63 first electric thin push rod, 64 connecting block, 65 laser ranging sensor, 66 inelastic rope, 67 second electric thin push rod, 68 elastic short rope, 7 array eddy current detector, 8 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 insert ring, 13 sealing plug, 14 PLC controller. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] like Figure 1-Figure 7 As shown, a manipulator for eddy current detection of metal liner arrays of hydrogen storage bottles includes a manipulator body 1, a support platform 2 and a control module 3 for controlling the operation of the manipulator body 1. The bottom ends of the manipulator body 1 and the control module 3 are fixedly connected to the upper surface of the support platform 2, and the outer walls of the four supporting legs of the support platform 2 are commonly fixedly connected to the base plate 4. The top connecting end of the manipulator body 1 is fixedly connected to the connecting rod 5, and the top outer wall of the connecting rod 5 is fixedly sleeved with a first bearing 11, and the outer wall of the outer ring of the first bearing 11 is fixedly sleeved with a positioning insert ring 12. The positioning insert ring 12 can ensure the stability of the top position of the metal liner of the hydrogen storage bottle.

[0032] The outer wall of the bottom end of the connecting rod 5 is fixedly connected to the detection auxiliary mechanism 6, which includes a concave connecting round block 61 fixedly connected to the outer wall of the bottom end of the connecting rod 5, and the outer wall of the concave connecting round block 61 is movably sleeved with a connecting ring 62, and the outer wall of the connecting ring 62 is fixedly connected to a first electric push rod 63, and the movable end of the first electric push rod 63 is fixedly connected to a connecting block 64, and the outer wall of the connecting block 64 is provided with two fixed through holes, the hole wall of one fixed through hole is fixedly connected to the outer wall of the probe of the array eddy current detector 7, and the hole wall of the other fixed through hole is fixedly connected to a laser ranging sensor 65, the outer wall of the fixed end of the first electric push rod 63 is fixedly connected to an inelastic rope 66, the outer wall of the connecting rod 5 is fixedly connected to a second electric push rod 67, and the movable end of the second electric push rod 67 is fixedly connected to the outer end of the inelastic rope 66, the side wall of the connecting block 64 is fixedly connected to an elastic short rope 68, and the outer end of the elastic short rope 68 is fixedly connected to the middle outer wall of the connecting rod 5.

[0033] The upper surface of the support platform 2 is fixedly connected with an array eddy current detector 7, the upper surface of the support platform 2 is fixedly connected with an inner liner positioning mechanism 8, the inner liner positioning mechanism 8 includes a support ring 81 fixedly connected to the upper surface of the support platform 2, the inner wall of the support ring 81 is fixedly connected with a second bearing 82, the inner wall of the inner ring of the second bearing 82 is fixedly connected with a three-jaw chuck 83, the claw surface of the three-jaw chuck 83 is provided with anti-slip teeth, the inner wall of the support platform 2 is fixedly connected with a servo motor 84, the driving end of the servo motor 84 passes through the upper surface of the support platform 2 The surface is fixedly connected to the bottom end of the three-jaw chuck 83. The ranging end of the laser ranging sensor 65 is on the same horizontal plane as the bottom end of the probe of the array eddy current detector 7, ensuring the accuracy of the indirect measurement of the distance between the probe of the array eddy current detector 7 and the inner wall. The outer wall of the connecting ring 62 is provided with an annular groove 10 that cooperates with the elastic short rope 68. The annular groove 10 can ensure the stability of the extension and retraction of the elastic short rope 68. The mechanism can drive the metal liner of the hydrogen storage bottle 360 degrees to ensure that the inner wall of the metal liner of the hydrogen storage bottle can be accurately detected.

[0034] A defect marking mechanism 9 is fixedly connected to the upper surface of the base plate 4. The defect marking mechanism 9 includes a storage box 91 fixedly connected to the upper surface of the base plate 4. A micro pump 92 is fixedly connected to the inner wall of the storage box 91. The interior of the storage box 91 is filled with a marking liquid layer 93. The output end of the micro pump 92 is fixedly connected to 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 provided inside the connecting block 64. A fixed through hole matching the thin tube 94 is provided on the top outer wall of the connecting rod 5. The output end of the thin tube 94 is fixedly connected to the cavity 95 located in the connecting block 64. The bottom end of the cavity 95 is fixedly connected to a one-way nozzle 96. A threaded filling hole for replenishing the marking liquid is provided on the top outer wall of the storage box 91, and the hole wall of the threaded filling hole is threadedly connected to a sealing plug 13. This mechanism enables the manipulator to have the function of marking defects on the inner wall of the metal liner of the hydrogen storage bottle, and improves the convenience of repairing defects on the inner wall of the metal liner of the hydrogen storage bottle.

[0035] The upper surface of the base plate 4 is fixedly connected to the 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 ends of the PLC controller 14 through wires. The input ends of the first electric push rod 63, the second electric push rod 67 and the micro pump 92 are electrically connected to the output end of the PLC controller 14 through wires. The power-on equipment and electrical connections are all existing technologies and will not be repeated here.

[0036] The operating principle of the present invention is described as follows: when the metal liner of the hydrogen storage bottle needs to be inspected for inner wall defects, the outer wall and the inner walls of the two bottle mouth ends C of the metal liner of the hydrogen storage bottle are in a qualified state. Then the staff places the metal liner of the hydrogen storage bottle on the three-jaw chuck 83, and positions and tightens it through the three-jaw chuck 83. Then, the control module 3 controls the manipulator body 1 to insert the connecting rod 5 into the metal liner of the hydrogen storage bottle, and at the same time, the detection auxiliary mechanism 6 and the probe of the array eddy current detector 7 are placed inside the metal liner of the hydrogen storage bottle to detect inner wall defects. During the detection process, the control module 3 strictly controls the operation of the manipulator body 1 according to the pre-stored program, so that the manipulator body 1 drives the connecting rod every 30 seconds. Component 5 rises a certain distance (5 cm). This rising distance can be independently set by a 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 bottle to rotate 360 degrees. During the 360-degree rotation of the metal inner liner of the hydrogen storage bottle, it is detected by the probe of the array eddy current detector 7. The array eddy current detector 7 finds defects and displays them on its own display screen. At the same time, a signal is sent to the PLC controller 14. In addition, the time taken by the inner liner positioning mechanism 8 to control the metal inner liner of the hydrogen storage bottle to rotate 360 degrees is set to 20 seconds, ensuring that sufficient detection time is provided to the array eddy current detector 7 to achieve comprehensive detection of the straight cylinder body A and the inner walls of the two curved end caps B of the metal inner liner of the hydrogen storage bottle;

[0037] Specifically, after the manipulator body 1 vertically inserts the detection auxiliary mechanism 6 through the connecting rod 5, the PLC controller 14 controls the moving end of the second electric push rod 67 to move outward 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 push rod 63 loses the constraint of the inelastic rope 66 and is subjected to the recovery force of the elastic short rope 68. The first electric push rod 63 deflects 30 degrees counterclockwise on the concave connecting circle 61 through the connecting ring 62. Then the laser ranging sensor 65 cooperates with the first electric push rod 63 to adjust the position of the connecting block 64. The adjustment time of the connecting block 64 is 10 seconds, ensuring that the probe of the array eddy current detector 7 and the inner wall of the metal liner of the hydrogen storage bottle always meet the standard detection distance preset by the PLC controller 14 ( 1 mm - 2 mm), then the PLC controller 14 controls the driving end of the servo motor 84 to rotate 360 degrees in 20 seconds according to the qualified distance electrical signal fed back by the laser ranging sensor 65, and 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 body 1 is controlled by the control module 3 to rise a distance, and the moving end of the second electric push rod 67 moves outward one-sixth of the full stroke. At this time, the first electric push rod 63 is deflected 60 degrees counterclockwise on the concave connecting circle 61 through the connecting ring 62, and 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 inner wall of the arc-shaped end cover B at the bottom of the metal inner liner of the hydrogen storage bottle is completed. For the defect detection, when the manipulator body 1 drives the detection auxiliary mechanism 6 to rise a certain distance again through the connecting rod 5, the PLC controller 14 controls the moving end of the second electric push rod 67 to move outward to one-sixth of the full stroke, and the moving end of the second electric push rod 67 moves outward to half of the full stroke, and at this time the first electric push rod 63 is in a horizontal state, and 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 inner wall of the entire straight cylinder body A of the metal liner of the hydrogen storage bottle, the probe of the array eddy current detector 7 is in a horizontal state. When the inner wall of the arc-shaped end cover B on the top of the metal liner of the hydrogen storage bottle is detected, the extending end of the second electric push rod 67 is gradually extended by a distance of one-sixth of the full stroke to ensure that the probe angle of the array eddy current detector 7 is appropriate The inner wall of the arc-shaped end cover B at the top of the metal liner of the hydrogen storage bottle can be inspected accurately, so that the defects of the inner wall of the arc-shaped end cover B at the top of the metal liner of the hydrogen storage bottle can be fully and accurately detected. After the inner wall of the metal liner of the hydrogen storage bottle is inspected, the PLC controller 14 controls the moving end of the second electric push rod 67 to fully retract, so that the first electric push rod 63 is in a vertical state again. At the same time, the manipulator body 1 takes out the detection auxiliary mechanism 6 from the inside of the metal liner of the hydrogen storage bottle through the connecting rod 5. This mechanism enables the manipulator to control the probe of the array eddy current detector 7 to be stably placed inside the metal liner of the hydrogen storage bottle and to accurately detect the defects of the inner wall of the metal liner of the hydrogen storage bottle. It will not be affected by the change of the wall thickness of the metal liner of the hydrogen storage bottle, further improving the accuracy and effect of the defect detection of the metal liner of the hydrogen storage bottle.And ensure the safety and reliability of the metal liner of the hydrogen storage bottle;

[0038] When the probe of the array eddy current detector 7 is detecting the inner wall of the metal liner of the hydrogen storage bottle along with the detection auxiliary mechanism 6, the laser distance sensor 65 emits a laser beam to the inner wall of the metal liner of the hydrogen storage bottle and measures the distance between the laser distance sensor 65 and the inner wall of the metal liner of the hydrogen storage bottle, that is, the distance between the probe of the array eddy current detector 7 and the inner wall of the metal liner of the hydrogen storage bottle. The laser distance 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 performs a value comparison. If the distance value does not meet the standard distance range (1 mm - 2 mm) preset by the PLC controller 14, the PLC controller 14 will stop the detection. 4. Controlling the movement of the extended end of the first electric push rod 63, the first electric push rod 63 pushes the connecting block 64 close to the inner wall of the metal liner of the hydrogen storage bottle, and drives the probe of the array eddy current detector 7 close until the distance between the probe of the array eddy current detector 7 and the inner wall of the metal liner of the hydrogen storage bottle meets the standard detection distance preset by the PLC controller 14, thereby avoiding the situation where the probe of the array eddy current detector 7 is too far away from the inner wall of the metal liner of the hydrogen storage bottle and the eddy current detection data is inaccurate. 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 liner of the hydrogen storage bottle, further ensuring the accuracy of the inner wall defect detection of the metal liner of the hydrogen storage bottle;

[0039] When the manipulator body 1 controls the probe of the array eddy current detector 7 through the connecting rod 5 and the detection auxiliary mechanism 6 to detect defects on the inner wall of the metal liner of the hydrogen storage bottle, the array eddy current detector 7 will send 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 of the marking liquid layer 93 in the storage box 91 to the cavity 95 through the thin tube 94, and then sprays it to the inner wall of the metal liner of the hydrogen storage bottle near the defect through the one-way nozzle 96. The marking liquid of the marking liquid layer 93 is a non-solidifying and easy-to-wipe liquid. The marking of the marking liquid can facilitate maintenance personnel to quickly locate the defect position, and the positioning process During the 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 the circle, and it is convenient for maintenance personnel to repair the defects on the inner wall of the metal liner of the hydrogen storage bottle. After the defect is repaired, the staff wipes the marking liquid point with tools to ensure that the inner wall of the metal liner of the hydrogen storage bottle is clean. If there are too many defects on the inner wall of the metal liner of the hydrogen storage bottle, it is not worth repairing. The staff can remove the metal liner of the hydrogen storage bottle from the three-jaw chuck 83 and transport the unqualified metal liner of the hydrogen storage bottle to the raw material workshop for recycling and reuse. This mechanism enables the manipulator to have the function of marking the defects on the inner wall of the metal liner of the hydrogen storage bottle and improves the convenience of repairing the defects on the inner wall of the metal liner of the hydrogen storage bottle.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit 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.

Claims

1. A hydrogen storage bottle metal liner array eddy current detection manipulator, comprising a manipulator body (1), a support platform (2) and a control module (3) for controlling the operation of the manipulator body (1), characterized in that: The bottom ends of the manipulator body (1) and the control module (3) are fixedly connected to the upper surface of the support platform (2), and the outer walls of the four support legs of the support platform (2) are fixedly connected to a bottom plate (4); The top connecting end of the manipulator body (1) is fixedly connected to a connecting rod (5), and the outer wall of the bottom end of the connecting rod (5) is fixedly connected to a detection auxiliary mechanism (6); An array eddy current detector (7) is fixedly connected to the upper surface of the support platform (2); An inner liner positioning mechanism (8) is fixedly connected to the upper surface of the support platform (2); A defect marking mechanism (9) is fixedly connected to the upper surface of the base plate (4); 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 (5), the outer wall of the concave connecting circular block (61) is movably sleeved with a connecting ring (62), the outer wall of the connecting ring (62) is fixedly connected to a first electric thin push rod (63), the movable end of the first electric thin push rod (63) is fixedly connected to a connecting block (64), the outer wall of the connecting block (64) is provided with two fixed through holes, the hole wall of one of the fixed through holes is fixedly connected to the outer wall of the probe of the array eddy current detector (7), A laser distance sensor (65) is fixedly connected to the 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 (5), a movable end of the second electric thin push rod (67) is fixedly connected to the outer end of the inelastic rope (66), a side wall of the connecting block (64) is fixedly connected to an elastic short rope (68), and the outer end of the elastic short rope (68) is fixedly connected to the middle outer wall of the connecting rod (5); The distance measuring end of the laser distance measuring sensor (65) and the bottom end of the probe of the array eddy current detector (7) are located on the same horizontal plane, and the outer wall of the connecting ring (62) is provided with an annular groove (10) that matches the elastic short rope (68).

2. The eddy current detection manipulator for the metal liner array of hydrogen storage bottles according to claim 1 is characterized in that: A first bearing (11) is fixedly sleeved on the outer wall of the top end of the connecting rod (5), and a positioning insert ring (12) is fixedly sleeved on the outer wall of the outer ring of the first bearing (11).

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

4. The eddy current detection manipulator for the metal liner array of hydrogen storage bottles according to claim 1 is characterized in that: 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 to a micro pump (92), the interior of the storage box (91) is filled with a marking liquid layer (93), the output end of the micro pump (92) is fixedly connected to 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 provided inside the connecting block (64), the top outer wall of the connecting rod (5) is provided with a fixed through hole matched with the thin tube (94), the output end of the thin tube (94) is fixedly connected to the cavity (95) located in the connecting block (64), and the bottom end of the cavity (95) is fixedly connected to a one-way nozzle (96).

5. The eddy current detection manipulator for the metal liner array of hydrogen storage bottles according to claim 4 is characterized in that: A threaded filling hole for replenishing the marking liquid is provided on the top outer wall of the storage box (91), and a sealing plug (13) is threadedly connected to the hole wall of the threaded filling hole.

6. The eddy current detection manipulator for the metal liner array of hydrogen storage bottles according to claim 4 is characterized in that: The upper surface of the base plate (4) is fixedly connected to a PLC controller (14); the output ends of the laser distance sensor (65) and the array eddy current detector (7) are electrically connected to the input end of the PLC controller (14) via wires; and 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) via wires.

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