Five-axis linkage magnetic powder inspection robot and dynamic path planning method

Abstract

The invention discloses a five-axis linkage magnetic powder inspection robot, and relates to the technical field of inspection robots, the five-axis linkage magnetic powder inspection robot comprises a base frame, the bottom of the base frame is provided with a magnetic powder spraying assembly used for spraying magnetic powder, and the base frame is internally provided with a walking assembly used for stretching out and drawing back. During use, when the five-axis linkage magnetic powder inspection robot needs to detect a workpiece with a narrow space, in order to facilitate entering of the robot, two servo motors are started, two frames are inserted into a base frame correspondingly, two multi-stage hydraulic rods are started, and two extension plates are driven to be inserted into two connecting shafts correspondingly; the two driving wheels are driven to rotate upwards until the axle is perpendicular to the driving shaft, so that the reduction of the five-axis linkage magnetic powder inspection robot is realized, the five-axis linkage magnetic powder inspection robot can conveniently enter a narrow space for inspection, and the problem that a magnetic powder inspection robot in the prior art is fixed in structure and cannot detect a narrow channel is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of flaw detection robots, in particular to a five-axis linkage magnetic powder flaw detection robot and a dynamic path planning method. Background Art

[0002] The five-axis linkage magnetic particle inspection robot is an automated inspection device that integrates magnetic particle inspection technology and robotics technology. It is mainly used to detect surface and near-surface defects of metal parts, such as cracks, inclusions and pores. The "five-axis linkage" here means that the robot has five simultaneously controllable motion axes, which enables the robot to flexibly adjust its posture, thereby enabling the inspection of workpieces with complex geometric shapes. Magnetic particle inspection is a non-destructive testing method that applies a magnetic field to the surface of the workpiece to distort the magnetic lines of force at the defect. Magnetic powder is then sprinkled on the surface of the workpiece. The magnetic powder will be attracted by the magnetic field at the defect, thereby indicating the location, shape and size of the defect.

[0003] In the prior art, five-axis magnetic particle inspection robots are primarily used to inspect carbon steel, carbon steel, alloy steel, and cast iron. They are widely used in parts such as shafts, gears, forgings, castings, and welded parts in the fields of machinery manufacturing, construction, automobiles, and aerospace. The flaw detection robots primarily perform inspections by moving over metal parts. When a five-axis magnetic particle inspection robot is used to inspect a boiler made of ferromagnetic carbon steel, a large-sized flaw detection robot has a larger contact area with the boiler wall than a small-sized one, improving the robot's stability during movement. However, due to the robot's large size and the large contact area with the metal parts, when inspecting a narrow passage in a boiler where the outer diameter of the passage is smaller than that of the flaw detection robot, most existing flaw detection robots are fixed in size. Due to the robot's inherent size limitations, the five-axis magnetic particle inspection robot cannot directly enter such a narrow passage. Consequently, most existing flaw detection robots are unable to break through spatial limitations, making it impossible for the robot to inspect narrow passages, thereby reducing the robot's practicality.

[0004] Therefore, we proposed a five-axis linkage magnetic particle inspection robot and a dynamic path planning method. By reducing the overall size and structural design of the inspection robot, we can achieve narrow space inspection, break through the spatial limitations, and enable the inspection robot to enter narrow spaces for inspection, thereby improving the practicality of the inspection robot and solving the above-mentioned problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a five-axis linkage magnetic particle inspection robot and a dynamic path planning method to solve the problem that the magnetic particle inspection robot has a fixed structure and cannot detect narrow channels as proposed in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a five-axis linkage magnetic particle inspection robot, comprising a base frame, a magnetic powder spraying assembly for spraying magnetic powder provided at the bottom of the base frame, a retractable walking assembly provided inside the base frame, the walking assembly comprising a connecting mechanism, two drive wheels and a synchronous pulley, a connecting base for connecting the two drive wheels and the synchronous pulley being fixed at one end of the connecting mechanism, a drive shaft being movably embedded in the interior of the connecting base, limit frames being fixed at both ends of the drive shaft, a connecting shaft being movably embedded between opposite inner walls of the two limit frames, an axle being fixedly sleeved on the outer surfaces of the two connecting shafts, an extension plate being provided on the outer surfaces of the two axles, the two extension plates being respectively inserted into the interiors of the two connecting shafts, so as to drive the two axles to rotate upward with the assistance of a drive device, thereby driving the two drive wheels to rotate upward, a retraction assembly being provided between opposite outer surfaces of the base frame, the retraction assembly comprising two frames and two extension frames, a gear row being fixed to the outer surface of one side of the two frames, and the two frames being respectively moved into the interior of the base frame by movement of the two gear rows.

[0007] Preferably, the walking assembly also includes four multi-stage telescopic rods, one end of the four multi-stage telescopic rods are fixedly connected to the inner wall of the base frame, each two adjacent four multi-stage telescopic rods form a group, and a mounting block is fixed between one end of each group of multi-stage telescopic rods, and multi-stage hydraulic rods are provided on the inner wall of the base frame near the edges on both sides.

[0008] Preferably, a stepper motor is provided on the outer surface of one side of the two mounting blocks, a positioning tube is fixedly embedded near one end of the inner wall of the two axles, a connecting frame is movably sleeved on the outer surface of the two positioning tubes, and a dual-axis drive motor is fixedly installed on the outer surface of the other side of the connecting base by screws, and two rotating shafts are fixed on the output end of the dual-axis drive motor.

[0009] Preferably, a driving gear is fixedly installed at one end of the two rotating shafts, the outer surfaces of the two driving gears are meshed with driven gears, elastic parts are provided on the inner walls of the two drive shafts, iron blocks are fixed at one end of the two elastic parts, and electromagnets are provided on the inner walls of the two axles.

[0010] Preferably, the outer surface of the connecting mechanism is fixedly connected to the inner wall of the base frame, one end of the two multi-stage hydraulic rods is respectively fixedly connected to the outer surfaces of the two mounting blocks, the output ends of the two stepper motors are respectively coupled to one end of the two extension plates, one end of the two axles are respectively coupled to the outer surfaces of the two driving wheels, the inner walls of the two driven gears are fixedly connected to the outer surface of the drive shaft, one end of the two elastic members are respectively fixedly connected to the two inner walls of the drive shaft, and the outer surface of the synchronous pulley is coupled to the outer surface of the connecting base.

[0011] Preferably, the retraction assembly also includes two extension frames, and telescopic plates are fixedly installed on the outer surfaces of the two extension frames near the bottom, one end of the two telescopic plates is fixedly connected to the opposite outer surfaces of the base frame, and a hollow tube is fixedly embedded between the opposite inner walls of the base frame. Servo motors are fixed with screws on the outer surfaces of the hollow tubes near both ends, and connecting tubes are fixedly installed on the output ends of the two servo motors.

[0012] Preferably, the outer surfaces of the two connecting tubes are fixedly sleeved with tooth rings, the outer surfaces of one side of the two tooth rings are respectively meshed and connected with the outer surfaces of the two tooth rows, the outer surfaces of the other side of the two tooth rows are slidably connected with the inner wall of the hollow tube, the outer surfaces of the two frames are slidably connected with the inner wall of the base frame, and the outer surfaces of the two frames are respectively fixedly connected with the outer surfaces of the two extension frames.

[0013] Preferably, a cylinder is provided near the center of the bottom of the base frame, a magnetic suction cup is provided at the bottom end of the cylinder for connecting the robot to the magnetic material to be detected, and a controller is provided on the outer surface of the base frame.

[0014] Preferably, the magnetic powder spraying assembly includes a five-axis linkage mechanism and a storage tank, the bottom of the five-axis linkage mechanism is fixedly connected to the top of the base frame, the outer surface of the storage tank is fixedly connected to the bottom of the five-axis linkage mechanism by screws, the outer surface of the storage tank is provided with an electric push rod through an auxiliary plate, one end of the electric push rod is movable through the interior of the storage tank, a piston is fixed to one end of the electric push rod, the outer surface of the piston slides with the inner wall of the storage tank, one end of the storage tank is fixedly connected to a delivery pipe, an electromagnetic valve is provided on the outer surface of the delivery pipe, a spray head is provided at one end of the delivery pipe, and a probe is provided at the bottom of the five-axis linkage mechanism.

[0015] A dynamic path planning method for a five-axis linkage magnetic particle inspection robot comprises the following steps:

[0016] S1. In the dynamic path planning process, the workpiece is first modeled in three dimensions. The inspection trajectory is planned based on the workpiece surface curvature and defect-sensitive direction. Equidistant inspection lines are generated on the workpiece surface to ensure full coverage of the inspection area. The equidistant line method formula is:

[0017] Where k(u) is the curvature of the reference curve at point Γ(u). The larger the curvature, the smaller the corrected offset distance d' is to avoid overlapping and missing detection areas.

[0018] S2. Convert the detected trajectory points into the motion coordinates of the robot's x / y / x / c axes, and calculate the joint angles through inverse kinematics. There are multiple sets of inverse solutions for five-axis robots, and the optimal solution must be selected by optimizing the target. At the robot's kinematic singularity, path adjustment or speed planning is used to avoid instability. The geometric relationship between the robot's joints is described by DH parameters, and the transformation matrix between adjacent coordinate systems is established. Suppose the robot has n joints, and the DH parameters of each joint are (a i , α i , d i ,θ i ), where a i For connecting rod to be replaced by that degree, α i is the torque of the connecting rod, d i is the joint offset, θ i is the joint angle;

[0019] S3. For obstacles that may appear during the detection process, the robot uses the probe to obtain real-time environmental data, adjusts the path online, and determines the distance between the robot probe and the obstacle in real time based on the bounding box. The detection method is to simplify the object into a sphere and determine whether there is a collision by calculating the distance between the sphere centers. Assume that the center coordinates of the two spheres are: P1 = (x1, y1, z1) and P2 = (x2, y2, z2), and the radii are r1 and r2 respectively. The distance between the two spheres is: The collision condition is: when d≤r1+r2, it is judged as a collision;

[0020] S4. Adjust the parameters of track spacing, movement speed, and acceleration to balance detection efficiency and accuracy. The adjustment method is: based on the controller coverage range: d≤k×W, where W is the single scan width of the probe, k is the overlap coefficient, and 0.5≤k≤0.9. In high-precision scenarios: reduce d to ensure that no detection area is missed. In high-efficiency scenarios: increase d to reduce repeated scanning, but the risk of missed detection needs to be verified.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. When the five-axis linkage magnetic particle inspection robot needs to inspect a workpiece in a narrow space, in order to facilitate the robot's entry, the two servo motors are started to insert the two frames into the interior of the base frame respectively. The two multi-stage hydraulic rods are started to drive the two extension plates to be inserted into the interior of the two connecting shafts respectively, and the two drive wheels are driven to rotate upward until the axle and the drive shaft are perpendicular. This realizes the reduction of the five-axis linkage magnetic particle inspection robot, making it easier for it to enter and inspect narrow spaces, solving the problem that the existing magnetic particle inspection robot has a fixed structure and cannot inspect narrow passages.

[0023] 2. When using the five-axis linkage magnetic particle inspection robot to inspect magnetic materials, start the dual-axis drive motor to rotate the two drive wheels, and then realize the movement of the five-axis linkage magnetic particle inspection robot on the surface of the material to be inspected. At the same time, the five-axis linkage mechanism can make the probe rotate around the normal direction of the workpiece surface and translate along the spatial trajectory to ensure that the probe always maintains the best inspection angle with any curvature surface, breaking through the limitations of traditional three-axis machining, realizing one-time forming and high-precision machining of complex curved surfaces, and further improving the accuracy of workpiece surface flaw detection;

[0024] 3. During use, when the driving wheel is separated from the surface of the workpiece, the synchronous pulley and the magnetic suction cup will be adsorbed to the surface of the workpiece under the action of magnetism. When the two driving wheels have completed the contraction, the position where the synchronous pulley contacts the surface of the workpiece is completely adsorbed, and the cylinder can be started again to shorten it, and the magnetic suction cup is closed at the same time, so that the magnetic suction cup is separated from the surface of the workpiece, and the synchronous pulley can be driven forward by a driving device outside the synchronous pulley, thus realizing the separation between the axle and the drive shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a front perspective view of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0026] Figure 2 This is a side perspective view of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0027] Figure 3 This is a three-dimensional diagram of the base frame of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0028] Figure 4 This is a partial perspective view of the walking component of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0029] Figure 5 This is a partial three-dimensional diagram of the multi-stage telescopic rod of a five-axis linkage magnetic particle inspection robot of the present invention;

[0030] Figure 6 This is a sectional perspective view of the axle portion of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0031] Figure 7 This is a three-dimensional diagram of the connection base portion of a five-axis linkage magnetic particle inspection robot of the present invention;

[0032] Figure 8 This is a three-dimensional diagram of the frame portion of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0033] Figure 9 This is a sectional perspective view of a hollow tube portion of a five-axis linkage magnetic particle inspection robot according to the present invention;

[0034] Figure 10 A partial perspective view of the magnetic powder spraying component of a five-axis linkage magnetic powder inspection robot of the present invention

[0035] Figure 11 This is a dynamic path planning diagram of a five-axis linkage magnetic particle flaw detection robot according to the present invention.

[0036] In the picture:

[0037] 1. Base frame; 2. Controller; 3. Probe; 4. Travel assembly; 401. Connecting mechanism; 402. Connecting base; 403. Drive shaft; 404. Multi-stage telescopic rod; 405. Multi-stage hydraulic rod; 406. Mounting block; 407. Stepper motor; 408. Extension plate; 409. Limiting frame; 410. Connecting shaft; 411. Axle; 412. Positioning tube; 413. Connecting frame; 414. Drive wheel; 415. Dual-axis drive motor; 416. Rotating shaft; 417. Driving gear; 418. Driven gear; 419. Elastic part; 420. Electromagnet; 421. Iron block; 422. Synchronous pulley; 5. Cylinder; 6. Magnetic chuck; 7. Retraction assembly; 701. Extension frame; 702. Telescopic plate; 703. Hollow tube; 704. Servo motor; 705. Connecting pipe; 706. Gear ring; 707. Gear row; 708. Frame; 8. Magnetic powder spraying assembly; 801. Storage tank; 802. Electric push rod; 803. Piston; 804. Delivery pipe; 805. Solenoid valve; 806. Sprinkler head; 9. Five-axis linkage mechanism. DETAILED DESCRIPTION

[0038] 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 implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Reference Figure 1-Figure 7 and Figure 10The figure shows: a five-axis linkage magnetic particle inspection robot, including a base frame 1, a magnetic powder spraying assembly 8 for spraying magnetic powder is provided at the bottom of the base frame 1, a walking assembly 4 for telescoping is provided inside the base frame 1, the walking assembly 4 includes a connecting mechanism 401, two driving wheels 414 and a synchronous pulley 422, one end of the connecting mechanism 401 is fixed with a connecting base 402 for connecting the two driving wheels 414 and the synchronous pulley 422, a driving shaft 403 is movably embedded in the interior of the connecting base 402, both ends of the driving shaft 403 are fixed with limit frames 409, a connecting shaft 410 is movably embedded between the opposite inner walls of the two limit frames 409, the outer surfaces of the two connecting shafts 410 are fixed with axles 411, the outer surfaces of the two axles 411 are provided with extension plates 408, the two extension plates 408 are respectively inserted into the interior of the two connecting shafts 410, and can drive the two axles 411 to rotate upward with the assistance of the driving device, thereby driving the two driving wheels 414 to rotate upward, and the opposite outer surfaces of the base frame 1 A contraction assembly 7 is set between them, and the contraction assembly 7 includes two frames 708 and two extension frames 701. A tooth row 707 is fixed to the outer surface of one side of the two frames 708. By moving the two tooth rows 707, the two frames 708 are moved to the inside of the base frame 1 respectively. The magnetic powder spraying assembly 8 includes a five-axis linkage mechanism 9 and a storage tank 801. The bottom of the five-axis linkage mechanism 9 is fixedly connected to the top of the base frame 1, and the outer surface of the storage tank 801 is fixed to the bottom of the five-axis linkage mechanism 9 by screws. An electric push rod 802 is provided on the outer surface of the storage tank 801 through an auxiliary plate, and one end of the electric push rod 802 is movable and penetrates into the interior of the storage tank 801, and a piston 803 is fixed to one end of the electric push rod 802, and the outer surface of the piston 803 slides with the inner wall of the storage tank 801, and one end of the storage tank 801 is fixedly connected to a delivery pipe 804, an electromagnetic valve 805 is provided on the outer surface of the delivery pipe 804, a spray head 806 is provided at one end of the delivery pipe 804, and a probe 3 is provided at the bottom of the five-axis linkage mechanism 9.

[0040] In this embodiment, when a five-axis linkage magnetic particle inspection robot is needed to inspect a boiler made of carbon steel, the inspection robot is first placed on the surface of the boiler, and the planned path of the inspection robot is set in advance through the laser radar set in the controller 2. The laser radar is used to obtain the surrounding environment data, and the weld position is determined mainly by processing and filtering the original data, and then the path information is obtained. The laser radar has the characteristics of high detection accuracy, wide range and continuous detection, and can provide accurate and continuous path guidance for the inspection robot. The overall structure is simple and the volume is small, which is convenient for integration with the robot. It is set on the back of the inspection robot. This setting has the advantages of expanding the detection range and reducing occlusion. Among them, Figure 4 and Figure 7As shown, the outer surfaces of the driving wheel 414 and the synchronous pulley 422 are designed with magnets, the purpose of which is to facilitate the connection with the surface of the detected object. When the outer surfaces of the two driving wheels 414 are in contact with the outer surface of the boiler, the connection between the driving wheel 414 and the boiler surface is achieved, and then the dual-axis drive motor 415 can be started to drive the two rotating shafts 416 to rotate, thereby driving the two driving gears 417 to rotate, thereby rotating the two driven gears 418, and then driving the two driving shafts 403 to rotate, thereby rotating the two driving wheels 414, and realizing The five-axis linkage magnetic particle inspection robot walks on the surface of the material to be inspected. At the same time, the probe 3 generates a strong magnetic field on the surface of the workpiece and the near-surface area through the built-in electromagnetic coil, so that the workpiece is uniformly magnetized. At this time, if there are defects on the surface or near the surface of the workpiece, the magnetic lines of force at this location will be locally distorted and overflow the workpiece surface because the magnetic permeability of the defect is much lower than that of the metal, forming a leakage magnetic field. Then, the solenoid valve 805 is opened by the controller 2, and the electric push rod 802 is started at the same time to extend it, driving the piston 803 to move to the depth of the storage tank 801, thereby making the storage tank 801 Under pressure, the magnetic powder in the storage tank 801 enters the interior of the spray head 806 through the delivery pipe 804 and is sprayed outward onto the object to be tested. At this time, the leakage magnetic field will attract the magnetic powder to gather, forming a magnetic trace similar in shape and size to the defect. The staff can then visually detect whether there is a defect on the workpiece surface. In addition, in order to further realize the all-round detection of the flaw detection robot, the five-axis linkage mechanism 9 can rotate the probe 3 around the normal direction of the workpiece surface and translate it along the spatial trajectory at the same time, ensuring that the probe 3 always maintains the optimal detection angle with any curvature surface. The model of the five-axis linkage mechanism 9 is: S5-700ID, which consists of three linear axes: X, Y, and Z axes: controlling the translational movement of the probe 3 in three-dimensional space, corresponding to the three directions of the Cartesian coordinate system, and two rotating rods: A-axis: a swing axis rotating around the X-axis, used to control the pitch angle of the probe 3, B-axis: a swing axis rotating around the Y-axis, used to control the tilt angle of the probe 3, and C-axis: a rotary rod rotating around the Z-axis, used to control the rotation angle of the probe 3. The surface of the workpiece is inspected by five-axis linkage, thereby further improving the accuracy of the workpiece surface inspection.

[0041] like Figures 1-8 and Figure 10As shown, a five-axis linkage magnetic particle inspection robot includes a base frame 1, a magnetic powder spraying assembly 8 for spraying magnetic powder is provided at the bottom of the base frame 1, a telescopic walking assembly 4 is provided inside the base frame 1, and the walking assembly 4 includes a connecting mechanism 401, two driving wheels 414 and a synchronous pulley 422, one end of the connecting mechanism 401 is fixed with a connecting base 402 for connecting the two driving wheels 414 and the synchronous pulley 422, a driving shaft 403 is movably embedded in the interior of the connecting base 402, both ends of the driving shaft 403 are fixed with a limiting frame 409, a connecting shaft 410 is movably embedded between the relative inner walls of the two limiting frames 409, the outer surfaces of the two connecting shafts 410 are fixedly sleeved with an axle 411, and the outer surfaces of the two axles 411 are provided with Extension plates 408, the two extension plates 408 are respectively inserted into the interior of the two connecting shafts 410, which can drive the two axles 411 to rotate upward with the assistance of the driving device, and then drive the two driving wheels 414 to rotate upward. A retraction component 7 is set between the opposite outer surfaces of the base frame 1, and the retraction component 7 includes two frames 708 and two extension frames 701. A gear row 707 is fixed to the outer surface of one side of the two frames 708. Through the movement of the two gear rows 707, the two frames 708 are respectively moved to the interior of the base frame 1. The walking component 4 also includes four multi-stage telescopic rods 404, one end of the four multi-stage telescopic rods 404 is fixedly connected to the inner wall of the base frame 1, and each adjacent two of the four multi-stage telescopic rods 404 are a group, and each group of multi-stage telescopic rods 4 04, a mounting block 406 is fixed between one end of each axle 411, a multi-stage hydraulic rod 405 is provided near the inner wall of the base 1 on both sides, a stepping motor 407 is provided on the outer surface of one side of the two mounting blocks 406, a positioning tube 412 is fixedly embedded near one end of the inner wall of the two axles 411, and a connecting frame 413 is movably sleeved on the outer surface of the two positioning tubes 412, and a dual-axis drive motor 415 is fixedly installed on the outer surface of the other side of the connecting base 402 by screws, and two rotating shafts 416 are fixed on the output end of the dual-axis drive motor 415, and one end of the two rotating shafts 416 is fixedly installed with a driving gear 417, and the outer surfaces of the two driving gears 417 are meshed and connected with a driven gear 418, and the inner walls of the two drive shafts 403 are provided with elastic members 41 9. An iron block 420 is fixed to one end of each of the two elastic members 419. An electromagnet 421 is provided on the inner wall of each of the two axles 411. The outer surface of the connecting mechanism 401 is fixedly connected to the inner wall of the base frame 1. One end of the two multi-stage hydraulic rods 405 is fixedly connected to the outer surfaces of the two mounting blocks 406. The output ends of the two stepping motors 407 are coupled to one end of the two extension plates 408. One end of the two axles 411 is coupled to the outer surfaces of the two driving wheels 414. The inner walls of the two driven gears 418 are fixedly connected to the outer surface of the driving shaft 403. One end of the two elastic members 419 is fixedly connected to the two inner walls of the driving shaft 403. The outer surface of the synchronous pulley 422 is coupled to the outer surface of the connecting base 402.The retraction assembly 7 also includes two extension frames 701. The outer surfaces of the two extension frames 701 are fixedly installed with telescopic plates 702 near the bottom. One end of the two telescopic plates 702 is fixedly connected to the opposite outer surfaces of the base frame 1. A hollow tube 703 is fixedly embedded between the opposite inner walls of the base frame 1. The outer surfaces of the hollow tube 703 are fixed with servo motors 704 near both ends by screws. The output ends of the two servo motors 704 are fixedly installed with connecting tubes 705. The outer surfaces of the two connecting tubes 705 are fixedly sleeved with gear rings 706. The outer surfaces of one side of the two gear rings 706 are respectively meshed with the outer surfaces of the two gear rows 707. The outer surfaces of the other sides of the two gear rows 707 are slidably connected to the inner wall of the hollow tube 703. The outer surfaces of the two frames 708 are slidably connected to the inner wall of the base frame 1. The outer surfaces of the two frames 708 are fixedly connected to the outer surfaces of the two extension frames 701.

[0042] In this embodiment, when the five-axis linkage magnetic particle inspection robot needs to inspect a narrow area in the boiler, in order to facilitate the robot's entry, the cylinder 5 is first started to extend, driving the magnetic suction cup 6 to move downward to a position flush with the bottom of the synchronous pulley 422, so that the magnetic suction cup 6 is tightly adsorbed on the surface of the workpiece. The working principle of the magnetic suction cup 6 is an existing mature technology and will not be introduced in detail here. Then, the two servo motors 704 are started to drive the two connecting pipes 705 to rotate, and then drive the two gear rings 706 to rotate, so that the two gear rows 707 move toward the inside of the hollow tube 703 respectively, and then drive the two extension frames 701 to move toward the center of the hollow tube 703, so that the two frames 708 are respectively inserted into the inside of the base frame 1, wherein the two telescopic plates 702 support the two extension frames 701. When the two extension frames 701 move to the outer surfaces that are flush with one end of the two drive shafts 403 respectively, the two servo motors 704 can be turned off, and then the two stepper motors 407 are started to drive The two extension plates 408 rotate. When the two extension plates 408 rotate to the positions corresponding to the rectangular holes in the two connecting shafts 410, the two stepper motors 407 can be turned off, and the two multi-stage hydraulic rods 405 can be started at the same time to extend, driving the two extension plates 408 to move forward respectively and insert into the interior of the two connecting shafts 410. Then, the two stepper motors 407 can be started again to drive the two extension plates 408 to rotate, thereby driving the two connecting shafts 410 to rotate, thereby causing the two axles 411 to rotate, and then driving the two driving wheels 414 to rotate upward until the axles 411 and the driving shafts 403 are perpendicular. In the process of the axle 411 rotating upward, the two driving wheels 414 will rotate downward along the two positioning tubes 412 under the action of their own gravity until they are perpendicular to the driving shafts 403, thus realizing the reduction of the five-axis linkage magnetic particle inspection robot, making it easier for it to enter narrow spaces for inspection, and solving the problem that the magnetic particle inspection robot in the prior art has a fixed structure and cannot detect narrow channels.

[0043] like Figures 1-9As shown, a five-axis linkage magnetic particle inspection robot includes a base frame 1, a magnetic powder spraying assembly 8 for spraying magnetic powder is set at the bottom of the base frame 1, a walking assembly 4 for telescopic is set inside the base frame 1, and the walking assembly 4 includes a connecting mechanism 401, two driving wheels 414 and a synchronous pulley 422, one end of the connecting mechanism 401 is fixed with a connecting base 402 for connecting the two driving wheels 414 and the synchronous pulley 422, and a driving shaft 403 is movably embedded in the interior of the connecting base 402, and both ends of the driving shaft 403 are A fixed limiting frame 409 is provided, and a connecting shaft 410 is movably embedded between the opposite inner walls of the two limiting frames 409. The outer surfaces of the two connecting shafts 410 are fixedly sleeved with axles 411. The outer surfaces of the two axles 411 are provided with extension plates 408. The two extension plates 408 are respectively inserted into the interior of the two connecting shafts 410, and can drive the two axles 411 to rotate upward with the assistance of the driving device, thereby driving the two driving wheels 414 to rotate upward. A contraction component 7 is provided between the opposite outer surfaces of the base frame 1, and the contraction component 7 includes two frames 708 and two extension frames 701. A gear row 707 is fixed to the outer surface of one side of each frame 708. By moving the two gear rows 707, the two frames 708 are moved to the inside of the base frame 1. The outer surface of the connecting mechanism 401 is fixedly connected to the inner wall of the base frame 1. One end of the two multi-stage hydraulic rods 405 is fixedly connected to the outer surface of the two mounting blocks 406. The output ends of the two stepping motors 407 are coupled to one end of the two extension plates 408. The two axles 411 One end of the two driven gears 418 is coupled to the outer surface of the two driving wheels 414, the inner walls of the two driven gears 418 are fixedly connected to the outer surface of the driving shaft 403, one end of the two elastic members 419 is fixedly connected to the two inner walls of the driving shaft 403, the outer surface of the synchronous pulley 422 is coupled to the outer surface of the connecting base 402, a cylinder 5 is provided near the center of the bottom of the base 1, a magnetic suction cup 6 for connecting the robot to the magnetic material to be detected is provided at the bottom end of the cylinder 5, and a controller 2 is provided on the outer surface of the base 1.

[0044] In this embodiment, during the rotation of the two driving wheels 414, since both the synchronous pulley 422 and the magnetic suction cup 6 are magnetic, when the driving wheel 414 is separated from the surface of the workpiece, the synchronous pulley 422 and the magnetic suction cup 6 will be adsorbed to the surface of the workpiece under the action of magnetism, and the action of the magnetic suction cup 6 can ensure that the flaw detection robot is more firmly adsorbed to the surface of the workpiece. When the two driving wheels 414 are completely retracted, the position of the synchronous pulley 422 at which it connects with the surface of the workpiece is completely adsorbed, and the cylinder 5 can be started again to shorten it, and the magnetic suction cup 6 can be closed at the same time, so that the magnetic suction cup 6 is separated from the surface of the workpiece, and the synchronous pulley 422 can be driven to move forward by a driving device outside the synchronous pulley 422, wherein, as Figure 7As shown, the synchronous pulley 422 is precisely meshed with the teeth on the inner side of the synchronous belt and the teeth on the outer periphery of the pulley to ensure non-slip transmission and achieve a constant transmission ratio. The synchronous belt drives the driven pulley to rotate and transmits power from the input shaft to the output shaft. Since the synchronous pulley 422 and the magnetic suction cup 6 are both magnetic, the two electromagnets 420 are connected to the external power supply terminals at the same time so that they no longer generate a magnetic field, and the two iron blocks 421 are respectively reset to the inside of the axle 411 under the elastic action of the two elastic members 419, thereby realizing the separation between the axle 411 and the drive shaft 403.

[0045] like Figure 11 As shown, a cylinder 5 is provided near the center of the bottom of the base frame 1 , a magnetic suction cup 6 is provided at the bottom end of the cylinder 5 for connecting the robot to the magnetic material to be detected, and a controller 2 is provided on the outer surface of the base frame 1 .

[0046] In this embodiment, when the flaw detection robot plans a path through the laser radar in the controller 2, in the dynamic path planning process, a three-dimensional model of the inspection workpiece is firstly performed, and the inspection trajectory is planned based on the surface curvature of the workpiece and the defect-sensitive direction. Equidistant inspection lines are generated on the workpiece surface to ensure full coverage of the inspection area. The formula of the equidistant line method is:

[0047] Where k(u) is the curvature of the reference curve at point Γ(u). The larger the curvature, the smaller the corrected offset distance d'. In order to avoid overlapping and missing detection areas, the detection trajectory points are converted into the motion coordinates of the robot's x / y / x / c axes. The joint angles are calculated by inverse kinematics. There are multiple sets of inverse solutions for five-axis robots. The optimal solution must be selected by optimizing the target. In the singular position of the robot's kinematics, path adjustment or speed planning is used to avoid instability. The geometric relationship between the robot's joints is described by DH parameters, and the transformation matrix between adjacent coordinate systems is established. Assume that the robot has n joints and the DH parameter of each joint is (a i , α i , d i ,θ i ), where a i For connecting rod to be replaced by that degree, α i is the torque of the connecting rod, d i is the joint offset, θ i is the joint angle. For obstacles that may appear during the detection process, the probe 3 is used to obtain environmental data in real time, and the path is adjusted online. Based on the bounding box, the distance between the robot's probe 3 and the obstacle is determined in real time. The detection method is to simplify the object into a sphere and determine whether there is a collision by calculating the distance between the sphere centers. Assume that the center coordinates of the two spheres are: P1 = (x1, y1, z1) and P2 = (x2, y2, z2), and the radii are r1 and r2 respectively. The distance between the two spheres is: The collision condition is: when d≤r1+r2, it is judged as a collision, and the parameters of track spacing, movement speed, and acceleration are adjusted to balance detection efficiency and accuracy. The adjustment method is: based on the lidar coverage range in controller 2: d≤k×W, where W is the single scan width of probe 3, k is the overlap coefficient, and 0.5≤k≤0.9. In high-precision scenarios: reducing d can ensure that no detection area is missed. In high-efficiency scenarios: increasing d can reduce repeated scanning, but the risk of missed detection needs to be verified.

[0048] like Figure 11 As shown, a cylinder 5 is provided near the center of the bottom of the base frame 1 , a magnetic suction cup 6 is provided at the bottom end of the cylinder 5 for connecting the robot to the magnetic material to be detected, and a controller 2 is provided on the outer surface of the base frame 1 .

[0049] In this embodiment, the application process of the five-axis linkage magnetic particle inspection robot in the process of inspecting the boiler is as follows:

[0050] 1. Material and Equipment Confirmation Material Verification: Confirm that the boiler material is ferromagnetic carbon steel to ensure the applicability of magnetic particle inspection, and verify the accuracy of the laser radar in controller 2 to ensure that the 3D modeling error is less than 0.5mm;

[0051] 2. Check the magnetic field strength (≥2000A / m) and magnetic powder adsorption performance of probe 3;

[0052] 3. Environmental Modeling and Path Planning: LiDAR is used to globally scan the boiler surface, generate point cloud data, and construct a 3D model with curvature information. The spacing between detection lines is dynamically adjusted, with the spacing decreasing where the curvature is greater. Equidistant detection lines are generated along defect-sensitive directions to ensure 100% coverage.

[0053] Fourth, the robot link coordinate system is established using DH parameters. The trajectory points are converted into joint angles through inverse kinematics. When processing multiple sets of inverse solutions, the optimal solution is selected based on the joint angle range and obstacle avoidance priority. At kinematic singularity positions, the path is adjusted in advance to avoid instability.

[0054] 5. Dynamic obstacle avoidance and parameter adjustment; Real-time environmental perception, using the visual sensor on probe 3 to update environmental data every 50ms and identify obstacles;

[0055] 6. Collision detection: Simplify the obstacle into a sphere, simplify the probe 3 into a sphere, and when the distance between the center of the sphere and When , the obstacle avoidance logic is triggered;

[0056] 7. Path adjustment: Adjust track spacing: High-precision scenarios (k ≥ 1.5, d ≤ 3 mm; high-efficiency scenarios (k ≤ 1.2, d ≥ 5 mm), dynamically adjust the speed to 0.05-0.2 m / s and the acceleration to 0.1-0.5 m / s, balancing efficiency and precision;

[0057] 8. Magnetization control: adopt composite magnetization method, magnetization current is selected according to furnace wall thickness, continuous magnetization, magnetization and magnetic powder application are carried out simultaneously, power-on time is 1 to 3 seconds, and magnetization is continued for 1 second after stopping magnetic powder application;

[0058] 9. Magnetic powder spraying: wet application of magnetic suspension concentration of 10 ~ 20g / L, pressure 0.2 ~ 0.6MPa, to ensure uniform coverage of the test area, the magnetic powder particle size is selected 200 ~ 325 mesh, to adapt to the surface roughness of carbon steel;

[0059] 10. Non-fluorescent magnetic powder should be observed under white light illumination ≥15000lx, and fluorescent magnetic powder should be observed under ultraviolet illumination ≥970μW / cm 2 , observe in an environment with white light illumination ≤ 10lx, probe 3 is equipped with an external high-definition camera with a resolution of ≥ 1280×1024 to collect magnetic trace images in real time;

[0060] 11. Data recording: record the defect location, length, direction, and mark suspected defect points.

[0061] The method of use and working principle of the present invention are as follows: when a five-axis linkage magnetic particle inspection robot is needed to inspect a boiler made of carbon steel, the inspection robot is first placed on the surface of the boiler, wherein, Figure 4 and Figure 7As shown, the outer surfaces of the driving wheel 414 and the synchronous pulley 422 are both designed with magnets. When the outer surfaces of the two driving wheels 414 are in contact with the outer surface of the boiler, the connection between the driving wheel 414 and the boiler surface is achieved, and then the dual-axis driving motor 415 can be started to drive the two rotating shafts 416 to rotate, thereby driving the two driving gears 417 to rotate, thereby causing the two driven gears 418 to rotate, thereby driving the two driving shafts 403 to rotate, thereby causing the two driving wheels 414 to rotate, realizing the walking of the five-axis linkage magnetic particle inspection robot on the surface of the inspected material, and then opening the solenoid valve 805 through the controller 2, and at the same time starting the electric push rod 802 to extend it, driving the piston 803 to move to the depth of the storage tank 801, thereby causing the storage tank 801 to move deeper. Under the action of pressure, the magnetic powder in 01 enters the interior of the spray head 806 through the conveying pipe 804 and is sprayed outward onto the object to be tested. At this time, the leakage magnetic field will attract the magnetic powder to gather and form a magnetic trace similar in shape and size to the defect. The staff can visually detect whether there is a defect on the surface of the workpiece. In addition, the five-axis linkage mechanism 9 can rotate the probe 3 around the normal direction of the workpiece surface and translate along the spatial trajectory at the same time to ensure that the probe 3 always maintains the best detection angle with any curvature surface. Among them, the surface of the workpiece is inspected by five-axis linkage, which improves the accuracy of the workpiece surface inspection. When the five-axis linkage magnetic particle inspection robot needs to inspect a workpiece with a narrow space, it first starts the cylinder 5 to extend it, and drives the magnetic suction cup 6 to move downward to the synchronous pulley 422 The bottom is flush with the position so that the magnetic suction cup 6 is tightly adsorbed to the surface of the workpiece, and then the two servo motors 704 are started to drive the two connecting tubes 705 to rotate, and then the two gear rings 706 are driven to rotate, so that the two gear rows 707 are respectively moved toward the inside of the hollow tube 703, and then the two extension frames 701 are driven to move toward the center of the hollow tube 703, so that the two frames 708 are respectively inserted into the inside of the base frame 1. When the two extension frames 701 are respectively moved to the outer surface flush with one end of the two drive shafts 403, the two servo motors 704 can be turned off, and then the two stepper motors 407 are started to drive the two extension plates 408 to rotate. When the two extension plates 408 are respectively rotated to the corresponding rectangular holes in the two connecting shafts 410, When the vehicle is in the forward position, the two stepper motors 407 can be turned off, and the two multi-stage hydraulic rods 405 can be started at the same time to extend, driving the two extension plates 408 to move forward respectively and insert into the two connecting shafts 410. Then the two stepper motors 407 can be started again to drive the two extension plates 408 to rotate, thereby driving the two connecting shafts 410 to rotate, thereby causing the two axles 411 to rotate, thereby driving the two driving wheels 414 to rotate upward until the axle 411 is perpendicular to the driving shaft 403. In the process of the axle 411 rotating upward, the two driving wheels 414 will rotate downward along the two positioning tubes 412 under the action of their own gravity until they are perpendicular to the driving shaft 403, thus realizing the reduction of the five-axis linkage magnetic particle inspection robot.It is convenient for it to enter a narrow space for inspection, and solves the problem of the fixed structure of the magnetic particle inspection robot in the prior art that it cannot detect narrow channels. During the rotation of the two driving wheels 414, since the synchronous pulley 422 and the magnetic suction cup 6 are both magnetic, when the driving wheel 414 is separated from the surface of the workpiece, the synchronous pulley 422 and the magnetic suction cup 6 will be adsorbed with the surface of the workpiece under the action of magnetism. When the two driving wheels 414 are completely retracted, the position of the synchronous pulley 422 at which it connects with the surface of the workpiece is completely adsorbed, and the cylinder 5 can be started again to shorten it, and the magnetic suction cup 6 can be closed at the same time, so that the magnetic suction cup 6 is separated from the surface of the workpiece, and the synchronous pulley 422 can be driven to move forward by the driving device outside the synchronous pulley 422, such as, Figure 7 As shown, the synchronous pulley 422 is precisely meshed with the teeth on the inner side of the synchronous belt and the teeth on the outer periphery of the pulley to ensure non-slip transmission and a constant transmission ratio. The synchronous belt drives the driven pulley to rotate and transmits power from the input shaft to the output shaft. Since the synchronous pulley 422 and the magnetic suction cup 6 are both magnetic, the two electromagnets 420 are connected to the external power supply end respectively so that they no longer generate a magnetic field, thereby causing the two iron blocks 421 to be reset to the inside of the axle 411 under the elastic action of the two elastic members 419, thereby achieving separation between the axle 411 and the drive shaft 403. In addition, when the probe 3 detects the wear of the workpiece surface, in order to reasonably plan the detection path, in the dynamic path planning process, the detection workpiece is first three-dimensionally modeled, and the detection trajectory is planned based on the surface curvature of the workpiece and the defect-sensitive direction. Equidistant detection lines are generated on the workpiece surface to ensure full coverage of the detection area. The equidistant line method formula is:

[0062] Where k(u) is the curvature of the reference curve at point Γ(u). The larger the curvature, the smaller the corrected offset distance d', avoiding overlapping and missing detection areas. Then, the detection trajectory points are converted into the motion coordinates of the robot's x / y / x / c axes, and the joint angles are calculated by inverse kinematics. There are multiple sets of inverse solutions for five-axis robots, and the optimal solution must be selected by optimizing the target. At the singular position of the robot's kinematics, path adjustment or speed planning is used to avoid instability. The geometric relationship between the robot's joints is described by DH parameters, and the transformation matrix between adjacent coordinate systems is established. Suppose the robot has n joints, and the DH parameter of each joint is (a i , α i , d i ,θ i ), where a i For connecting rod to be replaced by that degree, α i is the torque of the connecting rod, d i is the joint offset, θ iis the joint angle. In order to prevent obstacles during the detection process from affecting the detection results, the probe 3 is used to obtain environmental data in real time, and the path is adjusted online. Based on the bounding box, the distance between the robot's probe 3 and the obstacle is determined in real time. By adjusting the parameters of the track spacing, movement speed, and acceleration, the detection efficiency and accuracy are balanced. When the flaw detection robot plans the path through the laser radar in the controller 2, in the dynamic path planning process, the workpiece is first three-dimensionally modeled. The detection trajectory is planned based on the workpiece surface curvature and defect-sensitive direction, and equidistant detection lines are generated on the workpiece surface to ensure full coverage of the detection area. The equidistant line method formula is:

[0063] Where k(u) is the curvature of the reference curve at point Γ(u). The larger the curvature, the smaller the corrected offset distance. The detected trajectory points are converted into the motion coordinates of the robot's x / y / x / c axes. The joint angles are calculated by inverse kinematics. There are multiple sets of inverse solutions for five-axis robots. The optimal solution must be selected by optimizing the target. In the robot's kinematic singularity, path adjustment or speed planning is used to avoid instability. The geometric relationship between the robot's joints is described by DH parameters, and the transformation matrix between adjacent coordinate systems is established. Assume that the robot has joints, and the DH parameters of each joint are, where, is the degree of the connecting rod, is the torque of the connecting rod, is the offset of the joint, and is the joint angle. For obstacles that may appear during the detection process, the environmental data is obtained in real time through the probe 3, the path is adjusted online, and the distance between the robot's probe 3 and the obstacle is determined in real time based on the bounding box. The detection method is to simplify the object into a sphere and determine whether there is a collision by calculating the distance between the sphere centers. Assume that the center coordinates of the two spheres are: P1 = (x1, y1, z1) and P2 = (x2, y2,, z2), and the radii are r1 and r2 respectively. Then the distance between the two spheres is: When d≤r1+r2, it is judged as a collision, and the parameters of track spacing, movement speed, and acceleration are adjusted to balance the detection efficiency and accuracy. The adjustment method is based on the laser radar coverage range in controller 2: d≤k×W, where W is the single scan width of probe 3, and k is the overlap coefficient. In high-precision scenarios, reducing d can ensure that the detection area is not missed. In high-efficiency scenarios, increasing d can reduce repeated scanning, but the risk of missed detection needs to be verified. The application process of the axis-linked magnetic particle inspection robot in the process of inspecting the boiler is as follows: confirm that the boiler material is ferromagnetic carbon steel, ensure the applicability of magnetic particle inspection, and verify the laser radar accuracy in controller 2 to ensure that the three-dimensional modeling error is less than 0.5mm. Check the magnetic field strength (≥2000A / m) and magnetic particle absorption of probe 3. Attached performance, the laser radar is used to perform a global scan of the boiler surface, generate point cloud data, build a three-dimensional model with curvature information, dynamically adjust the detection line spacing, the greater the curvature, the smaller the spacing, generate equidistant detection lines along the defect-sensitive direction to ensure 100% coverage, use DH parameters to establish the robot link coordinate system, and convert the trajectory points into joint angles through kinematic inverse solution. When processing multiple sets of inverse solutions, the joint angle range and obstacle avoidance priority are used as optimization goals to select the optimal solution. At kinematic singular positions, the path is adjusted in advance to avoid instability, dynamic obstacle avoidance and parameter adjustment; real-time environmental perception, using probe 3 equipped with a visual sensor, updating environmental data every 50ms, identifying obstacles, simplifying obstacles into spheres, and simplifying probe 3 into a sphere. When the distance between the sphere center and the target is:

[0064] When , the obstacle avoidance logic is triggered and the track spacing is adjusted: High-precision scenario (k ≥ 1.5, d ≤ 3mm; high-efficiency scenario (k ≤ 1.2, d ≥ 5mm), dynamically adjust the speed 0.05 ~ 0.2m / s and the acceleration 0.1 ~ 0.5m / s, balance efficiency and precision, adopt the composite magnetization method, the magnetization current is selected according to the thickness of the furnace wall, the continuous magnetization method, magnetization and magnetic powder application are carried out simultaneously, the power-on time is 1 ~ 3s, and the magnetic powder is stopped after the magnetization is continued for 1s. The wet application of magnetic suspension concentration is 10 ~ 20g / L, and the pressure is 0.2 ~ 0.6MPa to ensure uniform coverage of the detection area. The magnetic powder particle size is selected from 200 to 325 mesh to adapt to the surface roughness of carbon steel. Non-fluorescent magnetic powder is observed under white light illumination ≥ 15000lx, and fluorescent magnetic powder is observed under ultraviolet illumination ≥ 970μW / cm 2 , observe in an environment with white light illumination ≤10lx, probe 3 is equipped with an external high-definition camera with a resolution of ≥1280×1024, which can collect magnetic trace images in real time, record the defect position, length, direction, and mark suspected defect points.

[0065] The wiring diagram of the controller 2, multi-stage hydraulic rod 405, stepper motor 407, dual-axis drive motor 415, electromagnet 420, cylinder 5, servo motor 704, electric push rod 802, solenoid valve 805 and five-axis linkage mechanism 9 in the present invention is common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use. Therefore, the control method and wiring layout of the controller 2, multi-stage hydraulic rod 405, stepper motor 407, dual-axis drive motor 415, electromagnet 420, cylinder 5, servo motor 704, electric push rod 802, solenoid valve 805 and five-axis linkage mechanism 9 will no longer be explained in detail.

[0066] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. 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 five-axis linkage magnetic particle inspection robot, comprising a base frame (1), a magnetic powder spraying assembly (8) for spraying magnetic powder being provided at the bottom of the base frame (1), and characterized in that: A telescopic walking assembly (4) is provided inside the base frame (1), and the walking assembly (4) includes a connecting mechanism (401), two driving wheels (414) and a synchronous pulley (422). A connecting base (402) for connecting the two driving wheels (414) and the synchronous pulley (422) is fixed at one end of the connecting mechanism (401), a driving shaft (403) is movably embedded inside the connecting base (402), and both ends of the driving shaft (403) are fixed with a limiting frame (401). 9), a connecting shaft (410) is movably embedded between the opposite inner walls of the two limiting frames (409), an axle (411) is fixedly sleeved on the outer surfaces of the two connecting shafts (410), and an extension plate (408) is provided on the outer surfaces of the two axles (411), and the two extension plates (408) are respectively inserted into the interior of the two connecting shafts (410), so that the two axles (411) can be driven to rotate upward with the assistance of the driving device, thereby driving the two driving wheels (414) to rotate upward; A contraction assembly (7) is provided between opposite outer surfaces of the base frame (1), and the contraction assembly (7) comprises two frames (708) and two extension frames (701). A tooth row (707) is fixed to one outer surface of each of the two frames (708), and the two frames (708) are respectively moved to the interior of the base frame (1) by moving the two tooth rows (707).

2. The five-axis linkage magnetic particle inspection robot according to claim 1, characterized in that: The walking assembly (4) further comprises four multi-stage telescopic rods (404), one end of each of the four multi-stage telescopic rods (404) being fixedly connected to the inner wall of the base frame (1), two adjacent multi-stage telescopic rods (404) forming a group, a mounting block (406) being fixed between one end of each group of multi-stage telescopic rods (404), and multi-stage hydraulic rods (405) being provided near both side edges of the inner wall of the base frame (1).

3. The five-axis linkage magnetic particle inspection robot according to claim 2, characterized in that: A stepper motor (407) is provided on the outer surface of one side of the two mounting blocks (406); a positioning tube (412) is fixedly embedded near one end of the inner wall of the two axles (411); a connecting frame (413) is movably sleeved on the outer surface of the two positioning tubes (412); a dual-axis drive motor (415) is fixedly installed on the outer surface of the other side of the connecting base (402) by screws; and two rotating shafts (416) are fixed to the output end of the dual-axis drive motor (415).

4. The five-axis linkage magnetic particle inspection robot according to claim 3 is characterized in that: A driving gear (417) is fixedly mounted on one end of each of the two rotating shafts (416), and a driven gear (418) is meshedly connected to the outer surface of each of the two driving gears (417). An elastic member (419) is provided on the inner wall of each of the two driving shafts (403), and an iron block (420) is fixed on one end of each of the two elastic members (419). An electromagnet (421) is provided on the inner wall of each of the two axles (411).

5. The five-axis linkage magnetic particle inspection robot according to claim 4, characterized in that: The outer surface of the connecting mechanism (401) is fixedly connected to the inner wall of the base frame (1); one end of the two multi-stage hydraulic rods (405) is fixedly connected to the outer surfaces of the two mounting blocks (406) respectively; the output ends of the two stepping motors (407) are coupled to one end of the two extension plates (408) respectively; one end of the two axles (411) is coupled to the outer surfaces of the two driving wheels (414) respectively; the inner walls of the two driven gears (418) are fixedly connected to the outer surface of the driving shaft (403); one end of the two elastic members (419) is fixedly connected to the two inner walls of the driving shaft (403) respectively; and the outer surface of the synchronous pulley (422) is coupled to the outer surface of the connecting base (402).

6. The five-axis linkage magnetic particle inspection robot according to claim 5, characterized in that: The retraction assembly (7) further comprises two extension frames (701), and a telescopic plate (702) is fixedly mounted on the outer surfaces of the two extension frames (701) near the bottom, and one end of the two telescopic plates (702) is fixedly connected to the opposite outer surfaces of the base frame (1), and a hollow tube (703) is fixedly embedded between the opposite inner walls of the base frame (1). A servo motor (704) is fixed to the outer surface of the hollow tube (703) near both ends by screws, and a connecting tube (705) is fixedly mounted on the output ends of the two servo motors (704).

7. The five-axis linkage magnetic particle inspection robot according to claim 6, characterized in that: The outer surfaces of the two connecting tubes (705) are fixedly sleeved with a gear ring (706), the outer surfaces of one side of the two gear rings (706) are respectively meshed with the outer surfaces of the two tooth rows (707), the outer surfaces of the other side of the two tooth rows (707) are slidably connected to the inner wall of the hollow tube (703), the outer surfaces of the two frames (708) are slidably connected to the inner wall of the base frame (1), and the outer surfaces of the two frames (708) are respectively fixedly connected to the outer surfaces of the two extension frames (701).

8. The five-axis linkage magnetic particle inspection robot according to claim 7, characterized in that: A cylinder (5) is provided near the center of the bottom of the base frame (1), a magnetic chuck (6) for connecting the robot to the magnetic material to be detected is provided at the bottom end of the cylinder (5), and a controller (2) is provided on the outer surface of the base frame (1).

9. The five-axis linkage magnetic particle inspection robot according to claim 8, characterized in that: The magnetic powder spraying assembly (8) comprises a five-axis linkage mechanism (9) and a storage tank (801), wherein the bottom of the five-axis linkage mechanism (9) is fixedly connected to the top of the base frame (1), and the outer surface of the storage tank (801) is fixedly connected to the bottom of the five-axis linkage mechanism (9) via screws. An electric push rod (802) is provided on the outer surface of the storage tank (801) via an auxiliary plate, and one end of the electric push rod (802) is movable and penetrates into the interior of the storage tank (801). A piston (803) is fixed to one end of the electric push rod (802), and the outer surface of the piston (803) slides with the inner wall of the storage tank (801). One end of the storage tank (801) is fixedly connected to a delivery pipe (804), an electromagnetic valve (805) is provided on the outer surface of the delivery pipe (804), and a spray head (806) is provided at one end of the delivery pipe (804). A probe (3) is provided at the bottom of the five-axis linkage mechanism (9).

10. A dynamic path planning method for a five-axis linkage magnetic particle inspection robot, characterized in that: The five-axis linkage magnetic particle inspection robot according to any one of claims 1 to 9 is used, comprising the following steps: S1. In the dynamic path planning process, the workpiece is first modeled in three dimensions. The inspection trajectory is planned based on the workpiece surface curvature and defect-sensitive direction. Equidistant inspection lines are generated on the workpiece surface to ensure full coverage of the inspection area. The equidistant line method formula is: Where k(u) is the curvature of the reference curve at point Γ(u). The greater the curvature, the smaller the corrected offset distance d'. S2. Convert the detected trajectory points into the motion coordinates of the robot's x / y / x / c axes, and calculate the joint angles through the inverse kinematics solution. There are multiple sets of inverse solutions for five-axis robots. Select the optimal solution by optimizing the target. At the robot's kinematic singular position, describe the geometric relationship of each joint of the robot through the DH parameter, and establish the transformation matrix between adjacent coordinate systems. Suppose the robot has n joints, and the DH parameter of each joint is (a i , α i , d i ,θ i ), where a i For connecting rod to be replaced by that degree, α i is the torque of the connecting rod, d i is the joint offset, θ i is the joint angle; S3. For obstacles that may appear during the detection process, the robot uses probe 3 to obtain environmental data in real time, adjusts the path online, and determines the distance between the robot probe 3 and the obstacle in real time based on the bounding box. The detection method is to simplify the object into a sphere and determine whether there is a collision by calculating the distance between the sphere centers. Assume that the center coordinates of the two spheres are: P1 = (x1, y1, z1) and P2 = (x2, y2, z2), and the radii are r1 and r2 respectively. The distance between the two spheres is: The collision condition is: when d≤r1+r2, it is judged as a collision; S4, adjust the parameters of track spacing, motion speed, and acceleration to balance detection efficiency and accuracy. The adjustment method is: based on the coverage range of the controller (2): d≤k×W, where W is the single scan width of the probe (3), k is the overlap coefficient, and 0.5≤k≤0.9, In high-precision scenarios: reducing d can ensure that no detection area is missed. In high-efficiency scenarios: Increase d to reduce repeated scans.

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