Flaw detection robot capable of spraying magnetic suspension and spraying method

Abstract

The invention discloses a flaw detection robot capable of spraying a magnetic suspension and a spraying method, and relates to the technical field of flaw detection robos.The flaw detection robot capable of spraying the magnetic suspension comprises a robot body and further comprises a walking module fixedly installed on the robot body and used for driving the robot body to move; the spraying module is fixedly mounted on the machine body and is used for spraying the magnetic suspension when the machine body moves; the control module is used for controlling the spraying amount of the spraying module according to the moving speed of the robot; the spraying module comprises a liquid storage shell and a spraying mechanism, a liquid storage cavity for storing the magnetic suspension is formed in the liquid storage shell, and the spraying mechanism is installed on the liquid storage shell and comprises a liquid spraying assembly and a circulating pressurizing assembly. The spraying module for spraying the magnetic suspension is arranged on the machine body of the flaw detection robot, so that the flaw detection robot can automatically complete the spraying operation of the magnetic suspension in the walking process, and the spraying of the magnetic suspension is more uniform.

Description

Technical Field

[0001] This invention relates to the field of flaw detection robot technology, and in particular to a flaw detection robot and spraying method capable of spraying magnetic suspension liquid. Background Technology

[0002] Magnetic particle testing is a non-destructive testing technique widely used in industries such as steel, casting, and aerospace. It is primarily used to detect fine cracks, pores, inclusions, and other defects on or near the surface of ferromagnetic materials (such as steel). Its basic principle is as follows: First, a magnetic field is applied to the workpiece to magnetize it. If a defect exists, a leakage magnetic field will be formed at the defect location. Subsequently, fine magnetic particles (magnetic powder) are sprinkled onto the workpiece surface. The leakage magnetic field attracts these particles, forming a visible magnetic trace under suitable illumination, thus indicating the location, size, and shape of the defect. Magnetic suspension is a crucial medium in the magnetic particle testing process. It typically consists of a carrier liquid (such as water or oil), magnetic powder dispersed within it (usually iron(III) oxide or iron(II) oxide particles), and appropriate amounts of dispersants and rust inhibitors. The role of the magnetic suspension is that the carrier liquid can uniformly transport the magnetic powder to the workpiece surface, while the additives ensure good suspension, wettability, and flowability of the magnetic powder.

[0003] Currently, in the flaw detection of large flat, curved, or complex-structured workpieces, the application of magnetic suspension fluid still relies on manual operation. Operators typically hold a spray gun or spray can and spray the workpiece surface following the magnetization process. However, this traditional manual spraying method has the following drawbacks: 1. Low work efficiency. The spraying speed depends entirely on the operator's physical strength and skill, and it is especially time-consuming and labor-intensive, especially on large-area workpieces.

[0004] 2. Uniformity of spraying is difficult to guarantee. Manual operation is prone to uneven coverage of magnetic suspension, resulting in some areas being over-sprayed while others are under-sprayed, which seriously affects the accuracy and consistency of the flaw detection results.

[0005] 3. The consumption of magnetic suspension is difficult to control. Manual operation makes it difficult to precisely control the spray volume according to the speed of human movement, which can lead to uneven spraying and unnecessary waste.

[0006] To address these technical problems, we propose a flaw detection robot and spraying method capable of spraying magnetic suspension fluid. Summary of the Invention

[0007] This invention provides a flaw detection robot and spraying method for spraying magnetic suspension fluid to solve the problems mentioned in the background art, such as low work efficiency and uneven spraying and waste.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: On one hand, the present invention provides a flaw detection robot capable of spraying magnetic suspension liquid, including a body, and further including: a walking module, fixedly installed on the body, for driving the body to move; a spraying module, fixedly installed on the body, for spraying magnetic suspension liquid when the body moves; and a control module, fixedly installed on the body, for controlling the spraying volume of the spraying module according to the robot's moving speed; wherein, the control module is a microcontroller, and the microcontroller internally stores a preset speed and flow rate relationship data table or calculation formula.

[0009] The spraying module includes a liquid storage tank and a spraying mechanism. The liquid storage tank has a storage cavity for storing magnetic suspension liquid. The spraying mechanism is installed in the liquid storage tank and includes a spraying assembly and a circulation pressurization assembly. The spraying assembly includes a spraying pump, which can draw magnetic suspension liquid from the storage cavity and spray it onto the surface of the workpiece. The circulation pressurization assembly includes a circulation pump, which is used to circulate the magnetic suspension liquid in the storage cavity and / or pressurize the spraying assembly when it is running.

[0010] Furthermore, the spraying assembly also includes a first suction pipe and a first discharge pipe, one end of which is respectively installed to the input end and the output end of the spraying pump.

[0011] Furthermore, the circulation booster assembly also includes a second suction pipe and a second discharge pipe. One end of the second suction pipe and the second discharge pipe are respectively installed to the input end and the output end of the circulation pump, and the other end of the second suction pipe passes through the liquid storage chamber and is connected to it.

[0012] Furthermore, the second drain pipe and the first suction pipe are connected to the storage chamber via a bidirectional pipe, and the circulation pressurization assembly and the spray assembly are configured as follows: When the circulating pressurization component operates independently, the magnetic suspension is discharged from the second drain pipe back to the storage chamber through the bidirectional pipe. This promotes the circulation of the magnetic suspension within the storage chamber and prevents the magnetic powder in the magnetic suspension from settling. When the spraying assembly operates alone, the magnetic suspension is drawn from the storage chamber into the first suction pipe through the bidirectional tube, thus achieving basic spraying of the magnetic suspension. When the circulation booster assembly and the liquid spraying assembly operate simultaneously, the magnetic suspension liquid discharged by the circulation pump flows into the first suction pipe, boosting the pressure of the liquid spraying pump and increasing the outlet pressure.

[0013] Furthermore, the storage chamber is also connected to a liquid filling tube and a connecting air tube, the other ends of which extend through the storage shell. Magnetic suspension can be injected into the storage chamber through the liquid filling tube, and the connecting air tube can expel air from the storage chamber during the injection process. When the magnetic suspension is removed from the storage chamber, external air can also enter the storage chamber through the connecting air tube.

[0014] Furthermore, the liquid storage tank is fixedly installed on the machine body, and a spray nozzle is opened at the bottom of the machine body. The other end of the first drain pipe extends to the spray nozzle and is equipped with a nozzle. Magnetic suspension liquid can be sprayed from the spray nozzle and adhere to the surface of the workpiece to be tested.

[0015] Furthermore, the machine body is equipped with a speed sensor, which monitors the machine body's movement speed data and sends it to the control module. The control module controls the rotation speed of the spray pump based on the movement speed data to adjust the spray volume of the spray module.

[0016] Furthermore, the control module is connected to the speed sensor signal and electrically connected to the injection pump.

[0017] Furthermore, the walking module includes an electric roller mounted on the bottom of the machine body. The speed sensor is an angular velocity sensor mounted on the electric roller. The angular velocity sensor is used to detect the rotation of the electric roller and generate speed data. The control module controls the rotation speed of the spray pump based on the speed data. The angular velocity sensor is coaxially fixedly connected to the rotating shaft of the electric roller through a coupling, so that the rotational motion of the electric roller can be transmitted to the angular velocity sensor.

[0018] On the other hand, the present invention also provides a magnetic suspension spraying method, applied to the above-mentioned flaw detection robot capable of spraying magnetic suspension, comprising the following steps: S01, The control walking module drives the machine body to move on the workpiece surface.

[0019] S02. The movement speed of the machine is monitored by a speed sensor, and movement speed data is generated. The speed sensor is an angular velocity sensor mounted on the electric roller. The angular velocity sensor is coaxially fixedly connected to the rotating shaft of the electric roller via a coupling, so that the rotational motion of the electric roller can be transmitted to the angular velocity sensor.

[0020] S03. The control module receives the movement speed data and generates a control signal based on the preset speed-flow relationship to adjust the spray volume of the sprinkler module. The control module is a microcontroller, which internally stores a preset speed-flow relationship data table or calculation formula.

[0021] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. By installing a spray module for spraying magnetic suspension fluid on the body of the flaw detection robot, the robot can automatically complete the spraying operation while moving, resulting in more uniform spraying. This method can replace the traditional, inefficient manual hand-held spraying method, greatly improving the efficiency of flaw detection work, shortening the inspection cycle of large workpieces, and reducing the labor intensity of operators.

[0022] 2. This invention can monitor the robot's moving speed in real time and dynamically adjust the rotation speed and output flow rate of the spray pump according to the moving speed, ensuring an adaptive match between the spray volume and the moving speed. Furthermore, it guarantees that the amount of magnetic suspension liquid received per unit area of ​​the workpiece surface remains consistent under different moving speeds of the flaw detection robot. This effectively avoids problems such as uneven spraying, overspraying, or underspraying caused by manual operation or speed fluctuations, significantly improving the clarity and reliability of magnetic trace display. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 This is a bottom view of the overall structure of the invention.

[0025] Figure 3 This is an exploded view of the entire invention.

[0026] Figure 4 This is a schematic diagram of the spray module.

[0027] Figure 5 This is an exploded view of the spray module.

[0028] Figure 6 This is a schematic diagram of the pipeline layout in the spray module.

[0029] In the diagram: 100, Body; 101, Spray nozzle; 200, Walking module; 300, Spray module; 301, Liquid storage shell; 3011, Liquid storage chamber; 302, Spraying assembly; 3021, Spraying pump; 3022, First suction pipe; 3023, First discharge pipe; 3024, Nozzle; 303, Circulation booster assembly; 3031, Circulation pump; 3032, Second suction pipe; 3033, Second discharge pipe; 304, Two-way pipe; 305, Liquid filling pipe; 306, Connecting air pipe. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The following description of at least one exemplary embodiment is illustrative in nature and is not intended to limit the present invention or its application or use in any way. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary and not as limiting. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] Please see Figures 1 to 6 : The present invention provides a flaw detection robot that can spray magnetic suspension liquid, including a body 100 and a walking module 200, which is fixedly installed on the body 100 and used to drive the body 100 to move.

[0034] like Figures 1 to 3 As shown, in one embodiment, the body 100 is a cuboid structure, with its length direction defined as the front-to-back direction, its width direction defined as the left-to-right direction, and its height direction defined as the up-to-down direction.

[0035] like Figures 1 to 3 As shown, in one embodiment, the walking module 200 includes electric rollers mounted on the bottom of the machine body 100. Two sets of electric rollers are provided and mounted at the front and rear ends of the bottom of the machine body 100 via rotating shafts. A motor is mounted on the rotating shaft, and the motor drives the electric rollers to rotate, thereby driving the machine body 100 to move in the forward and backward direction. A spray nozzle 101 is provided at the bottom of the machine body 100. During the movement of the machine body 100, magnetic suspension liquid can be sprayed from the spray nozzle 101 and adhered to the surface of the workpiece to be tested.

[0036] The present invention also includes a spray module 300, which is fixedly installed on the body 100 and is used to spray the magnetic suspension liquid when the body 100 moves. The spray module 300 includes a liquid storage shell 301 and a spray mechanism. The liquid storage shell 301 has a liquid storage cavity 3011 for storing the magnetic suspension liquid. The spray mechanism is installed on the liquid storage shell 301 and includes a spraying assembly 302 and a circulation pressurization assembly 303.

[0037] like Figures 4 to 6 As shown, in one embodiment, the spraying assembly 302 includes a spraying pump 3021, which can draw magnetic suspension liquid from the storage chamber 3011 and spray it onto the workpiece surface; the circulation pressurization assembly 303 includes a circulation pump 3031, which is used to circulate the magnetic suspension liquid in the storage chamber 3011 and / or pressurize the spraying assembly 302 when it is in operation.

[0038] In this embodiment, the liquid storage shell 301 is detachably mounted to the body 100 by screws, and the spray pump 3021 and the circulation pump 3031 are both fixedly mounted to the liquid storage shell 301. The liquid storage chamber 3011 is also connected to a liquid inlet pipe 305 and a connecting air pipe 306, the other ends of which extend out of the liquid storage shell 301. Magnetic suspension can be injected into the liquid storage chamber 3011 through the liquid inlet pipe 305. During the injection of the magnetic suspension, the connecting air pipe 306 can expel air from the liquid storage chamber 3011, allowing for smooth injection. Simultaneously, when the magnetic suspension in the liquid storage chamber 3011 is removed, external air can also enter the liquid storage chamber 3011 through the connecting air pipe 306, ensuring that the air pressure inside the liquid storage chamber 3011 is the same as the external air pressure.

[0039] In other embodiments, the operation of the liquid filling pipe 305 and the connecting air pipe 306 can also be interchanged. That is, magnetic suspension can be injected into the liquid storage chamber 3011 through the connecting air pipe 306, while air is discharged and injected through the liquid filling pipe 305.

[0040] Furthermore, the spraying assembly 302 also includes a first suction pipe 3022 and a first discharge pipe 3023, one end of which is respectively connected to the input and output ends of the spraying pump 3021. When the spraying pump 3021 is running, it draws magnetic suspension liquid from the storage chamber 3011 through the first suction pipe 3022, and then discharges the drawn magnetic suspension liquid into the first discharge pipe 3023. The other end of the first discharge pipe 3023 extends to the spray nozzle 101 and is equipped with a nozzle 3024. Thus, the magnetic suspension liquid in the first discharge pipe 3023 can be sprayed out from the spray nozzle 101 through the nozzle 3024. This achieves magnetic suspension liquid spraying operation on the surface of the workpiece to be tested.

[0041] Furthermore, the circulation booster assembly 303 also includes a second suction pipe 3032 and a second discharge pipe 3033. One end of the second suction pipe 3032 and the second discharge pipe 3033 are respectively installed to the input end and the output end of the circulation pump 3031, and the other end of the second suction pipe 3032 passes through and communicates with the liquid storage chamber 3011. The second discharge pipe 3033 and the first suction pipe 3022 are connected to the liquid storage chamber 3011 through a bidirectional pipe 304.

[0042] When the circulation pump 3031 operates independently, it can extract the magnetic suspension from the storage chamber 3011 through the second suction pipe 3032. The extracted magnetic suspension is then discharged back into the storage chamber 3011 through the second drain pipe 3033 and the bidirectional pipe 304. This method allows the magnetic suspension in the storage chamber 3011 to circulate. Therefore, when spraying is not performed, the precipitation of magnetic powder in the magnetic suspension can be avoided, ensuring the uniformity of its concentration.

[0043] When the spray pump 3021 operates alone, it extracts the magnetic suspension liquid from the storage chamber 3011 through the first suction pipe 3022 and the bidirectional pipe 304, and then sprays it out through the first discharge pipe 3023 to achieve basic spraying of the magnetic suspension liquid.

[0044] When large-area or long-distance spraying is required, and higher spraying pressure is demanded, the circulation pump 3031 and the spray pump 3021 can be started simultaneously. In this case, the circulation pump 3031 can inject the extracted magnetic suspension liquid from the second drain pipe 3033 into the first suction pipe 3022. This provides a pressurized liquid flow to the input end of the spray pump 3021. On the one hand, this increases the flow rate and pressure at the input end of the spray pump 3021, effectively preventing cavitation at the input end; on the other hand, the synchronous operation of the circulation pump 3031 and the spray pump 3021 jointly increases the outlet pressure at the output end of the spray pump 3021. This makes the sprayed magnetic suspension liquid stream more impactful and the atomization effect better, thus enabling it to cover farther distances and more complex curved surfaces, ensuring the uniformity and penetration of the spray.

[0045] In other embodiments, when the circulation pump 3031 operates alone, the operating modes of the second suction pipe 3032 and the second discharge pipe 3033 can also be interchanged. That is, the second discharge pipe 3033 can also draw the magnetic suspension inside the storage chamber 3011 through the bidirectional pipe 304, and then discharge the magnetic suspension back into the storage chamber 3011 through the second suction pipe 3032, thereby achieving the circulation and anti-sedimentation of the magnetic suspension.

[0046] The invention also includes a control module, which controls the spray volume of the spray module 300 based on the robot's movement speed. The robot body 100 is equipped with a speed sensor, which monitors the movement speed data of the robot body 100 and sends it to the control module. The control module controls the rotational speed of the spray pump 3021 based on the movement speed data to adjust the spray volume of the spray module 300. The control module is signal-connected to the speed sensor and electrically connected to the spray pump 3021.

[0047] In one embodiment, the control module is the main controller of the flaw detection robot, which is used to receive signals from the speed sensor, calculate the target spray volume according to the internal preset algorithm, and send control commands to the spray pump 3021.

[0048] In a preferred embodiment, the control module can also be any hardware platform with computing and processing capabilities. For example, it can be a microcomputer system containing a processor and memory, preferably a microcontroller. The microcontroller internally stores a preset speed-flow rate relationship data table or calculation formula, which can be a linear proportional relationship or a piecewise function relationship. The microcontroller receives pulse signals from the encoder through its I / O ports and calculates the instantaneous speed using its internal timer / counter. Subsequently, it queries the preset speed-flow rate relationship to obtain the target flow rate value, and finally generates a PWM wave with the corresponding duty cycle through the PWM output pin to drive the injection pump 3021.

[0049] In one embodiment, the speed sensor is an angular velocity sensor mounted on the electric roller. The angular velocity sensor is used to detect the rotation of the electric roller and generate speed data. The control module controls the rotation speed of the spray pump 3021 based on the speed data.

[0050] In this embodiment, the angular velocity sensor is coaxially and fixedly connected to the shaft of the electric roller via a coupling, allowing the rotational motion of the electric roller to be transmitted to the angular velocity sensor. During operation, the electric roller rotates, driving the machine body 100 to move. The angular velocity sensor, rotating synchronously with it, generates and outputs pulse signals in real time that are proportional to the angular velocity of the roller. The control module receives the pulse signals and calculates the real-time moving speed of the machine body 100 using a preset formula. For example: Moving speed = (Number of pulses per unit time / Number of pulses per encoder revolution) × Roller circumference.

[0051] Subsequently, the control module, based on the calculated moving speed, queries the speed-flow mapping relationship to obtain the corresponding target spray flow rate, and further converts this flow rate value into the duty cycle of the PWM control signal for the spray pump 3021. Finally, the control module outputs a PWM waveform with the corresponding duty cycle, driving the spray pump 3021 to operate at a specific speed, thereby enabling the spray flow rate to be adaptively adjusted according to the moving speed of the machine body 100.

[0052] For example, when the moving speed increases from 0.1m / s to 0.2m / s, the control module increases the PWM duty cycle from 30% to 60%, which increases the rotation speed of the spray pump 3021 and the spray volume accordingly, so as to ensure that the workpiece surface per unit area is covered with sufficient and uniform magnetic suspension liquid.

[0053] In other embodiments, the speed sensor may also be a non-contact sensor, such as an inertial measurement unit, a Doppler radar speed sensor, etc.

[0054] When the speed sensor is an inertial measurement unit (IMU), the IMU is mounted on the body 100. When the body 100 moves, the control module reads the data from the accelerometer in the IMU, processes it through integration and filtering algorithms, and calculates the moving speed of the body 100.

[0055] When the speed sensor is a Doppler radar speed sensor, it is mounted on the machine body 100 and faces the workpiece surface. The Doppler radar speed sensor is based on the Doppler effect, which can directly emit radar waves towards the workpiece surface and receive the echo. By detecting the frequency shift of the echo, the real-time moving speed of the machine body 100 relative to the workpiece can be directly calculated.

[0056] In summary, this invention, by incorporating a spray module 300 for spraying magnetic suspension fluid on the body 100 of the flaw detection robot, enables the robot to automatically complete the spraying operation of the magnetic suspension fluid during its movement, thereby ensuring more uniform spraying. Furthermore, this method can replace the traditional, inefficient manual hand-held spraying method, significantly improving the efficiency of flaw detection work, shortening the inspection cycle of large workpieces, and reducing the labor intensity of operators.

[0057] This invention can also monitor the robot's moving speed in real time and dynamically adjust the rotation speed and output flow rate of the spray pump 3021 according to the moving speed, ensuring an adaptive match between the spray volume and the moving speed. Furthermore, it ensures that the amount of magnetic suspension liquid received per unit area of ​​the workpiece surface remains consistent under different moving speeds of the flaw detection robot. This effectively avoids problems such as uneven spraying, overspraying, or underspraying caused by manual operation or speed fluctuations, significantly improving the clarity and reliability of magnetic trace display.

[0058] On the other hand, the present invention also provides a magnetic suspension spraying method, applied to the above-mentioned flaw detection robot capable of spraying magnetic suspension, comprising the following steps: S01, The control walking module 200 drives the machine body 100 to move on the workpiece surface.

[0059] S02. The movement speed of the machine body 100 is monitored by a speed sensor, and movement speed data is generated. The speed sensor is an angular velocity sensor mounted on the electric roller. The angular velocity sensor is coaxially fixed to the rotating shaft of the electric roller via a coupling, allowing the rotational motion of the electric roller to be transmitted to the angular velocity sensor. During operation, the electric roller rotates, driving the machine body 100 to move. The synchronously rotating angular velocity sensor generates and outputs pulse signals proportional to the angular velocity of the roller in real time. The control module receives the pulse signals and calculates the real-time movement speed of the machine body 100 using a preset formula.

[0060] S03. The control module receives the movement speed data and generates a control signal based on the preset speed-flow rate relationship to adjust the spray volume of the spray module 300. The control module is a microcontroller, which internally stores a preset speed-flow rate relationship data table or calculation formula. This relationship can be a linear proportional relationship or a piecewise function relationship. The microcontroller receives the encoder's pulse signal through its I / O port and calculates the instantaneous speed using its internal timer / counter. Then, it queries the preset speed-flow rate relationship to obtain the target flow rate value and finally generates a PWM wave with the corresponding duty cycle through the PWM output pin to drive the spray pump 3021.

[0061] 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 and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flaw detection robot capable of spraying magnetic suspension liquid, comprising a body, characterized in that, Also includes: A walking module is fixedly installed on the machine body and is used to drive the machine body to move; A spray module is fixedly installed on the machine body and is used to spray magnetic suspension liquid when the machine body moves. A control module, fixedly installed on the machine body, is used to control the spray volume of the spray module according to the robot's moving speed; The spraying module includes a liquid storage shell and a spraying mechanism. The liquid storage shell has a liquid storage cavity for storing magnetic suspension liquid. The spraying mechanism is installed on the liquid storage shell and includes a spraying component and a circulation pressurization component. The spraying assembly includes a spraying pump, which can draw magnetic suspension liquid from the storage chamber and spray it onto the surface of the workpiece. The circulating pressurization assembly includes a circulating pump, which is used to circulate the magnetic suspension in the reservoir and / or pressurize the spray assembly when it is in operation.

2. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 1, characterized in that: The spraying assembly further includes a first suction pipe and a first discharge pipe, one end of which is respectively installed to the input end and the output end of the spraying pump.

3. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 2, characterized in that: The circulating pressurization assembly also includes a second suction pipe and a second discharge pipe. One end of the second suction pipe and the second discharge pipe are respectively installed to the input end and the output end of the circulating pump, and the other end of the second suction pipe passes through the liquid storage chamber and is connected to it.

4. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 3, characterized in that: The second drain pipe and the first suction pipe are connected to the storage chamber via a bidirectional pipe. The circulation pressurization assembly and the spray assembly are configured as follows: When the circulating pressurization component is operating alone, the magnetic suspension fluid is discharged from the second drain pipe back to the storage chamber through the bidirectional pipe; When the spraying assembly operates alone, the magnetic suspension is drawn from the reservoir through the bidirectional tube into the first suction tube; When the circulation booster assembly and the liquid spraying assembly operate simultaneously, the magnetic suspension liquid discharged by the circulation pump flows into the first suction pipe, boosting the pressure of the liquid spraying pump.

5. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 1, characterized in that: The liquid storage chamber is also connected to a liquid filling pipe and a connecting gas pipe, the other ends of which extend through the liquid storage shell.

6. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 2, characterized in that: The liquid storage shell is fixedly installed on the machine body, and a spray port is provided at the bottom of the machine body. The other end of the first drain pipe extends to the spray port and is equipped with a nozzle.

7. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 1, characterized in that: The machine body is equipped with a speed sensor, which is used to monitor the movement speed data of the machine body and send it to the control module. The control module controls the rotation speed of the spray pump according to the movement speed data, so as to adjust the spray volume of the spray module.

8. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 7, characterized in that: The control module is connected to the speed sensor signal and is electrically connected to the injection pump.

9. The flaw detection robot capable of spraying magnetic suspension fluid according to claim 7, characterized in that: The walking module includes an electric roller installed at the bottom of the body. The speed sensor is an angular velocity sensor installed on the electric roller. The angular velocity sensor is used to detect the rotation of the electric roller and generate speed data. The control module controls the rotation speed of the spray pump according to the speed data.

10. A magnetic suspension spraying method, applied to a flaw detection robot capable of spraying magnetic suspension as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S01. Control the walking module to drive the machine body to move on the workpiece surface; S02. Monitor the movement speed of the machine body using a speed sensor and generate movement speed data; S03. The control module receives the movement speed data and generates a control signal according to the preset speed and flow rate relationship to adjust the spray volume of the spray module.

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