Passive self-adaptive magnetic TOFD flaw detection mechanism of detection robot and flaw detection robot

Abstract

The invention discloses a passive self-adaptive magnetic TOFD flaw detection mechanism of a detection robot and the flaw detection robot, and relates to the technical field of ultrasonic flaw detection control. The suspension device comprises a suspension plate, the top end and the bottom end of the suspension plate are each rotationally connected with a parallel connecting rod assembly, the other end of each parallel connecting rod assembly is rotationally connected with a connecting rod, and a spring is arranged between each connecting rod and the suspension plate; and a deflection bracket is fixedly mounted at the bottom end of the connecting rod. Through the synergistic effect of the parallel connecting rod assembly, the spring, the deflection support and the square support, a passive force-position coupling compensation mechanism is constructed, and the unstable problems of contact pressure fluctuation, instantaneous separation and the like of a probe and the surface of a workpiece are solved; a cross shaft structure formed by the deflection support and the square support endows the probe with two independent rotational degrees of freedom in a plane, the probe can dynamically adjust the posture along with a complex curved surface in real time, and the spring and the parallel connecting rod assembly are linked to ensure that the contact pressure is constant during obstacle crossing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic flaw detection control, in particular to a detection robot passive adaptive magnetic suction TOFD flaw detection mechanism and a flaw detection robot. BACKGROUND

[0002] In the field of modern industrial production and equipment maintenance, flaw detection plays an indispensable role in the quality control of key components such as pressure vessels, pipelines and steel structures. As an important branch of non-destructive testing technology, TOFD flaw detection has become a key means to identify internal cracks, inclusions and porosity in materials, and to avoid safety accidents and economic losses during equipment operation, due to its advantages of accurate defect positioning, high quantitative precision and wide detection range. However, in the actual operation process of the current TOFD flaw detection robot, the contact stability of the probe and the surface of the detected workpiece is difficult to accurately guarantee. On the one hand, in the industrial field detection environment, external disturbances such as equipment movement, workpiece vibration and slight hand tremor of the operator are common, which will directly pass to the probe, causing the contact pressure between the probe and the workpiece surface to fluctuate frequently, and even causing the probe to be momentarily detached. This unstable contact state can disrupt the normal transmission path of the ultrasonic signal, causing signal attenuation, scattering or phase shift, and thus causing the detection data to deviate, making it difficult to accurately extract key parameters such as the depth and length of the defect. On the other hand, industrial workpieces have complex structures and shapes, in addition to conventional flat workpieces, there are a large number of rough-surface workpieces. The existing TOFD probe is mostly fixed in structure, when detecting such complex-shaped workpieces, the probe is difficult to adjust its posture in real time according to the profile changes of the workpiece surface, resulting in insufficient adhesion of the probe to the workpiece surface, and detection blind areas in local areas, leading to a decrease in the reliability of the flaw detection results. Therefore, the present application proposes a detection robot passive adaptive magnetic suction TOFD flaw detection mechanism and a flaw detection robot. SUMMARY

[0003] The purpose of the present application is to provide a detection robot passive adaptive magnetic suction TOFD flaw detection mechanism and a flaw detection robot, which solves the problem of insufficient force control of the pressure applied to the probe, resulting in unstable contact between the probe and the surface of the detected workpiece in a complex environment.

[0004] According to the first aspect of the present application, in order to achieve the above-mentioned purpose, the present application provides the following technical scheme: a detection robot passive adaptive magnetic suction TOFD flaw detection mechanism, comprising a suspension plate, the top end and the bottom end of the suspension plate are both rotatably connected with a parallel link assembly, the other end of the parallel link assembly is rotatably connected with a connecting rod, and a spring is arranged between the connecting rod and the suspension plate; A deflection bracket is fixedly installed at the bottom of the connecting rod. A square bracket is rotatably connected to the bottom of the deflection bracket, and a magnetic probe module is rotatably connected inside the square bracket. The magnetic probe module achieves two degrees of freedom deflection on the square bracket and the deflection bracket to adaptively adjust the contact posture between the magnetic probe module and the workpiece. The vertical distance between the connecting rod and the suspension plate is adjusted through a parallel linkage assembly and a spring to ensure stable contact between the magnetic probe module and the workpiece.

[0005] Furthermore, it also includes a dual-axis linear guide rail, with guide rail sliders slidably connected to both ends of the dual-axis linear guide rail, and a square fixing plate fixedly installed at one end of the suspension plate, with the square fixing plate and the guide rail slider being fixedly connected by bolts.

[0006] Furthermore, two sets of parallel link assemblies are installed on the side wall of a single suspension plate, and the parallel link assembly includes a first rotating link rotatably connected to the top of the suspension plate and a second rotating link rotatably connected to the bottom of the suspension plate.

[0007] Furthermore, the first rotating link is rotatably connected to the top of the connecting rod, and the second rotating link is rotatably connected to the middle of the connecting rod.

[0008] Furthermore, one end of the spring is connected to the bottom end of the suspension plate via a hanging ring, and the other end is connected to the top end of the connecting rod via a hanging ring, with the spring positioned between the two sets of parallel link assemblies.

[0009] Furthermore, the top of the deflection bracket is fixedly connected to the connecting rod by bolts, the bottom of the deflection bracket is rotatably connected to the square bracket by plug bolts, and a stop block is fixedly connected to the inner side wall of the deflection bracket. The stop block is located above the square bracket and there is a gap between the stop block and the square bracket.

[0010] Furthermore, the rotation direction of the magnetic probe module on the square bracket is perpendicular to the rotation direction of the square bracket on the deflection bracket.

[0011] Furthermore, the magnetic probe module includes two guide blocks arranged in a mirror symmetry. A square magnet is fixedly installed on the top of the guide block, and an installation groove adapted to the square magnet is opened on the top of the guide block. After installation, the upper surface of the square magnet is flush with the upper surface of the guide block. The top of the square magnet is fixedly mounted with a probe housing, and an ultrasonic probe is installed inside the probe housing.

[0012] Furthermore, the number of probe housings is two, the two probe housings are spliced ​​together to form a whole and fixed with bolts, and the ultrasonic probe is installed inside the spliced ​​probe housing; The guide block, square magnet, and probe housing are assembled as a whole by bolts. The probe shell in the magnetic attraction probe module is rotationally connected between a plug bolt and a square support.

[0013] According to the second aspect of the present application, the present application provides a TOFD inspection robot, and the front end of the robot body is loaded with a detection robot passive self-adaptive magnetic attraction TOFD inspection mechanism described in the first aspect.

[0014] The present application has at least the following advantages: 1. In the present application, when the probe moves to the obstacle area such as weld reinforcement, rust protrusion, etc., it can automatically and smoothly lift along the obstacle contour, synchronously driving the embedded spring compression deformation, and the additional compression force generated by the spring accurately offsets the pressure loss caused by lifting, so that the probe always adheres to the workpiece surface with constant and standard pressure. The limit block inside the deflection support forms a mechanical gap limit with the square support, which allows the probe to flexibly deflect within a set range, and prevents excessive turning from causing the probe to detach or be damaged. The guide block further increases the contact area and guides smooth transition, ensuring overall obstacle safety.

[0015] 2. The present application forms a cross shaft structure by the deflection support and the square support, which has independent rotational freedom in X and Y directions, and can accurately adapt to the curvature change of curved workpieces such as storage tanks and pipelines; by adding a torsional spring at the connection of the cross shaft structure to build a flexible self-adaptive function, when there are roughness differences or local concave-convex on the workpiece surface, the mechanism can buffer and absorb the force in all directions in real time and avoid force coupling, ensuring that the probe wedge and the workpiece surface always maintain an ideal normal contact angle, eliminating the detection blind area and poor coupling caused by attitude mismatch.

[0016] 3. In the present application, the spring is diagonally placed and arranged between the two groups of parallel link assemblies, which maximizes the force arm effect while achieving high spatial intensity, significantly reducing the lateral size and overall weight of the mechanism; the deflection support adopts an integrated design of rigid fixation at the top and rotational connection at the bottom, with fewer parts and simple assembly, achieving lightweight target under the premise of ensuring high rigidity and stability, which can be directly mounted on the end of a crawling robot or a mechanical arm, especially suitable for narrow space operations such as inside storage tanks and pipelines, reducing the dependence on the load capacity and movement space of the robot.

[0017] Of course, implementing any product of the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a three-dimensional schematic view of the overall structure in embodiment one of the present application; Figure 2 is a front view of the parallel link assembly in embodiment one of the present application; Figure 3 is a side view of the parallel linkage assembly in embodiment one of the present application; Figure 4 is a front view of the connecting rod structure in embodiment one of the present application; Figure 5 is a side view of the connecting rod structure in embodiment one of the present application; Figure 6 is a perspective view of the deflection bracket in embodiment one of the present application; Figure 7 is a perspective view of the magnetic attraction probe module structure in embodiment one of the present application; Figure 8 is an exploded view of the magnetic attraction probe module in the side view direction in embodiment one of the present application; Figure 9 is an exploded view of the magnetic attraction probe module structure in embodiment one of the present application; Figure 10 is a structural schematic view of the parallel linkage assembly when the spring is compressed in embodiment one of the present application; Figure 11 is a perspective schematic view of the overall structure of the flaw detection robot in embodiment two of the present application.

[0019] Reference signs: 1, magnetic attraction probe module; 2, cross shaft structure; 3, parallelogram structure; 4, double shaft linear guide rail; 5, guide rail slider; 11, ultrasonic probe; 12, probe shell; 13, guide block; 14, square magnet; 21, deflection bracket; 22, square bracket; 31, suspension plate; 32, square fixed plate; 33, spring; 34, parallel linkage; 35, connecting rod; 36, hanging ring. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0021] Embodiment one: Please refer to Figures 1-10 The present application provides a technical solution: a passive adaptive magnetic attraction TOFD flaw detection mechanism of a detection robot, comprising a suspension plate 31, the top end and the bottom end of the suspension plate 31 are both rotationally connected with a parallel linkage 34 assembly, the other end of the parallel linkage 34 assembly is rotationally connected with a connecting rod 35, and a spring 33 is arranged between the connecting rod 35 and the suspension plate 31; The bottom end of the connecting rod 35 is fixedly installed with a deflection support 21, the bottom end of the deflection support 21 is rotationally connected with a square support 22, the inside of the square support 22 is rotationally connected with the magnetic attraction probe module 1, the magnetic attraction probe module 1 realizes two degrees of freedom deflection on the square support 22 and the deflection support 21 to adaptively adjust the contact posture of the magnetic attraction probe module 1 and the workpiece, and the connecting rod 35 and the suspension plate 31 are connected through the parallel connecting rod 34 assembly and the spring 33 to realize vertical distance adjustment, so that the magnetic attraction probe module 1 and the workpiece are stably contacted.

[0022] The technical scheme of the embodiment also includes a double-shaft linear guide rail 4, both ends of the double-shaft linear guide rail 4 are slidingly connected with guide rail sliders 5, one end of the suspension plate 31 is fixedly installed with a square fixed plate 32, the square fixed plate 32 and the guide rail sliders 5 are connected through bolt fixing, the sliding mechanism of the double-shaft linear guide rail 4 and the guide rail sliders 5 allows the magnetic flaw detection mechanism to move along the guide rail axis, so that the center distance between the one-releasing and one-receiving ultrasonic probes 11 is flexibly adjusted, this design enables the mechanism to quickly adapt to different width welds or defect areas, and avoids the detection blind area caused by the fixed distance; in the obstacle crossing process, the guide rail sliders 5 allow the mechanism to move as a whole, and the suspension plate 31 is connected with the sliders through the square fixed plate 32, and cooperates with the parallelogram mechanism and the spring 33 to work. When the probe encounters a weld or an obstacle, the flexible mechanism is automatically lifted, the spring 33 is compressed and deformed to generate a compensation force; the guide rail system ensures smooth movement and avoids jamming.

[0023] The technical scheme of the embodiment also includes a double-shaft linear guide rail 4, both ends of the double-shaft linear guide rail 4 are slidingly connected with guide rail sliders 5, one end of the suspension plate 31 is fixedly installed with a square fixed plate 32, the square fixed plate 32 and the guide rail sliders 5 are connected through bolt fixing, the sliding mechanism of the double-shaft linear guide rail 4 and the guide rail sliders 5 allows the magnetic flaw detection mechanism to move along the guide rail axis, so that the center distance between the one-releasing and one-receiving ultrasonic probes 11 is flexibly adjusted, this design enables the mechanism to quickly adapt to different width welds or defect areas, and avoids the detection blind area caused by the fixed distance; in the obstacle crossing process, the guide rail sliders 5 allow the mechanism to move as a whole, and the suspension plate 31 is connected with the sliders through the square fixed plate 32, and cooperates with the parallelogram mechanism and the spring 33 to work. When the probe encounters a weld or an obstacle, the flexible mechanism is automatically lifted, the spring 33 is compressed and deformed to generate a compensation force; the guide rail system ensures smooth movement and avoids jamming. Figure 2 and Figure 3As shown, two sets of parallel link 34 assemblies are mounted on the side walls of the single suspension plate 31 to form a parallelogram structure 3, and the parallel link 34 assembly includes a first rotary link rotatably connected to the top end of the suspension plate 31 and a second rotary link rotatably connected to the bottom end of the suspension plate 31, the first rotary link is rotatably connected to the top end of the connecting rod 35, and the second rotary link is rotatably connected to the middle of the connecting rod 35, the first rotary link and the second rotary link are arranged in parallel and are fixed to the top end and the bottom end of the suspension plate 31 respectively, and form a closed parallelogram frame with the connecting rod 35, which limits the movement of the parallel link 34 assembly only in the vertical plane, avoids lateral deviation or torsion, ensures that the trajectory is strictly vertical when the ultrasonic probe 11 is lifted or lowered, and when the ultrasonic probe 11 contacts the obstacle, the parallel link 34 assembly can automatically lift along the obstacle profile due to its multi-link rotation characteristics, and when the ultrasonic probe 11 moves to the obstacle area with the detection robot, the parallel link 34 assembly can automatically lift along the obstacle profile due to its multi-link rotation characteristics, synchronously driving the spring 33 to compress and deform, and the additional compression force generated by the spring 33 during deformation can accurately offset the weakening of the contact pressure of the probe caused by the lifting of the mechanism, so that the probe always adheres to the surface of the storage tank with constant and standard detection pressure, ensuring the stability of the contact between the probe and the surface of the storage tank when the flaw detection module overcomes the obstacle.

[0024] As shown in Figure 4 and Figure 5 , one end of the spring 33 is connected to the bottom end of the suspension plate 31 through the ring 36, and the other end is connected to the top end of the connecting rod 35 through the ring 36, and the spring 33 is arranged between the two sets of parallel link 34 assemblies, the number of springs 33 is at least two, one end of the spring 33 is connected to the bottom end of the suspension plate 31, and the other end is connected to the top end of the connecting rod 35, forming a diagonal oblique arrangement, which makes the small deformation of the spring 33 generate a larger restoring moment, efficiently compensating for the loss of gravity component caused by obstacle lifting, and the spring 33 is arranged between the two sets of parallel link 34 assemblies, forming a central loading mode, which makes the spring 33 reaction force uniformly distributed to the two side links, avoiding the deflection or jam caused by unilateral stress concentration, ensuring the stable lifting of the parallelogram mechanism in the vertical direction, when encountering obstacles, the additional compression force generated by the spring 33 during deformation can accurately offset the weakening of the contact pressure of the ultrasonic probe 11 caused by the lifting of the mechanism, always ensuring the contact force between the ultrasonic probe 11 and the surface of the storage tank, maintaining a stable contact state, and ultimately improving the accuracy and reliability of the detection operation.

[0025] As shown in Figure 6As shown, the top of the deflection bracket 21 is fixedly connected with the connecting rod 35 by bolts, the bottom end of the deflection bracket 21 is rotatably connected with the square bracket 22 by a cross pin, and a stop block is fixedly connected to the inner side wall of the deflection bracket 21, the stop block is located above the square bracket 22 and has a gap with the square bracket 22, the stop block is used to limit the deflection angle of the square bracket 22, so that the square bracket 22 is prevented from being excessively deflected. The bottom end of the deflection bracket 21 and the square bracket 22 form a cross shaft structure 2, which gives the probe independent rotation freedom in X / Y two directions, and can accurately adapt to the surface of a workpiece with a curved surface feature; at the same time, a torsional spring is additionally arranged at the connecting position of the cross shaft structure 2 to construct a flexible self-adaptive function, when there is a roughness difference or a curvature change on the surface of the workpiece, the contact posture of the probe can be dynamically adjusted in real time, so that the ideal contact angle between the probe and the workpiece to be detected is always ensured, and problems such as ultrasonic propagation path deviation and signal attenuation caused by the ups and downs of the surface of the workpiece are fundamentally avoided, and the accuracy and reliability of the ultrasonic detection result are significantly improved.

[0026] Further, the rotation direction of the magnetic attraction probe module 1 on the square bracket 22 is perpendicular to the rotation direction of the square bracket 22 on the deflection bracket 21, when the surface of the workpiece simultaneously has longitudinal and transverse curvature changes, the rotation in the two perpendicular directions can be independently responded, and the probe will not be unnecessarily deviated or twisted due to the compound motion, and the accuracy of the detection path is ensured.

[0027] For the technical scheme of the embodiment, as shown in the figure, Figures 7-9 As shown, the magnetic attraction probe module 1 includes two guide blocks 13 arranged in mirror image symmetry, a square magnet 14 is fixedly installed on the top of the guide block 13, and a mounting groove matched with the square magnet 14 is formed in the top of the guide block 13, the upper surface of the square magnet 14 is flush with the upper surface of the guide block 13 after installation, the guide block 13 can play a guiding role when the magnetic attraction probe module 1 contacts the weld or other obstacles, so as to ensure the smooth transition of the ultrasonic probe 11 when passing through the obstacles, the guide piece can also increase the contact area between the ultrasonic probe 11 and the surface of the storage tank, prevent the ultrasonic probe 11 from overturning, and the two guide blocks 13 are arranged in mirror image symmetry, so that the magnetic attraction force generated by the square magnet 14 acts uniformly on the surface of the workpiece; A probe shell 12 is fixedly installed on the top of the square magnet 14, and an ultrasonic probe 11 is installed in the probe shell 12, the probe shell 12 provides dustproof, moistureproof and mechanical impact protection for the ultrasonic probe 11, and meets the use requirements of complex industrial site environments.

[0028] For the technical scheme of the embodiment, the number of probe shells 12 is two, the two probe shells 12 are spliced to form a whole and are fixed by bolts, and the ultrasonic probe 11 is installed in the inside of the spliced probe shell 12; The guide block 13, the square magnet 14 and the probe shell 12 are integrally formed by bolt mounting, two probe shells 12 are integrally formed by splicing and bolt fixing, constant flaw detection pressure is provided in a magnetic adsorption mode, the purpose is to ensure light weight while obtaining good weld ultrasonic signals, and the magnetic adsorption probe module 1 adopts a detachable structure, when the ultrasonic probe 11 needs to be replaced or maintained, the shell can be opened only by dismounting the bolt, without replacing the whole module; The probe shell 12 in the magnetic adsorption probe module 1 is rotationally connected between the plug bolt and the square support 22.

[0029] In summary, the passive force-position coupling compensation mechanism is constructed through the synergistic effect of the parallel connecting rod 34 assembly, the spring 33, the deflection support 21 and the square support 22, the unstable problems such as contact pressure fluctuation and instantaneous separation of the probe and the workpiece surface are solved, the cross shaft structure 2 composed of the deflection support 21 and the square support 22 endows the probe with two independent rotation degrees of freedom in a plane, the posture can be dynamically adjusted in real time following a complex curved surface, linkage of the spring 33 and the parallel connecting rod 34 assembly ensures constant contact pressure when obstacles are crossed, ultrasonic signal attenuation, scattering and phase shift caused by contact instability are effectively avoided, the accuracy of defect positioning and quantitative data and the reliability of detection results are significantly improved, meanwhile, the magnetic adsorption probe module 1 is provided with magnetic force by a strong magnet to adsorb the ultrasonic probe 11 on the surface of the storage tank, constant downward pressure is provided, and the ultrasonic probe 11 effectively collects weld ultrasonic data.

[0030] Embodiment two: As Figure 11 shown, the embodiment provides a TOFD flaw detection robot, and the front end of the robot body is loaded with the passive adaptive magnetic adsorption TOFD flaw detection mechanism described in embodiment one.

[0031] It should be noted that, in this document, relationship terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0032] Those of ordinary skill in the art, with the benefit of this disclosure, would understand the specific meaning of the above terms in the context of the present application. When an element is referred to as being "on", "connected to", "mounted to", or "disposed to" another element, it can be directly on, connected to, mounted to, or disposed to the other element or intervening elements can also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions are intended for purposes of illustration only and are not intended to be limiting.

[0033] Although embodiments of the present application have been shown and described, it would be appreciated by those of ordinary skill in the art that changes, modifications, alternatives and variations to these embodiments could be made without departing from the principles and spirit of the application, the scope of which is defined by the appended claims and their equivalents.

[0034] In the description of the specification, reference to "one embodiment", "an example", "a specific example" or similar expressions, means that a particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the disclosure. The appearances of the above expressions in various places in the specification are not necessarily referring to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A passive adaptive magnetic attraction TOFD inspection mechanism for a robot, comprising: The suspension plate (31) is rotatably connected with a parallel connecting rod (34) assembly at the top end and the bottom end, the other end of the parallel connecting rod (34) assembly is rotatably connected with a connecting rod (35), and a spring (33) is arranged between the connecting rod (35) and the suspension plate (31); The bottom end of the connecting rod (35) is fixedly installed with a deflection support (21), the bottom end of the deflection support (21) is rotatably connected with a square support (22), and the inside of the square support (22) is rotatably connected with a magnetic probe module (1), the magnetic probe module (1) realizes two-degree-of-freedom deflection on the square support (22) and the deflection support (21) to adaptively adjust the contact posture of the magnetic probe module (1) and the workpiece, and the vertical distance between the connecting rod (35) and the suspension plate (31) is adjusted through the parallel connecting rod (34) assembly and the spring (33) to ensure that the magnetic probe module (1) and the workpiece are in stable contact.

2. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 1, wherein: It also comprises a double-shaft linear guide rail (4), both ends of the double-shaft linear guide rail (4) are slidably connected with a guide rail slider (5), one end of the suspension plate (31) is fixedly installed with a square fixed plate (32), and the square fixed plate (32) and the guide rail slider (5) are fixedly connected through bolts.

3. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 2, wherein: Two groups of parallel connecting rod (34) assemblies are installed on the side wall of a single suspension plate (31), and the parallel connecting rod (34) assembly comprises a first rotating connecting rod rotatably connected at the top end of the suspension plate (31) and a second rotating connecting rod rotatably connected at the bottom end of the suspension plate (31).

4. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 3, wherein: The first rotating connecting rod is rotatably connected at the top end of the connecting rod (35), and the second rotating connecting rod is rotatably connected at the middle of the connecting rod (35).

5. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 4, wherein: One end of the spring (33) is connected to the bottom end of the suspension plate (31) through a hanging ring (36), the other end is connected to the top end of the connecting rod (35) through a hanging ring (36), and the spring (33) is arranged between the two groups of parallel connecting rod (34) assemblies.

6. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 5, wherein: The top of the deflection support (21) is fixedly connected with the connecting rod (35) through bolts, the bottom end of the deflection support (21) is rotatably connected with the square support (22) through a jamming bolt, and the inner side wall of the deflection support (21) is fixedly connected with a stop block, the stop block is located above the square support (22) and has a gap between the square support (22).

7. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 5, wherein: The rotation direction of the magnetic probe module (1) on the square support (22) is perpendicular to the rotation direction of the square support (22) on the deflection support (21).

8. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 7, wherein: The magnetic probe module (1) comprises two mirror-symmetrical guide blocks (13), the top of the guide block (13) is fixedly installed with a square magnet (14), and the top of the guide block (13) is provided with an installation groove matched with the square magnet (14), and after installation, the upper surface of the square magnet (14) is flush with the upper surface of the guide block (13). The top of the square magnet (14) is fixedly installed with a probe shell (12), and the inside of the probe shell (12) is installed with an ultrasonic probe (11).

9. The passive adaptive magnetic attraction TOFD inspection mechanism of claim 8, wherein: The number of the probe housings (12) is two, the two probe housings (12) are spliced to form a whole and are fixed by bolts, and the ultrasonic probe (11) is installed inside the spliced probe housing (12); The guide block (13), the square magnet (14) and the probe housing (12) are installed to form a whole by bolts, The probe housing (12) in the magnetic attraction probe module (1) is rotatably connected between the square support (22) and the plug bolt.

10. A TOFD inspection robot characterized by, The front end of the flaw detection robot machine body is loaded with the detection robot passive self-adaptive magnetic attraction TOFD flaw detection mechanism in any one of claims 1 to 9.

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