An autonomous navigation and positioning magnetic powder robot

Abstract

The application provides an autonomous navigation and positioning magnetic powder robot, and relates to the technical field of flaw detection robots, which comprises a robot main body composed of a frame plate, a sliding block and supporting legs, six-axis mechanical arms are installed at both ends of the main body, a cleaning assembly is installed at the end of one of the mechanical arms, the cleaning assembly comprises a shell and a cleaning belt, the curvature of the belt can be changed by adjusting a wheel driven by an electric push rod to adapt to different pipe radii, and a suction nozzle is arranged to collect debris in real time, a magnetic powder flaw detection assembly is installed at the end of the other mechanical arm, the magnetic powder flaw detection assembly comprises a magnetic yoke with a hollow magnetic pole, a sealing core with a spiral flow channel and exudation structure is screw-mounted in the magnetic pole to realize buffer and uniform exudation of magnetic suspension, and the robot main body is provided with a radial adjusting mechanism which can synchronously drive the supporting legs to open or close, so that the driving wheel can adapt to different pipe diameters, and the application realizes autonomous navigation, effective cleaning and high-precision magnetic powder flaw detection of pipe welds.

Description

Technical Field

[0001] This invention relates to the field of flaw detection robot technology, and in particular to an autonomous navigation and positioning magnetic powder robot. Background Technology

[0002] When the outer surface of storage tanks and pipelines is made of ferromagnetic materials such as steel or cast iron, and there are discontinuous defects such as cracks or pores in the material, the magnetic field lines on the surface of the storage tank will be distorted, thus forming a leakage magnetic field at the defect. When magnetic suspension is sprayed onto the surface of the storage tank, the leakage magnetic field will attract the magnetic powder in the magnetic suspension and accumulate, resulting in a visible magnetic mark on the surface of the storage tank.

[0003] When inspecting pipe welds, traditional robots cannot clean the weld area before inspection after entering the pipe, and residual weld slag, burrs and dust will affect the inspection accuracy. Summary of the Invention

[0004] The purpose of this invention is to solve the shortcomings of the existing technology, where traditional robots cannot clean the weld area before detection after entering the pipeline, and the residual weld slag, burrs and dust will affect the detection accuracy.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an autonomous navigation and positioning magnetic powder robot, comprising a robot body composed of a frame plate, a slider, and supporting legs, wherein a six-axis robotic arm is fixedly mounted at both ends of the robot body, and further comprising: A cleaning assembly is installed at the end of one of the six-axis robotic arms to clean the weld area to be tested after the robot body enters the pipe. The cleaning assembly includes a housing and a cleaning belt. The housing is fixedly installed at the end of the six-axis robotic arm. Multiple drive pulleys and guide pulleys are rotatably installed inside the housing, and the cleaning belt is sleeved on the drive pulleys and guide pulleys. Tensioning pulleys are provided on both sides of the housing to make the cleaning belt convex. A magnetic particle inspection assembly is mounted at the end of another of the six-axis robotic arms.

[0006] In at least some embodiments, the frame plate, slider, and support legs are symmetrically arranged in two sets. Multiple slide rods are fixedly inserted between the two frame plates. Flange plates are fixedly installed at both ends of the slide rods. A lead screw is rotatably installed between the flange plate and the frame plate. An adjusting motor is fixedly installed between the two frame plates. The output shaft of the adjusting motor is fixedly connected to one of the lead screws. Two sliders are slidably installed on both sides of the slide rods. A lead screw pair threaded to the lead screw is fixedly installed on the slider. A connecting rod is rotatably installed on the slider in a circular array. Multiple support legs are rotatably installed on the frame plate in a circular array. The middle of the support leg is rotatably connected to the connecting rod.

[0007] In at least some embodiments, a first synchronous gear is fixedly mounted on the lead screw, and a synchronous shaft is rotatably mounted between the two frame plates. Both ends of the synchronous shaft are fixedly mounted with a second synchronous gear that meshes with the first synchronous gear.

[0008] In at least some embodiments, a drive wheel is rotatably mounted at the end of the support leg, a driven bevel gear is fixedly mounted on the shaft of the drive wheel on one of the support legs, a drive motor is fixedly mounted on the support leg, and an active bevel gear that meshes with the driven bevel gear is fixedly mounted on the output shaft of the drive motor.

[0009] In at least some embodiments, mounting brackets are rotatably mounted on both ends of the tension wheel shaft, two spring rods are rotatably mounted between the mounting brackets and the housing, and the two spring rods are set at a 90-degree angle, a suction nozzle is fixedly mounted on the mounting brackets and the suction port of the suction nozzle is aligned with the tension wheel, and an imaging camera is mounted on the housing.

[0010] In at least some embodiments, the housing is provided with an adjusting wheel, the shaft of the adjusting wheel is rotatably mounted with a movable frame and the movable frame is slidably mounted on the housing, an electric push rod is fixedly installed inside the housing, the telescopic end of the electric push rod is fixedly connected to the movable frame, and the electric push rod extends to push the cleaning belt to deform to adapt to pipes with different inner curvatures.

[0011] In at least some embodiments, the magnetic particle inspection assembly includes a magnetic yoke and a core. The magnetic yoke is fixedly installed at the end of a six-axis robotic arm. Both magnetic poles of the magnetic yoke are hollow. The core is threadedly installed inside the two magnetic poles of the magnetic yoke. A diversion valve is fixedly installed on the magnetic yoke. The two output ports of the diversion valve are fixedly connected to the two magnetic poles of the magnetic yoke by flexible tubing. The output ports of the diversion valve are connected to an external fluorescent magnetic suspension liquid source. An imaging camera and an ultraviolet lamp are fixedly installed on the magnetic yoke.

[0012] In at least some embodiments, the sealing core is bolt-shaped and has a spiral flow channel on the rod portion, and has an exudation hole and an exudation groove on the head of the sealing core.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by setting a radial adjustment mechanism consisting of an adjusting motor, a lead screw, a slider, and a connecting rod, and cooperating with a synchronous drive mechanism consisting of a synchronous gear and a synchronous shaft, multiple sets of support legs can be driven to open or close synchronously and stably. This allows the drive wheels to closely fit and adapt to the inner walls of pipes of different diameters, providing the robot with a stable platform for movement and operation, and broadening the application range of the robot.

[0014] In this invention, by setting a cleaning belt deformation mechanism that drives the adjustment wheel to move via an electric actuator, the curvature of the working section of the cleaning belt can be flexibly adjusted to adapt to pipe surfaces with different inner curvatures. Combined with the cleaning belt arranged in a "convex" shape and the tensioning wheel structure with a bidirectional spring rod, it can ensure a tight and flexible fit between the cleaning belt and the weld surface. At the same time, the suction nozzle integrated at the tensioning wheel can immediately remove debris and dust generated during cleaning, effectively avoiding secondary pollution and significantly improving the pretreatment cleaning effect of the weld area.

[0015] In this invention, by setting a threaded sealing core inside the hollow magnetic pole, and opening a spiral flow channel in the rod part of the sealing core and opening a seepage hole and seepage groove in the head, the fluorescent magnetic suspension is buffered and evenly distributed during supply, and finally slowly and evenly seeps out to the contact area between the magnetic pole and the tube wall. This ensures the uniformity and sufficiency of the magnetic suspension coverage in the detection area, providing the necessary conditions for forming clear and accurate magnetic traces, thereby improving the defect detection rate and detection accuracy. Attached Figure Description

[0016] Figure 1 This invention presents an overall three-dimensional schematic diagram of an autonomous navigation and positioning magnetic powder robot; Figure 2 This invention presents a schematic diagram of the main body of an autonomous navigation and positioning magnetic powder robot. Figure 3 This invention presents a schematic diagram of the frame plate in an autonomous navigation and positioning magnetic powder robot. Figure 4 This invention presents a schematic diagram of the slider structure in an autonomous navigation and positioning magnetic powder robot; Figure 5 This invention presents a schematic diagram of the supporting leg structure in an autonomous navigation and positioning magnetic powder robot; Figure 6 This invention presents a schematic diagram of the cleaning component in an autonomous navigation and positioning magnetic powder robot. Figure 7 This invention presents a schematic diagram of the internal structure of a shell-type magnetic powder robot with autonomous navigation and positioning capabilities. Figure 8 This invention presents a schematic diagram of the structure of a magnetic particle inspection component in an autonomous navigation and positioning magnetic particle robot.

[0017] Legend: 1. Frame plate; 101. Slide rod; 102. Flange plate; 103. Lead screw; 104. Adjusting motor; 105. First synchronous gear; 106. Synchronous shaft; 107. Second synchronous gear; 2. Slider; 201. Lead screw pair; 202. Connecting rod; 3. Support leg; 301. Drive wheel; 302. Driven bevel gear; 303. Drive motor; 304. Driven bevel gear; 4. Six-axis robotic arm; 5. Cleaning components; 501. Housing; 502. Drive pulley; 503. Guide wheel; 504. Cleaning belt; 505. Adjusting wheel; 506. Moving frame; 507. Electric actuator; 508. Tensioner; 509. Spring rod; 510. Mounting bracket; 511. Suction nozzle; 6. Magnetic particle inspection assembly; 601. Magnetic yoke; 602. Core seal; 603. Diverter valve. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0020] Implementation examples, based on Figures 1-8 The autonomous navigation and positioning magnetic powder robot provided in this embodiment of the invention includes a robot body composed of a frame plate 1, a slider 2, and supporting legs 3, such as... Figure 1 As shown, a six-axis robotic arm 4 is fixedly mounted at both ends of the robot body. A cleaning component 5 is also included at the end of one of the six-axis robotic arms 4 to clean the weld area to be tested after the robot body enters the pipe. The cleaning component 5 includes a housing 501 and a cleaning belt 504. The housing 501 is fixedly mounted at the end of the six-axis robotic arm 4. Multiple drive pulleys 502 and guide pulleys 503 are rotatably mounted inside the housing 501, and the cleaning belt 504 is fitted onto the drive pulleys 502 and guide pulleys 503. Tensioning pulleys 508 are provided on both sides of the housing 501 to... The cleaning belt 504 is convex in shape and is installed at the end of another six-axis robotic arm 4 with a magnetic particle inspection component 6. The six-axis robotic arm 4 has high flexibility and positioning accuracy, and can precisely control the cleaning component 5 and the magnetic particle inspection component 6 to reach any weld position on the inner wall of the pipe. The robot body can move and navigate autonomously inside the pipe. First, the cleaning component 5 is used to pre-treat the surface of the weld to be inspected to remove weld slag, burrs and dust. Then, the magnetic particle inspection component 6 magnetizes and applies magnetic suspension. Finally, the magnetic traces are observed through the imaging system to complete the non-destructive testing.

[0021] like Figure 3 and Figure 4As shown, the frame plate 1, slider 2, and support legs 3 are symmetrically arranged in two sets. Multiple slide rods 101 are fixedly inserted between the two frame plates 1. Flange plates 102 are fixedly installed at both ends of each slide rod 101. A lead screw 103 is rotatably installed between the flange plate 102 and the frame plate 1. An adjusting motor 104 is fixedly installed between the two frame plates 1. The output shaft of the adjusting motor 104 is fixedly connected to one of the lead screws 103. Two sliders 2 are slidably installed on both sides of the slide rods 101. A lead screw pair 201 threadedly connected to the lead screw 103 is fixedly installed on each slider 2. Connecting rods 202 are rotatably installed on each slider 2 in a circular array. Multiple support legs... The support legs 3 are rotatably mounted on the frame plate 1 in a ring array. The middle part of the support legs 3 is rotatably connected to the connecting rod 202. The motor 104 drives the lead screw 103 to rotate, which drives the two sliders 2 to move synchronously towards or away from each other along the sliding rod 101. The movement of the sliders 2 drives all the support legs 3 to swing synchronously around their hinge point with the frame plate 1 through the connecting rod 202, thereby realizing the radial opening or closing of all the drive wheels 301. This design enables the robot to adapt to the inner wall of pipes of different diameters. By pressing the inner wall with the drive wheels 301, sufficient traction and stability are provided to ensure that the robot body will not slide or overturn during the inspection process. A first synchronous gear 105 is fixedly mounted on the lead screw 103. A synchronous shaft 106 is rotatably mounted between the two frame plates 1. A second synchronous gear 107, which meshes with the first synchronous gear 105, is fixedly mounted at both ends of the synchronous shaft 106 to ensure that the lead screws 103 on both sides rotate synchronously. The first synchronous gear 105 and the second synchronous gear 107, together with the synchronous shaft 106, form a symmetrical synchronous drive mechanism. When the adjusting motor 104 drives the lead screw 103 on one side to rotate, the power is precisely transmitted to the lead screw 103 on the other side through the first synchronous gear 105, the synchronous shaft 106, and the second synchronous gears 107 at both ends. This forces the lead screws 103 on both sides to maintain completely synchronized speed and direction. This ensures that the displacement of the two sliders 2 is absolutely consistent, thereby making the swing angle of all support legs 3 completely synchronized. During the adjustment process, the robot body can always maintain the stability of the central axis and will not deviate, providing a stable platform foundation for the precise operation of the robotic arm.

[0022] like Figure 5as shown, the end of the support leg 3 is rotatably mounted with a driving wheel 301, the shaft of the driving wheel 301 on one of the support legs 3 is fixedly mounted with a driven bevel gear 302, the support leg 3 is fixedly mounted with a driving motor 303, the output shaft of the driving motor 303 is fixedly mounted with a driving bevel gear 304 in meshed connection with the driven bevel gear 302, wherein the driving motor 303 transmits power to the driving wheel 301 through the driving bevel gear 304 and the driven bevel gear 302 to drive the robot to travel inside the pipeline. The bevel gear transmission structure is compact, suitable for arrangement in the limited space of the support leg 3, and can efficiently change the power transmission direction. Usually, multiple or all driving wheels 301 can be set as driving wheels to provide sufficient traction, so that the robot can overcome the resistance caused by possible oil stains, rust and the like on the inner wall of the pipeline, realize moving functions such as advancing, retreating and turning, and cooperate with the navigation system to reach the designated weld area.

[0023] As Figure 6 and Figure 7 as shown, the two ends of the shaft of the tensioning wheel 508 are rotatably mounted with mounting frames 510, two spring rods 509 are rotatably mounted between the mounting frame 510 and the belt housing 501, and the two spring rods 509 are arranged at ninety degrees. The mounting frame 510 is fixedly mounted with a suction nozzle 511, and the suction port of the suction nozzle 511 is aligned with the tensioning wheel 508. An imaging camera is mounted on the belt housing 501, wherein the cleaning belt 504 arranged in a "convex" shape, the middle protruding part thereof can closely fit the arc-shaped inner surface of the pipeline weld. The two spring rods 509 arranged at ninety degrees provide bidirectional elastic support for the mounting frame 510 and the tensioning wheel 508, so that the tensioning wheel 508 can adaptively adjust to the tension change of the cleaning belt 504 and maintain its "convex" shape, while allowing the cleaning assembly 5 to have a certain buffer when contacting the uneven weld surface. The suction port of the suction nozzle 511 faces the contact area between the tensioning wheel 508 and the cleaning belt 504, which can instantly suck away the raised dust, debris and the like by using negative pressure at the moment when the cleaning belt 504 peels off the dirt, so as to prevent secondary pollution. The imaging camera is used to photograph the surface state of the weld before and after cleaning, which can not only assist navigation and positioning, but also be used for cleaning effect evaluation; The housing 501 contains an adjusting wheel 505. The shaft of the adjusting wheel 505 is rotatably mounted with a movable frame 506, which is slidably mounted on the housing 501. An electric actuator 507 is fixedly installed inside the housing 501. The telescopic end of the electric actuator 507 is fixedly connected to the movable frame 506. The electric actuator 507 extends to push the cleaning belt 504 to deform to adapt to pipes with different inner curvatures. The electric actuator 507 can precisely control the displacement of the movable frame 506, thereby changing the position of the adjusting wheel 505. The movement of the adjusting wheel 505 will force a change in the local path of the cleaning belt 504, thereby fine-tuning the radius of curvature of its working section (i.e., the part that contacts the inner wall of the pipe). This allows the same cleaning component 5 to adapt to the inner wall curvature of pipes with different diameters within a certain range, ensuring that the cleaning belt 504 can always adhere to the weld surface with the best contact area and pressure for cleaning operations, thus improving the versatility of the equipment and the consistency of the cleaning effect.

[0024] like Figure 8 As shown, the magnetic particle inspection assembly 6 includes a magnetic yoke 601 and a core 602. The magnetic yoke 601 is fixedly installed at the end of the six-axis robotic arm 4. Both magnetic poles of the magnetic yoke 601 are hollow. The core 602 is threaded into the two magnetic poles of the magnetic yoke 601. A diversion valve 603 is fixedly installed on the magnetic yoke 601. The two output ports of the diversion valve 603 are connected to the two magnetic poles of the magnetic yoke 601 by flexible hoses. The output ports of the diversion valve 603 are connected to an external fluorescent magnetic suspension source. An imaging camera and an ultraviolet lamp are fixedly installed on the magnetic yoke 601. The core 602 is bolt-shaped, and a spiral flow channel is opened on the rod of the core 602. A seepage hole and a seepage groove are opened on the head of the core 602. During inspection, the six-axis robotic arm 4 moves the two magnetic poles of the magnetic yoke 601... The magnetic yoke 601 straddles both sides of the weld to be inspected. After being energized, it generates an induced magnetic field in the detection area between its two poles. The externally supplied fluorescent magnetic suspension is divided into two equal streams through the diversion valve 603 and flows into the two hollow magnetic poles of the magnetic yoke 601 through the hoses. The magnetic suspension first enters the spiral flow channel of the core 602 rod. This design can effectively buffer and uniformly flow the liquid. Then, it slowly and evenly seeps out from the seepage hole and seepage groove at the head of the core 602, wetting the contact area between the magnetic pole and the inner wall of the pipe. Under the action of the magnetic field, the leakage magnetic field at the defect will attract fluorescent magnetic powder to accumulate and form a magnetic mark. The ultraviolet lamp provides the excitation light source, making the fluorescent magnetic mark emit obvious visible light. The imaging camera captures the image and transmits it to the external control terminal for analysis and judgment, thereby realizing the location and identification of the defect.

[0025] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An autonomous navigation and positioning magnetic powder robot, comprising a robot body consisting of a frame plate (1), a slider (2), and supporting legs (3), characterized in that: The robot body is fixedly equipped with six-axis robotic arms (4) at both ends, and also includes: A cleaning assembly (5) is installed at the end of one of the six-axis robotic arms (4) to clean the weld area to be tested after the robot body enters the pipe. The cleaning assembly (5) includes a housing (501) and a cleaning belt (504). The housing (501) is fixedly installed at the end of the six-axis robotic arm (4). Multiple drive pulleys (502) and guide wheels (503) are rotatably installed inside the housing (501), and the cleaning belt (504) is sleeved on the drive pulleys (502) and guide wheels (503). Tensioning wheels (508) are provided on both sides of the housing (501) to make the cleaning belt (504) convex. Magnetic particle inspection assembly (6) installed at the end of another six-axis robotic arm (4); The magnetic particle inspection assembly (6) includes a magnetic yoke (601) and a core (602). The magnetic yoke (601) is fixedly installed at the end of a six-axis robotic arm (4). Both magnetic poles of the magnetic yoke (601) are hollow. The core (602) is threaded into the two magnetic poles of the magnetic yoke (601). A diversion valve (603) is fixedly installed on the magnetic yoke (601). The two output ports of the diversion valve (603) are connected to the two magnetic poles of the magnetic yoke (601) by a flexible hose. The output port of the diversion valve (603) is connected to an external fluorescent magnetic suspension liquid source. An imaging camera and an ultraviolet lamp are fixedly installed on the magnetic yoke (601). The sealing core (602) is bolt-shaped and has a spiral flow channel on its rod. The head of the sealing core (602) has an exudation hole and an exudation groove.

2. The autonomous navigation and positioning magnetic powder robot according to claim 1, characterized in that: The frame plate (1), slider (2) and support leg (3) are symmetrically arranged in two sets. Multiple slide rods (101) are fixedly inserted between the two frame plates (1). Flange plates (102) are fixedly installed at both ends of the slide rods (101). A lead screw (103) is rotatably installed between the flange plate (102) and the frame plate (1). An adjustment motor (104) is fixedly installed between the two frame plates (1). The output shaft of the adjustment motor (104) is fixedly connected to one of the lead screws (103). Two sliders (2) are slidably installed on both sides of the slide rods (101). A lead screw pair (201) threadedly connected to the lead screw (103) is fixedly installed on the slider (2). A connecting rod (202) is rotatably installed in a ring array on the slider (2). Multiple support legs (3) are rotatably installed in a ring array on the frame plate (1). The middle part of the support leg (3) is rotatably connected to the connecting rod (202).

3. The autonomous navigation and positioning magnetic powder robot according to claim 2, characterized in that: The lead screw (103) is fixedly fitted with a first synchronous gear (105), and a synchronous shaft (106) is rotatably installed between the two frame plates (1). Both ends of the synchronous shaft (106) are fixedly fitted with second synchronous gears (107) that mesh with the first synchronous gear (105).

4. The autonomous navigation and positioning magnetic powder robot according to claim 3, characterized in that: The end of the support leg (3) is rotatably mounted with a drive wheel (301), and a driven bevel gear (302) is fixedly mounted on the shaft of the drive wheel (301) on one of the support legs (3). A drive motor (303) is fixedly mounted on the support leg (3), and an active bevel gear (304) that meshes with the driven bevel gear (302) is fixedly mounted on the output shaft of the drive motor (303).

5. The autonomous navigation and positioning magnetic powder robot according to claim 1, characterized in that: Mounting brackets (510) are rotatably mounted on both ends of the shaft of the tension wheel (508). Two spring rods (509) are rotatably mounted between the mounting bracket (510) and the housing (501) and the two spring rods (509) are set at a 90-degree angle. A suction nozzle (511) is fixedly mounted on the mounting bracket (510) and the suction port of the suction nozzle (511) is aligned with the tension wheel (508). An imaging camera is mounted on the housing (501).

6. The autonomous navigation and positioning magnetic powder robot according to claim 5, characterized in that: The housing (501) is provided with an adjusting wheel (505). The shaft of the adjusting wheel (505) is rotatably mounted with a movable frame (506), and the movable frame (506) is slidably mounted on the housing (501). An electric push rod (507) is fixedly installed inside the housing (501). The telescopic end of the electric push rod (507) is fixedly connected to the movable frame (506). The electric push rod (507) extends to push the cleaning belt (504) to deform to adapt to pipes with different inner curvatures.

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