Multi-legged wall-climbing magnetic flux leakage detection robot

Abstract

This invention discloses a multi-legged wall-climbing magnetic flux leakage (MFL) detection robot, belonging to the technical field of MFL detection equipment. The multi-legged wall-climbing MFL detection robot includes a walking mechanism connected to a first leg mounting component and a second leg mounting component. It also includes multiple adsorption legs, each with a foot mounting plate connected to either the first or second leg mounting component; a permanent magnet for adsorbing onto the sidewall of the spherical tank to be inspected; an electromagnet for generating a magnetic field opposite to that of the permanent magnet; a MFL detection component for performing MFL detection on the sidewall of the spherical tank; and a controller that drives the movement of the first leg mounting component relative to the second leg mounting component, controlling the magnetic field strength and direction of the electromagnet, and determining the location of defects on the sidewall of the spherical tank based on the detection results of the MFL detection component. This invention's multi-legged wall-climbing MFL detection robot ensures the flexibility of the entire robot's movement on the sidewall of the spherical tank, guarantees the stability of the MFL detection signal, and improves the accuracy of defect detection on the sidewall of the spherical tank.

Description

Technical Field

[0001] This invention relates to the field of magnetic flux leakage detection equipment technology, specifically to a multi-legged wall-climbing magnetic flux leakage detection robot. Background Technology

[0002] Spherical tanks, as important large pressure vessels, are widely used in industries such as petroleum, chemical, and natural gas for storing liquefied gases or liquids. In practical applications, various factors, including differences in operator skill levels and inadequate process control, lead to internal corrosion within the tanks. Furthermore, the accumulation and amplification of minor defects over long-term use seriously threaten the safety of these tanks. Leaks or explosions in spherical tanks can cause severe casualties and property damage, as well as environmental pollution. Therefore, the safe operation of spherical tanks is crucial, and regular inspections and the timely detection and handling of potential defects are essential measures to ensure their safe operation.

[0003] Magnetic flux leakage (MFL) testing is a non-destructive testing method that can quickly scan large areas and detect surface and near-surface defects with relatively low requirements on defect size and orientation. MFL can quickly and accurately detect defects in spherical tanks, and the results provide a basis for the safety assessment and maintenance of these tanks. MFL testing equipment for the sidewalls of curved components such as spherical tanks often uses electromagnets to provide attraction and magnetize the tank sidewalls to enable wall-climbing operation and MFL testing. The attraction, magnetization, and detachment from the tank sidewalls are achieved by controlling the on / off state of the electromagnets.

[0004] However, the above-mentioned magnetic leakage detection technology for spherical tanks has limitations. Although this solution can achieve adsorption and detachment by adjusting the current to control the magnetic field strength of the electromagnet, the current inside the electromagnet is easily affected by the environment at the detection site and is difficult to keep constant. This makes the magnetic field generated by the electromagnet prone to fluctuation, resulting in an unstable magnetic leakage field generated on the side wall of the spherical tank. This, in turn, interferes with the signal acquisition of the magnetic leakage detection component, causing detection errors and reducing the accuracy of defect identification. Summary of the Invention

[0005] The purpose of this invention is to overcome the problems in the prior art and provide a multi-legged wall-climbing magnetic flux leakage detection robot. When performing magnetic flux leakage detection on the side wall of a spherical tank, it can ensure the flexibility of the entire robot's movement on the side wall of the spherical tank while ensuring the stability of the magnetic flux leakage detection signal, thereby improving the accuracy of defect detection on the side wall of the spherical tank.

[0006] This invention provides a multi-legged wall-climbing magnetic flux leakage detection robot, including a walking mechanism connected to a first leg mounting member and a second leg mounting member. The walking mechanism can drive the first leg mounting member to move relative to the second leg mounting member. The invention is characterized by further comprising: Multiple adsorption feet are respectively disposed on a first foot mounting component and a second foot mounting component. The multiple adsorption feet have the same structure, each including a foot mounting plate, a permanent magnet, an electromagnet, and a magnetic leakage detection component. The foot mounting plate is connected to the first foot mounting component or the second foot mounting component. The permanent magnet is connected to the foot mounting plate and has a ring structure. The permanent magnet is used to adsorb onto the side wall of the spherical tank to be tested. The electromagnet is disposed in the ring hole of the permanent magnet and is coaxially arranged with the permanent magnet. The electromagnet is used to generate a magnetic field opposite to that of the permanent magnet. The magnetic leakage detection component is disposed in the ring hole of the permanent magnet and is used to perform magnetic leakage detection on the side wall of the spherical tank. The controller is electrically connected to the walking mechanism, the electromagnet, and the magnetic flux leakage detection component. The controller is used to control the movement of the walking mechanism to drive the first foot mounting member to move relative to the second foot mounting member. The controller controls the magnetic field strength and direction of the electromagnet. The controller determines the location of the defect on the side wall of the spherical tank based on the detection results of the magnetic flux leakage detection component.

[0007] Preferably, a buffer mechanism is provided between the foot mounting plate and the permanent magnet. The buffer mechanism includes a main shaft, a sliding bearing, and multiple telescopic components. The permanent magnet is provided with a mounting seat. The main shaft is connected to the mounting seat. The sliding bearing is connected to the foot mounting plate. The main shaft is slidably connected to the sliding bearing along the axial direction of the permanent magnet. The main shaft is provided with a limiting boss to prevent the main shaft from slipping out of the sliding bearing. The multiple telescopic components are arranged circumferentially between the foot mounting plate and the mounting seat to buffer the impact on the permanent magnet.

[0008] Preferably, the telescopic assembly includes a spring and a spring adjustment shaft. The foot mounting plate is provided with a threaded hole along the axis of the permanent magnet. One end of the spring adjustment shaft is provided with an external thread, and the spring adjustment shaft is threadedly connected to the threaded hole through the external thread. One end of the spring abuts against the spring adjustment shaft, and the other end of the spring abuts against the mounting base. The spring is used to apply an elastic force along the axis of the permanent magnet to the spring adjustment shaft and the mounting base. Rotating the spring adjustment shaft can adjust the pre-compression of the spring.

[0009] Preferably, the mounting base is provided with a plurality of limiting protrusions, which are arranged circumferentially along the permanent magnet. Each limiting protrusion abuts against the end of the spring away from the spring force adjustment shaft. The limiting protrusions are used to position the end of the spring and limit the radial displacement of the spring.

[0010] Preferably, the spindle is provided with a floating joint, and the spindle is connected to the mounting base through the floating joint.

[0011] Preferably, the walking mechanism includes a first mounting plate, a second mounting plate, a third mounting plate, and a drive mechanism. The second foot mounting member is connected to the first mounting plate. The first mounting plate, the third mounting plate, and the first foot mounting member are all connected to the drive mechanism. The drive mechanism is disposed on the second mounting plate and is used to drive the first mounting plate to move up and down and translate relative to the third mounting plate, and to drive the first foot mounting member to rotate relative to the second mounting plate.

[0012] Preferably, the driving mechanism includes a first actuation component, a second actuation component, and a third actuation component. The first actuation component is connected to a first mounting plate, and the third mounting plate is connected to the first actuation component. The first actuation component is used to drive the first mounting plate to move up and down relative to the third mounting plate. The second actuation component is disposed on the second mounting plate, and the third mounting plate is connected to the second actuation component. The second actuation component is used to drive the third mounting plate to translate relative to the second mounting plate. The third actuation component is disposed on the third mounting plate, and the first foot mounting member is connected to the third actuation component. The third actuation component is used to drive the first foot mounting member to rotate relative to the third mounting plate about an axis parallel to the axis of the permanent magnet.

[0013] Preferably, the permanent magnet has a cushioning pad on the side away from the foot mounting plate.

[0014] Preferably, the floating joint is detachably connected to the mounting base.

[0015] Preferably, the outer wall of the spindle is provided with a wear-resistant coating.

[0016] Compared with existing technologies, the advantages of this invention are as follows: In the multi-legged wall-climbing magnetic flux leakage detection robot of this invention, the controller coordinates the movement of the walking mechanism and multiple adsorption legs. During the detection process, the controller first controls the adsorption legs on the first set of mounting components to adhere to the side wall of the spherical tank. The adsorption legs adopt a magnetic control method combining electromagnets and permanent magnets: when adsorption is required, the magnetic field generated by the electromagnet is superimposed with the magnetic field of the permanent magnet, which enhances the adsorption force and ensures that the adsorption legs are firmly attached to the surface of the spherical tank. Subsequently, the controller adjusts the magnetic field strength of the electromagnet to zero, relying solely on the permanent magnet to magnetize the side wall of the spherical tank. Since the magnetic field of the permanent magnet is stable and unaffected by current fluctuations, the magnetic flux leakage generated by the side wall of the spherical tank also remains constant, thereby avoiding detection interference caused by changes in the electromagnet current. At this time, the magnetic flux leakage detection components in each adsorption leg begin to work, and the Hall element therein can detect changes in the magnetic field at its location and convert them into electrical signals. The controller receives these detection signals and then determines whether there are defects on the side wall of the spherical tank and the location of the defects.

[0017] When the adsorption foot needs to detach from the side wall of the spherical tank, the controller controls the electromagnet to generate a magnetic field of the same strength but opposite direction to that of the permanent magnet. This causes the two magnetic fields to cancel each other out, and the adsorption foot loses its magnetic attraction, allowing it to detach smoothly from the detection surface. Through this magnetic control logic, the robot can obtain sufficient adsorption force during movement to ensure stability while climbing the wall, and maintain a constant leakage magnetic field during the detection phase, thereby improving the stability of the leakage magnetic field detection signal and the accuracy of defect identification. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of the present invention from a first angle; Figure 2 This is a structural schematic diagram of the invention from a second angle; Figure 3 This is a schematic diagram of the walking mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the first actuation component and the second actuation component of the present invention; Figure 5 This is a schematic diagram of the structure of the adsorption foot of the present invention; Figure 6 This is a schematic diagram of the internal structure of the adsorption foot of the present invention.

[0019] Explanation of reference numerals in the attached figures: 10. First mounting plate; 14. Second mounting plate; 16. Third mounting plate; 18. First foot mounting component; 20. Second foot mounting component; 22. First actuation assembly; 58. Second actuation assembly; 72. Adsorption foot; 74. Permanent magnet; 76. Electromagnet; 78. Magnetic leakage detection assembly; 80. Foot mounting plate; 82. Mounting base; 84. Telescopic assembly; 86. Spindle; 88. Sliding bearing; 90. Floating joint; 92. Spring; 94. Elastic adjustment shaft; 96. Limiting protrusion; 98. Controller. Detailed Implementation

[0020] The following is in conjunction with the appendix Figures 1-6 The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] like Figures 1-6As shown, the present invention provides a multi-legged wall-climbing magnetic flux leakage detection robot, including a walking mechanism connected to a first leg mounting member 18 and a second leg mounting member 20. The walking mechanism can drive the first leg mounting member 18 to move relative to the second leg mounting member 20. It also includes a controller 98 and multiple suction feet 72, which are respectively disposed on the first leg mounting member 18 and the second leg mounting member 20. The suction feet 72 have identical structures, each including a foot mounting plate 80, a permanent magnet 74, an electromagnet 76, and a magnetic flux leakage detection component 78. The foot mounting plate 80 is connected to either the first leg mounting member 18 or the second leg mounting member 20, and the permanent magnet 74 is connected to the foot mounting plate 80. The permanent magnet 74 has a ring structure. The electromagnet 76 is used to adhere to the side wall of the spherical tank to be inspected. It is disposed within the annular hole of the permanent magnet 74 and is coaxially arranged with the permanent magnet 74. The electromagnet 76 generates a magnetic field opposite in direction to the permanent magnet 74. The magnetic leakage detection component 78 is disposed within the annular hole of the permanent magnet 74 and is used to perform magnetic leakage detection on the side wall of the spherical tank. The controller 98 is electrically connected to the walking mechanism, the electromagnet 76, and the magnetic leakage detection component 78. The controller 98 controls the movement of the walking mechanism to drive the first foot mounting member 18 to move relative to the second foot mounting member 20. The controller 98 controls the magnetic field strength and direction of the electromagnet 76. The controller 98 determines the location of the defect on the side wall of the spherical tank based on the detection result of the magnetic leakage detection component 78.

[0022] The working principle of the above embodiments is briefly described below: When this multi-legged wall-climbing magnetic flux leakage detection robot performs defect detection, the controller 98 walking mechanism and multiple adsorption legs 72 coordinate their movements. The controller 98 controls the multiple adsorption legs 72 on the first set of mounting parts to adsorb onto the side wall of the spherical tank. The magnetic control logic of the adsorption legs 72 is that when the adsorption legs 72 need to adsorb onto the side wall of the spherical tank, the controller 98 controls the magnetic field direction of the electromagnet 76 to be the same as the magnetic field direction of the permanent magnet 74. Since the electromagnet 76 is located in the annular hole of the permanent magnet 74, the magnetic field generated by the electromagnet 76 and the magnetic field generated by the permanent magnet 74 are superimposed, which can enhance the overall magnetic adsorption force of the adsorption legs 72, so that the adsorption legs 72 are firmly adsorbed onto the side wall of the spherical tank. Then, the controller 98 controls the electromagnet 76 to have zero strength, thereby magnetizing the side wall of the spherical tank using the magnetic field of the permanent magnet 74. Since the magnetic field strength of the electromagnet 76 is zero at this time, while the magnetic field strength of the permanent magnet 74 is constant, the leakage magnetic field generated on the side wall of the spherical tank is relatively constant and will not fluctuate due to fluctuations in the current within the electromagnet 76. At this time, the leakage magnetic field detection components 78 of each adsorption foot 72 perform leakage magnetic field detection on the magnetized side wall of the spherical tank, and the controller 98 receives the detection signal generated by the leakage magnetic field detection components 78. Among them, the Hall element in the leakage magnetic field detection component 78 can detect the magnetic field at the location of the adsorption foot 72 and convert the magnetic field strength into an electrical signal, which is the detection signal. The controller 98 can obtain the detection signal output by the Hall element and then determine the defect location of the side wall of the spherical tank based on the detection signal. When the adsorption foot 72 needs to detach from the target being detected, the controller 98 controls the magnetic field direction of the electromagnet 76 to be opposite to that of the permanent magnet 74, and controls the magnetic field strength of the electromagnet 76 to be the same as that of the permanent magnet 74, so that the two magnetic fields cancel each other out, and the adsorption foot 72 loses the magnetic attraction force and detaches from the target being detected.

[0023] When it is necessary to perform magnetic leakage detection at the next location on the side wall of the spherical tank, the controller 98 controls the multiple adsorption feet 72 on the second foot mounting member 20 to lose their magnetism (that is, controls the magnetic field of the corresponding electromagnet 76 to be opposite to that of the permanent magnet 74 and the same in strength), and controls the walking mechanism to drive the second foot mounting member 20 to move away from the first foot mounting member 18. At this time, the multiple adsorption feet 72 on the second foot mounting member 20 detach from the target being detected. The controller 98 controls the walking mechanism to move, so that the second foot mounting member 20 is raised, lowered, translated or rotated relative to the first foot mounting member 18, thereby driving the multiple adsorption feet 72 on the second foot mounting member 20 to be raised, lowered, translated or rotated relative to the multiple adsorption feet 72 on the first foot mounting member 18, until the multiple adsorption feet 72 on the second foot mounting member 20 reach the next detection position. Then the controller 98 controls the multiple adsorption feet 72 on the second foot mounting member 20 to adhere to the side wall of the spherical tank and performs magnetic leakage detection on the side wall of the spherical tank at that location. At the same time, the controller 98 controls the multiple adsorption feet 72 on the first foot mounting piece 18 to detach from the side wall of the spherical tank. Then, the controller 98 controls the walking mechanism to move, and the walking mechanism drives the first foot mounting piece 18 to rise, move horizontally or rotate relative to the second set of mounting pieces, thereby causing the multiple adsorption feet 72 on the second foot mounting piece 20 to rise, move horizontally or rotate relative to the multiple adsorption feet 72 on the first foot mounting piece 18, thereby performing magnetic leakage detection at the next position on the side wall of the spherical tank. This process is repeated to continuously perform magnetic leakage detection on the side wall of the spherical tank.

[0024] The multi-legged wall-climbing magnetic flux leakage detection robot of the present invention can ensure that the entire robot has sufficient magnetic attraction to the spherical tank when performing magnetic flux leakage detection on the side wall of the spherical tank, and ensure that the magnetic flux leakage generated on the side wall of the spherical tank is relatively constant. It prevents the fluctuation of the current in the electromagnet 76 from causing the fluctuation of the magnetic flux leakage generated on the side wall of the spherical tank, thereby ensuring the stability of the magnetic flux leakage detection signal and improving the accuracy of defect detection on the side wall of the spherical tank.

[0025] Based on the above embodiments, in order to offset the impact when the adsorption foot 72 comes into contact with the side wall of the spherical tank, and to avoid damage to the core adsorption detection components such as the permanent magnet 74 and the electromagnet 76 due to the impact, the stability of the leakage magnetic field detection signal is ensured.

[0026] like Figure 5 and Figure 6As shown, a buffer mechanism is provided between the foot mounting plate 80 and the permanent magnet 74. The buffer mechanism includes a main shaft 86, a sliding bearing 88, and multiple telescopic components 84. The permanent magnet 74 is provided with a mounting seat 82. The main shaft 86 is connected to the mounting seat 82. The sliding bearing 88 is connected to the foot mounting plate 80. The main shaft 86 is slidably connected to the sliding bearing 88 along the axial direction of the permanent magnet 74. The main shaft 86 is provided with a limiting boss, which is used to prevent the main shaft 86 from slipping out of the sliding bearing 88. The multiple telescopic components 84 are arranged circumferentially between the foot mounting plate 80 and the mounting seat 82 along the permanent magnet 74. The multiple telescopic components 84 are used to buffer the impact on the permanent magnet 74.

[0027] The buffer mechanism consists of a main shaft 86, a sliding bearing 88, and multiple telescopic components 84. The permanent magnet 74 is mounted on a mounting base 82, the main shaft 86 is connected to the mounting base 82, and the sliding bearing 88 is connected to the foot mounting plate 80. The main shaft 86 slides along the axial direction of the permanent magnet 74 with the sliding bearing 88, and the main shaft 86 is provided with a limiting boss to prevent slippage. Multiple telescopic components 84 are arranged circumferentially between the foot mounting plate 80 and the mounting base 82. When the adsorption foot 72 adheres to or detaches from the side wall of the spherical tank, causing an impact, the telescopic components 84 can absorb the impact energy. The sliding engagement between the main shaft 86 and the sliding bearing 88 provides guidance for the buffering movement. The buffer mechanism offsets the impact when the adsorption foot 72 contacts the side wall of the spherical tank, preventing damage to core adsorption and detection components such as the permanent magnet 74 and electromagnet 76 due to impact, and ensuring the stability of the signal from the leakage magnetic flux detection component 78.

[0028] As a preferred option, such as Figure 5 and Figure 6As shown, the telescopic assembly 84 includes a spring 92 and a spring adjustment shaft 94. The foot mounting plate 80 is provided with a threaded hole along the axial direction of the permanent magnet 74. One end of the spring adjustment shaft 94 is provided with an external thread, and the spring adjustment shaft 94 is threadedly connected to the threaded hole through the external thread. One end of the spring 92 abuts against the spring adjustment shaft 94, and the other end of the spring 92 abuts against the mounting base 82. The spring 92 is used to apply an elastic force along the axial direction of the permanent magnet 74 to the spring adjustment shaft 94 and the mounting base 82. Rotating the spring adjustment shaft 94 can adjust the pre-compression of the spring 92. The telescopic assembly 84 includes a spring 92 and a spring adjustment shaft 94. The foot mounting plate 80 has a threaded hole along the axis of the permanent magnet 74. The spring adjustment shaft 94 is threaded to the threaded hole through an external thread at its end. The two ends of the spring 92 abut against the spring adjustment shaft 94 and the mounting base 82 respectively, and can apply an axial elastic force. Rotating the spring adjustment shaft 94 can change its extension length, thereby adjusting the pre-compression of the spring 92 and achieving precise control of the elastic buffering force. When the adsorption foot 72 is impacted, the sliding bearing 88 slides along the main shaft 86, and the spring 92 achieves buffering through compression or extension. The buffering force of the spring 92 can be precisely adjusted through the spring adjustment shaft 94 to adapt to the flatness of different spherical tank sidewalls and the robot's moving speed, making the fit between the adsorption foot 72 and the spherical tank sidewall more suitable, which can not only ensure the stability of magnetic adsorption, but also improve the stability of the signal of the robot's magnetic leakage detection assembly 78.

[0029] As a preferred option, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the mounting base 82 is provided with multiple limiting protrusions 96, which are arranged circumferentially along the permanent magnet 74. Each limiting protrusion 96 abuts against the end of the spring 92 away from the elastic adjustment shaft 94. The limiting protrusions 96 are used to position the end of the spring 92 and limit the radial displacement of the spring 92. The mounting base 82 has multiple limiting protrusions 96 arranged circumferentially along the permanent magnet 74. Each limiting protrusion 96 abuts against the end of the spring 92 away from the elastic adjustment shaft 94, radially positioning the end of the spring 92 and limiting its radial displacement. This ensures that the spring 92 always moves along the axial direction of the permanent magnet 74 during compression or stretching, preventing the spring 92 from deviating from the axial direction and causing skewness. This avoids uneven buffering force and buffering failure caused by spring 92 skewness, ensuring that the telescopic component 84 always stably performs its buffering function, indirectly guaranteeing the magnetic adsorption stability of the adsorption foot 72 and the accuracy of the magnetic leakage detection component 78 in the basic scheme.

[0030] As a preferred option, such as Figure 6As shown, the main shaft 86 is equipped with a floating joint 90, and the main shaft 86 is connected to the mounting base 82 through the floating joint 90. The floating joint 90 can absorb the instantaneous displacement caused by the movement of the adsorption foot 72, maintaining the stability of the multiple sets of magnetic adsorption wall-climbing robots on the target being inspected. The main shaft 86 is connected to the mounting base 82 through the floating joint 90. When the robot moves on the side wall of the spherical tank, and the adsorption foot 72 experiences instantaneous positional displacement or angular sway, the floating joint 90 can absorb these displacements, ensuring that the adsorption foot 72 always maintains a good fit with the side wall of the spherical tank. By absorbing the instantaneous displacement of the adsorption foot 72 through the floating joint 90, the problem of poor fit of the adsorption foot 72 caused by the unevenness of the side wall of the spherical tank during robot movement is effectively solved, further improving the fit between the adsorption foot 72 and the side wall of the spherical tank.

[0031] As a preferred option, such as Figures 1-4 As shown, the walking mechanism includes a first mounting plate 10, a second mounting plate 14, a third mounting plate 16, and a drive mechanism. The second foot mounting member 20 is connected to the first mounting plate 10. The first mounting plate 10, the third mounting plate 16, and the first foot mounting member 18 are all connected to the drive mechanism. The drive mechanism is located on the second mounting plate 14 and is used to drive the first mounting plate 10 to move up and down and translate relative to the third mounting plate 16, and to drive the first foot mounting member 18 to rotate relative to the second mounting plate 14. The drive mechanism can drive the first mounting plate 10 to complete the up and down and translation movements relative to the third mounting plate 16, and at the same time drive the first foot mounting member 18 to rotate relative to the second mounting plate 14, thereby driving the adsorption foot 72 on the corresponding mounting member to complete the corresponding movement. This makes the up and down, translation, and rotation movements of the foot mounting member more coordinated, thereby accurately controlling the movement trajectory of the adsorption foot 72, further improving the robot's movement accuracy, allowing the adsorption foot 72 to accurately reach the designated detection position, and improving the full coverage and accuracy of the magnetic flux leakage detection component 78.

[0032] As a preferred option, such as Figures 1-4As shown, the driving mechanism includes a first actuation component 22, a second actuation component 58, and a third actuation component. The first actuation component 22 is connected to the first mounting plate 10, and the third mounting plate 16 is connected to the first actuation component 22. The first actuation component 22 is used to drive the first mounting plate 10 to move up and down relative to the third mounting plate 16. The second actuation component 58 is disposed on the second mounting plate 14, and the third mounting plate 16 is connected to the second actuation component 58. The second actuation component 58 is used to drive the third mounting plate 16 to translate relative to the second mounting plate 14. The third actuation component is disposed on the third mounting plate 16, and the first foot mounting member 18 is connected to the third actuation component. The third actuation component is used to drive the first foot mounting member 18 to rotate relative to the third mounting plate 16 about an axis parallel to the axis of the permanent magnet 74. The first actuation component 22 connects the first mounting plate 10 and the third mounting plate 16, driving the first mounting plate 10 to move up and down relative to the third mounting plate 16. The second actuation component 58 is arranged on the second mounting plate 14 and connected to the third mounting plate 16, driving the third mounting plate 16 to move in translation relative to the second mounting plate 14. The third actuation component is arranged on the third mounting plate 16 and connected to the first foot mounting member 18, driving the first foot mounting member 18 to rotate relative to the third mounting plate 16 around an axis parallel to the axis of the permanent magnet 74. The three sets of actuation components work together to achieve multi-dimensional movement of the adsorption foot 72. By splitting the drive mechanism into three sets of actuation components, each independently controlling the uplifting, translational, and rotational movements, the control of each movement dimension becomes more precise and independent, avoiding movement interference and significantly improving the robot's movement flexibility and positioning accuracy.

[0033] As a preferred option, such as Figure 6 As shown, a buffer pad is provided on the side of the permanent magnet 74 away from the foot mounting plate 80. The buffer pad is located on the side of the permanent magnet 74 facing the sidewall of the spherical tank (away from the foot mounting plate 80). When the adsorption foot 72 is pressed against the sidewall of the spherical tank, the buffer pad directly contacts the sidewall, using its elastic deformation to offset the direct impact between the permanent magnet 74 and the sidewall, while simultaneously filling the tiny gaps between them. The buffer pad further cushions the impact between the adsorption foot 72 and the sidewall of the spherical tank, preventing wear or magnetic attenuation of the permanent magnet 74 due to direct collision, thus ensuring the stability of the magnetic adsorption force of the basic design.

[0034] As a preferred option, such as Figure 6 As shown, the floating joint 90 is detachably connected to the mounting base 82. The detachable connection between the floating joint 90 and the mounting base 82 allows the floating joint 90 to be directly removed from the mounting base 82 for replacement or maintenance when it experiences wear, decreased accuracy, or damage due to prolonged use. This eliminates the need to disassemble the entire adsorption foot 72 or the main spindle 86, ensuring the robot can resume operation quickly and guaranteeing the efficiency of continuous robot detection in the basic solution.

[0035] As a preferred option, such as Figure 6 As shown, the outer wall of the spindle 86 is provided with a wear-resistant coating. When the sliding bearing 88 reciprocates along the axial direction of the spindle 86, the wear-resistant coating directly contacts the sliding bearing 88, reducing the coefficient of friction between them, reducing wear during the sliding process, and improving the corrosion resistance and scratch resistance of the outer wall of the spindle 86.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A multi-legged wall-climbing magnetic flux leakage detection robot, comprising a walking mechanism, wherein the walking mechanism is connected to a first leg mounting member and a second leg mounting member, and the walking mechanism is capable of driving the first leg mounting member to move relative to the second leg mounting member, characterized in that, Also includes: Multiple adsorption feet are respectively disposed on a first foot mounting component and a second foot mounting component. The multiple adsorption feet have the same structure, each including a foot mounting plate, a permanent magnet, an electromagnet, and a magnetic leakage detection component. The foot mounting plate is connected to the first foot mounting component or the second foot mounting component. The permanent magnet is connected to the foot mounting plate and has a ring structure. The permanent magnet is used to adsorb onto the side wall of the spherical tank to be tested. The electromagnet is disposed in the ring hole of the permanent magnet and is coaxially arranged with the permanent magnet. The electromagnet is used to generate a magnetic field opposite to that of the permanent magnet. The magnetic leakage detection component is disposed in the ring hole of the permanent magnet and is used to perform magnetic leakage detection on the side wall of the spherical tank. The controller is electrically connected to the walking mechanism, the electromagnet, and the magnetic flux leakage detection component. The controller is used to control the movement of the walking mechanism to drive the first foot mounting member to move relative to the second foot mounting member. The controller controls the magnetic field strength and direction of the electromagnet. The controller determines the location of the defect on the side wall of the spherical tank based on the detection results of the magnetic flux leakage detection component.

2. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 1, characterized in that, A buffer mechanism is provided between the foot mounting plate and the permanent magnet. The buffer mechanism includes a main shaft, a sliding bearing, and multiple telescopic components. The permanent magnet is provided with a mounting seat. The main shaft is connected to the mounting seat. The sliding bearing is connected to the foot mounting plate. The main shaft is slidably connected to the sliding bearing along the axial direction of the permanent magnet. The main shaft is provided with a limiting boss to prevent the main shaft from slipping out of the sliding bearing. The multiple telescopic components are arranged circumferentially between the foot mounting plate and the mounting seat to buffer the impact on the permanent magnet.

3. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 2, characterized in that, The telescopic assembly includes a spring and a spring adjustment shaft. The foot mounting plate is provided with a threaded hole along the axis of the permanent magnet. One end of the spring adjustment shaft is provided with an external thread, and the spring adjustment shaft is threadedly connected to the threaded hole through the external thread. One end of the spring abuts against the spring adjustment shaft, and the other end of the spring abuts against the mounting base. The spring is used to apply an elastic force along the axis of the permanent magnet to the spring adjustment shaft and the mounting base. Rotating the spring adjustment shaft can adjust the pre-compression of the spring.

4. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 3, characterized in that, The mounting base is provided with multiple limiting protrusions, which are arranged circumferentially along the permanent magnet. Each limiting protrusion abuts against the end of the spring away from the spring force adjustment shaft. The limiting protrusions are used to position the end of the spring and limit the radial displacement of the spring.

5. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 2, characterized in that, The spindle is equipped with a floating joint, and the spindle is connected to the mounting base through the floating joint.

6. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 1, characterized in that, The walking mechanism includes a first mounting plate, a second mounting plate, a third mounting plate, and a drive mechanism. The second foot mounting member is connected to the first mounting plate. The first mounting plate, the third mounting plate, and the first foot mounting member are all connected to the drive mechanism. The drive mechanism is located on the second mounting plate and is used to drive the first mounting plate to move up and down and translate relative to the third mounting plate, and to drive the first foot mounting member to rotate relative to the second mounting plate.

7. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 6, characterized in that, The driving mechanism includes a first actuation component, a second actuation component, and a third actuation component. The first actuation component is connected to a first mounting plate, and the third mounting plate is connected to the first actuation component. The first actuation component is used to drive the first mounting plate to move up and down relative to the third mounting plate. The second actuation component is disposed on the second mounting plate, and the third mounting plate is connected to the second actuation component. The second actuation component is used to drive the third mounting plate to translate relative to the second mounting plate. The third actuation component is disposed on the third mounting plate, and the first foot mounting member is connected to the third actuation component. The third actuation component is used to drive the first foot mounting member to rotate relative to the third mounting plate about an axis parallel to the axis of the permanent magnet.

8. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 1, characterized in that, The permanent magnet has a cushioning pad on the side away from the foot mounting plate.

9. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 5, characterized in that, The floating joint and the mounting base are detachably connected.

10. The multi-legged wall-climbing magnetic flux leakage detection robot according to claim 2, characterized in that, The outer wall of the spindle is coated with a wear-resistant coating.

Images