Magnetic wheel type composite detection and electromagnetic thickness measurement integrated robot

Abstract

A kind of magnetic wheel type composite detection and electromagnetic thickness measurement integrated robot, including magnetic wheel type magnetic flux leakage detection robot vehicle, electromagnetic ultrasonic thickness measurement module, magnetic wheel device, ultrasonic electromagnetic, magnetic flux leakage composite magnetizing device;Electromagnetic ultrasonic, magnetic flux leakage composite magnetizing device is carried in the inside of magnetic wheel type magnetic flux leakage detection robot vehicle, responsible for the magnetization of the defect of detection object and to wall surface;Magnetic wheel suction device is set in the chassis of magnetic wheel type magnetic flux leakage detection robot vehicle, realize the drive of magnetic wheel type magnetic flux leakage detection robot;Electromagnetic ultrasonic thickness measurement module includes electromagnetic ultrasonic thickness gauge, and electromagnetic ultrasonic thickness measurement module is installed on the top of magnetic wheel type magnetic flux leakage detection robot vehicle;Electromagnetic ultrasonic thickness gauge generates ultrasonic wave by current in excitation material, realizes the accurate measurement of material thickness.The present application can measure wall thickness according to different industrial measurement environment, and its defect detection and wall internal defect detection of near surface of wall are considered.

Description

Technical Field

[0001] This invention relates to the field of magnetic adsorption inspection robot technology, specifically to a magnetic wheel-type composite inspection and electromagnetic thickness measurement integrated robot. Background Technology

[0002] In critical industries such as petrochemicals, power, metallurgy, rail transportation, and nuclear power, ferromagnetic components such as long-distance oil and gas pipelines, nuclear power equipment, pressure vessels, rails, and large storage tanks are core infrastructure ensuring continuous production and public safety. These components operate under complex and harsh conditions for extended periods, including high temperature and pressure, corrosive media, geological stress, and mechanical wear, making them highly susceptible to various defects such as surface cracks, near-surface corrosion, internal interlayer delamination, incomplete weld penetration, and wall thinning. Failure to identify these defects promptly and accurately can lead to major safety accidents such as leaks and explosions, causing not only huge economic losses but also serious threats to the ecological environment and public safety. Therefore, efficient, comprehensive, and accurate non-destructive testing of ferromagnetic components has become a core requirement for operation and maintenance in these industries and a crucial link in preventing safety risks.

[0003] Traditional inspection of ferromagnetic component walls relies on manual operation, requiring inspectors to directly enter or be close to high-risk working environments. This not only results in high labor intensity and low inspection efficiency but also exposes them to multiple safety hazards such as high temperature, high pressure, corrosion, and toxic gases. With the integration of robotics and non-destructive testing technologies, integrated solutions of magnetic adsorption wheeled robots and inspection equipment have gradually become a research hotspot in the industry. However, these solutions still have shortcomings and limited functionality.

[0004] The document with document number 10.27105 / d.cnki.ghbgu.2020.001086 describes a robot with limitations, capable only of detecting near-surface defects on walls. It cannot detect internal defects.

[0005] However, existing magnetic adsorption wheel-type inspection robots still have significant technical shortcomings, making it difficult to meet the comprehensive inspection needs of industrial scenarios: First, the detection functions are limited and there are obvious blind spots. Most existing equipment uses a single magnetic flux leakage detection technology, which can only effectively identify surface and near-surface defects of the wall and cannot accurately detect interlayer defects inside the component. While a single electromagnetic ultrasonic detection technology can detect internal defects of the wall, it is affected by near-sound field emission and electromagnetic interference, resulting in a near-surface detection blind spot. Neither of these two single detection methods can achieve full-dimensional coverage of defects.

[0006] Secondly, there is a disconnect between the detection and thickness measurement functions. In industrial inspection, thinning of component walls is a significant safety hazard, and wall thickness parameters directly affect the sensitivity and judgment criteria of defect detection. Most existing magnetic adsorption wheeled inspection robots do not integrate wall thickness measurement functions, or the measurement and detection modules are independent and lack coordination. This results in the inability to acquire wall thickness data synchronously during the inspection process, making it difficult to dynamically adjust the detection parameters according to the wall thickness, thus affecting the accuracy and reliability of the inspection results. Summary of the Invention

[0007] To overcome the above technical problems, the present invention aims to provide a magnetically driven wheel-type composite inspection and electromagnetic thickness measurement integrated robot, capable of measuring wall thickness according to different industrial measurement environments, and also capable of detecting near-surface defects and internal defects of the wall. The composite magnetization structure combines the magnetic circuit characteristics of magnetic leakage detection and electromagnetic ultrasonic detection, improving the detection efficiency of the inspection system without increasing the spatial structure of the sensor.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A magnetic wheel-type composite inspection and electromagnetic thickness measurement integrated robot includes a magnetic wheel-type leakage magnetic detection robot body, an electromagnetic ultrasonic thickness measurement module, a magnetic wheel device, and an ultrasonic electromagnetic and leakage magnetic composite magnetization device. The electromagnetic ultrasonic and magnetic leakage magnetic composite magnetization device is mounted inside the magnetic adsorption wheel-type magnetic leakage magnetic detection robot and is responsible for magnetizing the defects of the object being detected and the wall surface. The magnetic wheel adsorption device is installed on the chassis of the magnetic adsorption wheel-type magnetic flux leakage detection robot to drive the magnetic adsorption wheel-type magnetic flux leakage detection robot. The electromagnetic ultrasonic thickness measurement module includes an electromagnetic ultrasonic thickness gauge, and the electromagnetic ultrasonic thickness measurement module is installed on the top of the magnetic adsorption wheel-type magnetic flux leakage detection robot. The electromagnetic ultrasonic thickness gauge combines electromagnetic induction and ultrasonic technology. It generates ultrasonic waves by exciting the current in the material to achieve accurate measurement of the material thickness.

[0009] The ultrasonic electromagnetic and magnetic leakage composite magnetization device is divided into two detection units: a magnetic leakage detection unit and an electromagnetic ultrasonic detection unit. The magnetic leakage detection unit is used to detect near-surface defects on the wall, while the electromagnetic ultrasonic detection unit is used to detect internal defects on the wall.

[0010] The magnetic flux leakage detection unit includes a Hall sensor, permanent magnet one, permanent magnet two, and a yoke. Permanent magnet one and permanent magnet two are located on both sides, and the yoke is located on top of permanent magnet one and permanent magnet two; the Hall sensor is located at the bottom of the yoke. The Hall sensor, permanent magnet one, permanent magnet two, and yoke form a U-shaped magnetization structure. The U-shaped structure provides a shared bias magnetic field for the electromagnetic ultrasonic testing unit. A single permanent magnet generates a bias magnetic field perpendicular to the detection wall. This magnetic field interacts with the spiral coil 308 carrying a high-frequency alternating current, which can efficiently generate ultrasonic waves inside the wall. The ultrasonic waves can propagate and reflect inside the component, thereby realizing the detection of defects inside the wall. There is no need to set up a separate magnetic field excitation structure for electromagnetic ultrasonic testing, which simplifies the device design.

[0011] The electromagnetic ultrasonic detection unit includes a spiral coil and a single permanent magnet shared with the magnetic flux leakage detection unit. The magnetic circuit characteristics of magnetic flux leakage detection and electromagnetic ultrasonic detection are fully utilized, that is, the two share a U-shaped magnetic field excitation structure, and the bias magnetic field in the electromagnetic ultrasonic detection unit is provided by the configuration structure of the magnetic flux leakage detection unit.

[0012] The Hall sensor, permanent magnet one, permanent magnet two, and yoke are placed inside the housing formed by the base plate and the copper outer shell; Screw 2 is used to fix the base plate to the copper housing; the Hall sensor is mounted on the surface of the base plate; Screw 1 is used to fix the Hall sensor to the base plate, and the Hall sensor is fixed to the bottom groove of the base plate by screw 1; the spiral coil is tightly attached to the permanent magnet 2 by tape; For magnetic flux leakage detection, the magnetic field provided by permanent magnet one and permanent magnet two is introduced into the interior of the detection wall through the yoke and forms a horizontal magnetization field; the magnetic flux leaking from the detection wall is picked up by a high-sensitivity Hall sensor. The copper housing ensures that the Hall sensor operates within the linear measurement range. For electromagnetic ultrasonic testing, a single permanent magnet in the U-shaped excitation structure provides a bias magnetic field perpendicular to the detection wall. This magnetic field interacts with a helical coil carrying a high-frequency alternating current, generating ultrasonic waves inside the wall. These ultrasonic waves can be used to detect defects inside the wall.

[0013] The copper outer shell has a frame structure, which serves to protect and fix the internal components; The Hall sensor is used to collect signals, and the spiral coil is wrapped around the bottom of the permanent magnet II, which can generate a magnetic field when current passes through it. The yoke, positioned above the permanent magnet, possesses excellent magnetic permeability, enabling it to guide and concentrate the magnetic field. Permanent magnet one and permanent magnet two are placed at the bottom of the copper outer shell, providing the basic magnetic field for the entire magnetization device. Permanent magnet one and permanent magnet two are made of neodymium magnets (N35). N35 neodymium magnets are rare-earth permanent magnets, characterized by high energy product, strong coercivity, small size, and stable magnetic field. Under complex industrial testing conditions such as high temperature and vibration, they exhibit low magnetic field attenuation and can maintain a stable magnetization effect over a long period, ensuring testing accuracy. Their shape is cuboid. The cuboid permanent magnets have flat magnetic surfaces and good magnetic field uniformity.

[0014] The electromagnetic thickness measurement module includes an electromagnetic ultrasonic thickness gauge, a mechanical gripper, a servo motor one, a forearm, a main arm, a servo motor two, a platform, a base, and screws three. The forearm adopts a hollow cantilever design, which significantly reduces the weight of the components. The rectangular cross-section ensures the anti-torsional and anti-bending performance of the cantilever during swinging, meeting the precise gripping requirements of the thickness gauge when it is moving on the vehicle body and adhering to the wall. The main arm is a streamlined hollow long rod that is thicker at the near end and thinner at the far end. It is divided into three sections: the near end is a square thickened end that connects to the base and the second servo motor; the middle section is a gradually decreasing hollow rod body; and the far end is a circular thin-walled end that connects to the forearm and the first servo motor. The overall shape is streamlined with a thicker near end and a thinner far end. The total length is adapted to the space on the top of the robot body. The structure is compact and balances load-bearing capacity and lightweight. The base is a cross-shaped thickened plate base. The longitudinal main arm of the cross-shaped thickened plate base is the installation area of ​​the second servo motor, and the transverse support arm is the connection area with the base. The center of the cross is a thickened boss, which serves as the support center for the rotation of the main arm. The overall square thickened structure of the base provides a stable load-bearing foundation for the thickness measurement module and is adapted to the installation space on the top of the vehicle body.

[0015] Servo motor 1 and servo motor 2 are respectively fixed to the forearm and the base with screws. Servo motor 1 and servo motor 2 drive the rotation of the forearm and the upper arm. The base is fastened to the vehicle body with screw 3. Two servo motors are installed at both ends of the forearm, one end of which is connected to the upper arm and the other end is connected to the base.

[0016] The mechanical gripper includes a gripper arm 1, a connecting rod 1, a driven gear connecting rod 2, a base, a servo motor, a driven gear connecting rod 3, a connecting rod 4, a connecting shaft, and gripper arm 2. The first gripper arm is a symmetrically arranged, thickened, integrated arc-shaped plate structure. The overall shape is an arc adapted to the outer wall of the electromagnetic ultrasonic thickness gauge. One end is a hinge connection end, the middle section is a clamping contact section, and the other end is connected to the first connecting rod through a hinge formed by a connecting shaft. The plate body is lightweight and thinned, while the key stress points are thickened and reinforced. The second driven wheel connecting rod has a toothed sector gear section at one end, with the tooth pattern suitable for meshing transmission. The other end is a flat connecting rod section with a coaxial hinge hole at the end. The gear section and the connecting rod section are connected at right angles, resulting in a compact structure with no splicing gaps. The base is a block-shaped, integrated rigid structure with a square, thickened shape. One side has symmetrical double-hinged lugs that are hinged to the end of the forearm. The main body end face has reserved mounting positions for the servo motor, and multiple sets of connecting rod hinge bosses are distributed on the side. The coaxiality of each hinge hole is precise.

[0017] The base is located at the end of the forearm. The servo motor is mounted on the base and is tightly connected to the driven wheel link two via a connecting shaft to form a hinge. The driven wheel link two and the driven wheel link three mesh with each other. The driven wheel link three and the gripper arm two are connected to each other via a connecting shaft to form a hinge. The gripper arm two and the link four are connected via a connecting shaft to form a hinge. The two links one are connected to the base via a connecting shaft to form a hinge. One end of the two links one is located on the upper and lower surfaces of the middle end of the gripper arm two and is connected via a connecting shaft to form a hinge. The other end is located on the upper and lower surfaces of the end of the base and is connected via a connecting shaft to form a hinge.

[0018] The magnetic adsorption wheel device includes a magnetic adsorption wheel, a bearing, and a servo motor connected in sequence; the servo motor is fixedly mounted on the baffle of the magnetic adsorption wheel type magnetic leakage detection robot.

[0019] The magnetic adsorption wheel includes four screws, a fixing plate, a permanent magnet, a rubber tire, an inner yoke, and five screws. The permanent magnets are arranged in a ring and fixed between the rubber tire and the inner yoke. The rubber tire is used for shock absorption and to reduce the impact of the magnetic adsorption wheel on the surface roughness. The fixing plate is used to connect and fix the servo motor and the inner yoke. The fixing plate is made of aluminum and has a magnetic shielding effect on the inner yoke.

[0020] The beneficial effects of this invention are: This invention integrates two detection units into a single structure using a combined electromagnetic ultrasound and magnetic flux leakage magnetization device and a composite probe, simultaneously acquiring and fusing MFL and EMAT signals. It can simultaneously acquire information on surface, near-surface, and internal defects of the wall, solving the technical pain point of traditional single detection methods that cannot simultaneously handle both internal and external defects.

[0021] The magnetic adsorption wheeled magnetic flux leakage detection robot can adhere well to the surface of the object being inspected and can move horizontally, vertically, and tilted. The drive system uses differential speed to steer the robot. Combined with an adjustable magnetization device and a fine-tuning probe, this significantly improves inspection efficiency. Compared to traditional manual inspection, it can significantly shorten inspection time and reduce labor intensity.

[0022] The electromagnetic ultrasonic thickness gauge module integrates electromagnetic induction and ultrasonic fusion technologies. It generates ultrasonic waves by exciting the internal current of the material, and accurately calculates the wall thickness by combining the ultrasonic wave propagation speed and echo time. Compared to traditional thickness measurement methods, it effectively avoids the error interference of contact measurements. Simultaneously, the module is equipped with a multi-servo-driven boom, forearm, and mechanical claw structure, allowing for flexible adjustment of the thickness gauge's spatial position and measurement angle. Whether on a horizontal wall, vertical pipe, or inclined component, the thickness gauge can be accurately delivered to the target measurement point, achieving high-precision thickness detection of walls in different postures and positions. This solves the problems of poor adaptability and limited measurement points in traditional fixed thickness measurement structures. Attached Figure Description

[0023] Figure 1 This is a structural diagram of a magnetic adsorption wheel-type inspection robot.

[0024] Figure 2 This is a schematic diagram of the interior of a magnetically adsorbed wheel-type inspection robot.

[0025] Figure 3 This is a cross-sectional view of an electromagnetic ultrasonic and leakage magnetic composite magnetization device.

[0026] Figure 4 This is a top view of an electromagnetic ultrasonic and leakage magnetic composite magnetization device.

[0027] Figure 5 This is a diagram of an electromagnetic ultrasonic thickness measurement module.

[0028] Figure 6 This is a structural diagram of a mechanical gripper.

[0029] Figure 7 This is a structural diagram of the magnetic adsorption wheel device.

[0030] Figure 8 This is a structural diagram of a magnetic adsorption wheel. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings.

[0032] like Figure 1 As shown, the external structure of a magnetic wheel-type composite inspection and electromagnetic thickness measurement integrated robot mainly consists of an electromagnetic ultrasonic thickness measurement module 1 and a vehicle body 2. The electromagnetic ultrasonic thickness gauge 101 and the electromagnetic ultrasonic thickness measuring module 1 are clamped and fixed by the two symmetrical gripper arms 209 of the mechanical claw 201. The base 108 of the electromagnetic ultrasonic thickness measuring module 1 is fixed to the vehicle body 2 by screws 109.

[0033] like Figure 2 As shown, the internal structure of the inspection robot mainly consists of electromagnetic ultrasound, leakage magnetic composite magnetization device 3, and magnetic adsorption wheel device 4; The electromagnetic ultrasonic and magnetic flux leakage composite magnetization device 3 is mounted inside the magnetic adsorption wheel-type magnetic flux leakage detection robot body 2. The magnetic wheel adsorption device 4 is located at the bottom of the magnetic adsorption wheel-type magnetic flux leakage detection robot body 2 to drive the robot. The servo motor 501 is fixedly mounted on the side plate of the magnetic adsorption wheel-type magnetic flux leakage detection robot 2.

[0034] like Figure 3 , Figure 4 As shown, the electromagnetic ultrasonic and leakage magnetic composite magnetization device 3 includes a copper shell 301, a Hall sensor 305, a yoke 302, a permanent magnet 1 303, a permanent magnet 2 306, a spiral coil 308, a screw 1 304, a screw 2 307, and a base plate 309.

[0035] The second screw 307 is used to fix the base plate 309 and the copper shell 301. The first screw 304 is used to fix the Hall sensor 305 to the base plate 309, fixing the Hall sensor 305 to the bottom groove of the base plate 309 by the first screw 304. The spiral coil 305 is tightly attached to the second permanent magnet 306 by tape. The ultrasonic electromagnetic and leakage magnetic composite magnetization device 3 is divided into two detection units. The leakage magnetic detection unit consists of a U-shaped magnetization structure composed of the Hall sensor 305, two first permanent magnets 303 and the second permanent magnet 306, and the yoke 302. The electromagnetic ultrasonic detection unit consists of a spiral coil 308 and a single second permanent magnet 306 shared with the leakage magnetic detection unit.

[0036] By fully utilizing the magnetic circuit characteristics of magnetic flux leakage detection and electromagnetic ultrasonic detection, both share a U-shaped magnetic field excitation structure. The bias magnetic field in the electromagnetic ultrasonic detection unit is provided by the configuration structure of the magnetic flux leakage detection unit. For magnetic flux leakage detection, the magnetic field provided by the pair of permanent magnets 303 and 306 is introduced into the interior of the detection wall through the yoke 302, forming a horizontal magnetization field. The magnetic flux leaking from the detection wall is picked up by a high-sensitivity Hall sensor 305. To prevent the Hall sensor 305 from being magnetized to saturation by this spatial magnetic field, a copper housing 301 is used to ensure that the Hall sensor operates within the linear measurement range. For electromagnetic ultrasonic detection, a single permanent magnet 306 in the U-shaped excitation structure provides a bias magnetic field perpendicular to the detection wall. This magnetic field interacts with a helical coil 308 carrying a high-frequency alternating current, exciting ultrasonic waves inside the wall. These ultrasonic waves can be used for defect detection inside the wall. Furthermore, the near-surface detection blind zone caused by near-field emission and electromagnetic interference in electromagnetic ultrasonic detection can be replaced by the magnetic flux leakage detection method. Therefore, the ultrasonic electromagnetic and leakage magnetic composite magnetization device 3 can realize the detection of defects on the surface and inside of the wall.

[0037] like Figure 5 As shown, the electromagnetic ultrasonic thickness measurement module 1 includes an electromagnetic ultrasonic thickness gauge 101, a mechanical gripper 102, a servo motor 104, a forearm 103, a main arm 105, a servo motor 107, a platform 106, a base 108, and screws 109. The servo motors 104 and 107 are respectively fixed to the forearm 103 and the platform 106 with screws, and can drive the rotation of the forearm 103 and the main arm 105. The base 106 is fastened to the vehicle body 2 with screws 109. Two servo motors 104 are installed at both ends of the forearm 103; one end is connected to the main arm 105, and the other end is connected to the base 113.

[0038] like Figure 6 As shown, the mechanical claw 102 includes a first gripper arm 110, a first connecting rod 111, a second driven gear connecting rod 112, a base 113, a servo motor 114, a third driven gear connecting rod 115, a fourth connecting rod 116, a connecting shaft 117, and a second gripper arm 118.

[0039] The base 113 is located at the end of the forearm 103. The servo motor 114 is mounted on the base 113 and is tightly connected to the driven wheel link 2 112 via a connecting shaft 117. The driven wheel link 2 112 meshes with the driven wheel link 3 115. The driven wheel link 3 115 is connected to the gripper arm 2 118 via a connecting shaft 117. The gripper arm 2 118 is connected to the link 4 116 via a connecting shaft 117. Two links 111 are connected to the base 113 via a connecting shaft 117. One end of each link 111 is located on the upper and lower surfaces of the middle end of the gripper arm 2 118 via a connecting shaft 117, and the other end is located on the upper and lower surfaces of the end of the base 113 via a connecting shaft 117.

[0040] like Figure 7 As shown, the magnetic adsorption wheel device 4 comprises a magnetic adsorption wheel 403, a bearing 402, and a servo motor 401. The servo motor 401 is fixedly installed at both ends of the left and right baffles of the magnetic adsorption wheel-type inspection robot body 3.

[0041] like Figure 8 As shown, the magnetic adsorption wheel 403 comprises screw 404, fixing plate 405, permanent magnet 406, rubber tire 407, inner yoke 408, and screw 409. The fixing plate 405 connects the servo motor 401 to the magnetic adsorption wheel device 403. The fixing plate 405 is made of aluminum to prevent axial transmission of the magnetic field and is fixed to the inner yoke 408 by screw 404. The permanent magnet 406 is made of neodymium magnet (N35) arranged in a ring and is tightly fitted to the rubber tire 407 and yoke 408. The inner yoke 408 is tightly fitted to the permanent magnet 406, guiding and concentrating the magnetic field generated by the permanent magnet.

[0042] The outer surface of rubber tire 407 is decorated with waves to increase the friction between it and the contact surface, thus providing shock absorption.

[0043] The working principle of this invention is as follows: When the magnetic adsorption wheel-type magnetic flux leakage detection robot needs to perform inspections, the servo motor 401 is first turned on. After the motor starts, power is transmitted through the bearing 402, eliminating inter-shaft wobble and frictional losses, ensuring the coaxiality and stability of power transmission, thereby driving the rotation of the magnetic adsorption wheel 403. At the same time, the rubber tire 407 on the outside of the magnetic adsorption wheel 403 forms physical contact with the pipe surface. The elastic deformation of the rubber material can fill the tiny uneven gaps on the pipe surface, which not only increases the friction between the wheel and the pipe, preventing relative slippage, but also plays a role in buffering and shock absorption. The permanent magnet 406 inside the magnetic adsorption wheel forms a strong adsorption force through the inner yoke 408, causing the inspection robot body to adhere to the ferromagnetic pipe surface, thereby achieving stable movement.

[0044] By precisely controlling the servo motor, the movement posture of the vehicle, such as turning, can be adjusted under differential speed regulation.

[0045] When turning, the control system adjusts the speed of each of the four motors. For example, when turning left, the speed of the left front and left rear wheels is reduced, while the speed of the right front and right rear wheels is appropriately increased to create a speed difference, generating a steering torque to achieve a left turn; the opposite is true when turning right.

[0046] The electromagnetic thickness measuring module at the upper end of the inspection robot body drives the rotation of the large arm 105 via servo motor 2 107, and drives the swing of the small arm 103 via servo motor 104, moving the mechanical gripper 102 to the inspection position. Servo motor 114 drives the driven rod connecting rod 3 115 through the hinge formed by the connecting shaft 117. By controlling the driven wheel connecting rod 3 115, the driven wheel connecting rod 2 112, connecting rod 111, connecting rod 4 116 and gripper arms 110 and 118 are driven, thereby controlling gripper arms 110 and 118 to tightly clamp the electromagnetic ultrasonic thickness gauge 101 and adjust it to the measurement position.

[0047] The electromagnetic ultrasonic thickness gauge 101 emits ultrasonic waves into the wall surface. The ultrasonic waves propagate in the wall surface and reflect back when they encounter different medium interfaces. The instrument calculates the wall thickness based on the echo time and the propagation speed of the ultrasonic waves, thereby obtaining the thickness value of the object being measured.

[0048] The electromagnetic ultrasonic thickness gauge 101 is based on the combined principle of electromagnetic induction and ultrasonic wave propagation. It excites ultrasonic waves perpendicular to the wall thickness direction towards the test surface. These ultrasonic waves are reflected at the interface between the different media within the wall, forming an echo. The thickness gauge accurately captures the round-trip time of the ultrasonic wave from emission to reception, and combines this with a preset ultrasonic wave propagation speed in ferromagnetic materials, using a formula... (d is the wall thickness, v is the ultrasonic propagation speed, and t is the round-trip time) Automatic calculation to accurately obtain the actual thickness value of the wall surface being measured.

[0049] Subsequently, the wall surface is magnetized using an electromagnetic ultrasonic and magnetic flux leakage composite magnetization device 3. Through the interaction of the yoke 302 with permanent magnets 303 and 306, a horizontal magnetization field is formed inside the test sample to detect surface and near-surface defects. Next, the localized vertical magnetic field provided by the magnetization structure of magnetic flux leakage detection (permanent magnets 303 and 306) and the yoke 302 interacts with the spiral coil 308 of the electromagnetic ultrasonic detection, exciting ultrasonic waves within the sample to detect internal defects. The magnetic circuit characteristics of both magnetic flux leakage detection and electromagnetic ultrasonic detection are fully utilized; both share a U-shaped magnetic field excitation structure. The bias magnetic field in the electromagnetic ultrasonic detection unit is provided by the configuration structure of the magnetic flux leakage detection unit. For magnetic flux leakage detection, the magnetic field provided by permanent magnets 303 and 306 is introduced into the detection wall surface through the yoke 302, forming a horizontal magnetization field. The magnetic flux leaking from the detection wall surface is picked up by a high-sensitivity Hall sensor 305. For electromagnetic ultrasonic testing, a single permanent magnet 306 in the U-shaped excitation structure provides a bias magnetic field perpendicular to the detection wall. This magnetic field interacts with a helical coil 308 carrying a high-frequency alternating current, generating ultrasonic waves inside the wall. These ultrasonic waves can be used for defect detection inside the wall. Furthermore, the near-surface detection blind zone caused by near-field emission and electromagnetic interference in electromagnetic ultrasonic testing can be replaced by a leakage magnetic field detection unit. Therefore, the inspection robot can detect defects near the wall surface and inside the wall, thereby improving inspection efficiency.

Claims

1. A magnetic wheel-type composite inspection and electromagnetic thickness measurement integrated robot, characterized in that, It includes a magnetic adsorption wheel type leakage magnetic field detection robot body (2), an electromagnetic ultrasonic thickness measurement module (1), a magnetic adsorption wheel device (4), an ultrasonic electromagnetic and leakage magnetic field composite magnetization device (3). The electromagnetic ultrasonic and magnetic leakage composite magnetization device (3) is mounted inside the magnetic adsorption wheel type magnetic leakage detection robot body (2) and is responsible for magnetizing the defects of the detection object and the wall surface; The magnetic wheel adsorption device (4) is installed on the chassis of the magnetic adsorption wheel type magnetic flux leakage detection robot body (2) to realize the driving of the magnetic adsorption wheel type magnetic flux leakage detection robot; The electromagnetic ultrasonic thickness measurement module (1) includes an electromagnetic ultrasonic thickness gauge (101), and the electromagnetic ultrasonic thickness measurement module (1) is installed on the top of the magnetic adsorption wheel-type magnetic flux leakage detection robot body (2). The electromagnetic ultrasonic thickness gauge (101) generates ultrasonic waves by exciting the current in the material, thereby achieving accurate measurement of the material thickness.

2. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 1, characterized in that, The ultrasonic electromagnetic and leakage magnetic composite magnetization device 3 is divided into two detection units: a leakage magnetic detection unit and an electromagnetic ultrasonic detection unit. The magnetic flux leakage detection unit is used to detect near-surface defects in the wall, while the electromagnetic ultrasonic detection unit is used to detect internal defects in the wall. The magnetic flux leakage detection unit includes a Hall sensor (305), a first permanent magnet (303), a second permanent magnet (306), and a yoke (302). The first permanent magnet (303) and the second permanent magnet (306) are located on both sides, and the yoke (302) is located on top of the first permanent magnet (303) and the second permanent magnet (306); the Hall sensor (305) is located at the bottom of the yoke (302). The Hall sensor (305), permanent magnet one (303), permanent magnet two (306), and yoke (302) constitute a U-shaped magnetization structure; The U-shaped structure provides a bias magnetic field for the electromagnetic ultrasonic detection unit. A single permanent magnet generates a bias magnetic field perpendicular to the detection wall. The magnetic field interacts with the spiral coil (308) carrying a high-frequency alternating current, which can efficiently generate ultrasonic waves inside the wall. The electromagnetic ultrasonic detection unit includes a helical coil (308) and a single permanent magnet (306) shared with the magnetic flux leakage detection unit.

3. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 2, characterized in that, The Hall sensor (305), permanent magnet one (303), permanent magnet two (306), and yoke (302) are placed inside the housing formed by the base plate (309) and the copper shell (301); Screw 2 (307) is used to fix the base plate (309) and the copper housing (301); Hall sensor (305) is mounted on the surface of the base plate (309); Screw 1 (304) is used to fix Hall sensor (305) to base plate (309). Hall sensor (305) is fixed to bottom groove of base plate (309) by screw 1 (304); the spiral coil (308) is tightly attached to permanent magnet 2 (306) by tape. The magnetic field provided by permanent magnet one (303) and permanent magnet two (306) is introduced into the interior of the detection wall through the yoke (302) and forms a horizontal magnetization field; the magnetic flux leaking from the detection wall is picked up by a high-sensitivity Hall sensor (305).

4. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 3, characterized in that, The copper outer shell (301) has a frame structure; The Hall sensor (305) is used to collect signals, and the spiral coil (308) is wrapped around the bottom of the permanent magnet (306) to generate a magnetic field when current passes through it; The yoke (302) is located above the permanent magnet (404), and the permanent magnet one (303) and permanent magnet two (306) are made of neodymium magnets.

5. The integrated magnetic wheel composite detection and electromagnetic thickness measurement robot according to claim 1, characterized in that, The electromagnetic thickness measurement module (1) includes an electromagnetic ultrasonic thickness gauge (101), a mechanical gripper (102), a servo motor one (104), a forearm (103), a large arm (105), a servo motor two (107), a platform (106), a base (108), and a screw three (109). The forearm (103) adopts a hollow cantilever design, and the upper arm (105) is a streamlined hollow long rod that is thick at the near end and thin at the far end. The whole is divided into three sections: the near end is a square thickened end connected to the base (106) and the second servo motor (107), the middle section is a gradually changing hollow rod body, and the far end is a circular thin-walled end connected to the forearm (103) and the first servo motor (104). The whole is a streamlined shape that is thick at the near end and thin at the far end. The base (106) is a cross-shaped thickened plate base. The longitudinal main arm of the cross-shaped thickened plate base is the installation area of ​​the second servo motor (107), the transverse support arm is the connection area with the base (108), and the center of the cross is a thickened boss, which serves as the support center for the rotation of the upper arm (103). The base (108) is a square thickened structure.

6. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 5, characterized in that, The first servo motor (104) and the second servo motor (107) are fixed to the forearm (103) and the base (106) respectively by screws. The first servo motor (104) and the second servo motor (107) drive the rotation of the forearm (103) and the upper arm (105). The base (108) is fastened to the vehicle body (2) by the third screw (109). Two first servo motors (104) are installed at both ends of the forearm (103), one end of which is connected to the upper arm (105) and the other end is connected to the base (113).

7. The integrated magnetic wheel composite detection and electromagnetic thickness measurement robot according to claim 6, characterized in that, The mechanical gripper (102) includes a gripper arm (110), a connecting rod (111), a driven gear connecting rod (112), a base (113), a servo motor (114), a driven gear connecting rod (115), a connecting rod (116), a connecting shaft (117), and a gripper arm (118). The gripper arm (110) is a symmetrically arranged arc-shaped thickened plate integrated structure. The whole is arc-shaped and adapted to the outer wall of the electromagnetic ultrasonic thickness gauge. One end is a hinge connection end, the middle section is a clamping contact section, and the other end is connected to the connecting rod (111) through the hinge formed by the connecting shaft (117). One end of the driven wheel connecting rod (112) is a toothed sector gear section, and the tooth pattern is adapted to meshing transmission. The other end is a flat connecting rod section, and the end is opened with a coaxial hinge hole. The gear section and the connecting rod section are connected at right angles. The base (113) is a block-shaped integrated rigid structure with a square thickened shape. One side is provided with symmetrical double hinge ear plates, which are hinged to the end of the forearm (103).

8. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 7, characterized in that, The base (113) is located at the end of the forearm (103). The servo motor (114) is mounted on the base (113) and is tightly connected to the driven wheel link two (112) via a connecting shaft (117) to form a hinge. The driven wheel link two (112) meshes with the driven wheel link three (115). The driven wheel link three (115) is connected to the gripper arm (118) via a connecting shaft (117) to form a hinge. (118) is hinged to the fourth link (116) via the connecting shaft (117); the two first links (111) are hinged to the base (113) via the connecting shaft (117); one end of the two first links (111) is distributed on the upper and lower surfaces of the middle end of the gripper arm (108) via the connecting shaft (117) and the other end is distributed on the upper and lower surfaces of the end of the base (113) via the connecting shaft (117).

9. The integrated robot for magnetic wheel composite detection and electromagnetic thickness measurement according to claim 1, characterized in that, The magnetic adsorption wheel device 4 includes a magnetic adsorption wheel (403), a bearing (402), and a servo motor (401) connected in sequence; the servo motor (401) is fixedly installed on the baffle of the magnetic adsorption wheel type magnetic leakage detection robot body (2); The magnetic adsorption wheel (403) includes screw four (404), fixing plate (405), permanent magnet (406), rubber tire (407), inner yoke (408), and screw five (409). The permanent magnets (406) are arranged in a ring and fixed between the rubber tire (407) and the inner yoke (408). The fixing plate (405) is used to connect and fix the servo motor (401) and the inner yoke (408). The fixing plate (405) is fixed by screw four (404), and the inner yoke (408) is fixed by screw five (409).

Images