Magnetic particle detection wall-climbing robot system device

Abstract

The utility model relates to the technical field of wall-climbing robots, in particular to a magnetic powder detection wall-climbing robot system device which comprises a trolley plate, and a permanent magnet adsorption device, a magnetic suspension spraying module, a robot control system and a magnetic powder detection flexible lifting module are arranged on the trolley plate. The permanent magnet adsorption device comprises four symmetrically arranged permanent magnets which are fixedly connected to the bottom of the trolley plate through bolts; the magnetic suspension spraying module comprises an electromagnetic valve fixing unit, a magnetic suspension electromagnetic valve and a magnetic suspension drainage pipe arranged on the trolley plate, the magnetic suspension electromagnetic valve is arranged on the magnetic suspension drainage pipe, and the magnetic suspension electromagnetic valve is fixedly arranged on the trolley plate through the electromagnetic valve fixing unit. The problems that an existing magnetic powder detection technology cannot complete automatic operation of a metal wall face, detection and recognition highly depend on artificial experience judgment, and precision is low are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a magnetic powder detection wall-climbing robot system device. Background Art

[0002] Large oil storage tanks are the most common storage equipment in the petroleum and petrochemical industries, typically used to store crude oil and refined products. Defects such as holes, cracks, and dents in the tank walls can cause leakage, and in severe cases, fires and explosions, resulting in significant property damage and casualties. Therefore, to ensure the safety of equipment and operators, regular defect inspections of storage tanks are essential to understand their operational status, determine their continued safe use, and prevent accidents. However, manual inspections at height pose significant operational risks, harsh working environments, high labor intensity, and low efficiency.

[0003] A magnetic adsorption magnetic particle inspection wall-climbing robot can autonomously crawl along a wall surface, utilizing its onboard probe to perform nondestructive testing for surface defects. This effectively addresses the aforementioned challenges of manual inspection while significantly improving both accuracy and stability. Therefore, developing a wall-climbing robot capable of online defect detection that meets the requirements of tank inspection is of vital practical significance. Utility Model Content

[0004] The purpose of the utility model is to provide a magnetic particle inspection wall-climbing robot system device, aiming to solve the problem that the existing magnetic particle inspection technology cannot complete the automated operation of the metal wall surface, and the detection and identification are highly dependent on manual experience judgment and have low accuracy.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A magnetic particle inspection wall-climbing robot system device includes a trolley plate, on which a permanent magnetic adsorption device, a magnetic suspension spraying module, a robot control system, and a magnetic particle inspection flexible lifting module are provided;

[0007] The permanent magnetic adsorption device includes four symmetrically arranged permanent magnets fixedly connected to the bottom of the trolley deck by bolts; the magnetic suspension spraying module includes a solenoid valve fixing unit, a magnetic suspension solenoid valve and a magnetic suspension drainage pipe arranged on the trolley deck, the magnetic suspension solenoid valve is arranged on the magnetic suspension drainage pipe, and the magnetic suspension solenoid valve is fixed to the trolley deck by the solenoid valve fixing unit, and the outlet of the magnetic suspension solenoid valve is connected to an atomizing nozzle.

[0008] A further technical solution is that the robot control system includes a lithium battery, a control platform, a servo motor drive module, a power supply voltage stabilization module, a solenoid valve control mainboard, a WiFi receiving module and an image transmission receiving module, all of which are arranged on the trolley plate; rubber wheels and a servo motor for driving the rubber wheels to rotate are provided at the four corners of the lower end of the trolley plate; the servo motor is connected to the trolley plate through a servo motor fixing support; the servo motor drive module, power supply voltage stabilization module, solenoid valve control mainboard, WiFi receiving module, image transmission receiving module and servo motor are all electrically connected to the control platform.

[0009] A further technical solution is that the flexible lifting module for magnetic particle detection includes an AC magnetic field E-type probe, and the flexible lifting module for magnetic particle detection includes an AC magnetic field E-type probe, the AC magnetic field E-type probe is provided with four supporting legs, and the trolley plate is provided with four through holes, and the four supporting legs are movably arranged in the four through holes respectively, and top plates arranged in a "J" shape are provided on both sides of the AC magnetic field E-type probe, and the top plates are connected to the trolley plate, and T-shaped connecting frames are provided on both sides of the AC magnetic field E-type probe, and the connecting frames are used to connect the two supporting legs arranged on the same side of the AC magnetic field E-type probe with the AC magnetic field E-type probe, and an opening slot is provided on the side of the top plate facing the AC magnetic field E-type probe, one side of the connecting frame is connected to the two supporting legs and is arranged on the inner side of the connecting frame, and the other side thereof passes through the opening slot and is connected to the AC magnetic field E-type probe;

[0010] A probe holder is provided at the lower end of the trolley plate, and the middle part of the probe holder is concave downward to form a groove. A mounting hole is provided on the trolley plate, and a telescopic plate is provided at the lower end of the AC magnetic field E-type probe. A first slide is provided at the lower end of the telescopic plate, and the lower end of the first slide passes through the mounting hole and is provided with a second slide, and the lower end of the first slide is slidably arranged in the second slide, and the lower end of the second slide is connected to the fixed plate provided on the probe holder. The first slide and the second slide are both provided with the same compression spring, and the lower end of the compression spring is connected to the fixed plate, and a camera is provided at the lower end of the probe holder.

[0011] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0012] 1. This utility model designs a magnetic particle inspection wall-climbing robot system device, which uses four symmetrically arranged permanent magnets. The height between the adsorption device and the metal wall can be independently adjusted by connecting bolts to achieve a change in the adsorption force value. In addition, the high-performance N52 neodymium iron boron material permanent magnet has extremely strong adsorption properties, providing stable adsorption force for the robot when operating on vertical walls. The magnetic suspension atomization spray system realizes real-time control of the spraying situation from a distance, replacing manual handheld magnetic suspension spraying. The magnetic suspension is evenly sprinkled on the surface of the area to be inspected.

[0013] 2. The utility model designs a magnetic particle inspection wall-climbing robot system device, and the robot control system can realize differential movement and steering functions, thereby realizing autonomous movement of the robot on the wall.

[0014] 3. The utility model designs a magnetic particle inspection wall-climbing robot system device. The magnetic particle inspection flexible lifting module can realize the contact between the AC magnetic field E-type probe and the metal wall surface during the robot's working phase and the separation during the non-working phase, which effectively protects the end wear problem of the AC magnetic field E-type probe and avoids scratch damage to the metal wall as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The utility model is a three-dimensional structural diagram of a magnetic powder detection robot system device.

[0016] Figure 2 This is a cross-sectional view of a magnetic particle inspection robot system device of the present invention.

[0017] Figure 3 This is a schematic diagram of the working status of a magnetic particle detection robot system device of the present invention.

[0018] Figure 4 This is a schematic diagram of a non-working state of a magnetic particle inspection robot system device of the present invention.

[0019] Figure 5 This is a schematic diagram of the connection between the AC magnetic field E-type probe and the trolley plate in the utility model.

[0020] Figure 6 This is a schematic structural diagram of the probe bracket in the present utility model.

[0021] Figure 7 This is a schematic diagram of the connection between the connecting frame and the trolley plate in the utility model.

[0022] Figure 8 This is a schematic diagram of the structure of the AC magnetic field E-type probe in this utility model. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] Example:

[0025] Figure 1-8 The present invention shows a preferred embodiment of a magnetic particle inspection wall-climbing robot system, including a trolley plate 13, on which a permanent magnetic adsorption device, a magnetic suspension spraying module, a robot control system, and a magnetic particle inspection flexible lifting module are provided;

[0026] The permanent magnetic adsorption device includes four symmetrically arranged permanent magnets 24 fixedly connected to the bottom of the trolley plate 13 by bolts;

[0027] The magnetic suspension spraying module includes a solenoid valve fixing unit 7, a magnetic suspension solenoid valve 6 and a magnetic suspension drainage pipe 10 arranged on the trolley plate 13. The magnetic suspension solenoid valve 6 is arranged on the magnetic suspension drainage pipe 10, and the magnetic suspension solenoid valve 6 is fixed on the trolley plate 13 by the solenoid valve fixing unit 7. The outlet of the magnetic suspension solenoid valve 6 is connected to an atomizing nozzle 16.

[0028] The robot control system includes a lithium battery 1, a control platform 3, a servo motor drive module 19, a power supply voltage stabilization module 21, a solenoid valve control mainboard 22, a WiFi receiving module 18 and an image transmission receiving module 17, all of which are arranged on the trolley plate. The four corners of the lower end of the trolley plate 13 are provided with rubber wheels 9 and a servo motor 23 for driving the rubber wheels 9 to rotate. The servo motor 23 is connected to the trolley plate 13 through a servo motor fixing support 8. The servo motor drive module 19, the power supply voltage stabilization module 21, the solenoid valve control mainboard 22, the WiFi receiving module 18, the image transmission receiving module 17 and the servo motor 23 are all electrically connected to the control platform 3.

[0029] The permanent magnetic adsorption device is composed of four permanent magnets 24, which are fixed to the trolley plate 13 by the connecting bolts 20 and are symmetrically distributed front to back and left to right. The magnetic suspension spraying module includes a magnetic suspension solenoid valve 6, which is symmetrically arranged and fixed to the trolley plate 13 by two solenoid valve fixing units 7. One end of the magnetic suspension drainage pipe 10 is connected to the inlet of the magnetic suspension solenoid valve 6, and the outlet of the magnetic suspension solenoid valve 6 is fixedly connected to the atomizing nozzle 16.

[0030] The robot control system includes a lithium battery 1, which is symmetrically arranged and fixed on the upper support plate 11 by two battery fixing units 2. The battery fixing unit 2 is fixed to the upper surface of the control platform 3 by the connecting bolts 20. The upper support plate 11 is fixedly connected to the trolley plate 13 by four connecting bolts 20. The servo motor drive module 19 is symmetrically arranged on both sides of the trolley plate 13 through the connecting copper pillars 27. The power supply voltage regulator module 21 and the solenoid valve control main board 22 are fixed to the right side of the trolley plate 13 through the connecting copper pillars 27, and are symmetrically arranged between the servo motor drive module 19; the WiFi receiving module 18 and the image transmission receiving module 17 are fixed to the left side of the trolley plate 13 through the connecting copper pillars 27, and are symmetrically arranged between the servo motor drive module 19; four servo motor fixing supports 8 are arranged under the trolley plate 13, and a servo motor 23 is arranged on the servo motor fixing support 8. The rubber wheel 9 is connected to the output shaft of the servo motor 23.

[0031] The autonomous adjustment adsorption device, i.e., the flexible lifting module for magnetic particle detection, includes an AC magnetic field E-type probe 4. The flexible lifting module for magnetic particle detection includes an AC magnetic field E-type probe 4. The AC magnetic field E-type probe 4 is provided with four supporting legs 31. The trolley plate 13 is provided with four through holes. The four supporting legs 31 are movably arranged in the four through holes respectively. Top plates 32 arranged in a "J" shape are provided on both sides of the AC magnetic field E-type probe 4, and the top plates 32 are connected to the trolley plate 13. A T-shaped connecting frame 32 is provided on both sides of the AC magnetic field E-type probe 4. The connecting frame 32 is used to connect the two supporting legs 31 arranged on the same side of the AC magnetic field E-type probe 4 to the AC magnetic field E-type probe 4. An opening slot 39 is provided on the side of the top plate 32 facing the AC magnetic field E-type probe 4. One side of the connecting frame 32 is connected to the two supporting legs 31 and is arranged on the inner side of the connecting frame 32. The other side passes through the opening slot 39 and is connected to the AC magnetic field E-type probe 4.

[0032] A probe bracket 33 is provided at the lower end of the trolley plate 13, and the middle part of the probe bracket 33 is concave downward to form a groove. A mounting hole is provided on the trolley plate 13, and a telescopic plate 34 is provided at the lower end of the AC magnetic field E-type probe 4. A first slide 35 is provided at the lower end of the telescopic plate 34, and the lower end of the first slide 35 passes through the mounting hole and is provided with a second slide 36, and the lower end of the first slide 35 is slidably arranged in the second slide 36, and the lower end of the second slide 36 is connected to the fixed plate 37 arranged on the probe bracket 33, and the first slide 35 and the second slide 36 are both provided with the same compression spring 38, and the lower end of the compression spring 38 is connected to the fixed plate 37, and a camera 14 is provided at the lower end of the probe bracket 33.

[0033] When the AC magnetic field E-type probe 4 is working, the four legs 31 of the AC magnetic field E-type probe 4 have magnetic attraction, so that the four legs 31 of the AC magnetic field E-type probe 4 tend to move toward the metal wall. In this process, the AC magnetic field E-type probe 4 is driven to move toward the metal wall, and then the telescopic plate 34 at the lower end of the AC magnetic field E-type probe 4 is driven to squeeze the first slide 35. During the squeezing process of the first slide 35, part of the lower end of the first slide 35 slides in the second slide 36. At this time, the four legs 31 move downward at the inner lower end of the top plate 32 until the AC magnetic field E-type probe 4 is tightly fitted with the metal wall 30.

[0034] Specifically, refer to Figure 3 As shown, when the magnetic particle inspection robot system device is working on the metal wall 30, the AC magnetic field E-type probe 4 is in a working state. Since the AC magnetic field generated by itself attracts the metal wall 30, the AC magnetic field E-type probe 4 begins to move downward under the action of the telescopic plate 34, and the first slide 35 and the second slide 36 will be compressed by force until the AC magnetic field E-type probe 4 is tightly fitted with the metal wall 30.

[0035] Reference Figure 4 When the metal wall 30 of the magnetic particle inspection robot system is not working, the AC magnetic field E-type probe 4 is in a non-working state. At this time, the AC magnetic field E-type probe 4 has no magnetic attraction. Therefore, under the action of the telescopic plate 34, it moves upward, and the compression spring 38 pushes the telescopic plate 34 to move upward, thereby driving the first slide 35 to move upward, and then the AC magnetic field E-type probe 4 moves upward, thereby driving the support leg 31 to move upward in the top plate 32. The support leg 31 is guided in the vertical direction of the top plate 32 until it reaches its lower surface and contacts it. At this time, the AC magnetic field E-type probe 4 is completely separated from the metal wall 30, realizing that the probe does not contact the metal wall surface during the non-working stage.

[0036] Although the present invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and implementations may be devised by those skilled in the art that fall within the scope and spirit of the principles disclosed herein. More specifically, within the scope of the present disclosure, the drawings, and the claims, various variations and modifications may be made to the components and / or layout of the subject combination arrangement. In addition to variations and modifications to the components and / or layout, other uses will also be apparent to those skilled in the art.

Claims

1. A magnetic particle inspection wall-climbing robot system, characterized by: It includes a trolley plate, which is equipped with a permanent magnetic adsorption device, a magnetic suspension spraying module, a robot control system and a magnetic powder detection flexible lifting module; The permanent magnetic adsorption device includes four symmetrically arranged permanent magnets fixedly connected to the bottom of the trolley plate by bolts; The magnetic suspension spraying module includes a solenoid valve fixing unit, a magnetic suspension solenoid valve and a magnetic suspension drainage pipe arranged on the trolley deck. The magnetic suspension solenoid valve is arranged on the magnetic suspension drainage pipe and is fixed on the trolley deck by the solenoid valve fixing unit. The outlet of the magnetic suspension solenoid valve is connected to an atomizing nozzle.

2. The magnetic particle inspection wall-climbing robot system according to claim 1, characterized in that: The robot control system includes a lithium battery, a control platform, a motor drive module, a power supply voltage stabilization module, a solenoid valve control mainboard, a WiFi receiving module and an image transmission receiving module, all of which are arranged on the trolley plate. The four corners of the lower end of the trolley plate are provided with rubber wheels and a servo motor for driving the rubber wheels to rotate. The servo motor is connected to the trolley plate through a motor fixing support. The motor drive module, power supply voltage stabilization module, solenoid valve control mainboard, WiFi receiving module, image transmission receiving module and servo motor are all electrically connected to the control platform.

3. The magnetic particle inspection wall-climbing robot system according to claim 1, characterized in that: The flexible lifting module for magnetic particle detection includes an AC magnetic field E-type probe, which is provided with four supporting legs. The trolley plate is provided with four through holes, and the four supporting legs are movably arranged in the four through holes respectively. Top plates arranged in a "J" shape are provided on both sides of the AC magnetic field E-type probe, and the top plates are connected to the trolley plate. T-shaped connecting frames are provided on both sides of the AC magnetic field E-type probe, and the connecting frames are used to connect the two supporting legs arranged on the same side of the AC magnetic field E-type probe to the AC magnetic field E-type probe. An opening slot is provided on the side of the top plate facing the AC magnetic field E-type probe, and one side of the connecting frame is connected to the two supporting legs and is arranged on the inner side of the connecting frame, and the other side thereof passes through the opening slot and is connected to the AC magnetic field E-type probe; A probe holder is provided at the lower end of the trolley plate, and the middle part of the probe holder is concave downward to form a groove. A mounting hole is provided on the trolley plate, and a telescopic plate is provided at the lower end of the AC magnetic field E-type probe. A first slide is provided at the lower end of the telescopic plate, and the lower end of the first slide passes through the mounting hole and is provided with a second slide, and the lower end of the first slide is slidably arranged in the second slide, and the lower end of the second slide is connected to the fixed plate provided on the probe holder. The first slide and the second slide are both provided with the same compression spring, and the lower end of the compression spring is connected to the fixed plate, and a camera is provided at the lower end of the probe holder.

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