Automatic magnetic powder detection robot

Abstract

The utility model discloses an automatic magnetic powder detection robot which comprises a walking mechanism, a detection mechanism, an adsorption mechanism, a cleaning mechanism and a vehicle body shell, and the walking mechanism enables the robot to move on a detected surface; the detection mechanism at least comprises a detection workbench, a magnet yoke, an ultraviolet searchlight, a camera, a magnetic suspension nozzle and a liftable curtain; the detection workbench can be driven by the motor and the ball screw mechanism to rotate and translate so as to adjust the position of the magnet yoke. The liftable curtain surrounds the detection workbench and descends during detection so as to create a dark environment meeting fluorescent magnetic powder detection. And the adsorption mechanism comprises a main adsorption module and an auxiliary adsorption module, and the main adsorption module performs lifting motion to control the magnetic attraction force generated by the magnet so as to provide proper magnetic attraction force for the robot. The cleaning mechanism sprays cleaning liquid to wash the detected surface, waste liquid is recycled through the waste liquid recycling tank, residual water spots can be removed through the air blowing device at the tail, and therefore cleaning of the tank wall and recycling of the waste liquid are achieved. According to the utility model, automatic detection and integrated cleaning are realized, the detection efficiency and accuracy are improved, and the labor cost and subjective errors are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to an automatic magnetic particle detection robot. BACKGROUND

[0002] There are many large oil storage tanks in petroleum engineering, which are not only the key equipment for oil storage and transportation, but also play an important role in ensuring production safety, improving production efficiency and promoting industrial development. In the long-term use process, due to corrosion, rust, stress and other problems, cracks and defects may appear on the tank wall, which may cause explosion or leakage and other major safety accidents. According to the relevant provisions of the state, the spherical tank needs to be detected regularly to ensure the normal and safe use of petroleum machinery and equipment during work.

[0003] The common manual flaw detection method often depends on the experience and skill level of the flaw detection personnel, different personnel may have different judgments and processing methods for the same defect, and manual flaw detection requires the operator to build a hand and foot support, which has certain safety hazards, low efficiency and high cost. In addition, there may be flammable and explosive substances inside the oil tank, and manual flaw detection has safety risks. There are three detection methods for magnetic powder detection on the surface of the spherical tank, one is ultrasonic phased array detection, which has the advantages of high precision, high resolution and fast detection, but has the disadvantages of high cost and high technical requirements, the second is eddy current detection, which has the advantages of high detection sensitivity, wide application range and automatic detection, but has the disadvantages of low detection efficiency and difficulty in distinguishing defect types and shapes, and the third is magnetic flux leakage detection, which has the advantages of non-contact, high sensitivity and fast detection speed, but has the disadvantage of high working environment requirement.

[0004] In summary, it is of great theoretical research significance and engineering application value to design a wide range of application, rapid detection, high precision automatic magnetic powder detection robot. Utility model content

[0005] Therefore, the utility model aims at solving the limitations of current manual magnetic powder flaw detection method in the detection of spherical tank and other components. Since the manual detection method highly depends on the experience and skill of the operator, it leads to subjectivity and inconsistency of the detection results, low efficiency and high cost. The utility model provides a high-efficiency and high-precision magnetic powder detection robot capable of realizing automatic detection. The robot integrates advanced magnetic powder flaw detection technology, automatic detection technology and precise mechanical structure, and can realize fast, accurate and non-missing detection of defects on the inner and outer surfaces of spherical tank and other components.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: an automatic magnetic powder detection robot, at least including walking mechanism and detection mechanism, the walking mechanism is used to make the robot move on the surface of the detected piece, the detection mechanism at least includes detection workbench, magnetic yoke, ultraviolet searchlight, camera, magnetic suspension liquid spray head and liftable curtain, the magnetic yoke and ultraviolet searchlight are installed on the bottom of detection workbench, the camera and magnetic suspension liquid spray head are fixed on the magnetic yoke connecting rod, the detection workbench can be driven to translate under the ball screw mechanism and rotates under the drive of motor to adjust the position of magnetic yoke, the liftable curtain surrounds detection workbench and falls to make the dark environment that satisfies fluorescent magnetic powder detection when detecting.

[0007] In a possible implementation manner, the walking mechanism includes a magnetic wheel, a long supporting rod and a walking motor, the long supporting rod is arranged along the longitudinal direction of the robot, and the walking motor is installed at the front end and the rear end of the long supporting rod, the magnetic wheel includes a magnet conductor metal wheel and a magnet, and is driven to rotate by the walking motor.

[0008] In a possible implementation manner, the utility model further includes an adsorption mechanism for reliably adsorbing the robot on the surface of the detected piece, the adsorption mechanism includes a main adsorption module and a vice adsorption module separately arranged at the front end and the rear end of the walking mechanism, and the main adsorption module and the vice adsorption module each include a Halbach magnet array, the main adsorption module can change the gap between the magnet array and the detected surface under the drive of the ball screw mechanism, so as to realize the adjustment of the adsorption force.

[0009] In a possible implementation manner, the utility model further includes a cleaning mechanism hung behind the walking mechanism, which includes a spray head, a water partition plate, a roller brush, a waste liquid recovery tank, a water suction pipe and an air inlet pipe, the spray head is used to spray cleaning liquid to clean the detected surface, the roller brush is arranged below the spray head and is driven to rotate by the motor to clean the waste liquid and stains on the detected surface, the water partition plate is arranged directly above the roller brush to shield the water stains generated when the roller brush works, the waste liquid recovery tank is arranged below the water partition plate and closely adheres to the detected surface, is used to collect waste liquid and is recovered through the water suction pipe, and the air inlet pipe is arranged behind the water partition plate and is used to dry the residual waste liquid on the surface of the spherical tank.

[0010] In a possible implementation manner, the liftable curtain is lifted by a lifting mechanism, the lifting mechanism is a scissor type lifting mechanism installed below the long supporting rod, a fixed end rectangular frame at the upper part of the lifting mechanism is provided with a sliding rod driven by a screw nut pair, a movable end rectangular frame at the lower part of the lifting mechanism is fixed with a soft rubber pad, and the curtain is connected to the soft rubber pad and the vehicle body shell.

[0011] In a possible implementation manner, in the walking mechanism, two long supporting rods are symmetrically arranged, and are fixed to each other through the shaft displacement large lever and the rear supporting frame to form a mechanical frame structure; and four magnetic wheels are arranged at two ends of the two long supporting rods and are driven to rotate through corresponding driving motors.

[0012] In a possible implementation manner, in the main adsorption module, a magnetic suction armature is fixed to the back of the magnet array to form a closed magnetic circuit, four magnetic suction sleeves are fixed to four corners of the magnetic suction armature, and the nut seat of the ball screw mechanism is connected through the magnetic suction sleeves.

[0013] The robot has the following beneficial effects:

[0014] 1. The walking mechanism is driven by the walking motor to rotate the four magnetic wheels, and the magnetic wheels are firmly adsorbed to the detected surface, and the advancing, turning and other tasks can be completed through the speed difference.

[0015] 2. The adsorption mechanism generates magnetic attraction through the main adsorption module and the auxiliary adsorption module, and is adsorbed to the detected surface; the main adsorption module can perform lifting motion to control the magnetic attraction generated by the magnet, and provide appropriate magnetic attraction for the robot to adsorb the detected surface; and the auxiliary adsorption module is fixed to the rear of the robot to provide certain magnetic attraction, so that the rear of the robot is prevented from being separated from the detected surface due to the small magnetic attraction provided by the magnetic wheel.

[0016] 3. The detection mechanism has a liftable curtain, which can create a dark environment suitable for fluorescent magnetic powder detection when detecting; the magnetic suspension liquid nozzle sprays water-based magnetic suspension liquid, the ultraviolet searchlight irradiates the fluorescent agent to generate strong fluorescent reaction, the fluorescent effect is more obvious, the magnetic yoke can be driven by the ball screw mechanism to move up and down and front and back, and can be rotated under the drive of the motor, so that cross magnetization on the detected surface is realized; the wound image of the detected surface after magnetization is captured by the camera, and finally demagnetization is performed.

[0017] 4. The cleaning mechanism sprays cleaning liquid to flush the detected surface, the roller brush with a soft and iron core peels off the residual magnetic powder on the surface, the waste liquid recovery groove is connected with a water suction pipeline for waste liquid recovery, and a blowing device is additionally arranged at the tail of the trolley to remove residual water stains, so that the cleaning of the tank wall and the recovery of waste liquid are achieved.

[0018] 5. The robot can autonomously complete a complete detection process, and only needs to be operated by the construction personnel on the ground during the detection process, without the need to enter the inside of the tank body, so that the safety of the operating personnel is ensured, and the labor intensity is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 This is a schematic diagram of the overall external structure;

[0021] Figure 2 This is a schematic diagram of the overall internal structure;

[0022] Figure 3 This is a schematic diagram of the walking mechanism;

[0023] Figure 4 This is a schematic diagram of the adsorption mechanism;

[0024] Figure 5 A schematic diagram of the testing organization;

[0025] Figure 6 This is a schematic diagram of the magnetic yoke lifting area mechanism;

[0026] Figure 7 This is a schematic diagram of the mechanism for the magnetic yoke detection area;

[0027] Figure 8 This is a schematic diagram of the upper part of the cleaning mechanism;

[0028] Figure 9 This is a schematic diagram of the lower part of the cleaning mechanism;

[0029] Reference numerals: In the figure: Vehicle body shell-1, Walking mechanism-2, Adsorption mechanism-3, Curtain-4, Detection mechanism-5, Cleaning mechanism-6, Magnetic roller-2-1, Motor mounting plate-2-2, Walking motor-2-3, Long support rod-2-4, Support frame-3-1, Motor I-3-2, Lead screw I-3-3, Nut I-3-4, Magnetic sleeve-3-5, Nut seat-3-6, Main adsorption module-3-7, Magnetic armature-3-8, Short rod-3-9, Secondary adsorption module-3-10, Lead screw II-5-1, Motor II-5-2, Drive belt I-5-3, Motor III-5-4, Drive belt II-5-5, Soft rubber pad-5-6. Lead screw III-5-7, pin-5-8, lifting rod-5-9, sliding rod-5-10, motor IV-5-11, shaft shifting rod-5-12, bevel gear I-5-13, bevel gear II-5-14, lead screw IV-5-15, motor V-5-16, inspection workbench-5-17, ultraviolet searchlight-5-18, magnetic suspension nozzle-5-19, camera-5-20, magnetic yoke-5-21, support frame-6-1, motor VI-6-2, transmission chain-6-3, water-proof partition plate-6-4, nozzle-6-5, roller brush-6-6, waste liquid recovery tank-6-7, ring support frame-6-8, air inlet pipe-6-9, water pumping pipe-6-10. Detailed Implementation

[0030] likeFigure 1 , 2 As shown, an automated magnetic particle inspection robot of this embodiment includes a walking mechanism 2, an inspection mechanism 5, an adsorption mechanism 3, a cleaning mechanism 6, and a vehicle body shell 1.

[0031] like Figure 3 As shown, the walking mechanism 2 is used to move the robot on the surface of the workpiece being inspected. Its walking method is wheeled, giving the robot good stability, flexibility, and high speed. The walking mechanism 2 includes magnetic wheels 2-1, long support rods 2-4, and a walking motor 2-3. Two long support rods 2-4 are arranged side-by-side along the longitudinal direction of the robot and are fixed to each other by a pivot rod 5-12 and a rear support frame, forming a mechanical frame structure. Four magnetic wheels 2-1 are respectively located at both ends of the two long support rods 2-4. Motor mounting plates 2-2 are installed at both ends of the long support rods 2-4 to mount the walking motors 2-3. The output shaft of the walking motors 2-3 is connected to the magnetic wheels 2-1. The magnetic wheels 2-1 are composed of a magnetically conductive metal wheel and a magnet bonded together with an adhesive material, used to assist the adsorption mechanism 3 and enhance the stability of the robot body during movement. All four magnetic wheels 2-1 are powered by DC motors, using speed differences to complete forward movement, turning, and other tasks.

[0032] like Figure 4As shown, the adsorption mechanism 3 is used to reliably adsorb the robot onto the surface of the workpiece being inspected. The adsorption mechanism 3 includes a main adsorption module 3-7 and a secondary adsorption module 3-10, respectively located at the front and rear ends of the walking mechanism 2. Both the main adsorption module 3-7 and the secondary adsorption module 3-10 include a Habeck magnet array. A magnetic armature 3-8 is fixedly provided on the back of the magnet array of the main adsorption module 3-7 to form a closed magnetic circuit, avoiding the influence of magnetic force on the detection area. Four magnetic sleeves 3-4 are fixed on the four corners of the magnetic armature 3-8 and connected to the nut seat 3-6 of the ball screw mechanism through the magnetic sleeves 3-4. Therefore, the magnet array of the main adsorption module 3-7 can move under the drive of the ball screw mechanism to change the gap between the magnet array and the surface being inspected, thereby adjusting the adsorption force and completing the robot's adsorption, obstacle crossing, and wall detachment. The secondary adsorption module 3-10 is installed between the detection area and the cleaning mechanism, directly fixed between the two short rods 3-9 at the rear end of the long support rod 2-4. The ball screw nut I3-4 of the ball screw mechanism is mounted on the nut seat 3-6, forming a ball screw pair with the ball screw I3-3. This pair drives the lower magnet array to move up and down in space. A motor I3-2 is mounted on the top of the support frame 3-1. The output shaft of the motor I3-2 is connected to the ball screw I3-3, providing power for the magnet's movement. The motor I3-2 also has a braking function and a self-locking function for the ball screw I3-3, preventing it from reversing due to gravity when the robot is working on the surface being inspected, thus preventing the magnet from being raised or lowered. The magnet array of the auxiliary adsorption mechanism 3 is fixed to two short rods 3-9, which are distributed laterally and fixed to the support.

[0033] like Figures 5-7 As shown, the testing mechanism 5 includes at least a testing workbench 5-17, a magnetic yoke 5-21, an ultraviolet searchlight 5-18, a camera 5-20, a magnetic suspension nozzle 5-19, and a liftable screen 4; Figure 7As shown, the detection mechanism 5 of this utility model uses fluorescent magnetic particle detection, employing a cross-magnetization method and selecting a water-based magnetic suspension for convenient subsequent waste liquid cleaning and recycling. The magnetic yoke 5-21 and ultraviolet searchlight 5-18 are installed at the bottom of the detection workbench 5-17; the camera 5-20 and magnetic suspension nozzle 5-19 are fixed to the magnetic yoke connecting rod; the magnetic yoke 5-21 can be cross-magnetized and is fixed at the central axis of the detection workbench 5-17. The magnetic suspension nozzle 5-19 is tilted, maintaining a certain angle with the central axis of the detection workbench 5-17, with the nozzle aligned with the center of the line connecting the two magnetic yokes 5-21. The camera 5-20 is fixed to the bottom of the magnetic yoke connecting rod with screws, also aligned with the center of the line connecting the two magnetic yokes 5-21, maintaining a certain relative height with the detection area to acquire a complete and clear image of the detection area. The detection workbench 5-17 is equipped with a lead screw nut IV, which is threadedly connected to lead screw IV 5-15 to form a ball screw pair. The main shaft 5-12 above the inspection worktable 5-17 is equipped with a motor mounting plate and a motor IV 5-11. A guide column is fixed below the main shaft 5-12 to guide the inspection worktable 5-17 to move up and down. Bevel gear II 5-14 is fixed to the upper end of the lead screw IV 5-15 and supported on the main shaft 5-12. The rotating shaft of motor IV 5-11 is fixedly connected to another vertical bevel gear I 5-13. Bevel gear I 5-13 and bevel gear II 5-14 mesh with each other. Motor IV 5-11 drives the bevel gear to rotate, which drives the inspection worktable 5-17 to move up and down through the ball screw mechanism. The up and down movement of the inspection worktable 5-17 also drives the up and down movement of the magnetic yoke 5-21, which facilitates magnetization and demagnetization operations. The axial displacement rod 5-12 is positioned between two long support rods 2-4. A lead screw Ⅲ5-7 is mounted on one of the long support rods 2-4. The axial displacement rod 5-12 is threaded to the lead screw Ⅲ5-7, forming a lead screw and nut pair. The lead screw Ⅲ5-7 is driven to rotate by the motor Ⅲ5-4 via the transmission belt Ⅱ5-5, thus allowing the axial displacement rod 5-12 to slide along the long support rod 2-4. This enables the entire testing worktable 5-17 to move along the length of the axial displacement rod 5-12 to adjust the position of the magnetic yoke 5-21. The testing worktable 5-17 is equipped with a motor Ⅴ5-16, whose shaft is connected to the magnetic yoke connecting rod, thereby driving the magnetic yoke 5-21 to rotate and achieve the cross-magnetization process.

[0034] like Figure 5As shown, the liftable curtain 4 surrounds the testing workbench 5-17 and lowers during testing to create a dark environment suitable for fluorescent magnetic particle testing. The liftable curtain 4 is raised and lowered by a lifting mechanism; the lifting mechanism is a scissor-type lifting mechanism installed below the long support rod 2-4. Its upper fixed-end rectangular frame has a sliding rod 5-10 driven by a screw and nut pair, and its lower movable-end rectangular frame is fixed with a soft rubber pad 5-6. The curtain is connected to the soft rubber pad 5-6 and the vehicle body shell 1. Two pairs of lifting rods 5-9 are hinged between the upper fixed-end rectangular frame and the lower movable-end rectangular frame to form two X-scissor structures. The two lifting rods 5-9 are hinged together by pins 5-85-8. The sliding rod 5-10 can slide along the upper fixed-end rectangular frame, thereby causing one end of one of the lifting rods 5-9 in the X-scissor structure to slide horizontally, thus unfolding or retracting the X-scissor structure and achieving the raising and lowering action. Therefore, when the motor II5-2 rotates, the lead screw II5-1 rotates through the transmission belt I5-3, causing the sliding rod 5-10 to move along the groove. At the same time, it drives the two lifting rods 5-9 to rotate around the pin 5-8 as the rotation center, lowering the rod with the soft rubber pad 5-6 installed, ensuring that the curtain can fit the curved detection surface to shield diffuse reflection light. The upper end of the curtain is connected to the car body shell 1, thereby creating a dark environment that meets the requirements of fluorescent magnetic particle detection.

[0035] like Figure 8 , 9As shown, the cleaning mechanism 6 is mounted on the walking mechanism 2 and includes a nozzle 6-5, a water-resistant partition plate 6-4, roller brushes 6-6, a waste liquid recovery tank 6-7, a water suction pipe 6-10, and an air inlet pipe 6-9. The nozzle 6-5 is used to spray cleaning fluid to clean the surface being inspected. The four roller brushes 6-6 are arranged in two rows inside the annular support frame 6-8 and located below the nozzle 6-5. They are driven by a motor to rotate and clean the waste liquid and stains on the surface being inspected. The two roller brushes 6-6 are coaxially distributed left and right. One end of the front row roller brushes 6-6 is connected to the output shaft of the motor VI 6-2, and the other end is supported by a ball bearing. Both ends of the rear row roller brushes 6-6 are supported by ball bearings and rotate. The front row roller brushes 6-6 and the rear row roller brushes 6-6 are connected by a transmission chain 6-3, thereby realizing the synchronous rotation of the four roller brushes 6-6 in the front and rear rows. A support frame 6-1 is mounted in front of the roller brush 6-6, and two nozzles 6-5 are installed on the support frame 6-1 for spraying cleaning fluid to clean the surface being inspected. A water-proof partition plate 6-4 is installed directly above the roller brush 6-6 to shield the water generated by the roller brush 6-6 during operation and prevent water from splashing everywhere. Below the water-proof partition plate 6-4 is a waste liquid recovery tank 6-7, which is in close contact with the surface being inspected for waste liquid drainage. The nozzles 6-5 are used to spray cleaning fluid to clean the surface being inspected, and a water suction pipe 6-10 is connected to the rear of the waste liquid recovery tank 6-7 to suck up most of the waste liquid in the waste liquid recovery tank 6-7 for waste liquid recovery. At the same time, three air inlet pipes 6-9 are installed on the annular support frame 6-8 to dry residual waste liquid on the surface of the spherical tank.

[0036] When performing inspection operations, the robot of this invention stably adheres to the surface being inspected via the walking mechanism 2. Simultaneously, the adsorption mechanism 3 ensures that the robot does not slip, tip over longitudinally, tip over laterally, or detach normally, allowing it to operate stably on the surface. The inspection mechanism 5 uses fluorescent magnetic powder to detect wounds on the surface, employing a cross-magnetization method to magnetize the wound surface. The dark environment provided by the screen enhances the accuracy of wound detection. Simultaneously, a camera can capture images and upload them to a network display for technicians to observe. Finally, the cleaning mechanism 6 sprays water to remove the magnetic powder from the wounds on the spherical tank, recovers the waste liquid, and then dries the surface of the spherical tank.

[0037] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model are included within the protection scope of the present utility model.

Claims

1. An automated magnetic particle inspection robot, characterized in that: It includes at least a walking mechanism and a detection mechanism; the walking mechanism is used to move the robot on the surface of the workpiece being inspected; the detection mechanism includes at least a detection workbench, a magnetic yoke, an ultraviolet searchlight, a camera, a magnetic suspension nozzle, and a liftable screen; The magnetic yoke and ultraviolet searchlight are installed at the bottom of the testing workbench; the camera and magnetic suspension nozzle are fixed to the magnetic yoke connecting rod; the testing workbench can be translated under the drive of the ball screw mechanism and rotated under the drive of the motor to adjust the position of the magnetic yoke; the liftable curtain surrounds the testing workbench and is lowered during testing to create a dark environment that meets the requirements of fluorescent magnetic powder detection.

2. The automated magnetic particle inspection robot according to claim 1, characterized in that: The walking mechanism includes a magnetic chuck, a long support rod, and a walking motor; the long support rod is arranged longitudinally along the robot, and the walking motor is installed at the front and rear ends of the long support rod; the magnetic chuck includes a magnetic metal wheel and a magnet, and is driven to rotate by the walking motor.

3. The automated magnetic particle inspection robot according to claim 2, characterized in that: It also includes an adsorption mechanism for reliably adsorbing the robot onto the surface of the workpiece being inspected; the adsorption mechanism includes a main adsorption module and a secondary adsorption module located at the front and rear ends of the walking mechanism, respectively, and both the main adsorption module and the secondary adsorption module include a Habeck magnet array; the main adsorption module can adjust the adsorption force by changing the gap between the magnet array and the surface being inspected under the drive of the ball screw mechanism.

4. The automated magnetic particle inspection robot according to claim 2, characterized in that: It also includes a cleaning mechanism mounted on the traveling mechanism, comprising a nozzle, a water-blocking partition plate, a roller brush, a waste liquid recovery tank, a water suction pipe, and an air inlet pipe. The nozzle is used to spray cleaning fluid to clean the surface being inspected. The roller brush is located below the nozzle and is driven by a motor to rotate and clean the waste liquid and stains on the surface being inspected. The water-blocking partition plate is placed directly above the roller brush to shield it from water stains generated during operation. The waste liquid recovery tank is located below the water-blocking partition plate and close to the surface being inspected, and is used to collect waste liquid and recover it through the water suction pipe. The air inlet pipe is located behind the water-blocking partition plate and is used to dry residual waste liquid on the surface of the spherical tank.

5. The automated magnetic particle inspection robot according to claim 2, characterized in that: The liftable curtain is raised and lowered by a lifting mechanism; the lifting mechanism is a scissor-type lifting mechanism installed below a long support rod, with a sliding rod driven by a lead screw and nut pair on the upper fixed end rectangular frame, and a soft rubber pad fixed on the lower moving end rectangular frame, and the curtain is connected to the soft rubber pad and the vehicle body shell.

6. The automated magnetic particle inspection robot according to claim 2, characterized in that: In the walking mechanism, two long support rods are symmetrically arranged and are fixed to each other by the axial displacement rod and the rear support frame to form a mechanical frame structure; four magnetic wheels are respectively set at both ends of the two long support rods and are driven to rotate by corresponding travel motors.

7. The automated magnetic particle inspection robot according to claim 3, characterized in that: In the main adsorption module, a magnetic armature is fixed on the back of the magnet array to form a closed magnetic circuit. Four magnetic sleeves are fixed on the four corners of the magnetic armature and connected to the nut seat of the ball screw mechanism through the magnetic sleeves.

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