Safety protection device of permanent magnet adsorption large pressure-bearing equipment nondestructive testing robot

Abstract

The utility model discloses a safety device of permanent magnetism adsorption large -scale pressure-bearing equipment nondestructive testing robot, including operation frame, both sides inner wall top of operation frame all are installed electric telescopic link A, the utility model belongs to equipment nondestructive testing technical field, the utility model discloses a lifting transfer of large -scale pressure -bearing tank body equipment is realized through electric telescopic link B cooperation moving plate, and electric telescopic link A is accurate to the both ends of jar body and is fixed, and the stability of guaranteeing detection, through the cooperation adjustment permanent magnetism module height of guide column A, knob A and spring A, balance adsorption and moving flexibility, the protection seat of top corner constructs buffer protection structure through guide column B, spring B, and the compound design of sponge and board material can absorb impact force when robot accidental drop, form " jar body fixed - robot stable adsorption - accurate detection - anti -fall protection " whole process safety protection, solve the problem that the present robot adsorbs unsteadily, and moves is blocked, lacks anti -fall protection.

Description

Technical Field

[0001] This utility model relates to the field of non-destructive testing technology, specifically to a safety protection device for a robot that performs non-destructive testing of large pressure equipment using permanent magnet adsorption. Background Technology

[0002] In the non-destructive testing (NDT) of large pressure equipment (such as tanks, high-pressure vessels, and industrial pipelines) after production, permanent magnet adsorption NDT robots are the core equipment for achieving automated testing. However, they face key technical challenges in practical applications: To ensure smooth movement during the testing process, the robot's permanent magnet adsorption module needs to maintain a suitable contact with the equipment surface. However, direct contact significantly increases frictional resistance, affecting testing efficiency and path accuracy. If a non-direct contact design is used to reduce friction, the gap between the permanent magnet and the equipment surface cannot be adjusted, leading to a significant decrease in adsorption force. This makes it difficult to stably adhere to curved or vertical surfaces, easily causing the robot to fall from a height. Furthermore, existing robots lack targeted fall protection and cushioning structures. Once a fall occurs, it can damage not only the robot itself and its onboard ultrasonic or eddy current testing components but also the pressure equipment being tested, causing surface scratches or internal structural damage. This increases testing and repair costs and seriously affects the progress and safety of post-production equipment testing before shipment.

[0003] Therefore, it is necessary to have a safety protection device for a non-destructive testing robot for large pressure equipment using permanent magnets. Utility Model Content

[0004] Therefore, this utility model provides a safety protection device for a non-destructive testing robot for large pressure equipment using permanent magnet adsorption, in order to solve the problems of permanent magnet adsorption and falling of non-destructive robots in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] The safety protection device for a non-destructive testing robot for large pressure equipment using permanent magnet adsorption according to this utility model includes an operating frame. Electric telescopic rods A are installed on the upper part of the inner walls on both sides of the operating frame, and electric telescopic rods B are installed on the upper part of the outer walls on both sides of the operating frame. A large pressure tank is installed inside the upper part of the operating frame.

[0007] The outer wall of the large pressure tank equipment is equipped with a robot detection and protection component, which includes a mobile robot and a permanent magnet module installed at the center of the lower part of the mobile robot.

[0008] Furthermore, a guide seat is installed at the output end of the electric telescopic rod B, and a movable plate is installed on one outer wall of the guide seat.

[0009] Furthermore, the large pressure tank equipment is located between the two sets of electric telescopic rods A on one side of each other, and both ends of the large pressure tank equipment are fixed by the output end on the electric telescopic rod A.

[0010] Furthermore, the permanent magnet module has guide posts A on both sides of its top. The outer wall of the guide post A is slidably connected to the lower interior of the mobile robot, and a knob A is threadedly connected to the upper part of the outer wall of the guide post A.

[0011] Furthermore, the knob A is located inside the lower part of the mobile robot, and a spring A is provided on the lower part of the outer wall of the guide post A.

[0012] Furthermore, the spring A is located between the permanent magnet module and the bottom of the mobile robot, and telescopic frames are installed on both outer walls of the mobile robot.

[0013] Furthermore, an electromagnetic ultrasonic flaw detector head is installed at one end of the telescopic frame, and protective seats are installed at both corners of the top of the mobile robot. Guide posts B are provided on one outer wall of each protective seat, and the guide posts B are slidably connected to the top of the mobile robot.

[0014] Furthermore, a knob B is threadedly connected to one side of the outer wall of the guide post B, and a spring B is provided on the other side of the outer wall of the guide post B.

[0015] This utility model has the following advantages:

[0016] The safety protection device of this permanent magnet adsorption non-destructive testing robot for large pressure equipment achieves automated lifting, transfer and clamping of large pressure tank equipment through the coordinated operation of electric telescopic rod A and electric telescopic rod B. It eliminates the need for manual handling and positioning, reducing labor intensity and ensuring the stability of the tank during testing, thus avoiding tank displacement that could affect testing accuracy.

[0017] The mobile robot, equipped with a height-adjustable permanent magnet module, ensures stable adsorption while reducing frictional resistance during movement, ensuring smooth automated movement and turning. The telescopic frame allows for distance adjustment of the electromagnetic ultrasonic flaw detector head, adapting to the inspection needs of welded joints at different locations. Furthermore, the fall protection seat, through the buffering effect of spring B and the energy-absorbing design of the sponge, effectively prevents damage to the robot body in the event of an accidental fall, significantly improving the safety and reliability of the inspection process and reducing inspection costs. Attached Figure Description

[0018] Figure 1 A front view schematic diagram of the overall structure of the safety protection device for the non-destructive testing robot of large pressure equipment using permanent magnet adsorption provided by this utility model.

[0019] Figure 2A rear view schematic diagram of the overall structure of the safety protection device for the non-destructive testing robot of large pressure equipment using permanent magnet adsorption provided by this utility model.

[0020] Figure 3 The top view of the exploded schematic diagram of the selected part of the safety protection device of the non-destructive testing robot for large pressure equipment provided by this utility model using permanent magnet adsorption.

[0021] Figure 4 The diagram below shows a partial exploded view of the safety protection device for the non-destructive testing robot for large pressure equipment using permanent magnet adsorption, as provided by this utility model.

[0022] In the diagram: 1. Operating frame; 101. Electric telescopic rod A; 2. Electric telescopic rod B; 201. Guide seat; 202. Moving plate; 3. Large pressure tank equipment; 4. Mobile robot; 401. Permanent magnet module; 402. Guide column A; 403. Knob A; 404. Spring A; 405. Telescopic frame; 406. Electromagnetic ultrasonic flaw detector head; 407. Protective seat; 408. Guide column B; 409. Knob B; 410. Spring B. Detailed Implementation

[0023] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] like Figures 1 to 4As shown, this utility model provides a safety protection device for a permanent magnet adsorption non-destructive testing robot for large pressure equipment, comprising an operating frame 1. Electric telescopic rods A101 are installed on the upper sides of the inner walls of both sides of the operating frame 1, and electric telescopic rods B2 are installed on the upper sides of the outer walls of both sides of the operating frame 1. A guide seat 201 is installed at the output end of the electric telescopic rod B2, and a movable plate 202 is installed on one side of the outer wall of the guide seat 201. A large pressure tank 3 is installed inside the upper part of the operating frame 1, located between the two sets of electric telescopic rods A101 on opposite sides. Both ends of the large pressure tank 3 are fixed by the output ends of the electric telescopic rods A101. The operating frame 1 serves as the support frame for the entire device, made of high-strength carbon steel welded together, with a stable structure capable of bearing the weight of the large pressure tank 3, the electric telescopic rod assembly, and the robot's detection and protection components. Electric telescopic rods A101 are symmetrically fixed to the upper part of the inner walls on both sides of the operating frame 1 by bolts. The electric telescopic rods A101 are servo electric telescopic rods, which have the characteristics of precise stroke and stable clamping force. Their output ends face the center of the operating frame and are used to clamp and fix the two ends of the large pressure tank equipment 3.

[0025] Electric telescopic rods B2 are fixedly installed on the upper sides of the outer walls of the operating frame 1 via motor mounting brackets. Electric telescopic rods B2 are high-thrust electric telescopic rods with their output ends facing upwards, and are fixedly connected to the guide seat 201 via bolts. The guide seat 201 is a metal frame structure, and a movable plate 202 is fixedly installed on one side of its outer wall via welding. The movable plate 202 is a rectangular metal plate with an arc-shaped groove on its surface adapted to the large pressure tank equipment 3. Anti-slip rubber pads are pasted on the inner wall of the groove to support and limit the tank, preventing slippage during transport.

[0026] The large pressure tank equipment 3 is placed in the arc-shaped groove of the movable plate 202, between the two sets of electric telescopic rods A101. The clamping block at the output end of the electric telescopic rod A101 is tightly attached to both ends of the tank to achieve axial fixation and ensure that the tank does not move during the testing process.

[0027] The outer wall of the large pressure tank equipment 3 is equipped with a robot detection and protection component. The core component is the mobile robot 4, which has a built-in automated walking control system and steering module, enabling it to move in a straight line and turn along the surface of the tank. Each of the four corners of the bottom of the mobile robot 4 is equipped with a flat wheel. Each flat wheel is connected to the robot body via a spring-loaded adaptive hinge. The hinge can be independently adjusted to ensure that the four wheels are always in close contact with the curved surface of the cylindrical tank, adapting to changes in the tank's curvature and ensuring stable movement.

[0028] A robot detection and protection assembly is installed on the outer wall of the large pressure tank equipment 3. This assembly includes a mobile robot 4. A permanent magnet module 401 is installed at the center of the lower part of the mobile robot 4. Guide posts A402 are provided on both sides of the top of the permanent magnet module 401. The outer wall of the guide posts A402 is slidably connected to the lower interior of the mobile robot 4. A knob A403 is threadedly connected to the upper part of the outer wall of the guide posts A402. The knob A403 is located inside the lower part of the mobile robot 4. A spring A404 is located below the outer wall of the guide posts A402. 04 is located between the permanent magnet module 401 and the bottom of the mobile robot 4. Telescopic frames 405 are installed on both outer walls of the mobile robot 4. An electromagnetic ultrasonic flaw detector head 406 is installed at one end of the telescopic frame 405. Protective seats 407 are installed at both corners of the top of the mobile robot 4. A guide post B408 is provided on one outer wall of the protective seat 407. The guide post B408 is slidably connected to the top of the mobile robot 4. A knob B409 is threadedly connected to one side of the outer wall of the guide post B408. A spring B410 is provided on the other side of the outer wall of the guide post B408.

[0029] A permanent magnet module 401 is installed at the center of the lower part of the mobile robot 4. The permanent magnet module 401 is a high-magnetic neodymium iron boron permanent magnet, used to generate an attractive force to make the robot adhere to the surface of the tank. Guide posts A402 are symmetrically arranged on both sides of the top of the permanent magnet module 401. The guide posts A402 are cylindrical metal rods, and their outer walls are slidably connected to guide holes opened in the lower part of the mobile robot 4, allowing them to move up and down along the guide holes. A knob A403 is threadedly connected to the upper part of the outer wall of the guide post A402. The knob A403 is located inside the lower part of the mobile robot 4 and is a metal knob with anti-slip texture. Rotating the knob A403 locks the position of the guide post A402. A spring A404 is fitted on the lower part of the outer wall of the guide column A402. The spring A404 is located between the permanent magnet module 401 and the bottom of the mobile robot 4. In its natural state, it is in a slightly compressed state, providing downward elastic support for the permanent magnet module 401. With the knob A403, the distance between the permanent magnet module 401 and the outer wall of the tank can be precisely adjusted, thereby adjusting the magnitude of the adsorption force.

[0030] Telescopic frames 405 are bolted to the outer walls of both sides of the mobile robot 4. The telescopic frames 405 are multi-section metal telescopic structures, and their extension length can be controlled manually or electrically. An electromagnetic ultrasonic flaw detector head 406 is fixed to one end via a flange. The electromagnetic ultrasonic flaw detector head 406 is electrically connected to the electromagnetic ultrasonic flaw detector main unit built into the mobile robot 4 via a shielded cable. The flaw detector main unit can transmit and receive ultrasonic signals, and perform non-destructive testing of the tank welds through data analysis. The length adjustment function of the telescopic frames 405 allows the flaw detector head to be precisely aligned with the inspection area, adapting to the inspection needs of different welding positions.

[0031] Protective seats 407 are installed at both corners of the top of the mobile robot 4. Each protective seat 407 is a composite structure, with a high-elasticity sponge adhered to one side and a metal plate on the other. The sponge side faces outwards to absorb the impact of a fall. A guide post B408 is fixed to one outer wall of the protective seat 407. The guide post B408 is a cylindrical metal rod that slides within a guide hole on the top of the mobile robot 4, allowing it to move laterally along the guide hole. A knob B409 is threaded onto one side of the outer wall of the guide post B408 to lock its position. A spring B410 is fitted onto the other side of the outer wall, located between the protective seat 407 and the top of the mobile robot 4, providing elastic cushioning for the protective seat 407.

[0032] The control system of the device is based on a PLC controller, which is electrically connected to the electric telescopic rod A101, electric telescopic rod B2, mobile robot 4, and electromagnetic ultrasonic flaw detector. It can preset parameters such as clamping force, lifting height, and robot movement path to achieve automated control. It is also equipped with a wireless communication module to support remote monitoring and operation, ensuring the safety and convenience of the detection process.

[0033] Working Principle: When using this invention, the large pressure tank equipment is first fixed: the large pressure tank equipment 3 to be tested is placed in the arc-shaped groove of the moving plate 202. The PLC controller sends a command to activate the electric telescopic rods B2 on both sides. The output end of the electric telescopic rod B2 extends, driving the guide seat 201 and the moving plate 202 to rise synchronously, transferring the tank to the preset testing height. Then, the two sets of electric telescopic rods A101 are activated. The output end of the electric telescopic rod A101 extends, and the clamping block at its end fits tightly against both ends of the tank until the preset clamping force is reached, realizing the axial fixation of the tank. After the tank is fixed, the PLC controller controls the output end of the electric telescopic rod B2 to retract, driving the moving plate 202 to descend and reset, detaching from under the tank, without affecting subsequent testing operations.

[0034] Next, the mobile robot is debugged and deployed: The mobile robot 4 is placed at a preset starting position on the outer wall of the large pressure tank equipment 3. The knob A403 on top of the permanent magnet module 401 is rotated to loosen the locking state of the guide column A402. The height of the permanent magnet module 401 is adjusted using the elastic support of the spring A404, ensuring a suitable distance between the permanent magnet module 401 and the outer wall of the tank, until a state is achieved where it can stably attract without affecting the robot's movement. Then, the knob A403 is rotated in the opposite direction to lock the guide column A402, fixing the position of the permanent magnet module 401. At this point, the four planar wheels at the bottom of the mobile robot 4 are independently and finely adjusted in angle via spring-loaded adaptive hinges, all maintaining close contact with the curved surface of the tank, ensuring stable movement.

[0035] The electromagnetic ultrasonic flaw detector head is specifically the EMAT2000 multi-functional electromagnetic ultrasonic flaw detector, which has a non-contact detection function.

[0036] Initiating the inspection operation: The inspection path of the mobile robot 4, including straight-line movement and turning points, is set via the PLC controller or remote terminal. The extension length of the telescopic frame 405 is adjusted, and the electromagnetic ultrasonic flaw detector head 406 is aligned with the starting inspection position at the tank weld, ensuring a suitable distance between the flaw detector head and the tank surface. The electromagnetic ultrasonic flaw detector is activated. The main unit of the flaw detector sends a control signal to the electromagnetic ultrasonic flaw detector head 406 via a shielded cable. The flaw detector head emits ultrasonic waves and receives reflected signals. After the signals are analyzed and processed by the main unit, non-destructive testing data of the weld is generated and transmitted to the back-end terminal in real time. Personnel can view the inspection results through the terminal. Simultaneously, the mobile robot 4 moves automatically along the preset path. During the movement, the spring-loaded adaptive hinge continuously adjusts the angle of the planar wheels to ensure the robot moves smoothly and conforms to the curved surface of the tank. The telescopic frame 405 is fine-tuned in real time according to the inspection position requirements to ensure the flaw detector head is always aligned with the inspection area.

[0037] Safety precautions during the testing process: If the mobile robot 4 fails to adhere due to an accident and tends to fall, the protective seats 407 at the two corners on its top will first contact the tank or operating frame. The sponge on one side of the protective seat 407 will first absorb part of the impact force. At the same time, the protective seat 407 will slide along the guide hole on the top of the mobile robot 4 through the guide post B408, compressing the spring B410. The elastic deformation of the spring B410 will further buffer the impact force, preventing damage to the mobile robot 4 body, the electromagnetic ultrasonic flaw detector head 406, and the tank equipment.

[0038] After the inspection is completed, the PLC controller controls the mobile robot 4 to stop moving and performing the flaw detection operation, and shuts down the electromagnetic ultrasonic flaw detector; the electric telescopic rod A101 is started, and its output end retracts to release the clamp on the tank; then the electric telescopic rod B2 is started, which drives the moving plate 202 to rise to the bottom of the tank, supports the tank, and then controls the electric telescopic rod B2 to retract, transferring the tank to the initial height, so that the staff can remove the tank and complete the entire inspection process.

Claims

1. A safety protection device for a non-destructive testing robot for large pressure equipment using permanent magnet adsorption, comprising an operating frame (1), wherein an electric telescopic rod A (101) is installed on the upper part of the inner walls on both sides of the operating frame (1), characterized in that, Electric telescopic rods B (2) are installed on the upper sides of the outer walls of the operating frame (1), and a large pressure tank equipment (3) is installed on the upper inside of the operating frame (1). The outer wall of the large pressure tank equipment (3) is equipped with a robot detection and protection component, which includes a mobile robot (4) and a permanent magnet module (401) is installed at the center of the lower part of the mobile robot (4).

2. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 1, characterized in that, A guide seat (201) is installed at the output end of the electric telescopic rod B (2), and a movable plate (202) is installed on one side of the outer wall of the guide seat (201).

3. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 1, characterized in that, The large pressure tank equipment (3) is located between the two sets of electric telescopic rods A (101) on one side of each other, and the two ends of the large pressure tank equipment (3) are fixed at the output end on the electric telescopic rods A (101).

4. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 1, characterized in that, The permanent magnet module (401) has guide posts A (402) on both sides of its top. The outer wall of the guide post A (402) is slidably connected to the lower interior of the mobile robot (4). A knob A (403) is threadedly connected to the upper part of the outer wall of the guide post A (402).

5. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 4, characterized in that, The knob A (403) is located inside the lower part of the mobile robot (4), and a spring A (404) is provided below the outer wall of the guide post A (402).

6. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 5, characterized in that, The spring A (404) is located between the permanent magnet module (401) and the bottom of the mobile robot (4), and telescopic frames (405) are installed on both outer walls of the mobile robot (4).

7. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 6, characterized in that, An electromagnetic ultrasonic flaw detector head (406) is installed at one end of the telescopic frame (405). Protective seats (407) are installed at the top corners of the mobile robot (4). Guide posts B (408) are provided on one side of the outer wall of the protective seats (407). The guide posts B (408) are slidably connected to the top of the mobile robot (4).

8. The safety protection device for the non-destructive testing robot of large pressure-bearing equipment using permanent magnet adsorption as described in claim 7, characterized in that, A knob B (409) is threadedly connected to one side of the outer wall of the guide post B (408), and a spring B (410) is provided on the other side of the outer wall of the guide post B (408).

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