CN104897772A - Magnetization apparatus for magnetic powder flaw detection testing of wall-climbing robot - Google Patents
Magnetization apparatus for magnetic powder flaw detection testing of wall-climbing robot Download PDFInfo
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- CN104897772A CN104897772A CN201510173047.2A CN201510173047A CN104897772A CN 104897772 A CN104897772 A CN 104897772A CN 201510173047 A CN201510173047 A CN 201510173047A CN 104897772 A CN104897772 A CN 104897772A
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- spring
- magnetic
- magnetic probe
- climbing robot
- axis pin
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Abstract
The invention relates to a magnetization apparatus for magnetic powder flaw detection testing of a wall-climbing robot, which is characterized in that four E-shaped probes are connected to a I-shaped connecting piece, a spring pin is arranged between an upper connection board and a lower connection board of the flexible joint, a pressure spring is sleeved on the spring pin, the spring pin with a cap is fixed at outboard of the upper connection board, one end of the spring pin with the cap is connected to the lower connection board in a fixing mode, the pressure spring is sleeved at outboard of the spring pin with the cap, a stepping motor is connected to a rotating shaft through a synchronous belt, an eccentric cam is arranged on the rotating shaft, the eccentric cam is arranged in an outer rack of the eccentric sheave of the upper connection board, and the I-shaped connecting piece of the magnetic probe is fixed to the flexible joint. A spring assembly is compressed due to collision of the magnetic probe and the wall surface, the magnetic probe is contracted to one side of the frame, damage by directly extruding to the wall surface can be avoided, obstacle avoidance of the magnetic probe to the wall surface obstacle can be solved, and problem of high gravity center of the robot can be solved by driving the magnetic probe to decrease.
Description
Technical field
What the present invention relates to is a kind of wall magnetizing assembly detecting climbing robot for magnetic powder inspection.
Background technology
Current large tank is widely used in the industries such as petro chemical industry, energy industry, scientific research and military project, and now to the Non-Destructive Testing work of large tank all by manually completing, intricate operation, inefficiency, dangerous high.E type probe has been widely used in artificial flaw detection, but its due to own wt comparatively large, increase the labour intensity of staff.
And utilize climbing robot in the characteristic of the particular surroundings work such as wall, climbing robot can be applied in tank body detection, be the blank of this area.Meanwhile, how to reduce the running resistance of climbing robot in wall magnetization, reduce machine gravity, reduce and the impact in vertical walls direction needs the technology emphasis that solves.
Summary of the invention
For prior art artificial magnetization intricate operation, inefficiency, dangerous high problem, provide a kind of magnetizing assembly detecting climbing robot for magnetic powder inspection, this apparatus structure is reasonable in design, easy to operate.
For achieving the above object, the present invention is by the following technical solutions:
Magnetic powder inspection detects the magnetizing assembly of climbing robot, magnetic probe comprises four E type probes, and these four E type probes are fixed on the end of I-shaped web member, flexibly connect head and are provided with upper junction plate and lower connecting plate, be provided with axis pin of the spring between upper and lower web joint, outside axis pin of the spring, be arranged with stage clip; Be fixed with band cap axis pin of the spring outside upper junction plate, band cap axis pin of the spring one end is fixedly connected with lower connecting plate, and the outside that band cap axis pin of the spring is positioned at upper junction plate is arranged with stage clip, and band cap spring pin the tip of the axis is provided with the gear cap for stopping spring; Rack-mounted stepper motor is connected with rotating shaft by Timing Belt, and rotating shaft is provided with offset cam, and offset cam is arranged in the eccentric wheel outrigger of upper junction plate; The I-shaped web member of magnetic probe is through the magnetic probe outrigger flexibly connecting a lower connecting plate.
Above-mentioned magnetic powder inspection detects the magnetizing assembly of climbing robot, and offset cam extenal fixation has two bearings, is provided with shading ring between bearing, and bearing is arranged in the eccentric wheel outrigger of the upper junction plate flexibly connecting head.
Above-mentioned magnetic powder inspection detects the magnetizing assembly of climbing robot, frame corresponds to four E types probes and is fixed with four vertical guide rails.
Stepper motor rotates 180 °, drives Timing Belt band movable eccentric wheel to rotate, and this is moved through bearing and passes to and flexibly connect head by eccentric wheel, drives the lifting of the magnetic probe of E type probe composition.When magnetic probe declines, alternating current phase shift technology is adopted to four E type probes, make it to produce time dependent synthesis rotating magnetic field, so-called rotating magnetic field and magnetic induction vector in space with a kind of magnetic field that fixed frequency rotates, by rotating magnetic field, the magnetic liquid being sprayed at tank surface is magnetized, magnetic liquid contains magnetic, presents arrangement different with non-defective component after the magnetic liquid of tank body damage location is magnetized, thus realizes detecting the magnetic powder inspection of tank body.
Groups of springs is compressed because magnetic probe encounters the obstacle of wall, and magnetic probe can be retracted to frame side, unlikely by driven by motor directly to wall extruding and cause damage.Flexibly connect head and use 2 groups of springs, be in order to meet when robot normal sorption in wall upper end, hang by the feet be adsorbed in wall lower end time, by different groups of springs, obstacle is reacted, prolongation spring serviceable life.
As the wall magnetizing assembly of large tank magnetic powder inspection measuring robots, the invention solves magnetic probe in robot traveling process and barrier is kept away to wall obstacle, and drive magnetic probe decline also to solve the high problem of robot center of gravity, decrease the resistance in climbing robot traveling process, improve the automaticity of operation.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of magnetic of the present invention flaw detection climbing robot.
Fig. 2 is the magnetic of the present invention flaw detection magnetizing part of climbing robot and the syndeton schematic diagram of frame.
Fig. 3 is the magnetizing part structural representation of magnetic of the present invention flaw detection climbing robot.
Fig. 4 is the cam structure schematic diagram of magnetic of the present invention flaw detection climbing robot.
Fig. 5 is the cam detonation configuration schematic diagram of magnetic of the present invention flaw detection climbing robot.
Fig. 6 is the structural representation that invention flexibly connects head.
Fig. 7 is the magnetic probe structural representation of magnetic of the present invention flaw detection climbing robot.
Fig. 8 is the magnetic probe of magnetic of the present invention flaw detection climbing robot and the syndeton schematic diagram flexibly connecting head.
Be labeled as in figure: 1 frame, 11 be fixed in frame E type probe vertical guide, 21 stepper motors, 22 Timing Belts, 3 is E type probe, the I shape web member of 31 magnetic probes, with the fixing threaded hole flexibly connecting a lower connecting plate on 32 I shape web members, 4 rotating shafts, 5 offset cams, offset cam to be fixed on the jump ring in rotating shaft by 51, the jump ring of 52 solid bearings, 53 bearings, 55 shading rings, 6 upper junction plates flexibly connecting head, 61 flexibly connect head and offset cam conflicts the eccentric wheel outrigger coordinated, 62 band cap axis pin of the spring, 63 springs, 7 lower connecting plates flexibly connecting head, 71 flexibly connect the magnetic probe outrigger that head coordinates with magnetic probe, 72 axis pin of the spring, 73 springs.
Embodiment
Embodiment one
With reference to accompanying drawing, magnetic powder inspection detects the magnetizing assembly of climbing robot, magnetic probe comprises four E type probes 3, these four E type probes are fixed on the end of I-shaped web member 31, flexibly connect head and be provided with upper junction plate 6 and lower connecting plate 7, be provided with axis pin of the spring 72 between upper and lower web joint, outside axis pin of the spring, be arranged with stage clip 73; Band cap axis pin of the spring 62 is fixed with outside upper junction plate, band cap axis pin of the spring one end is fixedly connected with lower connecting plate, the outside being positioned at upper junction plate with cap axis pin of the spring is arranged with stage clip 63, the gear cap for stopping spring is provided with cap spring pin the tip of the axis, the external diameter of gear cap is larger than the external diameter of stage clip, deviates from from bearing pin to stop spring; Rack-mounted stepper motor 21 is connected with rotating shaft 4 by Timing Belt 22, rotating shaft is provided with offset cam 5, offset cam extenal fixation has two bearings 52, is provided with shading ring 55 between bearing, and bearing is arranged in the eccentric wheel outrigger 61 of the upper junction plate flexibly connecting head; The I-shaped web member of magnetic probe is through the magnetic probe outrigger 62 flexibly connecting a lower connecting plate; Frame corresponds to four E types probe and be fixed with four vertical guide rails 11.
Synchronous motor drives Timing Belt to rotate, Timing Belt orders about offset cam by rotating shaft and rotates, power to be used in by bearing and to flexibly connect on the eccentric wheel outrigger of head by offset cam, magnetic probe is popped one's head in by four E types and I shape web member forms, thus realize rising and the decline of magnetic probe, and the vertical guide 11 in frame can make E type probe vertical lifting more reliably.The decline of magnetic probe, reduces the center of gravity of complete machine during work, and magnetization work can be made more stable, reliable.
When magnetic probe meets with wall obstacle, due to the acting force of spring, magnetic probe can be made to retract to body direction, avoid magnetic probe and directly driven to press down by motor and bring damage.
Claims (3)
1. magnetic powder inspection detects the magnetizing assembly of climbing robot, magnetic probe comprises four E type probes, it is characterized in that these four E type probes are fixed on the end of I-shaped web member, flexibly connect head and be provided with upper junction plate and lower connecting plate, be provided with axis pin of the spring between upper and lower web joint, outside axis pin of the spring, be arranged with stage clip; Be fixed with band cap axis pin of the spring outside upper junction plate, band cap axis pin of the spring one end is fixedly connected with lower connecting plate, and the outside that band cap axis pin of the spring is positioned at upper junction plate is arranged with stage clip, and band cap spring pin the tip of the axis is provided with the gear cap for stopping spring; Rack-mounted stepper motor is connected with rotating shaft by Timing Belt, and rotating shaft is provided with offset cam, and offset cam is arranged in the eccentric wheel outrigger of upper junction plate; The I-shaped web member of magnetic probe is through the magnetic probe outrigger flexibly connecting a lower connecting plate.
2. magnetic powder inspection as claimed in claim 1 detects the magnetizing assembly of climbing robot, and it is characterized in that offset cam extenal fixation has two bearings, be provided with shading ring between bearing, bearing is arranged in the eccentric wheel outrigger of the upper junction plate flexibly connecting head.
3. magnetic powder inspection as claimed in claim 1 detects the magnetizing assembly of climbing robot, it is characterized in that frame corresponds to four E types probes and is fixed with four vertical guide rails.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510173047.2A CN104897772B (en) | 2015-04-14 | 2015-04-14 | Magnetic powder inspection detects the magnetizing assembly of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510173047.2A CN104897772B (en) | 2015-04-14 | 2015-04-14 | Magnetic powder inspection detects the magnetizing assembly of climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104897772A true CN104897772A (en) | 2015-09-09 |
| CN104897772B CN104897772B (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510173047.2A Active CN104897772B (en) | 2015-04-14 | 2015-04-14 | Magnetic powder inspection detects the magnetizing assembly of climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108205012A (en) * | 2016-12-19 | 2018-06-26 | 中国科学院沈阳自动化研究所 | One kind climbs wall detection robot |
| CN113418961A (en) * | 2021-06-04 | 2021-09-21 | 浙江亚太机电股份有限公司 | Iron chip detection head for sealing groove of clamp body |
Citations (6)
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| JPS58137747A (en) * | 1982-02-12 | 1983-08-16 | Nippon Kogyo Kensa Kk | Test equipment using magnetic powder |
| JPH06294774A (en) * | 1993-04-09 | 1994-10-21 | Kawasaki Steel Corp | Apparatus for magnetic-particle examination of flat plate |
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN102673672A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot |
| KR101377452B1 (en) * | 2014-01-22 | 2014-04-07 | (주)인스펙트 | Automatic magnetic particle testing apparatus |
| CN204694675U (en) * | 2015-04-14 | 2015-10-07 | 浙江工业大学 | Magnetic powder inspection detects the magnetizing assembly of climbing robot |
-
2015
- 2015-04-14 CN CN201510173047.2A patent/CN104897772B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58137747A (en) * | 1982-02-12 | 1983-08-16 | Nippon Kogyo Kensa Kk | Test equipment using magnetic powder |
| JPH06294774A (en) * | 1993-04-09 | 1994-10-21 | Kawasaki Steel Corp | Apparatus for magnetic-particle examination of flat plate |
| CN101947778A (en) * | 2010-09-22 | 2011-01-19 | 上海交通大学 | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force |
| CN102673672A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Driving and steering integrated magnetic wheel device for magnetic adsorption wall-climbing robot |
| KR101377452B1 (en) * | 2014-01-22 | 2014-04-07 | (주)인스펙트 | Automatic magnetic particle testing apparatus |
| CN204694675U (en) * | 2015-04-14 | 2015-10-07 | 浙江工业大学 | Magnetic powder inspection detects the magnetizing assembly of climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 沈青青: "磁粉探伤爬壁检测机器人的设计与研究", 《中国优秀硕士学位论文全文数据库 信息科技辑（月刊）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108205012A (en) * | 2016-12-19 | 2018-06-26 | 中国科学院沈阳自动化研究所 | One kind climbs wall detection robot |
| CN113418961A (en) * | 2021-06-04 | 2021-09-21 | 浙江亚太机电股份有限公司 | Iron chip detection head for sealing groove of clamp body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104897772B (en) | 2018-09-07 |
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Address after: 310014 Zhejiang University of Technology, 18, Chao Wang Road, Xiacheng District, Hangzhou, Zhejiang Patentee after: ZHEJIANG University OF TECHNOLOGY Patentee after: Zhejiang Academy of special equipment science Address before: 310014 Zhejiang University of Technology, 18, Chao Wang Road, Xiacheng District, Hangzhou, Zhejiang Patentee before: ZHEJIANG University OF TECHNOLOGY Patentee before: Zhejiang special equipment inspection and Research Institute |