CN110187003A - A kind of Energizing unit can dynamic regulation intelligent detecting instrument - Google Patents
A kind of Energizing unit can dynamic regulation intelligent detecting instrument Download PDFInfo
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- CN110187003A CN110187003A CN201910490020.4A CN201910490020A CN110187003A CN 110187003 A CN110187003 A CN 110187003A CN 201910490020 A CN201910490020 A CN 201910490020A CN 110187003 A CN110187003 A CN 110187003A
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- 230000003028 elevating effect Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 abstract description 19
- 238000009659 non-destructive testing Methods 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 206010057315 Daydreaming Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000010422 painting Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
- G01N27/83—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields
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- Health & Medical Sciences (AREA)
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- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
The present invention is suitable for field of non destructive testing, there is provided a kind of Energizing unit can dynamic regulation intelligent detecting instrument, including chassis body, the chassis body bottom is equipped with traveling wheel and Energizing unit, there is lifting drive in the chassis body, the lifting drive is for driving Energizing unit to move up and down.When detection, Energizing unit is put down to suitable position, bottom plate to be detected is motivated with its magnetic field, when adjustment detection path or obstacle detouring, Energizing unit is lifted by lifting drive, increases the distance between Energizing unit and bottom plate to be detected, its load is reduced, operation is facilitated.
Description
Technical field
The invention belongs to field of non destructive testing more particularly to a kind of Energizing unit can dynamic regulation intelligent detecting instrument.
Background technique
Storage tank is widely used in daily life and industrial production.For the safety for ensureing storage tank, need to carry out storage tank regular
Detection.It is presently recommended that detection technique be Magnetic Flux Leakage Inspecting technology, this technology can relatively quickly be scanned storage tank bottom plate
And assessment, including the substantially positioning to defect and quantitatively.
But the work that artificial detection storage tank is a challenge is carried out using Magnetic Flux Leakage Testing Instrument.Firstly, in the process of detection
In, it needs frequently to lever up and put down Energizing unit.This power levered up is generally at 70 Kgfs or so.Secondly, inside storage tank
Often there is the environment of high temperature, high humidity, inspector is easy to fatigue, causes absent minded, is easy to appear nonstandard behaviour
Make.Again, tank inside is the space of a relative risk, and the safety of inspector itself is also required to ensure.The intelligence of storage tank
Detection is the approach solved these problems.
The development of artificial intelligence technology is maked rapid progress.There are four significant features for artificial intelligence tool: Intellisense, intelligence are thought
It examines, intelligent decision and intelligence execute.This four aspects, are just the technologies for needing to use in storage tank bottom plate intellectualized detection.Its
In, Intellisense tells detecting instrument, the exact position of detection.The data of the comprehensive various sensors of intelligence thinking, extract
Accurate information.On the basis of accurate information, intelligent decision can replace manual decision, arrange detection path etc..Finally it is exactly
Intelligence executes, the various movements including intelligent detecting instrument in the detection process.As it can be seen that substantially all process can enough intelligence
Change to solve.Outside storage tank, the state of real time inspection detector and gained video, image and data etc. can help inspector
Handle special event.
In the detection of storage tank, need to carry out magnetic field excitation to storage tank bottom plate, so general Magnetic Flux Leakage Testing Instrument all has
One relatively large Energizing unit.Because of the complexity of scene power supply, detector generally uses battery to power, so Energizing unit
Generally made of permanent magnet.This Energizing unit is detector maximum load source in the detection process.In its detection
In the process, the load weight that Energizing unit generates, often in several hundred Kgfs of magnitudes.Current manual approach needs frequent
Manually lever up and put down this Energizing unit.It is this frequently to lever up, put down operation, it is very easy to lead to the fatigue of operator and note
Meaning power is not concentrated, and safety accident is easily caused.
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of Energizing unit can dynamic regulation intelligent detecting instrument,
Aim to solve the problem that existing Magnetic Flux Leakage Testing Instrument needs manually lever up, put down Energizing unit, it is inconvenient for operation, easily cause the tired of operator
Labor and scatterbrained technical problem.
The present invention adopts the following technical scheme:
The Energizing unit can dynamic regulation intelligent detecting instrument, including chassis body, the chassis body bottom installation
There are traveling wheel and Energizing unit, has lifting drive in the chassis body, the lifting drive is for driving excitation
Unit moves up and down.
Further, the driving motor that the lifting drive includes and the speed change with driving motor linkage
Case, is equipped with centre wheel on the output shaft of the gearbox, the centre wheel surrounding have it is several with centre wheel linkage from
Driving wheel, each driven wheel are provided centrally with feed screw nut, and matched elevating screw, the lifting have been penetrated in the feed screw nut
Screw rod bottom is fixed with the Energizing unit.
Further, certain altitude position is equipped with frame plate, the driving motor and gearbox above the chassis body
On the frame plate, the centre wheel and driven wheel are set between frame plate and the top plate of chassis body.
Further, be provided on the top plate of the chassis body with centre wheel, the one-to-one bearing position of driven wheel, each
A plain thrust bearing, part on the corresponding plain thrust bearing of the centre wheel, driven wheel are respectively mounted on bearing position
Fixed, the lower part of plain thrust bearing is fixed on bearing position, and the frame plate is provided with corresponding position at the top of elevating screw
Circular hole.
Further, the feed screw nut is hollow T-type structure, including top annulus and intermediate round tube, the top
Portion's annulus and driven wheel are locked by screw, and the intermediate round tube is described downward through driven wheel, plain thrust bearing and top plate
The output shaft of gearbox sequentially passes through frame plate, centre wheel and top plate.
Further, the elevating screw bottom is polished rod, is connected between the polished rod and Energizing unit by adapter
It is fixed, it is provided with an aperture on the polished rod, adapter and aperture are penetrated by pivot pin and fix polished rod and adapter.
Further, the centre wheel and driven wheel are gear, and the centre wheel and driven wheel tightly engage, Huo Zhesuo
It states and passes through chain drive between centre wheel and driven wheel.
Further, the lifting drive includes turbine and worm lifting device and the driving turbine and worm lifting
The servo motor of device, matched center screw rod is equipped in the turbine and worm lifting device, and the center screw rod passes through frame
It is fixed after the top plate of frame body with Energizing unit, the Energizing unit surrounding is also fixed with several guide rods, the frame upwards
It is equipped on the top plate of main body and is penetrated in corresponding guide sleeve with the one-to-one guide sleeve of the guide rod, each guide rod.
The beneficial effects of the present invention are: intelligent detecting instrument provided by the invention can realize that the dynamic of the load to Energizing unit is adjusted
Section puts down Energizing unit to suitable position, bottom plate to be detected is motivated with its magnetic field when detection, detects in adjustment
When path or obstacle detouring, Energizing unit is lifted by lifting drive, is increased between Energizing unit and bottom plate to be detected
Distance, reduce its load, facilitate operation.
Detailed description of the invention
Fig. 1 is the perspective view of an angle of the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 2 is the perspective view of another angle for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 3 is the structure chart of the lifting drive for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 4 is the oblique sectional view for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 5 is the detail view of the center wheel portion for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 6 is the detail view of the driven wheel part for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 7 is the elevating screw bottom detail figure for the intelligent detecting instrument that first embodiment of the invention provides；
Fig. 8 is the structure chart for the intelligent detecting instrument that second embodiment of the invention provides；
Fig. 9 is the oblique cross-sectional view for the intelligent detecting instrument that second embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
Fig. 1,2 show Energizing unit provided in an embodiment of the present invention can dynamic regulation intelligent detecting instrument a kind of knot
Structure, only parts related to embodiments of the present invention are shown for ease of description.
As shown in Figure 1, 2, Energizing unit provided by the invention can dynamic regulation intelligent detecting instrument, including chassis body 1,
1 bottom of chassis body is equipped with traveling wheel 2 and Energizing unit 3, there is lifting drive 4 in the chassis body 1, described
Lifting drive 4 is for driving Energizing unit 3 to move up and down.When specifically used, when detection, lifting drive is driven
It is dynamic to put down Energizing unit to suitable position, bottom plate to be detected is motivated with its magnetic field, detects path or obstacle detouring in adjustment
When, Energizing unit is lifted by lifting drive, increases the distance between Energizing unit and bottom plate to be detected, it is negative to reduce it
It carries, facilitates operation.
As a kind of specific lifting driving structure, in conjunction with shown in Fig. 3,4, driving that the lifting drive 4 includes
Motor 42 and the gearbox 41 to link with the driving motor, the gearbox are worm and gear gearbox, the gearbox
Centre wheel 51 is installed on 41 output shaft, 51 surrounding of centre wheel has several driven wheels 52 with centre wheel linkage,
Each driven wheel 52 is provided centrally with feed screw nut 53, and matched elevating screw 54 has been penetrated in the feed screw nut 53, described
54 bottom of elevating screw and the Energizing unit 3 are fixed.When work, driving motor drives worm and gear gearbox, worm gear first
Worm screw gearbox drives centre wheel, and in diagram, in four orientation of centre wheel, there are four driven wheel, driven wheel and feed screw nuts
Fixed, gearbox drives centre wheel rotation, and then drives driven wheel rotation, and driven wheel drives feed screw nut's rotation, and then realizes
Control elevating screw moves up and down, and since elevating screw bottom is fixed with Energizing unit, can realize on driving Energizing unit
Lower movement realizes that servo motor accurately controls the height of Energizing unit by this Precision Machinery Design.
In the design of the present embodiment structure, using the design of a centre wheel and four driven wheels, and make their exact contacts,
It is to guarantee that four feed screw nuts can move synchronously to reduce gap.In diagram, the centre wheel and driven wheel are tooth
Wheel, the centre wheel and driven wheel tightly engage, and pass through engagement driving driven wheel rotation.Certain centre wheel and driven wheel it
Between can also pass through chain drive.
As a kind of mounting means, the 1 top certain altitude position of chassis body is equipped with frame plate 6, the driving electricity
Machine 42 and gearbox 41 are located on the frame plate 6, and the centre wheel 51 and driven wheel 52 are set to frame plate 6 and chassis body
Between top plate 11.Here by setting one block frame plate, for installing driving motor and gearbox, at the same play limitation centre wheel and
The effect of driven wheel upright position.
In conjunction with Fig. 5,6, the detailed structure of center wheel portion and driven wheel part is respectively illustrated,
Further, be provided on the top plate of the chassis body with centre wheel 51, the one-to-one bearing position of driven wheel 52,
A plain thrust bearing 55, the corresponding plane thrust of the centre wheel 51, driven wheel 52 are respectively mounted on each bearing position
It is partially fixed on bearing 55, the lower part of plain thrust bearing 55 is fixed on bearing position, at the top of the frame plate and elevating screw
Corresponding position is provided with circular hole.The feed screw nut 53 is hollow T-type structure, including top annulus and intermediate round tube, institute
Top annulus and driven wheel are stated by screw locking, the intermediate round tube downward through driven wheel, plain thrust bearing and top plate,
The output shaft of the gearbox sequentially passes through frame plate, centre wheel and top plate.In this structure, feed screw nut is sleeved on elevating screw
On, while feed screw nut and driven wheel are fixed, driven wheel and the engagement of centre wheel precision, driven wheel are relatively fixed in plane thrust axis
The top held, the lower part of plain thrust bearing are limited in inside the bearing position of lower plate.Centre wheel is fixed on plain thrust bearing
Top half on, can only coaxially be rotated together with plain thrust bearing.The lower half of plain thrust bearing is fixed on frame master
On the bearing position of the top plate of body, bearing position provides the function of a positioning, the position of fixed pan thrust bearing.From worm and gear
The output shaft and centre wheel that gearbox comes out are relatively fixed, while also passing through plain thrust bearing and the top plate under it.
Further, as shown in connection with fig. 7,54 bottom of elevating screw is polished rod, between the polished rod and Energizing unit 3
It is connected and fixed by adapter 56, an aperture is provided on the polished rod, adapter and aperture are penetrated for polished rod by pivot pin 57
It is fixed with adapter.There are four screw holes on adapter, are secured by threads on Energizing unit, can also be using other connections
Mode.
In short, the dynamic load regulation scheme that the embodiment of the present invention one provides may insure that four feed screw nuts can synchronize
Movement, and then realize that four elevating screws synchronize and move up and down, it is ensured that driving Energizing unit stablizes movement, and excitation list up and down
The weight of member is undertaken by four elevating screws, and overall structure is highly stable, long service life.
Embodiment two:
Fig. 8,9 show Energizing unit provided in an embodiment of the present invention can dynamic regulation intelligent detecting instrument another knot
Structure, only parts related to embodiments of the present invention are shown for ease of description.
In this structure, the lifting drive 4 includes turbine and worm lifting device 43 and the driving turbine and worm
The servo motor (not shown) of lifting device is equipped with matched center screw rod in the turbine and worm lifting device 43
45, the center screw rod 45 is fixed with Energizing unit 3 after the top plate of chassis body, and 3 surrounding of Energizing unit is also upward
Be fixed with several guide rods 46, be equipped on the top plate of the chassis body with the one-to-one guide sleeve 47 of the guide rod,
Each guide rod 46 penetrates in corresponding guide sleeve 47.In the present embodiment, the guide rod has four, is fixedly mounted on excitation list
Four corner parts of member, guide rod pass freely through the guide sleeve on top plate, and guide rod and guide sleeve are precision standard part.It is this
The advantages of scheme, is the reduction of mechanical driving device, by the way of four guide rod guide sleeves, guarantees the parallel of Energizing unit
It moves up and down.Also in the rigidity of guide rod guide sleeve, this design is oriented to by guide rod the difficult point of this mode completely simultaneously
Set is to guarantee moving in parallel for Energizing unit, in the case where load excessive, in fact it could happen that the case where deformation, leads to Energizing unit
There is difference in the lift-off value on both ends or both sides, influences accuracy of measurement.Meanwhile Energizing unit all wt is carried in one
On heart screw rod, the service life of center screw rod also will affect.Therefore it is not very heavy situation that this programme, which is only applicable to Energizing unit load,.
To sum up, the present invention provides the load dynamic regulation that two kinds of specific solutions realize Energizing unit, facilitate inspection
Survey the adjustment in path, detection direction.Facilitate the obstacle detouring of detector simultaneously.Meanwhile in conjunction with the surface magnetic conductance technology of Energizing unit,
Dynamic adjusts the lift-off value of Energizing unit in detection process, this lift-off value depends on thickness, the material, painting of bottom plate to be detected
The factors such as thickness degree.By this adjusting, be conducive to the standardization of detection, the dimension for being further conducive to defect is quantitative.Finally,
Energizing unit load dynamic regulation is conducive to the carrying of detector, and in the handling process, the Energizing unit of high position mitigates significantly
Energizing unit reduces the power of its needs to extraneous attraction, reduces insecurity factor, facilitates storage and remove
Fortune.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of Energizing unit can dynamic regulation intelligent detecting instrument, including chassis body, the chassis body bottom be equipped with
Traveling wheel and Energizing unit, which is characterized in that have lifting drive in the chassis body, the lifting drive is used for
Driving Energizing unit moves up and down.
2. Energizing unit as described in claim 1 can dynamic regulation intelligent detecting instrument, which is characterized in that lifting driving dress
Set including driving motor and gearbox with driving motor linkage, center is installed on the output shaft of the gearbox
Wheel, the centre wheel surrounding have several driven wheels with centre wheel linkage, and each driven wheel is provided centrally with feed screw nut,
Matched elevating screw is penetrated in the feed screw nut, the elevating screw bottom is fixed with the Energizing unit.
3. Energizing unit as claimed in claim 2 can dynamic regulation intelligent detecting instrument, which is characterized in that in the chassis body
Square certain altitude position is equipped with frame plate, and the driving motor and gearbox are located on the frame plate, the centre wheel and from
Driving wheel is set between frame plate and the top plate of chassis body.
4. Energizing unit as claimed in claim 3 can dynamic regulation intelligent detecting instrument, which is characterized in that the chassis body
Be provided on top plate with centre wheel, the one-to-one bearing position of driven wheel, be respectively mounted a plain thrust bearing on each bearing position,
It is partially fixed on the corresponding plain thrust bearing of the centre wheel, driven wheel, the lower part of plain thrust bearing is fixed on
On bearing position, corresponding position is provided with circular hole at the top of the frame plate and elevating screw.
5. Energizing unit as claimed in claim 4 can dynamic regulation intelligent detecting instrument, which is characterized in that the feed screw nut is
Hollow T-type structure, including top annulus and intermediate round tube, the top annulus and driven wheel are locked by screw, described
Intermediate round tube sequentially passes through frame plate, center downward through driven wheel, plain thrust bearing and top plate, the output shaft of the gearbox
Wheel and top plate.
6. Energizing unit as claimed in claim 5 can dynamic regulation intelligent detecting instrument, which is characterized in that the elevating screw bottom
Portion is polished rod, is connected and fixed between the polished rod and Energizing unit by adapter, and an aperture is provided on the polished rod, is passed through
Pivot pin penetrates adapter and aperture fixes polished rod and adapter.
7. as described in claim any one of 2-6 Energizing unit can dynamic regulation intelligent detecting instrument, which is characterized in that in described
Heart wheel and driven wheel are gear, the centre wheel and driven wheel tightly engage or the centre wheel and driven wheel between lead to
Cross chain drive.
8. Energizing unit as described in claim 1 can dynamic regulation intelligent detecting instrument, which is characterized in that lifting driving dress
Set the servo motor including turbine and worm lifting device and the driving turbine and worm lifting device, the turbine and worm lifting
Matched center screw rod is installed, the center screw rod is fixed after the top plate of chassis body with Energizing unit, institute in device
It states Energizing unit surrounding and is also fixed with several guide rods upwards, be equipped on the top plate of the chassis body and the guide rod one
One corresponding guide sleeve, each guide rod penetrate in corresponding guide sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490020.4A CN110187003A (en) | 2019-06-06 | 2019-06-06 | A kind of Energizing unit can dynamic regulation intelligent detecting instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910490020.4A CN110187003A (en) | 2019-06-06 | 2019-06-06 | A kind of Energizing unit can dynamic regulation intelligent detecting instrument |
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| Publication Number | Publication Date |
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| CN110187003A true CN110187003A (en) | 2019-08-30 |
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ID=67720605
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910490020.4A Pending CN110187003A (en) | 2019-06-06 | 2019-06-06 | A kind of Energizing unit can dynamic regulation intelligent detecting instrument |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426746A (en) * | 2020-03-31 | 2020-07-17 | 中海石油技术检测有限公司 | Automatic creeping magnetic flux leakage detector for tank wall |
| CN113945628A (en) * | 2021-11-09 | 2022-01-18 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large-scale storage tank wall plate magnetic flux leakage detection robot |
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| US4739273A (en) * | 1984-03-02 | 1988-04-19 | Exxon Production Research Company | Apparatus for detecting substantially longitudinal flaws in the end area of a tubular member using magnetic excitation and a scanning sensor |
| CA2504908A1 (en) * | 2004-04-23 | 2005-10-23 | Innovative Materials Testing Technologies, Inc. | Apparatus and method for eddy-current magnetic scanning a surface to detect sub-surface cracks around a boundary |
| CN109085233A (en) * | 2018-08-09 | 2018-12-25 | 西红柿科技（武汉）有限公司 | A kind of storage tank bottom plate intelligent detecting instrument and system |
| CN208483195U (en) * | 2018-07-12 | 2019-02-12 | 扬州市职业大学 | Lost foam casting sandbox |
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2019
- 2019-06-06 CN CN201910490020.4A patent/CN110187003A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4739273A (en) * | 1984-03-02 | 1988-04-19 | Exxon Production Research Company | Apparatus for detecting substantially longitudinal flaws in the end area of a tubular member using magnetic excitation and a scanning sensor |
| CA2504908A1 (en) * | 2004-04-23 | 2005-10-23 | Innovative Materials Testing Technologies, Inc. | Apparatus and method for eddy-current magnetic scanning a surface to detect sub-surface cracks around a boundary |
| CN208483195U (en) * | 2018-07-12 | 2019-02-12 | 扬州市职业大学 | Lost foam casting sandbox |
| CN109085233A (en) * | 2018-08-09 | 2018-12-25 | 西红柿科技（武汉）有限公司 | A kind of storage tank bottom plate intelligent detecting instrument and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426746A (en) * | 2020-03-31 | 2020-07-17 | 中海石油技术检测有限公司 | Automatic creeping magnetic flux leakage detector for tank wall |
| CN113945628A (en) * | 2021-11-09 | 2022-01-18 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large-scale storage tank wall plate magnetic flux leakage detection robot |
| CN113945628B (en) * | 2021-11-09 | 2024-05-03 | 中国特种设备检测研究院 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
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