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CN-122017021-A - Automatic hardness detection robot

CN122017021ACN 122017021 ACN122017021 ACN 122017021ACN-122017021-A

Abstract

The invention relates to the field of robots, in particular to an automatic hardness detection robot. The device comprises a hardness detection device, a wall climbing robot, a magnet, a telescopic device, an accelerometer, a power supply and a control system, wherein the hardness detection device is borne by the wall climbing robot to move, the magnet is arranged on one surface of the wall climbing robot facing to an object to be detected in a sliding mode, the telescopic device for driving the magnet to move is arranged in the wall climbing robot, the control system correspondingly adjusts the distance between the magnet and the object to be detected according to the inclination angle of the wall climbing robot and the vertical surface through the telescopic device, the vertical state of the wall climbing robot is achieved, the magnet is in direct contact with the object to be detected, and the magnet is not in contact with the object to be detected under other inclination angles. The invention can calculate the extension amount of the magnet in real time, and can reduce the moving resistance and the energy consumption as much as possible while ensuring the stable adsorption of the wall climbing robot, thereby prolonging the single use time of the wall climbing robot.

Inventors

  • LI QUNSHENG
  • LI DESHENG
  • JIANG WENYING
  • LI JINRUI
  • FENG WEIBO

Assignees

  • 陕西龙德检测科技有限公司

Dates

Publication Date
20260512
Application Date
20260210

Claims (7)

  1. 1. An automatic hardness detection robot carries a hardness detection device (2) to move through a wall climbing robot (1) so as to detect the hardness of an object to be detected, and is characterized in that a magnet (6) is arranged on one surface of the wall climbing robot (1) facing the object to be detected in a sliding mode, the sliding direction of the magnet (6) is close to or far away from the object to be detected, a telescopic device for driving the magnet (6) to move is arranged in the wall climbing robot (1), an accelerometer, a power supply and a control system are arranged in the wall climbing robot (1), the accelerometer is used for calculating the included angle between the current wall climbing robot (1) and the vertical surface and transmitting data to the control system, and the control system correspondingly adjusts the distance between the magnet (6) and the object to be detected according to the inclined angle between the wall climbing robot (1) and the vertical surface through the telescopic device, the magnet (6) is in a vertical state, and the magnet (6) is in direct contact with the object to be detected, and other inclined angles are not in contact.
  2. 2. An automated hardness testing robot according to claim 1, characterized in that the hardness testing device (2) is an ultrasonic non-destructive testing apparatus provided with a testing probe (12), the testing probe (12) being embedded in the end face of the wall climbing robot (1) facing the object to be tested.
  3. 3. The automatic hardness testing robot according to claim 1, wherein two power mounting grooves (5) are formed in one face, facing to an object to be tested, of the wall climbing robot (1), power devices (4) are arranged in the two power mounting grooves (5), and rollers (3) are connected to output ends of two sides of the power devices (4).
  4. 4. The automated hardness testing robot according to claim 3, wherein a magnet embedding groove (7) is formed in one face, facing the object to be tested, of the wall climbing robot (1), the magnet embedding groove (7) is communicated with the two power mounting grooves (5), an electric push rod mounting groove (8) is formed in the magnet embedding groove (7), an electric push rod (9) is arranged in the electric push rod mounting groove (8), and a telescopic end of the electric push rod (9) is connected with the magnet (6).
  5. 5. The automated hardness testing robot of claim 4, wherein the magnet (6) and the magnet insertion groove (7) are square, and the magnet (6) is fully received in the magnet insertion groove (7).
  6. 6. The automated hardness testing robot according to claim 3 or 4, wherein a plurality of guide cylinders (10) are provided in the power installation groove (5), a plurality of guide rods (11) are provided on the end surface of the magnet (6) facing away from the object to be tested, and the guide rods (11) are partially fitted into the guide cylinders (10).
  7. 7. The automated hardness testing robot according to claim 1, wherein the following parameters are defined, namely a distance d between the magnet (6) and the object to be tested, magnetic permeability of the object to be tested, magnetic induction intensity B of the magnet (6), contact area A between the magnet (6) and the object to be tested, total weight m, gravitational acceleration g, and an included angle between the wall climbing robot (1) and a vertical surface, and a calculation formula of d is as follows: Wherein k is an adjustment coefficient, and is determined according to actual use data.

Description

Automatic hardness detection robot Technical Field The invention relates to the technical field of robots, in particular to an automatic hardness detection robot. Background Pipes and tanks are often required to be used in harsh environments for extended periods of time, such as high temperatures, high pressures, corrosive media, and the like. The hardness of the material directly influences the service life of the material, and the proper hardness can effectively prolong the service cycle of the equipment. Therefore, hardness detection of containers such as pipelines and storage tanks is an important measure for ensuring safe and reliable operation of equipment. The Chinese patent with the bulletin number of CN213262682U discloses a magnetic adsorption wall climbing robot, which comprises a body, a handle, a telescopic mechanism and a sensing control mechanism, wherein a permanent magnet is arranged at the bottom end of the body. The handle is fixed at the top end of the body. The telescopic mechanism comprises a driving source arranged on the body and a telescopic piece arranged at the output end of the driving source. The first sensor is arranged on the side surface of the handle facing the body to sense the tensile force received by the handle, and the second sensor is arranged on the side surface of the handle facing away from the body to sense the pushing force received by the handle. When the handle is pushed, the telescopic piece is retracted into the body, and the magnetic adsorption wall climbing robot can be loaded on the wall surface. However, the disclosed scheme has the defects that the magnet can change position only when the robot is taken down, the magnet is always adsorbed on the object to be detected in the detection process, when the inclination degree of the object to be detected is small, the magnet is always adsorbed, so that the resistance advancing resistance is large, the electric energy is wasted, the cruising ability of the whole machine is reduced, and the problems of magnet abrasion and damage to the surface of the object to be detected are also caused. Disclosure of Invention The invention aims at solving the problem that the distance between a magnet and an object to be detected in the background technology cannot be flexibly adjusted, and provides an automatic hardness detection robot. According to the technical scheme, the automatic hardness detection robot carries the hardness detection device to move so as to detect the hardness of an object to be detected, a magnet is arranged on one face of the wall climbing robot, which faces the object to be detected, in a sliding mode, the magnet slides in a sliding direction, which is close to or far away from the object to be detected, a telescopic device which drives the magnet to move is arranged in the wall climbing robot, an accelerometer, a power supply and a control system are arranged in the wall climbing robot, the accelerometer is used for calculating an included angle between the current wall climbing robot and a vertical face and transmitting data to the control system, and the control system correspondingly adjusts the distance between the magnet and the object to be detected through the telescopic device according to the inclination angle of the wall climbing robot and the vertical face, so that the magnet is in direct contact with the object to be detected, and is not in contact with other inclination angles. Preferably, the hardness detection device is an ultrasonic nondestructive detection device, the ultrasonic nondestructive detection device is provided with a detection probe, and the detection probe is embedded on the end face of the wall climbing robot facing the object to be detected. Preferably, the wall climbing robot is provided with two power mounting grooves towards one surface of the object to be detected, power devices are arranged in the two power mounting grooves, and output ends on two sides of the power devices are connected with rollers. Preferably, the wall climbing robot is provided with a magnet embedded groove towards one surface of the object to be detected, the magnet embedded groove is communicated with two power mounting grooves, an electric push rod mounting groove is arranged in the magnet embedded groove, an electric push rod is arranged in the electric push rod mounting groove, and the telescopic end of the electric push rod is connected with the magnet. Preferably, the magnet and the magnet insertion groove are square, and the magnet can be completely retracted into the magnet insertion groove. Preferably, a plurality of guide cylinders are arranged in the power installation groove, a plurality of guide rods are arranged on the end face of the magnet, which faces away from the object to be detected, and the guide rods are partially matched and inserted into the guide cylinders. Preferably, the following parameters are defined, namely the distance d between the magnet and the object to b