Development of a new type of automatic magnetic particle inspection wall-climbing robot

Abstract

In the paper, a permanent magnet adsorption wall-climbing robot using magnetic particle detection technology for crack detection is introduced, which solves the problems of low efficiency of traditional manual detection and long detection time. According to the working environment of the detection system and the detection functions that need to be completed, the body structure of the robot is designed, the overall size of the robot is smaller than the distance between two steam turbine blades, so it can achieve the crack detection function of large steam turbine blades, and the stability and force analysis of the robot are carried out, and the adsorption conditions that meet the conditions of no sliding and overturning are obtained. In the paper, we use the magnetic circuit method to design a miniature excitation device for robotic applications and use the simulation software Ansoft-Maxwell to verify its feasibility. In the final experiment, it can be shown that the robot designed can achieve a series of functions such as magnetic particle inspection and image acquisition. There is a good prospect for the inspection of turbine blades.