The non-destructive flaw detection module based on phased array flaw detection technology mainly consists of ultrasonic probes, ultrasonic module holding mechanisms, coupling liquid nozzles, diaphragm pumps, coupling liquid reservoirs, etc. The holding mechanism is fixed at the front end of the robot main platform. The diaphragm pump extracts the coupling fluid and sprays it into monitoring areas such as welds through nozzles. The ultrasonic probe completes the weld flaw detection operation. It mainly consists of 3 groups of electric brush trays, spray heads, cleaning solution storage, diaphragm pumps and corresponding auxiliary holding mechanisms. The holding mechanism is fixedly connected to the main platform, and the brush tray is fixedly connected to the holding mechanism. The three groups of brush trays are arranged in line and can cover an area 780mm wide. The holding mechanism is of a segmented design, and the hinge position can adjust the relative angle. Make the brush tray adapt to the curvature of the curved surface...

It mainly consists of 3 groups of electric brush trays, spray heads, cleaning solution storage, diaphragm pumps and corresponding auxiliary holding mechanisms. The holding mechanism is fixedly connected to the main platform, and the brush tray is fixedly connected to the holding mechanism. The three groups of brush trays are arranged in line and can cover a 780-mm wide area. The holding mechanism is of a segmented design, and the hinge position can be adjusted to the relative angle. Make the brush tray adapt to the curvature of the curved surface and ensure cleaning efficiency. At the same time, the brush disk is driven by a motor to make directional rotary motion. The diaphragm pump is connected to the spray head and the cleaning solution storage to spray the cleaning solution on the brush cleaning disk, and the rotating action of the cleaning disk is used to achieve cleaning of oil stains. The module also integrates a sewage recovery bin with scraping strips, which can guide excess sewage liquid and other materials to the space installed on the abdomen of the platform for sewage recovery and avoid polluting the remaining walls. The cleaning solution storage volume is 4 liters, the cleaning area of a single brush tray is 0.12 m2, and the cleaning width is 780 mm. Cleaning efficiency can be ensured by matching the appropriate robot movement speed.