A digital fluorescent magnetic particle inspection method for welded joints

Abstract

The present invention proposes a digital fluorescent magnetic particle detection method for welding joints. The sensitivity of the digital fluorescent magnetic particle detection device is verified by using a lifting force test and a sensitivity test. The digital fluorescent magnetic particle detection device is placed on the surface to be detected so that it is adsorbed on the surface to be detected. The electromagnetic yoke is energized for cross-magnetization and magnetic suspension is sprayed so that the surface to be detected is covered with magnetic lines of force while the fluorescent magnetic particles are adsorbed on the surface of the weld to be detected or near-surface defects. A black light is used for irradiation to generate defect images, and a high-definition camera is used to shoot and store the defect images, thereby achieving effective detection of surface defects of the weld. Automatic crawling, magnetization, spraying of magnetic suspension and image acquisition methods are used to avoid deviations in detection results during manual detection. The camera records and stores the detection parts in a way that makes the detection results traceable, thereby achieving permanent preservation of the detection results. It is suitable for use as a digital fluorescent magnetic particle detection method for welding joints.

Description

Technical Field

[0001] The invention relates to magnetic particle detection in the field of ships, and in particular to magnetic particle detection applied to large structural rings and longitudinal welds, and specifically to a digital fluorescent magnetic particle detection method for welded joints. Background Art

[0002] At present, fluorescent magnetic particle testing is mostly carried out manually. For the detection of weld surface or near-surface defects, an electromagnetic yoke is generally placed on the weld. The weld is magnetized at ±45° to the length direction of the weld and magnetic suspension is sprayed to make the fluorescent magnetic particles adsorb on the weld surface or near-surface defects. A black light is used to illuminate the weld surface to make the defects appear.

[0003] When using the above method for detection, it is greatly affected by manual operation ability and personnel responsibility, which may easily lead to the omission of defects on the weld surface or near the surface. The detection results are not traceable and the detection images cannot be permanently preserved.

[0004] With the help of the automatic crawling technology and wired data transmission of the digital fluorescent magnetic particle detection device, the magnetic particle detection device can be controlled to perform automatic crawling detection on continuous magnetic conductive surfaces such as large structural rings and longitudinal welds; assisted by fluorescent magnetic particle imaging, the detection situation is monitored in real time with the help of a camera, and the detection image is digitally stored through the computer in the control cabinet, thereby replacing manual work to complete automated detection. Summary of the invention

[0005] In order to make up for the shortcomings of the existing electromagnetic yoke magnetic powder detection technology, the present invention proposes a digital fluorescent magnetic powder detection method for welding joints. The fluorescent powder detection method uses automatic crawling, magnetization, spraying of magnetic suspension and image acquisition methods to avoid the deviation of detection results caused by insufficient personnel ability or lack of responsibility during manual detection to the greatest extent. The camera records and stores the detection parts to make the detection results traceable, realize the permanent preservation of the detection results, and solve the technical problems of electromagnetic yoke magnetic powder detection.

[0006] The technical solution adopted by the present invention to solve the technical problem is:

[0007] A digital fluorescent magnetic particle detection method for welding joints verifies the sensitivity of a detection device by adopting a lifting force test and a sensitivity test, places a detection device on a surface to be detected, adsorbs it on the surface to be detected, energizes an electromagnetic yoke for cross-magnetization and sprays a magnetic suspension, so that the surface to be detected is covered with magnetic lines of force, and fluorescent magnetic particles are adsorbed on the surface of the weld to be detected or near-surface defects, and a black light is used for irradiation to generate a defect image, and a high-definition camera is used to shoot and store the defect image, thereby realizing effective detection of surface defects of the weld; the method comprises the following steps:

[0008] (1) Power-on test:

[0009] After the control cabinet and the detection device detection system are connected and checked for incorrect connections and loose connections, the control cabinet is powered on, and the computer of the control cabinet is turned on, and the digital fluorescent magnetic particle detection device is started;

[0010] (2) Inspection of testing environment:

[0011] With the help of the front and rear panels, side panels and O-rings, a light-shielding environment can be created inside the detection device to measure the ambient light illumination and black light irradiance. According to the reference standard CB / T3958-2004, the ambient light illumination should not be greater than 20Lx, and the black light irradiance should not be less than 1000μW / cm 2 ;

[0012] (3) Electromagnetic yoke lifting force test:

[0013] The four pneumatic tires of the detection device are suspended at a certain height, and the lifting force test block is placed under the electromagnetic yoke. The electromagnetic yoke is controlled to move downward until it is tightly fitted to the lifting force test block, and the excitation is energized. The electromagnetic yoke is driven to slowly lift up through one of the motor driver integrated machines; first, the dynamometer data is recorded as the original data, and the electromagnetic yoke is driven to move downward through the screw slider set. After the electromagnetic yoke contacts the lifting force test block, the dynamometer data is collected at all times. When the dynamometer data and the original data change significantly, it indicates that the electromagnetic yoke is already tightly attached to the wall and has applied a certain pressure. After the electromagnetic yoke is energized, the electromagnetic yoke is driven to lift up with the help of one of the motor driver integrated machines, and the dynamometer data is continuously extracted at the same time; when the difference between the real-time data and the original data reaches the standard value of 45N, the rotation of the motor driver integrated machine is stopped, and the dynamometer count value is continuously monitored. The numerical difference is maintained at the standard value for 3 seconds, and the adsorption force of the electromagnetic yoke of the detection device meets the detection requirements;

[0014] (4) Electromagnetic yoke linear motion calibration:

[0015] One of the motor driver integrated machines controls the electromagnetic yoke to move downward until the electromagnetic yoke is in close contact with the inspected wall surface, and the value on the display of the control cabinet is judged. If the value is within the range of ±20, it means that the linear motion of the electromagnetic yoke of the detection device meets the requirements;

[0016] (5) Electromagnetic yoke rotational motion calibration:

[0017] The electromagnetic yoke is controlled to rotate 45° to the left by another motor driver integrated machine. After the movement is completed, the motor driver integrated machine is reversed to control the electromagnetic yoke to rotate 90° to the right. After the detection device completes the above movement, the value on the control cabinet display is judged. If the value is within the range of ±20, it means that the rotation movement of the electromagnetic yoke of the detection device meets the requirements and the horizontal rotation is accurate.

[0018] (6) Detection sensitivity test:

[0019] Select a steel plate with a larger size than the detection device, place the A1-30 / 100 test piece with the groove facing downward on the steel plate, fix the test piece on the steel plate in an effective way that does not affect the formation of magnetic marks, place the detection device above the test piece, use the control cabinet to control one of the electrical drive integrated machines to drive the electromagnetic yoke downward in the forward direction, and when the electromagnetic yoke test lifting force meets the conditions, move it downward and rotate it, cross-magnetize the test piece, spray the magnetic suspension through the magnetic suspension nozzle, turn on the black light and observe the magnetic mark display through the high-definition camera, if obvious "circle" and "cross" magnetic marks appear, it means that the sensitivity of the electromagnetic yoke of the system meets the requirements.

[0020] (7) Image acquisition and input and output:

[0021] Use the detection device to capture images of different surfaces to be detected, and prove that the detection device has reliable and stable image acquisition capabilities, all functions are normal, the imaging effect is clear, and the photo format is JPEG; calculate the size of the captured coordinate paper image, and the size of the captured image is not less than 10cm*5cm; retrieve the captured image, and perform input and output tests to verify that the detection device has fast input and output functions;

[0022] (8) Adsorption test of detection device:

[0023] Place the detection device on the vertical and horizontal surfaces to be detected, adjust the high-performance magnet, and observe whether the detection device has the phenomenon of sliding down and overturning unstable adsorption in static and dynamic conditions;

[0024] (9) Detection device motion test:

[0025] The detection device is arranged on the vertical and horizontal detection surfaces respectively, and the rotation direction and speed of the detection device motor driver are set respectively to control the detection device to move forward and backward in a straight line; the detection device is turned by using the differential principle; and it is observed whether it can achieve straight line and turning movement;

[0026] (10) Automatic detection:

[0027] After the above-mentioned functional tests are completed and in good condition, the detection device is safely arranged on the weld to be inspected, and its position is adjusted to ensure that the weld to be inspected is located on the center line of its forward direction; first, the weld to be inspected is sprayed with magnetic suspension through the magnetic suspension nozzle to ensure that the magnetic suspension spraying position and heat-affected zone of the weld to be inspected are in a wet state; then, the electromagnetic yoke is driven to rotate 45° to the left by the other motor driver integrated machine in the forward direction, and then the electromagnetic yoke is driven downward by one of the motor driver integrated machines until it is in close contact with the wall to be inspected, and the magnetic suspension is sprayed through the magnetic suspension nozzle at the same time, which lasts for 1-3s, and the black light is turned on to record the detection results with the help of automatic focusing of the high-definition camera; the power is disconnected After the yoke is placed, one of the motor driver integrated machines drives the electromagnetic yoke to move upward to the vertical original position, and the other motor driver integrated machine reverses to drive the electromagnetic yoke to rotate 90° to the right, and one of the motor driver integrated machines drives the electromagnetic yoke to move downward until it is in close contact with the surface of the inspected surface 201. At the same time, the magnetic suspension is sprayed through the magnetic suspension nozzle for 1-3 seconds, the black light is turned on, and the detection results are recorded with the help of automatic focusing of the high-definition camera; one of the motor driver integrated machines drives the electromagnetic yoke to move upward to the vertical original position, and a detection operation is completed; then the vehicle body is controlled to move forward to carry out the next detection operation, and this process is repeated until the inspection of the inspected weld is completed;

[0028] (11) Image assessment and re-exploration:

[0029] When evaluating the images recorded by the high-definition camera, if there is a suspected defective magnetic trace image, the film position can be manually re-inspected based on the image information to confirm whether the magnetic trace is a defect.

[0030] Positive effect: the detection method proposed by the present invention can effectively automatically detect the circumferential welds and longitudinal welds of large structures and save the detection images, making up for the shortcomings of the existing technology with a high degree of automation. It is suitable for use as a digital fluorescent magnetic particle detection method for welding joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a bottom view of the fluorescent magnetic particle detection device performing detection along the weld;

[0032] Figure 2 This is a front view of the fluorescent magnetic particle detection device performing detection along the weld;

[0033] Figure 3 Schematic diagram of the fluorescent magnetic particle inspection device performing inspection along the circumferential weld of a large structure.

[0034] In the figure, 101. pneumatic tire, 102. high-performance magnet, 103. front and rear panels of the vehicle body, 104. weld to be inspected, 105. magnetic suspension nozzle, 106. side panel of the vehicle body, 107. O-ring, 108. high-definition camera, 109. electromagnetic yoke, 110. magnetic suspension spray position, 111. black light, 201. inspected surface, 301. large structural annular weld, 302. annular weld to be inspected, 303. detection device, 304. detection direction. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] In the present invention, all embodiments, implementations and features of the present invention can be combined with each other without contradiction or conflict. In the present invention, conventional equipment, devices, components, etc. can be purchased commercially or made according to the contents disclosed in the present invention. In the present invention, in order to highlight the key points of the present invention, some conventional operations and equipment, devices, components are omitted or only briefly described.

[0037] As shown in the figure, a digital fluorescent magnetic particle detection device for welding joints includes a pneumatic tire 101, a high-performance magnet 102, front and rear panels 103 of a vehicle body, a magnetic suspension nozzle 105, a side panel 106 of a vehicle body, an O-ring 107, a high-definition camera 108, an electromagnetic yoke 109 and a black light 111. The front and rear panels 103 of the vehicle body and the side panels 106 of the vehicle body form a vehicle body, an inflatable tire 101 is arranged on the side of the vehicle body, a high-performance magnet 102 is arranged at the bottom of the vehicle body, a magnetic suspension nozzle 105, an O-ring 107, a high-definition camera 108 and a black light 111 are arranged in the inner cavity of the vehicle body, and the electromagnetic yoke 109 passes through the inner cavity of the vehicle body.

[0038] A digital fluorescent magnetic particle inspection method for welded joints is provided. Taking a large structural annular weld 301 with a diameter of 10 meters as an example, a comprehensive magnetic particle inspection of the annular weld is realized, and the weld image information is recorded and saved. The implementation process is specifically described.

[0039] (1) Power-on test:

[0040] After the control cabinet and the detection device 303 detection system are connected and checked for any wrong connection or loose connection, the control cabinet is powered on, the computer of the control cabinet is turned on, and the digital fluorescent magnetic powder detection device 303 is started;

[0041] (2) Inspection of testing environment:

[0042] With the help of the front and rear panels 103, the side panels 106 and the O-shaped rubber ring 107, a light-shielding environment can be created inside the detection device 303 to measure the ambient light illuminance and black light irradiance. The actual ambient light illuminance is 8Lx and the black light irradiance is 15977μW / cm 2 ;

[0043] (3) Electromagnetic yoke lifting force test:

[0044] The four pneumatic tires 101 of the detection device 303 are suspended at a certain height, and the lifting force test block is placed under the electromagnetic yoke 109, and the electromagnetic yoke 109 is controlled to move downward until it is tightly fitted to the lifting force test block, and the excitation is energized, and the electromagnetic yoke 109 is slowly lifted up by one of the motor driver integrated machines; first, the dynamometer data is recorded as the original data, and the electromagnetic yoke is driven to move downward by the screw slider set. After the electromagnetic yoke 109 contacts the lifting force test block, the dynamometer data is collected at all times. When the dynamometer data and the original data change significantly, it indicates that the electromagnetic yoke 109 is already tightly attached to the wall and has applied a certain pressure. After the electromagnetic yoke is energized, the electromagnetic yoke 109 is lifted up by one of the motor driver integrated machines, and the dynamometer data is continuously extracted; when the difference between the real-time data and the original data reaches the standard value of 45N, the rotation of the motor driver integrated machine is stopped, and the dynamometer count value is continuously monitored. The numerical difference is maintained at the standard value for 3 seconds, and the adsorption force of the electromagnetic yoke of the detection device meets the detection requirements;

[0045] (4) Electromagnetic yoke linear motion calibration:

[0046] The electromagnetic yoke 109 is controlled to move downward by one of the motor driver integrated machines until the electromagnetic yoke 109 is in close contact with the inspected wall surface, and the value on the display of the control cabinet is judged. Through the calibration test, the three values ​​are 1, 2, and 0 respectively, indicating that the linear motion of the electromagnetic yoke of the detection device meets the requirements;

[0047] (5) Electromagnetic yoke rotational motion calibration:

[0048] The electromagnetic yoke 109 is controlled to rotate 45° to the left by another motor driver integrated machine. After the movement is completed, the motor driver integrated machine is reversed to control the electromagnetic yoke 109 to rotate 90° to the right. After the detection device 303 completes the above movement, the value on the control cabinet display is judged. Through the calibration test, the three values ​​are -1, 2, and 1 respectively, indicating that the rotation movement of the electromagnetic yoke of the detection device meets the requirements and the rotation in the horizontal direction is accurate.

[0049] (6) Detection sensitivity test:

[0050] Select a steel plate with the size of 650*500*24mm, place the A1-30 / 100 test piece with the groove facing downward on the steel plate, fix the test piece on the steel plate in an effective way that does not affect the formation of magnetic traces, place the detection device 303 above the test piece, use the control cabinet to control one of the electrical drive integrated machines to rotate forward to drive the electromagnetic yoke 109 downward, and after the electromagnetic yoke test lifting force meets the conditions, move it downward and rotate it, cross-magnetize the test piece, and spray the magnetic suspension through the magnetic suspension nozzle 105 at the same time, turn on the black light 111 and observe the magnetic trace display through the high-definition camera 108. If obvious "circle" and "cross" magnetic traces appear, it means that the sensitivity of the electromagnetic yoke of the system meets the requirements.

[0051] (7) Image acquisition and input and output:

[0052] The detection device 303 is used to capture images of circular welds 301 of different large structures, proving that the detection device 303 has reliable and stable image acquisition capabilities, all functions are normal, the imaging effect is clear, and the photo format is JPEG; the size of the captured coordinate paper image is calculated, and the image size is 20cm*10cm; 20 images are retrieved and input and output tests are performed to verify that the detection device 303 has fast input and output functions;

[0053] (8) Adsorption test of detection device:

[0054] The detection device 303 is arranged on the large-scale structural annular weld 301, and the high-performance magnet 102 is adjusted to observe whether the detection device 303 has the phenomenon of sliding down and overturning unstable adsorption under static and dynamic conditions. The detection device 303 can achieve stable adsorption;

[0055] (9) Detection device motion test:

[0056] The detection devices 303 are arranged on the large-scale structural annular weld 301, and the rotation direction and speed of the detection device motor driver are set respectively to control the detection device to move forward and backward in a straight line; the detection device can realize the turning movement by using the differential principle; the detection device can realize forward, backward and turning movement;

[0057] (10) Automatic detection:

[0058] After the above functional tests are completed and in good condition, the detection device (303) is safely arranged on the annular weld 302 to be inspected, and its position is adjusted to ensure that the annular weld 302 to be inspected is located in the detection direction 304; first, the magnetic suspension is sprayed on the weld 104 to be inspected through the magnetic suspension nozzle 105 to ensure that the magnetic suspension spraying position 110 and the heat-affected zone of the weld 104 to be inspected are in a wet state; then, the electromagnetic yoke 109 is driven to rotate 45° to the left by another motor driver integrated machine, and then the electromagnetic yoke 109 is driven downward by one of the motor driver integrated machines to closely contact the wall surface to be inspected, and the magnetic suspension is sprayed through the magnetic suspension nozzle 105 for 1-3 seconds, and the black light 111 is turned on to record the detection with the help of the high-definition camera 108 with automatic focus. Results: After the electromagnetic yoke 109 is disconnected, one of the motor driver integrated machines drives the electromagnetic yoke 109 to move upward to the vertical original position, and the other motor driver integrated machine reverses and drives the electromagnetic yoke 109 to rotate 90° to the right, and one of the motor driver integrated machines drives the electromagnetic yoke 109 to move downward until it is in close contact with the surface of the large-structure annular weld 301, and while the magnet is powered on, the magnetic suspension is sprayed through the magnetic suspension nozzle 105 for 1-3 seconds, and the black light 111 is turned on, and the high-definition camera 108 is used to automatically adjust the focus and record the test results; one of the motor driver integrated machines drives the electromagnetic yoke 109 to move upward to the vertical original position, and a test operation is completed; then the vehicle body is controlled to move forward to perform the next test operation, and this process is repeated until the test of the annular weld 302 is completed;

[0059] (11) Image assessment and re-exploration:

[0060] The images recorded by the high-definition camera 108 are evaluated. If there is a suspected defective magnetic trace image, the film position can be manually re-investigated based on the image information to confirm whether the magnetic trace is a defect; after observation, no defective magnetic trace is displayed on the large-scale structural annular butt weld.

[0061] Advantages of the present invention:

[0062] Compared with the conventional magnetic particle detection method of handheld electromagnetic yoke, the present invention has the following innovations:

[0063] (1) The digital fluorescent magnetic particle detection device of the present invention can perform dynamic detection operations on the structural surface to be inspected. It is a multifunctional, highly integrated detection device integrating mechanical, electrical and hydraulic control. It can independently complete the corresponding standard operating procedures to replace manual operations, or manually perform key monitoring of local wall surfaces to be inspected, and can realize the recording and preservation of images of the inspection parts, setting a precedent.

[0064] (2) It adopts array permanent magnetic adsorption technology. High-performance magnets are evenly distributed on the front and rear sides of the vehicle body. The adsorption force of the magnetic powder detection device can be changed by loading and unloading the magnets. It can adapt to metal walls with different magnetic permeabilities. It is stable and reliable and can prevent the equipment from falling in the event of an emergency power failure. In combination with permanent magnetic suction cups and fall arresters, it can ensure the safety of people and machines in various working environments.

[0065] (3) The wheels of the digital fluorescent magnetic particle detection device are composed of a limit plate and a pneumatic tire. The limit plate can limit the compression of the pneumatic tire, thereby controlling the maximum adsorption force of the magnetic particle detection device when it is working, avoiding the situation where the adsorption force is too large and the equipment is underpowered.

[0066] (4) The digital fluorescent magnetic particle detection device adopts a fully enclosed shell, and the inner lining plate that moves with the magnetic yoke inside the box completes the creation of a dark environment. An O-type rubber ring is installed on the lower side of the inner lining plate. When the magnetic yoke moves toward the wall until it contacts the wall, the inner lining plate moves accordingly. At the same time, the O-type rubber ring is appropriately compressed and adheres to the wall to prevent light from entering. At the same time, there is a gap between the inner lining plate and the hole in the upper plate of the vehicle body. A sealing strip is attached to the inner hole of the upper plate of the vehicle body, which does not affect the movement and prevents light from entering.

[0067] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A digital fluorescent magnetic particle detection method for welding joints, characterized by: The sensitivity of the detection device (303) is verified by using a lifting force test and a sensitivity test, the detection device (303) is placed on the surface to be detected (201) so that it is adsorbed on the surface to be detected (201), the electromagnetic yoke (109) is energized for cross-magnetization and sprays a magnetic suspension so that the surface to be detected (201) is covered with magnetic lines of force and fluorescent magnetic powder is adsorbed on the surface or near-surface defects of the weld to be detected (104), a black light (111) is used for irradiation to generate a defect image, and a high-definition camera (108) is used to capture and store the defect image, thereby achieving effective detection of weld surface defects; the method comprises the following steps: (1) Power-on test: After the control cabinet and the detection device (303) detection system parts are connected and checked for incorrect connections and loose connections, the control cabinet is powered on, the control cabinet computer is turned on, and the digital fluorescent magnetic powder detection device (303) is started; (2) Inspection of testing environment: A light-shielding environment is created inside the detection device (303) by means of the front and rear panels (103) of the vehicle body, the side panels (106) of the vehicle body and the O-shaped rubber ring (107), and the ambient light illumination and the black light irradiance are measured. Referring to the standard CB / T3958-2004, the ambient light illumination should not be greater than 20Lx, and the black light irradiance should not be less than 1000μW / cm 2 ; (3) Electromagnetic yoke lifting force test: The four pneumatic tires (101) of the detection device (303) are suspended at a certain height, a lifting force test block is placed under the electromagnetic yoke (109), the electromagnetic yoke (109) is controlled to move downward until it is closely attached to the lifting force test block, and the electromagnetic yoke (109) is driven to slowly lift up by one of the motor driver integrated machines; firstly, the dynamometer data is recorded as the original data, and the electromagnetic yoke (109) is driven to move downward by the lead screw slider set; after the electromagnetic yoke (109) contacts the lifting force test block, the dynamometer data is collected at all times; when the dynamometer data and the original data change significantly, it indicates that the electromagnetic yoke (109) has been closely attached to the wall surface and has applied a certain pressure; after the electromagnetic yoke is controlled to be energized, the electromagnetic yoke (109) is driven to lift up by one of the motor driver integrated machines, and the dynamometer data is continuously extracted; when the difference between the real-time data and the original data reaches a standard value of 45N, the rotation of the motor driver integrated machine is stopped, and the dynamometer value is continuously monitored; if the value difference is maintained at the standard value for 3 seconds, the adsorption force of the electromagnetic yoke of the detection device meets the detection requirements; (4) Electromagnetic yoke linear motion calibration: The electromagnetic yoke (109) is controlled to move downward by one of the motor driver integrated machines until the electromagnetic yoke (109) is in close contact with the inspected wall surface, and a value on the display of the control cabinet is judged. If the value is within the range of ±20, it means that the linear motion of the electromagnetic yoke of the detection device meets the requirements; (5) Electromagnetic yoke rotational motion calibration: The electromagnetic yoke (109) is controlled to rotate 45° to the left by another motor driver integrated machine. After the movement is completed, the electromagnetic yoke (109) is controlled to rotate 90° to the right by the motor driver integrated machine. After the detection device (303) completes the above movement, the value on the display of the control cabinet is judged. If the value is within the range of ±20, it means that the rotation movement of the electromagnetic yoke (109) of the detection device meets the requirements and the rotation in the horizontal direction is accurate. (6) Detection sensitivity test: A steel plate with a larger size than the detection device (303) is selected, and the A1-30 / 100 test piece is placed on the steel plate with the groove facing downward. The test piece is fixed on the steel plate in an effective manner that does not affect the formation of magnetic traces. The detection device (303) is placed above the test piece, and one of the electrical drive integrated machines is controlled by a control cabinet to drive the electromagnetic yoke (109) to move downward in a forward direction. After the electromagnetic yoke test lifting force meets the conditions, the electromagnetic yoke is moved downward and rotated to cross-magnetize the test piece. At the same time, the magnetic suspension is sprayed through the magnetic suspension nozzle (105), the black light (111) is turned on, and the magnetic trace display is observed through the high-definition camera (108). If obvious "circle" and "cross" magnetic traces appear, it means that the sensitivity of the electromagnetic yoke of the system meets the requirements; (7) Image acquisition and input and output: Using the detection device (303) to capture images of different detected surfaces (201), it is proved that the detection device (303) has reliable and stable image acquisition capabilities, all functions are normal, the imaging effect is clear, and the photo format is JPEG; the size of the captured coordinate paper image is calculated, and the size of the captured image is not less than 10cm*5cm; the captured image is retrieved and input and output tested to verify that the detection device (303) has fast input and output functions; (8) Adsorption test of detection device: The detection device (303) is arranged on the vertical and horizontal detection surfaces (201), respectively, and the high-performance magnet (102) is adjusted to observe whether the detection device (303) has the phenomenon of sliding down and overturning and unstable adsorption under static and dynamic conditions; (9) Detection device motion test: The detection device (303) is arranged on the vertical and horizontal detection surfaces (201) respectively, and the rotation direction and speed of the detection device motor driver are respectively set to control the detection device to move forward and backward in a straight line; the detection device is turned by using the differential principle; Observe whether it can achieve straight-line and turning motion; (10) Automatic detection: After the above-mentioned functional tests are completed and in good condition, the detection device (303) is safely arranged on the weld (104) to be inspected, and its position is adjusted to ensure that the weld (104) to be inspected is located on the center line of its forward direction; first, the weld (104) to be inspected is sprayed with magnetic suspension through the magnetic suspension nozzle (105) to ensure that the magnetic suspension spraying position (110) and the heat-affected zone of the weld (104) to be inspected are in a wet state; then, the electromagnetic yoke (109) is driven to rotate 45 degrees to the left by another motor driver integrated machine, and then the electromagnetic yoke (109) is driven by one of the motor driver integrated machines to move downward until it is in close contact with the wall surface to be inspected, and the magnetic suspension is sprayed through the magnetic suspension nozzle (105) for 1-3 seconds, and the black light (111) is turned on to record the inspection with the help of a high-definition camera (108) to automatically adjust the focus. After the electromagnetic yoke (109) is disconnected, one of the motor driver integrated machines drives the electromagnetic yoke (109) to move upward to a vertical original position, another of the motor driver integrated machines reverses and drives the electromagnetic yoke (109) to rotate 90 degrees to the right, and one of the motor driver integrated machines drives the electromagnetic yoke (109) to move downward until it is in close contact with the surface of the inspected surface (201), and simultaneously energizes and sprays the magnetic suspension through the magnetic suspension nozzle (105) for 1-3 seconds, turns on the black light (111), and uses the high-definition camera (108) to automatically adjust the focus and record the inspection results; one of the motor driver integrated machines drives the electromagnetic yoke (109) to move upward to a vertical original position, thereby completing one inspection operation; then the vehicle body is controlled to move forward to perform the next inspection operation, and this process is repeated until the inspection of the inspected weld (104) is completed; (11) Image assessment and re-exploration: The image recorded by the high-definition camera (108) is evaluated. If a suspected defective magnetic trace image appears, the film position can be manually re-inspected based on the image information to confirm whether the magnetic trace is a defect.

Images