A non-destructive testing method for adaptive boom by automatic telescopic obstacle avoidance

Abstract

The present invention discloses a nondestructive testing method for automatically telescopic obstacle avoidance and adapting to a boom, comprising: a mobile vehicle, a square main frame mounted on the mobile vehicle, a top detection component, two side detection components and a bottom detection component mounted on the main frame; each detection component comprises one or more sensor boxes telescopic to the center of the main frame, a guide wheel fitted to the boom is provided at the bottom of the sensor box, a sensor is built in, and the sensor is connected to the main frame through a telescopic structure; the method comprises the following steps: S1, using the detection component on the mobile vehicle to be mounted at the starting position of the boom; S2, driving the mobile vehicle to move along the extension direction of the boom; S3, through the deformation position of the boom, reducing the speed of the mobile vehicle, and after the sensor box slowly telescopes, passing through the deformation position; S4, continuously driving the mobile vehicle, collecting detection data through the sensor until the detection is completed. The present invention can realize fully automated, rapid and efficient detection of surface defects of the boom through the deformation position of the boom.

Description

Technical Field

[0001] The present invention relates to the technical field of crane boom defect detection, and in particular to a non-destructive detection method of a crane boom through automatic telescopic obstacle avoidance adaptation. Background Art

[0002] Cranes are currently widely used in the construction of angle steel towers for power transmission lines due to their convenient movement and flexible lifting, luffing, and rotation. As the main load-bearing component of the crane, the boom is easily affected by alternating loads, fatigue, friction, wear, and corrosion, which can easily lead to structural defects that cause the crane boom to break due to reduced strength, and are the main cause of crane boom failure and fracture accidents. Therefore, positioning and detecting the structural defects of the crane boom is of great significance for effectively preventing the occurrence of crane boom fracture accidents and ensuring the safety of the crane tower assembly construction of power transmission lines.

[0003] After a crane has been used for a certain period of time, routine maintenance generally involves manual visual inspection to check whether there are structural defects on the boom. If there are some abnormalities on the boom, the abnormal location is marked and then re-inspected. Observation and inspection mainly rely on the human eye, which will inevitably lead to false detection and missed detection of structural defects. At the same time, the cross-sectional shape of the crane boom is complex, and the cross-sectional dimensions of the booms with different sections are different, making inspection difficult. Summary of the invention

[0004] The embodiment of the present invention provides a non-destructive testing method of an adaptive boom through automatic telescopic obstacle avoidance, so as to solve the problem that the prior art has difficulty in testing due to the difference in cross-sectional dimensions of booms with different numbers of sections.

[0005] The embodiment of the present invention discloses the following technical solution:

[0006] A nondestructive testing method for automatically telescoping and adapting a boom to an obstacle avoidance system, comprising: a mobile vehicle, a square main frame mounted on the mobile vehicle, and a top detection component, two side detection components, and a bottom detection component mounted on the main frame; each detection component comprises one or more sensor boxes that telescope toward the center of the main frame, the bottom of the sensor box has a guide wheel that fits the boom, has a built-in sensor, and is connected to the main frame through a telescopic structure;

[0007] The following steps are involved:

[0008] S1, use the following detection components on the mobile vehicle to be installed at the starting position of the boom;

[0009] S2, driving the moving vehicle to move along the extension direction of the boom;

[0010] S3, reducing the speed of the mobile vehicle through the deformation position of the boom, and passing through the deformation position after the sensor box is slowly extended and retracted;

[0011] S4, continuing to drive the mobile vehicle to collect detection data through the sensor until the detection is completed;

[0012] The top detection assembly comprises: at least one first detection member, the first detection member being movably disposed on the lower surface of the top plate of the main frame;

[0013] Each of the side detection components comprises: a support frame and a second detection member, the upper ends of the support frames of the two side detection components are respectively connected to the lower surface of the top plate of the main frame so as to be movable left and right, the two support frames are respectively symmetrically located on the left and right sides of the middle of the top plate of the main frame, and the second detection members are respectively arranged on the opposite surfaces of the two support frames;

[0014] The bottom detection assembly comprises: at least one semicircular support ring and at least one third detection member, a first support plate movable up and down is arranged on the bottom plate of the main frame, the semicircular support ring is arranged on the first support plate, and the third detection member is arranged on the inner surface of the semicircular support ring;

[0015] In the detection state, the first detection member, the two second detection members and the third detection member form a detection ring for the crane boom to pass through.

[0016] The nondestructive testing method of the automatic telescopic obstacle avoidance adaptive boom in the embodiment of the present invention is based on the leakage magnetic detection principle and combined with the actual cross-sectional shape contour of the crane boom. The surface defects of the crane boom are positioned and detected by a retractable detection ring, which is convenient for detecting the deformation position of the boom. During the detection process, the detection ring is driven by a mobile vehicle to achieve full coverage detection of the crane boom. The surface defects of the crane boom can be fully automated, and the detection is fast and efficient, which prevents the occurrence of missed detection and false detection of surface defects of the crane boom. It is of great significance for effectively preventing the occurrence of crane boom breakage accidents, ensuring the integrity of the crane boom, and ensuring the safety of the crane hoisting and tower assembly construction operations of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0018] Figure 1Flow chart of a nondestructive testing method of an embodiment of the present invention by automatically telescoping an obstacle avoidance adaptable boom

[0019] Figure 2 is a schematic diagram of a use state of a vehicle-mounted surface defect detection device for a crane boom according to an embodiment of the present invention;

[0020] Figure 3 It is a left side view of the vehicle-mounted surface defect detection device of the crane boom according to the embodiment of the present invention in the use state;

[0021] Figure 4 It is a front view of a partial structure of a vehicle-mounted surface defect detection device for a crane boom according to an embodiment of the present invention;

[0022] Figure 5 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 1 ;

[0023] Figure 6 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 2 ;

[0024] Figure 7 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 3 ;

[0025] Figure 8 The bottom view of the structure of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is shown in FIG. Figure 4 ;

[0026] Fig. 9 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 5 ;

[0027] Fig.10 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 6 ;

[0028] Fig.11 The structure diagram of the partial structure of the vehicle-mounted surface defect detection device of the crane boom of the embodiment of the present invention is Figure 7 . DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1

[0031] like Figure 2 As shown, the cross-sectional shape of the boom 1 of the existing mobile crane is mostly U-shaped, that is, the upper surface and two side surfaces of the boom 1 are flat, and the lower surface is approximately an arc surface.

[0032] Embodiment 1 of the present invention discloses a non-destructive testing method for automatically telescoping an obstacle avoidance adaptable boom, which is used to test the boom 1 with the above cross-sectional shape. Figures 2 to 11 As shown, the vehicle-mounted surface defect detection device includes: a mobile vehicle 2, a square main frame installed on the mobile vehicle 2, and a top detection component, two side detection components and a bottom detection component installed on the main frame. The main frame is formed by connecting the top plate 3, a side plate 4, a bottom plate 5 and another side plate 4 in sequence, specifically by screws. Each detection component includes one or more sensor boxes that are telescopic to the center of the main frame. The bottom of the sensor box has a guide wheel that fits the boom 1, and a built-in sensor is connected to the main frame through a telescopic structure.

[0033] like Figure 1 As shown, the method comprises the following steps:

[0034] Step S1: The detection assembly on the mobile vehicle is mounted on the starting position of the boom.

[0035] Step S2: driving the moving vehicle to move along the extension direction of the boom.

[0036] Step S3: through the deformation position of the boom, reduce the speed of the mobile vehicle, and after the sensor box slowly extends and retracts, pass the deformation position.

[0037] Step S4: Continue to drive the mobile vehicle and collect detection data through sensors until the detection is completed.

[0038] The top detection assembly includes: at least one first detection member, which is arranged on the lower surface of the top plate 3 of the main frame so as to be movable left and right. The left and right mentioned in the embodiment of the present invention refers to the width direction along the cross section of the boom 1, that is, the same direction as the extension of the strip-shaped top plate 3. Figure 3 The left and right directions shown will not be repeated below.

[0039] Each side detection assembly includes: a support frame 6 and a second detection member. The upper ends of the support frames 6 of the two side detection assemblies are respectively connected to the lower surface of the top plate 3 of the main frame so as to be movable left and right. It should be understood that the two support frames 6 are located between the two side plates 4 of the main frame. The two support frames 6 are respectively symmetrically located on the left and right sides of the middle of the top plate 3 of the main frame. The second detection members are respectively arranged on the opposite surfaces of the support frames 6 of the two side detection assemblies.

[0040] The bottom detection assembly includes: at least one semicircular support ring 7 and at least one third detection member. A first support plate 8 movable up and down is arranged on the bottom plate 5 of the main frame. The semicircular support ring 7 is arranged on the first support plate 8. The third detection member is arranged on the inner surface of the semicircular support ring 7.

[0041] In the detection state, the first detection member, the two second detection members and the third detection member form a detection ring for the crane boom 1 to pass through. The detection ring is based on the cross-sectional shape of the boom 1, so the detection ring is U-shaped with a sealed upper end.

[0042] When in use, the boom 1 of the crane is inserted into the detection ring so that the detection end of the first detection member is attached to the upper surface of the boom 1, the detection ends of the two second detection members are respectively attached to the two side surfaces of the boom 1, and the detection end of the third detection member is attached to the arc-shaped lower surface of the boom 1, so as to respectively detect the defects of the corresponding surfaces of the boom 1. In addition, the first detection member, the second detection member and the third detection member are all movable, so as to adapt to booms of different cross-section sizes. By means of automatic machine detection, the problem of false detection and missed detection caused by manual detection can also be solved.

[0043] Example 2

[0044] Embodiment 2 of the present invention discloses a non-destructive testing method by automatically retracting and adapting the boom to avoid obstacles, which is the same as the method in Embodiment 1. Figures 2 to 11 As shown, the vehicle-mounted surface defect detection device of Example 2 is the same as that of Example 1. In addition, Example 2 also specifically discloses an implementation structure of the top detection component, which is as follows:

[0045] The number of the first detection members is two. Each first detection member comprises: a first magnetic sensor array 9. Each first magnetic sensor array 9 is arranged in each first sensor box 10, such as Figure 7 The illustrated embodiment has a convex space for receiving, which can be sealed in the first sensor box 10 by epoxy resin. The grooves at the front and rear ends of each first sensor box 10 are respectively provided with first magnets 11, which can be sealed in the first sensor box 10 by epoxy resin. The front and rear in the embodiment of the present invention refers to the length direction of the boom 1, that is, the direction of travel of the vehicle body. Figure 3The left and right directions shown are not described in detail below. It should be understood that the first detection member should meet the following requirements: when the opposite sides of the two first sensor boxes 10 are in contact, the first magnetic sensor arrays 9 in the two first sensor boxes 10 extend from the left side to the right side of the arm 1 (the first magnetic sensor arrays 9 in each first sensor box 10 can cover half the width of the arm 1), and the first magnets 11 in the two first sensor boxes 10 extend from the left side to the right side of the arm 1 (the first magnets 11 in each first sensor box 10 can cover half the width of the arm 1), so that full coverage detection of the upper surface of the arm 1 can be achieved. The magnetic poles of the two first magnets 11 are opposite polarities, that is, one is the S pole and the other is the N pole, so that the upper surface of the arm 1 can be excited and an excitation circuit can be formed. The area on the upper surface of the arm 1 where there are defects (such as cracks) will generate a leakage magnetic field, which will be detected by the first magnetic sensor array 9 to determine whether there are surface defects.

[0046] A motor 12 is provided on one side of the upper surface of the top plate 3 of the main frame (for example, the right side). Specifically, the motor 12 can be mounted on a motor mounting plate 13. The motor mounting plate 13 is mounted on one side of the upper surface of the top plate 3 of the main frame. A screw support plate 14 is provided on the other side of the upper surface of the top plate 3 of the main frame (for example, the left side). The output screw 15 of the motor 12 is rotatably passed through the screw support plate 14 so that the screw support plate 14 can support the output screw 15. In addition, the output screw 15 is rotatably passed through the motor mounting plate 13, which is beneficial to the stability of the output screw 15. The output screw 15 is divided into two sections with opposite threads with its own center as the dividing point, that is, the thread of one half of the output screw 15 is in the forward direction, and the thread of the other half of the output screw 15 is in the reverse direction.

[0047] The top plate 3 of the main frame located below the output screw 15 is provided with an installation opening. The two ends of the first linear guide 16 parallel to the output screw 15 are respectively connected to the two side walls of the installation opening (considering that the first linear guide 16 has a certain thickness, the two ends of the upper part of the first linear guide 16 can also be connected to the motor mounting plate 13 and the screw support plate 14 respectively). Two first sliders 17 are movably arranged on the first linear guide 16. The upper surface (preferably the center of the upper surface) of each first slider 17 is respectively connected to the lower end of a connecting member 18. The upper ends of the two connecting members 18 are symmetrically engaged and sleeved on the two sections of the output screw 15 with opposite threads, that is, one connecting member 18 is engaged and sleeved on the half section of the output screw 15 with the positive thread, and the other connecting member 18 is engaged and sleeved on the half section of the output screw 15 with the reverse thread. At least one first guide rod 19 is passed through each first slider 17. Preferably, the number of first guide rods 19 passing through the same first slider 17 is two, and the two first guide rods 19 are evenly spaced, which is more conducive to structural stability. The lower end of each first guide rod 19 is connected to the upper surface of each first sensor box 10, and can be connected by threaded engagement. Each first limit plate 20 is connected to the upper end of the first guide rod 19 passing through the same first slider 17, and can be connected by threaded engagement.

[0048] Through the above-mentioned structural design, for step S3, the method of Example 2 specifically includes: starting the motor 12 to drive the screw 15 to rotate, and the two connecting parts 18 move to the left and right sides respectively, driving the two first sliders 17 to move to the left and right sides respectively, so that there is a gap between the two first sensor boxes 10, thereby avoiding obstacles in the middle of the upper surface of the boom 1 and passing through the deformation position of the boom 1.

[0049] Specifically, when in use, the motor 12 is started. Assuming that the motor 12 rotates forward, the output screw 15 rotates, and the two connecting pieces 18 sleeved on the output screw 15 move toward the middle, until the two first sliders 17 can move from the left and right sides to the middle on the first linear guide 16 at the same time under the drive of the two connecting pieces 18 until the opposite ends of the two first sensor boxes 10 contact, so that the upper surface of the boom 1 can be fully covered. In addition, since the upper surface of the boom 1 may not be a completely planar structure, there may be a limit wire rope structure on both sides of the middle section. When encountering the limit wire rope structure, the motor 12 is started to reverse, and the output screw 15 will make the two connecting pieces 18 move to the left and right sides respectively, thereby driving the two first sliders 17 to move to the left and right sides respectively on the first linear guide 16, so that there is a gap between the two first sensor boxes 10, thereby achieving obstacle avoidance of the limit wire rope structure. After the obstacle avoidance is completed, the motor 12 can be started to rotate forward again to realize the aforementioned closing process, and continue to detect the upper surface of the boom 1.

[0050] Preferably, a first compression spring 20 is sleeved on each first guide rod 19. The upper end of the first compression spring 20 contacts the lower surface of the first slider 17. The lower end of the first compression spring 20 contacts the upper surface of the first sensor box 10. Through the above-mentioned structural design, for step S3, the method of Example 2 further specifically includes: the first compression spring 20 is extended and retracted, driving the first sensor box 10 to move up and down through the deformation position of the boom 1. Specifically, the first compression spring 20 can apply force to the first sensor box 10, even if the cross-sectional size is smaller due to different specifications of the boom 1 or the cross-sectional size of the boom 1 decreases with different sections, the height adjustment of the first sensor box 10 can be achieved through the elastic force of the first compression spring 20, so that the first magnetic sensor array 9 can still fit the upper surface of the boom 1.

[0051] Preferably, at least one first guide wheel 21 is provided on the lower surface of the top plate 3 of the main frame. More preferably, the number of the first guide wheels 21 is two, which are located on the midline extending along the front and rear ends of the top plate 3 of the main frame. The first guide wheel 21 can move along the upper surface of the boom 1 in the front-to-back direction to guide the first detection member. The first guide wheel 21 and the first sensor box 10 can be staggered in the front-to-back direction. For example, the first sensor box 10 is located in front of the first guide wheel 21 to facilitate the overall structural design.

[0052] Preferably, at least one first U-shaped frame 22 is fixed on the outer surface of the first sensor box 10, which can be fixedly installed by bolts passing through the first U-shaped frame 22 and threadedly engaging with the upper surface of the first sensor box 10. When there are multiple first U-shaped frames 22, the multiple first U-shaped frames 22 are evenly spaced. A second guide wheel 23 is connected to both ends of each first U-shaped frame 22, which is used to play a guiding role during the detection process and assist the first detection component to move in the front and rear direction of the upper surface of the boom 1. In addition, since the first magnet 11 will generate an adsorption force on the boom 1, the second guide wheel 23 can reduce the friction generated by the adsorption of the first magnet 11.

[0053] Example 3

[0054] Embodiment 3 of the present invention discloses a non-destructive testing method by automatically retracting and adapting the boom to avoid obstacles, which is the same as the method in Embodiment 1 or 2. Figures 2 to 11 As shown, the vehicle-mounted surface defect detection device of embodiment 3 is the same as embodiment 1 or 2. In addition, embodiment 3 specifically discloses an implementation structure of the side detection component.

[0055] The second detection member includes: a second magnetic sensor array 24. The second magnetic sensor array 24 is arranged in the second sensor box 25, and can be specifically sealed in the second sensor box 25 by epoxy resin glue. The first sensor box 10 is generally located between the second sensor boxes 25 on both sides. The second magnets 26 are respectively arranged in the grooves at the front and rear ends of the second sensor box 25, and can be specifically sealed in the second sensor box 25 by epoxy resin glue. The second magnetic sensor array 24 and the second magnet 26 should extend from the upper end of the boom 1 to the lower end of the boom 1, so that full coverage detection of the side surface of the boom 1 can be achieved. The detection principle of the second magnetic sensor array 24 and the second magnet 26 is the same as the detection principle of the first magnetic sensor array 9 and the first magnet 11 mentioned above, and will not be repeated here. Preferably, the second sensor box 25 and the first sensor box 10 can be staggered in the front and rear directions. For example, the first sensor box 10 is staggered in front of the two second sensor boxes 25 in the moving direction of the vehicle body to facilitate the overall structural design.

[0056] Two second linear guide rails 27 are provided on the lower surface of the top plate 3 of the main frame symmetrically on both sides of the middle part of the top plate 3 of the main frame. A movable second slider 28 is provided on each second linear guide rail 27. The lower surface of each second slider 28 is connected to the upper end of each support frame 6, specifically by screw connection. Each support frame 6 is penetrated by at least one second guide rod 29. Preferably, the number of second guide rods 29 penetrated at the same height of the support frame 6 is two, and two second guide rods 29 are respectively penetrated near the upper end and the lower end of each support frame 6. Specifically, the support frame 6 is composed of two vertical plates parallel to each other. The two vertical plates of the support frame 6 each extend a boss at both ends near the upper end. Similarly, the two vertical plates of the support frame 6 each extend a boss at both ends near the lower end. Each second guide rod 29 can be set on the support frame 6 through a second linear bearing 30. Each second linear bearing 30 is fixedly installed at each boss through a flange. The second guide rod 29 is inserted into the hole of the second linear bearing 30 at the same height and two opposite bosses on the same side. The second linear shaft 30 guides the second guide rod 29. One end of each second guide rod 29 on the same side of each support frame 6 is connected to the outer surface of the second sensor box 25 on the same side, and can be connected by threaded engagement. The other end of each second guide rod 29 is connected to each second limit plate 31, and can be connected by threaded engagement. The second limit plate 31 plays a limiting role to prevent the second guide rod 29 from slipping off the support frame 6.

[0057] Through the above-mentioned structural design, for step S3, the method of Example 3 specifically includes: moving the second slider 28 to adjust the position of the support frame 6, so that the distance between the two support frames 6 can be changed according to the width of the arm 1, so that the second sensor boxes 25 on the left and right sides are close to or away from each other, and the second magnetic sensor arrays 24 on both sides of the arm 1 are respectively attached to the two side surfaces of the arm 1 to adapt to arms of different widths, and the defects of the side surface are detected through the deformation position of the arm.

[0058] Preferably, the first push rod fixing seats 32 are respectively arranged on the separated surfaces of the two side panels 4 of the main frame. Specifically, the first push rod fixing seats 32 are installed on the side panels 4 through four connecting rods arranged at the four corners of the first push rod fixing seats 32, so that there is enough space to install the first electric push rod 33. A first electric push rod 33 is installed on each first push rod fixing seat 32. The separated surfaces of the support frame 6 of the two side detection components are respectively connected to the movable ends of the first electric push rod 33 on the same side. Preferably, the movable end of the first electric push rod 33 is connected to the middle of the vertical plate of the support frame 6 away from the second sensor box 25.

[0059] Through the above-mentioned structural design, for step S3, the method of Example 3 specifically includes: starting the first electric push rod 33, and driving the support frame 6 to move by the extension and retraction of the first electric push rod 33, thereby changing the distance between the two support frames 6, so that the second sensor boxes 25 on the left and right sides are close to or away from each other, and the second magnetic sensor arrays 24 on both sides of the arm 1 are respectively attached to the two side surfaces of the arm 1, through the deformation position of the arm 1.

[0060] Preferably, a second compression spring 34 is sleeved on each second guide rod 29. One end of each second compression spring 34 contacts the outer surface of the second sensor box 25 on the same side. The other end of each second compression spring 34 contacts the support frame 6 on the same side.

[0061] Through the above structural design, for step S3, the method of embodiment 3 specifically includes: the second compression spring 34 is extended and retracted, and the second compression spring 34 can apply force to the second sensor box 25, driving the second sensor box 25 to move left and right, passing through the deformed position of the suspension arm 1. Even if the cross-sectional size of the suspension arm 1 decreases with different sections of the suspension arm 1, the distance between the second sensor box 25 and the side surface of the suspension arm 1 can be adjusted by the elastic force of the second compression spring 34, so that the second magnetic sensor array 24 can still fit the side surface of the suspension arm 1.

[0062] Preferably, at least one set of third guide wheels 35 is provided at the front and rear ends of the support frame 6 of the two side detection assemblies. Preferably, the number of third guide wheels 35 installed on the same support frame 6 is two groups, which are evenly spaced. Each set of third guide wheels 35 is respectively provided at the front and rear ends of the vertical plate of the support frame 6 close to the second sensor box 25, and is located between the second guide rods 29 at the upper and lower ends. The third guide wheels 35 can move in the front and rear directions on the side surface of the boom 1. When the detection device detects the boom 1, in order to prevent the detection device from deviating during movement, the third guide wheels 35 play a guiding and limiting role in the straightness of the entire detection route.

[0063] Preferably, at least one second U-shaped frame 36 is fixed on the outer surface of the second sensor box 25, and can be fixedly installed by bolts passing through the second U-shaped frame 36 and threadedly engaging with the outer surface of the second sensor box 25. When there are multiple second U-shaped frames 36, the multiple second U-shaped frames 36 are evenly spaced. The two ends of the second U-shaped frame 36 are respectively connected to the fourth guide wheel 37, which is used to play a guiding role in the detection process and assist the second detection member to move in the front and rear direction of the side surface of the boom 1. In addition, since the second magnet 26 will generate an adsorption force on the boom 1, the fourth guide wheel 37 can reduce the friction generated by the adsorption of the second magnet 26.

[0064] Example 4

[0065] Embodiment 4 of the present invention discloses a non-destructive testing method by automatically retracting and adapting the boom to avoid obstacles, which is the same as the method in Embodiments 1, 2 or 3. Figures 2 to 11 As shown, the vehicle-mounted surface defect detection device of embodiment 4 is the same as embodiment 1, 2 or 3. In addition, embodiment 4 specifically discloses an implementation structure of the bottom detection component.

[0066] Specifically, a second push rod fixing seat 38 is provided at the center of the lower surface of the bottom plate 5 of the main frame. Specifically, the second push rod fixing seat 38 is hoisted on the lower surface of the bottom plate 5 by four connecting rods provided at the four corners of the second push rod fixing seat 38, so that there is enough space to install the second electric push rod 39. The second electric push rod 39 is installed at the center of the second push rod fixing seat 38, which can be connected by screws. A through hole is opened at the center of the bottom plate 5 of the main frame. The movable end of the second electric push rod 39 passes through the through hole and connects to the center of the lower surface of the first support plate 8. The lower ends of each third guide rod 40 are respectively connected near the four corners of the upper surface of the bottom plate 5 of the main frame, which can be connected by flanges. The upper ends of each third guide rod 40 are respectively connected to the lower surface of the top plate 3 of the main frame near the four corners, which can be connected by flanges. The four corners of the first support plate 8 are movably sleeved on each third guide rod 40. Specifically, the third guide rod 40 can be sleeved with the first support plate 8 through the third linear bearing 41, each third linear bearing 41 is fixedly installed at the four corners of each first support plate 8, and the third guide rod 40 passes through the hole of the third linear bearing 41. Each semicircular support ring 7 is supported on at least one support member 42. The lower end of each support member 42 is connected to the upper surface of the first support plate 8. Preferably, the support member 42 is a U-shaped support member, and the two support members 42 are symmetrically arranged to jointly support the semicircular support ring 7.

[0067] Through the above-mentioned structural design, starting the second electric push rod 39 can drive the first support plate 8 to move up and down, thereby adjusting the height of the semicircular support ring 7 to facilitate the insertion of the boom 1 or the disassembly of the detection ring to remove the boom 1, as well as to adapt to booms 1 with different cross-sectional sizes through the deformation position of the boom 1.

[0068] Specifically, the third detection component includes: a third magnetic sensor array 43. The third magnetic sensor array 43 is arranged in a third sensor box 44, and can be specifically sealed in the third sensor box 44 by epoxy resin glue. The third sensor box 44 is arc-shaped. A third magnet 45 is arranged in the grooves at the front and rear ends of the third sensor box 44, and can be specifically sealed in the third sensor box 44 by epoxy resin glue. It should be understood that the inner surface side of each semicircular support ring 7 has a plurality of third sensor boxes 44, so that the inner side of the semicircular support ring 7 from one end to the other end is covered with the third magnetic sensor array 43, so as to achieve full coverage detection of the lower surface of the boom 1. The detection principle of the third magnetic sensor array 43 and the third magnet 45 is the same as the detection principle of the aforementioned first magnetic sensor array 9 and the first magnet 11, which will not be repeated here.

[0069] The semicircular support ring 7 is composed of two semicircular plates arranged at a relative interval. Fig. 9In the figure, one of the semicircular plates is removed for demonstration, and the two ends of the U-shaped support are respectively connected to the two semicircular plates to realize vertical support. In the interval between the two semicircular plates, along the radial direction of the semicircular support ring 7, at the position close to the radial boundary on the two semicircular plates, the connection between the two semicircular plates is realized by the frame-type upper fixed plate 46 and the lower fixed plate 47. The upper ends of the two semicircular plates are connected by at least one upper fixed plate 46, which can be connected by screws. The lower ends of the two semicircular plates are connected by at least one lower fixed plate 47, which can be connected by screws. The number of the upper fixed plate 46 and the lower fixed plate 47 is determined by the number of the third sensor box 44, and each third sensor box 44 corresponds to an upper fixed plate 46 and a lower fixed plate 47. The upper fixed plate 46 and the lower fixed plate 47 play a supporting role for the semicircular support ring 7. Each corresponding upper fixed plate 46 and each lower fixed plate 47 are aligned. Two fourth guide rods 48 are connected between each corresponding upper fixed plate 46 and each lower fixed plate 47. Each first linear bearing 49 is movably sleeved on each fourth guide rod 48. A push seat 50 is connected between the two first linear bearings 49 on the two fourth guide rods 48 connected between the same upper fixed plate 46 and the lower fixed plate 47. Each third sensor box 44 corresponds to each push seat 50. The push seat 50 is connected to the lower end of at least one push rod 51 (preferably, two push rods 51 are symmetrically arranged in the middle of the push seat 50), and the upper end of the push rod 51 passes through the corresponding upper fixed plate 46 and is connected to the lower surface of the corresponding third sensor box 44, specifically by threaded connection. Each fourth guide rod 48 is sleeved with a third compression spring 52. The lower end of each third compression spring 52 contacts the upper surface of the corresponding lower fixed plate 47. The upper end of each third compression spring 52 contacts the lower end of the first linear bearing 49 sleeved on the same fourth guide rod 48.

[0070] Through the above-mentioned structural design, for step S3, the method of embodiment 4 includes: the third compression spring 52 is extended and retracted, the third compression spring 52 can apply force to the first linear bearing 49, push the first linear bearing 49 to move, the first linear bearing 49 drives the push seat 50 to move, and the push seat 50 drives the push rod 51 to move, thereby adjusting the position of the third sensor box 44. Even if the size of the lower side surface of the boom 1 changes, the third magnetic sensor array 43 can still fit the lower surface of the boom 1 through the deformation position of the boom 1.

[0071] Preferably, at least one fifth guide wheel 53 is symmetrically arranged on the surfaces at the front and rear ends of each third sensor box 44 (preferably the center of the surface) to guide the third sensor box 44 to move in the front and rear directions of the lower surface of the boom 1.

[0072] Preferably, when the number of the semicircular support rings 7 is at least two, the third sensor boxes 44 on at least two semicircular support rings 7 are staggered. In a specific embodiment of the present invention, the number of the semicircular support rings 7 is two. The two semicircular support rings 7 are respectively located at the front and rear ends of the second sensor box 25. Since there is a gap between two adjacent third sensor boxes 44 on each semicircular support ring 7, the third sensor boxes 44 on the two semicircular support rings 7 are staggered, that is, the gap between adjacent third sensor boxes 44 on one semicircular support ring 7 can be covered and detected by the third sensor box 44 on the other semicircular support ring 7, further achieving full coverage detection of the arc-shaped lower surface of the boom 1 to avoid missed detection.

[0073] Through the above-mentioned structural design, firstly, the lower surface of the boom 1 with different sections has different corresponding diameters, and the third sensor boxes 44 involved all adopt an arc design. At the same time, multiple third sensor boxes 44 are evenly distributed on the front and rear semicircular support rings 7, and the multiple third sensor boxes 44 on the front and rear semicircular support rings 7 are staggered at a certain angle. Each third sensor box 44 is provided with an independent compression spring telescopic structure, so that the third magnetic sensor array 43 encapsulated by each third sensor box 44 can be independently fitted to the lower surface of the boom 1. Even if there is a certain deviation between the axis of the entire detection ring and the axis of the boom 1, each third magnetic sensor array 43 can be independently fitted to the lower surface of the boom 1. At the same time, when the cross-sectional size of the boom 1 becomes smaller, the third compression spring 52 can play a role in making each third magnetic sensor array 43 independently fit to the lower surface of the boom 1, thereby achieving full coverage detection of the lower surface of the boom 1 of the crane, and overcoming the changes in the cross-sectional size of the boom 1 with different sections.

[0074] Example 5

[0075] Embodiment 5 of the present invention discloses a non-destructive testing method by automatically retracting and adapting the boom to avoid obstacles, which is the same as the method in Embodiments 1, 2, 3 or 4. Figures 2 to 11 As shown, the vehicle-mounted surface defect detection device of embodiment 5 is the same as embodiment 1, 2, 3 or 4. In addition, embodiment 5 specifically discloses an implementation structure for realizing the movement of the entire detection device in the up and down directions.

[0076] Specifically, a lifting mechanism 54 is provided on the mobile vehicle 2. The upper end of the lifting mechanism 54 supports the second support plate 55. The lifting mechanism 54 can adopt any existing suitable structure. In a specific embodiment of the present invention, the lifting mechanism 54 is a scissors-type lifting mechanism, and the second support plate 55 is arranged on the upper support plate of the scissors-type lifting mechanism. Of course, the lifting mechanism 54 can also adopt the form of an electric push rod, a hydraulic telescopic rod, etc. The lower end of a support rod 56 is connected to the upper surface of the second support plate 55 near the four corners, and the upper end of the support rod 56 is connected to the lower surface of the bottom plate 5 of the main frame. It should be noted that the length of the support rod 56 is large enough so that there is a sufficiently large gap between the second support plate 55 and the bottom plate 5 of the main frame to accommodate the second push rod fixing seat 38 and the second electric push rod 39.

[0077] Through the above structural design, for step S3, the method of embodiment 5 includes: starting the lifting mechanism 54, driving the second support plate 55 to move up and down, the second support plate 55 drives the bottom plate 5 to move up and down, so that the semicircular support ring 7 moves up and down, passing the deformation position of the boom 1. Since the boom of the mobile crane is higher than the ground, the detection ring can be driven to rise and fall by the vehicle-mounted lifting method according to the height of the boom of the mobile crane, and automatically adjusted, which can effectively save manpower and material resources for installation.

[0078] This embodiment also provides a method for using the device:

[0079] During the actual inspection, the mobile vehicle 2 is first controlled to move to the front end of the boom 1 of the crane. The boom 1 is in a horizontal state and has no load. Then, the second electric push rod 39 drives the semicircular support ring 7 to move downward, and the first electric push rods 33 on the left and right sides drive the two support frames 6 to move in the opposite direction and away from each other, so that the detection ring surrounded by the first detection member, the two second detection members and the third detection member is opened, that is, expanded outward, and at this time, the cross section of the entire detection ring is larger than the cross section of the boom 1. The lifting mechanism 54 drives the main frame to rise. When the first magnetic sensor array 9 and the upper surface of the boom 1 are in the same plane, the moving vehicle 2 moves forward to put the boom 1 in the detection ring. At this time, the second electric push rod 39 drives the semicircular support ring 7 to move upward, and the first electric push rods 33 on the left and right sides drive the two support frames 6 to move toward each other, so that the detection ring surrounded by the first detection member, the two second detection members and the third detection member shrinks, that is, shrinks inward, so that the third magnetic sensor array 43 fits with the lower surface of the boom 1, and the two second magnetic sensor arrays 24 fit with the two side surfaces of the boom 1 respectively, and the third compression spring 52 and the two second compression springs 34 are squeezed to a certain extent, so that each third magnetic sensor array 43 and the second magnetic sensor array 24 are tightly fitted with the corresponding surface of the boom 1. At the same time, the lifting mechanism 54 is slightly lowered so that the first compression spring 20 is also squeezed to a certain extent, and each compression spring is under pressure. Even if the surface of the boom 1 is concave and uneven, or the axis of the detection ring is offset from the axis of the boom 1, the corresponding sensor array can be used to detect the surface of the boom 1 through various compression springs, thereby achieving accurate data collection. During the detection, the boom 1 does not move, and the mobile vehicle 2 drives the entire detection device to move forward to inspect the boom 1.

[0080] Generally, during design, the cross-sectional profile of the entire detection ring can be designed to be larger than the maximum cross-sectional profile of a series of booms 1 that need to be detected. In this way, when the cross-sectional profile of the boom 1 becomes smaller, the cross-sectional profile of the entire detection ring is reduced by adjusting the electric push rod and the compression spring, thereby realizing the detection of booms 1 with different cross-sectional sizes.

[0081] In addition, since the cross-sectional profiles of the booms 1 of different sections of the mobile crane are consistent but the sizes are different, the design of the entire detection ring needs to be able to automatically change the size for fit detection while maintaining the same cross-sectional profile as the boom 1. Through the opening and closing of the electric push rod and the compression spring, the detection ring can automatically open and contract and adapt to the detected booms of different cross-sectional sizes. For different sections of the boom 1, the upper part of the detection ring (i.e., the first detection piece) is used as a reference, and the cross-sectional profile is roughly adjusted by the second electric push rod 39 and the first electric push rod 33. Subsequently, the structure of the compression spring is further used to achieve precise fit detection of uneven wall surfaces.

[0082] In order to achieve independent adjustments, the first detection member, the second detection member and the third detection member are staggered in spatial orientation, and each detection member has an independent variable size adjustment structure, so that the adjustment of each detection member has no effect on each other. The detection device is particularly suitable for rapid detection of the boom 1 of a mobile crane at a detection station, that is, the detection ring is opened and inserted from the head of the boom, and then the detection ring is tightened, and the detection of the boom 1 is achieved through the feeding movement of the vehicle-mounted detection ring. By repeating the above actions, the detection of the boom 1 of the mobile crane with different sections can be achieved. The detection is fast and efficient, and the mobile crane does not need to be moved in the detection station, and the boom 1 only needs to be extended horizontally and kept stationary. The detection components in the above embodiments can be combined in whole or in part.

[0083] In summary, the nondestructive testing method of the automatic telescopic obstacle avoidance adaptive boom in the embodiment of the present invention is based on the leakage magnetic detection principle and combined with the actual cross-sectional shape contour of the crane boom. The surface defects of the crane boom are positioned and detected by a retractable detection ring, which is convenient for detecting the deformation position of the boom. During the detection process, the detection ring is driven by a mobile vehicle to achieve full coverage detection of the crane boom. The fully automated detection of the surface defects of the crane boom can be achieved, and the detection is fast and efficient, which prevents the occurrence of missed detection and false detection of surface defects of the crane boom. It is of great significance for effectively preventing the occurrence of crane boom breakage accidents, ensuring the integrity of the crane boom, and ensuring the safety of the crane hoisting and tower assembly construction operations of the transmission line.

[0084] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A non-destructive testing method for automatically telescopic obstacle avoidance adaptable boom, characterized in that: include: A mobile vehicle, a square main frame installed on the mobile vehicle, and a top detection component, two side detection components and a bottom detection component installed on the main frame; each detection component includes one or more sensor boxes that are telescopic toward the center of the main frame, and the bottom of the sensor box has a guide wheel that fits the boom, a built-in sensor, and is connected to the main frame through a telescopic structure; The following steps are involved: S1, use the following detection components on the mobile vehicle to be installed at the starting position of the boom; S2, driving the moving vehicle to move along the extension direction of the boom; S3, reducing the speed of the mobile vehicle through the deformation position of the boom, and passing through the deformation position after the sensor box is slowly extended and retracted; S4, continuing to drive the mobile vehicle to collect detection data through the sensor until the detection is completed; The top detection assembly comprises: at least one first detection member, the first detection member being movably disposed on the lower surface of the top plate of the main frame; Each of the side detection components comprises: a support frame and a second detection member, the upper ends of the support frames of the two side detection components are respectively connected to the lower surface of the top plate of the main frame so as to be movable left and right, the two support frames are respectively symmetrically located on the left and right sides of the middle of the top plate of the main frame, and the second detection members are respectively arranged on the opposite surfaces of the two support frames; The bottom detection assembly comprises: at least one semicircular support ring and at least one third detection member, a first support plate movable up and down is arranged on the bottom plate of the main frame, the semicircular support ring is arranged on the first support plate, and the third detection member is arranged on the inner surface of the semicircular support ring; In the detection state, the first detection member, the two second detection members and the third detection member form a detection ring for the crane boom to pass through; The number of the first detection members is two, and each of the first detection members comprises: a first magnetic sensor array, each of the first magnetic sensor arrays is arranged in each of the first sensor boxes, and first magnets are respectively arranged in grooves at the front and rear ends of each of the first sensor boxes; A motor is arranged on one side of the upper surface of the top plate of the main frame, and a screw support plate is arranged on the other side of the upper surface of the top plate of the main frame. The output screw of the motor is rotatably passed through the screw support plate, and the output screw is divided into two sections with opposite threads with its center as a dividing point; A mounting opening is provided on the top plate of the main frame below the output lead screw, and two ends of a first linear guide rail parallel to the output lead screw are respectively connected to two side walls of the mounting opening, two first sliders are movably arranged on the first linear guide rail, the upper surface of each of the first sliders is respectively connected to the lower end of a connecting piece, and the upper ends of the two connecting pieces are respectively symmetrically engaged and sleeved on two sections of the output lead screw with opposite threads, at least one first guide rod passes through each of the first sliders, the lower end of each of the first guide rods is connected to the upper surface of each of the first sensor boxes, and each first limit plate is connected to the upper end of the first guide rod passing through the same first slider; The method includes: starting the motor to drive the lead screw to rotate, the two connecting members move to the left and right sides respectively, and the two first sliding blocks move to the left and right sides respectively, so that there is a gap between the two first sensor boxes and pass through the deformation position of the suspension arm.

2. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 1 is characterized in that: A first compression spring is sleeved on each of the first guide rods, the upper end of the first compression spring contacts the lower surface of the first slider, and the lower end of the first compression spring contacts the upper surface of the first sensor box; The method includes: the first compression spring is extended and retracted to drive the first sensor box to move up and down and pass through the deformation position of the suspension arm.

3. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 1 is characterized in that: The second detection member comprises: a second magnetic sensor array, the second magnetic sensor array is arranged in a second sensor box, and second magnets are respectively arranged in grooves at the front and rear ends of the second sensor box; The lower surface of the top plate of the main frame is symmetrically provided with two second linear guide rails on both sides of the middle part of the top plate of the main frame, each of the second linear guide rails is provided with a movable second slider, the lower surface of each of the second sliders is connected to the upper end of each of the support frames, each of the support frames is penetrated by at least one second guide rod, one end of each of the second guide rods on the same side of each of the support frames is connected to the outer surface of the second sensor box on the same side, and the other end of each of the second guide rods is connected to each second limit plate; The method comprises: moving the second slider, adjusting the position of the support frame, making the second sensor boxes on the left and right sides approach or move away from each other, and passing through the deformation position of the suspension arm.

4. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 3 is characterized in that: The first push rod fixing seats are respectively arranged on the separated surfaces of the two side plates of the main frame, and a first electric push rod is installed on each of the first push rod fixing seats. The separated surfaces of the support frames of the two side detection assemblies are respectively connected to the movable ends of the first electric push rods on the same side. The method comprises: starting the first electric push rod to drive the support frame to move, so that the second sensor boxes on the left and right sides are moved closer to or farther from each other, passing through the deformation position of the suspension arm.

5. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 3 is characterized in that: A second compression spring is sleeved on each of the second guide rods, one end of each of the second compression springs contacts the outer surface of the second sensor box on the same side, and the other end of each of the second compression springs contacts the support frame on the same side; The method comprises: the second compression spring is extended and retracted to drive the second sensor box to move left and right and pass through the deformation position of the suspension arm.

6. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 1, characterized in that: A second push rod fixing seat is provided at the center of the lower surface of the bottom plate of the main frame, and a second electric push rod is installed at the center of the second push rod fixing seat. A through hole is opened at the center of the bottom plate of the main frame, and the movable end of the second electric push rod passes through the through hole and connects to the center of the lower surface of the first support plate. The upper surface of the bottom plate of the main frame is respectively connected to the lower end of each third guide rod near the four corners, and the upper end of each third guide rod is respectively connected to the lower surface of the top plate of the main frame near the four corners, and the four corners of the first support plate are respectively movably sleeved on each third guide rod, and each of the semicircular support rings is supported on at least one support member, and the lower end of each support member is connected to the upper surface of the first support plate; The method comprises: starting the second electric push rod to drive the first support plate to move up and down, so that the semicircular support ring moves up and down and passes through the deformation position of the boom.

7. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 6, characterized in that: The third detection member comprises: a third magnetic sensor array, the third magnetic sensor array is arranged in a third sensor box, and third magnets are arranged in grooves at the front and rear ends of the third sensor box; The semicircular support ring is composed of two semicircular plates arranged at a relative interval, the upper ends of the two semicircular plates are connected by at least one upper fixing plate, and the lower ends of the two semicircular plates are connected by at least one lower fixing plate, and two fourth guide rods are connected between each corresponding upper fixing plate and each lower fixing plate, and each first linear bearing is movably sleeved on each fourth guide rod, and a push seat is connected between the two first linear bearings on the two fourth guide rods connected between the same upper fixing plate and the lower fixing plate, and each third sensor box corresponds to each push seat, and the push seat is connected to the lower end of at least one push rod, and the upper end of the push rod passes through the corresponding upper fixing plate and is connected to the lower surface of the corresponding third sensor box, and a third compression spring is sleeved on each fourth guide rod, and the lower end of each third compression spring contacts the upper surface of the corresponding lower fixing plate, and the upper end of each third compression spring contacts the lower end of the first linear bearing sleeved on the same fourth guide rod; The method includes: the third compression spring expands and contracts to push the first linear bearing to move, the first linear bearing drives the push seat to move, the push seat drives the push rod to move, and the position of the third sensor box is adjusted through the deformation position of the suspension arm.

8. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 7, characterized in that: When the number of the semicircular support rings is at least two, the third sensor boxes on at least two of the semicircular support rings are arranged alternately.

9. The non-destructive testing method of the automatic telescopic obstacle avoidance adaptable boom according to claim 1, characterized in that: The mobile vehicle is provided with a lifting mechanism, the upper end of the lifting mechanism supports the second support plate, the upper surface of the second support plate near the four corners is respectively connected to the lower end of a support rod, and the upper end of the support rod is connected to the lower surface of the bottom plate of the main frame; The method comprises: starting the lifting mechanism to drive the second support plate to move up and down, the second support plate drives the bottom plate to move up and down, and the semicircular support ring moves up and down through the deformation position of the boom.

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