A digital fluorescent magnetic powder detection device for a welded joint

Abstract

The present application provides a kind of welded joint digital fluorescent magnetic powder detection device.It includes mobile body, detection function mechanism and fluorescent magnetic powder imaging mechanism;The detection function mechanism and fluorescent magnetic powder imaging mechanism are carried on the vehicle body of mobile body, and the stability and reliability of permanent magnet adsorption are used to guarantee safety, complete small range curvature surface adaptation, obstacle crossing and body posture adjustment action;Detection function mechanism realizes the vertical up and down and horizontal rotation movement of magnetic yoke by controlling the motor driver integrated machine of vertical reverse motion and the motor driver integrated machine of controlling magnetic yoke rotation, realizes magnetic powder detection detection operation according to relevant national standard;Fluorescent magnetic powder imaging mechanism realizes the spraying of magnetic suspension by controlling the reciprocating motion of magnetic suspension nozzle array driven by rodless cylinder, makes dark environment, under the illumination of standard light intensity black light, uses magnetic yoke to carry out cross excitation and takes photo record, completes next station detection automatically once detection.It is suitable for application as fluorescent magnetic powder detection device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of non-destructive testing technology of ships, in particular to a digital fluorescent magnetic powder detection device applied to large structure ring and longitudinal welding joint non-destructive testing, and more particularly to a welding joint digital fluorescent magnetic powder detection device. BACKGROUND

[0002] In the process of shipbuilding, the ship structure is built by using large steel plates through welding process, and in this process, the welding joint may have defects, which will seriously affect the quality of the ship body and the safety of the crew, and most of the harmful defects may be surface or near-surface cracks, which are difficult to be identified by naked eye and need to be detected by magnetic powder detection equipment.

[0003] However, manual detection has high labor intensity, and the detection results are easily affected by human factors, and it is difficult to record the defect image during the detection process, so a work system that can replace manual detection is needed. SUMMARY

[0004] In order to realize the digital detection of large structure ring and longitudinal welding joint by using fluorescent magnetic powder, the present application provides a welding joint digital fluorescent magnetic powder detection device. The fluorescent powder detection device mainly includes a magnetic adsorption wall climbing device, a magnetic field control and fluorescent magnetic powder spraying function module, a fluorescent magnetic powder digital image acquisition module, and a platform operation machine image processing integrated device. The work process includes spraying magnetic suspension, creating a dark environment, using a magnetic yoke to cross excitation under the irradiation of a standard light intensity black light lamp and taking a photo record, and automatically detecting the next work station after completing a detection. The device can realize engineering application in various complex working environments in the process of shipbuilding. The device realizes independent control and breakthrough of key technologies such as three-dimensional wall surface magnetic adsorption technology, high-precision stable motion control technology, multi-functional high-integration structure design, and imaging and image processing technology.

[0005] The technical solution adopted by the present application to solve the technical problems is:

[0006] A welding joint digital fluorescent magnetic powder detection device, comprising a mobile body, a detection function mechanism and a fluorescent magnetic powder imaging mechanism.

[0007] The detection function mechanism and the fluorescent magnetic powder imaging mechanism are carried on the vehicle body of the mobile body, and the stable and reliable permanent magnetic adsorption ensures safety, completes small-range curvature surface adaptation, obstacle crossing and body posture adjustment actions;

[0008] The detection function mechanism realizes the vertical up-down and horizontal rotation motion of the magnetic yoke through a motor driver integrated machine for controlling vertical reverse motion and a motor driver integrated machine for controlling magnetic yoke rotation, and realizes the magnetic powder detection of the wall surface according to the relevant national standard;

[0009] The fluorescent magnetic powder contrast mechanism drives the magnetic suspension nozzle array to reciprocate by controlling the rodless air cylinder to realize the spraying of the magnetic suspension, to create a dark environment, to cross excite by using the magnetic yoke under the irradiation of the black light lamp with standard light intensity, to take a photo record, and to automatically perform the next station detection after completing one detection.

[0010] In order to further solve the technical problems to be solved by the present application, the mobile body provided by the present application includes a high-performance magnet, a pneumatic tire, a limiting disc, a shaft coupling, a motor driver integrated machine, a speed reducer, a motor mounting plate, a vehicle body, a shell and a metal handle; the vehicle body is composed of a vehicle body upper plate, a vehicle body lower plate, a vehicle body front and rear plate and a vehicle body side plate, and the vehicle body upper plate, the vehicle body lower plate, the two vehicle body front and rear plates and the two vehicle body side plates are fixed by screws to form a hollow vehicle body; the high-performance magnet is arrayed on the vehicle body lower plate to provide safe and reliable adsorption force for the magnetic powder detection device.

[0011] Further, the detection function mechanism includes a lead screw guide rail set, a lead screw mounting plate, a sliding block guide rail set, a U-shaped plate component, a synchronous belt pulley, a synchronous belt, a transmission shaft, a dynamometer, a buffer mechanism, a magnetic yoke connecting piece, a magnetic yoke, a photoelectric switch, a photoelectric switch test board, a switching power supply, a relay, an electromagnetic valve, a two-position two-way valve and a data acquisition card; the U-shaped plate component includes a U-shaped plate I, a U-shaped plate II and a U-shaped plate III; the lead screw guide rail set is linked with the motor driver integrated machine through the lead screw mounting plate, and then the lead screw guide rail set and the sliding block guide rail set are respectively installed on both sides of the vehicle body upper plate, and the U-shaped plate I, the U-shaped plate II and the U-shaped plate III are connected with the sliding blocks in the lead screw guide rail set and the sliding block guide rail set after assembly to realize the up-and-down movement.

[0012] Further, the fluorescent magnetic powder contrast mechanism includes a rodless air cylinder, a magnetic suspension nozzle, a cylinder connecting plate, a camera, a camera mounting plate, an inner lining plate, an inner lining plate mounting piece, an O-shaped rubber ring, a sealing strip and a black light lamp; the rodless air cylinder is installed on one side of the vehicle body side plate, and a plurality of magnetic suspension nozzles are fixedly connected with the rodless air cylinder sliding block through the cylinder connecting piece to drive the plurality of magnetic suspension nozzles to reciprocate, thereby realizing the spraying of the magnetic suspension.

[0013] The positive effect is that the present application can not only realize safe and stable movement on large vertical surfaces such as magnetic metal storage tanks and ship surfaces by using permanent magnetic adsorption technology, complete small-range curvature surface adaptation, obstacle crossing and body posture adjustment actions, but also install other functional elements to realize magnetic powder detection operation on the wall surface according to relevant national standards, and the operation process includes spraying magnetic suspension, creating a dark environment, cross-excitation by using the magnetic yoke under the irradiation of the black light lamp with standard light intensity, taking a photo record, and automatically performing the next station detection after completing one detection.

[0014] The dynamic detection operation can be carried out on the structure surface to be detected, the multifunctional and high-integrated detection device integrating mechanical, electrical and hydraulic controls can autonomously complete the corresponding standard operation process to replace manual operation, or the local wall surface to be detected is monitored by human operation; the array type permanent magnetic adsorption technology is adopted, which is stable and reliable, and can avoid the equipment falling in the emergency power failure state, and the man-machine safety in various working environments can be ensured by cooperating with the permanent magnetic adsorbing disc and the anti-falling device. Since the wall surface is a magnetic conductive material, there are protruding obstacles such as welding joints, for the small curvature radius structure surface to be detected, the arc surface will cause the gap of negative pressure adsorption, which will cause the leakage problem, and in order to prevent the danger of accidental power failure and falling, the permanent magnetic adsorption mode is selected from the perspective of adsorption reliability. At the same time, the optimal arrangement mode and the adsorption distance are optimized and designed to meet the actual requirements.

[0015] It is suitable to be applied as a welding joint digital fluorescent magnetic powder detection device. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective structural schematic diagram of the present application;

[0017] Figure 2 It is a top view of the present application;

[0018] Figure 3 It is a side view of the present application;

[0019] Figure 4 It is a bottom view of the present application;

[0020] Figure 5 It is a perspective structural schematic diagram of the hidden upper shell, the vehicle body side plate and the vehicle body front plate of the present application;

[0021] Figure 6 It is a front view of the hidden upper shell, the vehicle body side plate and the vehicle body front plate of the present application;

[0022] Figure 7 It is a specific shaft side explosion view of the buffer mechanism of the present application.

[0023] In the figure, 101. Vehicle body front and rear plates, 102. Limiting disc, 103. Upper rear plate, 104. Pneumatic partition plug, 105. Aviation plug, 106. Upper upper plate, 107. Second upper rear plate, 108. Metal handle, 109. Second upper upper plate, 110. Second upper side plate, 111. Upper side plate, 112. Vehicle body upper plate, 113. Vehicle body side plate, 114. Inflatable tire;

[0024] 301. Second upper front plate, 302. Upper front plate;

[0025] 401. inner lining plate I, 402. vehicle body lower plate, 403. black light lamp, 404. water spray baffle, 405. cylinder connecting plate, 406. magnetic suspension nozzle, 407. O-shaped rubber ring, 408. high-performance type magnet;

[0026] 501. electromagnetic valve, 502. magnetic yoke, 503. sealing strip, 504. two-position two-way valve, 505. data acquisition card, 506. inner lining plate connecting plate, 507. relay, 508. screw guide rail set, 509. U-shaped plate III, 510. photoelectric switch, 511. photoelectric switch test plate, 512. synchronous belt, 513. U-shaped plate II, 514. synchronous pulley, 515. U-shaped plate I, 516. slider guide rail set, 517. inner lining plate II, 518. rodless cylinder;

[0027] 601. motor mounting plate, 602. motor driver all-in-one machine, 603. speed reducer, 604. shaft coupling, 605. screw mounting plate, 606. magnetic yoke connecting piece, 607. flexible component II, 608. flexible component III, 609. force gauge, 610. transmission shaft, 611. flexible component I, 612. rectangular spring, 613. U-shaped plate beam, 614. camera connecting plate, 615. camera. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative work on the basis of the embodiments in the present application belong to the scope of protection of the present application.

[0029] In the present application, all the embodiments, implementation manners and features of the present application can be combined with each other without contradiction or conflict. In the present application, the conventional devices, apparatuses, components, etc. can be either commercially available or self-made according to the content disclosed in the present application. In the present application, in order to highlight the key points of the present application, some conventional operations and devices, apparatuses, components are omitted or only described simply.

[0030] According to the figure, a kind of welded joint digitized fluorescent magnetic particle detection device, including mobile body, detection function mechanism and fluorescent magnetic powder contrast mechanism;Detection function mechanism and fluorescent magnetic powder contrast mechanism are carried on the vehicle body of mobile body, and the stable and reliable security of permanent magnet adsorption is utilized;Small-range curvature surface adaptation, obstacle crossing and body posture adjustment are completed;

[0031] Detection function mechanism realizes the vertical up and down and horizontal rotation of magnetic yoke 502 by the motor driver integrated machine 602 of control vertical reverse movement and the motor driver integrated machine 602 of control magnetic yoke 502 rotation, and realizes the magnetic particle detection of wall according to relevant national standard;

[0032] Fluorescent magnetic powder contrast mechanism realizes the spraying of magnetic suspension by the reciprocating motion of magnetic suspension nozzle 406 array driven by rodless cylinder 518, and makes dark environment, under the illumination of standard light intensity black light lamp, uses magnetic yoke 502 to cross excitation and takes photograph record, completes the next station detection automatically.

[0033] In order to ensure the stability of the structure of the application, the mobile body includes high-performance magnet 408, pneumatic tire 114, limit disc 102, shaft coupling 604, motor driver integrated machine 602, speed reducer 603, motor mounting plate 601, vehicle body, shell and metal handle 108;The vehicle body is composed of vehicle body upper plate 112, vehicle body lower plate 402, vehicle body front and rear plate 101 and vehicle body side plate 113, and the vehicle body upper plate 112, the vehicle body lower plate 402, the two vehicle body front and rear plates 101 and the two vehicle body side plates 113 are fixed by screws to form a hollow vehicle body;High-performance magnet 408 is arrayed on the vehicle body lower plate 402, which provides safe and reliable adsorption force for the magnetic particle detection device;

[0034] The two sides of the vehicle body are fixedly connected with motor driving integrated machine 602 and speed reducer 603 through motor mounting plate 601, for driving the forward direction of vehicle body frame;For easy movement, the two sides of the vehicle body are connected with pneumatic tire 114 and limit disc 102 through shaft coupling 604 and speed reducer 603, to complete the construction of the mobile body of magnetic particle detection device and perform movement operation.

[0035] Preferably, the motor driver integrated machine 602 is four, evenly distributed in the four sides of the vehicle body, so as to realize the free movement of the mobile body of the magnetic particle detection device.

[0036] In order to further ensure the stability of the structure of the application, the shell is composed of a first shell and a second shell, the first shell is composed of an upper installation side plate 111, an upper installation front plate 302, an upper installation rear plate 103 and an upper installation upper plate 106, the upper installation side plate 111, the upper installation front plate 302, the upper installation rear plate 103 and the upper installation upper plate 106 are connected by screws to form a closed shell and are arranged on the vehicle body upper plate 112; the second shell is composed of a second upper installation side plate 110, a second upper installation front plate 310, a second upper installation rear plate 107 and a second upper installation upper plate 109, the second upper installation side plate 110, the second upper installation front plate 310, the second upper installation rear plate 107 and the second upper installation upper plate 109 are connected by screws to form a closed shell and are arranged on the upper installation upper plate 106; a metal handle 108 is arranged outside the first shell and the second shell to facilitate the carrying of workers.

[0037] The upper installation rear plate 103 is also fixed with a pneumatic partition plug 104 and an aviation plug 105 for the supply of compressed air and magnetic suspension and the transmission of electrical signals.

[0038] Preferably, the first shell and the second shell together with the vehicle body constitute a fully-closed device shell of the mobile body of the magnetic particle detection device, which covers the detection function mechanism and the fluorescent magnetic powder imaging mechanism, and the inside has a box composed of the inner lining plate II 517 and the magnetic yoke 502 together moving to complete the creation of a dark environment; the lower side of the inner lining plate II 517 is provided with an O-shaped rubber ring 407, when the magnetic yoke 502 moves towards the wall surface until contacting the wall surface, the inner lining plate II 517 moves accordingly, the O-shaped rubber ring 407 is appropriately compressed and tightly adheres to the wall surface to avoid light entering, at the same time, there is a gap between the inner lining plate II 517 and the hole of the vehicle body upper plate 112, and a sealing strip is adhered in the hole of the vehicle body upper plate 112, which does not affect the movement and avoids light entering.

[0039] In order to optimize the structure of the application, the detection function mechanism includes a lead screw guide rail set 508, a lead screw mounting plate 605, a sliding block guide rail set 516, a U-shaped plate component, a synchronous belt pulley 514, a synchronous belt 512, a transmission shaft 610, a dynamometer 609, a buffer mechanism, a magnetic yoke connecting piece 606, a magnetic yoke 502, a photoelectric switch 510, a photoelectric switch test plate 511, a switching power supply, a relay 507, a solenoid valve 501, a two-position two-way valve 504 and a data acquisition card 505; the U-shaped plate component includes a U-shaped plate I 515, a U-shaped plate II 513 and a U-shaped plate III 509.

[0040] As a conventional technical choice, the lead screw guide rail set 508 is linked with the motor driver all-in-one machine 602 through the lead screw mounting plate 605 and is respectively installed on both sides of the vehicle body upper plate 112, the U-shaped plate I 515, the U-shaped plate II 513 and the U-shaped plate III 509 are assembled by a U-shaped plate beam 613 and are respectively connected with the sliding blocks in the lead screw guide rail set 508 and the sliding blocks in the sliding block guide rail set 516 to realize the up-and-down movement thereof.

[0041] Preferably, the motor driver integrated machine 602 controls the rotation of the magnetic yoke 502, which is fixed on the U-shaped plate II 513 after being connected with the speed reducer 603. The synchronous pulley 514 on the speed reducer 603 transmits the motion to the synchronous pulley 514 on the transmission shaft 610 through the synchronous belt 512. The other end of the transmission shaft 610 is connected with the force gauge 609, which is used to detect whether the wall surface to be detected meets the detection requirements.

[0042] In order to further optimize the stability of the structure of the present application, the buffer mechanism is composed of flexible component I 611, flexible component II 607, flexible component III 608 and rectangular spring 612; the flexible component I 611 and the flexible component III 608 are fixed by screw connection, the flexible component II 607 is located in the barrel-shaped space formed by the flexible component I 611 and the flexible component III 608, and is constrained by the series-parallel rectangular spring 612; the upper end of the flexible component I 611 is connected with the force gauge 609, and the lower end of the flexible component III 608 is connected with the magnetic yoke 502 at the end of the detection mechanism through the magnetic yoke connecting piece 606; thus, the vertical up-and-down and horizontal rotary motion of the magnetic yoke 502 can be realized by controlling the motor driver integrated machine 602 for vertical reverse motion and the motor driver integrated machine 602 for controlling the rotation of the magnetic yoke 502.

[0043] Preferably, the screw guide rail set 508 and the synchronous belt 512 are respectively provided with the photoelectric switch 510 and the photoelectric switch test board 511 for positioning and limiting; the switch power supply, the relay 507, the electromagnetic valve 501 and the two-position two-way valve 504 and the data acquisition card 505 are respectively installed on the upper installation side plate 111, the upper installation front plate 302 and the upper installation rear plate 103; the control motor driver integrated machine 602 drives the slider in the screw guide rail set 508 to move up and down, and then drives the magnetic yoke 502 to move up and down through the U-shaped plate component, so as to provide operation space for the rodless air cylinder 518 to drive the air cylinder connecting plate 405 to complete the spraying of the magnetic suspension liquid, and the control motor driver integrated machine 602 drives the synchronous belt 512 to realize the horizontal rotary motion of the magnetic yoke 502, so as to realize the cross excitation of the magnetic yoke 502.

[0044] In order to further optimize the structure of the present application, the fluorescent magnetic powder imaging mechanism includes the rodless air cylinder 518, the magnetic suspension liquid nozzle 406, the water spraying baffle 404, the air cylinder connecting plate 405, the camera 615, the camera mounting plate 614, the inner lining plate I 401, the inner lining plate II 517, the inner lining plate mounting piece 506, the O-shaped rubber ring 407, the sealing strip 503 and the black light lamp 403; the rodless air cylinder 518 is installed on the vehicle side plate 113 on one side, a plurality of magnetic suspension liquid nozzles 406 are fixedly connected with the rodless air cylinder 518 through the air cylinder connecting plate 405, so as to drive the plurality of magnetic suspension liquid nozzles 406 to reciprocate, and then realize the spraying of the magnetic suspension liquid.

[0045] As a conventional technical choice, the camera 615 is fixed on the U-shaped plate I 515 by a camera mounting plate 614 to record the detection results by taking pictures, four inner lining plates II 517 are connected by screws and then fixed on the U-shaped plate I 515 and the U-shaped plate III 509 by an inner lining plate mounting 506, the lower end is fixed with an O-shaped rubber ring 407 to adhere to the wall surface to create a dark environment, and at the same time, the sealing strip 503 is fixed to the inner hole of the vehicle body upper plate 112 to avoid light from entering to affect the detection results.

[0046] Preferably, the black light 403 is fixed on the inner lining plate I 401 by a black light connecting plate to adjust the angle to irradiate the wall surface to be detected, and the black light 403 is further provided with a water spraying baffle 404 on one side.

[0047] Preferably, the inner lining plate I 401 is further fixed with a separate magnetic suspension nozzle 406 for magnetic suspension spraying during the energization excitation process of the magnetic yoke 502.

[0048] Working process of the application:

[0049] Power-on self-test reset process: when the magnetic powder detection device receives a reset instruction after power-on, one motor driver all-in-one machine 602 rotates forward, drives the U-shaped plate component, the dynamometer 609, the buffer mechanism, the magnetic yoke connecting plate 606 and the magnetic yoke 502 upward through the screw-nut sleeve assembly 508, and when the slider moves upward, the slider also drives the photoelectric switch detection plate 511 to move toward the photoelectric switch 510, when the photoelectric switch 510 detects the signal, the motor driver all-in-one machine 602 stops rotating, and the position is set as the vertical original position, completing the reset in the vertical direction. The other motor driver all-in-one machine 602 rotates forward, drives the synchronous belt 512 and the synchronous pulley 514 on one side of the transmission shaft 610 to rotate through the synchronous pulley 514, drives the dynamometer 609, the buffer mechanism, the magnetic yoke connecting plate 606 and the magnetic yoke 502 to rotate clockwise, when the synchronous pulley 514 drives the photoelectric switch detection plate 511 to rotate, when it touches the photoelectric switch 510, it reaches the left limit, and then the other motor driver all-in-one machine 602 starts to rotate reversely, stops rotating after a fixed number of values, records the position as the horizontal original position, and completes the reset in the horizontal direction. The signal on-off of the control relay 507 circuit is used to detect the functions of the rodless cylinder 518, the magnetic suspension nozzle 405, the black light 403, the magnetic yoke 502, the electromagnetic valve 501, the two-position two-way valve 504 and the photographing function, and the flow self-test of the whole machine is completed.

[0050] The basic movement process of the mobile body is as follows: the rotating directions of the two motor driver integrated machines 602 on the left side are set as forward rotation, the rotating directions of the two motor driver integrated machines 602 on the right side are set as reverse rotation, then the same rotating speed is given to the four motor driver integrated machines 602 of the vehicle body, the magnetic powder detection device is realized to move forward; the rotating directions of the two motor driver integrated machines 602 on the left side are set as reverse rotation, the rotating directions of the two motor driver integrated machines 602 on the right side are set as forward rotation, then the same rotating speed is given to the four motor driver integrated machines 602 of the vehicle body, the magnetic powder detection device is realized to move backward; the vehicle body is turned by using the differential principle, in the forward movement state, the rotating speed of the two motor driver integrated machines 602 on the left side is fast, the vehicle body is realized to turn right, the rotating speed of the two motor driver integrated machines 602 on the right side is fast, the vehicle body is realized to turn left.

[0051] The lifting force detection process is as follows: first, the data of the force gauge 609 is recorded as original data, the motor driver integrated machine 602 is controlled to rotate forward, the U-shaped plate component, the force gauge 609, the buffer mechanism, the magnet yoke connecting plate 606 and the magnet yoke 502 are driven by the screw block set 508 to move downward, when the magnet yoke 502 contacts the wall surface, the data of the force gauge 609 is collected in real time, when the data of the force gauge 609 changes greatly from the original data, it indicates that the magnet yoke 502 has closely contacted the wall surface and has applied a certain pressure, the magnet yoke 502 relay is controlled by the data acquisition card 505 to make the magnet yoke 502 work, then the rotating direction of the motor driver integrated machine 602 is changed to drive the magnet yoke 502 to lift, while the data of the force gauge 609 is constantly extracted, when the difference between the real-time data and the original data reaches the standard value 45N, the rotation of the motor driver integrated machine 602 is stopped, the value of the force gauge 609 is continuously monitored, if the difference between the values is within the standard value for three seconds, the adsorption force meets the detection requirement, the power supply of the magnet yoke 502 is cut off by disconnecting the relay 507 signal, then the motor driver integrated machine 602 is controlled to continue to rise to the original position and stop rotating.

[0052] Automatic detection process: under the premise of completing reset, open the magnetic suspension nozzle 405 switch, realize the spraying of the magnetic suspension, drive the magnetic suspension nozzle 405 array reciprocating motion through the control of the rodless cylinder 518, complete the wall surface magnetic suspension spraying of the detected wall surface, and the reciprocating spraying times can be adjusted automatically to ensure the spraying effect. The control of one motor driver integrated machine 602 rotates in the positive direction, transmits the motion to the transmission shaft 610, the force meter 609, the buffer mechanism, the magnet yoke connecting plate 606 and the magnet yoke 502 through the synchronous belt mechanism, and the magnet yoke 502 rotates to the left by 45 degrees and then automatically stops the rotation of the No. 6 motor driver integrated machine 602, then the other motor driver integrated machine 602 rotates in the positive direction, the slider in the screw block set 508 moves downward, drives the U-shaped plate component composed of the U-shaped plate III 509, the U-shaped plate II 513 and the U-shaped plate I 515 to move downward, and stops until the magnet yoke 502 closely contacts the wall surface, controls the relay 507 switch, energizes and excites the magnet yoke 502, opens the fixed magnetic suspension nozzle 405 switch on the inner lining plate II 517, sprays the magnetic suspension to the detected wall surface, lasts for 1-3 seconds, opens the black light 403, and controls the high-definition camera 615 to automatically focus and record the detection result, then disconnects the magnet yoke 502 and the fixed magnetic suspension nozzle 405, reverses one motor driver integrated machine 602, the slider in the screw block set 508 moves upward, drives the U-shaped plate component to move upward until it stops at a certain height, controls the other motor driver integrated machine 602 to reverse, transmits the motion to the transmission shaft 610, the force meter 609, the buffer mechanism, the magnet yoke connecting plate 606 and the magnet yoke 502 through the synchronous belt mechanism, and the magnet yoke 502 rotates to the right by 90 degrees and then automatically stops the rotation of one motor driver integrated machine 602, then the other motor driver integrated machine 602 rotates in the positive direction, the slider in the screw block set 508 moves downward, drives the U-shaped plate component to move downward until it stops after the magnet yoke 502 closely contacts the wall surface, controls the relay 507 switch, energizes and excites the magnet yoke 502, opens the fixed magnetic suspension nozzle 405 switch on the inner lining plate II 517, sprays the magnetic suspension to the detected wall surface, lasts for 1-3 seconds, opens the black light 403, and controls the high-definition camera 615 to automatically focus and record the detection result, then disconnects the magnet yoke 502 and the fixed magnetic suspension nozzle 405, reverses the other motor driver integrated machine 602, the slider in the screw block set 508 moves upward, drives the U-shaped plate component to move upward until it stops at a certain vertical position, and thus completes one detection detection operation, then controls the vehicle body to move forward to perform the next detection detection operation, and the process is repeated.

[0053] Reset process after work is completed: after the detection operation is completed, the equipment receives the stop information, and after completing the current detection process, the vertical direction reset and the horizontal direction reset are performed again. The operation is described above and will not be repeated here.

[0054] Advantages of the present application:

[0055] 1、The magnetic powder detection device can perform dynamic detection on the structure surface to be detected, and is a multifunctional and highly integrated detection device integrating mechanical, electrical and hydraulic controls, which can automatically complete the corresponding standard operation process to replace manual operation, or can be manually operated to monitor the local wall surface to be detected, thereby creating a precedent.

[0056] 2、The array type permanent magnetic adsorption technology is stable and reliable, and can avoid equipment falling in an emergency power failure state, and can ensure human-machine safety in various working environments by cooperating with the permanent magnetic adsorbing disc and the anti-falling device. Since the wall surface is a magnetic conductive material, there are protruding obstacles such as welding joints, and for a small curvature radius of the structure surface to be detected, the arc surface will cause a gap in the negative pressure adsorption, resulting in a leakage problem, and in order to prevent the danger of accidental power failure and falling, the permanent magnetic adsorption mode is selected from the perspective of adsorption reliability. At the same time, the optimal arrangement mode and the adsorption distance are optimized and designed to meet the actual requirements.

[0057] 3、The high-performance magnets are uniformly distributed on the front and rear sides of the vehicle body, and the size of the adsorption force of the magnetic powder detection device can be changed by self-assembly and disassembly of the magnets to adapt to different magnetic conductive metal walls. There are five magnet mounting grooves and corresponding size threaded holes on the front and rear sides of the vehicle body, and the high-performance magnets themselves have a conical hole in the middle, which can be fixed in the grooves of the vehicle body by cooperating with the screws. The operation of assembling and disassembling is simple and convenient, and the number of magnets can be increased or decreased according to the working environment to adapt to different magnetic conductive metal working walls, so as to achieve the best adsorption effect.

[0058] 4、The magnetic powder detection device wheel adopts a combination of a limiting disc and an inflatable tire. The limiting disc can limit the compression amount of the inflatable tire, thereby controlling the maximum adsorption force of the magnetic powder detection device during operation, and avoiding the situation that the adsorption force is too large to cause insufficient power of the equipment. The inflatable tire can improve the friction coefficient between the device and the wall surface by using its own flexible characteristics, and can provide sufficient friction coefficient on the working surface with different curvature radii, and can be selected in combination mode of "inflatable tire + limiting disc" or "inflatable tire + limiting disc + inflatable tire" to expand the contact area and ensure stable operation.

[0059] 5、Dark environment manufacturing. Fluorescent magnetic powder detection needs to be assisted by 365nm wavelength black light lamp in dark environment, the fluorescent magnetic powder on the surface of the workpiece will emit fluorescence, reflecting the surface and near-surface defect condition of the workpiece, so the equipment needs a relatively dark environment during work. Because it needs to adapt to the wall surface with different curvature radius, and the equipment has relative movement with the wall surface, so a fixed black box cannot be set to manufacture dark environment. The application adopts a fully enclosed shell, and the inner lining plate moves together with the magnetic yoke to jointly complete the manufacturing of dark environment. The lower side of the inner lining plate is provided with an O-shaped rubber ring. When the magnetic yoke moves towards the wall surface until contacting the wall surface, the inner lining plate moves together, and the O-shaped rubber ring is appropriately compressed to tightly adhere to the wall surface to avoid light source entering. At the same time, there is a gap between the inner lining plate and the hole on the upper plate of the vehicle body, and a sealing strip is adhered in the hole of the upper plate of the vehicle body, which does not affect the movement and avoids the light source entering.

[0060] 6、Buffer mechanism. In the detection process, pressure needs to be applied to the magnetic yoke to tightly adhere to the wall surface. The traditional rigid connection is easy to cause damage to the transmission parts. The buffer mechanism in the design of the application adopts series-parallel hybrid technology. The middle series baffle adopts "j" shape design to optimize the size of the mechanism and improve the space utilization rate of the equipment. At the same time, the mechanism itself relies on the rectangular spring to link and constrain external parts (magnetic yoke). The external magnetic yoke has a certain flexibility, including three degrees of freedom displacement and a certain deflection in three coordinate axis directions. According to the wall surface condition, the magnetic yoke posture is adjusted passively in time, which can ensure that the magnetic yoke better adapts to the wall surface with different curvature radius and meets the pressure requirement of the operation.

[0061] 7、Magnetic suspension spraying mode. The magnetic powder detection device designed in the application has two magnetic suspension spraying modes. One is a mode that the magnetic suspension nozzle is reciprocally sprayed by the no-rod cylinder below the vehicle body. The other is a fixed spraying mode that the fixed magnetic suspension nozzle is sprayed on the inner lining plate in the vehicle body. The spraying mode or the combination of the two modes can be selected by the control cabinet to adapt to different operation wall surfaces and achieve the best spraying effect.

[0062] Finally, it should be noted that the above description is only the preferred embodiment of the application and is not used to limit the application. Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement of some technical features, as long as it is within the spirit and principles of the application. Any modification, equivalent replacement, improvement, etc. made within the scope of the application should be included in the protection scope of the application.

Claims

1. A digital fluorescent magnetic particle inspection device for welded joints, characterized by: It includes a mobile body, a detection function mechanism and a fluorescent magnetic powder imaging mechanism; The mobile body carries the detection function mechanism and fluorescent magnetic powder imaging mechanism, which uses the stable and reliable permanent magnetic adsorption to ensure safety and complete small-scale curvature surface adaptation, obstacle crossing, and body posture adjustment. The detection function mechanism realizes vertical up-down and horizontal rotational movement of the magnetic yoke (502) by controlling the motor driver integrated machine (602) for vertical reverse movement and the motor driver integrated machine (602) for controlling the rotation of the magnetic yoke (502), thereby realizing magnetic powder detection operation of the wall surface in accordance with relevant national standards; The fluorescent magnetic powder imaging mechanism controls the rodless cylinder (518) to drive the magnetic suspension nozzle (406) array to reciprocate, thereby achieving the spraying of the magnetic suspension, creating a dark environment, and using the magnetic yoke (502) to perform cross-excitation under the illumination of a black light of standard light intensity and taking photos and recording. After completing one test, the next station test is automatically carried out; The mobile body comprises a high-performance magnet (408), an inflatable tire (114), a limit plate (102), a coupling (604), a motor-driver integrated unit (602), a speed reducer (603), a motor mounting plate (601), a vehicle body, a housing, and a metal handle (108); The vehicle body is composed of a vehicle body upper plate (112), a vehicle body lower plate (402), a vehicle body front and rear plates (101), and a vehicle body side plate (113). The vehicle body upper plate (112), the vehicle body lower plate (402), the two vehicle body front and rear plates (101), and the two vehicle body side plates (113) are fixed by screws to form a hollow vehicle body. High-performance magnets (408) are installed in an array on the vehicle body lower plate (402) to provide safe and reliable adsorption force for the magnetic powder detection device. The motor drive integrated unit (602) and the reducer (603) are fixedly connected on both sides of the vehicle body via motor mounting plates (601) to drive the vehicle body frame in the forward direction; to facilitate movement, the pneumatic tires (114) and the limit plates (102) are connected on both sides of the vehicle body via couplings (604) and the reducer (603), thereby completing the construction of the mobile body of the magnetic powder detection device and performing movement operations; The housing is composed of a first shell and a second shell; The first shell is composed of an upper side plate (111), an upper front plate (302), an upper rear plate (103) and an upper upper plate (106), wherein the upper side plate (111), the upper front plate (302), the upper rear plate (103) and the upper upper plate (106) are connected by screws to form a closed shell located on the vehicle body upper plate (112); The second shell is composed of a second upper side plate (110), a second upper front plate (301), a second upper rear plate (107) and a second upper upper plate (109), wherein the second upper side plate (110), the second upper front plate (301), the second upper rear plate (107) and the second upper upper plate (109) are connected by screws to form a closed shell located on the upper upper plate (106); metal handles (108) are provided on the outer sides of the first shell and the second shell for easy handling by workers; A pneumatic partition plug (104) and an aviation plug (105) are also fixed to the upper rear plate (103) for supplying compressed air and magnetic suspension liquid and transmitting electrical signals; The first shell, the second shell and the vehicle body together constitute a fully enclosed device shell of the mobile body of the magnetic powder detection device, covering the detection function mechanism and the fluorescent magnetic powder imaging mechanism, and the inner lining plate II (517) that moves together with the magnetic yoke (502) is provided inside to form a box body to complete the creation of a dark environment; An O-type rubber ring (407) is installed on the lower side of the inner lining plate II (517). When the yoke (502) moves toward the wall until it contacts the wall, the inner lining plate I (401) moves accordingly, and the O-type rubber ring (407) is appropriately compressed and adheres to the wall to prevent the light source from entering. At the same time, there is a gap between the inner lining plate II (517) and the hole of the vehicle body upper plate (112). A sealing strip is adhered to the inner hole of the vehicle body upper plate (112), which does not affect the movement and prevents the light source from entering.

2. The digital fluorescent magnetic particle inspection device for welded joints according to claim 1, characterized in that: There are four motor-driver integrated machines (602), which are evenly distributed on the four sides of the vehicle body, thereby achieving free movement of the mobile body of the magnetic powder detection device.

3. The digital fluorescent magnetic particle inspection device for welded joints according to claim 1, characterized in that: The detection function mechanism includes a screw guide rail set (508), a screw mounting plate (605), a slider guide rail set (516), a U-shaped plate component, a synchronous pulley (514), a synchronous belt (512), a transmission shaft (610), a dynamometer (609), a buffer mechanism, a yoke connector (606), a yoke (502), a photoelectric switch (510), a photoelectric switch test board (511), a switching power supply, a relay (507), a solenoid valve (501), a two-position two-way valve (504), and a data acquisition card (505); The U-shaped plate member includes a U-shaped plate I (515), a U-shaped plate II (513) and a U-shaped plate III (509); The lead screw guide rail set (508) is connected to the motor driver integrated unit (602) through the lead screw mounting plate (605) and is then mounted on both sides of the vehicle body upper plate (112) together with the slider guide rail set (516). After the U-shaped plate I (515), the U-shaped plate II (513) and the U-shaped plate III (509) are assembled through the U-shaped plate beam (613), they are respectively connected to the slider in the lead screw guide rail set (508) and the slider in the slider guide rail set (516) to achieve their up and down movement.

4. The digital fluorescent magnetic particle inspection device for welded joints according to claim 3, characterized in that: The motor-driver integrated unit (602) controls the rotation of the yoke (502) and is fixed on the U-shaped plate II (513) after being connected to the reducer (603). The synchronous pulley (514) on the reducer (603) transmits the motion to the synchronous pulley (514) on the transmission shaft (610) through the synchronous belt (512). The other end of the transmission shaft (610) is connected to a dynamometer (609) for detecting whether the wall surface to be inspected meets the inspection requirements.

5. The digital fluorescent magnetic particle inspection device for welded joints according to claim 3, characterized in that: The buffer mechanism is composed of a flexible component I (611), a flexible component II (607), a flexible component III (608) and a rectangular spring (612); The flexible component I (611) and the flexible component III (608) are connected and fixed by screws, the flexible component II (607) is located in the barrel-shaped space formed by the flexible component I (611) and the flexible component III (608), and is constrained by a series-parallel rectangular spring (612). The upper end of the flexible component I (611) is connected to a dynamometer (609), and the lower end of the flexible component III (608) is connected to a yoke (502) of a detection mechanism at the end through a yoke connector (606); thus, the vertical up and down and horizontal rotational motion of the yoke (502) can be realized by controlling the vertical reverse motion of the motor driver integrated machine (602) and the motor driver integrated machine (602) that controls the rotation of the yoke (502).

6. The digital fluorescent magnetic particle inspection device for welded joints according to claim 3, characterized in that: The lead screw guide rail set (508) and the synchronous belt (512) are respectively equipped with a photoelectric switch (510) and a photoelectric switch test board (511) for positioning and limiting; the switching power supply, the relay (507), the solenoid valve (501), the two-position two-way valve (504), and the data acquisition card (505) are respectively installed on the upper side plate (111), the upper front plate (302), and the upper rear plate (103); the control motor driver integrated machine (602) drives the slider in the lead screw guide rail set (508) to move up and down, and then finally drives the yoke (502) to move up and down through the U-shaped plate component, providing an operating space for the rodless cylinder (518) to drive the cylinder connecting plate (405) to complete the spraying of the magnetic suspension, and the control motor driver integrated machine (602) drives the synchronous belt (512) to drive to realize the horizontal rotation movement of the yoke (502), thereby realizing the cross excitation of the yoke (502).

7. The digital fluorescent magnetic particle inspection device for welded joints according to claim 1, characterized in that: The fluorescent magnetic powder imaging mechanism includes a rodless cylinder (518), a magnetic suspension nozzle (406), a water spray baffle (404), a cylinder connecting plate (405), a camera (615), a camera mounting plate (614), an inner lining plate I (401), an inner lining plate II (517), an inner lining plate connecting plate (506), an O-type rubber ring (407), a sealing strip (503) and a black light (403); The rodless cylinder (518) is installed on a vehicle body side panel (113) on one side, and a plurality of magnetic suspension nozzles (406) are fixedly connected to the slider of the rodless cylinder (518) through a cylinder connecting plate (405), driving the plurality of magnetic suspension nozzles (406) to move back and forth, thereby realizing the spraying of the magnetic suspension.

8. The digital fluorescent magnetic particle inspection device for welded joints according to claim 7, characterized in that: The camera (615) is fixed to the U-shaped plate I (515) through the camera mounting plate (614) to take pictures and record the test results. The four inner lining plates II (517) are connected by screws and then fixed to the U-shaped plate I (515) and the U-shaped plate III (509) through the inner lining plate connecting plate (506). The lower end is fixed with an O-shaped rubber ring (407) to fit the wall to create a dark environment. At the same time, the sealing strip (503) is fixed to the inner hole of the vehicle body upper plate (112) to prevent light from entering and affecting the test results. The black light lamp (403) is fixed to the inner lining plate I (401) via a black light lamp connecting plate, and the angle is adjusted to illuminate the wall surface to be inspected; The inner lining plate I (401) is also fixed with a separate magnetic suspension nozzle (406) for spraying the magnetic suspension during the process of energizing the magnetic yoke (502).

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