A crawler-mounted surface defect detection device for a crane boom

Abstract

The present invention discloses a crawler traveling surface defect detection device for a crane boom, comprising: The top detection assembly includes: a first support cavity and two flat detection members, and two movable flat detection members are symmetrically arranged on the outer surface of the side wall at the front end or the rear end of the first support cavity; The side and bottom detection assembly includes: a U-shaped detection member that can be scaled up and down and left and right and is located below the first support cavity, and both ends of the U-shaped detection member are connected to the first support cavity; Each crawler traveling assembly includes: a second support cavity, two crawler foot members and at least one support wheel, the two second support cavities are respectively connected to the outer surfaces of the side walls at the front end and the rear end of the first support cavity, the two crawler foot members are respectively connected to the left and right sides of the bottom wall of the second support cavity, and the support wheel is arranged on the outer surface of the bottom wall of the second support cavity; In the detection state, the two flat detection members and the U-shaped detection member enclose a detection ring. The present invention can perform fully automated detection.

Description

Technical Field

[0001] The present invention relates to the technical field of crane boom defect detection, and particularly to a crawler-type surface defect detection device for a crane boom. Background Art

[0002] Due to the convenience of moving and positioning, and the flexibility of lifting, luffing, slewing and other operations, cranes are currently widely used in the construction operations of hoisting and assembling angle steel towers of transmission lines. As the main load-bearing component of the crane, the boom is affected by alternating loads, fatigue, friction and wear, and corrosion, etc., and is prone to structural defects, which may lead to the breakage of the crane boom due to reduced strength, and is the main cause of the failure and fracture accidents of the crane boom. Therefore, locating 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 safe progress of the hoisting and assembling tower construction operations of transmission line cranes.

[0003] After the crane has been used for a certain period of time, the conventional maintenance generally detects whether there are structural defects on the boom through manual visual inspection. If there are some abnormalities on the boom, the abnormal positions are marked and then re-inspected with emphasis. Detection mainly depends on human eyes, so there will inevitably be misdetection 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 booms with different numbers of sections are different, making the detection difficult. Summary of the Invention

[0004] An embodiment of the present invention provides a crawler-type surface defect detection device for a crane boom to solve the problems of easy misdetection and missed detection in the prior art through manual detection.

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

[0006] A crawler-type surface defect detection device for a crane boom includes: a top detection component, a side and bottom detection component, and two crawler-type traveling components;

[0007] The top detection component includes: a first support cavity and two flat detection members, and two movable flat detection members are symmetrically arranged on the outer surface of the side wall at the front end or the rear end of the first support cavity;

[0008] The side and bottom detection component includes: a U-shaped detection member that can be scaled up and down and left and right below the first support cavity, and the two ends of the U-shaped detection member are connected to the first support cavity;

[0009] Each of the crawler traveling assemblies includes: a second support cavity, two crawler foot components, and at least one support wheel. The two second support cavities are respectively connected to the outer surfaces of the side walls at the front end and the rear end of the first support cavity. The two crawler foot components are respectively connected to the left and right sides of the bottom wall of the second support cavity. The support wheel is arranged on the outer surface of the bottom wall of the second support cavity;

[0010] In the detection state, the two flat detection members and the U-shaped detection member enclose a detection ring for the crane boom to pass through.

[0011] The crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention can realize full-automatic detection of the surface defects of the crane boom along the surface of the crawler crane boom according to the structure and size characteristics of the crane boom. The detection is fast and efficient, preventing the occurrence of missed detection and misdetection of the surface defects of the crane boom, effectively preventing the occurrence of crane boom fracture accidents, and is of great significance for ensuring the safe operation of the hoisting and tower erection construction of the transmission line crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0013] Figure 1 is a three-dimensional schematic diagram of the use state of the crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention;

[0014] Figure 2 is a left view schematic diagram of the use state of the crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention;

[0015] Figure 3 is a front view schematic diagram of the use state of the crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention;

[0016] Figure 4 is a three-dimensional schematic diagram of a part of the crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention Figure 1 ;

[0017] Figure 5 is a front view schematic diagram of a part of the crawler traveling type surface defect detection device for a crane boom according to the embodiment of the present invention Figure 1 ;

[0018] Figure 6Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 2 ;

[0019] Figure 7 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 3 ;

[0020] Figure 8 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 4 ;

[0021] Figure 9 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 5 ;

[0022] Figure 10 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 6 ;

[0023] Figure 11 Schematic front view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 2 ;

[0024] Figure 12 Schematic bottom view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention;

[0025] Figure 13 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 7 ;

[0026] Figure 14 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 8 ;

[0027] Figure 15 Schematic perspective view of a partial structure of the crawler - type surface defect detection device for a crane boom according to an embodiment of the present invention Figure 9 . Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0029] Embodiment 1

[0030] As Figure 1 shown, the cross-sectional shape of the boom 1 of the existing mobile crane mostly adopts a U shape, that is, the upper surface and two side surfaces of the boom 1 are flat, and the lower surface is approximately an arc surface.

[0031] Embodiment 1 of the present invention discloses a crawler traveling surface defect detection device for a crane boom, which is used to detect the boom 1 with the above cross-sectional shape. As Figures 1 to 15 shown, the surface defect detection device includes: a top detection component, a side and bottom detection component, and two crawler traveling components.

[0032] Among them, the top detection component includes: a first support cavity 2 and two flat plate detection parts. Two movable flat plate detection parts are symmetrically arranged on the outer surface of the side wall at the front end or the rear end of the first support cavity 2. The front and rear described in the embodiments of the present invention refer to the length direction of the boom 1, such as Figure 2 shown in the left-right direction, which will not be elaborated below.

[0033] Among them, the side and bottom detection component includes: a U-shaped detection part that can be scaled up and down and left and right and is located below the first support cavity 2. Both ends of the U-shaped detection part are connected to the first support cavity 2. The left and right described in the embodiments of the present invention refer to the width direction of the cross-section of the boom 1, such as Figure 3 shown in the left-right direction; the up and down refers to the height direction of the cross-section of the boom 1, such as Figure 3 shown in the up-down direction, which will not be elaborated below.

[0034] Each crawler traveling component includes: a second support cavity 3, two crawler foot components, and at least one support wheel 4. Preferably, each second support cavity 3 can be in the shape of the letter T, the tail of which is the bottom of the letter T, and the two sides of the head are the extended ends on the left and right sides of the top of the letter T; in this way, the tails of the two second support cavities 3 are respectively connected to the outer surfaces of the side walls at the front end and the rear end of the first support cavity. The two crawler foot components are respectively connected to the left and right sides of the bottom wall of the head of the second support cavity 3. The support wheel 4 is arranged on the outer surface of the bottom wall of the second support cavity 3. Preferably, the number of support wheels 4 corresponding to each second support cavity 3 is two. The support wheel 4 plays a supporting role for the entire detection device. When the detection device travels, the support wheel 4 rolls to assist in guiding the entire detection device to move along the front and rear direction of the boom 1.

[0035] In the detection state, the two flat detection members and the U-shaped detection member enclose a detection loop. The detection loop is based on the cross-sectional shape profile of the boom 1. Therefore, the detection loop is U-shaped.

[0036] During use, the boom 1 of the crane is threaded through the detection loop, so that the detection ends of the flat detection members are attached to the upper surface of the boom 1, and the detection ends of the U-shaped detection member are attached to the two side surfaces and the arc-shaped lower surface of the boom 1 to respectively detect defects on the corresponding surfaces of the boom 1. By this automatic detection method of the instrument, the problems of false detection and missed detection easily caused by manual detection can be solved. In addition, the entire detection device is driven by the crawler traveling assembly to travel along the length direction of the boom 1 to achieve full coverage detection of the boom 1.

[0037] Embodiment 2

[0038] Embodiment 2 of the present invention discloses a crawler traveling type surface defect detection device for a crane boom. As Figures 1 to 15 shown, the crawler traveling type surface defect detection device of Embodiment 2 is the same as that of Embodiment 1. In addition, Embodiment 2 specifically discloses an implementation structure of the flat detection assembly.

[0039] Specifically, the flat detection member includes: a first magneto-sensitive sensor array 5. The first magneto-sensitive sensor array 5 is arranged in the first sensor box 6 and can be specifically encapsulated in the first sensor box 6 by epoxy resin glue. First magnets 7 are respectively arranged in the grooves at the front and rear ends of the first sensor box 6 and can be specifically encapsulated in the first sensor box 6 by epoxy resin glue. When the two first sensor boxes 6 are arranged in a straight line, the first magneto-sensitive sensor arrays 5 in the two first sensor boxes 6 extend from the left side to the right side of the boom 1 (the first magneto-sensitive sensor array 5 in each first sensor box 6 can respectively cover half of the width of the boom 1), and the first magnets 7 in the two first sensor boxes 6 extend from the left side to the right side of the boom 1 (the first magnets 7 in each first sensor box 6 can respectively cover half of the width of the boom 1), so as to achieve full coverage detection of the upper surface of the boom 1. The magnetic poles of the two first magnets 7 are of opposite polarities, that is, one is an S pole and the other is an N pole, so that excitation can be carried out on the upper surface of the boom 1 to form an excitation circuit, and a leakage magnetic field will be generated in the area where there are defects (such as cracks) on the upper surface of the boom 1, which will then be detected by the first magneto-sensitive sensor array 5 to determine whether there are surface defects.

[0040] On the outer surface of the side wall at the front end or the rear end of the first support cavity 2, two mounting brackets 8 are symmetrically arranged. The two mounting brackets 8 are respectively close to the edges on both sides of the first support cavity 2. The mounting bracket 8 can be in a "C" shape. At least one first guide rod 9 is connected between the upper plate and the lower plate of the mounting bracket 8, specifically by means of threaded connection. In a specific embodiment, three first guide rods 9 are evenly spaced and connected between the upper plate and the lower plate of each mounting bracket 8 to make the structure more stable.

[0041] On the upper surface of each first sensor box 6, a first mounting plate 10 is vertically connected. Each second mounting plate 11 is arranged above each first mounting plate 10. The outer side of each first mounting plate 10 and the outer side of each second mounting plate 11 are connected by a hinge 12. Among them, the "outer side" refers to the side edge close to the first support cavity 2. Preferably, a first connecting plate extends upward from one side of the first mounting plate 10, and a second connecting plate extends upward from one side of the second mounting plate 11. The first connecting plate and the second connecting plate are connected by a hinge 12. A body of a damping door closer 13 is installed on each first mounting plate 10. The rotating link of each damping door closer 13 is hinged to each second mounting plate 11. The damping door closer 13 is a prior art, and its structure will not be described in detail here. An activity plate 14 perpendicular to the second mounting plate 11 extends from the upper end of each second mounting plate 11. Each activity plate 14 is sleeved on the corresponding at least one first guide rod 9. A first compression spring 15 is sleeved on the first guide rod 9. The upper end of the first compression spring 15 contacts the lower surface of the upper plate of the mounting bracket 8, and the lower end of the first compression spring 15 contacts the upper surface of the activity plate 14.

[0042] Through the above structural design, during detection, the elastic force of the first compression spring 15 applies pressure to the movable plate 14 mounted on the first guide rod 9 so that the first magnetic sensor array 5 fits the upper surface of the arm 1. In particular, the arm 1 is a multi-section structure with different sizes of each section. When the detection device moves to the diameter change position of the arm 1, for example, when the detection device moves from a thicker section of the arm 1 to a thinner section of the arm 1, the elastic force of the first compression spring 15 moves the movable plate 14 downward, and still makes the first magnetic sensor array 5 fit the upper surface of the arm 1; for example, when the detection device moves from a thinner section of the arm 1 to a thicker section of the arm 1, the upper surface force of the arm 1 can move the first sensor box 6 upward, and the first compression spring 15 contracts. The rotating connecting rods of the two damping door closers 13 respectively pull the first sensor box 6 into a straight line, that is, the angle of the hinge 12 is 180°, so that the defects on the upper surface can be detected normally. Since the upper surface of the boom 1 may not be a completely planar structure, when encountering obstacles or steps on the upper surface, the obstacles and steps will exert force on the first sensor box 6, thereby rotating the connecting rod of the damping door closer 13, further driving the first sensor box 6 to rotate around the hinge 12 to achieve the obstacle avoidance function. After crossing the obstacle, the damping door closer 13 can reset the first sensor box 6.

[0043] Preferably, at least one first guide wheel 16 is symmetrically arranged at each of the front and rear ends of each first sensor box 6. When there are multiple first guide wheels 16 at each end, the multiple first guide wheels 16 are evenly spaced. The first guide wheel 16 is used to guide during the detection process, and assists the flat plate detection member to move in the front and rear direction of the upper surface of the boom 1. In addition, since the first magnet 7 generates an adsorption force on the boom 1, the first guide wheel 16 can reduce the friction generated by the adsorption.

[0044] Example 3

[0045] Embodiment 3 of the present invention discloses a crawler-type surface defect detection device for a crane boom. Figures 1 to 15 As shown, the crawler-type 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 and bottom detection components.

[0046] Specifically, the U-shaped detection member includes: a plurality of second magnetic sensor arrays 17. Each second magnetic sensor array 17 is arranged in each second sensor box 18, and can be specifically sealed in the second sensor box 18 by epoxy resin. Second magnets 19 are respectively arranged in the grooves at the front and rear ends of each second sensor box 18, and can be specifically sealed in the second sensor box 18 by epoxy resin. A plurality of second sensor boxes 18 are hinged in sequence to form a U shape. The detection principle of the second magnetic sensor array 17 and the second magnet 19 is the same as that of the aforementioned first magnetic sensor array 5 and the first magnet 7, and will not be repeated here.

[0047] Two second sensor boxes 18 located at both ends of the U shape are respectively connected to the first support cavity 2 in a vertically and horizontally movable manner, so that the U shape can be scaled up and down and left and right.

[0048] In a specific embodiment, the two second sensor boxes 18 located at both ends of the U shape are connected to the first support cavity 2 in a vertically movable manner by the following method:

[0049] The front and rear ends of the two second sensor boxes 18 located at both ends of the U shape are respectively connected to the lower ends of two reciprocating rods 20, for example, by threaded connection. The upper ends of the two vertical reciprocating rods 20 at the same end pass through the bottom wall of the first support cavity 2 and are connected to a bearing plate 21, for example, by threaded connection. The reciprocating rod 20 can move up and down. A second compression spring 22 is sleeved on each reciprocating rod 20. The second compression spring 22 is located inside the first support cavity 2. The upper end of the second compression spring 22 contacts the lower surface of the bearing plate 21.

[0050] Through the above structural design, during detection, the U-shaped detection member surrounds the periphery of the boom 1, and the second magnetosensitive sensor array 17 is attached to the side surface and the lower surface of the boom 1 for detection. When the detection device moves from a thicker section of the boom 1 to a thinner section of the boom 1, the elastic force of the second compression spring 22 causes the bearing plate 21 to move upward. During the upward movement of the bearing plate 21, the reciprocating rod 20 is driven to move upward, thereby driving the multiple second sensor boxes 18 hinged to form a U shape to move upward, tightening the U-shaped ring formed by the multiple second sensor boxes 18 hinged, and the second magnetosensitive sensor array 17 can still be attached to the lower surface of the boom 1.

[0051] In a specific embodiment, the two second sensor boxes 18 located at both ends of the U shape are connected to the first support cavity 2 in a vertically and horizontally movable manner by the following method:

[0052] A linear guide rail 23 is provided on the inner surface of the bottom wall of the first support cavity 2. Two slidable first sliders 24 are symmetrically arranged on the linear guide rail 23, and the linear guide rail 23 plays a guiding role in the movement of the first slider 24. The two reciprocating rods 20 connected to the same second sensor box 18 pass through the first slider 24 on the same side. Therefore, when the first slider 24 moves on the linear guide rail 23, the reciprocating rod 20 passing through it can be driven to move. The lower end of the second compression spring 22 sleeved on the reciprocating rod 20 contacts the upper surface of the first slider 24 through which the reciprocating rod 20 passes.

[0053] On the left and right sides of the bottom wall of the first support cavity 2, two first strip-shaped openings 25 parallel to the linear guide rail 23 are symmetrically provided. The two first strip-shaped openings 25 on the same side are respectively located at the front end and the rear end of the linear guide rail 23. The two reciprocating moving rods 20 on the same side respectively pass through the two first strip-shaped openings 25 on the same side. Each reciprocating moving rod 20 can move up, down, left and right in each first strip-shaped opening 25.

[0054] The lower end of each rotating rod 26 is hinged to the upper surface of each first slider 24, specifically, it can be hinged by arranging a hinge seat on the upper surface of the first slider 24. The cross-shaped pressing plate 27 is located inside the first support cavity 2. One edge of the cross-shaped pressing plate 27 extends in the left-right direction, and the other edge extends in the front-rear direction. The upper ends of the two rotating rods 26 are hinged to the lower surfaces on the left and right sides of the center of the cross-shaped pressing plate 27, specifically, it can be hinged by arranging a hinge seat on the lower surface of the cross-shaped pressing plate 27. Preferably, the positions where the two rotating rods 26 are hinged to the cross-shaped pressing plate 27 are both close to the center of the cross-shaped pressing plate 27. The cross-shaped pressing plate 27 has ends at the four strip-shaped edges. The two second guide rods 28 respectively pass through the front end and the rear end of the cross-shaped pressing plate 27. The cross-shaped pressing plate 27 can move up and down along the second guide rods 28. The second guide rods 28 are located inside the first support cavity 2. The upper end of each second guide rod 28 is connected to the top plate of the first support cavity 2, and the lower end of each second guide rod 28 is connected to the bottom plate of the first support cavity 2, specifically, it can be connected by threads. A third compression spring 29 is sleeved on each second guide rod 28. The upper end of the third compression spring 29 contacts the lower surface of the cross-shaped pressing plate 27, and the lower end of the third compression spring 29 contacts the inner surface of the bottom plate of the first support cavity 2.

[0055] An electric push rod 30 is installed on the outer surface of the top plate of the first support cavity 2. Specifically, a push rod mounting seat 31 is arranged on the outer surface of the top plate of the first support cavity 2. The electric push rod 30 is installed at the center of the push rod mounting seat 31, specifically, it can be connected by screws. Specifically, the push rod mounting seat 31 is supported on the outer surface of the top plate of the first support cavity 2 by four vertical rods arranged at the four corners of the push rod mounting seat 31, so as to have enough space to install the electric push rod 30. The movable end of the electric push rod 30 can movably pass through the top plate of the first support cavity 2 and contact the upper surface of the cross-shaped pressing plate 27.

[0056] Through the above structural design, the detection method of the embodiment includes: during detection, when the detection device moves from a thicker section of the boom 1 to a thinner section of the boom 1, in addition to the upward movement of the reciprocating moving rod 20 described above, when the elastic force of the second compression spring 22 causes the bearing plate 21 to move upward until it contacts the left and right ends of the cross-shaped pressure plate 27, the cross-shaped pressure plate 27 can also move upward. During the upward movement of the cross-shaped pressure plate 27, the rotating rod 26 is driven to rotate, so that the lower end of the rotating rod 26 drives the first slider 24 to move towards the middle, thereby causing the U-shaped ring formed by the hinged connection of multiple second sensor boxes 18 to contract towards the middle. During this process, the elastic force of the third compression spring 29 will also assist in pushing the cross-shaped pressure plate 27 upward. It should be understood that during this process, the movable end of the electric push rod 30 does not extend, that is, it will not press against the cross-shaped pressure plate 27. In summary, when the detection device moves from a thicker section of the boom 1 to a thinner section of the boom 1, through the above combined actions, a tightening force towards the middle and upper part is provided, and the U-shaped ring formed by the hinged connection of multiple second sensor boxes 18 tightly surrounds the side surface and the lower surface of the boom 1.

[0057] When the detection device moves from a thinner section of the boom 1 to a thicker section of the boom 1 and it is necessary to expand the detection ring, the movable end of the electric push rod 30 moves downward, presses against the cross-shaped pressure plate 27 and pushes the cross-shaped pressure plate 27 downward. The cross-shaped pressure plate 27 drives the two rotating rods 26 to rotate, causing the two first sliders 24 to move towards the left and right sides respectively, resulting in the U-shaped ring formed by the hinged connection of multiple second sensor boxes 18 expanding towards the left and right sides, and the U-shaped ring droops under its own gravity, so that the U-shaped ring expands.

[0058] Therefore, when the detection ring passes through the steps of different sections of the boom 1, the detection ring is loosened through the above operations to cross the steps, or the detection ring is contracted to achieve continuous detection of different sections of the boom 1.

[0059] Preferably, at least one second guide wheel 32 is symmetrically arranged at the front and rear ends of each second sensor box 18. The second guide wheel 32 is used to play a guiding role during the detection process, assisting the side and bottom detection parts to walk in the front-rear direction on the side surface and the lower surface of the boom 1. In addition, since the second magnet 19 will generate an adsorption force on the boom 1, the second guide wheel 32 can reduce the friction generated by the adsorption.

[0060] Embodiment 4

[0061] Embodiment 4 of the present invention discloses a crawler traveling surface defect detection device for a crane boom. As Figures 1 to 15 shown, the crawler traveling surface defect detection device of Embodiment 4 is the same as that of Embodiment 1, 2 or 3. In addition, Embodiment 4 specifically discloses an implementation structure of the crawler traveling assembly.

[0062] Specifically, at least one connecting seat 33 is connected to the upper surface of each crawler foot component. At least one third guiding rod 34 is passed through the upper end of the connecting seat 33. Preferably, the number of connecting seats 33 connected to each crawler foot component is two, and two third guiding rods 34 can be passed through the upper end of each connecting seat 33. A sliding seat 35 for the third guiding rod 34 to pass through can be arranged at the upper end of the connecting seat 33. The left and right sides of the head of the second support cavity 3 in the shape of the letter T extend downward to form first protruding cavities 36, and a cavity is formed between the two first protruding cavities 36. The two ends of the third guiding rod 34 are respectively connected to the left and right side plates of the first protruding cavity 36 on the same side, and can be fixed and limited by nuts. At least one second strip-shaped opening 37 is formed in the bottom wall of each first protruding cavity 36. Each connecting seat 33 passes through the second strip-shaped opening 37, is suspended on the bottom wall of the first protruding cavity 36 and can move left and right in the second strip-shaped opening 37. A fourth compression spring 38 is sleeved on the third guiding rod 34. One end of the fourth compression spring 38 contacts the outer side plate among the left and right side plates of the first protruding cavity 36 on the same side. The other end of the fourth compression spring 38 contacts the outer side surface among the left and right side surfaces of the upper end of the connecting seat 33 on the same side. "Outer" refers to being close to the side edge of the first protruding cavity 36.

[0063] Specifically, each crawler foot component includes: a triangular upper fixing plate 39, a triangular lower fixing plate 40, and a crawler 41. The upper fixing plate 39 and the lower fixing plate 40 are arranged parallel and opposite to each other and are connected by a support shaft. The connecting seat 33 is connected to the upper fixing plate 39. Three first limiting wheels 42 are rotatably connected between the upper fixing plate 39 and the lower fixing plate 40 and are respectively located at the three corners of the upper fixing plate 39 and the lower fixing plate 40. Specifically, the first limiting wheels 42 can be connected by a shaft arranged between the upper fixing plate 39 and the lower fixing plate 40. The crawler 41 is wound around the three first limiting wheels 42. The crawler 41 is a magnetic adsorption type crawler, which can generate an adsorption force between the crawler 41 and the boom 1. The magnitude of the adsorption force can be changed by adjusting the magnetic adsorption force, so that the crawler 41 adheres to the side surface of the boom 1 without hindering the movement of the crawler 41. A support plate 43 is arranged parallel between the upper fixing plate 39 and the lower fixing plate 40. The support plate 43 can be connected between the upper fixing plate 39 and the lower fixing plate 40 by a fixing shaft. The support plate 43 has four protruding corners in shape. A set of second limiting wheels 44 are respectively arranged at the four corners of the support plate 43. Specifically, two second limiting wheels 44 in each set of second limiting wheels 44 are respectively located above and below the support plate 43. The second limiting wheels 44 are in contact with the inner surface of the crawler 41 and are used for supporting and limiting the crawler 41. The size of the second limiting wheels 44 is smaller than the size of the first limiting wheels 42. A first motor 45 is arranged on the lower surface of the lower fixing plate 40. Specifically, a second motor fixing plate 46 is installed on the lower surface of the lower fixing plate 40. The first motor 45 is installed on the second motor fixing plate 46. A driving wheel 47 is sleeved on the output shaft of the first motor 45. A transmission belt 48 is wound around the driving wheel 47 and a driven wheel 49. The driven wheel 49 and a first limiting wheel 42 are sleeved on the same rotating shaft. It should be understood that the driving wheel 47, the driven wheel 49, and the transmission belt 48 are all located below the lower fixing plate 40. Therefore, the rotating shaft sleeved with the driven wheel 49 needs to penetrate the lower fixing plate 40.

[0064] Through the above structural design, during the movement of the detection device, the contact force makes the crawler 41 adhere to the side surface of the boom 1. Among them, the contact force includes both the adsorption force provided by the crawler 41 and the elastic force provided by the fourth compression spring 38, thereby preventing the crawler 41 from slipping due to insufficient contact force. Especially when the detection device moves to the variable diameter part of the boom 1, under the action of the elastic force of the fourth compression spring 38, the connecting seat 33 can stretch and approach the side surface of the same side of the boom 1 along the third guide rod 34, which is beneficial for the crawler 41 of the connected crawler foot component to contact the side surface of the same side of the boom 1. Start the first motor 45 to drive the driving wheel 47 to rotate. The driving wheel 47 drives the transmission belt 48 to move. The transmission belt 48 drives the driven wheel 49 to rotate. The driven wheel 49 drives the first limiting wheel 42 sleeved on the same rotating shaft to rotate. The first limiting wheel 42 drives the crawler 41 to move, realizing the movement of the crawler foot component, and thus enabling the entire detection device to move.

[0065] Embodiment 5

[0066] Embodiment 5 of the present invention discloses a crawler traveling surface defect detection device for a crane boom. As Figures 1 to 15 shown, the crawler traveling surface defect detection device of Embodiment 5 is the same as that of Embodiments 1, 2, 3 or 4. In addition, Embodiment 5 specifically discloses an implementation structure for the centering adjustment of the auxiliary detection device.

[0067] Specifically, one end of each second support cavity 3 facing the first support cavity 2 has a second protruding cavity 50, so that the second support cavity 3 as a whole is T-shaped. The first support cavity 2 is connected to the second protruding cavity 50 of each second support cavity 3 itself. A third strip-shaped opening 51 is symmetrically opened on each of the left and right side plates of each second protruding cavity 50. One end of each first connecting rod 52 horizontally extends out of each third strip-shaped opening 51 and then connects to the upper end of a vertically arranged second connecting rod 53. The downward lower end of the second connecting rod 53 is connected to a third limiting wheel 54. The other ends of the two first connecting rods 52 corresponding to each second protruding cavity 50 in the third strip-shaped opening 51 are respectively hinged to two diagonals of a rhombic link 55, and the other two diagonals of the rhombic link 55 are respectively hinged to a fixed seat 56 and a second slider 57, specifically, hinges can be provided at the four corners of the rhombic link 55 for hinging. The inner surface of the top plate of the second protruding cavity 50 is connected with a fixed seat 56 and a first motor fixing plate 58 arranged oppositely. A second motor 59 is installed on the first motor fixing plate 58. The output lead screw 60 of the second motor 59 passes through each second slider 57 and then connects to the fixed seat 56. The hole on the second slider 57 through which the output lead screw 60 of the second motor 59 passes is a threaded hole that can be threadedly engaged with the output lead screw 60 of the second motor 59. A smooth rod 61 passing through each second slider 57 is arranged in parallel on each of the left and right sides of the output lead screw 60 of the second motor 59, so that the movement of the second slider 57 is more stable. The hole on the second slider 57 through which the smooth rod 61 passes is a sliding support hole. The two ends of the smooth rod 61 are respectively connected to the corresponding fixed seat 56 and the first motor fixing plate 58. The layout of the smooth rod 61 is parallel to the boom. A distance sensor 62 is arranged at the lower end of each second connecting rod 53. Specifically, the lower end of the second connecting rod 53 can extend forward or backward by a sensor mounting plate 63, and the distance sensor 62 is mounted on the sensor mounting plate 63.

[0068] Taking the example that the second motor 59 rotates forward and the third limit wheels 54 on both sides move closer to the corresponding side surface of the boom 1, when the second motor 59 rotates forward, the output lead screw 60 of the second motor 59 causes the second slider 57 to move towards the second motor 59, driving a corner of the diamond link 55 hinged to the second slider 57 to move towards the second motor 59. The two diagonal corners on the left and right sides of the diamond link 55 move towards the center of the diamond respectively, driving the two first connecting rods 52 to move towards the center, so that the third limit wheels 54 on both sides move closer to the corresponding side surface of the boom 1; conversely, when the second motor 59 rotates reversely, the output lead screw 60 of the second motor 59 causes the second slider 57 to move towards the fixed seat 56, driving a corner of the diamond link 55 hinged to the second slider 57 to move towards the fixed seat 56. The two diagonal corners on the left and right sides of the diamond link 55 move towards the left and right sides of the diamond respectively, driving the two first connecting rods 52 to move towards the left and right sides respectively, so that the third limit wheels 54 on both sides move away from the corresponding side surface of the boom 1; it can adapt to the sizes of different sections of the boom 1.

[0069] The embodiment of the present invention also provides the following detection method:

[0070] During the process of the detection device moving forward, the distance sensors 62 on both sides continuously detect the distances from themselves to the corresponding side surface of the boom 1. If the crawler foot components deviate from the central main axis of the boom 1, it will cause a situation where one crawler 41 of the crawler foot components on the left and right sides touches the boom 1 and the other does not. At this time, the distance values detected by the distance sensors 62 on the left and right sides are not equal. Then, through the feedback of this signal, the second motor 59 is adjusted to start rotating forward, so that the second slider 57 moves towards the second motor 59, and then drives the third limit wheel 54 to move closer to the middle. When the distance values detected by the distance sensors 62 on both sides are equal, the central section of the detection device coincides with the central section of the boom 1, and thus automatic centering adjustment is achieved.

[0071] Therefore, the detection device of the above embodiments, based on the magnetic flux leakage detection technology and combined with the actual cross-sectional shape profile of the boom 1, realizes the automatic centering function of the device through the diamond link 55 and the distance sensor 62, and adopts the obstacle-crossing performance of the crawler self-propelled structure. For the steps between different sections of the crane boom 1, it can realize the detection of walking over the steps on the surfaces of different sections of the boom 1, and can always keep the crawler 41 in contact with the side surface of the boom 1 to prevent slipping. The hinge-type structure enables multiple second sensor boxes 18 to form a U-shaped ring around the side surface and the lower surface of the boom 1. At the same time, combined with the structure that can realize automatic tightening, the second magnetic sensor array 17 always keeps completely in contact with the side surface and the lower surface of the boom 1, and can automatically adjust the cross-sectional size when encountering different sections of the boom 1. The first sensor box 6 located on the upper surface of the boom 1 adopts a door closer-type structure, which can automatically open to cross obstacles when encountering obstacles and automatically reset when passing the obstacles.

[0072] In summary, the crawler traveling surface defect detection device for the crane boom of the embodiment of the present invention, aiming at the structure and size characteristics of the crane boom, can realize the fully automatic detection of the surface defects of the crane boom along the surface of the mobile crane boom. The detection is fast and efficient, preventing the occurrence of missed detection and misdetection of the surface defects of the crane boom, effectively preventing the occurrence of crane boom fracture accidents, and is of great significance for ensuring the safe operation of the hoisting and tower erection construction of the transmission line crane.

[0073] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A crawler - type surface defect detection device for a crane boom, characterized in that, it includes: a top detection component, a side and bottom detection component, and two crawler - type traveling components; The top detection component includes: a first support cavity and two flat detection pieces. On the outer surface of the side wall at the front or rear end of the first support cavity, two movable flat detection pieces are symmetrically arranged; The side and bottom detection component includes: a U - shaped detection piece that can be scaled up and down and left and right and is located below the first support cavity. The two ends of the U - shaped detection piece are connected to the first support cavity; Each crawler - type traveling component includes: a second support cavity, two crawler foot components, and at least one support wheel. The two second support cavities are respectively connected to the outer surfaces of the side walls at the front and rear ends of the first support cavity. The two crawler foot components are respectively connected to the left and right sides of the bottom wall of the second support cavity. The support wheel is arranged on the outer surface of the bottom wall of the second support cavity; In the detection state, the two flat detection pieces and the U - shaped detection piece enclose a detection ring for the crane boom to pass through; The flat detection piece includes: a first magneto - sensitive sensor array. The first magneto - sensitive sensor array is arranged in a first sensor box. First magnets are respectively arranged in the grooves at the front and rear ends of the first sensor box; On the outer surface of the side wall at the front or rear end of the first support cavity, two mounting brackets are symmetrically arranged. At least one first guide rod is connected between the upper plate and the lower plate of the mounting bracket; The upper surface of each first sensor box is connected to a first mounting plate. Each second mounting plate is arranged above each first mounting plate. The outer side of each first mounting plate and the outer side of each second mounting plate are connected by a hinge. The body of a damping door closer is installed on each first mounting plate. The rotating link of each damping door closer is hinged to each second mounting plate. The upper end of each second mounting plate extends with a movable plate perpendicular to the second mounting plate. Each movable plate is sleeved on the corresponding at least one first guide rod. A first compression spring is sleeved on the first guide rod. The upper end of the first compression spring contacts the lower surface of the upper plate of the mounting bracket. The lower end of the first compression spring contacts the upper surface of the movable plate.

2. The crawler - type surface defect detection device for a crane boom according to claim 1, characterized in that: At least one first guide wheel is symmetrically arranged at each of the front and rear ends of each first sensor box.

3. The crawler - type surface defect detection device for a crane boom according to claim 1, characterized in that, The U - shaped detection piece includes: a plurality of second magneto - sensitive sensor arrays. Each second magneto - sensitive sensor array is arranged in each second sensor box. Second magnets are respectively arranged in the grooves at the front and rear ends of each second sensor box. A plurality of second sensor boxes are sequentially hinged to form a U - shape; The two second sensor boxes located at the two ends of the U - shape are respectively connected to the first support cavity in a manner that can move up and down and left and right.

4. The crawler traveling surface defect detection device for the crane boom according to claim 3, characterized in that: At least one second guide wheel is symmetrically arranged at each of the front and rear ends of each of the second sensor boxes.

5. The crawler traveling surface defect detection device for the crane boom according to claim 3, characterized in that: The lower ends of two reciprocating moving rods are respectively connected to the front and rear ends of the two second sensor boxes located at the two ends of the U shape. The upper ends of the two reciprocating moving rods located at the same end pass through the bottom wall of the first support cavity and are connected to a bearing plate. A second compression spring is sleeved on each of the reciprocating moving rods. The second compression spring is located inside the first support cavity, and the upper end of the second compression spring contacts the lower surface of the bearing plate.

6. The crawler traveling surface defect detection device for the crane boom according to claim 5, characterized in that: A linear guide rail is arranged on the inner surface of the bottom wall of the first support cavity. Two slidable first sliders are symmetrically arranged on the linear guide rail. The two reciprocating moving rods connected to the same second sensor box pass through the first slider on the same side. The lower end of the second compression spring sleeved on the reciprocating moving rod contacts the upper surface of the first slider through which the reciprocating moving rod passes; Two first strip-shaped openings parallel to the linear guide rail are symmetrically opened on each of the left and right sides of the bottom wall of the first support cavity. The two first strip-shaped openings on the same side are respectively located at the front end and the rear end of the linear guide rail. The two reciprocating moving rods on the same side respectively pass through the two first strip-shaped openings on the same side; The lower end of each rotating rod is hinged to the upper surface of each first slider. The upper ends of the two rotating rods are hinged to the lower surfaces on the left and right sides of the center of the cross-shaped pressing plate. Two second guide rods respectively pass through the front end and the rear end of the cross-shaped pressing plate. The upper end of each second guide rod is connected to the top plate of the first support cavity. The lower end of each second guide rod is connected to the bottom plate of the first support cavity. A third compression spring is sleeved on each second guide rod. The upper end of the third compression spring contacts the lower surface of the cross-shaped pressing plate. The lower end of the third compression spring contacts the inner surface of the bottom plate of the first support cavity; An electric push rod is installed on the outer surface of the top plate of the first support cavity. The movable end of the electric push rod can move through the top plate of the first support cavity and contact the upper surface of the cross-shaped pressing plate.

7. The crawler traveling surface defect detection device for the crane boom according to claim 1, characterized in that: The upper surface of each of the crawler foot components is connected to at least one connecting seat. At least one third guiding rod is inserted through the upper end of the connecting seat. The left and right sides of the second support cavity extend downward to form first protruding cavities. The two ends of the third guiding rod are respectively connected to the left and right side plates of the first protruding cavity on the same side. At least one second strip-shaped opening is formed in the bottom wall of each first protruding cavity. Each connecting seat passes through the second strip-shaped opening and can move in the second strip-shaped opening. A fourth compression spring is sleeved on the third guiding rod. One end of the fourth compression spring contacts the outer side plate of the left and right side plates of the first protruding cavity on the same side, and the other end of the fourth compression spring contacts the outer side surface of the left and right side surfaces of the upper end of the connecting seat on the same side.

8. The surface defect detection device for a crane boom according to claim 7, wherein, each of the crawler foot components includes: a triangular upper fixing plate, a triangular lower fixing plate and a crawler. The upper fixing plate and the lower fixing plate are arranged parallel and opposite to each other and are connected by a support shaft. The connecting seat is connected to the upper fixing plate. Three first limiting wheels are rotatably connected between the upper fixing plate and the lower fixing plate and are respectively located at the three corners of the upper fixing plate and the lower fixing plate. The crawler is wound around the outside of the three first limiting wheels. A support plate is arranged parallel between the upper fixing plate and the lower fixing plate. A set of second limiting wheels are respectively arranged at the four corners of the support plate. The second limiting wheels contact the inner surface of the crawler. A first motor is arranged on the lower surface of the lower fixing plate. A driving wheel is sleeved on the output shaft of the first motor. A transmission belt is wound around the driving wheel and a driven wheel. The driven wheel and one of the first limiting wheels are sleeved on the same rotating shaft.

9. The crawler traveling surface defect detection device for a crane boom according to claim 1, wherein: One end of each second support cavity facing the first support cavity has a second protruding cavity. The first support cavity is connected to the second protruding cavity of each second support cavity itself. One third strip-shaped opening is symmetrically formed on each of the left and right side plates of each second protruding cavity. One end of each first connecting rod extends out of each third strip-shaped opening and then is connected to the upper end of a second connecting rod. The lower end of the second connecting rod is connected to a third limiting wheel. The other ends of the two first connecting rods corresponding to each second protruding cavity are respectively hinged to two diagonals of a rhombic connecting rod. The other two diagonals of the rhombic connecting rod are respectively hinged to a fixed seat and a second slider. The inner surface of the top plate of the second protruding cavity is connected with the relatively arranged fixed seat and a first motor fixing plate. A second motor is installed on the first motor fixing plate. The output lead screw of the second motor passes through each second slider and then is connected to the fixed seat. One optical rod passing through each second slider is arranged in parallel on each of the left and right sides of the output lead screw of the second motor. The two ends of the optical rod are respectively connected to the corresponding fixed seat and the first motor fixing plate. A distance sensor is arranged at the lower end of each second connecting rod.

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