An attached detection trolley device for detecting hidden damage of a shaped steel structure

Abstract

The application discloses an attached detection trolley device for detecting hidden damage of a profile steel structure, which comprises a main body structure, a signal processing system, a distance-adjustable detection system for detecting hidden damage of the steel structure, and a power advancing system for driving the main body structure to move on the steel structure to be detected, wherein the main body structure is connected with the distance-adjustable detection system and the power advancing system, and the signal processing system is connected with the distance-adjustable detection system. The device can detect hidden damage of the profile steel structure.

Description

Technical Field

[0001] This invention belongs to the field of non-destructive testing of steel structures in civil engineering, and relates to an attached inspection trolley device for detecting latent damage in steel structures. Background Technology

[0002] With the development of the construction industry, the continuous improvement of steel smelting levels, and people's pursuit of diversified and iconic urban architecture, super high-rise and complex structural buildings are increasingly common. Furthermore, with the increasing demands of industrial development and production, single-story factory buildings have become the primary choice for workshops in food production, metallurgy, and machinery processing. Super high-rise buildings, complex structural buildings, and single-story factory buildings are characterized by large spans and diverse load forms. Especially in single-story factory buildings, steel beams must withstand dynamic loads and moving loads from cranes, power equipment, etc., leading to fatigue brittle failure. Initial defects that may exist in steel structural components during the initial loading stage are the main cause of stress concentration, and brittle failure of steel structures due to the accumulation of hidden damage during later service is also common. Such brittle fracture of components, and even the collapse of the entire structure caused by component fracture, poses a serious threat to our lives and property. This patent designs a damage detection device for I-beams and channel steel beams, which are widely used in residential buildings and single-story factory buildings, to achieve an early warning function.

[0003] Magnetic memory testing (MMT) technology was proposed by Russian scholar Doubov in the late 1990s. Its principle is based on the fact that ferromagnetic materials, under the combined influence of the Earth's magnetic field and working loads, generate freely scattering leakage magnetic fields in dislocation accumulation and stable slip zones. Therefore, it can detect and provide early warning of existing macroscopic defects and hidden damage. Traditional steel structure inspection techniques include penetrant testing, magnetic particle testing, eddy current testing, radiographic testing, and ultrasonic testing, which are relatively complex to operate and cannot be used for early warning. Compared to these techniques, MMT technology offers the advantages of convenience and speed. Moreover, MMT technology is currently the only effective non-destructive testing method.

[0004] While magnetic memory metal detection technology has been successfully applied in boilers and pipelines, its application in building structures is still in the exploratory and experimental stage. In particular, the integration of this technology with various mechanical, electrical, and information technologies is relatively limited. The Earth's magnetic field is weak, making the tested ferromagnetic components susceptible to influence from surrounding ferromagnetic structures and varying lift-off values. Therefore, a complete set of equipment and diagnostic methods is needed to apply this technology to practical building engineering projects, enabling early detection of hidden damage and ensuring the safety of human life and property. The detection of beams and columns such as I-beams and channel steel, which can withstand axial and bending loads, is especially crucial. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an attached inspection trolley device for detecting hidden damage to steel structures. This device is capable of detecting hidden damage to steel structures.

[0006] To achieve the above objectives, the attached detection trolley device for detecting latent damage to steel structures according to the present invention includes a main structure, a signal processing system, a distance-adjustable detection system for detecting latent damage to the steel structure, and a power propulsion system for moving the main structure on the steel structure to be detected. The main structure is connected to the distance-adjustable detection system and the power propulsion system, and the signal processing system is connected to the distance-adjustable detection system.

[0007] The main structure includes a main frame, a small frame, a large frame axle mechanism, a small frame axle mechanism, alarm indicator light 1, alarm indicator light 2, alarm indicator light 3, a horizontally rotatable camera, a side wall camera 1, and a side wall camera 2.

[0008] Alarm indicator light one is installed at the rear of the main frame, alarm indicator light two is installed on the left wall of the main frame, and alarm indicator light three is installed on the right wall of the main frame. The main frame and the main frame are connected.

[0009] The large frame axle mechanism includes a transverse wheel axle connecting rod 1, a vertical wheel connecting rod 1, and a vertical wheel connecting rod 2. One end of vertical wheel connecting rod 1 and one end of vertical wheel connecting rod 2 are fixed at the middle position of the bottom of the main frame. The other end of vertical wheel connecting rod 1 and the other end of vertical wheel connecting rod 2 are connected to transverse wheel axle connecting rod 1. Both ends of transverse wheel axle connecting rod 1 are equipped with rear-mounted wheels. A body shock-absorbing spring 1 is sleeved on vertical wheel connecting rod 1, and a vehicle noise shock-absorbing spring 2 is sleeved on vertical wheel connecting rod 2.

[0010] The small frame axle mechanism includes a second transverse wheel axle connecting rod, a third vertical wheel connecting rod, and a fourth vertical wheel connecting rod. One end of the third vertical wheel connecting rod and one end of the fourth vertical wheel connecting rod are fixed at the middle position of the bottom of the main small frame. The other ends of the third vertical wheel connecting rod and the fourth vertical wheel connecting rod are connected to the second transverse wheel axle connecting rod. Both ends of the second transverse wheel axle connecting rod are equipped with front-mounted wheels. A third body shock absorber spring is sleeved on the third vertical wheel connecting rod, and a fourth body shock absorber spring is sleeved on the fourth vertical wheel connecting rod.

[0011] A horizontally rotatable camera is installed in the middle of the rear of the main frame; a first side-wall camera is installed on the left side of the main frame; and a second side-wall camera is installed on the right side of the main frame.

[0012] The distance-adjustable inspection system includes a web plate inspection mechanism, a flange inspection mechanism, and a weld inspection mechanism;

[0013] The web plate detection mechanism includes a telescopic detection wheel connecting rod and a T-shaped connecting rod;

[0014] The two adjacent web plate detection wheels on the outer side are connected by a telescopic detection wheel connecting rod, and other adjacent web plate detection wheels are connected by a horizontal bar in a T-shaped connecting rod. The vertical bar in the T-shaped connecting rod is connected to the main frame. A transverse damping spring is installed between adjacent web plate detection wheels. One end of the transverse damping spring is connected to the web plate detection wheel, and the other end of the transverse damping spring is connected to the horizontal bar in the T-shaped connecting rod or the telescopic detection wheel connecting rod.

[0015] The flange inspection mechanism includes a flange inspection wheel connecting rod, a horn connecting rod, a telescopic sleeve, an L-shaped connecting rod, and a rotating threaded lifting rod;

[0016] Adjacent flange detection wheels are connected by flange detection wheel connecting rods. The top flange detection wheel is equipped with an internal threaded sleeve. One end of the horn connecting rod is threaded into the internal threaded sleeve, and the other end of the horn connecting rod is inserted into one end of the telescopic sleeve. One end of the L-shaped connecting rod is inserted into the other end of the telescopic sleeve. A rotating threaded lifting rod is provided on the main frame, and the other end of the L-shaped connecting rod is connected to the rotating threaded lifting rod.

[0017] The weld inspection mechanism includes a triangular weld inspection wheel, a V-shaped spring frame, an angle adjustment rod, a lateral distance adjustment rod, and an X-shaped distance adjustment frame;

[0018] One end of the X-shaped distance adjustment frame is movably connected to the vertical rod of the T-shaped connecting rod, and a spring and a limiting sleeve are sleeved on the vertical rod of the T-shaped connecting rod. The spring is located between the limiting sleeve and the horizontal rod of the T-shaped connecting rod. The vertical rod and the horizontal rod of the T-shaped connecting rod are slidably connected. One end of the V-shaped spring frame is connected to one end of the horizontal distance adjustment rod, and the other end of the horizontal distance adjustment rod is connected to the vertical rod of the T-shaped connecting rod. The other end of the V-shaped spring frame is connected to the triangular weld detection wheel. One end of the angle adjustment rod is connected to the middle of one side of the V-shaped spring frame, and the other end of the angle adjustment rod is connected to the vertical rod of the T-shaped connecting rod.

[0019] Each web plate detection wheel has several web plate magnetic memory detection pens evenly distributed on it, and each flange detection wheel has several flange magnetic memory detection pens evenly distributed on it. The web plate magnetic memory detection pens and the flange magnetic memory detection pens are connected to the signal processing system.

[0020] Each web plate testing wheel and flange testing wheel has a pre-set mounting hole for the web plate magnetic memory testing pen and the flange magnetic memory testing pen, respectively.

[0021] Miniature springs for the web plate and the flange plate are respectively provided at the connection between the web plate magnetic memory detection pen and the web plate detection wheel, and at the connection between the flange magnetic memory detection pen and the flange detection wheel.

[0022] The power propulsion system includes a track mechanism and a semi-circular power mounting mechanism. The track mechanism includes a longitudinal threaded guide rail, a portal support frame, and a lateral distance threaded adjustment rod. The semi-circular power mounting mechanism consists of a threaded track that fits into a travel guide tube.

[0023] The semi-circular power mounting mechanism is fixed to the main frame. A stepper motor is installed inside the semi-circular power mounting mechanism. A 12-tooth gear is installed on the output shaft of the stepper motor. The threaded track and the travel guide are installed on the longitudinal threaded guide. A hollow hexagonal 12-tooth power gear is sleeved on the threaded track and the travel guide. The hollow hexagonal power gear and the 12-tooth gear mesh with each other.

[0024] The end of the longitudinal threaded guide rail is connected to one end of the portal frame. One end of the transverse distance threaded adjustment rod passes through the other end of the portal frame. The other end of the transverse distance threaded adjustment rod is provided with an anti-slip rubber pad, which contacts the flange of the steel structure. A nut is provided on the transverse distance threaded adjustment rod, wherein the nut contacts the portal frame.

[0025] The signal processing system includes a web magnetic signal processor, a flange magnetic signal processor I, a flange magnetic signal processor II, a distance controller, an alarm controller I, an alarm controller II, an alarm controller III, a camera controller I, a camera controller II, a camera controller III, and an integrated processor;

[0026] The abdominal magnetic signal processor is connected to the abdominal magnetic memory detection pen and alarm controller, and the alarm controller is connected to the alarm indicator light.

[0027] The camera controller is connected to a horizontally rotatable camera;

[0028] The flange magnetic signal processor is connected to the flange magnetic memory detection pen and the alarm controller, and the alarm controller is connected to the alarm indicator light.

[0029] Camera controller 2 is connected to side-wall camera 1;

[0030] The second flange magnetic signal processor is connected to the flange detection wheel and the third alarm controller, and the third alarm controller is connected to the third alarm indicator light.

[0031] The integrated processor is connected to the wing magnetic signal processor II, the wing magnetic signal processor I, and the web magnetic signal processor.

[0032] The present invention has the following beneficial effects:

[0033] The attached detection trolley device for detecting latent damage in steel structures described in this invention, during operation, drives the main structure to move on the steel structure to be detected through a power propulsion system. During the movement, the latent damage in the steel structure is detected by an adjustable distance detection system, and the detected data is sent to a signal processing system to realize the detection of latent damage in the steel structure. The results are simple, the operation is convenient, and the practicality is extremely high. Attached Figure Description

[0034] Figure 1 The isometric test of the detection device described in this invention Figure 1 ;

[0035] Figure 2 The isometric test of the detection device described in this invention Figure 2 ;

[0036] Figure 3 Side view of the detection device described in this invention Figure 1 ;

[0037] Figure 4 Side view of the detection device described in this invention Figure 2 ;

[0038] Figure 5 This is a partially enlarged schematic diagram of the detection device described in this invention. Figure 1 ;

[0039] Figure 6 This is a partially enlarged schematic diagram of the detection device described in this invention. Figure 2 ;

[0040] Figure 7 A connection diagram for the portal frame 3012;

[0041] Figure 8 This is an isometric drawing of the web plate inspection wheel 2011.

[0042] Figure 9 Axonometric drawing of the 2021 flange inspection wheel;

[0043] Figure 10 This is a schematic diagram of the connection of the detection wheel of the present invention;

[0044] Figure 11 This is a layout diagram of the processors in this invention.

[0045] Among them, 1 is the main structure, 101 is the main frame, 102 is the main frame, 103 is the rear-mounted wheel, 104 is the front-mounted wheel, 107 is alarm indicator light one, 108 is alarm indicator light two, 109 is alarm indicator light three, 110 is a horizontally rotatable camera, 111 is a side wall camera one, 112 is a side wall camera two, 2 is a distance-adjustable detection system, 201 is a web plate detection mechanism, 2011 is a web plate detection wheel, 2012... 2013 is a transverse shock-absorbing spring; 2014 is a telescopic detection wheel connecting rod; 2015 is a web magnetic memory detection pen; 202 is a flange detection mechanism; 2021 is a flange detection wheel; 2022 is a flange magnetic memory detection pen; 2023 is a horn-shaped connecting rod; 2024 is a telescopic sleeve; 2025 is an L-shaped connecting rod; 2026 is a rotating threaded lifting rod; 203 is a weld detection mechanism; 3 is a power propulsion system; 301 is a track machine. 302 is a semi-circular power mounting mechanism, 3011 is a longitudinal threaded guide rail, 3012 is a portal support frame, 3013 is a lateral distance threaded adjustment rod, 3014 is an anti-slip rubber pad, 3021 is a threaded track fitting travel guide, 3022 is a hollow hexagonal 12-tooth power gear one, 3023 is a 12-tooth gear two, 4 is a signal processing system, 401 is a web magnetic signal processor, 402 is a flange magnetic signal processor one, 403 is... Flange magnetic signal processor II, 404 is a distance controller, 405 is an alarm controller I, 406 is an alarm controller II, 407 is an alarm controller III, 408 is a camera controller I, 409 is a camera controller II, 410 is a camera controller III, 411 is a comprehensive processor, 2031 is a triangular weld seam detection wheel, 2032 is a V-shaped spring frame, 2033 is an angle adjustment rod, 2034 is a lateral distance adjustment rod, and 2035 is an X-shaped distance adjustment frame. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some examples of the present invention, not all examples, and are not intended to limit the scope of the present invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts disclosed in the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0047] The accompanying drawings show structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not drawn to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0048] refer to Figures 1 to 11 The attached detection trolley device for detecting latent damage to steel structures according to the present invention includes a main structure 1, a distance adjustable detection system 2, a power propulsion system 3, and a signal processing system 4.

[0049] The main structure 1 includes a main frame 101, a main frame 102, two rear-mounted wheels 103, two front-mounted wheels 104, a main frame axle mechanism, a small frame axle mechanism, an alarm indicator light 107, an alarm indicator light 108, an alarm indicator light 109, a horizontally rotatable camera 110, a side wall camera 111, and a side wall camera 112. The alarm indicator light 107 is installed directly behind the main frame 101, the alarm indicator light 108 is installed on the left wall of the main frame 102, and the alarm indicator light 109 is installed on the right wall of the main frame 102. The main frame 101 and the main frame 102 are connected.

[0050] The large frame axle mechanism includes a body shock absorber spring 1, a vehicle noise damping spring 2, a transverse wheel axle connecting rod 1, a vertical wheel connecting rod 1, and a vertical wheel connecting rod 2. One end of the vertical wheel connecting rod 1 and one end of the vertical wheel connecting rod 2 are fixed at the middle position of the bottom of the main frame 101. The other end of the vertical wheel connecting rod 1 and the other end of the vertical wheel connecting rod 2 are connected to the transverse wheel axle connecting rod 1. Both ends of the transverse wheel axle connecting rod 1 are equipped with rear-mounted vehicle wheels 103. The body shock absorber spring 1 is sleeved on the vertical wheel connecting rod 1, and the vehicle noise damping spring 2 is sleeved on the vertical wheel connecting rod 2.

[0051] The small frame axle mechanism includes a body shock absorber spring three, a body shock absorber spring four, a transverse wheel axle connecting rod two, a vertical wheel connecting rod three, and a vertical wheel connecting rod four. One end of the vertical wheel connecting rod three and one end of the vertical wheel connecting rod four are fixed at the middle position of the bottom of the main small frame 102. The other end of the vertical wheel connecting rod three and the other end of the vertical wheel connecting rod four are connected to the transverse wheel axle connecting rod two. Both ends of the transverse wheel axle connecting rod two are provided with front-mounted vehicle wheels 104. A body shock absorber spring three is sleeved on the vertical wheel connecting rod three, and a body shock absorber spring four is sleeved on the vertical wheel connecting rod four.

[0052] A horizontally rotatable camera 110 is installed at the middle of the rear of the main frame 101; a side wall camera 111 is installed on the left side of the main frame 102; and a side wall camera 112 is installed on the right side of the main frame 102.

[0053] The distance-adjustable detection system 2 includes a web plate detection mechanism 201, a flange detection mechanism 202, and a weld detection mechanism 203;

[0054] The web plate detection mechanism 201 includes a telescopic detection wheel connecting rod 2013 and a T-shaped connecting rod 2014;

[0055] The two adjacent web plate detection wheels 2011 on the outer side are connected by a telescopic detection wheel connecting rod 2013. Other adjacent web plate detection wheels 2011 are connected by a horizontal bar in a T-shaped connecting rod 2014. The vertical bar in the T-shaped connecting rod 2014 is connected to the main frame 101. A transverse damping spring 2012 is provided between adjacent web plate detection wheels 2011. One end of the transverse damping spring 2012 is connected to the web plate detection wheel 2011, and the other end of the transverse damping spring 2012 is connected to the horizontal bar in the T-shaped connecting rod 2014 or the telescopic detection wheel connecting rod 2013.

[0056] The flange detection mechanism 202 includes a flange detection wheel connecting rod, a bull horn connecting rod 2023, a telescopic sleeve 2024, an L-shaped connecting rod 2025, and a rotating threaded lifting rod 2026;

[0057] Adjacent flange detection wheels 2021 are connected by flange detection wheel connecting rods. The top flange detection wheel 2021 is provided with an internal threaded sleeve. One end of the horn-shaped connecting rod 2023 is threaded into the internal threaded sleeve, and the other end of the horn-shaped connecting rod 2023 is inserted into one end of the telescopic sleeve 2024. One end of the L-shaped connecting rod 2025 is inserted into the other end of the telescopic sleeve 2024. The main frame 101 is provided with a rotating threaded lifting rod 2026, and the other end of the L-shaped connecting rod 2025 is connected to the rotating threaded lifting rod 2026.

[0058] Each web plate detection wheel 2011 has 6 web plate magnetic memory detection pens 2015 evenly distributed, and each flange detection wheel 2021 has 6 flange magnetic memory detection pens 2022 evenly distributed; each web plate detection wheel 2011 and flange detection wheel 2021 has pre-set mounting holes for the web plate magnetic memory detection pens 2015 and flange magnetic memory detection pens 2022 respectively. Miniature springs for the web magnetic memory detection pen 2015 and the web detection wheel 2011 are respectively provided at the connection points of the web magnetic memory detection pen 2022 and the flange detection wheel 2021. These miniature springs protect the web magnetic memory detection pen 2015 and the flange magnetic memory detection pen 2022. The reaction force of the web magnetic memory detection pen 2015 and the flange magnetic memory detection pen 2022 after being compressed is used to ensure that they make full contact with the surface of the steel beam being inspected.

[0059] The weld inspection mechanism 203 includes a triangular weld inspection wheel 2031, a V-shaped spring frame 2032, an angle adjustment rod 2033, a lateral distance adjustment rod 2034, and an X-shaped distance adjustment frame 2035.

[0060] One end of the X-shaped distance adjustment bracket 2035 is movably connected to the vertical rod of the T-shaped connecting rod 2014, and a spring and a limiting sleeve are sleeved on the vertical rod of the T-shaped connecting rod 2014. The spring is located between the limiting sleeve and the horizontal rod of the T-shaped connecting rod 2014. The vertical rod and the horizontal rod of the T-shaped connecting rod 2014 are slidably connected. One end of the V-shaped spring bracket 2032 is connected to one end of the transverse distance adjustment rod 2034, and the other end of the transverse distance adjustment rod 2034 is connected to the vertical rod of the T-shaped connecting rod 2014. The other end of the V-shaped spring bracket 2032 is connected to the triangular weld detection wheel 2031. One end of the angle adjustment rod 2033 is connected to the middle of one side of the V-shaped spring bracket 2032, and the other end of the angle adjustment rod 2033 is connected to the vertical rod of the T-shaped connecting rod 2014.

[0061] It should be noted that the flange detection wheel connecting rod is a detachable structure. The flange detection wheel 2021 can be added or removed to adapt to magnetic memory detection of the steel beam flange when the flange height changes. Two rotating threaded lifting rods 2026 ensure that the flange detection wheel 2021 maintains the same horizontal connection level with the main structure 1 as the height changes. Two telescopic sleeves 2024 ensure that the lift-off value of the probe of the flange magnetic memory detection pen 2022 on the flange detection wheel 2021 remains zero when the transverse web width of the steel beam changes, thus adapting to different types of I-beams and channel beams.

[0062] The power propulsion system 3 includes a track mechanism 301 and a semi-circular power mounting mechanism 302. The track mechanism 301 consists of a longitudinal threaded guide rail 3011, four portal support frames 3012, four lateral distance threaded adjustment rods 3013, and four anti-slip rubber pads 3014. The semi-circular power mounting mechanism 302 consists of a threaded track engaging travel guide 3021, a hollow hexagonal 12-tooth power gear 1 3022, and a 12-tooth gear 2 3023.

[0063] The semi-circular power mounting mechanism 302 is fixed to the main frame 101. A stepper motor is installed inside the semi-circular power mounting mechanism 302. A 12-tooth gear 3023 is installed on the output shaft of the stepper motor. A threaded track engaging travel guide 3021 is installed on the longitudinal threaded guide rail 3011. A hollow hexagonal 12-tooth power gear 3022 is sleeved on the threaded track engaging travel guide 3021. The hollow hexagonal 12-tooth power gear 3022 meshes with the 12-tooth gear 3023.

[0064] The end of the longitudinal threaded guide rail 3011 is connected to one end of the portal support frame 3012. One end of the transverse distance threaded adjusting rod 3013 passes through the other end of the portal support frame 3012. The other end of the transverse distance threaded adjusting rod 3013 is provided with an anti-slip rubber pad 3014. The anti-slip rubber pad 3014 contacts the flange of the steel structure. A nut is provided on the transverse distance threaded adjusting rod 3013, wherein the nut contacts the portal support frame 3012.

[0065] Specifically, the stepper motor is located at the center of the bottom of the semi-circular power mounting mechanism 302, and the batteries are located at the two corners of the semi-circular power mounting mechanism 302.

[0066] The signal processing system 4 includes a web magnetic signal processor 401, a flange magnetic signal processor 1 402, a flange magnetic signal processor 2 403, a distance controller 404, an alarm controller 1 405, an alarm controller 2 406, an alarm controller 3 407, a camera controller 1 408, a camera controller 2 409, a camera controller 3 410, and a comprehensive processor 411.

[0067] The web magnetic signal processor 401 processes the web magnetic signals Hp(y) and Hp(x) collected by the web magnetic memory detection pen 2015 located on the web detection wheel 2011. When the magnetic signals Hp(y) and Hp(x) processed by the web magnetic signal processor 401 meet the preset requirements, the alarm controller 405 controls the alarm indicator light 107 to issue an alarm command, and the camera controller 408 issues a shooting command to the horizontally rotatable camera 110 located directly behind the main frame 101. The flange magnetic signal processor 402 processes the one-sided flange magnetic signals Hp(y) and Hp(x) collected by the flange magnetic memory detection pen 2022 on the flange detection wheel 2021. When the collected magnetic signals Hp(y) and Hp(x) meet the preset requirements, the alarm controller 405 controls the alarm indicator light 107 to issue an alarm command, and the camera controller 408 issues a shooting command to the horizontally rotatable camera 110 located directly behind the main frame 101. The flange magnetic signal processor 402 processes the one-sided flange magnetic signals Hp(y) and Hp(x) collected by the flange magnetic memory detection pen 2022 located on the flange detection wheel 2021. When the preset threshold requirement is met, the alarm controller 406 controls the alarm indicator 108 located on the main frame 102 to issue an alarm command, and the camera controller 409 issues a shooting command to the side wall camera 111. The flange magnetic signal processor 403 processes the magnetic signals Hp(y) and Hp(x) collected by the flange detection wheel 2021 on the same side of the flange separately. When the preset threshold requirement is met, the alarm controller 407 issues an alarm command to the alarm indicator 109 located on the same side of the main frame 102, and the camera controller 410 issues a shooting command to the side wall camera 112 located on the same side of the flange. The distance controller 404 records the positions corresponding to the measured flange magnetic signal and web magnetic signal in real time.

[0068] The lateral distance threaded adjustment rod 3013 can be adjusted by rotating its own thread to raise and lower the vertical height of the portal support frame 3012, ensuring that the connection height between the portal support frame 3012, the semi-circular power mounting mechanism 302, and the longitudinal threaded guide rail 3011 is consistent. It also ensures the fixed connection between the portal support frame 3012 and the steel beam flange, allowing the power travel system 3 to adapt to I-beams and channel beams with different web widths.

[0069] A stepper motor drives a 12-tooth gear 3023 to rotate at a fixed angle, which in turn drives a hollow hexagonal 12-tooth power gear 3022 and a threaded guide rail 3021 nested within it to rotate at a fixed angle. The threaded guide rail 3021 rotates continuously around the longitudinal threaded guide rail 3011, which in turn drives the main structure 1 and the distance adjustable detection system 2 to move forward along the longitudinal threaded guide rail 3011 at a certain step distance.

[0070] During operation, the distance controller 404 correlates the distances from each real-time detection point to the initial starting point with the magnetic signals Hp(y) and Hp(x) input to the web magnetic signal processor 401, the flange magnetic signal processor 402, and the flange magnetic signal processor 403. The integrated processor 411 plots the variation curves of the normal magnetic signals Hp(y) and Hp(x) for the entire detected steel beam, with distance as the abscissa and the normal and tangential magnetic signals Hp(y) as the ordinates. Based on the variation trend, the integrated processor 411 directly issues response commands to the web magnetic signal processor 401, flange magnetic signal processor 402, and flange magnetic signal processor 403. The integrated processor 411 also processes the weld normal magnetic signal collected by the triangular weld detection wheel 2031.

[0071] In summary, this invention is easy to disassemble, highly accurate, and reliable in performance. It is adjustable and has an adaptive fine-tuning function, making it suitable for different types of detection objects. It can pass smoothly even when the surface of the object being detected is not smooth, and it is applicable to both horizontal and vertical magnetic memory detection.

Claims

1. An attached detection trolley device for detecting latent damage in steel structures, characterized in that, It includes a main structure (1), a signal processing system (4), a distance-adjustable detection system (2) for detecting hidden damage to the steel structure, and a power-driven system (3) for moving the main structure (1) on the steel structure to be detected. The main structure (1) is connected to the distance-adjustable detection system (2) and the power-driven system (3), and the signal processing system (4) is connected to the distance-adjustable detection system (2). The main structure (1) includes a main frame (101), a main frame (102), a frame axle mechanism, a frame axle mechanism, alarm indicator light one (107), alarm indicator light two (108), alarm indicator light three (109), a horizontally rotatable camera (110), a side wall camera one (111), and a side wall camera two (112). Alarm indicator light 1 (107) is installed at the rear of the main frame (101), alarm indicator light 2 (108) is installed on the left wall of the main frame (102), and alarm indicator light 3 (109) is installed on the right wall of the main frame (102). The main frame (101) and the main frame (102) are connected. The large frame axle mechanism includes a transverse wheel axle connecting rod 1, a vertical wheel connecting rod 1, and a vertical wheel connecting rod 2. One end of the vertical wheel connecting rod 1 and one end of the vertical wheel connecting rod 2 are fixed at the middle position of the bottom of the main frame (101). The other end of the vertical wheel connecting rod 1 and the other end of the vertical wheel connecting rod 2 are connected to the transverse wheel axle connecting rod 1. Both ends of the transverse wheel axle connecting rod 1 are equipped with rear-mounted vehicle wheels (103). A vehicle body shock-absorbing spring 1 is sleeved on the vertical wheel connecting rod 1, and a vehicle noise shock-absorbing spring 2 is sleeved on the vertical wheel connecting rod 2. The small frame axle mechanism includes a horizontal wheel axle connecting rod 2, a vertical wheel connecting rod 3 and a vertical wheel connecting rod 4. One end of the vertical wheel connecting rod 3 and one end of the vertical wheel connecting rod 4 are fixed at the middle position of the bottom of the main small frame (102). The other end of the vertical wheel connecting rod 3 and the other end of the vertical wheel connecting rod 4 are connected to the horizontal wheel axle connecting rod 2. Both ends of the horizontal wheel axle connecting rod 2 are provided with front-mounted vehicle wheels (104). A vehicle body shock absorber spring 3 is sleeved on the vertical wheel connecting rod 3 and a vehicle body shock absorber spring 4 is sleeved on the vertical wheel connecting rod 4. A horizontally rotatable camera (110) is installed at the middle position of the rear of the main frame (101); a side wall camera one (111) is installed at the left side of the main frame small frame (102); a side wall camera two (112) is installed at the right side of the main frame small frame (102); The distance-adjustable detection system (2) includes a web plate detection mechanism (201), a flange detection mechanism (202), and a weld detection mechanism (203). The web plate testing mechanism (201) includes a telescopic testing wheel connecting rod (2013) and a T-shaped connecting rod (2014). The two adjacent web plate detection wheels (2011) on the outer side are connected by a telescopic detection wheel connecting rod (2013), and the other adjacent web plate detection wheels (2011) are connected by a horizontal bar in a T-shaped connecting rod (2014). The vertical bar in the T-shaped connecting rod (2014) is connected to the main frame (101). A transverse damping spring (2012) is provided between the adjacent web plate detection wheels (2011). One end of the transverse damping spring (2012) is connected to the web plate detection wheel (2011), and the other end of the transverse damping spring (2012) is connected to the horizontal bar in the T-shaped connecting rod (2014) or the telescopic detection wheel connecting rod (2013). The flange inspection mechanism (202) includes a flange inspection wheel connecting rod, a bull horn connecting rod (2023), a telescopic sleeve (2024), an L-shaped connecting rod (2025), and a rotating threaded lifting rod (2026). Adjacent flange detection wheels (2021) are connected by flange detection wheel connecting rods. The top flange detection wheel (2021) is provided with an internal threaded sleeve. One end of the horn connecting rod (2023) is threaded into the internal threaded sleeve, and the other end of the horn connecting rod (2023) is inserted into one end of the telescopic sleeve (2024). One end of the L-shaped connecting rod (2025) is inserted into the other end of the telescopic sleeve (2024). The main frame (101) is provided with a rotating threaded lifting rod (2026), and the other end of the L-shaped connecting rod (2025) is connected to the rotating threaded lifting rod (2026). The weld inspection mechanism (203) includes a triangular weld inspection wheel (2031), a V-shaped spring frame (2032), an angle adjustment rod (2033), a lateral distance adjustment rod (2034), and an X-shaped distance adjustment frame (2035). One end of the X-type distance adjustment frame (2035) is movably connected to the vertical rod of the T-type connecting rod (2014), and a spring and a limiting sleeve are sleeved on the vertical rod of the T-type connecting rod (2014). The spring is set between the limiting sleeve and the horizontal rod of the T-type connecting rod (2014). The vertical rod and the horizontal rod of the T-type connecting rod (2014) are slidably connected. One end of the V-type spring frame (2032) is connected to one end of the transverse distance adjustment rod (2034), and the other end of the transverse distance adjustment rod (2034) is connected to the vertical rod of the T-type connecting rod (2014). The other end of the V-type spring frame (2032) is connected to the triangular weld seam detection wheel (2031). One end of the angle adjustment rod (2033) is connected to the middle of one side of the V-type spring frame (2032), and the other end of the angle adjustment rod (2033) is connected to the vertical rod of the T-type connecting rod (2014). Each web plate detection wheel (2011) has several web plate magnetic memory detection pens (2015) evenly distributed, and each flange detection wheel (2021) has several flange magnetic memory detection pens (2022) evenly distributed. The web plate magnetic memory detection pens (2015) and the flange magnetic memory detection pens (2022) are connected to the signal processing system (4). Each web plate testing wheel (2011) and flange testing wheel (2021) has pre-set mounting holes for the web plate magnetic memory testing pen (2015) and the flange magnetic memory testing pen (2022); The power propulsion system (3) includes a track mechanism (301) and a semi-circular power mounting mechanism (302). The track mechanism (301) includes a longitudinal threaded guide rail (3011), a portal support frame (3012), and a lateral distance threaded adjustment rod (3013). The semi-circular power mounting mechanism (302) is fitted with the travel guide tube (3021) by the threaded track. A semi-circular power mounting mechanism (302) is fixed on the main frame (101). A stepper motor is installed inside the semi-circular power mounting mechanism (302). A 12-tooth gear (3023) is installed on the output shaft of the stepper motor. A threaded track fitting travel guide (3021) is installed on the longitudinal threaded guide rail (3011). A hollow hexagonal 12-tooth power gear (3022) is sleeved on the threaded track fitting travel guide (3021). The hollow hexagonal 12-tooth power gear (3022) meshes with the 12-tooth gear (3023). The end of the longitudinal threaded guide rail (3011) is connected to one end of the portal frame (3012). One end of the transverse distance threaded adjusting rod (3013) passes through the other end of the portal frame (3012). The other end of the transverse distance threaded adjusting rod (3013) is provided with an anti-slip rubber pad (3014). The anti-slip rubber pad (3014) contacts the flange of the steel structure. A nut is provided on the transverse distance threaded adjusting rod (3013), wherein the nut contacts the portal frame (3012).

2. The attached detection trolley device for detecting latent damage to steel structures according to claim 1, characterized in that, Miniature springs for the web plate and the flange plate are respectively provided at the connection points of the web plate magnetic memory detection pen (2015) and the web plate detection wheel (2011), and at the connection points of the flange magnetic memory detection pen (2022) and the flange detection wheel (2021).

3. The attached detection trolley device for detecting latent damage to steel structures according to claim 2, characterized in that, The signal processing system (4) includes a web magnetic signal processor (401), a flange magnetic signal processor one (402), a flange magnetic signal processor two (403), a distance controller (404), an alarm controller one (405), an alarm controller two (406), an alarm controller three (407), a camera controller one (408), a camera controller two (409), a camera controller three (410), and an integrated processor (411). The abdominal magnetic signal processor (401) is connected to the abdominal magnetic memory detection pen (2015) and the alarm controller (405). The alarm controller (405) is connected to the alarm indicator light (107). The camera controller (408) is connected to the horizontally rotatable camera (110); The first flange magnetic signal processor (402) is connected to the flange magnetic memory detection pen (2022) and the second alarm controller (406), and the second alarm controller (406) is connected to the second alarm indicator light (108); Camera controller 2 (409) is connected to side wall camera 1 (111); The flange magnetic signal processor 2 (403) is connected to the flange detection wheel (2021) and the alarm controller 3 (407), and the alarm controller 3 (407) is connected to the alarm indicator light 3 (109); The integrated processor (411) is connected to the second wing magnetic signal processor (403), the first wing magnetic signal processor (402), and the web magnetic signal processor (401).

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