Steel wire rope defect detection device

Abstract

The invention relates to a steel wire rope defect detection device and belongs to the technical field of steel wire rope defect detection. The defect detection device comprises a frame arranged outside a steel wire rope in a sleeving manner, and a wireless communication module, a control system, a power supply, a driving wheel assembly, a driven wheel assembly, a visual detection module and a magnetic induction detection module are arranged on the frame; the visual detection module and the magnetic induction detection module take a magnetic flux leakage method and image acquisition as the core, through the design of an automatic control system and an accurate detection module, starting, forward rotation, reverse rotation or pause of a driving motor are remotely controlled through rear-end equipment, a wireless communication module and a control system, and efficient and accurate detection of a steel wire rope is achieved. The driving wheel and the driven wheel adopt the design of V-shaped wheels and the design of a self-adaptive clamping mechanism, so that the defect detection device can stably run on the steel wire ropes with different diameters, and the flexibility and the reliability of the defect detection work of the steel wire ropes are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of steel wire rope defect detection, and in particular relates to a steel wire rope defect detection device. Background Art

[0002] With the continuous development of the economy and the continuous expansion of production needs, production safety and product safety have become sufficient conditions to ensure the smooth progress of production activities. As an important lifting and load-bearing part in the engineering field, wire rope plays an important role in our production and life. Its safety and reliability are an important support for ensuring the safety of life and property.

[0003] Existing wire rope detection devices generally adopt a design in which two sets of gripping shoes are opened and closed alternately and creep forward. It has a track change function, and the spacing between gripping shoes can be adjusted laterally, which can better adapt to different suspension bridge cable system environments; in addition, the bionic creeping technology ensures that there are always two sets of gripping shoes in a state of holding the handrail rope during operation, thereby ensuring that the wire rope detection device is safe and does not fall. The wire rope detection device adopts a modular design concept, which makes the assembly process more efficient and simplifies the subsequent maintenance and upgrade work.

[0004] However, the existing wire rope detection devices have the following disadvantages: 1. The cost of device research and development, manufacturing and maintenance is high, making it difficult for wire rope managers with limited funds to afford it.

[0005] 2. The device is large in size and difficult to climb on wire ropes of different diameters. It cannot adapt to the actual complex and changeable wire rope detection environment, which affects the working stability of the device.

[0006] 3. There is no function for the detection surface to resist external interference, which affects the extraction of damaged features of the wire rope. Summary of the invention

[0007] Based on the problems existing in the above-mentioned background technology, the present invention proposes a wire rope defect detection device, which solves the problems that the existing wire rope detection device has a large mechanical size, is difficult to climb on wire ropes of different diameters, cannot adapt to the actual complex and changeable wire rope detection environment, and affects the working stability of the device.

[0008] The embodiment of the present invention is achieved as follows: The embodiment of the present invention provides a wire rope defect detection device, which includes a frame sleeved on the outside of the wire rope, a wireless communication module, a control system and a power supply electrically connected to each other are arranged on the frame, a plurality of driving wheel assemblies and driven wheel assemblies are respectively arranged at both ends of the frame in the length direction, and a visual detection module and a magnetic induction detection module are arranged inside the frame; the magnetic induction detection module is sleeved on the outside of the wire rope; Each set of driving wheel assemblies includes a driving wheel, and the control system controls the driving wheel to rotate; each set of driven wheel assemblies includes a driven wheel, and each driving wheel and driven wheel are matched with a clamping mechanism, and the clamping mechanism pushes the driving wheel and the driven wheel to always be in close contact with the outer wall of the wire rope; one of the driving wheels is matched and connected with a photoelectric encoder; The visual detection module, the magnetic induction detection module and the photoelectric encoder are all electrically connected to the control system; the wireless communication module is connected to the back-end equipment.

[0009] The basic principle of a wire rope defect detection device in the present invention is: when it is necessary to detect defects in the wire rope, first open the frame and the magnetic induction detection module, install and fix the frame and the magnetic induction detection module on the wire rope, and then close the frame and the magnetic induction detection module, so that the frame and the magnetic induction detection module are sleeved on the outer wall of the wire rope, and the driving wheel in the driving wheel assembly and the driven wheel in the driven wheel assembly are in close contact with the outer wall of the wire rope, and then the driving wheel assembly is remotely controlled by the wireless communication module and the control system to drive the detection device to move, hover, etc. along the length direction of the wire rope, thereby improving the detection efficiency and the convenience of operation. During the movement of the detection device, the visual detection module and the magnetic induction detection module respectively detect defects on the surface and inside of the wire rope, and the detection results are uploaded to the back-end device through the wireless communication module. When a defect is found, the photoelectric encoder locates the defect position for subsequent maintenance.

[0010] When the driving wheel assembly drives the entire defect detection device to move on the wire rope, the clamping mechanism pushes the driving wheel and the driven wheel to always be in close contact with the outer wall of the wire rope, so that the driving wheel and the driven wheel can not only adapt to wire ropes of different diameters, but also ensure the stable connection between the driving wheel and the driven wheel and the wire rope, thereby improving the working stability of the entire defect detection device and preventing the defect detection device from falling off the wire rope. The problem that the existing wire rope detection device is large in size, difficult to climb on wire ropes of different diameters, unable to adapt to the actual complex and changeable wire rope detection environment, and affecting the working stability of the device is solved.

[0011] Further, as an optional scheme for the above embodiment, the frame includes three fixed plates, and a connecting frame is provided at both ends of each fixed plate in the length direction. The three fixed plates are fixedly connected by the connecting frames to form the frame, and the frame is a hollow regular hexagonal prism structure with openings at both ends; each fixed plate is provided with a group of driving wheel assemblies and driven wheel assemblies, and the three driving wheels and three driven wheels on the three fixed plates are arranged in a 120° circle with the frame axis as the center.

[0012] The beneficial effects of the above scheme are: the frame is easy to manufacture and maintain; in actual use, it is convenient to put it on the outer wall of the wire rope, thereby improving the flexibility of use of the entire defect detection device; and the three driving wheels and the three driven wheels are arranged in a 120° annular pattern, so that the connection between the entire defect detection device and the wire rope is stable and reliable, making its operation smoother.

[0013] Furthermore, as an optional scheme of the above embodiment, the visual inspection module includes six inspection boxes that are evenly arranged in a circumferential direction on the inner wall of one end of the frame, and the angle between two adjacent inspection boxes is 60°. Each inspection box is provided with a camera and an image processing module that are electrically connected to the control system, and the shooting direction of each camera is set toward the direction of the steel wire rope inside the frame.

[0014] The beneficial effects of the above scheme are: the camera is set in the detection box, the detection box can isolate the interference of external light sources on the camera, reduce the influence of factors such as light difference or reflection on image acquisition, thereby improving the clarity and accuracy of image acquisition; multiple cameras realize multi-angle image acquisition of the wire rope surface, and the image processing module analyzes and processes the multi-angle images, thereby improving the accuracy and detection precision of the visual inspection module.

[0015] Further, as an optional solution of the above embodiment, each set of driving wheel assemblies includes a driving motor and a first T-shaped plate, the driving motor is electrically connected to the control system and is arranged on the outer wall of the fixed plate, and the output end of the driving motor is fixedly connected to a driving pulley; The first T-shaped plate is connected to a clamping mechanism, which is fixedly connected to the inner wall of the fixing plate. Two first L-shaped fixing plates are horizontally spaced apart at the bottom of the first T-shaped plate, and the horizontal end of each first L-shaped fixing plate is fixedly connected to the lower end surface of the first T-shaped plate. A first step rotating shaft is horizontally arranged on the two first L-shaped fixed plates, and the first step rotating shaft is rotatably connected to the two first L-shaped fixed plates through bearings. A driving wheel is fixedly connected to the middle of the first step rotating shaft, and the driving wheel is located between the two first L-shaped fixed plates. One end of the first step rotating shaft is located outside the L-shaped fixed plate and is fixedly connected to a driven pulley and a photoelectric encoder, and the driving pulley and the driven pulley are connected by belt transmission.

[0016] In the above scheme, the drive motor uses a 57-type stepper motor. The operator remotely controls the start, forward, reverse or pause of the drive motor through the back-end equipment, wireless communication module and control system. The rotating drive motor transmits the rotation torque to the first-step shaft through the active pulley and the driven pulley, drives the drive wheel to rotate, and finally drives the entire detection device to move along the length direction of the wire rope to realize the defect detection of the entire wire rope. In the defect detection device of this scheme, considering that GPS positioning is limited by the environment and range limitations and RFID technology is not suitable for outdoor use due to short distance and labeling requirements, a photoelectric encoder is selected as the positioning element to adapt to the wheeled motion structure and reduce costs and improve accuracy. Specifically, the model of the photoelectric sensor is DBS36 photoelectric sensor, which is assembled in the first-step shaft; when the visual detection module and the magnetic induction detection module find that the wire rope has defects, the controller controls the light scale between the photosensitive element and the light-emitting element to rotate to generate a pulse signal, and locates the defect position in real time without relying on the original position record of the wire rope, ensuring the accurate positioning of the defect position.

[0017] Further, as an optional solution of the above embodiment, each set of driven wheel assemblies includes a second T-shaped plate connected to a clamping mechanism, the second T-shaped plate is located on the inner side of the fixing plate, two second L-shaped fixing plates are horizontally spaced at the bottom of the second T-shaped plate, and the horizontal end of each second L-shaped fixing plate is fixedly connected to the lower end surface of the second T-shaped plate; A second step rotating shaft is horizontally arranged on the two second L-shaped fixed plates. The second step rotating shaft is rotatably connected to the two second L-shaped fixed plates through bearings. A driven wheel is fixedly connected to the middle of the second step rotating shaft, and the driven wheel is located between the two second L-shaped fixed plates. One end of the second step rotating shaft is fixedly connected to an electromagnetic brake electrically connected to the control system.

[0018] In the above scheme, the role of the driven wheel assembly is to cooperate with the driving wheel assembly to achieve stable cooperation between the entire defect detection device and the wire rope, so that it can operate stably. At the same time, the setting of the electromagnetic brake realizes remote control to make the defect detection device hover on the wire rope. In case of emergency, the entire defect detection device needs to be stopped and the recovery work needs to be completed. At the same time, the descent speed needs to be adjusted during the recovery process. In order to ensure the personal safety of the operator and the stable operation of the device, it is necessary to consider the compactness of the equipment structure, the convenience of operation, and the characteristics of easy remote control. This design aims to maximize safety and ease of use, so the electromagnetic brake is selected as the braking mechanism, and the specific model is D5DA-5-A.

[0019] Further, as an optional solution of the above embodiment, each clamping mechanism includes a clamping drive shaft, and the middle portion of the clamping drive shaft is fixedly connected to the top of the first T-shaped plate or the second T-shaped plate; A ratchet assembly is provided at both ends of the clamping drive shaft, and each ratchet assembly includes a ratchet, a scroll spring, a spring seat, a spring seat fixing seat and a pawl; The center of the ratchet is fixedly connected to the end of the clamping drive shaft, the ratchet is located on the outside of the spring seat, the inner hook and the outer hook of the spiral spring are respectively fixed to the flange surface of the ratchet and the groove of the spring seat, one side of the spring seat fixing seat is fixedly connected to the inner end surface of the spring seat, the spring seat fixing seat is rotatably matched with the clamping drive shaft, and the top of the spring seat fixing seat is fixedly connected to the inner wall of the fixing plate; The pawl is rotatably arranged on the inner wall of the fixed plate, and the end of the pawl cooperates with the tooth groove on the circumferential outer wall of the ratchet wheel; the volute spring causes the first T-plate or the second T-plate connected to the clamping drive shaft to rotate toward the direction of the wire rope, and the pawl and the ratchet wheel are used to prevent the clamping drive shaft from rotating.

[0020] The beneficial effects of the above scheme are: adjusting the length of the spiral spring to make the ratchet and the clamping drive shaft connected to the ratchet generate axial force, radial force and bending moment, and the clamping drive shaft transmits the axial force, radial force and bending moment to the driving wheel assembly and the driven wheel assembly, so that the driving wheel and the driven wheel are always in close contact with the outer wall of the wire rope, ensuring the stable connection between the driving wheel and the driven wheel and the wire rope, and improving the working stability of the entire defect detection device.

[0021] Specifically, the ratchet and the pawl cooperate to store energy for the clamping mechanism. When the clamping mechanism encounters a wire rope with a diameter larger than the initial value, the compression scroll spring provides a greater preload. Similarly, when the wire rope diameter is smaller than the initial radius, the compression scroll spring is released to adjust the driving wheel and the driven wheel to always be in close contact with the outer wall of the wire rope, thereby enabling the entire defect detection device to adapt to wire ropes of different diameters, thereby improving the flexibility and scope of application of the entire defect detection device.

[0022] Further, as an optional solution of the above embodiment, each of the first T-shaped plate and the second T-shaped plate is provided with a connection hole fixedly connected to the clamping drive shaft at the top, so as to realize the connection between the first T-shaped plate and the second T-shaped plate and the entire clamping mechanism.

[0023] Further, as an optional solution of the above embodiment, each driving wheel and driven wheel is a V-shaped wheel, and the angle of the V-shaped groove in the V-shaped wheel is 60°. The contact area between the driving wheel and the driven wheel and the wire rope is increased, and the operation stability of the entire defect detection device is improved.

[0024] Further, as an optional solution of the above embodiment, the magnetic induction detection module includes two friction bushings and two connecting cylinders, the two friction bushings and the two connecting cylinders are both hollow semi-cylindrical structures with openings at both ends, the two friction bushings are symmetrically arranged and are hollow cylindrical structures after being connected in pairs, the wire rope is located inside the two friction bushings, and each friction bushing is provided with a permanent magnet and a giant magnetoresistance sensor electrically connected to the control system; The two connecting tubes are symmetrically arranged and have a hollow cylindrical structure after being connected in pairs. The two friction bushings are fixedly arranged inside the two connecting tubes after being connected in pairs. A connecting plate is disassembled and arranged at the connecting end surfaces of the two connecting tubes, and the connecting plate is fixedly connected to the inner wall of the frame. The material of each friction bushing is non-ferromagnetic material.

[0025] In the above scheme, the arrangement of two friction bushings and two connecting tubes facilitates the entire magnetic induction detection module to be put on the wire rope. The principle of the entire magnetic induction detection module is: there is a gap between the friction bushing and the wire rope, and the permanent magnet can complete the excitation process during the movement of the defect detection device, wherein the giant magnetoresistance sensor collects magnetic field signals. Specifically, the model of the giant magnetoresistance sensor is AA002-02 giant magnetoresistance sensor, which has good sensitivity as a unipolar giant magnetoresistance device. At the same time, the traditional constant voltage mode is changed to a constant current mode, which enhances the ability to reduce the impact of temperature. For the position arrangement of the giant magnetoresistance sensor, a ring arrangement is adopted on two friction bushings. The number of giant magnetoresistance sensors arranged is related to the diameter and detection range of the wire rope. The design needs to meet the detection of the entire circumferential area of ​​the wire rope and consider the cylindrical shape characteristics of the wire rope. Therefore, six giant magnetoresistance sensors placed at equal arcs are used to form a detection array.

[0026] As an optional solution of the above embodiment, a waterproof shell is arranged outside the frame, and the waterproof shell is detachable. The waterproof shell is used to protect the frame and various components inside the frame, and can also detect radial wire rope defects in different harsh environments, thereby improving the application scope of the defect detection device.

[0027] The beneficial effects of the present invention are as follows: a wire rope defect detection device provided by the present invention takes the magnetic flux leakage method and image acquisition as the core, and through an automated control system and precise detection module design, an operator can remotely control the start, forward rotation, reverse rotation or pause of a drive motor through back-end equipment, a wireless communication module and a control system, and control the defect detection device to move forward, backward, hover and recover on the wire rope, thereby achieving efficient and accurate detection of the wire rope; the driving wheel and the driven wheel adopt a V-shaped wheel design and an adaptive clamping mechanism design, thereby ensuring the stable operation of the defect detection device on wire ropes of different diameters, improving the flexibility and reliability of wire rope defect detection, and providing a strong guarantee for the safe detection of wire ropes of key facilities such as suspension bridges. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. As shown in the accompanying drawings, the above and other purposes, features and advantages of the present invention will be clearer. The same reference numerals in all the drawings indicate the same parts. The drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of a wire rope defect detection device of the present invention.

[0030] Figure 2 The figure is a schematic diagram of the top view of the structure of a wire rope defect detection device of the present invention.

[0031] Figure 3 Schematic diagram of the three-dimensional structure of a single fixed plate.

[0032] Figure 4 A schematic diagram of the front view of the driving wheel assembly Figure 5 Schematic diagram of the structure of the ratchet assembly.

[0033] Figure 6 Schematic diagram of the three-dimensional structure of the magnetic induction detection module.

[0034] Among them, 1. frame; 11. fixed plate; 12. connecting frame; 2. driving wheel assembly; 21. driving wheel; 22. driving motor; 23. first T-shaped plate; 24. driving pulley; 25. first L-shaped fixed plate; 26. first step shaft; 27. driven pulley; 3. driven wheel assembly; 31. driven wheel; 32. second T-shaped plate; 33. second L-shaped fixed plate; 34. second step shaft; 35. electromagnetic brake; 4. visual detection module; 5. magnetic induction detection module; 51. friction bushing; 52. connecting cylinder; 53. permanent magnet; 54. giant magnetoresistance sensor; 55. connecting plate; 6. clamping mechanism; 61. clamping driving shaft; 62. ratchet assembly; 621. ratchet; 622. volute spring; 623. spring seat; 624. spring seat fixing seat; 625. ratchet. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] Furthermore, the terms “first”, “second”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0039] First embodiment:

[0040] Please refer to Figure 1 and Figure 2 As shown, the first embodiment of the present invention provides a wire rope defect detection device, which includes a frame 1 mounted on the outside of the wire rope, the frame 1 is provided with a wireless communication module, a control system and a power supply that are electrically connected to each other, a plurality of driving wheel assemblies 2 and a driven wheel assemblies 3 are respectively provided at both ends of the frame 1 in the length direction, and a visual detection module 4 and a magnetic induction detection module 5 are provided inside the frame 1; the magnetic induction detection module 5 is mounted on the outside of the wire rope.

[0041] Each set of driving wheel assemblies 2 includes a driving wheel 21, and the control system controls the rotation of the driving wheel 21; each set of driven wheel assemblies 3 includes a driven wheel 31, and each driving wheel 21 and driven wheel 31 are matched with a clamping mechanism 6, and the clamping mechanism 6 pushes the driving wheel 21 and the driven wheel 31 to always be in close contact with the outer wall of the wire rope; one of the driving wheels 21 is matched and connected with a photoelectric encoder.

[0042] Preferably, each driving wheel 21 and driven wheel 31 is a V-shaped wheel, and the angle of the V-shaped groove in the V-shaped wheel is 60°. The contact area between the driving wheel 21 and the driven wheel 31 and the wire rope is increased, and the operation stability of the entire defect detection device is improved.

[0043] The visual detection module 4, the magnetic induction detection module 5 and the photoelectric encoder are all electrically connected to the control system; the wireless communication module is connected to the back-end equipment.

[0044] When it is necessary to inspect the defects of the wire rope, first open the frame 1 and the magnetic induction detection module 5, install and fix the frame 1 and the magnetic induction detection module 5 on the wire rope, and then close the frame 1 and the magnetic induction detection module 5, so that the frame 1 and the magnetic induction detection module 5 are sleeved on the outer wall of the wire rope, and the driving wheel 21 in the driving wheel assembly 2 and the driven wheel 31 in the driven wheel assembly 3 are in close contact with the outer wall of the wire rope, and then the driving wheel assembly 2 is remotely controlled by the wireless communication module and the control system to drive the detection device to move, hover, etc. along the length direction of the wire rope, thereby improving the detection efficiency and the convenience of operation. During the movement of the detection device, the visual detection module 4 and the magnetic induction detection module 5 respectively detect defects on the surface and inside of the wire rope, and the detection results are uploaded to the back-end equipment through the wireless communication module. When a defect is found, the photoelectric encoder locates the defect position for subsequent maintenance.

[0045] When the driving wheel assembly 2 drives the entire defect detection device to move on the wire rope, the clamping mechanism 6 pushes the driving wheel 21 and the driven wheel 31 to always be in close contact with the outer wall of the wire rope, so that the driving wheel 21 and the driven wheel 31 can not only adapt to wire ropes of different diameters, but also ensure the stable connection between the driving wheel 21 and the driven wheel 31 and the wire rope, thereby improving the working stability of the entire defect detection device and preventing the defect detection device from falling off the wire rope. The problem that the existing wire rope detection device is large in size, difficult to climb on wire ropes of different diameters, unable to adapt to the actual complex and changeable wire rope detection environment, and affecting the working stability of the device is solved.

[0046] Second embodiment:

[0047] like Figure 1~Figure 5As shown, the second embodiment of the present invention provides a wire rope defect detection device, which is further limited on the basis of the first embodiment. The improvement lies in how to specifically set the frame 1, the visual inspection module 4, the driving wheel assembly 2, the driven wheel assembly 3 and the clamping mechanism 6. For other parts not mentioned, please refer to the first embodiment or the prior art.

[0048] like Figure 3 and Figure 4 As shown, the frame 1 includes three fixed plates 11, and a connecting frame 12 is provided at both ends of each fixed plate 11 in the length direction. The three fixed plates 11 are fixedly connected by the connecting frame 12 to form the frame 1. The frame 1 is a hollow regular hexagonal prism structure with openings at both ends, so that the frame 1 is easy to manufacture and maintain; in actual use, it is convenient to put it on the outer wall of the wire rope, thereby improving the flexibility of the entire defect detection device. A set of driving wheel assembly 2 and driven wheel assembly 3 are provided on each fixed plate 11. The three driving wheels 21 and the three driven wheels 31 on the three fixed plates 11 are arranged in a 120° annular direction with the axis of the frame 1 as the center, so that the connection between the entire defect detection device and the wire rope is stable and reliable, making it run more smoothly.

[0049] As a specific setting mode of the visual inspection module 4, the visual inspection module 4 includes six inspection boxes evenly arranged in an annular direction on the inner wall of one end of the frame 1, and the angle between two adjacent inspection boxes is 60°. Each inspection box is provided with a camera and an image processing module electrically connected to the control system, and the shooting direction of each camera is set toward the direction of the wire rope inside the frame 1. The camera is set in the inspection box, and the inspection box can isolate the interference of external light sources to the camera, reduce the influence of factors such as light difference or reflection on image acquisition, thereby improving the clarity and accuracy of image acquisition; multiple cameras realize multi-angle image acquisition of the wire rope surface, and the image processing module analyzes and processes the multi-angle images to improve the accuracy and detection precision of the visual inspection module 4.

[0050] As a specific arrangement of the driving wheel assembly 2, each set of driving wheel assembly 2 includes a driving motor 22 and a first T-shaped plate 23. The driving motor 22 is electrically connected to the control system and is arranged on the outer wall of the fixed plate 11. The output end of the driving motor 22 is fixedly connected to a driving pulley 24.

[0051] The first T-shaped plate 23 is connected to a clamping mechanism 6, and the clamping mechanism 6 is fixedly connected to the inner wall of the fixed plate 11. Two first L-shaped fixing plates 25 are horizontally spaced apart at the bottom of the first T-shaped plate 23, and the horizontal end of each first L-shaped fixing plate 25 is fixedly connected to the lower end surface of the first T-shaped plate 23.

[0052] A first step shaft 26 is horizontally arranged on the two first L-shaped fixed plates 25, and the first step shaft 26 is rotatably connected to the two first L-shaped fixed plates 25 through bearings. A driving wheel 21 is fixedly connected to the middle of the first step shaft 26, and the driving wheel 21 is located between the two first L-shaped fixed plates 25. One end of the first step shaft 26 is located outside the L-shaped fixed plate 11 and is fixedly connected to a driven pulley 27 and a photoelectric encoder, and the driving pulley 24 and the driven pulley 27 are connected through a belt transmission. The driving motor 22 uses a 57-type stepper motor. The operator remotely controls the start, forward rotation, reverse rotation or pause of the driving motor 22 through the back-end equipment, wireless communication module and control system. The rotating driving motor 22 transmits the rotational torque to the first step shaft 26 through the driving pulley 24 and the driven pulley 27, driving the driving wheel 21 to rotate, and finally drives the entire detection device to move along the length direction of the wire rope to achieve defect detection of the entire wire rope. In the defect detection device of this scheme, considering that GPS positioning is limited by the environment and range limitations and RFID technology is not suitable for outdoor use due to short distance and labeling requirements, a photoelectric encoder is selected as a positioning element to adapt to the wheeled motion structure and reduce costs and improve accuracy. Specifically, the model of the photoelectric sensor is a DBS36 photoelectric sensor, which is installed in the first step shaft 26; when the visual detection module 4 and the magnetic induction detection module 5 find that there is a defect in the wire rope, the controller controls the light scale between the photosensitive element and the light-emitting element to rotate to generate a pulse signal, and locates the defect position in real time without relying on the original position record of the wire rope, ensuring the accurate positioning of the defect position.

[0053] Specifically, as a specific setting method of the driven wheel assembly 3, each group of driven wheel assemblies 3 includes a second T-shaped plate 32 connected to a clamping mechanism 6, the second T-shaped plate 32 is located on the inner side of the fixed plate 11, and two second L-shaped fixed plates 33 are horizontally spaced at the bottom of the second T-shaped plate 32, and the horizontal end of each second L-shaped fixed plate 33 is fixedly connected to the lower end surface of the second T-shaped plate 32.

[0054] A second stepped rotating shaft 34 is horizontally arranged on the two second L-shaped fixed plates 33. The second stepped rotating shaft 34 is rotatably connected to the two second L-shaped fixed plates 33 through bearings. A driven wheel 31 is fixedly connected to the middle part of the second stepped rotating shaft 34. The driven wheel 31 is located between the two second L-shaped fixed plates 33. One end of the second stepped rotating shaft 34 is fixedly connected to an electromagnetic brake 35 electrically connected to the control system.

[0055] In the above scheme, the role of the driven wheel assembly 3 is to cooperate with the driving wheel assembly 2 to achieve stable cooperation between the entire defect detection device and the wire rope, so that it can operate stably. At the same time, the setting of the electromagnetic brake 35 realizes remote control so that the defect detection device can be suspended on the wire rope. In case of emergency, the entire defect detection device needs to be stopped and the recovery work needs to be completed. At the same time, the descent speed needs to be adjusted during the recovery process. In order to ensure the personal safety of the operator and the stable operation of the device, it is necessary to consider the compactness of the equipment structure, the convenience of operation, and the characteristics of easy remote control. Such a design is intended to maximize safety and ease of use, so the electromagnetic brake 35 is selected as the braking mechanism, and the specific model is D5DA-5-A.

[0056] Preferably, as a specific arrangement of the clamping mechanism 6, each clamping mechanism 6 includes a clamping drive shaft 61, and the middle portion of the clamping drive shaft 61 is fixedly connected to the top of the first T-shaped plate 23 or the second T-shaped plate 32. Specifically, a connection hole fixedly connected to the clamping drive shaft 61 is provided at the top of each of the first T-shaped plate 23 and the second T-shaped plate 32, so as to realize the connection between the first T-shaped plate 23 and the second T-shaped plate 32 and the entire clamping mechanism 6.

[0057] A ratchet assembly 62 is disposed at both ends of the clamping drive shaft 61 . Each ratchet assembly 62 includes a ratchet 621 , a spiral spring 622 , a spring seat 623 , a spring seat fixing seat 624 and a pawl 625 .

[0058] The center of the ratchet 621 is fixedly connected to the end of the clamping drive shaft 61, the ratchet 621 is located on the outside of the spring seat 623, the inner hook and the outer hook of the spiral spring 622 are respectively fixed to the flange surface of the ratchet 621 and the groove of the spring seat 623, one side of the spring seat fixing seat 624 is fixedly connected to the inner end surface of the spring seat 623, the spring seat fixing seat 624 is rotatably matched with the clamping drive shaft 61, and the top of the spring seat fixing seat 624 is fixedly connected to the inner wall of the fixing plate 11.

[0059] The pawl 625 is rotatably arranged on the inner wall of the fixed plate 11, and the end of the pawl 625 cooperates with the tooth groove on the outer circumferential wall of the ratchet 621; the volute spring 622 causes the first T-shaped plate 23 or the second T-shaped plate 32 connected to the clamping drive shaft 61 to rotate toward the direction of the wire rope, and the pawl 625 and the ratchet 621 are used to prevent the clamping drive shaft 61 from rotating. The length of the volute spring 622 is adjusted to make the ratchet 621 and the clamping drive shaft 61 connected to the ratchet 621 generate axial force, radial force and bending moment, and the clamping drive shaft 61 transmits the axial force, radial force and bending moment to the driving wheel assembly 2 and the driven wheel assembly 3, and finally realizes that the driving wheel 21 and the driven wheel 31 are always in close contact with the outer wall of the wire rope, ensuring the stable connection between the driving wheel 21 and the driven wheel 31 and the wire rope, and improving the working stability of the entire defect detection device.

[0060] Specifically, the ratchet 621 and the pawl 625 cooperate to store energy for the clamping mechanism 6. When the clamping mechanism 6 encounters a wire rope with a diameter larger than the initial value, the compression volute spring 622 provides a greater preload. Similarly, when the diameter of the wire rope is smaller than the radius of the initial value, the compression volute spring 622 is released, thereby adjusting the driving wheel 21 and the driven wheel 31 to always be in close contact with the outer wall of the wire rope, thereby enabling the entire defect detection device to adapt to wire ropes of different diameters, thereby improving the flexibility of use and the scope of application of the entire defect detection device.

[0061] For structures not mentioned in this embodiment, reference may be made to the prior art or the first embodiment.

[0062] Third embodiment:

[0063] The third embodiment of the present invention provides a wire rope defect detection device, which is further limited on the basis of the second embodiment. The improvement lies in how to specifically set the magnetic induction detection module 5 and the defect detection device also includes a waterproof shell. For other parts not mentioned, please refer to the first and second embodiments or the prior art.

[0064] like Figure 1 , Figure 2 and Figure 6 As shown, the magnetic induction detection module 5 includes two friction bushings 51 and two connecting tubes 52. The two friction bushings 51 and the two connecting tubes 52 are both hollow semi-cylindrical structures with openings at both ends. The two friction bushings 51 are symmetrically arranged and form a hollow cylindrical structure after being connected in pairs. The steel wire rope is located inside the two friction bushings 51. Each friction bushing 51 is provided with a permanent magnet 53 and a giant magnetoresistance sensor 54 electrically connected to the control system.

[0065] The two connecting tubes 52 are symmetrically arranged and present a hollow cylindrical structure after being connected in pair. The two friction bushings 51 are fixedly arranged inside the two connecting tubes 52 after being connected in pair. A connecting plate 55 is disassembled and arranged at the connecting end surfaces of the two connecting tubes 52. The connecting plate 55 is fixedly connected to the inner wall of the frame 1.

[0066] The material of each friction bushing 51 is non-ferromagnetic material. The arrangement of two friction bushings 51 and two connecting tubes 52 facilitates the entire magnetic induction detection module 5 to be put on the wire rope. The principle of the entire magnetic induction detection module 5 is as follows: there is a gap between the friction bushing 51 and the wire rope, and the permanent magnet 53 can complete the excitation process during the movement of the defect detection device, wherein the giant magnetoresistance sensor 54 collects magnetic field signals. Specifically, the model of the giant magnetoresistance sensor 54 is AA002-02 giant magnetoresistance sensor 54, which has good sensitivity as a unipolar giant magnetoresistance device. At the same time, the traditional constant voltage method is changed to a constant current method, so that it enhances the ability to cope with the impact of temperature. As for the position arrangement of the giant magnetoresistance sensor 54, a ring arrangement is adopted on the two friction bushings 51. The number of giant magnetoresistive sensors 54 arranged is related to the diameter and detection range of the wire rope. The design needs to meet the requirements of detecting the entire circumferential area of ​​the wire rope and taking into account the cylindrical shape of the wire rope. Therefore, six giant magnetoresistive sensors 54 placed at equal arcs are used to form a detection array.

[0067] Preferably, but not limited to, a waterproof shell is disposed outside the frame 1, and the waterproof shell is detachable. The waterproof shell is used to protect the frame 1 and various components inside the frame 1, so that the defect detection device can also detect radial wire rope defects in harsh environments such as rain, snow, or dust, thereby improving the application scope of the defect detection device.

[0068] To sum up, a wire rope defect detection device in the present invention is based on the magnetic flux leakage method and image acquisition as the core. Through the automatic control system and precise detection module design, the operator can remotely control the start, forward rotation, reverse rotation or pause of the drive motor 22 through the back-end equipment, wireless communication module and control system, thereby realizing efficient and accurate detection of the wire rope; the driving wheel 21 and the driven wheel 31 adopt the V-shaped wheel design and the adaptive clamping mechanism 6 design, which ensures the stable operation of the defect detection device on wire ropes of different diameters, improves the flexibility and reliability of wire rope defect detection, and provides a strong guarantee for the safe detection of wire ropes of key facilities such as suspension bridges.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wire rope defect detection device, characterized in that: The vehicle frame comprises a frame sleeved on the outside of the steel wire rope, the frame is provided with a wireless communication module, a control system and a power supply which are electrically connected to each other, a plurality of driving wheel assemblies and driven wheel assemblies are respectively provided at both ends of the length direction of the frame, and a visual detection module and a magnetic induction detection module are provided inside the frame; the magnetic induction detection module is sleeved on the outside of the steel wire rope; Each set of the driving wheel assembly includes a driving wheel, and the control system controls the rotation of the driving wheel; each set of the driven wheel assembly includes a driven wheel, and each of the driving wheel and the driven wheel is matched with a clamping mechanism, and the clamping mechanism pushes the driving wheel and the driven wheel to always be in close contact with the outer wall of the wire rope; one of the driving wheels is matched and connected with a photoelectric encoder; The visual detection module, magnetic induction detection module and photoelectric encoder are all electrically connected to the control system; the wireless communication module is connected to the back-end equipment.

2. The wire rope defect detection device according to claim 1, characterized in that: The frame includes three fixed plates, each of which is provided with a connecting frame at both ends in the length direction, and the three fixed plates are fixedly connected by the connecting frames to form the frame, and the frame is a hollow regular hexagonal prism structure with openings at both ends; each fixed plate is provided with a group of driving wheel assemblies and driven wheel assemblies, and the three driving wheels and three driven wheels on the three fixed plates are arranged in a 120° circumferential direction with the frame axis as the center.

3. The wire rope defect detection device according to claim 2, characterized in that: The visual inspection module includes six inspection boxes evenly arranged in a circumferential direction on the inner wall of one end of the frame, and the angle between two adjacent inspection boxes is 60°. Each inspection box is provided with a camera and an image processing module electrically connected to the control system, and the shooting direction of each camera is set in the direction of the steel wire rope inside the frame.

4. The wire rope defect detection device according to claim 2, characterized in that: Each set of the driving wheel assembly comprises a driving motor and a first T-shaped plate, wherein the driving motor is electrically connected to the control system and is arranged on the outer wall of the fixed plate, and an output end of the driving motor is fixedly connected to a driving pulley; The first T-shaped plate is connected to one of the clamping mechanisms, the clamping mechanism is fixedly connected to the inner wall of the fixing plate, two first L-shaped fixing plates are horizontally spaced apart at the bottom of the first T-shaped plate, and the horizontal end of each of the first L-shaped fixing plates is fixedly connected to the lower end surface of the first T-shaped plate; A first step rotating shaft is horizontally arranged on the two first L-shaped fixed plates, and the first step rotating shaft is rotatably connected to the two first L-shaped fixed plates through bearings. A driving wheel is fixedly connected to the middle of the first step rotating shaft, and the driving wheel is located between the two first L-shaped fixed plates. One end of the first step rotating shaft is located outside the L-shaped fixed plate and is fixedly connected to a driven pulley and a photoelectric encoder, and the driving pulley and the driven pulley are connected by belt transmission.

5. The wire rope defect detection device according to claim 4, characterized in that: Each group of the driven wheel assembly comprises a second T-shaped plate connected to one of the clamping mechanisms, the second T-shaped plate is located on the inner side of the fixing plate, two second L-shaped fixing plates are horizontally spaced apart at the bottom of the second T-shaped plate, and the horizontal end of each of the second L-shaped fixing plates is fixedly connected to the lower end surface of the second T-shaped plate; A second step rotating shaft is horizontally arranged on the two second L-shaped fixed plates, and the second step rotating shaft is rotatably connected to the two second L-shaped fixed plates through bearings. A driven wheel is fixedly connected to the middle of the second step rotating shaft, and the driven wheel is located between the two second L-shaped fixed plates. One end of the second step rotating shaft is fixedly connected to an electromagnetic brake electrically connected to the control system.

6. The wire rope defect detection device according to claim 5, characterized in that: Each of the clamping mechanisms comprises a clamping drive shaft, the middle portion of which is fixedly connected to the top of the first T-shaped plate or the second T-shaped plate; A ratchet assembly is provided at both ends of the clamping drive shaft, and each of the ratchet assemblies comprises a ratchet, a volute spring, a spring seat, a spring seat fixing seat and a pawl; The center of the ratchet is fixedly connected to the end of the clamping drive shaft, the ratchet is located on the outside of the spring seat, the inner hook and the outer hook of the spiral spring are respectively fixed to the flange surface of the ratchet and the groove of the spring seat, one side of the spring seat fixing seat is fixedly connected to the inner end surface of the spring seat, the spring seat fixing seat is rotatably matched with the clamping drive shaft, and the top of the spring seat fixing seat is fixedly connected to the inner wall of the fixing plate; The pawl is rotatably arranged on the inner wall of the fixed plate, and the end of the pawl cooperates with the tooth groove on the circumferential outer wall of the ratchet wheel; the spiral spring causes the first T-plate or the second T-plate connected to the clamping drive shaft to rotate toward the direction of the wire rope, and the pawl and the ratchet wheel are used to prevent the clamping drive shaft from rotating.

7. The wire rope defect detection device according to claim 6, characterized in that: A connecting hole fixedly connected to the clamping drive shaft is provided at the top of each of the first T-shaped plate and the second T-shaped plate.

8. The wire rope defect detection device according to claim 1, characterized in that: Each of the driving wheel and driven wheel is a V-shaped wheel, and the angle of the V-shaped groove in the V-shaped wheel is 60°.

9. The wire rope defect detection device according to claim 1, characterized in that: The magnetic induction detection module includes two friction bushings and two connecting cylinders, the two friction bushings and the two connecting cylinders are both hollow semi-cylindrical structures with openings at both ends, the two friction bushings are symmetrically arranged and are in a hollow cylindrical structure after being connected in pairs, the wire rope is located inside the two friction bushings, and each friction bushing is provided with a permanent magnet and a giant magnetoresistance sensor electrically connected to the control system; The two connecting tubes are symmetrically arranged and have a hollow cylindrical structure after being connected in pairs. The two friction bushings are fixedly arranged inside the two connecting tubes after being connected in pairs. A connecting plate is detachably arranged at the connecting end surfaces of the two connecting tubes, and the connecting plate is fixedly connected to the inner wall of the frame. The material of each friction bushing is non-ferromagnetic material.

10. The wire rope defect detection device according to any one of claims 1 to 9, characterized in that: A waterproof shell is arranged outside the frame, and the waterproof shell is detachable.

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