Lossless magnetic flux leakage detection robot for steel wire rope detection

Abstract

The invention discloses a nondestructive magnetic flux leakage detection robot for steel wire rope detection, and belongs to the technical field of steel wire rope detection. The lossless magnetic flux leakage detection robot for steel wire rope detection comprises lock rings, a main climbing frame, a first auxiliary climbing frame and a second auxiliary climbing frame, the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame are annularly distributed, and the lock rings are located at the two ends of the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame. In order to solve the problems that a large amount of time cost and labor cost need to be invested and the overall detection efficiency is relatively low because a traditional detection method carries equipment manually to carry out climbing detection operation, a battery is utilized to enable the device to be lighter, and a certain mechanical structure enables the device to meet the requirement of detachability; the inhaul cable detection device can automatically climb along the inhaul cable and detect internal defects of the inhaul cable, the labor cost is reduced, the safety is enhanced, and meanwhile the defect type and position can be more accurately detected through appropriate magnetic flux leakage detection.

Description

Technical Field

[0001] The present invention relates to the technical field of steel wire rope detection, in particular to a non-destructive magnetic flux leakage detection robot for steel wire rope detection. Background Art

[0002] Steel wire ropes are increasingly used in infrastructure such as bridges, cableways, and Ferris wheels. As the primary load-bearing component of these structures, their quality directly determines the service life of the structure. Due to long-term exposure to air, the protective layer on the surface of the steel rope corrodes under the sun and rain, leading to corrosion, wear, and breakage of the steel wires inside the rope, posing a safety hazard to the entire facility. Therefore, focusing on detecting defects in the steel wires inside the rope and regularly inspecting and maintaining the rope can significantly improve the safety of infrastructure such as bridges and cableways, bring significant economic benefits to society, and effectively protect people's lives and property. Existing literature reports include Ben Anran, Wu Xinjun, and Yuan Jianming, "Chemical Automation and Instrumentation," Vol. 39, No. 2, 2008, pp. 241-245; and Ben Anran, Wu Xinjun, Yuan Jianming, and Xu Zhiyuan, "Nondestructive Testing," Vol. 30, No. 6, 2008, pp. 10-14. This approach can achieve lightweight detection crawlers. Preliminary experiments were conducted on the crawler's motion and detection performance, and curves showing how the leakage magnetic field varies with the aforementioned parameters were presented, providing a basis for interpreting cable leakage magnetic field detection signals.

[0003] Chinese patent publication number CN218261473U discloses a non-destructive testing robot for wire ropes. The robot has height-adjustable universal wheels at the bottom of its base. When the position needs to be adjusted, the height of the universal wheels can be adjusted via an adjustment lever until they touch the ground, making it easier to adjust the position of the device and improving the efficiency of its installation and positioning. Furthermore, a visual acquisition module is integrated into the top of the electrical control box. While the robot performs conventional inspections of the wire rope using a self-opening crossbeam, the module also collects image information of the wire rope surface for appearance inspection, thereby improving the accuracy of wire rope inspections. Traditional detection methods all require manual climbing and testing with equipment, which requires a lot of time and labor costs, and the overall detection efficiency is low. Summary of the Invention

[0004] The purpose of the present invention is to provide a non-destructive magnetic flux leakage detection robot for wire rope detection. The use of batteries can make it lighter, and a certain mechanical structure makes it detachable. It is a rope detection device that can climb autonomously along the rope and detect internal defects of the rope, thereby reducing labor costs and enhancing safety. At the same time, the use of appropriate magnetic flux leakage detection can more accurately detect the type and location of defects, which can solve the problems in the existing technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a non-destructive magnetic leakage detection robot for wire rope detection, comprising a locking ring, a main climbing frame, a first auxiliary climbing frame and a second auxiliary climbing frame, wherein the main climbing frame and the first auxiliary climbing frame and the second auxiliary climbing frame are distributed in a ring shape, and the locking ring is located at both ends of the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame, and magnetic leakage detection modules are provided on the inner sides of the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame, and the magnetic leakage detection module comprises an armature and permanent magnets located at both ends of the armature, and the armature is connected to the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame by bolts.

[0006] Furthermore, the locking ring includes three segmented hoops, which are respectively connected to the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame by bolts, wherein both ends of the segmented hoops are provided with an integrally formed connecting plate, and the outer surface of the connecting plate is provided with a plurality of adjustment lock holes, and the segmented hoops are connected by bolts. The locking ring is composed of three independent segmented hoops, and the diameters between the segmented hoops can be adjusted according to the diameter of the steel cable before use.

[0007] Furthermore, the thickness of the three-part hoops of the locking ring is set as follows: Extract the theoretical radial pressure that each component hoop bears during the operation of the non-destructive magnetic flux leakage testing robot; Extracting the material elastic modulus of each segmented hoop and the radial deformation allowed by each segmented hoop; wherein the radial deformation allowed by each segmented hoop ranges from 0.001R to 0.003R, and R represents the minimum radius corresponding to the locking ring; Extract the theoretical inherent working vibration frequency of each component hoop during the operation of the non-destructive magnetic flux leakage testing robot; The thickness of each segmented hoop is set using the theoretical radial pressure, theoretical natural working vibration frequency, material elastic modulus and allowable radial deformation of each segmented hoop; The thickness of each segmented hoop is obtained by the following formula: ; Wherein, D represents the thickness of each segment hoop; E represents the material elastic modulus of each segment hoop; Y represents the theoretical radial pressure of each segment hoop; R represents the minimum radius corresponding to the locking ring; h represents the allowable radial deformation of each segment hoop; f c Indicates the preset frequency reference value; f indicates the theoretical natural working vibration frequency.

[0008] Furthermore, the bending strength of the joining plate is set in the following manner: Extract the maximum tensile force borne by the single-side joint plate of the joint plate; extracting the joining width and the joining plate thickness of the joining plate; Retrieving the materials for making the joining plate; Obtaining the material allowable stress of the joining plate according to the material of the joining plate; Obtaining the bending strength of the joint plate using the maximum tensile force borne by the single-side joint plate of the joint plate, the joint width, the joint plate thickness and the allowable stress of the material; The bending strength of the joint plate is obtained by the following formula: ; Wherein, S represents the bending strength of the joint plate (102); U represents the allowable stress of the material; K represents the joint width; J represents the thickness of the joint plate; D p It represents the average thickness of the three-component hoop; L represents the maximum tensile force that the single-side joint plate of the joint plate can withstand.

[0009] Furthermore, a magnetic sensor is provided between the permanent magnets, the magnetic sensor is connected to the armature through a detector shaft frame, and the magnetic sensor includes a magnetization circuit and a defect feature; Among them, the magnetization circuit uses the finite element analysis method to analyze the magnetic field after the wire rope is magnetized. By establishing a three-dimensional model of the wire rope, performing finite element analysis on the magnetic field, and constructing the influence of different magnetizer parameters on the leakage magnetic field intensity, the magnetization circuit is designed; The armature, permanent magnet, air gap and the steel cable under test form a magnetizing circuit. The magnetizer composed of the armature and permanent magnet magnetizes the steel cable to a saturated state and scans the steel cable axially. When the steel cable has local defects such as broken wires and corrosion, it will cause the internal magnetic field of the steel cable to change, and part of the magnetic field will "leak" into the air. The magnetic sensor between the two magnetic poles can detect the corresponding leakage magnetic signal. When there is large-scale corrosion on the steel cable, the magnetic flux of the magnetic circuit changes, and the magnetic sensor under the two magnetic poles can obtain the corresponding magnetic flux signal.

[0010] Furthermore, the magnetic sensor interacts with the signal acquisition module, and the signal acquisition module interacts with the identification and analysis unit through the signal conversion module; Among them, the signal acquisition module is used to amplify and filter the weakness signal received by the sensor, and then convert it into a digital signal through the signal conversion module, and finally analyze it through the identification and analysis unit to realize the identification of defects.

[0011] Furthermore, one end of the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame are all provided with a driving assembly, and the driving assembly includes a reduction motor, a transmission chain and a climbing wheel, wherein the driving assembly at one end of the first auxiliary climbing frame and the second auxiliary climbing frame also includes a driven wheel and a driven chain, and the reduction motor drives the climbing wheel to rotate through the transmission chain, thereby realizing the movement operation of the entire detection device, and as the climbing wheel rotates, the driven wheel at the other end of the first auxiliary climbing frame and the second auxiliary climbing frame will also rotate under the influence of the driven chain.

[0012] Furthermore, the reduction motor is respectively connected to the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame through a bracket, and one side of the climbing wheel is rotatably connected to the reduction motor through a transmission chain, wherein the climbing wheel is in contact with the steel cable, and the steel cable is located between the main climbing frame, the first auxiliary climbing frame and the second auxiliary climbing frame.

[0013] Furthermore, a driven chain is provided on the other side of the climbing wheel, and the driven wheel is connected to the climbing wheel through the driven chain, wherein the driven wheel is respectively installed on the other end of the first auxiliary climbing frame and the second auxiliary climbing frame, and a data box is provided on the outside of the second auxiliary climbing frame, and the data box is connected to the second auxiliary climbing frame by bolts.

[0014] Furthermore, a butt plate is provided at the other end of the main climbing frame, and the butt plate is connected to the main climbing frame by bolts. A wheel frame is provided at one end of the butt plate, and the wheel frame is welded to the butt plate.

[0015] Furthermore, support springs are provided below both ends of the wheel frame, and the support springs are connected to the wheel frame via bolts.

[0016] Furthermore, a compression pulley is provided at the bottom of the support spring, and the compression pulley is rotatably connected to the support spring. The compression pulley is arranged into an inwardly concave structure, and the compression pulley fits the steel cable. The concave surface of the compression pulley can fit well with the steel cable, which can avoid the compression pulley from being offset. The support spring can help the compression pulley to better fit the steel cable, avoiding the device from slipping during movement.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention includes three detection modules symmetrically distributed around the circumference of the wire rope and an external frame structure. The external frame structure includes end plates on both sides and is generally annular. Both ends of each detection module are connected to the external frame. The detection module includes a magnetizer, an active part, a passive part, and a magnetic sensor. The active part and the passive part are respectively installed at both ends of the magnetizer to drive the crawler to climb along the wire rope. One of the detection modules uses a groove wheel and is compressed by a spring to achieve positioning and close contact between the crawler and the wire rope. The driving wheels and the driven wheels of the other two detection modules are connected by sprockets installed on the driving wheels and the driven wheels through a chain to achieve motion transmission. There are six magnetic sensors in total, and each detection module has two magnetic sensors installed in the middle of the magnetizer to achieve 360° detection to prevent missed detection. 2. In the present invention, the armature, permanent magnet, air gap, and the tested steel cable form a magnetizing circuit. The magnetizer composed of the armature and permanent magnet magnetizes the steel cable to a saturated state and scans the steel cable axially. When the steel cable has local defects such as broken wires or corrosion, the internal magnetic field of the steel cable changes, and part of the magnetic field "leaks" into the air. The magnetic sensor between the two magnetic poles can detect the corresponding leakage magnetic signal. When the steel cable has large-scale corrosion, the magnetic flux of the magnetic circuit changes, and the magnetic sensor below the two magnetic poles can obtain the corresponding magnetic flux signal. 3. The present invention can improve the efficiency of steel wire detection and reduce the time and cost of manual detection; by accurately detecting defects inside the steel wire, it can prevent engineering accidents that may be caused by steel wire breakage, ensure the safety of the project, extend the service life of the wire rope, and reduce resource waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the overall front view of the present invention; Figure 2 It is an overall side view of the present invention; Figure 3 Schematic diagram of the lock ring structure of the present invention; Figure 4 This is a schematic diagram of the main climbing frame structure of the present invention; Figure 5 This is a schematic structural diagram of the second auxiliary climbing frame of the present invention; Figure 6 Schematic diagram of the detection technology process of the present invention; Figure 7 Schematic diagram of the magnetic detection principle of the present invention.

[0019] In the figure: 1. Locking ring; 2. Steel cable; 3. Main climbing frame; 4. First auxiliary climbing frame; 5. Second auxiliary climbing frame; 6. Drive assembly; 7. Magnetic leakage detection module; 8. Detector shaft frame; 101. Split ring hoop; 102. Connecting plate; 103. Adjustment lock hole; 301. Strap; 302. Wheel frame; 303. Support spring; 304. Pressure pulley; 501. Data machine box; 601. Reducer motor; 602. Transmission chain; 603. Climbing wheel; 604. Driven wheel; 605. Driven chain; 701. Armature; 702. Permanent magnet; 703. Signal acquisition module; 704. Signal conversion module; 705. Identification and analysis unit; 801. Magnetic sensor. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] In order to solve the problem that traditional detection methods require manual climbing and testing with equipment, which requires a lot of time and labor costs and has low overall detection efficiency; Figure 1-Figure 7 , the present invention provides the following solutions: Example 1:

[0022] See also Figure 1-3 and Figure 6-7, a non-destructive magnetic leakage detection robot for wire rope detection, including a locking ring 1, a main climbing frame 3, a first auxiliary climbing frame 4 and a second auxiliary climbing frame 5, which are distributed in a ring shape between the main climbing frame 3 and the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5, wherein the locking ring 1 is located at both ends of the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5, and the inner sides of the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 are all provided with a magnetic leakage detection module 7, and the magnetic leakage detection module 7 includes an armature 701 and a permanent magnet 702, wherein the armature 701 is connected to the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 by bolts, and the permanent magnet 702 is located at the armature 7 01, the locking ring 1 includes three segmented hoops 101, and the segmented hoops 101 are respectively connected to the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 by bolts, wherein both ends of the segmented hoops 101 are provided with an integrally formed connecting plate 102, and the outer surface of the connecting plate 102 is provided with a plurality of adjustment lock holes 103, and the segmented hoops 101 are connected by bolts. The locking ring 1 is composed of three independent segmented hoops 101. Before use, the diameters between the segmented hoops 101 can be adjusted according to the diameter of the steel cable 2. This can avoid the contact and friction between the magnetic leakage detection module 7 and the steel cable 2 during the detection movement; The main climbing frame 3, the first auxiliary climbing frame 4, and the second auxiliary climbing frame 5 are in a circular shape. The two ends of the detection module of each climbing frame structure are connected together by a locking ring 1. The detection module includes a magnetic leakage detection module 7, an active part and a passive part, and a magnetic sensor 801. The active part and the passive part are respectively installed at the two ends of the climbing frame to drive the crawler to climb along the steel cable 2. One end of the main climbing frame 3 uses a groove wheel and is tightened by a spring to achieve positioning and close contact between the crawler and the steel wire rope. The other two sets of driving wheels and driven wheels are connected by sprockets installed on the driving wheels and the driven wheels to achieve motion transmission through chains. Specifically, the lock ring includes three parts, and the thickness of the hoops is set as follows: Extract the theoretical radial pressure that each component hoop bears during the operation of the non-destructive magnetic flux leakage testing robot; Extracting the material elastic modulus of each segmented hoop and the radial deformation allowed by each segmented hoop; wherein the radial deformation allowed by each segmented hoop ranges from 0.001R to 0.003R, and R represents the minimum radius corresponding to the locking ring; Extract the theoretical inherent working vibration frequency of each component hoop during the operation of the non-destructive magnetic flux leakage testing robot; The thickness of each segmented hoop is set using the theoretical radial pressure, theoretical natural working vibration frequency, material elastic modulus and allowable radial deformation of each segmented hoop; The thickness of each segmented hoop is obtained by the following formula: ; Wherein, D represents the thickness of each segment hoop; E represents the material elastic modulus of each segment hoop; Y represents the theoretical radial pressure of each segment hoop; R represents the minimum radius corresponding to the locking ring; h represents the allowable radial deformation of each segment hoop; f c Indicates the preset frequency reference value; f indicates the theoretical natural working vibration frequency.

[0023] The technical effects of the above technical solution are: This section compares the theoretical natural working vibration frequency f with the preset frequency reference value fc. By calculating the ratio of the theoretical natural working vibration frequency f to the preset frequency reference value fc and adding 1, a value reflecting the relative relationship of the vibration frequencies is obtained. If the theoretical natural working vibration frequency f is close to the preset frequency reference value fc, the value is close to 2; if the theoretical natural working vibration frequency f is significantly different from the preset frequency reference value fc, the thickness value will change accordingly. When calculating the thickness of the component hoop, the influence of the vibration frequency is considered. Different vibration frequencies may cause the hoop to withstand different degrees of dynamic stress during operation. This section quantifies the vibration frequency factor and provides vibration-related parameters for subsequent calculations.

[0024] Furthermore, by comprehensively considering the theoretical radial pressure, material elastic modulus, allowable radial deformation, and theoretical natural operating vibration frequency that each segmented hoop will experience during operation, this technical solution accurately calculates the required thickness for each segmented hoop. This precision ensures the overall performance and stability of the locking ring. By precisely setting the segmented hoop thickness, the mechanical properties of the locking ring, such as radial stiffness and load-bearing capacity, can be optimized. This helps ensure that the locking ring can withstand the expected loads and pressures during operation of the non-destructive magnetic flux leakage inspection robot while maintaining structural integrity and stability. By taking into account the theoretical natural operating vibration frequency of the segmented hoop, this technical solution can reduce the vibration and noise that may be generated during operation. By adjusting the segmented hoop thickness to match a specific frequency reference value, the vibration stability of the locking ring can be further improved, thereby extending its service life and reducing maintenance costs. Because this technical solution considers multiple variables (including radial pressure, material elastic modulus, radial deformation, and vibration frequency), it can adapt to different operating environments and load conditions. This adaptability enhances the reliability and durability of the locking ring, enabling stable operation under various complex conditions. As a key component of a non-destructive magnetic flux leakage inspection robot, the performance of the locking ring directly affects the overall system performance. By optimizing the locking ring design, the robot's detection accuracy and stability can be improved, providing users with more accurate and reliable test results.

[0025] Specifically, the bending strength of the joining plate is set in the following manner: Extract the maximum tensile force borne by the single-side joint plate of the joint plate; extracting the joint width and the joint plate thickness of the joint plate; Retrieving the materials for making the joining plate; Obtaining the material allowable stress of the joining plate according to the material of the joining plate; Obtaining the bending strength of the joint plate using the maximum tensile force borne by the single-side joint plate of the joint plate, the joint width, the joint plate thickness and the allowable stress of the material; The bending strength of the joint plate is obtained by the following formula: ; Wherein, S represents the bending strength of the joint plate (102); U represents the allowable stress of the material; K represents the joint width; J represents the thickness of the joint plate; D p It represents the average thickness of the three-component hoop; L represents the maximum tensile force that the single-side joint plate of the joint plate can withstand.

[0026] The technical effects of the above technical solution are: This part of the calculation compares the average thickness of the three-part hoop and the thickness of the joint plate, and takes the ratio of the smaller value to the larger value. Its purpose is to measure the relative size relationship between the average thickness and the thickness of the joint plate. If the average thickness is close to the thickness of the joint plate, the ratio is close to 1; if the difference between the two is large, the ratio will approach 0. In the bending strength calculation, the potential impact of the matching degree between the hoop thickness and the joint plate thickness on the bending strength is reflected. For example, when the hoop is too thin or too thick relative to the joint plate, it may change the mechanical distribution of the joint, thereby affecting the overall bending strength. At the same time, Multiplying the quantified thickness mismatch value by the stress difference comprehensively considers the combined effects of thickness mismatch and stress state on bending strength. This multiplication considers both thickness mismatch and stress state as contributing to bending strength, combining their influences. This yields an intermediate value that comprehensively reflects the effects of thickness and stress on bending strength, providing the basis for the final bending strength calculation.

[0027] Furthermore, by comprehensively considering multiple factors, including the maximum tensile force on one side of the joint plate, the joint width, the joint plate thickness, and the allowable material stress, this technical solution accurately calculates the joint plate's bending strength. This accuracy is crucial for ensuring the structural integrity and safety of the joint plate in practical applications. This technical solution allows designers to optimize joint plate design parameters, such as the joint width and thickness, and select appropriate materials based on the required bending strength. This optimization helps reduce material costs and production complexity while meeting performance requirements. By precisely setting the joint plate's bending strength, it ensures it can withstand the expected loads and pressures in practical applications, extending the joint plate's service life and reducing maintenance costs. Furthermore, the optimized design parameters help improve the joint plate's fatigue resistance and durability. This technical solution requires the joint plate's material to be retrieved and the bending strength calculated based on the material's allowable stress. This helps designers prioritize the material's mechanical properties and suitability when selecting materials, ensuring that the selected material meets the joint plate's performance requirements. Because this technical solution considers multiple variables (including tensile force, width, thickness, and material stress), it is adaptable to diverse operating environments and loading conditions. This adaptability enhances the flexibility and versatility of the joint plate, enabling stable operation under a variety of complex conditions. The calculated bending strength value provides an important basis for joint plate quality control. Manufacturers use this indicator to conduct rigorous testing and screening of joint plates to ensure that all products meet performance requirements.

[0028] Example 2:

[0029] See also Figure 5 , a magnetic sensor 801 is provided between the permanent magnets 702, the magnetic sensor 801 is connected to the armature 701 through the detector shaft frame 8, and the magnetic sensor 801 includes a magnetization circuit and defect characteristics; Among them, the magnetization circuit uses the finite element analysis method to analyze the magnetic field after the wire rope is magnetized. By establishing a three-dimensional model of the wire rope, performing finite element analysis on the magnetic field, and constructing the influence of different magnetizer parameters on the leakage magnetic field intensity, the magnetization circuit is designed; The magnetic sensor 801 interacts with the signal acquisition module 703, and the signal acquisition module 703 interacts with the identification and analysis unit 705 through the signal conversion module 704; The signal acquisition module 703 is used to amplify and filter the weakness signal received by the sensor, and then convert it into a digital signal through the signal conversion module 704, and finally analyze it through the identification and analysis unit 705 to realize the identification of defects; The armature 701, permanent magnet 702, air gap and the tested steel cable 2 form a magnetizing circuit. The magnetizer formed by the armature 701 and permanent magnet 702 magnetizes the steel cable 2 to a saturated state and performs an axial scan relative to the steel cable 2. When the steel cable 2 has local defects such as broken wires or corrosion, the internal magnetic field of the steel cable 2 will change, and part of the magnetic field will "leak" into the air. The magnetic sensor 801 between the two magnetic poles can detect the corresponding leakage magnetic signal. When the steel cable 2 has large-scale corrosion, the magnetic flux of the magnetic circuit changes, and the magnetic sensor 801 below the two magnetic poles can obtain the corresponding magnetic flux signal. The finite element method and ANSYS software were used to study the leakage magnetic field of wire rope defects, overcoming the shortcomings of traditional physical experimental methods. By varying the lift-off distance, defect width, and defect depth, the axial and radial components of the leakage magnetic field were extracted and plotted. The relationship between the characteristics of the leakage magnetic field signal and the defect type was qualitatively analyzed. Through the above different simulation results, it was found that the depth and width of the defect are approximately linearly related to the radial component of the leakage magnetic field. The lift-off distance is not necessarily smaller, but should be reasonably selected according to the actual situation. This provides a basis for the quantitative identification of defects. The function of the magnetizer is to magnetize the wire rope to achieve saturation inside in order to obtain the leakage magnetic signal at the defect. Three sets of magnetizers were selected and placed equidistantly along the circumference. After establishing a two-dimensional model, parametric simulation was performed using ANSYS software. The magnet parameters with the most obvious leakage magnetic signal were determined, including magnet length, magnet thickness, magnet width, armature thickness, and magnet spacing. One end of the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 is provided with a drive assembly 6, and the drive assembly 6 includes a reduction motor 601, a transmission chain 602 and a climbing wheel 603, wherein the drive assembly 6 at one end of the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 also includes a driven wheel 604 and a driven chain 605, the reduction motor 601 is respectively connected to the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 through a bracket, and one side of the climbing wheel 603 is rotatably connected to the reduction motor 601 through the transmission chain 602, wherein the climbing wheel 603 is in contact with the steel cable 2, and the steel cable 2 is located between the main climbing frame 3, the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5, and the climbing A driven chain 605 is provided on the other side of the wheel 603, and the driven wheel 604 is connected to the climbing wheel 603 through the driven chain 605, wherein the driven wheels 604 are respectively mounted on the other ends of the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5, and a data machine box 501 is provided on the outside of the second auxiliary climbing frame 5, and the data machine box 501 is connected to the second auxiliary climbing frame 5 by bolts. The reduction motor 601 drives the climbing wheel 603 to rotate through the transmission chain 602, thereby realizing the movement operation of the entire detection device, and as the climbing wheel 603 rotates, the driven wheels 604 at the other ends of the first auxiliary climbing frame 4 and the second auxiliary climbing frame 5 will also rotate under the influence of the driven chain 605; Example 3:

[0030] See also Figure 4 When the cam 302 is in the unlocking state, the cam 303 is in the unlocking state, and the cam 303 is in the unlocking state, so the cam 303 is locked.

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0032] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A non-destructive magnetic flux leakage detection robot for wire rope detection, comprising a main climbing frame (3), characterized in that: The main climbing frame (3) and the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) are distributed in an annular manner. The locking ring (1) is located at both ends of the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5). A magnetic leakage detection module (7) is provided on the inner side of the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5). The magnetic leakage detection module (7) includes an armature (701) and permanent magnets (702) located at both ends of the armature (701). The armature (701) is connected to the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) by bolts.

2. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 1, characterized in that: The locking ring (1) comprises three segmented hoops (101), and the segmented hoops (101) are respectively connected to the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) by bolts, wherein both ends of the segmented hoops (101) are provided with an integrally formed joint plate (102), and the outer surface of the joint plate (102) is provided with a plurality of adjustment lock holes (103), and the segmented hoops (101) are connected to each other by bolts.

3. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 2, characterized in that: The lock ring (1) includes three segmented hoops (101) whose thicknesses are set as follows: Extracting the theoretical radial pressure borne by each component hoop (101) during the operation of the non-destructive magnetic flux leakage detection robot; Extracting the material elastic modulus of each segment hoop (101) and the radial deformation allowed by each segment hoop (101); wherein the radial deformation allowed by each segment hoop (101) has a value range of 0.001R-0.003R, and R represents the minimum radius corresponding to the lock ring (1); Extracting the theoretical inherent working vibration frequency of each component hoop (101) during the operation of the non-destructive magnetic flux leakage detection robot; The thickness of each segmented hoop (101) is set using the theoretical radial pressure, theoretical natural working vibration frequency, material elastic modulus and allowed radial deformation of each segmented hoop (101).

4. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 2, characterized in that: The bending strength of the joint plate (102) is set in the following manner: Extracting the maximum tensile force borne by a single-side joint plate of the joint plate (102); Extracting the joining width and joining plate thickness of the joining plate (102); Retrieving the material for making the joining plate (102); Obtaining the material allowable stress of the joining plate according to the material of which the joining plate (102) is made; The bending strength of the joining plate (102) is obtained by utilizing the maximum tensile force borne by the single-side joining plate of the joining plate (102), the joining width, the joining plate thickness and the allowable stress of the material.

5. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 1, characterized in that: A magnetic sensor (801) is provided between the permanent magnets (702), the magnetic sensor (801) being connected to the armature (701) via a detector shaft frame (8), and the magnetic sensor (801) comprising a magnetization circuit and a defect feature; Among them, the magnetization circuit uses the finite element analysis method to analyze the magnetic field after the wire rope is magnetized. By establishing a three-dimensional model of the wire rope, a finite element analysis of the magnetic field is performed, and the influence of different magnetizer parameters on the leakage magnetic field strength is constructed, thereby designing the magnetization circuit.

6. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 5, characterized in that: The magnetic sensor (801) interacts with the signal acquisition module (703), and the signal acquisition module (703) interacts with the identification and analysis unit (705) via the signal conversion module (704); The signal acquisition module (703) is used to amplify and filter the weakness signal received by the sensor, and then convert it into a digital signal through the signal conversion module (704), and finally analyze it through the identification and analysis unit (705), thereby realizing defect identification.

7. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 1, characterized in that: One end of the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) is provided with a drive assembly (6), the drive assembly (6) comprising a reduction motor (601), a transmission chain (602) and a climbing wheel (603), wherein the drive assembly (6) at one end of the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) further comprises a driven wheel (604) and a driven chain (605).

8. The nondestructive magnetic flux leakage detection robot for wire rope detection according to claim 7, characterized in that: The reduction motor (601) is respectively connected to the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5) through brackets, and one side of the climbing wheel (603) is rotationally connected to the reduction motor (601) through a transmission chain (602), wherein the climbing wheel (603) is in contact with the steel cable (2), and the steel cable (2) is located between the main climbing frame (3), the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5).

9. The non-destructive magnetic flux leakage detection robot for wire rope detection according to claim 8, characterized in that: A driven chain (605) is provided on the other side of the climbing wheel (603), and the driven wheel (604) is connected to the climbing wheel (603) via the driven chain (605), wherein the driven wheel (604) is respectively installed on the other end of the first auxiliary climbing frame (4) and the second auxiliary climbing frame (5), and a data machine box (501) is provided on the outside of the second auxiliary climbing frame (5), and the data machine box (501) is connected to the second auxiliary climbing frame (5) via bolts.

10. The non-destructive magnetic flux leakage detection robot for wire rope detection according to claim 8, characterized in that: The other end of the main climbing frame (3) is provided with a plate (301), the plate (301) and the main climbing frame (3) are connected by bolts, one end of the plate (301) is provided with a wheel frame (302), the wheel frame (302) and the plate (301) are welded together, support springs (303) are provided below both ends of the wheel frame (302), the support spring (303) and the wheel frame (302) are connected by bolts, a pressing pulley (304) is provided at the bottom of the support spring (303), the pressing pulley (304) and the support spring (303) are rotatably connected, the pressing pulley (304) is provided as an inward concave structure, and the pressing pulley (304) is in contact with the steel cable (2).

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