Magnetic flaw detector device capable of autonomously moving to detect flaws of steel structures

Abstract

A magnetic flaw detector device capable of automatically moving to detect flaws of a steel structure comprises a moving trolley, and a moving mechanism is mounted at the bottom of the moving trolley; the spraying assembly is connected to the rear portion of the moving trolley through a pipeline, and the spraying assembly comprises a box body and a spraying gun; the probe, the magnetic defect detector body and the multi-shaft suspension mechanical arm are integrated on the moving trolley; and the terminal display is arranged in the monitoring room. In the process that the moving trolley drives the spraying group to move along the surface of the steel structure, the rear spray gun can stably spray the magnetic suspension in the box body to the surface of the steel structure, uniform coverage of the magnetic suspension is ensured, and meanwhile, a magnetic defect detector body, a multi-shaft suspension mechanical arm and a probe are integrated on the moving trolley, so that the magnetic defect detector is more accurate. And the probe performs flaw detection on the steel structure sprayed with the magnetic suspension, and transmits detected defects back to the terminal display, and the detected defects are matched with a database to perform steel structure defect sample matching, so that accurate classification of the steel structure defects is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of steel structure defect detection, and particularly relates to a magnetic particle flaw detector device which can move autonomously and detect steel structure flaws. Background Art

[0002] The magnetic particle detector is a flaw detection instrument suitable for wet magnetic particle detection of surface and near-surface cracks and minor defects caused by casting, quenching, machining, fatigue, and other factors on various small and medium-sized parts such as crankshafts, camshafts, and spline shafts. It is the preferred model for single-piece inspection, small-batch sampling, and large-scale inspection. It can also perform local magnetic flaw detection on large parts and is particularly suitable for flaw detection of flat welds, fillet welds, pressure vessels, pipelines, and parts with complex shapes.

[0003] It is widely used in magnetic particle inspection of structural parts, welded parts, forgings and castings, and heat-treated parts in steel structure factories, petrochemical industry, metallurgy, aviation, shipbuilding, railways, bridges and other industries.

[0004] The existing magnetic particle flaw detector device has the following defects:

[0005] 1. Traditional magnetic particle flaw detectors can only detect large workpieces in sections. Multiple magnetization tests are required for large steel structures. Single-pass coverage is insufficient, and they lack the ability to move autonomously. They cannot automatically spray magnetic suspension on the surface of steel structures to facilitate flaw detection. This results in low detection efficiency in steel structure factory applications.

[0006] 2. Traditional magnetic particle flaw detectors require experienced personnel to visually interpret magnetic traces, which leads to inaccurate classification of steel structure defects and requires a lot of manpower and material resources for identification and matching. In addition, there is a high rate of missed detection of steel structure surface defects and increased labor costs. Summary of the Invention

[0007] In view of the above, the present invention provides a magnetic particle flaw detector device that can move autonomously to detect flaws in steel structures, so as to solve the problems raised in the above background technology.

[0008] A technical solution provided by the present invention is: a magnetic particle flaw detector device that can move autonomously to detect flaws in steel structures, comprising: a mobile trolley for carrying various components and moving on the surface of the steel structure, a mobile mechanism installed at the bottom of the mobile trolley, and the mobile mechanism can enable the mobile trolley to climb on the surface of the steel structure; a spraying component connected to the rear of the mobile trolley through a retractable and bendable pipe, for spraying magnetic suspension liquid on the steel structure, the spraying component comprising a box for loading the magnetic suspension liquid and a spray gun, the spray gun being connected to the box through the pipe, and when the mobile trolley moves along the surface of the steel structure, the spray gun at the rear can stably spray the magnetic suspension liquid in the box to the surface of the steel structure to ensure uniform coverage of the magnetic suspension liquid; a magnetic particle flaw detector body, and a multi-axis suspension mechanical arm, The probe, the magnetic particle flaw detector body and the multi-axis suspension mechanical arm are integrated on the mobile trolley, and the end of the multi-axis suspension mechanical arm is integrated with a high-sensitivity Hall sensor array and an embedded optical camera, which can collect magnetic trace images and magnetic field distribution data in real time. The probe is connected to the multi-axis suspension mechanical arm, and the multi-axis suspension mechanical arm is driven by a servo motor. It can automatically adjust the probe contact angle according to the surface curvature of the steel structure, so that the probe can perform flaw detection on the steel structure sprayed with magnetic suspension liquid. The local magnetic field is formed based on the leakage magnetic field generated by the increase in magnetic resistance at the defect, and the magnetic suspension liquid is adsorbed to display the shape and position of the defect, so as to judge whether the defect exists; the terminal display is set in the monitoring room, and the magnetic particle flaw detector body is wirelessly connected to the input end of the terminal display to detect defects and transmit them back to the terminal display.

[0009] Preferably, the moving mechanism includes a magnetic track, which is adsorbed on the surface of the steel structure by magnetic force, thereby enabling the moving trolley to move on the surface of the steel structure.

[0010] Preferably, the moving mechanism further includes an upright mechanical foot having a magnetic adsorption end, which is adsorbed on the surface of the steel structure by the magnetic adsorption end, thereby enabling the moving trolley to move on the non-planar steel structure surface.

[0011] Preferably, the box body is provided with a visual window to facilitate observation of the remaining amount of magnetic suspension in the box body.

[0012] Preferably, the spray gun is an adjustable spray gun, which can adjust the spray range and spray amount of the magnetic suspension according to actual flaw detection requirements.

[0013] Preferably, the adjustable spray gun is also equipped with an ultrasonic atomizing nozzle and an annular electromagnetic guide device. The ultrasonic atomizing nozzle can atomize the magnetic suspension into microparticles with a particle size of 10-50 μm, and cooperate with the alternating magnetic field generated by the annular electromagnetic guide device to make the magnetic suspension particles evenly deposited in the detection area of the steel structure along a preset trajectory.

[0014] Preferably, a database of steel structure defect samples is stored in the terminal display. When the magnetic particle detector body inspects the surface of the steel structure, the defects are detected and transmitted back to the terminal display, and the steel structure defect samples are matched with the database.

[0015] In view of the shortcomings of the existing magnetic particle flaw detector device, a mobile trolley and a spraying assembly are set up, so that the mobile trolley drives the spraying group to move along the surface of the steel structure. The spray gun at the rear can stably spray the magnetic suspension in the box to the surface of the steel structure to ensure uniform coverage of the magnetic suspension. At the same time, the mobile trolley is integrated with the magnetic particle flaw detector body, a multi-axis suspension mechanical arm, and a probe. The end of the axis suspension mechanical arm is integrated with a high-sensitivity Hall sensor array and an embedded optical camera, which can collect magnetic trace images and magnetic field distribution data in real time. The multi-axis suspension mechanical arm is driven by a servo motor and can automatically adjust the probe contact angle according to the curvature of the steel structure surface, so that the probe can perform flaw detection on the steel structure sprayed with the magnetic suspension. The local magnetic field is formed based on the leakage magnetic field generated by the increase in magnetic resistance at the defect, and the magnetic suspension is adsorbed to display the shape and position of the defect, so as to judge whether the defect exists. The magnetic particle flaw detector device has the function of autonomous movement, automatically sprays the magnetic suspension on the surface of the steel structure, and cooperates with the flaw detection to improve the detection efficiency in steel structure factory applications.

[0016] By setting up a terminal display, a database of steel structure defect samples is stored in the terminal display. When the magnetic particle detector body inspects the surface of the steel structure, the defects are detected and transmitted back to the terminal display. The steel structure defect samples are matched with the database to achieve accurate classification of steel structure defects. Without the need for a lot of manpower and material resources, the steel structure defect classification and identification can be quickly realized, the defect missed detection rate of the steel structure surface is reduced, and labor costs are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 This is a schematic diagram of the assembly of the mobile trolley, spraying components, and magnetic particle flaw detector body.

[0019] Figure 3 It is a structural diagram of the magnetic particle flaw detector probe.

[0020] Figure 4 It is a principle flow chart of the present invention.

[0021] In the figure, 1. Mobile trolley; 2. Magnetic track; 3. Upright mechanical foot; 4. Magnetic adsorption end; 5. Box; 6. Pipeline; 7. Spray gun; 8. Ultrasonic atomizing nozzle; 9. Annular electromagnetic guide device; 10. Multi-axis suspension mechanical arm; 11. Embedded optical camera; 12. Probe; 13. Magnetic particle flaw detector body; 14. Flexible solar film; 15. Battery; 16. Terminal display. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and some embodiments.

[0023] exist Figure 1-Figure 4 In the present invention, a magnetic particle flaw detector device that can move autonomously to detect flaws in steel structures is provided, comprising: a mobile trolley 1 for carrying various components and moving on the surface of the steel structure, a moving mechanism being installed at the bottom of the mobile trolley 1, and the moving mechanism enabling the mobile trolley 1 to climb on the surface of the steel structure; the moving mechanism comprising a magnetic track 2, which is adsorbed on the surface of the steel structure by magnetic force, thereby realizing the movement of the mobile trolley 1 on the surface of the steel structure; the magnetic particle flaw detector device is applied to technical fields such as steel structure factories or steel structure workpieces. When performing flaw detection on the honing frame or truss of the steel structure factory, the magnetic track 2 of the magnetic particle flaw detector device is adsorbed on the steel structure surface of the honing frame or truss by magnetic force, thereby realizing the movement of the mobile trolley 1 on the surface of the steel structure, thereby driving the various flaw detection components on the mobile trolley 1 to perform flaw detection on the honing frame or truss, thereby improving the detection efficiency in steel structure factory applications.

[0024] In this embodiment, the mobile mechanism also includes an upright mechanical foot 3, which has a magnetic adsorption end 4. The magnetic adsorption end 4 is adsorbed on the surface of the steel structure to realize the movement of the mobile cart 1 on the non-planar steel structure surface; for the non-planar steel frame of the steel structure factory, the mobile cart 1 can also move on the non-planar steel frame through the magnetic adsorption end 4 of the upright mechanical foot 3 to adapt to the structural diversity of the steel structure factory and achieve comprehensive flaw detection coverage.

[0025] In this embodiment, the spraying assembly is connected to the rear of the mobile trolley 1 through a retractable and flexible pipe 6, and is used to spray the magnetic suspension liquid on the steel structure. The spraying assembly includes a box 5 for loading the magnetic suspension liquid and a spray gun 7. The spray gun 7 is connected to the box 5 through the pipe 6. When the mobile trolley 1 moves along the surface of the steel structure, the spray gun 7 at the rear can stably spray the magnetic suspension liquid in the box 5 to the surface of the steel structure to ensure uniform coverage of the magnetic suspension liquid; the magnetic particle detector body 13, as well as the multi-axis suspension robot arm 10 and the probe 12, the magnetic particle detector body 13 The multi-axis suspension manipulator 10 is integrated on the mobile car 1. The end of the multi-axis suspension manipulator 10 is integrated with a high-sensitivity Hall sensor array and an embedded optical camera 11, which can collect magnetic trace images and magnetic field distribution data in real time. The probe 12 is connected to the multi-axis suspension manipulator 10. The multi-axis suspension manipulator 10 is driven by a servo motor and can automatically adjust the contact angle of the probe 12 according to the surface curvature of the steel structure, so that the probe 12 can perform flaw detection on the steel structure sprayed with magnetic suspension liquid. The magnetic leakage generated by the increase of magnetic resistance at the defect forms a local magnetic field, which adsorbs the magnetic suspension liquid to display the magnetic trace image. The shape and position of the defect are used to determine whether the defect exists; by setting up the mobile trolley 1 and the spraying assembly, the magnetic track 2 and the magnetic adsorption end 4 of the upright mechanical foot 3, the mobile trolley 1 drives the spraying group to move along the surface of the steel structure. During this process, the spray gun 7 at the rear can stably spray the magnetic suspension in the box 5 to the surface of the steel structure to ensure uniform coverage of the magnetic suspension. At the same time, the mobile trolley 1 is integrated with a magnetic particle flaw detector body 13, a multi-axis suspension mechanical arm 10, and a probe 12. The end of the multi-axis suspension mechanical arm is integrated with a high-sensitivity Hall sensor array and an embedded optical camera. 11. It can collect magnetic trace images and magnetic field distribution data in real time. The multi-axis suspension robot arm 10 is driven by a servo motor and can automatically adjust the contact angle of the probe 12 according to the curvature of the steel structure surface, so that the probe 12 can perform flaw detection on the steel structure sprayed with magnetic suspension. The local magnetic field is formed based on the leakage magnetic field generated by the increase in magnetic resistance at the defect, and the magnetic suspension is adsorbed to display the shape and position of the defect, so as to judge whether the defect exists. The magnetic particle flaw detector device has the function of autonomous movement, automatically sprays the magnetic suspension on the surface of the steel structure, and cooperates with the flaw detection to improve the detection efficiency in steel structure factory applications.

[0026] In this embodiment, the terminal display 16 is set in the monitoring room, and the magnetic particle flaw detector body 13 is wirelessly connected to the input end of the terminal display 16 to detect defects and transmit them back to the terminal display 16; the terminal display 16 stores a database of steel structure defect samples, and when the magnetic particle flaw detector body 13 performs flaw detection on the surface of the steel structure, the defects are detected and transmitted back to the terminal display 16, and the steel structure defect samples are matched with the database; by setting up the terminal display 16, a database of steel structure defect samples is stored in the terminal display 16, and when the magnetic particle flaw detector body 13 performs flaw detection on the surface of the steel structure, the defects are detected and transmitted back to the terminal display 16, and the steel structure defect samples are matched with the database, thereby achieving accurate classification of steel structure defects, and quickly realizing steel structure defect classification and identification without spending a lot of manpower and material resources, reducing the defect missed detection rate of the steel structure surface, and reducing labor costs.

[0027] In this embodiment, the box 5 is provided with a visual window, which is convenient for observing the remaining amount of magnetic suspension in the box 5; so that the staff can add magnetic suspension to the box 5 in time, ensuring long-term flaw detection work of the magnetic particle flaw detector device.

[0028] In this embodiment, the spray gun 7 is an adjustable spray gun 7, which can adjust the spray range and spray amount of the magnetic suspension according to the actual flaw detection needs; the adjustable spray gun 7 is also equipped with an ultrasonic atomizing nozzle 8 and an annular electromagnetic guide device 9. The ultrasonic atomizing nozzle 8 can atomize the magnetic suspension into microparticles with a particle size of 10-50 μm, and cooperate with the alternating magnetic field generated by the annular electromagnetic guide device 9 to make the magnetic suspension particles uniformly deposited in the detection area of the steel structure along the preset trajectory; the magnetic adsorption track 2 and the magnetic adsorption end 4 of the upright mechanical foot 3 enable the mobile trolley 1 to drive the spraying group along the During the movement of the steel structure surface, the spray gun 7 at the rear can stably spray the magnetic suspension in the box 5 onto the surface of the steel structure, and atomize the magnetic suspension into microparticles with a particle size of 10-50μm through the ultrasonic atomizing nozzle 8 and the annular electromagnetic guide device 9. The alternating magnetic field generated by the annular electromagnetic guide device 9 allows the magnetic suspension particles to be evenly deposited along a preset trajectory in the detection area of the steel structure, thereby ensuring accurate flaw detection by the magnetic particle flaw detector device in the detection area, screening out defects on the surface of the steel structure, and enabling staff to carry out timely maintenance to avoid safety accidents.

[0029] In this embodiment, a power supply module is also included, which includes a flexible solar film 14 and a battery 15. The flexible solar film 14 is arranged on the top of the mobile cart 1, and the battery 15 is arranged inside the mobile cart 1, and the flexible solar film 14 and the battery 15 are electrically connected; the flexible solar film 14 receives sunlight, converts light energy into electrical energy, and stores it in the battery 15 to provide power for components such as the magnetic particle flaw detector device and the mobile cart 1.

[0030] During the specific implementation of the present invention: the magnetic adsorption end 4 of the magnetic track 2 or the upright mechanical foot 3 enables the mobile trolley 1 to drive the spraying group to move along the surface of the steel structure, and the rear spray gun 7 can stably spray the magnetic suspension in the box 5 to the surface of the steel structure, and through the ultrasonic atomizing nozzle 8 and the annular electromagnetic guide device 9, the magnetic suspension is atomized into micro-particles with a particle size of 10-50μm, and the alternating magnetic field generated by the annular electromagnetic guide device 9 is used to make the magnetic suspension particles uniformly deposited in the detection area of the steel structure along a preset trajectory. At the same time, the mobile trolley 1 is integrated with a magnetic particle flaw detector body 13, a multi-axis suspension mechanical arm 10, and a probe 12. The end of the axis suspension mechanical arm is integrated with a high-sensitivity Hall sensor array and an embedded optical camera 11, which can collect magnetic trace images and magnetic field distribution data in real time. The robotic arm 10 is driven by a servo motor and can automatically adjust the contact angle of the probe 12 according to the curvature of the steel structure surface, so that the probe 12 can perform flaw detection on the steel structure sprayed with magnetic suspension. The local magnetic field is formed based on the leakage magnetic field generated by the increase in magnetic resistance at the defect, and the magnetic suspension is adsorbed to display the shape and position of the defect, so as to judge whether the defect exists. The magnetic particle flaw detector device has the function of autonomous movement, and automatically sprays magnetic suspension on the surface of the steel structure to cooperate with the flaw detection. When the magnetic particle flaw detector body 13 performs flaw detection on the steel structure surface, the defects are detected and sent back to the terminal display 16, and the steel structure defect samples are matched with the database to achieve accurate classification of the steel structure defects. Without a lot of manpower and material resources, the steel structure defect classification and identification can be quickly realized, the defect missed detection rate of the steel structure surface is reduced, and the labor cost is reduced.

[0031] It is worth noting that: in the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly defined and specified. In the present invention, unless otherwise clearly specified and defined, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection. The circuits described in the present invention are all commonly used circuits in the art, and other related components are all existing commonly used components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention may be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and is intended to encompass all variations within the meaning and scope of the accompanying claims. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. A magnetic particle flaw detector device that can move autonomously to detect flaws in steel structures, characterized in that: include: A mobile trolley is used to carry various components and move on the surface of the steel structure. A moving mechanism is installed at the bottom of the mobile trolley, which enables the mobile trolley to climb on the surface of the steel structure; A spraying assembly is connected to the rear of the mobile trolley via a retractable and flexible pipe and is used to spray the magnetic suspension liquid on the steel structure. The spraying assembly includes a box for loading the magnetic suspension liquid and a spray gun. The spray gun is connected to the box via the pipe. As the mobile trolley moves along the surface of the steel structure, the spray gun at the rear can stably spray the magnetic suspension liquid in the box onto the surface of the steel structure, ensuring uniform coverage of the magnetic suspension liquid. A magnetic particle flaw detector body, a multi-axis suspension mechanical arm, and a probe are integrated on the mobile carriage. The end of the multi-axis suspension mechanical arm is integrated with a high-sensitivity Hall sensor array and an embedded optical camera, which can collect magnetic trace images and magnetic field distribution data in real time. The probe is connected to the multi-axis suspension mechanical arm, which is driven by a servo motor and can automatically adjust the probe contact angle according to the surface curvature of the steel structure, so that the probe can perform flaw detection on the steel structure sprayed with magnetic suspension liquid. The local magnetic field is generated by the leakage magnetic field due to the increase in magnetic resistance at the defect, and the magnetic suspension liquid is attracted to display the shape and location of the defect, thereby determining whether the defect exists. The terminal display is set in the monitoring room. The magnetic particle flaw detector body is wirelessly connected to the input end of the terminal display to detect defects and transmit them back to the terminal display.

2. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 1, characterized in that: The moving mechanism includes a magnetic track, which is adsorbed on the surface of the steel structure by magnetic force, so that the moving trolley can move on the surface of the steel structure.

3. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 1, characterized in that: The moving mechanism also includes an upright mechanical foot, which has a magnetic adsorption end. The magnetic adsorption end is adsorbed on the surface of the steel structure to achieve the movement of the moving trolley on the non-planar steel structure surface.

4. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 1, characterized in that: The box body is provided with a visual window for convenient observation of the remaining amount of magnetic suspension liquid in the box body.

5. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 1, characterized in that: The spray gun is an adjustable spray gun, which can adjust the spray range and spray amount of the magnetic suspension according to actual flaw detection requirements.

6. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 5, characterized in that: The adjustable spray gun is also equipped with an ultrasonic atomizing nozzle and an annular electromagnetic guide device. The ultrasonic atomizing nozzle can atomize the magnetic suspension into microparticles with a particle size of 10-50μm. Combined with the alternating magnetic field generated by the annular electromagnetic guide device, the magnetic suspension particles are evenly deposited in the detection area of the steel structure along a preset trajectory.

7. The magnetic particle flaw detector device capable of autonomous movement for flaw detection of steel structures according to claim 1, characterized in that: The terminal display stores a database of steel structure defect samples. When the magnetic particle detector body inspects the surface of the steel structure, the defects are detected and transmitted back to the terminal display, and the steel structure defect samples are matched with the database.

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