Steel structure weld ultrasonic detection device for high-altitude crawling movement detection

Abstract

The application relates to the technical field of ultrasonic detection, and discloses a steel structure weld ultrasonic detection device for high-altitude crawling movement detection, which comprises a moving vehicle body and a mounting frame arranged at the end of the moving vehicle body, an ultrasonic detection probe is rotatably arranged on the mounting frame, permanent magnet driving wheels are arranged at the four corners of the moving vehicle body, a battery plate is arranged on the top surface of the moving vehicle body, and two installation bins are symmetrically arranged on the bottom surface of the moving vehicle body. The moving vehicle body and the permanent magnet driving wheels are arranged, so that the whole device can detect the cylindrical steel structure; the distance between the moving vehicle body and the steel structure is monitored in real time through an infrared distance probe; once the magnetic force fails or other falling risks occur, the cover plate opening and the cover shell pushing mechanism can be triggered rapidly, the steel structure is adsorbed through the strong magnetic plate, the vehicle body is pulled through the pull rope, the buffer effect of the torsional spring two on the reel is utilized, the impact damage of the vehicle body during falling is greatly reduced, and the safety of the detection device is ensured.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic testing technology, and in particular to an ultrasonic testing device for steel structure welds used in high-altitude crawling and movement detection. Background Technology

[0002] Ultrasonic testing of steel structure welds is a non-destructive testing technique that utilizes the physical properties of ultrasonic waves in a medium, such as propagation, reflection, and attenuation, to detect internal defects (such as cracks, porosity, slag inclusions, lack of fusion, and incomplete penetration) in steel structure welds. It boasts advantages such as large detection depth, high sensitivity, flexible operation, low cost, and no radiation harm to the human body. It is one of the core methods for quality control in steel structure engineering and is widely used in fields such as construction, bridges, machinery, pressure vessels, and shipbuilding.

[0003] A search revealed that Chinese patent CN118130629A discloses an auxiliary device for inspecting weld seams in steel structures. This device includes a main support frame, two sidewall clamps located on the front of the main support frame that can move relative to each other, and a double crawling mechanism located on opposite sides of the two sidewall clamps. The main support frame, in conjunction with the two sidewall clamps, clamps the edges of the steel plate. The double crawling mechanism adapts to the surfaces of the clamped steel plate, allowing the entire structure to rise or fall on one side of the steel plate. This allows the telescopic inspection brackets on the upper part of the two sidewall clamps to push the ultrasonic probe head close to the steel plate surface for inspection. Furthermore, the structure uses a magnetic suction component to hold the steel plate in place during lifting and crawling, providing guidance during the process and preventing the main support frame and sidewall clamps from detaching or slipping, thus improving stability. However, this technical solution still has the following shortcomings in practical use:

[0004] The aforementioned device, employing a combination of clamping plates and tracked crawlers, can to a certain extent achieve clamping and fixation of the inspection device on the surface of steel structures and autonomous movement. However, when faced with weld inspection tasks on large cylindrical steel structures (such as large storage tank bodies, pressure pipelines, wind power towers, etc.), on the one hand, because the surface of the cylindrical steel structure is a continuous arc, and large components often have large diameters and high walls, the clamping method of the clamping plates is difficult to adapt to the curvature changes of the curved surface, easily leading to problems such as insecure clamping and uneven force distribution; on the other hand, the movement trajectory of the tracked crawler is limited by the contact method between the track and the curved surface, and it can usually only move along the axial direction or a single circumferential direction of the cylindrical component, making it difficult to flexibly adjust the crawling angle and path, and difficult to achieve comprehensive coverage, resulting in the risk of missing some key inspection areas.

[0005] Therefore, a new ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds needs to be designed to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies by proposing an ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An ultrasonic testing device for steel structure welds, used for high-altitude crawling and mobile inspection, includes a mobile vehicle body and a mounting frame at the end of the mobile vehicle body. An ultrasonic testing probe is rotatably mounted on the mounting frame. Permanent magnet drive wheels are located at each of the four corners of the mobile vehicle body. A battery panel is installed on the top surface of the mobile vehicle body. Two mounting compartments are symmetrically opened on the bottom surface of the mobile vehicle body. A sealing assembly is provided at the opening end of each mounting compartment. A cover is provided inside each mounting compartment. A mounting seat is slidably mounted at the opening end of the cover. A strong magnetic plate is fixedly mounted on the bottom surface of the mounting seat. An installation structure is provided on the cover. A winding and unwinding assembly corresponding to the cover is provided at the top inner surface of the mounting compartment. Two sets of connecting assemblies are symmetrically arranged between the cover and the strong magnetic plate.

[0009] As a preferred embodiment of the present invention, the sealing assembly includes two rotating shafts symmetrically and rotatably mounted on the inner wall of the opening end of the installation chamber. A cover plate is fixedly fitted on the rotating shaft, and a torsion spring is fitted on the end of the rotating shaft. The two ends of the torsion spring are fixedly connected to the installation chamber and the rotating shaft, respectively. An overlapping plate is fixedly installed on the end of one of the cover plates, and an overlapping groove adapted to the overlapping plate is opened on the end of the other cover plate.

[0010] As a preferred embodiment of the present invention, the bottom surface of the mobile vehicle is provided with an infrared distance probe located at the side of the installation compartment, the inner wall of the installation compartment is provided with an electric pin corresponding to a cover plate, and the side of the cover plate is provided with a pin groove adapted to the electric pin.

[0011] As a preferred embodiment of the present invention, two pull rods are symmetrically hinged to the top surfaces of the two cover plates, and a push plate corresponding to the cover is slidably installed on the inner wall of the installation chamber, and the top of the pull rod is hinged to the bottom surface of the push plate.

[0012] As a preferred embodiment of the present invention, the winding and unwinding assembly includes a servo motor fixedly installed at one end of the top surface inside the installation chamber. A shaft is fixedly installed at the output end of the servo motor. A reel is rotatably mounted on the shaft. A torsion spring is fixedly installed between the reel and the shaft. A pull rope is provided on the inner side of the reel, and the pulling end of the pull rope passes through a push plate and is fixedly connected to the top surface of the cover.

[0013] As a preferred embodiment of the present invention, the mounting structure includes two mounting rods symmetrically fixedly mounted on the bottom surface of the push plate, two guide sleeves slidably connected to the mounting rods fixedly mounted on the outer wall of the cover, a fixing plate fixedly mounted on the inner wall of the cover, and a spring fixedly mounted between the fixing plate and the mounting base.

[0014] As a preferred embodiment of the present invention, the connecting component includes a slot formed on the outer wall of the opening end of the cover, a guide frame corresponding to the slot is fixedly installed on the outer wall of the cover, a clamping plate is slidably installed on the inner wall of the guide frame, a spring is fixedly installed between the clamping plate and the inner wall of the slot, a slot corresponding to the clamping plate is formed on the outer wall of the strong magnetic plate, and two sets of covering structures corresponding to the guide sleeve are symmetrically arranged on the outer wall of the cover.

[0015] As a preferred embodiment of the present invention, a follower wedge is fixedly installed on the side of the clamping plate, and a fixed wedge adapted to the follower wedge is fixedly installed on the outer wall of the strong magnetic plate.

[0016] As a preferred embodiment of the present invention, two positioning rods are provided through both sides of the guide frame. A spring is fitted on one end of the positioning rod located outside the guide frame, and the two ends of the spring are fixedly connected to the positioning rod and the guide frame, respectively. The end of the positioning rod located inside the guide frame is set as an inclined surface.

[0017] As a preferred embodiment of the present invention, the covering structure includes a support rod fixedly installed on the outer wall of the cover, a guide plate is provided at the end of the support rod, and a clearance opening corresponding to the support rod is provided on the guide plate. The support rod and the clearance opening are rotatably connected by a second rotating shaft and a third torsion spring.

[0018] The present invention has the following beneficial effects:

[0019] 1. In this invention, by setting up a moving vehicle body and a permanent magnet drive wheel, the entire device can detect cylindrical steel structures. The distance between the moving vehicle body and the steel structure is monitored in real time by an infrared distance probe. In the event of a risk of falling due to magnetic failure, the cover opening and shell ejection mechanism can be quickly triggered. The steel structure is attracted by a strong magnetic plate and the vehicle body is held in place by a pull rope. At the same time, the impact damage when the vehicle body falls is greatly reduced by the buffering effect of the torsion spring on the reel, ensuring the safety of the detection device.

[0020] 2. In this invention, after the mobile vehicle body falls and is fixed by the rope, the staff can control the servo motor to drive the reel to wind up the rope, which will gradually bring the vehicle body closer to the steel structure. Once the vehicle body is re-adsorbed by the permanent magnet drive wheel, the operation can be restored. There is no need for a manual high-altitude retrieval device, which simplifies the recovery process and improves the detection efficiency.

[0021] 3. In this invention, after the device is restored, the cover can be moved by moving the vehicle body to push the guide plate. Under the action of the wedge block, the clamping plate can be released from fixing the strong magnetic plate, which facilitates the separation and recovery of the cover and the strong magnetic plate. At the same time, each component can be reset and linked by torsion springs, springs, etc. The structure is compact and the functions are coordinated, avoiding the single use of protective components and reducing the testing cost. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the ultrasonic testing device for high-altitude crawling movement detection of steel structure welds proposed in this invention. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the overall structure of the ultrasonic testing device for high-altitude crawling movement detection of steel structure welds proposed in this invention. Figure 2 ;

[0024] Figure 3 for Figure 2 Enlarged structural diagram at point A in the middle;

[0025] Figure 4 This is a partial cross-sectional schematic diagram of the mobile vehicle body of the ultrasonic testing device for high-altitude crawling and moving steel structure welds proposed in this invention.

[0026] Figure 5 This is a schematic diagram of the servo motor and shaft structure of the ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds proposed in this invention.

[0027] Figure 6 This is a schematic diagram of the tie rod and push plate structure of the ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds proposed in this invention.

[0028] Figure 7 This is a schematic diagram of the housing structure of the ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds proposed in this invention.

[0029] Figure 8 for Figure 7 Enlarged structural diagram at point B;

[0030] Figure 9 This is a partial cross-sectional schematic diagram of the housing structure of the ultrasonic testing device for high-altitude crawling and movement detection of steel structure welds proposed in this invention.

[0031] Figure 10 for Figure 9 Enlarged structural diagram at point C.

[0032] In the diagram: 11. Mobile vehicle body; 12. Mounting bracket; 13. Ultrasonic detection probe; 14. Permanent magnet drive wheel; 15. Battery panel; 16. Tail cable; 21. Mounting compartment; 22. Rotary shaft one; 23. Cover plate; 24. Torsion spring one; 25. Overlap plate; 26. Overlap groove; 31. Infrared distance probe; 32. Electric pin rod; 33. Pin groove; 41. Pull rod; 42. Push plate; 51. Servo motor; 52. Shaft; 53. 54. Reel; 55. Torsion Spring II; 66. Pull Rope; 67. Cover; 68. Mounting Rod; 69. Guide Sleeve; 60. Mounting Base; 61. Fixing Plate; 62. Spring I; 63. Strong Magnetic Plate; 74. Slot; 75. Guide Frame; 76. Clamping Plate; 77. Spring II; 88. Slot; 79. Follower Wedge; 80. Fixing Wedge; 71. Positioning Rod; 81. Spring III; 82. Guide Plate; 83. Clearance Opening. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0034] Reference Figure 1 , Figure 2 , Figure 6 , Figure 7 and Figure 9 An ultrasonic testing device for steel structure welds that crawls and moves at high altitudes includes a mobile vehicle body 11 and a mounting frame 12 located at the end of the mobile vehicle body 11. An ultrasonic testing probe 13 is rotatably mounted on the mounting frame 12. Permanent magnet drive wheels 14 are provided at each of the four corners of the mobile vehicle body 11. A battery panel 15 is provided on the top surface of the mobile vehicle body 11. Two mounting compartments 21 are symmetrically opened on the bottom surface of the mobile vehicle body 11. A cover 61 is provided inside the mounting compartment 21. A mounting seat 64 is slidably mounted on the open end of the cover 61. A strong magnetic plate 67 is fixedly mounted on the bottom surface of the mounting seat 64. An installation structure is provided on the cover 61.

[0035] The mounting structure includes two mounting rods 62 symmetrically fixedly mounted on the bottom surface of the push plate 42, two guide sleeves 63 that are slidably connected to the mounting rods 62 fixedly mounted on the outer wall of the cover 61, a fixing plate 65 fixedly mounted on the inner wall of the cover 61, and a spring 66 fixedly mounted between the fixing plate 65 and the mounting base 64.

[0036] In use, the staff can place the entire device on the outer wall of the steel structure to be inspected. Under the magnetic attraction of the permanent magnet drive wheel 14, the entire device can be attracted to the outside of the steel structure. Through the magnetic attraction and the drive of the permanent magnet drive wheel 14, the entire mobile vehicle 11 can move on the outside of the steel structure. During the movement, the ultrasonic detection probe 13 on the mounting frame 12 can be used to detect the weld position of the steel structure to ensure the integrity of the weld and avoid internal defects. The detection results can be transmitted to the operation screen of the ground staff through the tail wire 16 for data transmission. The working principle and connection method of the mobile vehicle 11 and the ultrasonic detection probe 13 are existing mature technologies, and will not be described in detail here.

[0037] Reference Figure 2 , Figure 3 , Figure 4 and Figure 6 The opening end of the installation chamber 21 is provided with a sealing assembly. The sealing assembly includes two rotating shafts 22 that are symmetrically rotatably installed on the inner wall of the opening end of the installation chamber 21. A cover plate 23 is fixedly fitted on the rotating shaft 22. A torsion spring 24 is fitted on the end of the rotating shaft 22, and the two ends of the torsion spring 24 are fixedly connected to the installation chamber 21 and the rotating shaft 22 respectively. An overlapping plate 25 is fixedly installed on the end of one cover plate 23, and an overlapping groove 26 adapted to the overlapping plate 25 is opened on the end of the other cover plate 23.

[0038] An infrared distance sensor 31 is installed on the bottom surface of the mobile vehicle body 11 at the side of the installation compartment 21. An electric pin 32 corresponding to a cover plate 23 is installed on the inner wall of the installation compartment 21. The side of the cover plate 23 is provided with a pin groove 33 that is adapted to the electric pin 32. Two pull rods 41 are symmetrically hinged to the top surfaces of the two cover plates 23. A push plate 42 corresponding to the cover 61 is slidably installed on the inner wall of the installation compartment 21. The top of the pull rod 41 is hinged to the bottom surface of the push plate 42.

[0039] During the process of moving the ultrasonic testing probe 13 along the mobile vehicle 11 to inspect the weld, if the magnetic force is affected by excessive wind speed or other reasons, the mobile vehicle 11 may fall off the steel structure. During normal operation of the device and as the mobile vehicle 11 moves smoothly along the preset trajectory, the distance between the mobile vehicle 11 and the outer wall of the steel structure remains within a relatively fixed threshold range, with minimal actual fluctuation. Real-time data of this distance is continuously collected and fed back by infrared distance probes 31 installed at specific monitoring points on the mobile vehicle 11. The infrared distance probes 31, through high-frequency infrared signal emission and reflection reception, can accurately capture changes in the distance between the vehicle and the outer wall. Once a risk of the mobile vehicle 11 falling off is detected, the detected distance value will suddenly and significantly increase within a very short time, and this value will rapidly exceed the preset safety distance. When the infrared distance sensor 31 detects this abnormal data, it will immediately trigger the built-in safety linkage control command and send a retraction control signal to the electric pin 32 through the preset signal transmission link. After receiving the command, the electric pin 32 will quickly shorten and move out of the pin groove 33 on the side of the corresponding cover plate 23. The two cover plates 23 can block the opening of the installation chamber 21 with the cooperation of the overlapping plate 25 and the overlapping groove 26. Therefore, when the cover plate 23 is released from the limit, the two cover plates 23 can be rotated by the rotating shaft 22 under the action of the torsion spring 24, exposing the opening of the installation chamber 21. During the rotation of the rotating shaft 22 and the cover plate 23, since the two ends of the pull rod 41 are hinged to the cover plate 23 and the push plate 42 respectively, the pull rod 41 can drive the push plate 42 to slide along the inner wall of the installation chamber 21, thereby pushing the cover 61.

[0040] Reference Figure 4 , Figure 5 and Figure 6 The top of the installation chamber 21 is provided with a winding and unwinding assembly corresponding to the cover 61. The winding and unwinding assembly includes a servo motor 51 fixedly installed at one end of the top surface of the installation chamber 21. A shaft 52 is fixedly installed at the output end of the servo motor 51. A reel 53 is rotatably mounted on the shaft 52. A torsion spring 54 is fixedly installed between the reel 53 and the shaft 52. A pull rope 55 is provided on the inner side of the reel 53, and the pulling end of the pull rope 55 passes through the push plate 42 and is fixedly connected to the top surface of the cover 61.

[0041] The cover 61 is mounted on the mounting rod 62 on the push plate 42 via the guide sleeve 63. Under the pushing action of the push plate 42, the cover 61 can be quickly pushed out of the mounting chamber 21 and attracted to the outside of the steel structure by the strong magnetic plate 67. Initially, there is a section of pull rope 55 that is not wound on the reel 53 and the cover 61. Therefore, the strong magnetic plate 67 is attracted to the outside of the steel structure. When the moving vehicle body 11 falls, it can be pulled by this part of the pull rope 55 to prevent the moving vehicle body 11 from falling directly. At the same time, when this part of the pull rope 55 is completely released from the mounting chamber 21, it can drive the reel 53 to rotate and compress the torsion spring 54, thereby pulling the moving vehicle body 11. The device provides some cushioning to prevent damage. After securing the fallen mobile vehicle 11, the operator can start the servo motor 51. When the servo motor 51 is turned on, it drives the shaft 52 to rotate. The rotation of the shaft 52 drives the torsion spring 54 to rotate. After the torsion spring 54 rotates to a certain angle, it drives the reel 53 to rotate, so that the reel 53 can wind up the pull rope 55. This allows the mobile vehicle 11 to gradually move to the falling position. When the pull rope 55 is almost finished winding up, the mobile vehicle 11 will approach the steel structure and can then be attracted to the steel structure again by the permanent magnet drive wheel 14. The operator can then control the device again.

[0042] Reference Figure 7 and Figure 8 Two sets of connecting components are symmetrically arranged between the cover 61 and the strong magnetic plate 67. Each connecting component includes a slot 71 formed on the outer wall of the open end of the cover 61. A guide frame 72 corresponding to the slot 71 is fixedly installed on the outer wall of the cover 61. A clamping plate 73 is slidably installed on the inner wall of the guide frame 72. A spring 74 is fixedly installed between the clamping plate 73 and the inner wall of the slot 71. A slot 75 corresponding to the clamping plate 73 is formed on the outer wall of the strong magnetic plate 67. Two sets of connecting components are symmetrically arranged on the outer wall of the cover 61. The cover structure corresponding to the cylinder 63 has a follower wedge 76 fixedly installed on the side of the clamping plate 73, and a fixed wedge 77 adapted to the follower wedge 76 is fixedly installed on the outer wall of the strong magnetic plate 67. Two positioning rods 78 are provided through both sides of the guide frame 72. A spring 79 is fitted on one end of the positioning rod 78 located outside the guide frame 72, and the two ends of the spring 79 are fixedly connected to the positioning rod 78 and the guide frame 72 respectively. The end of the positioning rod 78 located inside the guide frame 72 is set as an inclined surface.

[0043] Reference Figure 9 and Figure 10 The covering structure includes a support rod 81 fixedly installed on the outer wall of the cover 61. A guide plate 82 is provided at the end of the support rod 81. A relief opening 83 corresponding to the support rod 81 is provided on the guide plate 82. The support rod 81 and the relief opening 83 are rotatably connected by a rotating shaft and a torsion spring.

[0044] The operator can control the mobile vehicle 11 to move to the position of the cover 61. When the mounting rod 62 separates from the guide sleeve 63, the guide plate 82 at the end of the support rod 81 can cover the open end of the guide sleeve 63 under the action of the torsion spring 3 and the rotating shaft 2. As the mobile vehicle 11 moves, the mounting rod 62 extending from the mounting chamber 21 on the push plate 42 can push the guide plate 82, thereby pushing the cover 61 and moving it towards the steel structure. In the initial state, under the action of spring 1 66 and spring 2 74, the clamping plate 73 can be located in the slot 75. The cover 61 is firmly connected to the strong magnetic plate 67. When the cover 61 moves, it can synchronously drive the clamping plate 73 to move and... Under the action of the follower wedge 76 and the fixed wedge 77, the clamping plate 73 can slide along the guide frame 72 and move out of the slot 75. During the movement of the clamping plate 73, it can pass through the positioning rod 78 through the inclined surface at the end of the positioning rod 78. When the clamping plate 73 passes through the positioning rod 78, the positioning rod 78 can be reset under the action of the spring 79 and limit the clamping plate 73 through the vertical surface, so that the position of the clamping plate 73 on the guide frame 72 is fixed. At this time, the cover 61 separates from the strong magnetic plate 67. The operator can continue to turn on the servo motor 51 to directly pull the cover 61 to separate from the strong magnetic plate 67. Then the mobile vehicle 11 can be controlled to move back to the ground. It can be used again after maintenance.

[0045] The specific working principle of this invention is as follows:

[0046] In use, the staff can place the entire device on the outer wall of the steel structure to be inspected. Under the magnetic attraction of the permanent magnet drive wheel 14, the entire device can be attracted to the outside of the steel structure. Through the magnetic attraction and the drive of the permanent magnet drive wheel 14, the entire mobile vehicle 11 can move on the outside of the steel structure. During the movement, the ultrasonic detection probe 13 on the mounting frame 12 can be used to detect the weld position of the steel structure to ensure the integrity of the weld and avoid internal defects. The detection results can be transmitted to the operation screen of the ground staff through the tail wire 16 for data transmission. The working principle and connection method of the mobile vehicle 11 and the ultrasonic detection probe 13 are existing mature technologies, and will not be described in detail here.

[0047] During the process of the ultrasonic testing probe 13 moving with the mobile vehicle 11 to inspect the weld, if the magnetic force is affected by excessive wind speed or other reasons, the mobile vehicle 11 may fall off the steel structure. During normal operation of the device and as the mobile vehicle 11 moves smoothly along the preset trajectory, the distance between the mobile vehicle 11 and the outer wall of the steel structure remains within a relatively fixed threshold range, with minimal actual fluctuation. Real-time data of this distance is continuously collected and fed back by infrared distance probes 31 installed at specific monitoring points on the mobile vehicle 11. The infrared distance probes 31, through high-frequency infrared signal emission and reflection reception, can accurately capture changes in the distance between the vehicle and the outer wall. Once a risk of the mobile vehicle 11 falling off is detected, its monitoring... The distance value will suddenly and significantly increase in a very short time, and the value will quickly exceed the preset safe distance threshold. When the infrared distance probe 31 detects this abnormal data, it will immediately trigger the built-in safety linkage control command and send a retraction control signal to the electric pin 32 through the preset signal transmission link. After receiving the command, the electric pin 32 will quickly shorten and move out of the pin groove 33 on the side of the corresponding cover plate 23. With the cooperation of the overlapping plate 25 and the overlapping groove 26, the two cover plates 23 can block the opening of the installation chamber 21. Therefore, when the cover plates 23 are released from the limit, the two cover plates 23 can be rotated through the rotating shaft 22 under the action of the torsion spring 24, exposing the opening of the installation chamber 21.

[0048] During the rotation of the shaft 22 and the cover plate 23, since the two ends of the pull rod 41 are hinged to the cover plate 23 and the push plate 42 respectively, the pull rod 41 can drive the push plate 42 to slide along the inner wall of the installation chamber 21, thereby pushing the cover 61. The cover 61 is mounted on the mounting rod 62 on the push plate 42 through the guide sleeve 63. Under the pushing action of the push plate 42, the cover 61 can be quickly pushed out of the installation chamber 21 and attracted to the outside of the steel structure by the strong magnetic plate 67, while the reel 53 There is an initial section of pull rope 55 that is not wound on the reel 53 between the cover 61 and the housing 61. Therefore, the strong magnetic plate 67 is attracted to the outside of the steel structure. When the moving vehicle 11 falls, it can be pulled by this part of the pull rope 55 to prevent the moving vehicle 11 from falling directly. At the same time, when this part of the pull rope 55 is fully released from the installation chamber 21, it can drive the reel 53 to rotate and compress the second torsion spring 54, so that the moving vehicle 11 can be partially buffered when it is pulled, thus avoiding damage.

[0049] After securing the fallen mobile vehicle body 11, the operator can start the servo motor 51. When the servo motor 51 is turned on, it drives the shaft 52 to rotate, and the rotation of the shaft 52 drives the second torsion spring 54 to rotate. After the second torsion spring 54 rotates to a certain angle, it drives the reel 53 to rotate, so that the reel 53 can wind up the pull rope 55, thereby causing the mobile vehicle body 11 to gradually move to the falling position. When the pull rope 55 is almost finished winding up, the mobile vehicle body 11 will approach the steel structure and can then be attracted to the steel structure again by the permanent magnet drive wheel 14. The operator can then operate the device again. The operator can move the mobile vehicle body 11 to the position of the cover 61. When the mounting rod 62 separates from the guide sleeve 63, under the action of the third torsion spring and the second rotating shaft, the guide plate 82 at the end of the support rod 81 can cover the open end of the guide sleeve 63. As the mobile vehicle body 11 moves, the mounting rod 62 extending from the mounting chamber 21 on the push plate 42 can move the guide plate. 82 is pushed, which in turn pushes the cover 61 and moves it towards the steel structure. In the initial state, under the action of spring 1 66 and spring 2 74, the clamp 73 can be located in the slot 75. The cover 61 is firmly connected to the strong magnetic plate 67. When the cover 61 moves, it can drive the clamp 73 to move synchronously. Under the action of the follower wedge 76 and the fixed wedge 77, the clamp 73 can slide along the guide frame 72 and move out of the slot 75. During the movement of the clamp 73, it can pass through the positioning rod 78 through the inclined surface at the end of the positioning rod 78. When the clamp 73 passes through the positioning rod 78, under the action of spring 3 79, the positioning rod 78 can be reset and limit the clamp 73 through the vertical face, so that the position of the clamp 73 on the guide frame 72 is fixed. At this time, the cover 61 and the strong magnetic plate 67 are separated. The operator can continue to turn on the servo motor 51 to directly pull the cover 61 and the strong magnetic plate 67 to separate. Then the mobile vehicle 11 can be controlled to move back to the ground. It can be used again after maintenance.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. Steel structure weld ultrasonic detection device for high-altitude crawling movement detection, comprising a mobile vehicle body (11) and a mounting bracket (12) arranged at the end of the mobile vehicle body (11), an ultrasonic detection probe (13) is rotatably installed on the mounting bracket (12), permanent magnet drive wheels (14) are arranged at the four corners of the mobile vehicle body (11), and a battery panel (15) is arranged on the top surface of the mobile vehicle body (11), characterized in that, The bottom surface of the mobile vehicle body (11) is symmetrically provided with two installation warehouses (21), the opening end of the installation warehouse (21) is provided with a sealing assembly, the inner side of the installation warehouse (21) is provided with a cover shell (61), the opening end of the cover shell (61) is slidably installed with a mounting seat (64), the side surface of the mounting seat (64) is fixedly installed with a strong magnetic plate (67), the cover shell (61) is provided with a mounting structure, the inner top of the installation warehouse (21) is provided with a winding and unwinding assembly corresponding to the cover shell (61), two groups of connecting assemblies are symmetrically arranged between the cover shell (61) and the strong magnetic plate (67); The sealing assembly comprises two rotating shafts I (22) symmetrically rotatingly installed on the inner wall of the opening end of the installation warehouse (21), the rotating shaft I (22) is fixedly sleeved with a cover plate (23), the end of the rotating shaft I (22) is sleeved with a torsional spring I (24), and the two ends of the torsional spring I (24) are fixedly connected with the installation warehouse (21) and the rotating shaft I (22) respectively, the end of one cover plate (23) is fixedly installed with a lap plate (25), the end of the other cover plate (23) is provided with a lap groove (26) matched with the lap plate (25), the bottom surface of the mobile vehicle body (11) is provided with an infrared distance probe (31) corresponding to the installation warehouse (21), the inner wall of the installation warehouse (21) is provided with an electric pin rod (32) corresponding to one cover plate (23), and the side surface of the cover plate (23) is provided with a pin groove (33) matched with the electric pin rod (32), the top surfaces of the two cover plates (23) are symmetrically hinged with two pull rods (41), the inner wall of the installation warehouse (21) is slidably installed with a push plate (42) corresponding to the cover shell (61), and the top end of the pull rod (41) is hinged with the bottom surface of the push plate (42).

2. The apparatus for high altitude mobile detection of steel structure welds by ultrasonic testing according to claim 1, characterized in that, The winding and unwinding assembly comprises a servo motor (51) fixedly installed on one end of the inner top surface of the installation warehouse (21), the output end of the servo motor (51) is fixedly installed with a shaft rod (52), the shaft rod (52) is rotatably sleeved with a reel (53), the reel (53) and the shaft rod (52) are fixedly installed with a torsional spring II (54), the inner side of the reel (53) is provided with a pull rope (55), and the pulling end of the pull rope (55) is fixedly connected with the top surface of the cover shell (61) through the push plate (42).

3. The apparatus for high altitude mobile inspection of steel structure welds by ultrasonic testing according to claim 1, characterized in that, The mounting structure comprises two installation rods (62) symmetrically fixedly installed on the bottom surface of the push plate (42), the outer wall of the cover shell (61) is fixedly installed with two guide sleeves (63) slidably connected with the installation rods (62), the inner wall of the cover shell (61) is fixedly installed with a fixed plate (65), and the fixed plate (65) and the mounting seat (64) are fixedly installed with a spring I (66).

4. The apparatus for high altitude mobile inspection of steel structure welds by ultrasonic testing according to claim 1, characterized in that, The connecting assembly comprises a slot (71) formed in the outer wall of the opening end of a cover (61), the outer wall of the cover (61) is fixedly provided with a guide frame (72) corresponding to the slot (71), the inner wall of the guide frame (72) is slidably provided with a clamping plate (73), two springs (74) are fixedly arranged between the clamping plate (73) and the inner wall of the slot (71), the outer wall of the strong magnetic plate (67) is provided with a clamping groove (75) corresponding to the clamping plate (73), and the outer wall of the cover (61) is symmetrically provided with two sets of cover structures corresponding to the guide sleeve (63).

5. The apparatus for high altitude mobile inspection of steel structure welds by ultrasonic testing according to claim 4, characterized in that, The side surface of the clamping plate (73) is fixedly provided with a follow-up wedge (76), and the outer wall of the strong magnetic plate (67) is fixedly provided with a fixed wedge (77) matched with the follow-up wedge (76).

6. The apparatus for high altitude mobile inspection of steel structure welds by ultrasonic testing according to claim 4, characterized in that, Two positioning rods (78) are arranged on the two side surfaces of the guide frame (72), one end of the positioning rod (78) located outside the guide frame (72) is sleeved with a spring (79), and the other ends of the spring (79) are fixedly connected with the positioning rod (78) and the guide frame (72), respectively, and one end of the positioning rod (78) located inside the guide frame (72) is provided as an inclined surface.

7. The apparatus for high altitude mobile inspection of steel structure welds by ultrasonic testing according to claim 4, characterized in that, The cover structure comprises a supporting rod (81) fixedly arranged on the outer wall of the cover (61), the end of the supporting rod (81) is provided with a guide plate (82), the guide plate (82) is provided with a gap (83) corresponding to the supporting rod (81), and the supporting rod (81) and the gap (83) are rotationally connected through a second rotating shaft and a third torsional spring.

Images