Automatic nondestructive testing platform for large cylinder and testing method of automatic nondestructive testing platform

Abstract

The invention discloses a large cylinder automatic nondestructive testing platform and a testing method thereof.According to the large cylinder automatic nondestructive testing platform, a magnetic wheel module is arranged to achieve the adsorption fixing and posture stabilizing functions, and manual auxiliary fixing of the testing platform is not needed; the magnetic wheel moving module drives the detection platform to autonomously switch detection areas, and manual carrying or equipment adjustment is not needed; the detection probe moving module is combined with the detection probe module, welding seam tracking and defect scanning can be automatically completed, and manual probe holding operation is not needed; the supporting wheel module can adapt to barrels with different diameters through telescopic adjustment, and supporting parts do not need to be replaced; the extension spring is matched with the supporting wheel module, extra supporting force can be provided for the detection platform, toppling is prevented, the balance of the detection platform is maintained, and meanwhile it is ensured that the stable attaching pressure is always kept between the detection probe module and the surface of the barrel. The automatic nondestructive testing platform for the large barrel can realize full-process automation of adsorption fixation, posture stability, defect detection and area switching.

Description

Technical Field

[0001] This invention relates to the field of nondestructive testing equipment technology, and in particular to an automatic nondestructive testing platform for large cylinders and its testing method. Background Technology

[0002] Existing technology introduces large cylindrical bodies, as large-size, hollow cylindrical / cylindrical structural components, which are widely used in various industrial and infrastructure fields such as chemical, energy, petroleum, metallurgy, environmental protection, and transportation due to their core functions of pressure bearing, storage, transportation, and support. For example, in the energy industry, large cylindrical bodies are mainly used for energy conversion, media storage, and equipment support under high-temperature and high-pressure conditions, requiring high strength, sealing, and corrosion resistance. Therefore, the manufacturing quality of large cylindrical bodies is crucial. Depending on the different usage scenarios, such as pressure / non-pressure bearing, media characteristics, and operating environment, the content to be inspected during manufacturing also varies. Commonly used non-destructive testing methods include ultrasonic testing, eddy current testing, and visual inspection. Ultrasonic testing can not only monitor the thinning of the cylindrical body wall but also detect internal embedded defects, such as internal weld cracks and slag inclusions, while also inspecting the quality of the weld overlay on the inner wall of the cylindrical body. Eddy current testing can quickly detect surface or near-surface corrosion, thinning of the wall, and other defects in thin-walled cylindrical bodies and is suitable for conductive materials such as stainless steel. Visual inspection can detect defects such as cracks, corrosion, pits, bulges, and scratches on the inner and outer walls of the cylinder, as well as defects such as porosity, slag inclusions, undercut, and incomplete penetration on the weld surface. Currently, most of the above non-destructive testing methods are carried out manually, requiring work stoppage during manufacturing or inspection after manufacturing is completed. Based on the inspection results, the welds or surfaces of the cylinder are repaired.

[0003] Technical issues: Currently, manual inspection of the welds or surfaces of the cylinder is conducted using methods such as ultrasonic, eddy current, and visual inspection. While this allows for flexibility, it suffers from low efficiency and inconsistent accuracy, and cannot achieve large-scale, real-time automated inspection during manufacturing. Furthermore, due to the enormous size of large cylinders, weighing several tons or even hundreds of tons, manual inspection also poses certain risks. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic non-destructive testing platform for large cylinders and a testing method thereof.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to construct a large-scale automatic non-destructive testing platform for cylinders, which includes a base, a magnetic wheel moving module, a magnetic wheel module, a support wheel module, a detection probe moving module, a detection probe module, and a tension spring; The magnetic wheel moving module is arranged along the axial direction of the base and is used to drive the magnetic wheel module to move along the axial direction of the base; The magnetic wheel module and the magnetic wheel moving module are fixed at their ends to achieve adsorption and fixation of the detection platform on the cylinder and to stabilize its posture. The support wheel module is hinged to the side of the base to maintain the balance of the testing platform during the testing process and to adapt to cylinders of different diameters. The detection probe moving module is arranged along the axial direction of the base and is used to drive the detection probe module to move along the axial direction of the base. The detection probe module is used to perform non-destructive testing of the cylinder weld and surface defects. The tension spring connects the base and the support wheel module, and is used to provide continuous tension to the support wheel module.

[0006] In some embodiments, the magnetic wheel moving module includes a magnetic wheel moving linear motor and a guide rod. The magnetic wheel moving linear motor is mounted on the base, and the two ends of the guide rod are respectively connected to the slider of the magnetic wheel moving linear motor and the magnetic wheel module. The magnetic wheel moving linear motor is used to drive the magnetic wheel module to move along the axial direction of the base. The number of magnetic wheel moving modules is two.

[0007] In some embodiments, the magnetic wheel module includes a magnetic wheel telescopic cylinder and a magnetic wheel body. The magnetic wheel telescopic cylinder is used to drive the magnetic wheel body to detach from or adhere to the surface of the cylinder. The magnetic wheel body has magnetic adsorption function and autonomous rotation function. The number of magnetic wheel modules is three, two of which are connected to the magnetic wheel moving module respectively, and the other magnetic wheel module is installed in the middle of the base.

[0008] In some embodiments, the detection probe moving module includes a detection probe moving linear motor, the detection probe module is fixed to the slider of the detection probe moving linear motor, and the detection probe moving linear motor is used to drive the detection probe module to move freely along the base axis.

[0009] In some embodiments, the detection probe module includes a detection probe body, a vision camera, and a detection probe telescopic cylinder; The detection probe body is one of an ultrasonic probe, an eddy current probe, or a video camera; The vision camera is used to identify the location of the weld seam to be inspected on the cylinder and to provide feedback information. The telescopic cylinder of the detection probe is used to apply a pre-tightening force to make the detection probe body fit against the cylinder or lift it away from the cylinder.

[0010] In some embodiments, the support wheel module includes a support wheel telescopic cylinder, a support wheel body, and a hanging lug. One end of the support wheel telescopic cylinder is hinged to the base. The support wheel telescopic cylinder is used to drive the support wheel body to perform telescopic movement. The hanging lug is installed on the support wheel telescopic cylinder, and one end of the tension spring is connected to the hanging lug.

[0011] In some embodiments, a speed sensor for detecting the rotational speed of the cylinder is also included.

[0012] In some embodiments, the number of both the detection probe moving module and the detection probe module is two.

[0013] In this embodiment, a detection method for a large-scale automated non-destructive testing platform for cylindrical bodies is also constructed. Based on the aforementioned large-scale automated non-destructive testing platform, the method includes the following steps: S1. The cylinder to be tested is horizontally arranged on the roller frame, and then the speed sensor is installed on the cylinder to be tested. A large automatic non-destructive testing platform for cylinders is arranged along the axial direction of the cylinder. S2. For ferromagnetic cylinders, the magnetic wheel body of the magnetic wheel module is attracted to the cylinder; for non-ferromagnetic cylinders, the detection platform relies on its own weight, while the support wheel telescopic cylinder of the support wheel module is adjusted to make the support wheel body fit against the cylinder, and the balance of the detection platform is maintained by the tension spring. S3. Select the corresponding detection probe body according to the detection task, use the vision camera to identify the weld position and feed back information, and use the detection probe moving module to adjust the detection probe body to the initial detection position. S4. Start the roller frame to drive the cylinder to rotate. The speed sensor transmits the cylinder rotation speed to the control software, which controls the drive magnetic wheel to rotate in the opposite direction and maintain the same linear speed as the cylinder, ensuring that the detection platform is always perpendicular to the ground. S5. After the cylinder rotates one revolution, the linear motor of the detection probe moves the detection probe body axially to detect the circumferential and axial areas of the cylinder. During the detection process, the telescopic cylinder of the detection probe is used to maintain the contact between the detection probe body and the surface of the cylinder. S6. Use the magnetic wheel moving module and the magnetic wheel module to switch the detection area.

[0014] In some embodiments, step S6 includes: S61. Control the inner magnetic wheel telescopic cylinder to lift its magnetic wheel body, and then control the inner magnetic wheel moving linear motor to drive the inner magnetic wheel module to move along the cylinder axis. S62. After moving to the preset position, control the inner magnetic wheel telescopic cylinder to lower the magnetic wheel body and attach it to the cylinder. S63. Control the telescopic cylinder of the middle magnetic wheel to lift the magnetic wheel body, and drive the linear motor of the magnetic wheels on both sides to move the base along the cylinder axis. S64. After moving to the preset position, control the middle magnetic wheel telescopic cylinder to lower the magnetic wheel body and attach it to the cylinder. S65. Control the outer magnetic wheel telescopic cylinder to lift its magnetic wheel body, then control the outer magnetic wheel moving linear motor to drive the outer magnetic wheel module to move along the cylinder axis, and then lower the magnetic wheel body to be attracted to the cylinder.

[0015] The present invention offers the following advantages: This large-scale automated non-destructive testing platform for cylindrical bodies achieves adsorption fixation and posture stability through a magnetic wheel module, eliminating the need for manual assistance in fixing the platform. The magnetic wheel movement module enables the platform to autonomously switch between testing areas, eliminating the need for manual handling or adjustment. The probe movement module, combined with the probe module, automatically completes weld tracking and defect scanning, eliminating the need for manual probe handling. The support wheel module can be adjusted to accommodate cylinders of different diameters, eliminating the need to replace support components. A tension spring, working in conjunction with the support wheel module, provides additional support to the platform, preventing tipping and maintaining its balance while ensuring a stable contact pressure between the probe module and the cylinder surface. This large-scale automated non-destructive testing platform for cylindrical bodies achieves full automation of the entire process—adsorption fixation, posture stability, defect detection, and area switching—without manual intervention, significantly improving testing efficiency. It also caters to the testing needs of both ferromagnetic and non-ferromagnetic cylinders, solving the problem of poor versatility in existing equipment. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the cooperation between the large cylindrical automatic non-destructive testing platform and the cylindrical body during testing in some embodiments of the present invention; Figure 2 This is a schematic diagram of the overall structure of the large cylinder automatic non-destructive testing platform in some embodiments of the present invention; Figure 3 These are schematic diagrams of the magnetic wheel module in some embodiments of the present invention; Figure 4 This is a schematic diagram of the structure of the detection probe moving module and the detection probe module cooperating in some embodiments of the present invention; Figure 5This is a structural schematic diagram of the support wheel module in some embodiments of the present invention. Detailed Implementation

[0017] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention.

[0018] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0019] Please see Figures 1 to 5This invention relates to a large-scale automated non-destructive testing platform for cylindrical bodies, comprising a base 1, a magnetic wheel moving module 2, a magnetic wheel module 3, a support wheel module 4, a detection probe moving module 5, a detection probe module 6, and a tension spring 7. The magnetic wheel moving module 2 is arranged axially along the base 1 and is used to drive the magnetic wheel module 3 to move axially along the base 1. The magnetic wheel module 3 is fixed at its end to the magnetic wheel moving module 2 to achieve adsorption fixation and posture stability of the testing platform on the cylindrical body 81. The support wheel module 4 is hinged to the side of the base 1 to maintain the balance of the testing platform during the testing process and to adapt to cylindrical bodies 81 of different diameters. The detection probe moving module 5 is arranged axially along the base 1 and is used to drive the detection probe module 6 to move axially along the base 1. The detection probe module 6 is used to perform non-destructive testing of welds and surface defects on the cylindrical body 81. The tension spring 7 connects the base 1 and the support wheel module 4, providing continuous tension to the support wheel module 4 to ensure that the support wheel module 4 is in contact with the surface of the cylindrical body 81.

[0020] Specifically, this large-scale automated non-destructive testing platform for cylindrical bodies uses the base 1 as the structural reference and load-bearing foundation, possessing sufficient rigidity to prevent deformation during the testing process. The base 1 has pre-reserved modular installation interfaces along its axial direction for fixing the magnetic wheel moving module 2 and the detection probe moving module 5. The base 1 has lifting lugs at the bottom for connecting the tension spring 7. The magnetic wheel module 3's adsorption fixation and attitude stabilization functions eliminate the need for manual assistance in fixing the testing platform; the magnetic wheel moving module 2 drives the testing platform to autonomously switch testing areas without manual handling or adjustment of the equipment; the detection probe moving module 5, combined with the detection probe module 6, can automatically complete weld tracking and defect scanning without manual probe operation; the support wheel module 4 can be adjusted to accommodate cylinders 81 of different diameters without requiring replacement of support components; the tension spring 7, in conjunction with the support wheel module 4, provides additional support force to the testing platform, preventing tipping and maintaining its balance while ensuring that the detection probe module 6 and the surface of the cylinder 81 maintain a stable contact pressure. This large-scale automated non-destructive testing platform for cylindrical bodies can achieve full automation of the process, including adsorption fixation, posture stabilization, defect detection, and area switching, without the need for manual intervention, thus greatly improving testing efficiency. At the same time, it can meet the testing needs of both ferromagnetic and non-ferromagnetic cylindrical bodies, solving the problem of poor versatility of existing equipment.

[0021] like Figure 2As shown, the magnetic wheel moving module 2 includes a magnetic wheel moving linear motor 21 and a guide rod 22. The magnetic wheel moving linear motor 21 is mounted on the base 1. The two ends of the guide rod 22 are respectively connected to the slider of the magnetic wheel moving linear motor 21 and the magnetic wheel module 3. The magnetic wheel moving linear motor 21 is used to drive the magnetic wheel module 3 to move axially along the base 1. The driving structure using the magnetic wheel moving linear motor 21 and the guide rod 22 has the advantages of high motion accuracy and smooth operation without jamming. It can accurately control the axial displacement of the magnetic wheel module 3 and ensure the stability of the posture during the operation of the detection platform. At the same time, the magnetic wheel moving linear motor 21 has a fast response speed and can quickly complete the switching of detection areas, further improving detection efficiency. In this embodiment, there are two magnetic wheel moving modules 2, which are distributed on both sides of the base 1, enabling the magnetic wheel module 3 to move bidirectionally along the axial direction of the base 1.

[0022] like Figure 3As shown, the magnetic wheel module 3 includes a magnetic wheel telescopic cylinder 31 and a magnetic wheel body 32. The magnetic wheel telescopic cylinder 31 is used to drive the magnetic wheel body 32 to detach from or adhere to the surface of the cylinder 81. The magnetic wheel body 32 has magnetic adsorption and autonomous rotation functions. Specifically, because the magnetic wheel body 32 has a magnetic adsorption function, the magnetic wheel module 3 can stably and reliably adhere to the inner or outer surface of the cylinder 81 based on the interaction between magnetic poles, ensuring stability during the detection process. At the same time, the magnetic wheel body 32 can be driven by a motor and has an autonomous rotation function. Based on the speed information obtained from the speed sensor, it can rotate in the opposite direction to the cylinder 81 using its own power, ensuring the same linear velocity as the cylinder 81, thereby ensuring that the spatial position of the detection platform on the cylinder 81 does not change. The magnetic wheel body 32 is fixed to the cylinder 81 by magnetic adsorption and has its own power to rotate. The magnetic wheel telescopic cylinder 31 can lift the magnetic wheel body 32 adsorbed on the cylinder 81 to detach it from the cylinder 81. In this embodiment, there are three magnetic wheel modules 3. Two of them are connected to the magnetic wheel moving module 2, and the third is installed in the middle of the base 1. When two magnetic wheel modules 3 are attached to the cylinder 81, the remaining magnetic wheel module 3 uses the magnetic wheel telescopic cylinder 31 to detach its connected magnetic wheel body 32 from the cylinder 81. With the cooperation of the magnetic wheel moving module 2, the detached magnetic wheel module 3 moves axially along the base 1. Driven by the magnetic wheel moving linear motor 21, the detection platform moves axially along the cylinder 81. This design allows the detection platform to be firmly attached to the surface of the ferromagnetic cylinder. At the same time, the magnetic wheel telescopic cylinder 31 lifts and lowers the magnetic wheel body 32, and the magnetic wheel moving module 2 completes the step-by-step movement of the detection platform, solving the problem of the detection platform being difficult to move in the detection of large cylinders. The autonomous rotation function of the magnetic wheel body 32 can be adjusted in real time according to the rotation speed of the cylinder 81, ensuring that the detection platform and the cylinder 81 are relatively stationary, avoiding detection position deviation and improving detection accuracy.

[0023] like Figure 4 As shown, the detection probe moving module 5 includes a detection probe moving linear motor 51. The detection probe module 6 is fixed to the slider of the detection probe moving linear motor 51. The detection probe moving linear motor 51 is used to drive the detection probe module 6 to move freely along the axial direction of the base 1, increasing the detection area. By directly driving the detection probe module 6 through the detection probe moving linear motor 51, the transmission efficiency is high, the position control is precise, and stepless speed regulation and precise positioning of the detection probe module 6 can be achieved.

[0024] The detection probe module 6 includes a detection probe body 61, a vision camera 62, and a detection probe telescopic cylinder 63. The detection probe body 61 can be an ultrasonic probe, an eddy current probe, or a video camera. The vision camera 62 is used to identify the position of the weld to be inspected on the cylinder 81 and provide feedback. The detection probe telescopic cylinder 63 is used to apply pre-tightening force to make the detection probe body 61 adhere to the cylinder 81 or lift it off the cylinder 81. The detection probe moving module 5 is linked with the vision camera 62 and can correct the position of the detection probe body 61 in real time to ensure that the detection probe body 61 is always aligned with the weld, avoiding missed detections due to weld misalignment and improving detection reliability. The detection probe body 61 can be an ultrasonic probe, an eddy current probe, or a video camera, depending on actual needs. The detection probe body 61 is the core component for detecting weld defects or defects on the inner and outer surfaces of the cylinder 81. The vision camera 62 can accurately identify the weld to be inspected during weld inspection and then feed back the position information to the backend, thereby driving the detection probe moving linear motor 51 of the detection probe moving module 5 to move, ensuring that the detection probe body 61 follows the weld during the inspection process. The probe telescopic cylinder 63 applies a certain pre-tightening force to the probe body 61, ensuring its contact with the weld seam or the inner and outer surfaces of the cylinder 81 during inspection, thus guaranteeing inspection quality. During visual inspection, the probe body 61 can function as a video camera. The probe telescopic cylinder 63 lifts the video camera, distancing it from the cylinder 81 at an appropriate distance, ensuring its safety while the vision camera 62's zoom function inspects the weld seam or the inner and outer surfaces of the cylinder 81. The multi-probe compatibility design allows the inspection platform to perform various inspection tasks, including ultrasonic, eddy current, and visual inspections. The weld seam recognition function of the vision camera 62 solves the problems of low efficiency and large errors associated with manual weld seam positioning. The pre-tightening force adjustment and safety distance control of the probe telescopic cylinder 63 ensure signal quality for ultrasonic and eddy current inspections while preventing damage to the video camera and extending equipment lifespan.

[0025] like Figure 5As shown, the support wheel module 4 includes a support wheel telescopic cylinder 41, a support wheel body 42, and a hanging lug 43. One end of the support wheel telescopic cylinder 41 is hinged to the base 1. The support wheel telescopic cylinder 41 is used to drive the support wheel body 42 to telescopically move. The hanging lug 43 is installed on the support wheel telescopic cylinder 41, and one end of the tension spring 7 is connected to the hanging lug 43. It can be understood that while the support wheel module 4 is hinged to the base 1, the connection between the tension spring 7 and the hanging lug 43 provides additional support force to the detection platform, preventing it from tipping over. In this embodiment, there are four support wheel modules 4, which are divided into two groups and installed separately on both sides of the base 1. The support wheel module 4, in conjunction with the elastic tension of the tension spring 7, can adapt to cylinders 81 of different diameters, while ensuring that the support wheel always fits against the cylinder 81, maintaining the balance of the detection platform. Simultaneously, the connection structure between the hanging lug 43 and the tension spring 7 gives the support wheel module 4 elastic adjustment capability, which can buffer the vibration of the cylinder 81, prevent the detection platform from tipping over, and improve detection safety.

[0026] The large-scale automatic non-destructive testing platform for cylinders also includes a speed sensor for detecting the rotational speed of the cylinder. The speed sensor can collect the rotational speed of the cylinder 81 in real time and accurately. Compared with manual speed measurement, the data is more accurate and the response speed is faster. The rotational speed data provides a basis for adjusting the rotational speed of the magnetic wheel body 32, ensuring the stability of the testing platform and avoiding the detection position deviation caused by the rotational speed fluctuation of the cylinder 81, thereby further improving the accuracy of the testing.

[0027] In this embodiment, there are two detection probe moving modules 5 and two detection probe modules 6. The dual-station parallel detection design can simultaneously detect two axial regions of the cylinder 81, or perform dual verification detection on the same region. Compared with single-station detection, the detection efficiency is greatly improved. Dual verification detection can also reduce the detection error of a single probe and improve the reliability of the detection results.

[0028] In this embodiment, a detection method for a large-scale automated non-destructive testing platform for cylindrical bodies is also constructed. Based on the aforementioned large-scale automated non-destructive testing platform for cylindrical bodies, the method includes the following steps: S1. The cylinder to be tested is horizontally arranged on the roller frame 82, and then the speed sensor is installed on the cylinder to be tested. A large automatic non-destructive testing platform for cylinders is arranged along the axial direction of the cylinder 81. S2. For ferromagnetic cylinders, the magnetic wheel body 32 of the magnetic wheel module 3 is attracted to the cylinder 81; for non-ferromagnetic cylinders, the weight of the detection platform itself is relied upon, and the support wheel telescopic cylinder 41 of the support wheel module 4 is adjusted to make the support wheel body 42 adhere to the cylinder 81, and the balance of the detection platform is maintained by the tension spring 7. S3. Select the corresponding detection probe body 61 according to the detection task, use the vision camera 62 to identify the weld position and feed back information, and use the detection probe moving module 5 to adjust the detection probe body 61 to the initial detection position. S4. Start the roller frame 82 to drive the cylinder 81 to rotate. The speed sensor transmits the rotation speed of the cylinder 81 to the control software, which controls the drive magnetic wheel body 32 to rotate in the opposite direction and maintain the same linear speed as the cylinder 81, ensuring that the detection platform is always perpendicular to the ground. S5. After the cylinder 81 rotates one revolution, the linear motor 51 of the detection probe moves the detection probe body 61 axially to detect the circumferential and axial areas of the cylinder 81. During the detection process, the telescopic cylinder 63 of the detection probe is used to maintain the contact state between the detection probe body 61 and the surface of the cylinder 81. S6. Use the magnetic wheel moving module 2 and the magnetic wheel module 3 to switch the detection area.

[0029] Specifically, the detection platform is arranged along the axial direction of the cylinder 81. For ferromagnetic cylinders, it can be firmly adsorbed onto the cylinder 81 by the magnetic attraction of the magnetic wheel module 3. For non-ferromagnetic cylinders, it can be fixed onto the cylinder 81 by its own weight. The support wheel module 4 maintains the balance of the detection platform under the tension of the tension spring 7. The support wheel telescopic cylinder 41 of the support wheel module 4 is adjusted to adapt to cylinders 81 of different diameters and the inner and outer diameters of the cylinder 81.

[0030] When inspecting the internal quality or internal circumferential welds of the cylinder 81, a speed sensor is placed inside the cylinder 81; when inspecting the external quality or external circumferential welds of the cylinder 81, a speed sensor is placed outside the cylinder 81; when inspecting the axial welds of the cylinder, no speed sensor is required. The cylinder 81 rotates under the traction of the roller frame 82. The speed sensor feeds back the rotational speed of the cylinder 81 to the control software, which then controls the magnetic wheel body 32 to rotate in the opposite direction, maintaining the same linear speed as the cylinder 81, thus ensuring that the inspection platform remains perpendicular to the ground.

[0031] The detection probe module 6 can be equipped with an ultrasonic probe, an eddy current probe, or a video camera, depending on the needs of different detection tasks. Guided by the vision camera 62 and pulled by the linear motor 51, the detection probe body 61 always follows the weld seam. At the same time, the detection probe telescopic cylinder 63 can apply a certain pre-tightening force to the detection probe body 61. When the detection probe body 61 is a video camera, it can be lifted and detached from the cylinder 81 to prevent damage during the detection process. The full coverage of the detection is achieved by relying on the zoom of the video camera itself.

[0032] Step S6 includes: S61, control the inner magnetic wheel telescopic cylinder 31 to lift its magnetic wheel body 32, and then control the inner magnetic wheel moving linear motor 21 to drive the inner magnetic wheel module 3 to move along the cylinder 81 axially. S62. After moving to the preset position, control the inner magnetic wheel telescopic cylinder 31 to lower the magnetic wheel body 32 and attach it to the cylinder 81. S63, control the middle magnetic wheel telescopic cylinder 31 to lift its magnetic wheel body 32, drive the two magnetic wheel moving linear motors 21 to move the base 1 along the cylinder 81 axial direction; S64. After moving to the preset position, control the middle magnetic wheel telescopic cylinder 31 to lower the magnetic wheel body 32 and attach it to the cylinder 81. S65. Control the outer magnetic wheel telescopic cylinder 31 to lift its magnetic wheel body 32, then control the outer magnetic wheel moving linear motor 21 to drive the outer magnetic wheel module 3 to move along the cylinder 81 axially, and then lower the magnetic wheel body 32 to be attracted to the cylinder 81.

[0033] Among them, the inner magnetic wheel telescopic cylinder 31 is the magnetic wheel telescopic cylinder 31 that enters the cylinder 81 first to work, and the outer magnetic wheel telescopic cylinder 31 is the magnetic wheel telescopic cylinder 31 that enters the cylinder 81 later to work.

[0034] Taking the detection of the internal quality of the cylinder as an example, the specific implementation process of this invention is as follows: The cylinder to be tested is horizontally arranged on the roller frame 82, and a speed sensor is arranged inside the cylinder 81. A testing platform is arranged along the axial direction of the cylinder 81, and is magnetically attracted to the inner wall of the cylinder 81 by the magnetic pull of the magnetic wheel body 32, maintaining balance with the support wheel module 4. The roller frame 82 drives the cylinder 81 to rotate, and the speed sensor transmits the speed information of the cylinder 81 to the host computer software. Combined with the known inner diameter of the cylinder 81, the rotation of the magnetic wheel body 32 is controlled, ensuring that the magnetic wheel body 32 rotates in the opposite direction while maintaining the same linear velocity as the inner wall of the cylinder 81. Therefore, the testing platform remains perpendicular to the ground while the cylinder 81 rotates.

[0035] After the cylinder 81 rotates one revolution, the detection probe body 61, driven by the detection probe moving linear motor 51, moves an appropriate distance along the axis of the cylinder 81 to detect the adjacent area. After the detectable area at this position is completed, the detection platform needs to be moved to the new area to be inspected, and at the same time, the detection probe body 61 is detached from the cylinder 81 under the traction of the detection probe telescopic cylinder 63.

[0036] The innermost magnetic wheel module 3 is controlled by its magnetic wheel telescopic cylinder 31 to lift its magnetic wheel body 32. Then, the connected magnetic wheel linear motor 21 is controlled to drive the magnetic wheel module 3 to move axially along the cylinder 81. After moving to a preset position, the magnetic wheel telescopic cylinder 31 is controlled to lower the magnetic wheel body 32 and attach it to the inner wall of the cylinder 81. Then, the middle magnetic wheel module 3 is lifted, and the two side magnetic wheel linear motors 21 are driven to move the base 1 axially along the cylinder 81. After moving to a preset position, the outermost magnetic wheel module 3 is lifted, and the connected magnetic wheel linear motor 21 drives it to move axially along the cylinder 81. This moves the detection platform to a new area to be detected, allowing the detection probe body 61 to continue detecting that area. The above steps are repeated until all areas inside the cylinder 81 are detected.

[0037] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A large-scale automated non-destructive testing platform for cylindrical bodies, characterized in that, It includes a base (1), a magnetic wheel moving module (2), a magnetic wheel module (3), a support wheel module (4), a detection probe moving module (5), a detection probe module (6), and a tension spring (7); The magnetic wheel moving module (2) is arranged axially along the base (1) and is used to drive the magnetic wheel module (3) to move axially along the base (1); The magnetic wheel module (3) is fixed at the end of the magnetic wheel moving module (2) to achieve adsorption and fixation of the detection platform on the cylinder (81) and stability of its posture; The support wheel module (4) is hinged to the side of the base (1) to maintain the balance of the detection platform during the detection process and to adapt to cylinders (81) of different diameters. The detection probe moving module (5) is arranged along the axial direction of the base (1) and is used to drive the detection probe module (6) to move along the axial direction of the base (1). The detection probe module (6) is used to perform non-destructive testing of the weld and surface defects of the cylinder (81). The tension spring (7) connects the base (1) and the support wheel module (4) to provide continuous tension to the support wheel module (4).

2. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The magnetic wheel moving module (2) includes a magnetic wheel moving linear motor (21) and a guide rod (22). The magnetic wheel moving linear motor (21) is mounted on the base (1). The two ends of the guide rod (22) are respectively connected to the slider of the magnetic wheel moving linear motor (21) and the magnetic wheel module (3). The magnetic wheel moving linear motor (21) is used to drive the magnetic wheel module (3) to move axially along the base (1). The number of magnetic wheel moving modules (2) is two.

3. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The magnetic wheel module (3) includes a magnetic wheel telescopic cylinder (31) and a magnetic wheel body (32). The magnetic wheel telescopic cylinder (31) is used to drive the magnetic wheel body (32) to detach from or adhere to the surface of the cylinder (81). The magnetic wheel body (32) has magnetic adsorption function and autonomous rotation function. The number of magnetic wheel modules (3) is three, two of which are connected to the magnetic wheel moving module (2) respectively, and the other magnetic wheel module (3) is installed in the middle of the base (1).

4. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The detection probe moving module (5) includes a detection probe moving linear motor (51). The detection probe module (6) is fixed to the slider of the detection probe moving linear motor (51). The detection probe moving linear motor (51) is used to drive the detection probe module (6) to move freely along the axial direction of the base (1).

5. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The detection probe module (6) includes a detection probe body (61), a vision camera (62), and a detection probe telescopic cylinder (63). The detection probe body (61) is one of an ultrasonic probe, an eddy current probe, or a video camera; The vision camera (62) is used to identify the location of the weld to be inspected on the cylinder (81) and provide feedback information; The telescopic cylinder (63) of the detection probe is used to apply a pre-tightening force to make the detection probe body (61) fit against the cylinder (81) or lift it away from the cylinder (81).

6. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The support wheel module (4) includes a support wheel telescopic cylinder (41), a support wheel body (42), and a hanging ear (43). One end of the support wheel telescopic cylinder (41) is hinged to the base (1). The support wheel telescopic cylinder (41) is used to drive the support wheel body (42) to perform telescopic movement. The hanging ear (43) is installed on the support wheel telescopic cylinder (41). One end of the tension spring (7) is connected to the hanging ear (43).

7. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, It also includes a speed sensor for detecting the rotational speed of the cylinder.

8. The large-scale cylindrical automatic non-destructive testing platform according to claim 1, characterized in that, The number of the detection probe moving module (5) and the detection probe module (6) are both two.

9. A testing method for a large-scale automated non-destructive testing platform for cylindrical bodies, based on the large-scale automated non-destructive testing platform for cylindrical bodies according to any one of claims 1 to 8, comprising the steps of: S1. The cylinder to be tested is horizontally arranged on the roller frame (82), and then the speed sensor is installed on the cylinder to be tested. A large automatic non-destructive testing platform for cylinders is arranged along the axis of the cylinder (81). S2. For ferromagnetic cylinders, the magnetic wheel body (32) of the magnetic wheel module (3) is attracted to the cylinder (81); for non-ferromagnetic cylinders, the weight of the detection platform itself is relied upon, and the support wheel telescopic cylinder (41) of the support wheel module (4) is adjusted to make the support wheel body (42) adhere to the cylinder (81), and the balance of the detection platform is maintained by the tension spring (7). S3. Select the corresponding detection probe body (61) according to the detection task, use the vision camera (62) to identify the weld position and provide feedback information, and use the detection probe moving module (5) to adjust the detection probe body (61) to the initial detection position. S4. Start the roller frame (82) to drive the cylinder (81) to rotate. The speed sensor transmits the rotation speed of the cylinder (81) to the control software, which controls the drive magnetic wheel body (32) to rotate in the opposite direction and maintain the same linear speed as the cylinder (81) to ensure that the detection platform is always perpendicular to the ground. S5. After the cylinder (81) rotates one revolution, the linear motor (51) of the detection probe moves and drives the detection probe body (61) to move axially to detect the circumferential and axial areas of the cylinder (81). During the detection process, the telescopic cylinder (63) of the detection probe is used to maintain the contact state between the detection probe body (61) and the surface of the cylinder (81). S6. Use the magnetic wheel moving module (2) and the magnetic wheel module (3) to switch the detection area.

10. The detection method of the large cylindrical automatic non-destructive testing platform according to claim 9, characterized in that, Step S6 includes: S61, control the inner magnetic wheel telescopic cylinder (31) to lift its magnetic wheel body (32), and then control the inner magnetic wheel moving linear motor (21) to drive the inner magnetic wheel module (3) to move along the cylinder (81) axially; S62. After moving to the preset position, control the inner magnetic wheel telescopic cylinder (31) to lower the magnetic wheel body (32) and attach it to the cylinder (81); S63. Control the telescopic cylinder (31) of the middle magnetic wheel to lift its magnetic wheel body (32), and drive the linear motor (21) of the magnetic wheel on both sides to move the base (1) along the cylinder (81) axially. S64. After moving to the preset position, control the magnetic wheel telescopic cylinder (31) in the middle to lower the magnetic wheel body (32) and attach it to the cylinder (81); S65. Control the outer magnetic wheel telescopic cylinder (31) to lift its magnetic wheel body (32), then control the outer magnetic wheel moving linear motor (21) to drive the outer magnetic wheel module (3) to move along the cylinder (81) axially, and then lower the magnetic wheel body (32) to be attracted to the cylinder (81).

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