A posture correction device for a motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor

Abstract

This utility model discloses a posture correction device for a motion mechanism of magnetic particle inspection of H-beam fillet welds based on multi-point laser ranging sensors, belonging to the field of non-destructive testing equipment technology. It includes: a motion mechanism body comprising a frame and multiple drive wheel sets mounted on the frame, each drive wheel set including drive wheels and permanent magnet adsorption components; four laser ranging sensors symmetrically arranged on both sides along the direction of travel; a magnetic particle inspection device mounted on the frame; and a correction system including an embedded motion controller with at least four analog input channels electrically connected to the outputs of the four laser ranging sensors; and at least two PWM output channels electrically connected to the drive motors of the left and right drive wheel sets. The embedded motion controller controls the speed of the drive motors through the PWM output channels based on the distance values ​​acquired by the laser ranging sensors from the analog input channels. This solution can sense the posture of the motion mechanism body in real time and automatically correct its running posture.

Description

Technical Field

[0001] This utility model relates to the field of nondestructive testing equipment technology, and in particular to a posture correction device for a motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor. Background Technology

[0002] Currently, magnetic particle inspection of fillet welds on I-beam flanges still mainly relies on manual operation or simple automated equipment. Manual inspection is not only inefficient and labor-intensive, but also carries significant safety risks. Existing automated inspection equipment often deviates from its intended position when moving along the I-beam flange due to uneven tracks, installation errors, or deviations in its own drive system. This deviation causes the magnetic particle inspection device to stray from the predetermined fillet weld area, leading to missed detections or reduced inspection results. Current technology lacks a motion mechanism capable of real-time attitude sensing during operation and possessing a flexible fault-tolerant mechanism to maintain stable alignment of the inspection device. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a posture correction device for a motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor, which can sense its own posture in real time and automatically correct its operating posture.

[0004] In order to achieve the purpose of this utility model, the following solution is proposed:

[0005] A motion correction device for a motion mechanism for magnetic particle inspection of H-beam fillet welds based on multi-point laser ranging sensors includes a motion mechanism body, four laser ranging sensors, a magnetic particle inspection device, and a correction system.

[0006] The main body of the motion mechanism includes a frame and multiple drive wheel sets mounted on the frame. Each drive wheel set includes a drive wheel and a permanent magnet adsorption assembly. Multiple drive wheel sets are symmetrically arranged on both sides of the frame. The permanent magnet adsorption assembly is used to adsorb I-beams.

[0007] Four laser rangefinders are symmetrically arranged on both sides of the vehicle frame along the direction of travel, with the rangefinder beams pointing towards the inner side of the corresponding I-beam wing.

[0008] The magnetic particle inspection device is mounted on the vehicle frame;

[0009] The correction system includes an embedded motion controller with at least four analog input channels, each electrically connected to the output of four laser rangefinders; and at least two PWM output channels, each electrically connected to the drive motors of the left and right drive wheel sets. The embedded motion controller controls the speed of the drive motors through the PWM output channels based on the distance values ​​acquired by the laser rangefinders from the analog input channels.

[0010] The beneficial effects of this utility model are as follows: by using laser rangefinders arranged front and rear on both sides, the distance between the main body of the motion mechanism and the two side wing plates can be obtained; the embedded motion controller can control the speed of the left and right wheels according to the collected distance values, so that the main body of the motion mechanism returns to the ideal state of being parallel to the wing plates and centered. Attached Figure Description

[0011] Figure 1 A structural diagram of the motion mechanism posture correction device is shown;

[0012] Figure 2 A top view of the motion mechanism posture correction device is shown;

[0013] Figure 3 The right view of the motion mechanism posture correction device is shown;

[0014] Figure 4 A front view of the motion mechanism posture correction device is shown;

[0015] The markings in the diagram are: main body of motion mechanism - 1, frame - 11, drive wheel set - 12, through groove - 13, laser rangefinder - 2, magnetic particle detection device - 3, elastic connection mechanism - 4, bracket - 5, upright plate - 51, support plate - 52, base plate - 53. Detailed Implementation

[0016] like Figure 1 As shown, this embodiment provides a motion correction device for a motion mechanism for magnetic particle inspection of H-beam fillet welds based on multi-point laser ranging sensors, including a motion mechanism body 1, four laser ranging sensors 2, a magnetic particle inspection device 3, and a correction system.

[0017] Specifically, such as Figure 1 , Figure 3 , Figure 4 As shown, the main body of the motion mechanism 1 includes a frame 11 and four drive wheel sets 12 disposed on the frame 11. Each drive wheel set includes a drive wheel and a permanent magnet adsorption assembly. The four drive wheel sets 12 are symmetrically arranged on both sides of the frame 11. The permanent magnet adsorption assembly is used to adsorb the I-beam, ensuring that the main body of the motion mechanism 1 can be firmly adsorbed on the flange or web of the I-beam for travel.

[0018] Specifically, such as Figure 2 As shown, four laser rangefinders 2 are symmetrically arranged on both sides of the vehicle frame 11 along the direction of travel, and the rangefinder beams of the laser rangefinders 2 are directed to the inner side of the corresponding I-beam wingplate.

[0019] Specifically, the magnetic particle detection device 3 is the execution component for performing magnetic particle detection. The magnetic particle detection device 3 is existing equipment, and its structure and principle will not be described in detail here. For example... Figure 1 , Figure 2As shown, the frame 11 is provided with a through groove 13, and the magnetic particle detection device 3 is located in the through groove 13. Along the traveling direction of the frame 11, the magnetic particle detection device 3 is provided with brackets 5 at both the front and rear ends. The brackets 5 include a vertical plate 51, a support plate 52 and a base plate 53. The vertical plate 51 is arranged longitudinally and perpendicular to the traveling direction of the frame 11. The bottom of the vertical plate 51 is close to the top surface of the frame 11. The magnetic particle detection device 3 is connected to the inner side of the vertical plate 51 and the support plate 52 is connected to the outer side. The bottom of the support plate 52 is connected to the base plate 53. The base plate 53 is arranged horizontally. An elastic connection mechanism 4 is provided between the frame 11 and the base plate 53.

[0020] The elastic connection mechanism 4 allows the magnetic particle detection device 3 to undergo a certain range of elastic displacement or deflection relative to the motion mechanism body 1 in the horizontal plane. The elastic connection mechanism 4 can be implemented as a spring-guide rod structure, a cross slide with a return spring, or a flexible hinge, etc. Since the elastic connection mechanism 4 is a standard feature, its structure and principle will not be described in detail. When the motion mechanism body 1 experiences a small range of posture shift, the elastic connection mechanism 4 uses elastic deformation to buffer and ensure that the magnetic particle detection device 3 always acts on the fillet weld, avoiding direct detachment caused by a rigid connection.

[0021] The correction system includes an embedded motion controller, which can be an STM32F407VET6.

[0022] The embedded motion controller has four analog input channels, which are electrically connected to the output terminals of the four laser rangefinders 2 respectively. The embedded motion controller also has two PWM output channels, which are electrically connected to the drive motors of the left and right drive wheel sets 12 respectively. After the laser rangefinders 2 acquire the distance value, the embedded motion controller uses the distance value collected by the analog input channels to control the speed of the drive motors through the PWM output channels, so that the main body 1 of the motion mechanism travels parallel to the center of the I-beam wing plate.

[0023] In existing technologies, there are many ways to achieve the above functions, such as:

[0024] The first method: table lookup method (hardware comparator / ROM lookup table)

[0025] A "distance deviation - speed correction" correspondence table is pre-stored in the embedded motion controller's internal or external memory (such as EEPROM). This table can be obtained through a limited number of experimental calibrations.

[0026] Working process: The distance value collected by the laser rangefinder 2 is converted from analog to digital and then input to the memory as an address signal; the memory outputs the pre-stored speed correction amount corresponding to the address; the speed correction amount is superimposed with the preset reference speed signal and then drives the motor through the PWM output channel.

[0027] The second type: Analog comparator circuit (op-amp + comparator)

[0028] Use operational amplifiers and voltage comparators to build an analog signal processing circuit.

[0029] Working process: Four laser rangefinders 2 output analog voltage signals; the voltage difference between the left front and left rear is calculated by a subtraction circuit; the average voltage difference between the left and right sides is calculated by a subtraction circuit; the above two voltage difference signals are amplified by a proportional amplifier circuit (operational amplifier) ​​and directly used as the differential speed control signals for the left and right wheel motors; after being superimposed with the voltage signal corresponding to the preset reference speed, the motor is driven.

[0030] The third type: mechanical-electric linkage device

[0031] Instead of using an electronic controller, the motor speed is directly adjusted through a mechanical or electromechanical linkage device.

[0032] Working process: The output signals (such as air pressure signals and voltage signals) of the four laser rangefinders 2 act on four proportional valves or rheostats respectively; the signal difference between the left front and left rear generates mechanical displacement or voltage change through the differential mechanism (such as differential gear or differential transformer); this change directly adjusts the speed of the left wheel motor (such as by changing the series resistance or controlling the thyristor conduction angle); similarly, the average signal difference between the left and right sides directly adjusts the speed of the right wheel motor.

[0033] In summary, the correction system actively adjusts the running posture of the main body 1 of the motion mechanism by controlling the speed difference between the left and right wheels, enabling the main body 1 to return to the ideal state of parallel and centered travel with the wing plate. The elastic connection mechanism 4, as a supplement to the correction system, can absorb high-frequency, small-amplitude instantaneous deviations or vibrations, providing a buffer time for the correction system's response and significantly improving the robustness and reliability of the inspection process. By combining active correction with passive mechanical fault tolerance, it can be ensured that no matter how finely the main body 1 of the motion mechanism is adjusted, the magnetic particle inspection device can stably align with the fillet weld of the I-beam wing plate for a long time, greatly improving the quality and efficiency of automated inspection.

[0034] The above embodiments are only used to illustrate the technical concept and features of this utility model, and are not intended to be unique or to limit this utility model. Those skilled in the art should understand that various changes or equivalent substitutions made to this utility model without departing from its scope are all within the protection scope of this utility model.

Claims

1. A H-beam angle weld magnetic powder detection motion mechanism posture correction device based on a multi-point laser ranging sensor, characterized in that, It includes the main body of the motion mechanism (1), four laser rangefinders (2), a magnetic particle detection device (3), and a correction system; The main body of the motion mechanism (1) includes a frame (11) and multiple drive wheel sets (12) provided on the frame (11). The drive wheel sets include drive wheels and permanent magnet adsorption components. Multiple drive wheel sets (12) are symmetrically arranged on both sides of the frame (11). The permanent magnet adsorption components are used to adsorb I-beams. Four laser rangefinders (2) are symmetrically arranged on both sides of the vehicle frame (11) along the direction of travel, and the rangefinder beams of the laser rangefinders (2) point to the inner side of the corresponding I-beam wing plate. The magnetic particle detection device (3) is installed on the frame (11); The correction system includes an embedded motion controller with at least four analog input channels, which are electrically connected to the outputs of four laser rangefinders (2); and at least two PWM output channels, which are electrically connected to the drive motors of the left and right drive wheel sets (12). The embedded motion controller is used to control the speed of the drive motor through the PWM output channel based on the distance value obtained by the laser rangefinder (2) collected by the analog input channel.

2. The attitude correction device for the motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor according to claim 1, characterized in that, It also includes several elastic connection mechanisms (4), which are connected between the frame (11) and the magnetic particle detection device (3). When the main body of the motion mechanism (1) undergoes a small range of posture shift, the elastic connection mechanism (4) is used to ensure that the magnetic particle detection device (3) always acts on the fillet weld through elastic deformation buffer.

3. The attitude correction device for the motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor according to claim 2, characterized in that, The elastic connection mechanism (4) includes one of the following: spring-guide rod structure, cross slide with return spring, and flexible hinge.

4. The attitude correction device for the motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor according to claim 2, characterized in that, The frame (11) is provided with a through groove (13), and the magnetic particle detection device (3) is located in the through groove (13). Along the travel direction of the frame (11), the magnetic particle detection device (3) is provided with brackets (5) at both the front and rear ends. Two elastic connection mechanisms (4) are respectively connected between the frame (11) and the corresponding brackets (5).

5. The attitude correction device for the motion mechanism of magnetic particle inspection of H-beam fillet welds based on a multi-point laser ranging sensor according to claim 4, characterized in that, The bracket (5) includes a vertical plate (51), a support plate (52) and a base plate (53). The vertical plate (51) is arranged longitudinally and perpendicular to the travel direction of the frame (11). The bottom of the vertical plate (51) is close to the top surface of the frame (11). The inner side of the vertical plate (51) is connected to the magnetic particle detection device (3), and the outer side is connected to the support plate (52). The bottom of the support plate (52) is connected to the base plate (53). The base plate (53) is arranged horizontally. The elastic connection mechanism (4) is connected between the frame (11) and the base plate (53).

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