CN105675713A - Nondestructive detection device and method for elevator dragging steel band - Google Patents

Nondestructive detection device and method for elevator dragging steel band Download PDF

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Publication number
CN105675713A
CN105675713A CN201610208864.1A CN201610208864A CN105675713A CN 105675713 A CN105675713 A CN 105675713A CN 201610208864 A CN201610208864 A CN 201610208864A CN 105675713 A CN105675713 A CN 105675713A
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magnetic field
amplifier
steel band
traction steel
elevator traction
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CN105675713B (en
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李建平
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Shanxi Huida Aoxing Technology Co Ltd
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Shanxi Huida Aoxing Technology Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/83Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws by investigating stray magnetic fields

Abstract

The invention relates to a damage detection technology for an elevator dragging steel band, in particular relates to a nondestructive detection device and a nondestructive detection method for an elevator dragging steel band, and aims to solve the problems of low detection precision, easiness in detection omission, low interference resistance and low accuracy of the existing damage detection technology for the elevator dragging steel band. The nondestructive detection device for the elevator dragging steel band comprises a shielding shell, two reference magnetic field sources, a magnetic field sensor, a differential amplification circuit, a filtering circuit, a signal transmission module and a computer, wherein an inside to outside through detection hole is formed in each of the left side face and the right side face of the shielding shell, and the two detection holes are opposite; the two reference magnetic field sources are respectively mounted at the left part and the right part of an inner cavity of the shielding shell; magnetic fields generated by the two reference magnetic field sources are identical in field intensity and direction. The nondestructive detection device is applicable to damage detection of the elevator dragging steel band.

Description

A kind of elevator traction steel band the cannot-harm-detection device and method
Technical field
The present invention relates to the damage detection technology of elevator traction steel band, specifically a kind of elevator traction steel band the cannot-harm-detection device and method.
Background technology
Elevator traction steel band, as the suspension carrier of elevator car and various vertical-lifting mechanical, is the critical component determining safety and productivity ratio. Elevator traction steel band is generally made up of multiply steel core (per share steel core is made up of tens superfine steel wires) and the layer of polyurethane being coated on outside steel core. Once the steel wire in steel core or steel core sustains damage, the tension intensity of elevator traction steel band will decline, and thus affects the safe handling of elevator traction steel band. Therefore, in order to ensure the safe handling of elevator traction steel band, it is necessary to elevator traction steel band is carried out damage check.
Under prior art conditions, the damage detecting method of elevator traction steel band mainly includes two kinds: first method is the first and last voltage drop by measuring elevator traction steel band, calculate the resistance change before and after the damage of elevator traction steel band, thus judge the degree of impairment of elevator traction steel band. Practice have shown that, this kind of method exists that accuracy of detection is low, the problem of easy missing inspection. Second method is the magnetic change information utilizing tradition electromagnetic theory (such as Magnetic Flux Leakage Inspecting principle) to measure elevator traction steel band, thus judges the degree of impairment of elevator traction steel band. Practice have shown that, this kind of method exists that poor anti jamming capability, accuracy of detection be low, the problem of poor accuracy. Based on this, it is necessary to invent the damage detection technology of a kind of brand-new elevator traction steel band, the problems referred to above that the damage detection technology to solve existing elevator traction steel band exists.
Summary of the invention
The problem that the present invention is to solve the missing inspection low, easy of the damage detection technology accuracy of detection of existing elevator traction steel band, poor anti jamming capability, poor accuracy, it is provided that a kind of elevator traction steel band the cannot-harm-detection device and method.
The present invention adopts the following technical scheme that realization:
A kind of elevator traction steel band the cannot-harm-detection device, including shield shell, reference magnetic field source, magnetic field sensor, differential amplifier circuit, filter circuit, signal transmission module, computer;
Wherein, the left surface of shield shell and right flank respectively offer detection hole through inside and outside, and two detection holes are facing each other; The number in reference magnetic field source is two; Two reference magnetic field sources are respectively arranged in inner chamber left part and the inner chamber right part of shield shell, and the field strength of two reference magnetic field source generations is equal, direction is identical; The number of magnetic field sensor is two groups; Often group magnetic field sensor all includes by N number of magnetic field sensor of equidistant arrangement intensive after forward direction; Two groups of magnetic field sensors are respectively arranged in the middle part of the magnetic field that two reference magnetic field sources produce;
The number of differential amplifier circuit is N number of; The positive input terminal of N number of differential amplifier circuit is connected with the outfan of the N number of magnetic field sensor in first group of magnetic field sensor respectively; The negative input end of N number of differential amplifier circuit is connected with the outfan of the N number of magnetic field sensor in second group of magnetic field sensor respectively; The number of filter circuit is N number of; The input of N number of filter circuit is connected with the outfan of N number of differential amplifier circuit respectively; Signal transmission module, computer are mounted on the outside of shield shell; The input of signal transmission module is connected with the outfan of N number of filter circuit respectively; The input of computer is connected with the outfan of signal transmission module; N is positive integer.
A kind of elevator traction steel band lossless detection method (the method realizes in a kind of elevator traction steel band the cannot-harm-detection device of the present invention), the method is to adopt following steps to realize:
A. elevator traction steel band to be detected detects hole also cross two, and moves in left-right direction, thus passes sequentially through the magnetic field that two reference magnetic field sources produce in left-right direction;
If b. not damaged on elevator traction steel band, then, when the magnetic field that elevator traction steel band is produced by two reference magnetic field sources, the magnetic field intensity near two groups of magnetic field sensors all keeps constant, and two groups of magnetic field sensors all do not export signal;
If elevator traction steel band has damage, then when damage location passes sequentially through the magnetic field that two reference magnetic field sources produce in left-right direction, damage location there will be magnetic domain fixed-node and forms micro-magnetic field, this micro-magnetic field can cause that the magnetic field intensity at damage location motion track place changes, and in two groups of magnetic field sensors, 2M the magnetic field sensor near damage location motion track thus exports M to waveshape signal equal in magnitude, in opposite direction; Waveshape signal is entered M corresponding differential amplifier circuit by M, and carries out M waveshape signal of formation after differential amplification process through M differential amplifier circuit; M waveshape signal enters M corresponding filter circuit, and enters signal transmission module after M filter circuit is filtered, and then sends to computer through signal transmission module; The peak-to-peak value of the computer each waveshape signal of extraction and ripple width, and calculate the peak-to-peak value ripple width ratio of each waveshape signal, then go out size and the distribution situation of damage location than quantitative analysis according to peak-to-peak value ripple width; M is positive integer, and M≤N.
Compared with the damage detection technology of existing elevator traction steel band, a kind of elevator traction steel band the cannot-harm-detection device of the present invention and method are by utilizing micro-magnetic detection theoretical and arranging intensive sensor group, and adopt the differential amplifier circuit that double magnetic circuit, dual signal build, achieve the damage check of elevator traction steel band, thus possesses following advantage: one, compared with first method, the present invention is greatly improved accuracy of detection, thoroughly avoids missing inspection.Its two, compared with second method, the present invention effectively enhances capacity of resisting disturbance, and accuracy of detection and accuracy are greatly improved.
The problem that the present invention efficiently solves the damage detection technology accuracy of detection missing inspection low, easy of existing elevator traction steel band, poor anti jamming capability, poor accuracy, it is adaptable to the damage check of elevator traction steel band.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of elevator traction steel band the cannot-harm-detection device of the present invention.
Fig. 2 is the structural representation of the reference magnetic field source of a kind of elevator traction steel band the cannot-harm-detection device of the present invention and magnetic field sensor.
Fig. 3 is the circuit theory diagrams of the differential amplifier circuit of a kind of elevator traction steel band the cannot-harm-detection device of the present invention and filter circuit.
Fig. 4 be the present invention a kind of elevator traction steel band lossless detection method in damage location form the schematic diagram in micro-magnetic field.
In figure: 1-shield shell, 2-reference magnetic field source, 3-assists supporter, 4-magnetic field sensor, 5-differential amplifier circuit, 6-filter circuit, 7-signal transmission module, 8-computer, 9-elevator traction steel band, 10-magnetic domain fixed-node, IN+ represents the positive input terminal of differential amplifier circuit, IN-represents the negative input end of differential amplifier circuit, and OUT represents the outfan of filter circuit.
Detailed description of the invention
A kind of elevator traction steel band the cannot-harm-detection device, including shield shell 1, reference magnetic field source 2, magnetic field sensor 4, differential amplifier circuit 5, filter circuit 6, signal transmission module 7, computer 8;
Wherein, the left surface of shield shell 1 and right flank respectively offer detection hole through inside and outside, and two detection holes are facing each other; The number in reference magnetic field source 2 is two; Two reference magnetic field sources 2 are respectively arranged in inner chamber left part and the inner chamber right part of shield shell 1, and the field strength of two reference magnetic field source 2 generations is equal, direction is identical; The number of magnetic field sensor 4 is two groups; Often group magnetic field sensor 4 all includes by N number of magnetic field sensor of equidistant arrangement intensive after forward direction; Two groups of magnetic field sensors 4 are respectively arranged in the middle part of the magnetic field that two reference magnetic field sources 2 produce;
The number of differential amplifier circuit 5 is N number of; The positive input terminal of N number of differential amplifier circuit 5 is connected with the outfan of the N number of magnetic field sensor in first group of magnetic field sensor 4 respectively; The negative input end of N number of differential amplifier circuit 5 is connected with the outfan of the N number of magnetic field sensor in second group of magnetic field sensor 4 respectively; The number of filter circuit 6 is N number of; The input of N number of filter circuit 6 is connected with the outfan of N number of differential amplifier circuit 5 respectively; Signal transmission module 7, computer 8 are mounted on the outside of shield shell 1; The input of signal transmission module 7 is connected with the outfan of N number of filter circuit 6 respectively; The input of computer 8 is connected with the outfan of signal transmission module 7; N is positive integer.
Also include auxiliary supporter 3; The number of auxiliary supporter 3 is two; Two auxiliary supporters 3 are respectively arranged in inner bottom surface left part and the inner bottom surface right part of shield shell 1. When elevator traction steel band to be detected moves in left-right direction, elevator traction steel band is supported by two auxiliary supporters, thereby guarantees that the distance between elevator traction steel band and two groups of magnetic field sensors keeps constant.
Described differential amplifier circuit 5 includes the first amplifier U1, the first potentiometer RV1, the second potentiometer RV2, the first resistance R1, the second resistance R2, the first electric capacity C1, the second electric capacity C2, the 4th electric capacity C4, the 5th electric capacity C5;Described filter circuit 6 includes the second amplifier U2, the 3rd amplifier U3, the 3rd to the 8th resistance R3-R8, the 6th to the 9th electric capacity C6-C9;
Wherein, one end of the first electric capacity C1 is as the negative input end of differential amplifier circuit 5, and the negative input end of the other end and the first amplifier U1 connects; One end of 4th electric capacity C4 is as the positive input terminal of differential amplifier circuit 5, and the positive input terminal of the other end and the first amplifier U1 connects; The two ends of the second electric capacity C2 are connected with the negative input end of differential amplifier circuit 5 and positive input terminal respectively; The two ends of the 5th electric capacity C5 are connected with positive power source terminal VDD and negative power end GND respectively; The two ends of the first resistance R1 are connected with the positive input terminal of the first amplifier U1 and negative power end GND respectively; The two ends of the second resistance R2 are connected with the negative input end of the first amplifier U1 and negative power end GND respectively; The fixing end of two of first potentiometer RV1 is connected with the first zeroing end of the first amplifier U1 and empty foot respectively; The movable end of the first potentiometer RV1 and the first zeroing end of the first amplifier U1 connect; Two of second potentiometer RV2 are fixing, and end is connected with positive power source terminal VDD and negative power end GND respectively; The movable end of the second potentiometer RV2 and the second zeroing end of the first amplifier U1 connect; The outfan of the first amplifier U1 is as the outfan of differential amplifier circuit 5;
One end of 3rd resistance R3 is as the input of filter circuit 6, and the positive input terminal of the other end and the second amplifier U2 connects; The two ends of the 4th resistance R4 are connected with the outfan of the positive input terminal of the second amplifier U2 and the 3rd amplifier U3 respectively; The two ends of the 5th resistance R5 are connected with the positive input terminal of the second amplifier U2 and negative power end GND respectively; The two ends of the 6th resistance R6 are connected with the positive input terminal of the 3rd amplifier U3 and negative power end GND respectively; The two ends of the 7th resistance R7 are connected with the positive input terminal of the outfan of the second amplifier U2 and the 3rd amplifier U3 respectively; One end of 8th resistance R8 is connected with the outfan of the second amplifier U2, and the other end is connected by the outfan of the 6th electric capacity C6 and the three amplifier U3; The two ends of the 7th electric capacity C7 are connected with the two ends of the 6th electric capacity C6 respectively; The two ends of the 8th electric capacity C8 are connected with the positive input terminal of the second amplifier U2 and negative power end GND respectively; The two ends of the 9th electric capacity C9 are connected with the positive input terminal of the second amplifier U2 and negative power end GND respectively; The negative input end of the second amplifier U2 and the negative input end of the 3rd amplifier U3 connect; The outfan of the second amplifier U2 is as the outfan of filter circuit 6.
The specific works process of described differential amplifier circuit and filter circuit is as follows: first, a pair waveshape signal enters the first amplifier respectively after the first electric capacity and the 4th electric capacity filter low frequency component, and carry out one waveshape signal of formation after differential amplification process through the first amplifier, thus complete the differential amplification of signal. Then, this waveshape signal enters the second amplifier through the 8th electric capacity, the 9th electric capacity after filtering high fdrequency component, and exports after the second amplifier and the 3rd amplifier are amplified, and thus completes the filtering of signal.
Described shield shell 1 adopts metal shell.
Described reference magnetic field source 2 adopts magnet exciting coil or permanent magnet.
Described magnetic field sensor 4 adopts Hall element or magnetoresistive transducer or magnetic induction coil.
The concrete numerical value of described N is determined according to the width of elevator traction steel band, to ensure that detection range can cover the width of whole elevator traction steel band.
A kind of elevator traction steel band lossless detection method (the method realizes in a kind of elevator traction steel band the cannot-harm-detection device of the present invention), the method is to adopt following steps to realize:
A. elevator traction steel band 9 to be detected detects hole also cross two, and moves in left-right direction, thus passes sequentially through the magnetic field that two reference magnetic field sources 2 produce in left-right direction;
If b. not damaged on elevator traction steel band 9, then, when the magnetic field that elevator traction steel band 9 is produced by two reference magnetic field sources 2, the magnetic field intensity near two groups of magnetic field sensors 4 all keeps constant, and two groups of magnetic field sensors 4 all do not export signal;
If elevator traction steel band 9 has damage, then when damage location passes sequentially through the magnetic field that two reference magnetic field sources 2 produce in left-right direction, damage location there will be magnetic domain fixed-node and forms micro-magnetic field, this micro-magnetic field can cause that the magnetic field intensity at damage location motion track place changes, and in two groups of magnetic field sensors 4,2M the magnetic field sensor 4 near damage location motion track thus exports M to waveshape signal equal in magnitude, in opposite direction; Waveshape signal is entered corresponding M differential amplifier circuit 5 by M, and forms M waveshape signal after M differential amplifier circuit 5 carries out differential amplification process; M waveshape signal enters corresponding M filter circuit 6, and enters signal transmission module 7 after M filter circuit 6 is filtered, and then sends to computer 8 through signal transmission module 7; Computer 8 extracts peak-to-peak value and the ripple width of each waveshape signal, and calculates the peak-to-peak value ripple width ratio of each waveshape signal, then goes out size and the distribution situation of damage location than quantitative analysis according to peak-to-peak value ripple width; M is positive integer, and the concrete numerical value of M described in M≤N(is determined by the size of damage location: damage location is more big, then the numerical value of M is more big. Otherwise, then the numerical value of M is more little).

Claims (8)

1. elevator traction steel band the cannot-harm-detection device, it is characterised in that: include shield shell (1), reference magnetic field source (2), magnetic field sensor (4), differential amplifier circuit (5), filter circuit (6), signal transmission module (7), computer (8);
Wherein, the left surface of shield shell (1) and right flank respectively offer detection hole through inside and outside, and two detection holes are facing each other; The number in reference magnetic field source (2) is two; Two reference magnetic field sources (2) are respectively arranged in inner chamber left part and the inner chamber right part of shield shell (1), and the field strength that two reference magnetic field sources (2) produce is equal, direction is identical; The number of magnetic field sensor (4) is two groups; Often organize magnetic field sensor (4) and all include by N number of magnetic field sensor of equidistant arrangement intensive after forward direction; Two groups of magnetic field sensors (4) are respectively arranged in the middle part of the magnetic field that two reference magnetic field sources (2) produce;
The number of differential amplifier circuit (5) is N number of; The positive input terminal of N number of differential amplifier circuit (5) is connected with the outfan of the N number of magnetic field sensor in first group of magnetic field sensor (4) respectively; The negative input end of N number of differential amplifier circuit (5) is connected with the outfan of the N number of magnetic field sensor in second group of magnetic field sensor (4) respectively; The number of filter circuit (6) is N number of; The input of N number of filter circuit (6) is connected with the outfan of N number of differential amplifier circuit (5) respectively; Signal transmission module (7), computer (8) are mounted on the outside of shield shell (1); The input of signal transmission module (7) is connected with the outfan of N number of filter circuit (6) respectively; The input of computer (8) is connected with the outfan of signal transmission module (7); N is positive integer.
2. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: also include auxiliary supporter (3); The number of auxiliary supporter (3) is two; Two auxiliary supporter (3) are respectively arranged in inner bottom surface left part and the inner bottom surface right part of shield shell (1).
3. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: described differential amplifier circuit (5) includes the first amplifier (U1), the first potentiometer (RV1), the second potentiometer (RV2), the first resistance (R1), the second resistance (R2), the first electric capacity (C1), the second electric capacity (C2), the 4th electric capacity (C4), the 5th electric capacity (C5); Described filter circuit (6) includes the second amplifier (U2), the 3rd amplifier (U3), the 3rd to the 8th resistance (R3-R8), the 6th to the 9th electric capacity (C6-C9);
Wherein, one end of the first electric capacity (C1) is as the negative input end of differential amplifier circuit (5), and the negative input end of the other end and the first amplifier (U1) connects; One end of 4th electric capacity (C4) is as the positive input terminal of differential amplifier circuit (5), and the positive input terminal of the other end and the first amplifier (U1) connects; The two ends of the second electric capacity (C2) are connected with the negative input end of differential amplifier circuit (5) and positive input terminal respectively; The two ends of the 5th electric capacity (C5) are connected with positive power source terminal (VDD) and negative power end (GND) respectively; The two ends of the first resistance (R1) are connected with the positive input terminal of the first amplifier (U1) and negative power end (GND) respectively; The two ends of the second resistance (R2) are connected with the negative input end of the first amplifier (U1) and negative power end (GND) respectively; The fixing end of two of first potentiometer (RV1) is connected with the first zeroing end of the first amplifier (U1) and empty foot respectively; The movable end of the first potentiometer (RV1) and the first zeroing end of the first amplifier (U1) connect; Two of second potentiometer (RV2) are fixing, and end is connected with positive power source terminal (VDD) and negative power end (GND) respectively; The movable end of the second potentiometer (RV2) and the second zeroing end of the first amplifier (U1) connect; The outfan of the first amplifier (U1) is as the outfan of differential amplifier circuit (5);
One end of 3rd resistance (R3) is as the input of filter circuit (6), and the positive input terminal of the other end and the second amplifier (U2) connects; The two ends of the 4th resistance (R4) are connected with the outfan of the positive input terminal of the second amplifier (U2) and the 3rd amplifier (U3) respectively; The two ends of the 5th resistance (R5) are connected with the positive input terminal of the second amplifier (U2) and negative power end (GND) respectively; The two ends of the 6th resistance (R6) are connected with the positive input terminal of the 3rd amplifier (U3) and negative power end (GND) respectively; The two ends of the 7th resistance (R7) are connected with the positive input terminal of the outfan of the second amplifier (U2) and the 3rd amplifier (U3) respectively; One end of 8th resistance (R8) is connected with the outfan of the second amplifier (U2), and the other end is connected with the outfan of the 3rd amplifier (U3) by the 6th electric capacity (C6); The two ends of the 7th electric capacity (C7) are connected with the two ends of the 6th electric capacity (C6) respectively; The two ends of the 8th electric capacity (C8) are connected with the positive input terminal of the second amplifier (U2) and negative power end (GND) respectively; The two ends of the 9th electric capacity (C9) are connected with the positive input terminal of the second amplifier (U2) and negative power end (GND) respectively; The negative input end of the second amplifier (U2) and the negative input end of the 3rd amplifier (U3) connect; The outfan of the second amplifier (U2) is as the outfan of filter circuit (6).
4. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: described shield shell (1) adopts metal shell.
5. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: described reference magnetic field source (2) adopts magnet exciting coil or permanent magnet.
6. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: described magnetic field sensor (4) adopts Hall element or magnetoresistive transducer or magnetic induction coil.
7. a kind of elevator traction steel band the cannot-harm-detection device according to claim 1, it is characterised in that: the concrete numerical value of described N is determined according to the width of elevator traction steel band, to ensure that detection range can cover the width of whole elevator traction steel band.
8. an elevator traction steel band lossless detection method, the method realizes in a kind of elevator traction steel band the cannot-harm-detection device as claimed in claim 1, it is characterised in that: the method is to adopt following steps to realize:
A. elevator traction steel band (9) to be detected detects hole also cross two, and moves in left-right direction, thus passes sequentially through the magnetic field that two reference magnetic field sources (2) produce in left-right direction;
If the b. upper not damaged of elevator traction steel band (9), then when the magnetic field that elevator traction steel band (9) is produced by two reference magnetic field sources (2), magnetic field intensity near two groups of magnetic field sensors (4) all keeps constant, and two groups of magnetic field sensors (4) all do not export signal;
If elevator traction steel band has damage on (9), then when damage location passes sequentially through the magnetic field that two reference magnetic field sources (2) produce in left-right direction, damage location there will be magnetic domain fixed-node and forms micro-magnetic field, this micro-magnetic field can cause that the magnetic field intensity at damage location motion track place changes, and in two groups of magnetic field sensors (4), 2M the magnetic field sensor (4) near damage location motion track thus exports M to waveshape signal equal in magnitude, in opposite direction; Waveshape signal is entered corresponding M differential amplifier circuit (5) by M, and forms M waveshape signal after M differential amplifier circuit (5) carries out differential amplification process; M waveshape signal enters corresponding M filter circuit (6), and enters signal transmission module (7) after M filter circuit (6) is filtered, and then sends to computer (8) through signal transmission module (7); Computer (8) extracts peak-to-peak value and the ripple width of each waveshape signal, and calculates the peak-to-peak value ripple width ratio of each waveshape signal, then goes out size and the distribution situation of damage location than quantitative analysis according to peak-to-peak value ripple width; M is positive integer, and M≤N.
CN201610208864.1A 2016-04-06 2016-04-06 A kind of elevator traction steel band non-destructive testing device and method Active CN105675713B (en)

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CN104512779A (en) * 2013-09-30 2015-04-15 上海三菱电梯有限公司 Detecting device and method for suspension element of elevator
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CN106959337A (en) * 2017-05-03 2017-07-18 河南科技大学 The open magnetic pumping damage of steel cable detecting system that declines of one kind
CN111542753A (en) * 2018-02-01 2020-08-14 株式会社岛津制作所 Wire rope inspection device, wire rope inspection system, and wire rope inspection method
CN111542753B (en) * 2018-02-01 2024-01-30 株式会社岛津制作所 Wire rope inspection device, wire rope inspection system, and wire rope inspection method
CN111532940A (en) * 2020-05-06 2020-08-14 日立楼宇技术(广州)有限公司 Damage detection method, device, equipment, storage medium and damage detector

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