CN110146004A - A kind of detection device using rare earth permanent-magnetic material detection steel pipe - Google Patents
A kind of detection device using rare earth permanent-magnetic material detection steel pipe Download PDFInfo
- Publication number
- CN110146004A CN110146004A CN201910511961.1A CN201910511961A CN110146004A CN 110146004 A CN110146004 A CN 110146004A CN 201910511961 A CN201910511961 A CN 201910511961A CN 110146004 A CN110146004 A CN 110146004A
- Authority
- CN
- China
- Prior art keywords
- detection
- detection device
- unit
- carrier
- permanent magnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/06—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness
- G01B7/10—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring thickness using magnetic means, e.g. by measuring change of reluctance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
Abstract
The present invention relates to the field that steel pipe wall thickness measure and tube wall mass defect detect, especially a kind of pipe detection device using rare earth permanent-magnetic material detection steel pipe.The pipe detection device using between detection device and tested pipeline changes of magnetic field and pressure change detect the thickness and tube wall situation of measured object, realize that, tube wall crackle thinning to pipe wall and tube wall leak source carry out pre-alarm, mobile device carrier is made of independent two parts, it is easy to control, and mobile device carrier is arranged using leakproofness, realizes and adapts to different detection environment.The beneficial effects of the present invention are: the device can realize the higher detection of precision in severe pipeline environment,, tube wall crackle thinning to pipe wall and tube wall leak source carry out pre-alarm, it is stronger to design mobile device carrier leakproofness simultaneously, activity control is more convenient, it is simple and practical in structure, there are extraordinary actuality and economy, and can be applied to production practices.
Description
Technical field:
The field of the present invention and steel pipe wall thickness measure and the detection of tube wall mass defect, it is especially a kind of to utilize rare earth permanent magnet material
The pipe detection device of material detection steel pipe.
Background technique:
There is various different function, various sizes of pipeline in urban construction at present, such as central air-conditioning pipe, originally
Waterpipe, gas piping, oil transportation (gas) pipeline, heat distribution pipeline etc..These pipelines need before being put into use and in use
It detected, safeguarded, however the limitation of the factors such as narrow space or bad environments keeps these work not only heavy but also dangerous, conventional tube
Road detection is implemented by related personnel, heavy workload, inefficiency, and for some toxic or hazardous medium or inside
Structure is complicated narrow pipeline location, personnel can not reach implementation monitoring.These occasions must be using pipe detection device as managed
It detects robot and carries out pipeline inside processing in road.
Pipe robot belongs to the research category of specialized robot, it be one kind can inside the pipeline automatically walk, have
One or more sensors and detection device, under the remote control operation or computer controlled automatic of operator, be able to carry out one
The apheresis platelet system of series of ducts operation.The fundamental significance of pipe robot development is to improve worker's operating environment, mention
Operating efficiency in senior executive.The history in the research of China's pipeline robot technique existing more than 20 years, some pipe robots have been thrown
Enter to apply, but the mobile mechanism of existing pipe robot, it cannot implement in the pipeline of consecutive variations in caliber a certain range
It is generally existing shortcoming that operation, robot, which cannot be compatible with environmental change in pipeline, waterproof thermal protective performance is limited etc..
Pipeline internal medium changes, and must just redesign manufacture, to increase cost, therefore to multi-functional, high-performance, spirit
The research of the pipe robot living for adapting to various media increasingly increases with demand.
At present mainly include ultrasonic examination for metal surface and the method for internal soundness defects detection, is based on table
The alternating current-direct current magnetic flaw of layer flaw detection and eddy current inspection etc..But its detection technique has realized very disaster having in medium pipeline
Degree.Ultrasonic examination is restricted to the shape of controlled device, in the case that shape is more complex or surface cleanness is not high, ultrasound
Wave inspection is very much difficult.In addition quantitative, positioning accuracy is poor, difficult to realize to mobile flaw detection, while by controlled device material grains
Structure and structural homogenity limitation.And alternating current-direct current magnetic flaw and eddy current inspection, more harsh, Er Qiezhu is required to controlled device
There is a detection for superficial layer, and practical application and immature.Due to needing alternating current-direct current to carry out controlled device magnetization, especially pair
It detects a flaw, operates extremely difficult in mobile.
Summary of the invention
The embodiment of the present disclosure discloses a kind of pipe detection device using rare earth permanent-magnetic material detection steel pipe, existing to solve
There is any problem in the above-mentioned of technology and other potential problems.
In order to achieve the above object, the embodiment of the present disclosure discloses a kind of pipeline using rare earth permanent-magnetic material detection steel pipe
Detection device；The pipe detection device using between permanent magnet and measured object changes of magnetic field and pressure change detect to be tested
The thickness and tube wall situation of object.The higher detection of precision is realized in severe pipeline environment, tube wall thinning to pipe wall is split
Line and tube wall leak source carry out pre-alarm, while designing that mobile device carrier leakproofness is stronger, and activity control is more convenient, structure letter
It is single practical, there are extraordinary actuality and economy, and can be applied to production practices.
According to the embodiment of the present disclosure, the detection device includes:
One mobile device carrier, is moved in measured tube body for realizing detection device；
- mobile control unit, for controlling detection device moving direction and opening/stop；
One Working mechanism is detected for being realized by magnetic field to tested tube body；
- data acquisition and sending unit, for the detection data for receiving the Working mechanism to be sent to host computer；
- power supply unit, for integrally providing electric power for detection device；
- host computer sends control instruction for receiving the detection data of acquisition, and to mobile control unit.
Wherein, the mobile control unit, data acquisition and sending unit and power supply unit are separately positioned on the mobile dress
Carrier inside is set, the Working mechanism is arranged in the connecting shaft on the mobile device carrier；The host computer is adopted with data
Collect transmission unit, mobile control unit and power supply unit control connection.
According to the embodiment of the present disclosure, the mobile vehicle includes moving left carrier, moving right carrier, left wheel, right rolling
Driving wheel and connecting shaft；
Wherein, it is described move left carrier and move right carrier be symmetrical arranged, and described move left carrier and move right between carrier
Pass through the connection axis connection；
The left wheel is arranged on the lateral wall for moving left carrier, and the right scroll wheel, which is arranged, moves to right dynamic load described
On the lateral wall of body, the inside for moving left carrier is arranged in the left driving motor, and the right driving motor is arranged in institute
State the inside for moving right carrier, the driving wheel of the left wheel and right scroll wheel respectively with the left driving motor and right driving
Motor drive connection；
The rotor of the output shaft of the left driving motor and right driving motor is embedded in the both ends of the connecting shaft, the shifting respectively
Dynamic control unit be arranged in it is described move left carrier and move right in a carrier in carrier, and it is electric with the left driving respectively
Machine and right driving motor control connection.
According to the embodiment of the present disclosure, the Working mechanism includes connecting rod, permanent magnetism detection unit and data acquisition unit；
Wherein, permanent magnet connecting rod one end be equipped with connector sleeve, the connector sleeve noose in the connecting shaft, it is described forever
The other end of the permanent magnet connecting rod is arranged in magnet detection unit, and the data acquisition unit is arranged in the permanent magnetism physical examination
It surveys on unit, the data acquisition unit is connect with the data transmission unit being arranged on the mobile control unit.
According to the embodiment of the present disclosure, the permanent magnet detection unit includes permanent magnet and without disk pack coating, the permanent magnet
One of end face be detection faces, the no disk pack coating is arranged on other end faces except detection faces of the permanent magnet.
According to the embodiment of the present disclosure, the permanent magnet is made of several permanent magnet units；Magnet is rare earth permanent-magnetic material system
At the magnetic field strength of the permanent magnet is between 300mH-610mH；The no disk pack coating is magnetic separator；Thickness is in 2-
5mm。
According to the embodiment of the present disclosure, the data acquisition unit includes for acquiring permanent magnetism detection unit to the suction of tube wall
The pressure sensor of variation measures the Magnetic Sensor of the variation of magnetic induction line.
According to the embodiment of the present disclosure, the permanent magnet connecting rod of the permanent magnet detector includes upper connecting rod and lower connection
Bar, the lower connecting rod connect in the inside of the upper connecting rod.
According to the embodiment of the present disclosure, the mobile control unit includes CPU, and memory, infrared sensor and signal are sent
And receiving module；
Wherein, the CPU is described respectively with the memory, infrared sensor and the control connection of signal delivery and reception module
Signal delivery and reception module is connect with data acquisition unit and host computer respectively.
According to the embodiment of the present disclosure, said supply unit includes rechargeable type lithium battery and when low battery and Times
It is alert, prevent detection device from can not recycle electricity prewarning unit, the electricity prewarning unit because of out of power stop working in pipeline
It controls and connects with the rechargeable type lithium battery, the electricity prewarning unit and CPU control connect.
(1) two moving bodies are designed, the two moving bodies of corresponding size can be designed according to the size of particular conduit, and not
It is only limitted to hemisphere or sphere, i.e., it protects outer housing can also other are designed according to demand for ellipsoid etc. mobile vehicle shape
Shape makes the size of carrier be suitable for a certain range of pipe detection.
(2) mechanical structure of torque conversion between motor stator and rotor is designed, the rotor of motor is can fixed connection shaft
On, stator can be fixed on scroll wheel wall, and permanent magnetism detection unit is connected in connecting shaft, be inhaled using the weight and permanent magnetism of permanent magnet
Power of the gravitation as fixed rotor.Electric machine rotor fixed form can become according to actual motion environment and device shape
Change, is not limited in above-mentioned fixed form.
(3) mobile control unit designed be can intelligent control unit, function is not limited only to control motor and hemisphere
Movement position, while also including storage to various measurement data and be sent to host computer, while also thering is low battery to alarm function
Can, and it is unlimited such.
(4) the mobile vehicle unit designed includes: two independent idler wheels, and two hemisphere protect shell, motor driven idler wheel
Mobile, hemisphere protects shell that interior arrangement is protected not interfered by extraneous factor.
(5) design mobile vehicle unit two idler wheels be it is symmetrical and it is independently operable be independent of each other, each idler wheel
It is to be driven by an individual motor, entirety is in symmetrical structure, and working principle is identical.
(6) it is attached between hemisphere and hemisphere by fixed horizontal axis, there is connection permanent magnetism detection unit on horizontal axis
Axis, and be movable axis, length can according to different pipelines carry out up and down adjustment.Horizontal axis and the movable axis of permanent magnetism detection unit hang down
It is direct-connected to connect, and the length of horizontal axis can also carry out people's replacement, horizontal axis and idler wheel according to duct size and carry out sealing, detection in junction
Device generally sealing state.
(7) host computer unit is designed, data post-process and monitor in real time to the parameter of electric machine, it is single according to control
The data that member is transmitted out calculate and then show that pipeline changes, while having low battery warning function.
(8) power supply of carrier positions mobile control unit and permanent magnetism detection unit is all made of rechargeable type lithium battery, average
It is placed in two hemispheres, provides electric energy, the adaptive walking for detection device to mobile unit and permanent magnetism detection unit
It is detected with permanent magnetism.
The beneficial effects of the present invention are: due to the adoption of the above technical scheme, the invention has the characteristics that:
1. can be realized the walking and detection in complicated pipeline, and lower to pipe surface requirement, can be realized adaptive
Motor pattern.
2. the duct survey within the scope of can adapt to certain size, at the same can be carried out under severe pipe condition around
Pipeline one encloses stabilized walking.
3. underwater detection operation can be completed in certain situation.
4. the detection device used can be realized online accurate measurement pipe thickness, the penetration of fracture and range and other tube walls
Mass defect, may be implemented to save offline function but it is unlimited so.
5. the detection device used, which is able to solve under the particular surroundings such as current pipeline common thickness measuring method, can not carry out thickness
The problem of measurement and tube wall prediction of quality；
6. detection device used in uses permanent magnet technology, can be realized passive measurement, can avoid causing because of power loss
The problem of measurement fault.
Detailed description of the invention
Fig. 1 is a kind of diagrammatic cross-section for the detection device that steel pipe is detected using rare earth permanent-magnetic material of the present invention.
Fig. 2 is a kind of movement schematic diagram for the detection device that steel pipe is detected using rare earth permanent-magnetic material of the present invention.
Fig. 3 is a kind of pipe walking schematic diagram for the detection device that steel pipe is detected using rare earth permanent-magnetic material of the present invention.
Fig. 4 is a kind of electric part logic diagram for the detection device that steel pipe is detected using rare earth permanent-magnetic material of the present invention.
Fig. 5 is a kind of Working mechanism structural representation for the detection device that steel pipe is detected using rare earth permanent-magnetic material of the present invention
Figure.
In figure:
1. moving left carrier, 2. left driving motors, 3. right driving motors, 4. mobile control units, 5. driving wheels, 6. left wheels
7. right scroll wheel, 8. connecting rods, 9. pressure sensors, 10. permanent magnets, 10-1. permanent magnet unit, 10-2. permanent magnetism detection unit,
11. moving right carrier, 12. connecting shafts, 16. pipeline outer walls, 17. inner wall of the pipes, 18. detection devices, 19. Magnetic Sensors, 20. gas
Gap, 21. steel plates.
Specific embodiment
Technical scheme is described further in the following with reference to the drawings and specific embodiments.
As shown in Figs. 1-5, the embodiment of the present disclosure discloses a kind of pipe detection using rare earth permanent-magnetic material detection steel pipe
Device；The pipe detection device using between permanent magnet and measured object changes of magnetic field and pressure change detect measured object
Thickness and tube wall situation.In severe pipeline environment realize the higher detection of precision, tube wall crackle thinning to pipe wall and
Tube wall leak source carries out pre-alarm, while designing that mobile device carrier leakproofness is stronger, and activity control is more convenient, and structure is simply real
With having extraordinary actuality and economy, and can be applied to production practices.
According to the embodiment of the present disclosure, the detection device includes:
One mobile device carrier, is moved in measured tube body for realizing detection device；
- mobile control unit, for controlling detection device moving direction and opening/stop；
One Working mechanism is detected for being realized by magnetic field to tested tube body；
- data acquisition and sending unit, for the detection data for receiving the Working mechanism to be sent to host computer；
- power supply unit, for integrally providing electric power for detection device；
- host computer sends control instruction for receiving the detection data of acquisition, and to mobile control unit.
Wherein, the mobile control unit, data acquisition and sending unit and power supply unit are separately positioned on the mobile dress
Carrier inside is set, the Working mechanism is arranged in the connecting shaft on the mobile device carrier；The host computer is adopted with data
Collect transmission unit, mobile control unit and power supply unit control connection.
According to the embodiment of the present disclosure, the mobile vehicle includes moving left carrier, moving right carrier, left wheel, right rolling
Driving wheel and connecting shaft；
Wherein, it is described move left carrier and move right carrier be symmetrical arranged, and described move left carrier and move right between carrier
Pass through the connection axis connection；
The left wheel is arranged on the lateral wall for moving left carrier, and the right scroll wheel, which is arranged, moves to right dynamic load described
On the lateral wall of body, the inside for moving left carrier is arranged in the left driving motor, and the right driving motor is arranged in institute
State the inside for moving right carrier, the driving wheel of the left wheel and right scroll wheel respectively with the left driving motor and right driving
Motor drive connection；
The rotor of the output shaft of the left driving motor and right driving motor is embedded in the both ends of the connecting shaft, the shifting respectively
Dynamic control unit be arranged in it is described move left carrier and move right in a carrier in carrier, and it is electric with the left driving respectively
Machine and right driving motor control connection.
According to the embodiment of the present disclosure, the Working mechanism includes connecting rod, permanent magnetism detection unit and data acquisition unit；
Wherein, permanent magnet connecting rod one end be equipped with connector sleeve, the connector sleeve noose in the connecting shaft, it is described forever
The other end of the permanent magnet connecting rod is arranged in magnet detection unit, and the data acquisition unit is arranged in the permanent magnetism physical examination
It surveys on unit, the data acquisition unit is connect with the data transmission unit being arranged on the mobile control unit.
According to the embodiment of the present disclosure, the permanent magnet detection unit includes permanent magnet and without disk pack coating, the permanent magnet
One of end face be detection faces, the no disk pack coating is arranged on other end faces except detection faces of the permanent magnet.
According to the embodiment of the present disclosure, the permanent magnet is made of several permanent magnet units；Magnet is rare earth permanent-magnetic material system
At the magnetic field strength of the permanent magnet is between 300mH-610mH；The no disk pack coating is magnetic separator；Thickness is in 2-
5mm。
According to the embodiment of the present disclosure, the data acquisition unit includes for acquiring permanent magnetism detection unit to the suction of tube wall
The pressure sensor of variation measures the Magnetic Sensor of the variation of magnetic induction line.
According to the embodiment of the present disclosure, the permanent magnet connecting rod of the permanent magnet detector includes upper connecting rod and lower connection
Bar, the lower connecting rod connect in the inside of the upper connecting rod.
According to the embodiment of the present disclosure, the mobile control unit includes CPU, and memory, infrared sensor and signal are sent
And receiving module；
Wherein, the CPU is described respectively with the memory, infrared sensor and the control connection of signal delivery and reception module
Signal delivery and reception module is connect with data acquisition unit and host computer respectively.
According to the embodiment of the present disclosure, said supply unit includes rechargeable type lithium battery and when low battery and Times
It is alert, prevent detection device from can not recycle electricity prewarning unit, the electricity prewarning unit because of out of power stop working in pipeline
It controls and connects with the rechargeable type lithium battery, the electricity prewarning unit and CPU control connect.The rechargeable type lithium
Battery is arranged in another mobile vehicle.
Embodiment:
The detection device of rare earth permanent-magnetic material detection steel pipe is formed by connecting by moving left carrier and moving right carrier, and centre is by cross
Axis connection, moving left carrier and moving right the shell of carrier is hemisphere body shell, left wheel and right scroll wheel be separately positioned on for
On the lateral wall of hemisphere body shell, movement is driven by two motor drivens or so idler wheel, and the end face of shell is all made of close
Seal structure can be moved on complicated tube wall, or even can be worked in water.On the other hand, phase is designed in this way
Get up for the walking of complete ball-type detection device more stable, is not easy to turn on one's side.Two hemispheres be have respectively two motors into
Row control, when the revolving speed difference of motor, differential effect is can be realized in detection device, enables the machine to turn.
(2) the walking principle of detection device
As Fig. 2 be detection device move schematic diagram, detection device internal drive motor idler wheel centroid position, left wheel and
Right scroll wheel is in full symmetric structure.Left and right driving motor is disposed vertically with left wheel and right rolling wheel cross section, driving electricity
The rotor of machine is fixed in connecting shaft, and connecting shaft is equipped with Working mechanism, and Working mechanism is permanent magnet detector, since permanent magnetism detects
The suction and gravity of device, connecting shaft will not be rotated with the rotation of rotor.Driving motor is integrally attached on idler wheel, so
When motor operation, according to the interaction of power, rotor is motionless, motor unitary rotation, and then reaches the movement of driving idler wheel.Two
It is attached between a idler wheel with horizontal axis.When the revolving speed of motor is identical, detection device is to move forwards or backwards, and is driven when two
When the revolving speed difference of dynamic motor, detection device is spin or turning motion.
Schematic diagram of walking is illustrated in figure 3 in detection device pipeline, and 16 be pipeline outer wall, and 17 be inner wall of the pipe 18 be detection
Change in location when device, force analysis and permanent magnet are walked is as shown in the figure.Motor drives hemispheroidal movement, permanent magnet 10
Always vertical with plane of travel, achieve the effect that fixed test device.It is enabled devices in this way on the inclined-plane and song of different angle
The enterprising every trade in face is walked.
In addition, if the magnetic force of permanent magnet 10 not enough makes carrier, walking is stablized in the relatively thin pipeline of the opposite tube wall of detection,
Can be at two hemispheroidal rollings, rule places a certain number of permanent magnet units, and minitype permanent magnetism is in vitro again by rubber bag
It wraps up in, detection device stabilized walking in pipeline can be achieved in this way, while also more to the walking for the pipeline for having certain tilt angle
Stablize.
(3) selection of permanent-magnet material
Situations such as considering the environment temperature of set counter device application, while considering permanent-magnet material magnetic energy product, stability, toughness and work
Make the factors such as temperature, this project selects high performance rare earth permanent-magnetic material such as NdFeB etc..Table 1 is rare earth permanent-magnetic material NdFeB's
Performance indicator parameter.The present invention uses rare earth permanent-magnetic material that is following or meeting performance requirement, but unlimited in this way, only with a kind of reality
The scheme of applying is illustrated.
A kind of designed rare earth permanent-magnetic material table of performance indicators of 1 invention of table
(4) rare earth permanent-magnetic material detects basic principle
Permanent magnet is fixed in magnetic separator, since magnetic separator does not have magnetic conductivity, relative permeability is approximately 1, therefore can
To be approximately air.Permanent magnet generates the effect of power after magnetizing steel plate, under certain air gap, power can be according to the thin and thick of steel plate
It changes, obtains pressure value in real time using pressure sensor, to obtain the variation of steel plate thickness.
It can also obtain whether surface of steel plate is bent or whether deposits by the variation that Magnetic Sensor detects magnetic field line simultaneously
In crack, but it is unlimited in this way, surface of steel plate, which changes, to embody each species diversity according to the change of magnetic field line.
(5) control of detection device
The control of the detection device of rare earth permanent-magnetic material detection steel pipe is by utilizing single-chip microcontroller (or other control chips) to two
A motor is controlled, and realizes the stability of the walking of detection device.Sensor transfers data in control circuit simultaneously, controls
Circuit processed sends the data to host computer, and host computer handles data, and such host computer can read the number of motor in real time
According to the data of the variation with steel plate.The present invention is only described with a kind of this control method, other control methods are not detailed herein
It describes in detail bright.
It should be noted last that above-described specific embodiment, to the purpose of the present invention, technical solution and beneficial
Effect has been further described, it should be understood that the foregoing is merely a specific embodiment of the invention, and
Be not intended to limit the invention, it is all within the spirit and principle of technical solution of the present invention, any modification for being made, equivalent replacement,
Improve etc., it should be included within claims of the invention.
Claims (10)
1. a kind of detection device using rare earth permanent-magnetic material detection steel pipe, which is characterized in that the detection device utilizes detection dress
Changes of magnetic field and pressure change between tested pipeline are set to detect the thickness and tube wall situation of measured object, is realized to pipeline
Tube wall is thinning, tube wall crackle or tube wall leak source carry out pre-alarm.
2. detection device according to claim 1, which is characterized in that the detection device includes:
One mobile device carrier, is moved in measured tube body for realizing detection device；
- mobile control unit, for controlling detection device moving direction and opening/stop；
One Working mechanism is detected for being realized by magnetic field to tested tube body；
- data acquisition and sending unit, for the detection data for receiving the Working mechanism to be sent to host computer；
- power supply unit, for integrally providing electric power for detection device；
- host computer, the detection data for receiving acquisition carries out, and sends control instruction to mobile control unit；
Wherein, the mobile control unit, data acquisition and sending unit and power supply unit are separately positioned on the mobile device and carry
Internal portion, the Working mechanism are arranged in the connecting shaft on the mobile device carrier；The host computer and data acquisition are sent out
Send unit, mobile control unit and power supply unit control connection.
3. detection device according to claim 2, which is characterized in that the mobile vehicle includes moving left carrier, moving to right
Dynamic load body, left wheel, right scroll wheel and connecting shaft；
Wherein, it is described move left carrier and move right carrier be symmetrical arranged, and described move left carrier and move right between carrier
Pass through the connection axis connection；
The left wheel is arranged on the lateral wall for moving left carrier, and the right scroll wheel, which is arranged, moves to right dynamic load described
On the lateral wall of body, the inside for moving left carrier is arranged in left driving motor, and right driving motor setting is moved right described
The driving wheel of the inside of carrier, the left wheel and right scroll wheel is driven with the left driving motor and right driving motor respectively
Connection；
The rotor of the output shaft of the left driving motor and right driving motor is embedded in the both ends of the connecting shaft, the shifting respectively
Dynamic control unit be arranged in it is described move left carrier and move right in a mobile vehicle in carrier, and respectively with the left drive
Dynamic motor and right driving motor control connection.
4. detection device according to claim 2, which is characterized in that the Working mechanism includes connecting rod, permanent magnetism detection
Unit and data acquisition unit；
Wherein, described connecting rod one end and the connecting shaft are affixed, and the connecting rod is arranged in the permanent magnet detection unit
The other end, the data acquisition unit are arranged in the permanent magnet detection unit, and the data acquisition unit and setting are in institute
State the data transmission unit connection on mobile control unit.
5. detection device according to claim 4, which is characterized in that the permanent magnet detection unit includes permanent magnet and nothing
One of end face of disk pack coating, the permanent magnet is detection faces, and removing for the permanent magnet is arranged in the no disk pack coating
On other end faces of detection faces.
6. detection device according to claim 5, which is characterized in that the permanent magnet is made of several permanent magnet units；
Magnet is made of rare earth permanent-magnetic material, and the magnetic field strength of the permanent magnet is between 300mH-610mH；The no disk pack coating is
Magnetic separator；Thickness is in 2-5mm.
7. detection device according to claim 4, which is characterized in that the data acquisition unit includes for acquiring permanent magnetism
Detection unit measures the Magnetic Sensor of the variation of magnetic induction line to the pressure sensor of the suction variation of tube wall.
8. detection device according to claim 4, which is characterized in that the permanent magnet connecting rod packet of the permanent magnet detector
Upper connecting rod and lower connecting rod are included, the lower connecting rod connects in the inside of the upper connecting rod.
9. detection device according to claim 2, which is characterized in that the mobile control unit includes CPU, memory,
Infrared sensor and signal transmission/reception module；
Wherein, the CPU is connected with the memory, infrared sensor and the control of signal transmission/reception module respectively, the letter
Number transmission/reception module is connect with data acquisition unit and host computer respectively.
10. detection device according to claim 2, which is characterized in that said supply unit includes rechargeable type lithium battery
With electricity prewarning unit, the electricity prewarning unit and rechargeable type lithium battery control are connected, the electricity prewarning unit
It controls and connects with the CPU, the rechargeable type lithium battery is arranged in another mobile vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511961.1A CN110146004B (en) | 2019-06-13 | 2019-06-13 | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910511961.1A CN110146004B (en) | 2019-06-13 | 2019-06-13 | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110146004A true CN110146004A (en) | 2019-08-20 |
| CN110146004B CN110146004B (en) | 2021-03-30 |
Family
ID=67591235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910511961.1A Active CN110146004B (en) | 2019-06-13 | 2019-06-13 | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110146004B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113720253A (en) * | 2021-09-17 | 2021-11-30 | 北京科技大学 | Steel plate thickness measuring method and device based on magnetic force |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5659142A (en) * | 1994-12-04 | 1997-08-19 | Petroleo Brasileiro S.A. - Petrobras | Process for the acquisition of an internal log of a parameter throughout a pipeline |
| US6538434B1 (en) * | 1999-11-03 | 2003-03-25 | Elektrophysik Dr. Steingroever Gmbh Kg | Magnetically responsive device for measuring the thickness of magnetic films |
| US20050200354A1 (en) * | 2002-07-22 | 2005-09-15 | Emil Edwin | Method and apparatus for determing the thickness of a chromium depleted zone of a surface region of a steel member |
| CN101251588A (en) * | 2008-03-28 | 2008-08-27 | 哈尔滨工业大学 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
| CN101398286A (en) * | 2008-11-10 | 2009-04-01 | 王洋 | Instrument for measuring thickness of non-ferromagnetic material and surface coating of ironwork |
| CN201407989Y (en) * | 2009-03-30 | 2010-02-17 | 爱德森（厦门）电子有限公司 | Electromagnetism detection device for oxide coating thickness of stainless steel tube |
| CN102278938A (en) * | 2010-04-23 | 2011-12-14 | 赫尔穆特费希尔有限责任公司电子及测量技术研究所 | Measuring probe for non-destructive measuring of the thickness of thin layers |
| CN102288221A (en) * | 2011-06-22 | 2011-12-21 | 中国科学院深圳先进技术研究院 | Equipment for generally surveying pipeline |
| CN102323274A (en) * | 2011-05-26 | 2012-01-18 | 杭州浙大精益机电技术工程有限公司 | Omnidirectional imaging-based method and system for detecting inner wall of steel pipe |
| CN103743823A (en) * | 2014-01-20 | 2014-04-23 | 厦门大学 | Electromagnetic ultrasonic probe with variable structure |
| CN104183052A (en) * | 2013-05-24 | 2014-12-03 | 北京嘉岳同乐极电子有限公司 | Thickness detection device and manufacturing method thereof |
| CN205860981U (en) * | 2016-07-11 | 2017-01-04 | 林锡忠 | A kind of ferromagnetic material thickness detection apparatus based on magnetic bridge principle |
| CN106556363A (en) * | 2015-09-28 | 2017-04-05 | 宝山钢铁股份有限公司 | Thickness of continuous casting shell online test method and device |
| CN107356219A (en) * | 2017-03-27 | 2017-11-17 | 沈阳英坦利管道技术有限公司 | A kind of foam geometry caliper for internal diameter of the pipeline detection |
| CN206919827U (en) * | 2017-07-14 | 2018-01-23 | 深圳宇问加壹传感系统有限公司 | Magnetic force thickness detection apparatus |
| CN207300152U (en) * | 2017-10-19 | 2018-05-01 | 北京雄跃厚明科技有限公司 | A kind of electromagnetic thickness measuring probe |
-
2019
- 2019-06-13 CN CN201910511961.1A patent/CN110146004B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5659142A (en) * | 1994-12-04 | 1997-08-19 | Petroleo Brasileiro S.A. - Petrobras | Process for the acquisition of an internal log of a parameter throughout a pipeline |
| US6538434B1 (en) * | 1999-11-03 | 2003-03-25 | Elektrophysik Dr. Steingroever Gmbh Kg | Magnetically responsive device for measuring the thickness of magnetic films |
| US20050200354A1 (en) * | 2002-07-22 | 2005-09-15 | Emil Edwin | Method and apparatus for determing the thickness of a chromium depleted zone of a surface region of a steel member |
| CN101251588A (en) * | 2008-03-28 | 2008-08-27 | 哈尔滨工业大学 | Mobile carrier omnidistance labelling positioning device within metallic pipe |
| CN101398286A (en) * | 2008-11-10 | 2009-04-01 | 王洋 | Instrument for measuring thickness of non-ferromagnetic material and surface coating of ironwork |
| CN201407989Y (en) * | 2009-03-30 | 2010-02-17 | 爱德森（厦门）电子有限公司 | Electromagnetism detection device for oxide coating thickness of stainless steel tube |
| CN102278938A (en) * | 2010-04-23 | 2011-12-14 | 赫尔穆特费希尔有限责任公司电子及测量技术研究所 | Measuring probe for non-destructive measuring of the thickness of thin layers |
| CN102323274A (en) * | 2011-05-26 | 2012-01-18 | 杭州浙大精益机电技术工程有限公司 | Omnidirectional imaging-based method and system for detecting inner wall of steel pipe |
| CN102288221A (en) * | 2011-06-22 | 2011-12-21 | 中国科学院深圳先进技术研究院 | Equipment for generally surveying pipeline |
| CN104183052A (en) * | 2013-05-24 | 2014-12-03 | 北京嘉岳同乐极电子有限公司 | Thickness detection device and manufacturing method thereof |
| CN103743823A (en) * | 2014-01-20 | 2014-04-23 | 厦门大学 | Electromagnetic ultrasonic probe with variable structure |
| CN106556363A (en) * | 2015-09-28 | 2017-04-05 | 宝山钢铁股份有限公司 | Thickness of continuous casting shell online test method and device |
| CN205860981U (en) * | 2016-07-11 | 2017-01-04 | 林锡忠 | A kind of ferromagnetic material thickness detection apparatus based on magnetic bridge principle |
| CN107356219A (en) * | 2017-03-27 | 2017-11-17 | 沈阳英坦利管道技术有限公司 | A kind of foam geometry caliper for internal diameter of the pipeline detection |
| CN206919827U (en) * | 2017-07-14 | 2018-01-23 | 深圳宇问加壹传感系统有限公司 | Magnetic force thickness detection apparatus |
| CN207300152U (en) * | 2017-10-19 | 2018-05-01 | 北京雄跃厚明科技有限公司 | A kind of electromagnetic thickness measuring probe |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113720253A (en) * | 2021-09-17 | 2021-11-30 | 北京科技大学 | Steel plate thickness measuring method and device based on magnetic force |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110146004B (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhu et al. | A mobile sensing system for structural health monitoring: design and validation | |
| CN104897400B (en) | Robot joint reducer test bed | |
| CN109765292B (en) | Accurate positioning method for pipeline defects | |
| CN207584272U (en) | A kind of pipeline inspecting robot | |
| CN109794945A (en) | A kind of automatic percussion robot detection system for building structure flaw detection | |
| CN109737310B (en) | Electromagnetic detection system for detecting inside of pipeline | |
| US20200094618A1 (en) | Steel climbing robot with magnetic wheels | |
| San-Millan | Design of a teleoperated wall climbing robot for oil tank inspection | |
| CN205302962U (en) | A wall climbing robot that is used for nuclear power station steel containment wall to detect and system thereof | |
| CN106802322A (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type | |
| CN109855615A (en) | A kind of intelligent automatic quick positioning system of pipe robot | |
| CN205607877U (en) | Utilize image acquisition device of auxiliary laser point formation of image | |
| CN110146003A (en) | It is a kind of to utilize rare earth permanent-magnetic material measurement steel pipe wall thickness and mass defect method | |
| CN110146004A (en) | A kind of detection device using rare earth permanent-magnetic material detection steel pipe | |
| CN106737556A (en) | A kind of danger solution extraction system based on mobile robot | |
| CN209840952U (en) | Detection apparatus for utilize tombarthite permanent magnet material to detect steel pipe | |
| CN103728369A (en) | Multifunctional omnibearing stretchable eddy-current probe vehicle device based on metal water pipe | |
| CN203856903U (en) | Temperature self-monitoring ball bearing | |
| CN206557155U (en) | A kind of Tunnel Lining Cracks ultrasonic wave detecting system that car is detected based on wall-attaching type | |
| CN113998100B (en) | Robot for aerial contact type nondestructive testing operation and control method | |
| Wang et al. | Development of a double-cavity climbing robot for on-site inspection of glass-curtain-walls | |
| CN204496032U (en) | A kind of autonomous type multi-mode composite location of pipeline exploration system | |
| CN107024545A (en) | Ultrasonic examination alignment system based on GIS | |
| CN210322886U (en) | Accurate positioner of pipeline defect | |
| Bisht et al. | Development of Magnetic Adhesion Based Wheel-Driven Climbing Machine for Ferrous Surface Applications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |