CN111426746A - Automatic creeping magnetic flux leakage detector for tank wall - Google Patents
Automatic creeping magnetic flux leakage detector for tank wall Download PDFInfo
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- CN111426746A CN111426746A CN202010240507.XA CN202010240507A CN111426746A CN 111426746 A CN111426746 A CN 111426746A CN 202010240507 A CN202010240507 A CN 202010240507A CN 111426746 A CN111426746 A CN 111426746A
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- 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
- G01N27/83—Investigating 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
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Abstract
The invention discloses an automatic creeping magnetic flux leakage detector for a tank wall, which adopts a four-wheel drive travelling mechanism, wherein two sides of a travelling wheel are respectively connected with a direct current brushless motor and a brake, and the advance and stop of the detector are realized by controlling the start and stop of the motor through a motor controller; the stepping motor controls the rotation of the four wheel frames through a series of power transmission, thereby achieving the purposes of equipment steering and line feed detection; the lifting mechanism provides power through a lifting motor, the lifting motion of the lifting platform and the lifting rod is controlled, the lifting motion of the excitation mechanism is further realized, the purpose that the equipment spans a welding seam is achieved, and the circumferential and axial displacement of the excitation mechanism is limited through a circumferential limiting device and a limiting device of the lifting mechanism in order to ensure that the position of the excitation structure after the excitation structure spans the welding seam is unchanged. The detector is in wireless connection with an external host, and through industrial-grade WIFI, motion operation and data wireless real-time transmission of equipment are achieved, and signal waveforms are displayed in real time.
Description
Technical Field
The invention relates to the field of nondestructive detection of a storage tank wall, in particular to a magnetic flux leakage detector for detecting the storage tank wall.
Background
The storage tank is an important storage container for crude oil, product oil and various chemical production raw materials in the petroleum and petrochemical industry, the stored medium of the storage tank is mostly corrosive, the storage tank is influenced by the local natural environment, and the tank wall of the storage tank is easy to corrode.
The accumulated water part and the raw material part of the tank bottom and the gas phase combination part of the upper part of the tank body are easy to corrode, and the welded part at the top of the storage tank and the place where the top cover is connected with the cylinder body are also easy to corrode. The water accumulation area of the tank bottom plate is easy to generate regional corrosion, and the safety influence on the whole tank body is the most serious. Once a problem occurs in the storage tank, the economic and environmental problems can be seriously influenced, and even the life safety of people can be directly endangered. The safety accidents caused by the leakage of the storage tank cannot be borne by people, so that the storage tank needs to be checked regularly.
The existing tank wall detection method needs to be provided with equipment such as scaffolds and the like, so that the actual operation is very inconvenient and has certain danger, the labor intensity required during detection is high, the construction period is long, the detection task is gradually increased along with the increase of domestic storage tanks, the transmission detection method is not suitable for the requirements of a new era, and a novel technology is required for replacing the detection method.
The emergence and development of intelligent processing systems and the need for safety work have necessitated the use of automated inspection techniques instead of manual work. The detection cost of the storage tank wall plate can be greatly reduced after the automatic detection device is used, the efficiency can be obviously improved, and most importantly, the danger of operators in the detection process is reduced. Therefore, it is necessary to design an automatic device suitable for detecting the magnetic flux leakage of the wall plate of the storage tank.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, solve the problems of high detection risk, high labor intensity and the like of the traditional storage tank wall, and provide an automatic creeping magnetic flux leakage detector for the tank wall.
The purpose of the invention is realized by the following technical scheme:
an automatic creeping magnetic flux leakage detector for a tank wall comprises a vehicle body, an excitation mechanism, a lifting motor, a lifting rod, a lifting platform, a width direction limiting device, a supporting rod, a reduction gear set, a stepping motor, a transmission system, a wheel carrier, a direct current brushless motor, a travelling wheel, a brake, a motor fixing frame, a rack and a length direction limiting device;
the speed reduction gear set, the stepping motor, the transmission system and the rack are all fixed on a vehicle body, a through hole is formed in the middle of the vehicle body, the speed reduction gear set and the motor fixing frame are fixed above the through hole through the rack, an input shaft of the speed reduction gear set is connected with the lifting motor, an output shaft of the speed reduction gear set is connected with the lifting platform, the lifting motor is installed on the motor fixing frame, the lower part of the lifting platform is connected with the excitation mechanism through the lifting rod, sliding grooves are formed in two sides of the vehicle body, the length direction limiting device is connected in the sliding grooves in a sliding mode and is connected with the excitation structure and used for limiting axial displacement of the excitation; the width direction limiting device is connected with the lifting platform, and the position of the excitation mechanism is ensured by limiting the circumferential displacement of the lifting platform;
the wheel frames are arranged on two sides of the vehicle body, a walking wheel is arranged in each wheel frame, and the stepping motor transmits power to the wheel frames through a transmission system so as to realize the steering and walking functions of the walking wheels; the two sides of each wheel carrier are respectively provided with the direct current brushless motor and the brake.
Furthermore, the length direction limiting device separates the excitation mechanism from the vehicle body, and the excitation mechanism is prevented from being abraded with the vehicle body in the lifting process.
Furthermore, the transmission system consists of two rotating gears, two transmission gears, two worm gears, a reversing gear and a worm; the worm is meshed with the worm wheel, the worm wheel is coaxial with the transmission gear, the transmission gear on one side of the worm is meshed with one of the rotating gears so as to drive the rotating shaft of the rotating gear, and the rotating shaft of the rotating gear is connected with the wheel carrier through a bolt so as to realize the rotation of the wheel carrier; the transmission gear on the other side of the worm is sequentially meshed with the reversing gear and the other rotating gear, and the rotating direction of the rotating gears is changed through the reversing gear, so that the rotating directions of the two wheels on one side are consistent.
Furthermore, two wheel carriers are respectively arranged on two sides of the vehicle body; adopt four-wheel walking drive's structure, can guarantee the power and the flexibility of magnetic leakage detector by four direct current brushless motor drive walking wheels, prevent because the too big magnetic leakage detector of the adsorption affinity of magnet difficulty of marcing.
Furthermore, the traveling wheel realizes starting and braking through the direct-current brushless motor and the brake, and the direct-current brushless motor realizes starting and stopping of the motor through the motor controller.
Furthermore, the excitation mechanism can still return to the previous position after crossing the welding seam through length direction stop device and width direction stop device, prevents to influence the detection effect because the removal of excitation structure position to the wallboard of different thickness, can realize different lift-off values through elevating system.
Furthermore, the magnetic leakage detector can be connected with an external computer, wireless data can be transmitted in real time through a wireless network, and signal waveforms are real-time
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. according to the invention, the direct-current brushless motor is directly arranged on the four travelling wheels, and under the matching action of the motor controller and the battery, the motor can drive the travelling wheels to move, so that the forward and backward movement of the detection equipment is realized;
2. the invention designs a front steering device and a rear steering device, each group controls two walking wheels, and the torque output by the stepping motor is decelerated and transferred to the wheel carrier of the walking wheels through the transmission system to realize the rotation of the walking wheels, so that a group of walking wheels can be controlled independently and can be operated in a matching way, the turning size of the detector can be effectively controlled, and various use conditions are met;
3. the invention designs an excitation lifting structure, a lifting motor provides power, a lifting platform is driven to move after the rotating speed is reduced through a reduction gear set, the excitation structure is driven to lift, and a width direction limiting device and a length direction limiting device are designed to ensure that the positions of the excitation mechanism before and after lifting are unchanged;
4. the invention adopts a wireless transmission mode, the control signal and the detection data of the detector are connected with the operation terminal through the wireless operation control module and the wireless data transmission module, the wireless real-time transmission of the control signal and the defect magnetic leakage signal is realized, the operation range of the detector is improved, and the labor capacity of workers is reduced;
5. the invention can replace the traditional tank wall detection method, reduce the danger of detection personnel and labor cost, and improve the detection efficiency and economy.
Drawings
FIG. 1 is a schematic three-dimensional structure diagram of a magnetic flux leakage detector according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of a lift mechanism in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a magnetic flux leakage detector in an embodiment of the present invention;
FIG. 4 is a left side view of the magnetic flux leakage detector in the embodiment of the present invention;
FIG. 5 is a schematic top view of a magnetic flux leakage detector according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a transmission system in an embodiment of the present invention;
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 shows an automatic creeping magnetic flux leakage detector for a tank wall according to this embodiment, which includes a vehicle body 1, an excitation mechanism 2, a lifting motor 23, a lifting rod 3, a reduction gear set 7, a stepping motor 8, a transmission system 9, a wheel carrier 10, a dc brushless motor 11, a traveling wheel 12, a brake 13, a motor fixing bracket 24, a frame 17, and a length direction limiting device 14.
In the embodiment, the middle part of the vehicle body 1 is provided with a rectangular through hole, and two sides of the rectangular through hole are respectively provided with a transverse wing plate and a vertical baffle plate; an arc-shaped chamfer angle is integrally connected between the transverse wing plate and the vertical baffle plate, a reduction gear set 7 and a motor fixing support 24 are fixed right above the rectangular through hole through a rack 17, a stepping motor 8 and a transmission system 9 are symmetrically fixed on the transverse wing plates on two sides of the vehicle body 1, a lifting motor 23 is fixed on the motor fixing support 24 and transmits power to the lifting platform 4 through the reduction gear set 7 to drive the excitation mechanism to complete lifting action, the vertical baffle plates on two sides of the vehicle body 1 are provided with sliding grooves, length direction limiting devices 14 are connected in the sliding grooves in a sliding mode, and the length direction limiting devices 14 are connected with the excitation structure 2 and used for limiting the length direction displacement of the excitation mechanism 2; the width direction limiting device 5 is connected with the lifting platform 4, and the position of the excitation mechanism 2 is ensured by limiting the width direction displacement of the lifting platform 4; the lifting motion of the excitation mechanism 2 is realized through the lifting platform 4 and the lifting rod 3, the purpose of crossing a welding seam of the equipment is realized, and meanwhile, in order to ensure that the positions of the excitation mechanism 2 before and after lifting are kept unchanged, the displacement of the excitation mechanism 2 on the width and the length is limited through the width direction limiting device 5 and the length direction limiting device 14.
The four wheel frames 10 are symmetrically arranged below the transverse wing plates at two sides of the vehicle body 1 in a group, a walking wheel 12 is arranged in each wheel frame 10, and the stepping motor 8 transmits power to the wheel frames 10 through a transmission system 9 so as to realize the steering and walking functions of the walking wheels 12; the two sides of each wheel frame 10 are respectively provided with the dc brushless motor 11 and the brake 13. The stepping motor 8 transmits power to the wheel carrier 10 through the transmission system 9 to realize the steering of the walking wheels 12, thereby achieving the purposes of steering and line changing of the equipment.
As shown in fig. 2, the frame 17 is used for fixing the components of the lifting platform, the rotation of the gear 16 drives the rotation of the supporting rod 6, the supporting rod 6 is connected with the lifting platform 4 through a thread to drive the movement of the lifting platform 4, and the lifting rod 3 fixed on the lifting platform 4 drives the lifting movement of the excitation mechanism 2 along with the lifting movement of the lifting platform; in order to ensure that the excitation mechanism 2 is unchanged in position before and after crossing a welding seam, the lifting width direction limiting device 5 limits the movement of the excitation mechanism in the width direction, the width direction limiting device 5 is connected with the circumferential limiting plate 15, the circumferential limiting plate 15 limits the movement of the width direction limiting device 5, and the width direction limiting device 5 limits the movement of the lifting platform 4, so that the circumferential displacement limitation of the excitation mechanism is realized.
As shown in fig. 3, the detector of the present invention adopts a four-wheel drive mode, two sides of each traveling wheel 12 include a dc brushless motor 11 and a brake 13, a motor controller controls the start and stop of the dc brushless motor 11 to realize the forward and backward movement of the equipment, and the brake 13 controls the advancing speed of the equipment; the four-wheel driving mode can ensure that the equipment has enough power during detection, can also ensure the flexible movement of the equipment, and realizes the actions of equipment steering, line changing detection and the like.
As shown in fig. 4, an input shaft of a transmission system 9 is connected with a stepping motor 8, an output shaft of the transmission system 9 is connected with a wheel carrier 10, the three are fixed on the vehicle body 1 and provide power through the stepping motor 8, the transmission system 9 transmits the power of the motor to the wheel carrier 10 through a worm wheel, a worm and a gear, the rotation of the wheel carrier 10 drives a traveling wheel 12 to rotate, and the requirements of steering, line change detection and the like of the equipment are met; in order to ensure the consistency of the rotation of the two traveling wheels 12, a reversing gear needs to be added in the transmission system 9 of one wheel, so as to ensure the rotation direction of the wheel carrier 10.
As shown in fig. 5, the two walking wheels 12 on the two sides are controlled by the two stepping motors 8 respectively to steer, so that the equipment can be operated more conveniently and flexibly; lifting platform 4 and excitation mechanism 2 are located the equipment middle part, and elevator motor 23 gives reduction gear 7 with power transfer, through a set of reduction gear, gives lifting platform with power transfer to drive excitation mechanism 2's lift.
As shown in fig. 6, the transmission system 9 is composed of two rotation gears 18, two transmission gears 20, two worm gears 22, a reversing gear 19 and a worm 21; the worm 21 transmits the power of the motor to the worm gears 22 on both sides, so as to drive the transmission gears 20 which are coaxial with the worm gears 22, one of the transmission gears is directly meshed with the rotating gear, so as to drive the wheel carrier to rotate, the transmission gear 20 on the other side is meshed with the reversing gear 19, the rotating direction of the rotating gear 18 is changed through the reversing gear 19, and the consistency of the rotating directions of the two wheels on one side is realized.
Furthermore, those skilled in the art will appreciate that the drawings are provided solely for the purposes of illustrating the invention, features and advantages thereof, and are not necessarily drawn to scale. Also, unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, the meaning of "includes but is not limited to".
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The automatic creeping magnetic flux leakage detector for the tank wall is characterized by comprising a vehicle body (1), an excitation mechanism (2), a lifting motor (23), a lifting rod (3), a lifting platform (4), a width direction limiting device (5), a support rod (6), a reduction gear set (7), a stepping motor (8), a transmission system (9), a wheel carrier (10), a direct current brushless motor (11), a travelling wheel (12), a brake (13), a motor fixing frame (24), a rack (17) and a length direction limiting device (14);
the reduction gear set (7), the stepping motor (8), the transmission system (9) and the frame (17) are all fixed on the vehicle body (1), the middle part of the vehicle body (1) is provided with a through hole, the reduction gear set (7) and the motor fixing frame (24) are fixed above the through hole through a frame (17), the input shaft of the reduction gear set (7) is connected with a lifting motor (23), the output shaft is connected with the lifting platform (4), the lifting motor (23) is arranged on a motor fixing frame (24), the lower part of the lifting platform (4) is connected with the excitation mechanism through the lifting rod (3), sliding grooves are arranged on two sides of the vehicle body (1), the length direction limiting device (14) is connected in the sliding groove in a sliding mode, and the length direction limiting device (14) is connected with the excitation structure (2) and used for limiting the axial displacement of the excitation mechanism (2); the width direction limiting device (5) is connected with the lifting platform (4), and the position of the excitation mechanism (2) is ensured by limiting the circumferential displacement of the lifting platform (4);
the wheel carriers (10) are arranged on two sides of the vehicle body (1), a walking wheel (12) is arranged in each wheel carrier (10), and the stepping motor (8) transmits power to the wheel carriers (10) through a transmission system (9) so as to realize the steering and walking functions of the walking wheels (12); the two sides of each wheel carrier (10) are respectively provided with the direct current brushless motor (11) and the brake (13).
2. The apparatus for detecting leakage of magnetic flux through automatic creeping of tank wall according to claim 1, wherein the length direction limiting means (14) separates the excitation mechanism (2) from the vehicle body (1) to prevent the excitation mechanism (2) from being worn away from the vehicle body (1) during the lifting process.
3. The automatic creeping magnetic flux leakage detector of the tank wall according to claim 1, characterized in that the transmission system (9) is composed of two rotating gears (18), two transmission gears (20), two worm gears (22), a reversing gear (19) and a worm (21); the worm (21) is meshed with the worm wheel (22), the worm wheel (22) is coaxial with the transmission gear (20), the transmission gear (20) on one side of the worm (21) is meshed with one rotating gear (18) to drive the rotating shaft of the rotating gear (18), and the rotating shaft of the rotating gear (18) is connected with the wheel carrier (10) through a bolt to further realize the rotation of the wheel carrier (10); the transmission gear (20) on the other side of the worm (21) is sequentially meshed with the reversing gear (19) and the other rotating gear (18), and the rotating direction of the rotating gear (18) is changed through the reversing gear (19), so that the rotating directions of two wheels on one side are consistent.
4. The automatic creeping magnetic flux leakage detector of the tank wall according to claim 1, characterized in that two wheel carriers (10) are respectively arranged on two sides of the vehicle body (1); adopt four-wheel walking drive's structure, can guarantee the power and the flexibility of magnetic leakage detector by four direct current brushless motor (11) drive walking wheel (12), prevent because the too big magnetic leakage detector of the adsorption affinity of magnet difficulty of marcing.
5. The automatic crawling magnetic flux leakage detector for the tank wall according to claim 1, characterized in that the traveling wheels (12) are started and braked through a brushless direct current motor (11) and a brake (13), and the brushless direct current motor (11) is started and stopped through a motor controller.
6. The automatic creeping magnetic flux leakage detector of the tank wall according to claim 1, characterized in that the excitation mechanism (2) can still return to the previous position after crossing the weld seam through the length direction limiting device (14) and the width direction limiting device (5), the detection effect is prevented from being influenced by the movement of the position of the excitation structure (2), and different lifting values can be realized through the lifting mechanism for the wall plates with different thicknesses.
7. The automatic crawling magnetic flux leakage detector for the tank wall according to claim 1, characterized in that the magnetic flux leakage detector can be connected with an external computer, wireless data can be transmitted in real time through a wireless network, and signal waveforms are displayed in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240507.XA CN111426746A (en) | 2020-03-31 | 2020-03-31 | Automatic creeping magnetic flux leakage detector for tank wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010240507.XA CN111426746A (en) | 2020-03-31 | 2020-03-31 | Automatic creeping magnetic flux leakage detector for tank wall |
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| Publication Number | Publication Date |
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| CN111426746A true CN111426746A (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010240507.XA Pending CN111426746A (en) | 2020-03-31 | 2020-03-31 | Automatic creeping magnetic flux leakage detector for tank wall |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924539A (en) * | 2021-01-19 | 2021-06-08 | 青岛共享智能制造有限公司 | Automatic crawling device for magnetic powder detection of permanent magnet wheel type steel wall surface welding line |
-
2020
- 2020-03-31 CN CN202010240507.XA patent/CN111426746A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112924539A (en) * | 2021-01-19 | 2021-06-08 | 青岛共享智能制造有限公司 | Automatic crawling device for magnetic powder detection of permanent magnet wheel type steel wall surface welding line |
| CN112924539B (en) * | 2021-01-19 | 2021-12-07 | 青岛共享智能制造有限公司 | Automatic crawling device for magnetic powder detection of permanent magnet wheel type steel wall surface welding line |
| WO2022156105A1 (en) * | 2021-01-19 | 2022-07-28 | 青岛共享智能制造有限公司 | Permanent magnet wheel-type automatic climbing device for steel wall surface welding seam magnetic particle inspection |
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