CN113945628B - Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot - Google Patents
Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot Download PDFInfo
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- CN113945628B CN113945628B CN202111319092.6A CN202111319092A CN113945628B CN 113945628 B CN113945628 B CN 113945628B CN 202111319092 A CN202111319092 A CN 202111319092A CN 113945628 B CN113945628 B CN 113945628B
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- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000004907 flux Effects 0.000 title claims description 12
- 238000001179 sorption measurement Methods 0.000 claims abstract description 33
- 239000002131 composite material Substances 0.000 claims abstract description 7
- 238000013459 approach Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
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- 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
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
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- Condensed Matter Physics & Semiconductors (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
A magnetic field adjusting device and method for a large storage tank wallboard magnetic leakage detection robot is provided with a magnetic array control unit, which is used for receiving preset magnetic field data and controlling an adjustable magnetic array to form a preset magnetic field; the adjustable permanent magnet array unit is used for realizing magnetic field setting by adjusting the lifting height of each array element, and the adjustable electromagnetic array unit is used for realizing magnetic field setting by adjusting the exciting current of each array element; the magnetic field adsorption device is provided with a moving platform adsorption magnet, and is used for guaranteeing stability of the moving platform through magnetic adsorption, and an adsorption magnetic field of the magnetic field adsorption magnet is tested through a test platform and used as fixed background data of a composite magnetic field.
Description
Technical Field
The invention relates to the technical field of storage tank detection, in particular to a magnetic field adjusting device and method for a large storage tank wallboard magnetic flux leakage detection robot.
Background
The large-scale storage tank is an important facility in industries such as national petroleum reserve, petrochemical industry, food reserve and the like, and the wall plate of the storage tank is easy to generate harmful defects such as internal and external corrosion, pits, cracks and the like in the service process. The magnetic leakage method is an important nondestructive detection method for detecting defects of the wall plate of the storage tank, and has important value for guaranteeing service safety of the large storage tank. In order to ensure large-area coverage of in-service storage tanks, a wall climbing robot is generally adopted to carry a magnetic flux leakage detection device to detect the wall plate of the storage tank.
Magnetic adsorption is the main adsorption mode of the current wall climbing robot, and an adsorption magnetic field generated by a magnetic adsorption device is the basis for ensuring that the robot moves freely on the wall surface and does not slide. In the magnetic leakage detection process, a detection magnetic field is required to be generated through excitation, and the detection magnetic field can generate magnetic leakage at a defect, so that the defect is detected. At present, a magnetic leakage detection robot for a storage tank wall plate is generally simple to assemble, an adsorption magnetic field and a detection magnetic field are inevitably superposed in the detection process, the detection magnetic field is interfered by the adsorption magnetic field, and the integrity of the magnetic leakage detection magnetic field is generally damaged by the interference, so that the detection capability is reduced. At present, the detection device can meet the detection requirement of larger defects, but the stable movement capability and the magnetic flux leakage detection capability of the robot are damaged, and the stability and the detection rate of the system are reduced to a certain extent.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a device and a method for controlling a magnetic field by an adjustable magnetic array, which enable the formation of the magnetic field to be more flexible and improve the motion stability and the detection rate of a robot, and the specific technical scheme is as follows:
the magnetic field adjusting device for the large storage tank wallboard magnetic leakage detection robot is provided with a magnetic array control unit, and is used for receiving preset magnetic field data and controlling an adjustable magnetic array to form a preset magnetic field;
The adjustable permanent magnet array unit is arranged for realizing magnetic field setting by adjusting the lifting height of each array element;
the adjustable electromagnetic array unit is used for realizing magnetic field setting by adjusting the exciting current of each array element; the magnetic field adsorption device is provided with a moving platform adsorption magnet, and is used for guaranteeing stability of the moving platform through magnetic adsorption, and an adsorption magnetic field of the magnetic field adsorption magnet is tested through a test platform and used as fixed background data of a composite magnetic field.
The method for the magnetic field adjusting device of the large storage tank wallboard magnetic flux leakage detection robot comprises the following specific steps:
step one: recording distribution states of the adsorption magnetic fields obtained by measuring the wallboards with different thicknesses, and generating a background magnetic field library;
Step two: calculating the optimized magnetic field distribution during magnetic flux leakage detection of the wall plates with different thicknesses to form a target magnetic field library;
step three: according to the magnetic field superposition principle and the adjustment capability of the adjustable magnetic array, the magnetic field superposition approaches the target magnetic field with the background magnetic field to form preset magnetic field data corresponding to the wall plates with different thicknesses;
Step four: the adjustable magnetic array is controlled by the magnetic array control unit, a preset magnetic field is output, and the preset magnetic field and the adsorption magnetic field are overlapped to form a composite magnetic field.
The beneficial effects of the invention are as follows:
1. The two mutually-interfering magnetic fields of the storage tank wall plate magnetic flux leakage detection robot are processed uniformly, so that the reduction of the motion stability and the detection rate of the robot is avoided.
2. The magnetic field is controlled by the adjustable magnetic array, so that the magnetic field is formed more flexibly, and the adaptability to different wall thicknesses and different adsorption magnetic fields is stronger.
3. In the using process, the device comprehensively measures and calculates the magnetic field, realizes the accurate control of the detection magnetic field, and has high reference value for other magnetic detection and adsorption applications.
Detailed Description
The following detailed description of the preferred embodiments of the invention is provided to enable those skilled in the art to more readily understand the advantages and features of the invention and to make a clear and concise definition of the scope of the invention.
The magnetic field adjusting device for the large storage tank wallboard magnetic leakage detection robot is provided with a magnetic array control unit, and is used for receiving preset magnetic field data and controlling an adjustable magnetic array to form a preset magnetic field;
The adjustable permanent magnet array unit is arranged for realizing magnetic field setting by adjusting the lifting height of each array element;
The adjustable electromagnetic array unit is used for realizing magnetic field setting by adjusting the exciting current of each array element;
The magnetic field adsorption device is provided with a moving platform adsorption magnet, and is used for guaranteeing stability of the moving platform through magnetic adsorption, and an adsorption magnetic field of the magnetic field adsorption magnet is tested through a test platform and used as fixed background data of a composite magnetic field.
The method for the magnetic field adjusting device of the large storage tank wallboard magnetic flux leakage detection robot comprises the following specific steps:
step one: recording distribution states of the adsorption magnetic fields obtained by measuring the wallboards with different thicknesses, and generating a background magnetic field library;
Step two: calculating the optimized magnetic field distribution during magnetic flux leakage detection of the wall plates with different thicknesses to form a target magnetic field library;
step three: according to the magnetic field superposition principle and the adjustment capability of the adjustable magnetic array, the magnetic field superposition approaches the target magnetic field with the background magnetic field to form preset magnetic field data corresponding to the wall plates with different thicknesses;
Step four: the adjustable magnetic array is controlled by the magnetic array control unit, a preset magnetic field is output, and the preset magnetic field and the adsorption magnetic field are overlapped to form a composite magnetic field.
Claims (1)
1. A method for a magnetic field adjusting device of a large storage tank wallboard magnetic flux leakage detection robot is characterized by comprising the following steps: the magnetic array control unit is used for receiving preset magnetic field data and controlling the adjustable magnetic array to form a preset magnetic field;
The adjustable permanent magnet array unit is arranged for realizing magnetic field setting by adjusting the lifting height of each array element;
The adjustable electromagnetic array unit is used for realizing magnetic field setting by adjusting the exciting current of each array element;
the motion platform adsorption magnet is arranged and used for guaranteeing stability of the motion platform through magnetic adsorption, and an adsorption magnetic field of the motion platform adsorption magnet is tested through the test platform and used as fixed background data of a composite magnetic field;
The method comprises the following specific steps:
step one: recording distribution states of the adsorption magnetic fields obtained by measuring the wallboards with different thicknesses, and generating a background magnetic field library;
Step two: calculating the optimized magnetic field distribution during magnetic flux leakage detection of the wall plates with different thicknesses to form a target magnetic field library;
step three: according to the magnetic field superposition principle and the adjustment capability of the adjustable magnetic array, the magnetic field superposition approaches the target magnetic field with the background magnetic field to form preset magnetic field data corresponding to the wall plates with different thicknesses;
Step four: the adjustable magnetic array is controlled by the magnetic array control unit, a preset magnetic field is output, and the preset magnetic field and the adsorption magnetic field are overlapped to form a composite magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319092.6A CN113945628B (en) | 2021-11-09 | 2021-11-09 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319092.6A CN113945628B (en) | 2021-11-09 | 2021-11-09 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
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| CN113945628A CN113945628A (en) | 2022-01-18 |
| CN113945628B true CN113945628B (en) | 2024-05-03 |
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| CN202111319092.6A Active CN113945628B (en) | 2021-11-09 | 2021-11-09 | Magnetic field adjusting device and method for large storage tank wallboard magnetic flux leakage detection robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101358688A (en) * | 2008-09-12 | 2009-02-04 | 大庆石油学院 | Magnetic leakage detector out of diameter-variable pipe driven by DC generator |
| WO2011056040A2 (en) * | 2009-11-09 | 2011-05-12 | 한국표준과학연구원 | Non-destructive detecting apparatus using a magnetic flux leakage measurement |
| CN201859139U (en) * | 2010-08-07 | 2011-06-08 | 东北石油大学 | Magnetic leakage detection magnetizer for storage tank soleplate based on excitation of direct current coil |
| CN109990167A (en) * | 2019-02-21 | 2019-07-09 | 焦杨 | A kind of wheeled detecting robot of pipe using magnetic absorption |
| CN110187003A (en) * | 2019-06-06 | 2019-08-30 | 西红柿科技（武汉）有限公司 | A kind of Energizing unit can dynamic regulation intelligent detecting instrument |
| CN210132511U (en) * | 2019-06-03 | 2020-03-10 | 中国科学院宁波材料技术与工程研究所 | Crawler-type wall climbing robot based on electric permanent magnetic adsorption structure |
-
2021
- 2021-11-09 CN CN202111319092.6A patent/CN113945628B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101358688A (en) * | 2008-09-12 | 2009-02-04 | 大庆石油学院 | Magnetic leakage detector out of diameter-variable pipe driven by DC generator |
| WO2011056040A2 (en) * | 2009-11-09 | 2011-05-12 | 한국표준과학연구원 | Non-destructive detecting apparatus using a magnetic flux leakage measurement |
| CN201859139U (en) * | 2010-08-07 | 2011-06-08 | 东北石油大学 | Magnetic leakage detection magnetizer for storage tank soleplate based on excitation of direct current coil |
| CN109990167A (en) * | 2019-02-21 | 2019-07-09 | 焦杨 | A kind of wheeled detecting robot of pipe using magnetic absorption |
| CN210132511U (en) * | 2019-06-03 | 2020-03-10 | 中国科学院宁波材料技术与工程研究所 | Crawler-type wall climbing robot based on electric permanent magnetic adsorption structure |
| CN110187003A (en) * | 2019-06-06 | 2019-08-30 | 西红柿科技（武汉）有限公司 | A kind of Energizing unit can dynamic regulation intelligent detecting instrument |
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| CN113945628A (en) | 2022-01-18 |
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