CN210269718U - Portable ultrasonic guided wave crawling robot device for detecting damage of steel wire rope - Google Patents

Abstract

The utility model provides a portable wire rope damage detects's supersound guided wave robot device of crawling, includes 2 groups of robots devices of crawling, I group robot crawls and is equipped with in the device and crawls module, transmission ultrasonic sensor, power amplifier, pulse excitation, controller, switch, power module and wireless transceiver module, II groups of robots crawl and are equipped with in the device and crawl module, receive ultrasonic sensor, signal conditioning circuit, AD converter, controller, switch, accumulator and line receiving module. This portable wire rope damage detects's supersound guided wave robot device of crawling can realize detecting any wire rope fracture.

Description

Portable ultrasonic guided wave crawling robot device for detecting damage of steel wire rope

Technical Field

The utility model relates to an ultrasonic guided wave robot device of crawling that portable wire rope damaged and detects.

Background

Due to corrosion, fatigue or corrosion fatigue of the steel wire rope, cracks appear in the steel wire rope and continuously extend, and the normal work of parts such as an elevator, a cable-stayed bridge, a suspension bridge and the like is seriously influenced. Conventional damage detection methods are magnetic flux leakage detection, acoustic emission, radiation, and the like. The traditional magnetic flux leakage detection, acoustic emission and ray detection devices are complex, large in size and inconvenient to carry, and therefore the invention provides the ultrasonic guided wave crawling robot device for the portable steel wire rope damage detection.

SUMMERY OF THE UTILITY MODEL

The utility model discloses its aim at just provides a portable wire rope damages supersound guided wave that detects robot device of crawling, and it is complicated to have solved traditional magnetic leakage detection, acoustic emission, ray detection device, and is bulky, carry shortcomings such as inconvenient.

The technical scheme adopted for achieving the purpose is that the portable ultrasonic guided wave crawling robot device for detecting the damage of the steel wire rope comprises a crawling device of a group I robot and a crawling device of a group II robot, wherein a crawling module, an ultrasonic transmitting sensor, a power amplifier, pulse excitation, a controller, a power switch, a power module and a wireless receiving and transmitting module are arranged in the crawling device of the group I robot, a crawling module, an ultrasonic transmitting sensor, a signal conditioning circuit, an A/D (analog/digital) converter, a storage device, a power switch, a controller, a power module and a wireless receiving and transmitting module are arranged in the crawling device of the group II robot, one end, provided with the ultrasonic transmitting sensor, in the crawling device of the group I robot is sequentially connected with the front power amplifier in series, connected with the controller after pulse excitation, and further connected with the pulse excitation, the power module and the wireless receiving and transmitting module respectively, one end of the ultrasonic sensor installed in the crawling device of the second group of robots is connected with the controller after being sequentially connected with the signal conditioning circuit and the A/D converter in series, and the controller is further connected with the A/D converter, the power supply module, the storage and the wireless transceiving module respectively.

Advantageous effects

Compared with the prior art, the utility model has the following advantages.

The utility model has the advantages that, it is complicated to have solved traditional magnetic leakage detection, acoustic emission, ray detection device, bulky, carry inconvenient problem, has the characteristics that can realize damaging the detection to any wire rope.

Drawings

The present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the portable ultrasonic guided wave defect detection circuit.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The device comprises a group I robot crawling device 16 and a group II robot crawling device 17, as shown in figures 1 and 2, the group I robot crawling device 16 is provided with a crawling module 1, an ultrasonic transmitting sensor 2, a power amplifier 3, a pulse excitation 4, a power switch 18, a controller 5, a power module 7 and a wireless transceiving module 6, the group II robot crawling device 17 is internally provided with a crawling module 8, an ultrasonic receiving sensor 9, a signal conditioning circuit 10, an A/D converter 11, a storage 15, a controller 12, a power switch 18, a power module 14 and a wireless transceiving module 13, one end of the group I robot crawling device 16, which is provided with the ultrasonic transmitting sensor 2, is connected with the controller 5 after being sequentially connected with the power amplifier 3 and the pulse excitation 4 in series, the controller 5 is also connected with the pulse excitation 4, the power module 7 and the wireless transceiving module 6 respectively, one end of the ultrasonic sensor 9 mounted in the robot crawling device 17 of the group II is connected with the controller 12 after being sequentially connected with the signal conditioning circuit 10 and the A/D converter 11 in series, and the controller 12 is further connected with the A/D converter 11, the power supply module 14, the storage 15 and the wireless transceiving module 13 respectively.

The wireless transceiver module 6 of the group I robot crawling device 16 is connected with the controller 5 and used for controlling the work of the ultrasonic sensor 2 and sending signals to the wireless transceiver module 13 of the group II robot crawling device 17.

The utility model discloses in, module 1 and the device 2 of crawling carry out optimal design according to the object condition, can realize damaging the detection to the wire rope of arbitrary shape, have good detection effect.

The circuit of the portable ultrasonic guided wave crawling robot device for detecting the damage of the steel wire rope comprises a power switch 18 and a power switch 19 which are respectively used for controlling a crawling device 16 of a robot in a group I and a crawling device 17 of a robot in a group II, a controller 5 for controlling pulse excitation 4 to generate pulse signals, the pulse signals are sent to a wireless transceiver module 13 of the crawling device 17 of the robot in the group II through a wireless transceiver module 6, the crawling device 17 of the robot in the group II is informed of preparing to receive ultrasonic signals, the pulse excitation 4 generates pulse signals and transmits the pulse signals to a transmitting ultrasonic sensor 2 through a power amplifier 3, the transmitting ultrasonic sensor 2 transmits the ultrasonic signals, the ultrasonic signals are transmitted on the steel wire rope, the receiving ultrasonic sensor 9 receives the ultrasonic signals, the ultrasonic signals sequentially pass through a signal conditioning circuit 10, and the ultrasonic signals are transmitted to the controller 12 after an A/D converter 11, the controller 12 stores the received ultrasonic signals in the memory 15 and the ii-group robot crawling apparatus 17 starts crawling. Meanwhile, the instruction is sent to the I group robot crawling device 16 through the wireless transceiver module 13, and the I group robot crawling device 16 starts crawling.

The utility model discloses a theory of operation is:

(1) firstly, a detector places a group I robot crawling device 16 and a group II robot crawling device 17 on a steel wire rope, and meanwhile, a power switch 18 and a power switch 19 are arranged, so that the group I robot crawling device 16 and the group II robot crawling device 17 are tightly attached to the steel wire rope, and a controller 5 and a controller 12 enter an initialization state to crawl on the steel wire rope;

(2) the controller 5 in the robot crawling device of the group I is sent to the wireless transceiver module 13 of the robot crawling device of the group II through the wireless transceiver module 6, the robot crawling device of the group II is prepared to receive ultrasonic signals, meanwhile, the pulse excitation 4 is controlled to generate pulse signals, and the pulse signals control the transmitting ultrasonic sensor 2 to transmit the ultrasonic signals through the power amplifier 3;

(3) when the upper surface and the interior of the steel wire rope are damaged, ultrasonic signals generated by the ultrasonic sensor 2 are transmitted to pass through the surface and the interior of the steel wire rope, and when the ultrasonic signals are damaged, ultrasonic transmission wave signals are generated;

(4) the transmitted wave signal is transmitted to a controller 12 through a receiving ultrasonic sensor 9, a signal conditioning circuit 10 and an A/D converter 11;

(5) the controller 12 analyzes the received transmitted wave signal, obtains the damage position of the steel wire rope according to the relation between the damage position and the ultrasonic signal, and stores the signal in the memory 15;

(6) when the surface and the interior of the steel wire rope are not damaged, the received ultrasonic signals only undergo signal attenuation.

The controller 12 and the controller 5 comprise a DSP minimum control system;

the utility model discloses when concrete implementation, including following step:

1. selecting a section of metal material as an experimental material, wherein the specification is 3000mm multiplied by 20 mm;

(1) firstly, a detector places a group I robot crawling device and a group II robot crawling device on a steel wire rope, and simultaneously a power switch and a power switch are used, the group I robot crawling device and the group II robot crawling device can be tightly attached to the steel wire rope, and a controller and the controller enter an initialization state to crawl on the steel wire rope;

(2) the controller in the robot crawling device of the group I is sent to the wireless transceiving module of the robot crawling device of the group II through the wireless transceiving module, the robot crawling device of the group II is prepared to receive ultrasonic signals, pulse excitation is controlled to generate pulse signals, and the pulse signals control the ultrasonic sensor to transmit the ultrasonic signals through the power amplifier 3;

(3) when the upper surface and the inside of the steel wire rope are damaged, ultrasonic signals generated by the ultrasonic guided-wave sensor pass through the surface and the inside of the steel wire rope, and when the ultrasonic signals pass through the damage, ultrasonic transmitted-wave signals are generated;

(4) the transmitted wave signal is transmitted to the controller through the receiving ultrasonic sensor, the signal conditioning circuit and the A/D converter;

(5) the controller analyzes the received transmitted wave signal, obtains the damage position of the steel wire rope according to the relation between the damage position and the ultrasonic signal, and stores the signal in the memory;

(6) when the surface and the interior of the steel wire rope are not damaged, the received ultrasonic signals only undergo signal attenuation.

Claims (2)

1. The utility model provides a portable wire rope damage detects's supersound guided wave robot device of crawling, crawls device (16) and II group robots device (17) of crawling including I group robot, its characterized in that, I group robot is equipped with in crawling device (16) and crawls module (1), transmission ultrasonic sensor (2), switch (18), power amplifier (3), pulse excitation (4), controller (5), power module (7) and wireless transceiver module (6), it crawls module (8), receives ultrasonic sensor (9), signal conditioning circuit (10), AD converter (11), accumulator (15), controller (12), switch (19), power module (14) and wireless transceiver module (13) to be equipped with in II group robot crawls device (17), the one end of installation transmission ultrasonic sensor (2) concatenates preceding power amplifier (3) in proper order in I group robot crawl device (16), Be connected with controller (5) behind pulse excitation (4), controller (5) still are connected with pulse excitation (4), power module (7) and wireless transceiver module (6) respectively, be connected with controller (12) behind signal conditioning circuit (10), AD converter (11) are concatenated in proper order to the one end of installation receipt ultrasonic sensor (9) in II group's robot crawl device (17), controller (12) still are connected with AD converter (11), power module (14), accumulator (15) and wireless transceiver module (13) respectively.

2. The portable ultrasonic guided wave crawling robot device for detecting the damage to the steel wire rope as claimed in claim 1, wherein the wireless transceiver module (6) of the group I robot crawling device (16) is connected with the controller (5) and is used for controlling the transmission of the ultrasonic sensor (2) and sending signals to the wireless transceiver module (13) of the group II robot crawling device (17).

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