CN210401317U

CN210401317U - Nondestructive testing device

Info

Publication number: CN210401317U
Application number: CN201921219854.3U
Authority: CN
Inventors: 高富民; 樊建春; 姜健康; 张来斌; 温东; 何守杰; 常睿; 刘迪; 周威; 刘祥元; 韩婷; 杨云鹏; 张经纬
Original assignee: China University of Petroleum Beijing
Current assignee: China University of Petroleum Beijing
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-04-24
Anticipated expiration: 2029-07-31

Abstract

The application provides a nondestructive testing device, includes: a mounting plate having first and second sides, first and second surfaces; the detection mechanism of setting on the mounting panel includes: the magnetic memory detection unit can be attached to the detection surface and is used for acquiring magnetic memory signals; adsorb mechanism of crawling includes: the drive assembly can drive the crawling assembly to adsorb and crawl along the detection surface, and the adsorption crawling mechanism is rotatably arranged on the first side surface and the second side surface; a damper mechanism comprising: the first guide piece is arranged in the outer frame and penetrates through the mounting plate from the first surface to the second surface, and a first elastic piece is sleeved on the first guide piece; a signal control mechanism comprising: collection subassembly and regulation and control subassembly. The detection device provided by the application can utilize the stable collection magnetic memory signal of magnetic memory detection technique, and realize automatic detection under the condition of not needing to stop production, not opening the jar.

Description

Nondestructive testing device

Technical Field

The utility model relates to a detect technical field, especially relate to a nondestructive test device.

Background

The storage tank is a storage container for long-distance oil and gas pipeline transmission medium, and is one of the most common devices in the petrochemical industry. In the use process of the storage tank, under the interaction of corrosive substances in petroleum and natural gas with the inner wall of the storage tank for a long time, metal loss is easy to generate, the inner wall of the storage tank is easy to generate the defects of depression, cracks, holes and the like, and once the perforation of the tank wall occurs, accidents such as petroleum and natural gas leakage and the like are caused, thereby causing serious safety and environmental disasters. Therefore, periodic inspections of corrosion failure and protection of the can body are necessary.

In the prior art, storage tank detection usually requires performing production shutdown and tank opening operations according to a fixed period, and a series of processes such as raw material emptying, tank opening, cleaning, surface anticorrosive coating removal, inspection, and anticorrosion again need to be performed. The method has the problems of complex operation procedure, low operation efficiency, high detection cost, low defect quantitative positioning precision and the like. In addition, because the medium in the storage tank is usually inflammable, explosive, and corrosive, there is a great risk in the operation processes of tank pouring, tank cleaning, detection, etc.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one technical problem, the application provides a nondestructive test device that can freely creep at the storage tank inner wall to the collection that can be stable detects the magnetic memory signal of face, and the operation is more reliable. The technical scheme is as follows:

a non-destructive inspection apparatus, comprising: a mounting plate having opposing first and second sides, opposing first and second surfaces; set up detection mechanism on the mounting panel includes: the magnetic memory detection unit can be attached to the detection surface and is used for acquiring magnetic memory signals;

adsorb mechanism of crawling includes: the crawling assembly and the driving assembly can drive the crawling assembly to adsorb and crawl along the detection surface, and the adsorption crawling mechanism is rotatably arranged on the first side surface and the second side surface;

a damper mechanism comprising: the first guide piece is arranged in the outer frame and penetrates through the mounting plate from the first surface to the second surface, a first elastic piece is sleeved on the first guide piece, and the first elastic piece abuts against the position between the outer frame and the mounting plate;

a signal control mechanism comprising: an acquisition component for receiving the magnetic memory signal; and the regulating and controlling assembly is used for regulating the operation of the driving assembly.

As a preferred embodiment, the mounting plate is provided with a detection opening penetrating through the first surface and the second surface;

the detection mechanism further includes: the magnetic memory detection unit is connected with the detection bracket and penetrates through the detection opening and is close to the second surface.

As a preferred embodiment, the detection bracket is provided with: at least two second guides that set up side by side with be used for driving the slider that magnetic memory detecting element removed, the slider is provided with and is used for wearing to establish the trompil of second guide, the cover is equipped with second elastic component on the second guide, second elastic component sets up to support and leans on extremely the slider with detect between the support.

As a preferred embodiment, the first side surface is parallel to the second side surface, and the mounting plate includes: the body is positioned between the first side surface and the second side surface, and the extending direction of the body is consistent with the extending direction of the first guide piece.

As a preferred embodiment, a third guide is disposed between the slider and the magnetic memory detection unit, one end of the third guide is fixed to the magnetic memory detection unit, the slider is provided with a guide hole matched with the other end of the third guide, and the third guide can move in the guide hole;

and a third elastic piece is sleeved on the third guide piece, and the third elastic piece is abutted between the sliding block and the magnetic memory detection unit.

As a preferred embodiment, the adsorption crawling mechanism is provided with two pairs, each pair of the adsorption crawling mechanism comprises: the first adsorption crawling mechanism and the second adsorption crawling mechanism are symmetrically arranged, and the first adsorption crawling mechanism/the second adsorption crawling mechanism are rotatably arranged on the mounting plate;

the driving assembly in the first/second adsorption crawling mechanism includes: the motor comprises a motor plate, a motor wheel and a motor provided with a motor shaft, wherein the motor and the motor shaft are fixed on the motor plate, and the motor wheel is sleeved on the motor shaft;

the crawling assembly in the first adsorption crawling mechanism/the second adsorption crawling mechanism comprises: hold-in range, synchronous pulley and hold-in range shaft, hold-in range shaft is fixed on the motor board, the synchronous pulley cover is established on the synchronous pulley shaft, the hold-in range has relative internal surface and surface, the internal surface of hold-in range with synchronous pulley the motor wheel transmission is connected, the surface of hold-in range be provided with the magnetic force that the detection face contacted closes the piece.

As a preferred embodiment, the motor plate includes: the motor comprises an inner motor plate and an outer motor plate which are arranged in parallel, wherein the inner motor plate is rotatably connected to the mounting plate, and at least one ejector rod is arranged between the inner motor plate and the outer motor plate; the synchronous pulley shaft and the motor shaft are respectively provided with a first end and a second end which are opposite, the first end is fixedly connected with the inner motor plate, and the second end is fixedly connected with the outer motor plate.

As a preferred embodiment, the outer frame of the damping mechanism has a side wall and opposite top and bottom walls, the side wall is fixedly connected with the inner motor plate, and the first guide member sequentially penetrates through the top wall, the mounting plate and the bottom wall.

As a preferred embodiment, the signal control mechanism further includes: the power supply is electrically connected with the regulation and control assembly and the acquisition assembly;

the regulatory assembly comprises: the development board is electrically connected with the remote control receiver and the electric controller, and the electric controller is electrically connected with the motor;

the collection assembly includes: the magnetic memory detection device comprises a wireless router and a data acquisition card, wherein the data acquisition card is electrically connected with the magnetic memory detection unit, and the wireless router is electrically connected with the data acquisition card.

In a preferred embodiment, the mounting plate has a first surface and a second surface opposite to each other, and the mounting plate is provided with a power supply opening penetrating through the first surface and the second surface, and the power supply is fixed on the second surface through the power supply opening.

Has the advantages that:

the application provides a nondestructive test device includes: the device comprises an adsorption crawling mechanism, a detection mechanism, a damping mechanism and a signal control mechanism. The detection mechanism is provided with a magnetic memory detection unit which can be attached to the detection surface. The adsorption crawling mechanism is provided with: crawling subassembly and drive assembly, drive assembly can drive the subassembly of crawling and adsorb along the testing surface and crawl to this detection device can crawl and carry out the collection of magnetic memory signal simultaneously. The signal control mechanism not only can adjust the operation of the driving assembly, but also can receive the magnetic memory signal, and can realize the automatic detection of the detection device under the conditions of no production stop and no tank opening.

Adsorb mechanism of crawling rotationally sets up on first side, the second side of mounting panel to when passing through the barrier, every adsorbs the mechanism of crawling can rotate around the mounting panel alone, thereby can cross the barrier smoothly, and one adsorbs the mechanism of crawling promptly when passing through the barrier, and another adsorbs the detection mechanism homoenergetic on mechanism, mounting panel and the mounting panel of crawling can laminate on the check surface, is unlikely to too much slope, thereby prevents this nondestructive test device from toppling.

Further, adsorb the mechanism of crawling and be connected with damper, damper includes: frame and first guide, frame and the absorption mechanism of crawling are connected, and first guide setting is worn to establish in the frame and along the thickness direction of mounting panel, is provided with first elastic component between frame and the mounting panel. Therefore, when the crawling assembly meets an obstacle and generates inclined displacement perpendicular to the detection surface and rotates, on one hand, the first guide piece penetrates through the mounting plate to generate a normal angle along with the first guide piece, so that the rotation of the adsorption crawling mechanism relative to the mounting plate is limited; on the other hand, through being provided with first elastic component, adsorb when crawling the mechanism and driving first guide, mounting panel and rotate, the elastic potential energy increase of first elastic component, the degree of inclination of reducible mounting panel in the in-process that its elastic potential energy resumes to reduce this detection device's focus camber, guarantee to be unlikely to drop.

Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for helping the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. The skilled person in the art can, under the teaching of the present invention, choose various possible shapes and proportional dimensions to implement the invention according to the specific situation.

FIG. 1 is a schematic structural diagram of a nondestructive testing apparatus provided in an embodiment of the present application;

FIG. 2 is a bottom view of a non-destructive inspection apparatus according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of an adsorption crawling mechanism provided by the embodiment of the application;

FIG. 4 is a front view of a first/second adsorptive crawling mechanism provided in an embodiment of the present application;

FIG. 5 is a top plan view of a first/second suction crawler according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a synchronous belt module in the first adsorption crawling mechanism/the second adsorption crawling mechanism provided in the present application;

fig. 7 is a schematic structural diagram of a motor module in the first adsorption crawling mechanism/the second adsorption crawling mechanism provided by the embodiment of the application;

FIG. 8 is a schematic structural diagram of a damping mechanism provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of a detection mechanism provided in an embodiment of the present application;

FIG. 10 is a top view of a detection mechanism provided in accordance with an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a signal control mechanism according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a mounting plate according to an embodiment of the present application.

Description of reference numerals:

1. an adsorption crawling mechanism; 111. a motor; 112. a motor shaft; 114. a motor wheel; 115. a synchronous pulley; 116. a synchronous pulley shaft; 117. a ball bearing; 118. a synchronous belt; 119. synchronous belt outer teeth; 120. inner teeth of a synchronous belt; 121. a top rod; 122. a magnetic attraction piece; 124. an inner motor plate; 125. an outer motor plate; 13. a connecting rod; 131. a retainer ring; 133. a connecting rod hole; 14. a damping mechanism; 141. an outer frame; 142. pressing a spring plate; 143. a first elastic member; 144. a first guide member; 146. a straight notch; 147. an outer frame connecting hole;

2. a detection mechanism; 21. a magnetic memory detection unit; 211. a sensor recess; 212. detecting a unit bearing; 214. a boss; 22. a third guide member; 23. a third elastic member; 24. a slider; 25. a second guide member; 26. a second elastic member; 27. detecting the bracket;

3. a signal control mechanism; 31. mounting a plate; 311. detecting the opening; 313. a power supply opening; 314. a fixed block; 315. connecting rod pipe holes; 32. a signal box; 33. a chassis; 34. a power source; 35. a data acquisition card; 36. a wireless router; 37. electrically adjusting; 38. developing a board; 39. a remote control receiver.

Detailed Description

The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments, it should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope, and after reading the present invention, the modifications of the various equivalent forms of the present invention by those skilled in the art will fall within the scope defined by the present application.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

In addition, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and to distinguish similar objects, and there is no order of precedence between the two, and no indication or implication of relative importance is to be inferred. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

The application provides a nondestructive test device for detect the fatigue defect of storage tank inner wall, thereby can effectively prevent the emergence of accident. The inner wall of the storage tank is usually a metal wall surface, so that the surface state of the inner wall of the storage tank is subjected to nondestructive detection by utilizing a magnetic memory detection technology.

Referring to fig. 1, 2 and 8, the nondestructive testing apparatus includes: a mounting plate 31, the mounting plate 31 having opposing first and second sides, opposing first and second surfaces; the detection mechanism 2 provided on the mounting plate 31 includes: the magnetic memory detection unit 21 is attached to the detection surface and used for acquiring magnetic memory signals; adsorb mechanism of crawling 1 includes: the crawling assembly and the driving assembly can drive the crawling assembly to adsorb and crawl along the detection surface, and the adsorption crawling mechanism 1 is rotatably arranged on the first side surface and the second side surface; a damper mechanism 14, comprising: an outer frame 141 fixed to the adsorption and crawling mechanism 1, and a first guide 144, where the first guide 144 is disposed in the outer frame 141 and penetrates the mounting plate 31 from the first surface to the second surface, a first elastic member 143 is sleeved on the first guide 144, and the first elastic member 143 abuts between the outer frame 141 and the mounting plate 31; the signal control mechanism 3 includes: an acquisition component for receiving the magnetic memory signal; and the regulating and controlling assembly is used for regulating the operation of the driving assembly.

The application provides a nondestructive test device includes: the adsorption crawling mechanism 1, the detection mechanism 2, the damping mechanism 14 and the signal control mechanism 3. The detection mechanism 2 is provided with a magnetic memory detection unit 21 which can be attached to a detection surface. The adsorption crawling mechanism 1 is provided with: crawling subassembly and drive assembly, drive assembly can drive the subassembly of crawling and adsorb along the testing surface and crawl to this detection device can crawl and carry out the collection of magnetic memory signal simultaneously. The signal control mechanism 3 can not only adjust the operation of the driving assembly, but also receive a magnetic memory signal, and can realize automatic detection of the detection device under the conditions of no production stop and no tank opening.

Adsorb mechanism 1 of crawling rotationally sets up on the first side of mounting panel, second side to when passing through the barrier, every adsorbs mechanism 1 of crawling can rotate around the mounting panel alone, thereby can cross the barrier smoothly, and one adsorbs mechanism 1 of crawling promptly when passing through the barrier, and another adsorbs mechanism 1 of crawling, detection mechanism 2 homoenergetic on mounting panel 31 and the mounting panel 31 can laminate on the testing surface, is unlikely to too much slope, thereby prevents that this nondestructive test device from toppling.

Further, the adsorption crawling mechanism 1 is connected with a damping mechanism 14, and the damping mechanism 14 comprises: the outer frame 141 is connected with the adsorption crawling mechanism 1, the first guide member 144 is arranged in the outer frame 141 and penetrates along the thickness direction of the mounting plate 31, and the first elastic member 143 is arranged between the outer frame 141 and the mounting plate 31. Therefore, when the crawling assembly meets an obstacle and generates an inclined displacement perpendicular to the detection surface and rotates, on one hand, the first guide piece 144 penetrates through the mounting plate 31 to generate a normal angle along with the inclined displacement, so that the rotation of the adsorption crawling mechanism 1 relative to the mounting plate 31 is limited; on the other hand, by providing the first elastic member 143, when the adsorption crawling mechanism 1 drives the first guide member 144 and the mounting plate 31 to rotate, the elastic potential energy of the first elastic member 143 is increased, and the inclination degree of the mounting plate 31 can be reduced in the process of recovering the elastic potential energy, so as to reduce the outward inclination of the center of gravity of the detection device and ensure that the detection device is not dropped.

The mounting plate 31 has a body extending lengthwise, and is used for arranging the adsorption crawling mechanism 1, the detection mechanism 2, and the signal control mechanism 3. The mounting plate 31 has opposite first and second sides. First side and second side are parallel to each other, and first side and second side are used for setting up adsorbs crawling mechanism 1 to can drive whole nondestructive test device orientation the lengthwise extending direction motion of mounting panel 31. The specific shape of the mounting plate 31 is not particularly limited, and may be an irregular pattern such as a square, a rectangle, a parallelogram, etc., and in order to facilitate the detection mechanism 2 on the mounting plate 31 to accurately collect the magnetic memory signal along the detection surface, the shape of the mounting plate 31 is preferably a rectangle or a square, so that the movement track of the detection mechanism 2 can be ensured to be substantially straight.

The adsorption crawling mechanism 1 is used for driving the whole nondestructive testing device to adsorb crawl along the testing surface and at least has one pair. The adsorption crawling mechanism 1 is disposed on the first side and the second side of the mounting plate 31. The suction crawling mechanism 1 is rotatably arranged on the mounting plate 31, so that each suction crawling mechanism 1 can independently rotate around the mounting plate 31. Each of the adsorption crawling mechanisms 1 includes: the device comprises a crawling assembly and a driving assembly, wherein the driving assembly is used for driving the crawling assembly to crawl along the adsorption of the detection surface.

In this embodiment, the adsorption crawling mechanism 1 is provided with two pairs, and each pair of the adsorption crawling mechanism 1 includes: the first adsorption crawling mechanism and the second adsorption crawling mechanism are symmetrically arranged, and the first adsorption crawling mechanism/the second adsorption crawling mechanism is rotatably arranged on the mounting plate 31.

Specifically, as shown in fig. 1, 3 and 12, two pairs of the adsorption crawling mechanisms 1 are respectively disposed on the front side and the rear side of the mounting plate 31. The first adsorption crawling mechanism and the second adsorption crawling mechanism are symmetrically arranged, and in the embodiment, the first adsorption crawling mechanism and the second adsorption crawling mechanism can be connected to the side face of the mounting plate 31 through a connecting rod 13. The mounting plate 31 can be provided with a connecting rod hole 315, and the connecting rod 13 sequentially passes through the first adsorption crawling mechanism, the connecting rod hole 315 and the second adsorption crawling mechanism, so that the first adsorption crawling mechanism and the second adsorption crawling mechanism are connected and rotatably connected with the mounting plate 31. Further, a check ring 131 is arranged on the connecting rod 13, so that a limiting effect is achieved, and the stability of connection of the adsorption crawling mechanism 1 and the connecting rod 13 is guaranteed.

In the present embodiment, as shown in fig. 4 to 7, the driving assembly in the first adsorption crawling mechanism/the second adsorption crawling mechanism includes: the motor comprises a motor plate, a motor wheel 114 and a motor 111 provided with a motor shaft 112, wherein the motor 111 and the motor shaft 112 are fixed on the motor plate, and the motor wheel 114 is sleeved on the motor shaft 112. The crawling assembly in the first adsorption crawling mechanism/the second adsorption crawling mechanism comprises: the detection device comprises a synchronous belt 118, a synchronous pulley 115 and a synchronous pulley shaft 116, wherein the synchronous pulley shaft 116 is fixed on the motor plate, the synchronous pulley 115 is sleeved on the synchronous pulley shaft 116, the synchronous belt 118 is provided with an inner surface and an outer surface which are opposite to each other, the inner surface of the synchronous belt 118 is in transmission connection with the synchronous pulley 115 and the motor shaft 114, and a magnetic suction assembly 122 which is in contact with the detection surface is arranged on the outer surface of the synchronous belt 118.

The motor plate has a longitudinally extending plate body structure, which is provided with shaft holes for mounting the motor shaft 112 and the synchronous pulley shaft 116, and the motor shaft 112 and the synchronous pulley shaft 116 can be fixed on the motor plate through bolts through the shaft holes. The motor shaft 112 is sleeved with a motor wheel 114, the synchronous pulley shaft 116 is sleeved with a synchronous pulley 115, and the inner surface of the synchronous belt 118 is in transmission connection with the motor wheel 114 and the synchronous pulley 115 respectively. Specifically, the inner surface of the timing belt 118 may be provided with timing belt inner teeth 120, and the timing belt inner teeth 120 may be clamped to the motor wheel 114 and the timing pulley 115 to form a transmission connection; the surface of hold-in range 118 can be provided with hold-in range external tooth 119, hold-in range external tooth 119 is provided with magnetic attraction spare 122, magnetic attraction spare 122 can adsorb mutually with the detection face. Therefore, under the action of the motor 111, the motor 111 and the motor shaft 112 drive the motor wheel 114, the synchronous belt 118 and the synchronous pulley 115 to move, so that the synchronous belt 118 can climb along the detection surface in an adsorption manner.

Further, the motor wheel 114 has a first side and a second side opposite to each other, the first side is close to the motor 111, and the second side is far from the motor 111. The first side of the motor wheel 114 is sleeved on the motor shaft 112, the second side of the motor wheel 114 is provided with a groove, a ball bearing 117 is arranged in the groove, namely, the ball bearing 117 is arranged on the contact surface between the second side of the motor wheel 114 and the motor shaft 112. The timing pulley 115 has opposite first and second sides, the first side being proximate to the side of the mounting plate 31 and the second side being distal from the side of the mounting plate 31. Grooves are formed in the first side and the second side of the synchronous pulley 115, ball bearings 117 are arranged in the grooves, and the ball bearings 117 are arranged on the contact surface between the synchronous pulley 115 and the synchronous pulley shaft 116. By arranging the ball bearing 117 on the second side of the motor wheel 114 and the synchronous pulley 115, the frictional resistance during transmission connection can be reduced, and the smoothness during operation can be ensured.

In one embodiment, the motor plate includes: an inner motor plate 124 and an outer motor plate 125 which are arranged in parallel, wherein the inner motor plate 124 is rotatably connected on the mounting plate 31, and at least one top rod 121 is arranged between the inner motor plate 125 and the outer motor plate 125. The timing pulley shaft 116 and the motor shaft 112 each have opposite first and second ends, the first end being fixedly connected to the inner motor plate 124 and the second end being fixedly connected to the outer motor plate 125.

Specifically, the inner motor plate 124 is close to the side of the mounting plate 31, and the outer motor plate 125 is far from the side of the mounting plate 31. The inner and outer motor plates 125 are provided with a connecting rod hole 133 for connecting the connecting rod 13, and shaft holes for fixing the motor shaft 112 and the synchronous pulley shaft 116. The connecting rod 13 is provided with check rings 131 at the joints with the inner motor plate 124 and the outer motor plate 125, so that the connection stability is ensured.

At least one top rod 121 is further arranged between the inner motor plate 125 and the outer motor plate 125, and two sides of the top rod 121 can be respectively fixed on the inner motor plate 124 and the outer motor plate 125 through bolts. The longitudinal extension direction of the top rod 121 is perpendicular to the longitudinal extension direction of the motor plate, so that the inner motor plate 125 and the outer motor plate 125 are stabilized, and the motor 111 can be prevented from generating off-axis force during working. The number of the push rods 121 can be set according to needs, and the application is not limited.

Referring to fig. 3, 8 and 12, the damping mechanism 14 includes: an outer frame 141, and a first guide 144. The outer frame 141 is fixed to the adsorption and crawling mechanism 1, and the first guide 144 is disposed in the outer frame 141 and penetrates the mounting plate 31 from the first surface to the second surface of the mounting plate 31. The first guiding element 144 is sleeved with a first elastic element 143, and the first elastic element 143 abuts between the outer frame 141 and the mounting plate 31.

Specifically, the number of the damping mechanisms 14 is the same as that of the adsorption crawling mechanisms 1, and each damping mechanism 14 is fixed with the adsorption crawling mechanism 1. The outer frame 141 may be mounted on the inner motor plate 124. The outer frame 141 may be a U-shaped frame, and has a side wall and opposite top and bottom walls, the side wall is used for fixedly connecting the inner motor plate 124, and the first guide member 144 sequentially penetrates through the top wall, the mounting plate 31, and the bottom wall.

The side wall is provided with an outer frame connecting hole 147, which can be fixed on the inner motor plate 124 through bolts or screws. The mounting plate 31 is provided with a straight notch 146 for penetrating the first guide member 144, the top wall of the outer frame 141 is provided with a first through hole, the bottom wall of the outer frame 141 is provided with a second through hole, and the first guide member 144 can be penetrated by the first through hole, the straight notch 146 and the second through hole in sequence. Nuts are provided at both ends of the first guide member 144 to fix the first guide member 144 in the outer frame 141. When the crawling assembly in the adsorption crawling mechanism 1 meets an obstacle and generates an inclined displacement perpendicular to the detection surface and rotates, on one hand, the first guide piece 144 penetrates through the mounting plate 31 to generate a normal angle therewith, so that the rotation amplitude of the adsorption crawling mechanism 1 relative to the mounting plate 31 is limited.

Further, the first elastic member 143 is embodied as a spring, and abuts between the mounting plate 31 and the outer frame 141. That is, the first elastic members 143 are disposed between the first surface of the mounting plate 31 and the top wall of the outer frame 141, and between the second surface of the mounting plate 31 and the bottom wall of the outer frame 141. The first elastic member 143 may be provided with two pressure spring pieces 142, and the two pressure spring pieces 142 may be a first pressure spring piece abutting between the first surface of the mounting plate 31 and the first elastic member 143 and a second pressure spring piece abutting between the second surface of the mounting plate 31 and the first elastic member 143.

When the adsorption crawling mechanism 1 and the damping mechanism 14 rotate, the first guide member 144 penetrates through the mounting plate 31, the first guide member 144 drives the mounting plate 31 to rotate, and at this time, the first elastic member 143 is stressed to increase the elastic potential energy thereof. After the first elastic member 143 is stressed, the inclination degree of the mounting plate 31 can be reduced under the action of the elastic potential energy of the first elastic member, so that the outward inclination of the center of gravity of the detection device is reduced, and the detection device is ensured not to be separated from the detection surface. For example, when the detection device performs nondestructive detection in the storage tank, the detection device crawls along the wall surface of the storage tank, and when the adsorption crawling mechanism 1 meets an obstacle, the damping mechanism 14 is arranged, so that the inclination degree of the mounting plate 31 can be reduced, the detection device is prevented from falling off the detection surface, and the damage to the detection device caused by falling is avoided.

The detection mechanism 2 is provided with a magnetic memory detection unit 21, and the magnetic memory detection unit 21 is opposite to the detection surface and used for acquiring magnetic memory signals. Specifically, the magnetic memory detection unit 21 is provided with a magnetic memory sensor based on a magnetic memory detection technology, so that damage conditions on a detection surface can be analyzed according to collected magnetic memory signals, and accidents can be effectively prevented. Specifically, the magnetic memory detection technology is a rapid nondestructive detection method for detecting stress concentration parts of components by using a metal magnetic memory effect. When a metal part is machined and operated, due to the combined action of a load and a geomagnetic field, magnetic domain organization orientation and irreversible reorientation with magnetostrictive property can occur in a stress and deformation concentrated region, a fixed node of a magnetic domain can appear at the position to generate a magnetic pole and form a demagnetizing field, so that the magnetic permeability of ferromagnetic metal at the position is minimum, and a leakage magnetic field is formed on the surface of the metal. The tangential component of the strength of the leakage field has a maximum value, while the normal component changes sign and has a zero value. This irreversible change in magnetic state is not only retained after the workload is relieved, but is also related to the maximum applied stress. This magnetic state of the surface of the metal part "remembers" the location of microscopic defects or stress concentrations, the so-called magnetic memory effect.

According to the embodiment of the application, by adopting a magnetic memory detection technology, the distribution condition of the magnetic field intensity component perpendicular to the surface of the metal part along a certain direction is recorded by the magnetic memory sensor, the stress concentration degree of the component and the existence of micro defects can be evaluated, the stress concentration area inside the ferromagnetic metal component, namely the micro defects, early failure, damage and the like can be diagnosed, and the sudden fatigue damage can be prevented.

In the present embodiment, referring to fig. 9, 10 and 12, the mounting plate 31 is provided with a detection opening 311 penetrating through the first surface and the second surface. The detection mechanism 2 further includes: a detecting bracket 27 installed on the first surface, the magnetic memory detecting unit 21 being connected to the detecting bracket 27, the magnetic memory detecting unit 21 passing through the detecting opening 311 and being located on the second surface.

The second surface of the mounting plate 31 faces the detection surface, and the first surface is away from the detection surface. The magnetic memory detection unit 21 in the detection mechanism 2 is disposed below the first surface of the mounting plate 31 through the detection opening 311 and is located on the second surface, so that the magnetic memory detection unit 21 can be prevented from being collided during operation, and the magnetic memory detection unit 21 is protected to a certain extent.

The detection mechanism 2 is located between the first adsorption crawling mechanism and the second adsorption crawling mechanism, and the shape of the detection opening 311 is not particularly limited in this application. The number of the detection openings 311 is matched with the number of the detection mechanisms 2, and the number of the detection mechanisms 2 is not limited in the application. In the embodiment of the present application, the adsorption crawling mechanism 1 is provided with two pairs, and the detection mechanisms 2 are provided with two, the detection mechanisms 2 are respectively arranged on the front side and the rear side of the mounting plate 31, and each detection mechanism 2 is arranged between the first adsorption crawling mechanism and the second adsorption crawling mechanism. The whole symmetry of the nondestructive testing device is ensured, and the operation is more reliable.

Further, the detection mechanism 2 includes: a detection bracket 27 and a magnetic memory detection unit 21, wherein the magnetic memory detection unit 21 is connected with the detection bracket 27. The detecting bracket 27 is disposed on and fixed to the first surface of the mounting plate 31 in such a manner that the detecting bracket 27 is fixed to the first surface of the mounting plate 31 by bolts, and the magnetic memory detecting unit 21 is disposed below the detecting bracket 27 through the detecting opening 311 and faces the detecting surface.

In the present embodiment, the detection holder 27 is provided with: at least two second guide 25 that set up side by side with be used for driving slider 24 that magnetic memory detecting element 21 removed, slider 24 is provided with and is used for wearing to establish the trompil of second guide 25, the cover is equipped with second elastic component 26 on the second guide 25, second elastic component 26 support lean on extremely slider 24 with detect between the support 27. When an obstacle is encountered, the magnetic memory detection unit 21 is blocked, the elastic potential of the second elastic member 26 is increased, and the slider 24 can be driven by the second elastic member 26 to move along the second guide 25 until the elastic potential of the second elastic member 26 returns to the initial state.

The detection bracket 27 is a hollow frame structure, and at least two second guide members 25 arranged side by side and a slider 24 for driving the magnetic memory detection unit 21 to move are arranged in the detection bracket. The slider 24 is connected to the magnetic memory detection unit 21. The second guide 25 is embodied as a rod structure extending lengthwise. The second guide 25 is inserted into the frame and can be fixed to the detecting bracket 27 by bolts. The sliding block 24 has a first end and a second end opposite to each other, the first end and the second end are both provided with an opening for penetrating the second guiding element 25, and the sliding block 24 can slide along the second guiding element 25.

The magnetic memory detection unit 21 has a detection plane having an upper surface and a lower surface opposite to each other, the upper surface of the detection plane is fixedly connected to the slider 24, and the lower surface of the detection plane is provided with a sensor recess 211. The magnetic memory sensor is disposed in the sensor recess 211, and may be sealed in the sensor recess 211 by epoxy resin, or may be embedded in the sensor recess 211 by other methods, which is not limited in this application. The detection unit bearing 212 is arranged on the circumferential direction of the detection plane, so that when the magnetic memory detection unit 21 detects along the detection plane, the detection unit bearing 212 can roll close to the detection plane. The detecting unit bearing 212 functions as a wheel, and the specific number and size are not limited in this application and can be adjusted according to actual needs. In this embodiment, the circumferential direction of the detection plane may be provided with a bearing shaft, the detection unit bearing 212 is sleeved on the bearing shaft, and the bearing shaft may be provided with a bolt, so as to limit the axial displacement of the detection unit bearing 212.

The second guide 25 is sleeved with a second elastic element 26, and the second elastic element 26 is arranged between the sliding block 24 and the detection bracket 27. So that the second elastic member 26 can drive the movement of the slider 24. Specifically, when the magnetic memory detection unit 21 scans along the detection surface and encounters an obstacle, the magnetic memory detection unit 21 is prevented from moving forward, the magnetic memory detection unit 21 and the slider 24 slide along the second guide 25 to pass the obstacle, and the elastic potential energy of the second elastic member 26 is increased due to the force applied thereto. The second elastic member 26 is forced to drive the slider 24 to move along the second guide 25 until the elastic potential energy of the second elastic member 26 returns to the initial state, at which time the slider 24 and the magnetic memory detection unit 21 can return to the initial position relative to the nondestructive testing device.

Further, the second guide 25 extends in the same direction as the body between the first side and the second side of the mounting plate 31. The sliding block 24 can swing forwards and backwards along the motion track of the detection device, so that the obstacle can be quickly crossed. Through setting up second guide 25 and second elastic component 26, not only can realize this magnetism memory detecting element 21 two-dimensional movement on the detection plane, make it possess and cross the barrier ability, can alleviate the vibrations of magnetism memory detecting element 21 simultaneously and can make it resume to initial position fast, avoid influencing subsequent detection.

In this embodiment, a third guide 22 is provided between the slider 24 and the magnetic memory detection unit 21, one end of the third guide 22 is fixed to the magnetic memory detection unit 21, a guide hole that is fitted to the other end of the third guide 22 is provided in the slider 24, and the third guide 22 is movable in the guide hole. The third guide 22 is sleeved with a third elastic member 23, and the third elastic member 23 abuts between the slider 24 and the magnetic memory detection unit 21.

When the elastic potential energy of the third elastic element 23 increases, the third elastic element 23 can drive the magnetic memory detection unit 21 and drive the third guide element 22 to move in the guide hole until the elastic potential energy of the third elastic element 23 returns to the initial state.

Specifically, third guide 22 specifically is for having the body of rod structure that the lengthwise extends, the body of rod has relative first end and second end, and the first end of third guide 22 is fixed mutually with magnetic memory detecting element 21, and in order to guarantee the steadiness of connecting, the surface of magnetic memory detecting element 21 is provided with boss 214, boss 214 and magnetic memory detecting element 21 fixed connection, boss 214 and third guide 22's first end fixed connection. The second end of the third guide 22 is inserted into a guide hole of the slider 24 and can move up and down in the guide hole. The second end of the third guide member 22 is further provided with a nut so as to be limited in the axial direction of the third guide member 22. When the magnetic memory detection unit 21 crosses over the obstacles, the third guide 22 can drive the magnetic memory detection unit 21 to move up and down, so that the obstacles can be crossed.

The third guide 22 is sleeved with a third elastic element 23, the third elastic element 23 has two opposite ends, and the two ends of the third elastic element 23 respectively abut against the sliding block 24 and the boss 214. The outer diameter of the third elastic member 23 needs to be larger than the outer diameter of the guide hole so that the third elastic member 23 can abut against the slider 24. When the magnetic memory detection unit 21 crosses an obstacle and the third guide 22 moves in the guide hole, the third elastic member 23 is stressed to increase the elastic potential energy thereof. The third elastic member 23 can press the boss 214 after being stressed, so as to drive the third guiding member 22 to move along the guiding hole until the elastic potential energy of the third elastic member 23 returns to the initial state, and at this time, the magnetic memory detection unit 21 can return to the initial position relative to the nondestructive detection device. By providing the third guide 22 and the third elastic member 23, the magnetic memory detection unit 21 can be made to have an obstacle surmounting capability, and the vibration of the magnetic memory detection unit 21 can be reduced and the magnetic memory detection unit can be quickly returned to the initial position.

In a specific application scenario, for example, there is an obstacle in front of the magnetic memory detection unit 21. When the magnetic memory detecting unit 21 travels to the obstacle, the advance is blocked, and the magnetic memory detecting unit 21 can generate a displacement perpendicular to the obstacle by the cooperation of the third guide 22 and the third elastic member 23. The magnetic memory detection unit 21 can also swing forwards and backwards along the motion track of the detection device under the interaction of the second guide rod 25 and the second elastic piece 26, so as to cross over the obstacle. Therefore, the magnetic memory detection unit 21 can ensure rapid crossing of an obstacle by moving in three-dimensional directions when encountering the obstacle.

As shown in fig. 11 and 12, the signal control mechanism 3 is provided on a first surface of the mounting plate 31. The signal control mechanism 3 includes: the acquisition component is used for receiving the magnetic memory signal, and the regulation and control component is used for regulating the operation of the driving component. The collection assembly and the conditioning assembly may be disposed in the signal box 32, and the signal box 32 may be mounted on the first surface of the mounting plate 31 through the fixing block 314.

In the present embodiment, the signal control means 3 includes: the power source 34, the regulation and control assembly and the acquisition assembly are electrically connected. The regulatory assembly comprises: the development board 38 is electrically connected with the remote control receiver 39 and the electric tilt 37, and the electric tilt 37 is electrically connected with the motor 211. The collection assembly includes: the magnetic memory detection device comprises a wireless router 36 and a data acquisition card 35, wherein the data acquisition card 35 is electrically connected with the magnetic memory detection unit 21, and the wireless router 36 is electrically connected with the data acquisition card 35.

Specifically, the power supply 34 is used for supplying power to the electronic tuner 37, the development board 38, the remote control receiver 39, the wireless router 36 and the data acquisition card 35. The development board 38 is electrically connected to the remote control receiver 39 and the electronic controller 37, the electronic controller 37 is electrically connected to the motor 111, and the electrical connection mode may be wired connection or wireless connection, which is not limited in this application. In actual use, the remote control receiver 39 can receive the command of the wireless remote control handle in real time, and controls the electric controller 37 and the motor 111 to operate through the development board 38, thereby controlling the crawling of the detection device. In this embodiment, adsorb crawl mechanism is provided with 4, and the figure of motor 111 is 4, 4 motor 111 respectively with electricity accent 37 electric connection, electricity accent 37 all with development board 38 electric connection to can adjust the operating parameter of every motor 111 through development board 38, implement the control to this detection device's the direction of crawling, speed of crawling.

The data acquisition card 35 is electrically connected with the magnetic memory sensor in the magnetic memory detection unit 21 and the wireless router 36 respectively. The data acquisition card 35 may include two network cable interfaces, wherein one network cable interface is connected to the wireless router 36 through a network cable; the other network cable interface can be directly connected with a remote control device (such as a computer or a server) through a network cable so as to lead data into the remote control device in real time.

Specifically, the data collected by the magnetic memory sensor is transmitted to the data acquisition card 35 through a data line, the data acquisition card 35 converts the data collected by the magnetic memory sensor, and the converted data is transmitted to the remote control device (computer or server) through the wireless router 36.

In one embodiment, referring to fig. 2, 11 and 12, at least a portion of the conditioning and/or collection components are disposed on the power source 34; the mounting plate 31 has a first surface and a second surface opposite to each other, the mounting plate 31 is provided with a power supply opening 313 penetrating through the first surface and the second surface, and the power supply 34 passes through the power supply opening 313 and is fixed on the second surface.

Specifically, in this embodiment, the electronic tuner 37, the development board 38, and the remote control receiver 39 may be adhered to the surface of the power supply 34 by glue, and the data acquisition card 35 and the wireless router 36 may be placed in parallel with the power supply 34 after being adhered to each other. The mounting plate 31 is provided with a power supply opening 313 penetrating the first and second surfaces, and a power supply can be fixed to the second surface of the mounting plate 31 through the power supply opening 313.

Since the weight of the power supply 34 is often large, the power supply 34 can be moved down by a certain height by providing the power supply opening 313 on the mounting plate 31, so that the center of gravity of the nondestructive testing device is moved down, the height of the signal box 32 is lowered, and the center of gravity of the device is lowered to enable the device to climb more stably. In the present embodiment, the power supply 34 is fixed on the second surface of the mounting plate 31 by the chassis 33 after passing through the power supply opening 313. The chassis 33 may be U-shaped, and the power source 34 may be engaged with the U-shaped chassis 33 and then the chassis 33 may be fixed to the second surface of the mounting plate 31 by means of screws, bolts, or the like.

In summary, the nondestructive testing device provided by the embodiment of the application has the following characteristics:

(1) the nondestructive testing device can realize free crawling on the wall surface of the storage tank through wireless control;

(2) the nondestructive testing device has the capability of crossing over an obstacle and can move in a three-dimensional direction when encountering the obstacle;

(3) the nondestructive testing device has a damping function in the process of running and encountering obstacles, and can be quickly restored to an initial state;

(4) the nondestructive testing device has the advantages of simple overall structure, stable operation, low gravity center and overturn prevention function.

The above embodiments are merely illustrative of the technical concepts and features of the present application, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present application and implement the present application, and not to limit the protection scope of the present application. All equivalent changes and modifications made according to the spirit of the present application should be covered in the protection scope of the present application.

All articles and references disclosed, including patent applications and publications, are hereby incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not materially affect the basic novel characteristics of the combination. The use of the terms "comprising" or "including" to describe combinations of elements, components, or steps herein also contemplates embodiments that consist essentially of such elements, components, or steps. By using the term "may" herein, it is intended to indicate that any of the described attributes that "may" include are optional.

A plurality of elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, ingredient, component or step is not intended to foreclose other elements, ingredients, components or steps.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes.

Claims

1. A non-destructive inspection apparatus, comprising:

a mounting plate having opposing first and second sides, opposing first and second surfaces;

set up detection mechanism on the mounting panel includes: the magnetic memory detection unit can be attached to the detection surface and is used for acquiring magnetic memory signals;

2. The nondestructive testing apparatus according to claim 1, wherein said mounting plate is provided with a test opening penetrating said first surface and said second surface;

3. The non-destructive inspection apparatus according to claim 2, wherein said inspection support is provided with: at least two second guides that set up side by side with be used for driving the slider that magnetic memory detecting element removed, the slider is provided with and is used for wearing to establish the trompil of second guide, the cover is equipped with second elastic component on the second guide, the second elastic component support by extremely the slider with detect between the support.

4. The non-destructive inspection apparatus of claim 3, wherein said first side is parallel to said second side, said mounting plate comprising: the body is positioned between the first side surface and the second side surface, and the extending direction of the body is consistent with the extending direction of the first guide piece.

5. The nondestructive inspection apparatus according to claim 3, wherein a third guide is provided between the slide block and the magnetic memory inspection unit, one end of the third guide is fixed to the magnetic memory inspection unit, the slide block is provided with a guide hole to be fitted with the other end of the third guide, and the third guide is movable in the guide hole; and a third elastic piece is sleeved on the third guide piece, and the third elastic piece is abutted between the sliding block and the magnetic memory detection unit.

6. The nondestructive testing apparatus of claim 1, wherein the suction crawling mechanism is provided in two pairs, each pair comprising: the first adsorption crawling mechanism and the second adsorption crawling mechanism are symmetrically arranged, and the first adsorption crawling mechanism/the second adsorption crawling mechanism are rotatably arranged on the mounting plate;

7. The non-destructive inspection apparatus of claim 6, wherein said motor board comprises: the motor comprises an inner motor plate and an outer motor plate which are arranged in parallel, wherein the inner motor plate is rotatably connected to the mounting plate, and at least one ejector rod is arranged between the inner motor plate and the outer motor plate; the synchronous pulley shaft and the motor shaft are respectively provided with a first end and a second end which are opposite, the first end is fixedly connected with the inner motor plate, and the second end is fixedly connected with the outer motor plate.

8. The nondestructive testing device of claim 7, wherein the outer frame of the damping mechanism has a side wall and opposite top and bottom walls, the side wall is fixedly connected to the inner motor plate, and the first guide member sequentially penetrates through the top wall, the mounting plate and the bottom wall.

9. The nondestructive inspection apparatus according to claim 6 or 7, wherein the signal control mechanism further comprises: the power supply is electrically connected with the regulation and control assembly and the acquisition assembly;

10. The non-destructive inspection apparatus according to claim 9, wherein said mounting plate has first and second opposite surfaces, said mounting plate having a power opening formed therethrough, said power supply passing through said power opening and being secured to said second surface.