CN214953096U - Nondestructive testing device for large steel structure - Google Patents

Abstract

The utility model discloses a large-scale steel construction nondestructive test device, including unmanned vehicles, camera, cloud platform, navel cord cable book put ware, navel cord cable, climb wall inspection robot and ground control processing apparatus, the camera passes through the cloud platform setting in unmanned vehicles's bottom, and the setting is put in unmanned vehicles's bottom to the navel cord cable book, and navel cord cable one end is rolled up with the navel cord cable and is put the ware and link to each other, and the other end is connected with climbing wall inspection robot. The utility model discloses an unmanned vehicles combines visible light camera and wall climbing inspection robot, carries out nondestructive test to the large steel construction, has solved the difficult problem of detection at personnel inaccessible position.

Description

Nondestructive testing device for large steel structure

Technical Field

The utility model relates to a large-scale steel construction check out test set technical field, in particular to large-scale steel construction nondestructive test device.

Background

At present, large steel structure detection represented by port cranes, large amusement facilities, boilers, storage tanks, steel bridges, towers, wind power equipment hulls and the like mainly comprises the steps of manually carrying detection instruments to climb to main stressed parts, utilizing the detection instruments or visually checking whether obvious cracks and corrosion exist on the surfaces of the structures and connecting welding seams, and connecting bolts and pin shafts without the defects of obvious parts shortage, damage and the like. Therefore, in the manual detection process, a detection instrument cannot be carried to a place or a detection occasion with high risk, and a mode with high efficiency, reliability, easy operation and high safety is urgently needed to be found for conveying the detection instrument to a detected part for corresponding detection.

Many rotor unmanned aerial vehicle is a common unmanned vehicles, has the flight stability, can hover at aerial advantage such as high accuracy, obtains the application of certain degree in fields such as bridge detection, electric power inspection line, but mainly still restrict in shooting and control the aspect, just "see" and "check" target object promptly, still can not carry out "contact" formula with target object and detect. To defects such as crane metallic structure surface crackle, corruption, it can still to carry on non-contact detection to it by unmanned aerial vehicle carries on visual sensor, but when there is dust, greasy dirt, the peeling problem of coating with lacquer skin on the structure surface, can its detection effect of greatly reduced. The wall climbing detection robot carries nondestructive detection devices such as ultrasonic, eddy current and magnetic memory, can effectively make up the defects of visual detection of the unmanned aerial vehicle, but has the disadvantages of slow walking speed and low operation efficiency, and some parts of the crane need to span large distance and angle, for example, the hinge joint of the trunk crane trunk frame and the main arm frame, and how to quickly and smoothly reach the parts is a technical difficulty.

The flying wall-climbing detection robot has the air movement capability and the wall-climbing walking capability, can well solve the problem, and gradually becomes a research hotspot at home and abroad. For example, patent CN201620406462.8 proposes a modularized flying wall-climbing detection robot, which includes a flying module, an adsorbing module, a wall-climbing walking module and a control module, wherein the wall-climbing walking module and the adsorbing module are disposed on a frame of the flying module, and the flying module, the adsorbing module and the wall-climbing walking module are controlled by the control module. Patent CN201620406359.3 provides a flying robot of convertible angle wall climbing running gear, including chassis, support, walking wheel, connecting piece, gear motor, steering wheel and electric telescopic handle, the steering wheel orders about the connecting piece and rotates and cooperate with electric telescopic handle to adjust the height and the angle of walking wheel. CN201911117754.4 provides a wall detection robot is climbed in many rotors booster-type flight, includes the main part and a plurality of rotor devices that set up on it, is connected with on the outer convex angle of main part and climbs the wall wheel, climbs wall wheel, outer convex angle one-to-one, and climbs the wall wheel and carries out the electricity with flight controller and be connected. CN201910115767.1 proposes a wall climbing detection robot based on vector flight and adopts duct motor and vector propulsion system, reduces the whole weight of robot, makes the robot lighter and more handy. CN202010312381.2 discloses a perching multi-rotor flight wall climbing detection robot, which comprises a body, a rotor mechanism, a wheel mechanism, an adsorption mechanism and a transmission mechanism, wherein the transmission mechanism is used for driving a propeller to tilt, and when the propeller tilts to be parallel to a wall, the wall climbing function of the robot can be realized; the adsorption mechanism comprises a sucker and a third driving device, the third driving device drives the sucker to tilt, and when the sucker tilts to be perpendicular to a wall or a ceiling, the inhabitation function of the robot can be realized. CN201911120946.0 discloses a flying wall-climbing detection robot capable of autonomously climbing wall, which includes a robot housing, and a front main rotor mechanism, a rear main rotor mechanism, a front auxiliary rotor mechanism and a rear auxiliary rotor mechanism disposed thereon, and can realize wall-climbing behaviors such as ground, autonomous climbing wall, wall surface conversion, etc.

At present, domestic and foreign research mainly focuses on integrated or deformable air-ground amphibious robots, and compared with an integrated scheme, a separable or combined robot has obvious advantages in the aspects of functionality, practicability, stability, reliability and the like. Separable structure of aerial robot system (rotor unmanned aerial vehicle) and land robot system (wall climbing detection robot) generally adopts magnetic means, robotic arm snatchs mechanism and black line guide path orbit platform and constitutes, can provide land robot intelligence and retrieve the guide path, locating information and recovery unit, separable structure is complicated, and need be close to the separation and the combination of metal structure surface realization aerial robot and land robot, unmanned aerial vehicle GPS navigation signal easily receives metal to shelter from and electromagnetic interference, there is certain potential safety hazard.

SUMMERY OF THE UTILITY MODEL

The utility model provides a large-scale steel construction nondestructive test device, its advantage is that when solving visual detection and peeling off to there is dust, greasy dirt, lacquer coat in the crane structure surface, its detection effect greatly reduced's problem to and climb that wall inspection robot walking speed is slow, operating efficiency is lower, be difficult to stride across the difficult problem that great position detected to distance and angle, realize that personnel are difficult to reach the remote automation nondestructive test at position.

The utility model discloses an above-mentioned purpose is realized through following technical scheme, a large-scale steel construction nondestructive test device, including unmanned vehicles, camera, cloud platform, umbilical cable winding and unwinding device, umbilical cable, wall climbing detection robot and ground control device, the camera sets up in unmanned vehicles's bottom through the cloud platform, umbilical cable winding and unwinding device sets up in unmanned vehicles's bottom, umbilical cable one end with umbilical cable winding and unwinding device link to each other, the other end with wall climbing detection robot connects;

the unmanned aerial vehicle is provided with a first controller and a first wireless communication module, the first controller is electrically connected with the first wireless communication module, and the holder and the camera are electrically connected with the first controller;

the umbilical cable winding and unwinding device comprises a motor, a winding drum and a base, wherein the base is fixed on the unmanned aerial vehicle, the winding drum is arranged on the base, the motor is connected with the winding drum, and the motor is electrically connected with the first controller; one end of the umbilical cable is wound on the winding drum;

the wall climbing detection robot is provided with a nondestructive detection device, the wall climbing detection robot is provided with a second controller and a second wireless communication module, the second controller and the second wireless communication module are electrically connected, a driving device of the wall climbing detection robot is electrically connected with the second controller, and the nondestructive detection device is electrically connected with the second controller.

The utility model discloses further set up to, nondestructive test device is one or more in miniature high definition camera, eddy current flaw detector, ultrasonic thickness gauge and the metal magnetism memory detector.

The utility model discloses further set up to, still carry the surface module of polishing on the wall climbing robot, the surface module of polishing is connected with the second controller electricity.

The utility model discloses further set up to, still include a ground controlling means, be equipped with third controller, third wireless communication module, memory, display and remote control terminal in the ground controlling means, third wireless communication module, memory, display and remote control terminal all are connected with the third controller electricity, third wireless communication module is used for communicating with first wireless communication module and third wireless communication module.

The utility model discloses further set up to, unmanned vehicles is unmanned aerial vehicle or unmanned dirigible.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses an empty amphibious robot scheme in combination formula land of umbilical cable realizes unmanned vehicles and the separation and the combination of climbing wall inspection robot outside structure surface safety distance, prevents through the umbilical cable that climbing wall inspection robot accidentally falls, and unmanned vehicles carries out signal transmission and control respectively with climbing wall inspection robot simultaneously, and system interference immunity is strong, and job stabilization nature, reliability and security are high.

The unmanned aerial vehicle, the visible light camera and the wall climbing detection robot are combined, and the integrated large-scale steel structure nondestructive detection system solves the detection problem of inaccessible parts of personnel. The unmanned aerial vehicle visual detection and wall-climbing detection robot nondestructive detection method is combined, so that the interference of dust, oil stain and paint peel peeling on the surface of the structure on the visual detection can be reduced, the detection problems that the wall-climbing detection robot is low in walking speed, low in operation efficiency and large in distance and angle span can be solved, the remote automatic detection and structure thickness measurement functions of the defects of cracks, looseness, air holes, inclusion and the like on the surface and inside of the structure are realized, and the defects of the visual detection are effectively overcome. Unmanned vehicles adopts two schemes of unmanned aerial vehicle and unmanned airship, unmanned airship detection system can overcome the problems of short endurance time when unmanned aerial vehicle carries the load with large weight, poor flight stability and safety, etc., has the advantages of large load capacity, long endurance time, low-speed maneuvering, low price, environmental protection and low energy consumption, convenient operation, safety and reliability, etc., can further improve detection efficiency, quality and safety, complete the detection task which is difficult to complete by the traditional manual mode in the past, effectively reduce accident potential, reduce labor cost and safety risk, improve the intellectualization of large-scale structure detection, digitalization and automation level, and meet the urgent needs of industry development.

Drawings

Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention, in which the unmanned aerial vehicle is an unmanned aerial vehicle;

fig. 2 is a schematic overall structure diagram of an embodiment of the present invention, in which the unmanned aerial vehicle is an unmanned airship;

fig. 3 is a block diagram of the embodiment of the present invention.

In the figure, 1, an unmanned aerial vehicle; 2. a camera; 3. a holder; 4. an umbilical cable winding and unwinding device; 5. an umbilical cable; 6. a wall climbing detection robot; 7. a ground control device.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

Example (b): referring to fig. 1-2, a nondestructive testing device for a large steel structure comprises an unmanned aerial vehicle 1, a camera 2, a cradle head 3, an umbilical cable winding and unwinding device 4, an umbilical cable 5, a wall climbing detection robot 6 and a ground control device 7, wherein the camera 2 is arranged at the bottom of the unmanned aerial vehicle 1 through the cradle head 3, the umbilical cable winding and unwinding device 4 is arranged at the bottom of the unmanned aerial vehicle 1, one end of the umbilical cable 5 is connected with the umbilical cable winding and unwinding device 4, and the other end of the umbilical cable is connected with the wall climbing detection robot 6;

the unmanned aerial vehicle 1 is provided with a first controller and a first wireless communication module, the first controller and the first wireless communication module are electrically connected, and the holder 3 and the camera 2 are both electrically connected with the first controller;

the umbilical cable winding and unwinding device 4 comprises a motor, a winding drum and a base, wherein the base is fixed on the unmanned aerial vehicle 1, the winding drum is arranged on the base, the motor is connected with the winding drum, and the motor is electrically connected with a first controller; one end of the umbilical cable 5 is wound on the winding drum;

the wall climbing detection robot is characterized in that a nondestructive detection device is carried on the wall climbing detection robot 6, a second controller and a second wireless communication module are arranged on the wall climbing detection robot, the second controller and the second wireless communication module are electrically connected, a driving device of the wall climbing detection robot is electrically connected with the second controller, and the nondestructive detection device is electrically connected with the second controller.

Nondestructive test device still carries the surface module of polishing for one or more in miniature high definition camera, eddy current flaw detector, ultrasonic thickness gauge and the metal magnetism memory detector, climbs the wall robot and goes up, realizes structure surface crack, corruption, damaged detection, realizes polishing and thickness measuring function, realizes defect detection such as inside crack, loose, gas pocket, inclusion. The surface grinding module is electrically connected with the second controller. The surface polishing module comprises a polishing motor, a polishing head and a pressure adjusting device, wherein pressure is generated by compression of a spring in the pressure adjusting device, the pressure is measured by a sensor, after expected pressure is achieved, the spring is locked by a mechanical structure to deform, the polishing motor is started to drive the polishing head to rotate, the surface of the structure to be detected is polished by matching with feed motion of a robot, surface paint, rust, oxide skin or other impurities are removed, and metallic luster is exposed so as to perform subsequent detection. The specific structure of the surface polishing module in this embodiment refers to the chinese patent application with patent publication No. CN104625913A, which is a circular weld polishing robot for horizontal storage tank bodies and tank truck bodies, and is not described herein again.

Still include a ground controlling means 7, be equipped with third controller, third wireless communication module, memory, display and remote control terminal in the ground controlling means 7, third wireless communication module, memory, display and remote control terminal all are connected with the third controller electricity, third wireless communication module is used for communicating with first wireless communication module and second wireless communication module, and the display is used for showing the information that camera 2 gathered, and the information that the memory was gathered with the storage nondestructive test device. The remote control terminal comprises a remote control operation button of the unmanned aerial vehicle 1, a remote control operation button of a holder, a remote control operation button of the wall climbing detection robot 6, a remote control operation button of the umbilical cable winding and unwinding device 4, and a remote start-stop button of the camera 2 and a nondestructive detection device. And the remote control instruction of the remote control terminal is transmitted to the unmanned aerial vehicle 1 and the wall climbing detection robot 6 through the third communication module.

The image data of the camera 2 is sent to a ground processing device through a first wireless communication module for displaying, storing and analyzing, and meanwhile, a ground flight control instruction is received to carry out flight functions such as taking off, hovering and landing, and the effective transmission distance is not less than 1000 m; the detection data of the wall climbing detection robot 6 are sent to the ground processing device through the second wireless communication module to be displayed, stored and analyzed, meanwhile, the ground control command is received to carry out actions such as detection, polishing and the like, the relevant motion functions of the wall climbing detection robot are achieved, and the effective transmission distance is not less than 200 m.

The camera 2 is a visible light camera 2, and the holder 3 is a two-axis or three-axis holder; the cloud platform 3 can be configured above the unmanned aerial vehicle 1 and also can be configured below the unmanned aerial vehicle, the camera 2 is driven to rotate, the large-scale crane to-be-detected part is aligned to carry out multi-azimuth shooting, the pitch angle range of the vertical motion direction of the large-scale crane reaches +/-90 degrees, the azimuth motion range of the horizontal direction reaches +/-180 degrees, the large-scale crane can carry out down-looking imaging and up-looking imaging, various key parts of the large-scale crane can be subjected to multi-azimuth shooting of blind corners, the damping spring vibration damping device is arranged on the base of the camera 2 rotating platform, the vibration of the unmanned aerial vehicle 1 is reduced, the image shaking interference caused by the unmanned aerial vehicle is reduced, and the picture stabilizing function is realized. The camera 2 is a visible light camera 2 and is used for collecting high-resolution visible light images of the part to be detected, and when the camera 2 overlooks downwards for shooting, the field angle of the camera 2 can be reduced by adjusting the focal length of a lens, so that the interference of a rotor wing on the image field is avoided. The camera 2 can be controlled to zoom so as to adjust the image magnification, so that the overall general observation of the whole structure of the crane can be carried out, and the local key detection part can be amplified and observed in detail.

The unmanned aerial vehicle 1 is an unmanned aerial vehicle or an unmanned airship.

The application method of the nondestructive testing device for the large steel structure in the embodiment comprises the following steps:

step one, checking the detection device of the flying wall-climbing detection robot 6 and confirming that the flying wall-climbing detection robot can work normally.

And secondly, remotely controlling the unmanned aerial vehicle 1 to take off through a remote control button of the unmanned aerial vehicle 1 of the ground processing device, flying to a rear suspension state near a part to be detected of the crane, enabling a lens of a camera 2 to be aligned with the part to be detected of the crane to shoot, adjusting a cradle head through a cradle head remote control button to shoot the part to be detected, transmitting a shot image to a first controller, then carrying out wireless communication through a first wireless communication module and a third wireless communication module to transmit the image to the ground processing device for display, and preliminarily judging whether obvious defects exist on a ground operator through observation, such as obvious cracks and corrosion on the surface of a metal structure and at the position of a connecting welding line, and the existence of obvious parts and damage on a bolt and a pin shaft connection, and determining a suspected defect part for next key detection.

And step three, the unmanned aerial vehicle 1 drives the wall-climbing detection robot 6 to quickly fly to the position to be detected and hover, the umbilical cable winding and unwinding device 4 is used for remotely controlling the operation of the winding drum and the winding and unwinding of the umbilical cable outside the safety distance of the unmanned aerial vehicle 1, the wall-climbing detection robot 6 is thrown to the surface of the structure, and the wall-climbing detection robot 6 is used for carrying out nondestructive detection on the key position with suspected defects. In the process of putting, landing and detecting the wall climbing detection robot 6, the unmanned aerial vehicle 1 carries the camera 2 to shoot the robot, the spatial position relation between the robot and the part to be detected is judged according to the images of the robot and the part to be detected, wall walking, detection, polishing and other actions are completed through the remote control button of the wall climbing detection robot 6, the umbilical cable winding and unwinding device 4 is controlled to enable winding and unwinding of an umbilical cable to be matched with actions of the robot, the robot detection data are transmitted to the ground processing device through the second wireless communication module and the third wireless communication module to be displayed, stored and analyzed, and automatic detection and identification of the surface and internal defects of the metal structure are achieved.

After the detection is finished, the umbilical cable winding and unwinding device 4 of the ground control device 7 remotely controls a button to control the winding drum to rotate and the umbilical cable to contract, and the wall climbing detection robot 6 is recovered to the lower part of the unmanned aerial vehicle 1; the unmanned aerial vehicle 1 is remotely controlled to land through the remote control button of the unmanned aerial vehicle 1 of the ground processing device.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and improvements can be made without departing from the inventive concept, and all of them belong to the protection scope of the present invention.

Claims (5)

1. The nondestructive testing device for the large-scale steel structure is characterized by comprising an unmanned aerial vehicle (1), a camera (2), a cradle head (3), an umbilical cable winding and unwinding device (4), an umbilical cable (5), a wall climbing detection robot (6) and a ground control device (7), wherein the camera (2) is arranged at the bottom of the unmanned aerial vehicle (1) through the cradle head (3), the umbilical cable winding and unwinding device (4) is arranged at the bottom of the unmanned aerial vehicle (1), one end of the umbilical cable (5) is connected with the umbilical cable winding and unwinding device (4), and the other end of the umbilical cable is connected with the wall climbing detection robot (6);

the unmanned aerial vehicle (1) is provided with a first controller and a first wireless communication module, the first controller and the first wireless communication module are electrically connected, and the cradle head (3) and the camera (2) are both electrically connected with the first controller;

the umbilical cable winding and unwinding device (4) comprises a motor, a winding drum and a base, wherein the base is fixed on the unmanned aerial vehicle (1), the winding drum is arranged on the base, the motor is connected with the winding drum, and the motor is electrically connected with the first controller; one end of the umbilical cable (5) is wound on the winding drum;

carry on nondestructive test device on wall climbing inspection robot (6), be equipped with second controller and second wireless communication module on the wall climbing inspection robot, the electricity is connected between second controller and the second wireless communication module, and wall climbing inspection robot's drive arrangement is connected with the second controller electricity, and nondestructive test device is connected with the second controller electricity.

2. The nondestructive testing device for large steel structures according to claim 1, wherein the nondestructive testing device is one or more of a miniature high-definition camera, an eddy current flaw detector, an ultrasonic thickness gauge and a metal magnetic memory detector.

3. The nondestructive testing device for large steel structures according to claim 1, wherein a surface grinding module is further mounted on the wall climbing robot, and the surface grinding module is electrically connected to the second controller.

4. The nondestructive testing device for the large steel structure according to claim 1, further comprising a ground control device (7), wherein a third controller, a third wireless communication module, a memory, a display and a remote control terminal are arranged in the ground control device (7), the third wireless communication module, the memory, the display and the remote control terminal are electrically connected with the third controller, and the third wireless communication module is used for communicating with the first wireless communication module and the second wireless communication module.

5. Nondestructive testing device for large steel structures according to claim 1, characterized in that the unmanned aerial vehicle (1) is an unmanned aerial vehicle or an unmanned airship.

Images