A magnetic crawler configured to travel on and inspect a ferromagnetic cylindrical surface is provided. The crawler includes a chassis, a controller configured to control the crawler, a probe configured to inspect the cylindrical surface under control of the controller, and three articulated magnetic wheels configured to tangentially contact and magnetically attach to the cylindrical surface. The wheels include two drive wheels coupled to the chassis by two articulated joints, respectively, and configured to drive the crawler in a desired direction on a cylindrical surface by independently actively rotating the two drive wheels by respective drive motors about respective drive axes of rotation under control of a controller; and a rear wheel coupled to the chassis by a rear articulation joint and configured to passively rotate about a rear drive rotation axis in response to active rotation of the two drive wheels.
提供了一种被配置成在铁磁性圆柱形表面上行进并检查该表面的磁性爬行器。该爬行器包括底盘、被配置成控制爬行器的控制器、被配置成在控制器的控制下检查圆柱形表面的探头、以及被配置成与圆柱形表面沿切向接触并磁性附着到圆柱形表面上的三个铰接磁性轮。所述轮包括两个驱动轮,这两个驱动轮分别通过两个铰接接头联接至底盘,并被配置成通过在控制器的控制下由相应的驱动电动机围绕各自的驱动旋转轴线独立地主动旋转这两个驱动轮而在圆柱形表面上沿着期望的方向驱动爬行器;以及后轮,其通过后铰接接头联接至底盘,并且被配置成响应于所述两个驱动轮的主动旋转围绕后驱动旋转轴线被动地旋转。
Magnetic crawl device with three articulated wheels for travel on pipe
用于在管道上行进的具有三个铰接轮的磁性爬行器
2023-07-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B60B VEHICLE WHEELS , Räder für Fahrzeuge |