The invention discloses a crawling robot for detecting the interior of a pipeline and a working method of the crawling robot, and belongs to the technical field of automatic nondestructive testing. A driving motor, a gyroscope, an air cylinder and a control unit are arranged in the body; a pair of front driving wheels and a pair of rear driven wheels are arranged on the lower portion of the body, and the front driving wheels and the rear driven wheels are permanent magnet wheels. The pair of front driving wheels are respectively connected with the driving motor through a transmission shaft and a differential mechanism; the air cylinder is connected with a phased array detection probe through a phased array probe bracket; an electromagnetic thickness measuring probe and an image acquisition device are arranged on the body; and the phased array detection probe, the electromagnetic thickness measuring probe, the image acquisition device, the driving motor, the gyroscope and the air cylinder are respectively connected with the control unit. The device is simple and convenient to operate, high in detection efficiency and complete in detection function, can enable the crawling robot to turn and steer in a narrow space, reaches a position which cannot be reached by manpower for detection, and has a good application prospect.
本发明公开的一种用于管道内检测的爬行机器人及其工作方法,属于自动无损检测技术领域。本体内部设有驱动电机、陀螺仪、气缸和控制单元;本体下部设置有一对前驱动轮和一对后从动轮,前驱动轮和后从动轮均为永磁轮;一对前驱动轮分别通过传动轴和差速机构与驱动电机连接;气缸通过相控阵探头支架连接有相控阵检测探头;本体上设有电磁测厚探头和图像采集装置;相控阵检测探头、电磁测厚探头、图像采集装置、驱动电机、陀螺仪和气缸分别与控制单元连接。本发明的操作简便、检测效率高、检测功能齐全,能够使爬行机器人在狭小空间内完成过弯和转向,到达人力不可达的位置进行检测,具有良好的应用前景。
Crawling robot for pipeline interior detection and working method thereof
一种用于管道内检测的爬行机器人及其工作方法
2024-05-14
Patent
Electronic Resource
Chinese
IPC: | F16L PIPES , Rohre / B62D MOTOR VEHICLES , Motorfahrzeuge / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |