The invention discloses a scanning detection robot walking along the outer wall of a pipe/column and a detection method thereof. The robot comprises an annular rail, an elastic supporting assembly, a wheel type wall climbing vehicle, a rail vehicle and a three-dimensional scanner carried by the rail vehicle. The annular rail is arranged on the periphery of the pipe/column in a centering mode and connected with the elastic supporting assemblies, the wheel type wall climbing trolleys are installed at the inner ends of the elastic supporting assemblies respectively, the rail trolley can walk along the annular rail, and the direction of the three-dimensional scanner can be adjusted. The overall axial walking along the outer surface of a pipe/column is achieved through the wheel type wall climbing vehicle, meanwhile, the rail vehicle circumferentially walks around the periphery of the pipe/column, overall axial walking of the robot and circumferential walking of the rail vehicle are organically combined, continuous scanning detection of the whole length of the outer surface of the pipe/column is achieved, and the robot can adapt to detection of pipes/columns of different lengths. The wheel type wall climbing vehicle is installed through the elastic supporting assembly, so that the robot can be suitable for detection of pipes/columns with different section shapes and different section sizes, and accurate detection is guaranteed while efficient detection is guaranteed.
本发明公开了一种沿管/柱外壁行走的扫描检测机器人及其检测方法,机器人包括环形轨道、弹性支撑组件、轮式爬壁车、轨道车及其搭载的三维扫描仪;环形轨道对中布置于管/柱外围,连接若干组弹性支撑组件,各弹性支撑组件的内端分别安装轮式爬壁车,轨道车可沿环形轨道行走,三维扫描仪可调整方位。通过轮式爬壁车实现整体沿管/柱外表面轴向行走,同时轨道车绕管/柱外围周向行走,将机器人的整体轴向行走和轨道车的周向行走有机结合,实现对管/柱外表面全长度的连续扫描检测,能适应不同长度的管/柱检测。轮式爬壁车通过弹性支撑组件安装,使机器人能适用于不同截面形状、不同截面尺寸的管/柱检测,保证高效检测的同时保证精确检测。
Scanning detection robot walking along outer wall of pipe/column and detection method thereof
一种沿管/柱外壁行走的扫描检测机器人及其检测方法
05.09.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge |
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