The invention discloses a multi-pipe-diameter staggered pipe-holding wall-climbing robot for ultrasonic detection of an outer pipeline. The multi-pipe-diameter staggered pipe-holding wall-climbing robot comprises a staggered pipe-holding main body, a front driving wheel unit, a driven wheel unit, a rear driving wheel unit, a pipe-holding driving unit and an ultrasonic detection unit. According to the robot, the rope is tightened through the winding motor, self-adaptive staggered clasping adsorption of the pipeline is achieved, then stable wall climbing and ultrasonic detection are conducted, and a plurality of robots can be spliced end to end in a staggered mode so that the current pipeline can be moved to an adjacent pipe and clasped. The robot is small, exquisite, light, reasonable in structure, easy to control, stable in transmission, efficient, energy-saving and high in detection performance, has obstacle crossing ability and a multi-probe system capable of being arranged in a diversified mode, and can design parameters of a staggered pipe holding body according to the outer diameter range of a pipeline needing to be detected; the device can adapt to automatic detection of pipelines with different diameters, especially pipelines with small diameters, by selecting the number of the sub-segments of the staggered pipe holding main body, and can guarantee the safety of workers while guaranteeing the safe operation of the pipelines.

    本发明公开了一种外管道超声检测的多管径错位抱管爬壁机器人,包括错位抱管主体、前驱动轮单元、从动轮单元、后驱动轮单元、抱管驱动单元和超声检测单元。本发明通过卷线电机收紧线绳,实现对管道的自适应错位抱紧吸附,进而进行稳定爬壁和超声检测,并可通过将多个机器人首尾错位拼接以实现从当前管道移动到邻管并抱紧。本发明机器人小巧轻便、结构合理、控制简单、传动稳定、高效节能,且检测性能高,具有越障能力和可多样化布局的多探头系统,可根据所需检测的管道外径范围设计错位抱管主体参数,可通过选择错位抱管主体子节段段数来适应不同直径管道特别是直径较小的管道的自动化检测,可在确保管道安全运行的同时保障员工的安全。


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    Title :

    Multi-pipe-diameter staggered pipe-holding wall-climbing robot for ultrasonic detection of outer pipeline


    Additional title:

    一种外管道超声检测的多管径错位抱管爬壁机器人


    Contributors:
    KIM HO-YOUN (author) / ZHAO SHENGJIE (author) / WANG YUNJIANG (author) / YANG KEQI (author)

    Publication date :

    2025-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / B62D MOTOR VEHICLES , Motorfahrzeuge



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