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CN-121993691-A - Automatic ACFM alternating current electromagnetic field detection robot

CN121993691ACN 121993691 ACN121993691 ACN 121993691ACN-121993691-A

Abstract

The invention relates to the technical field of detection robots, in particular to an automatic ACFM alternating current magnetic field detection robot which comprises a dredging and cleaning mechanism and a recovery mechanism, wherein the dredging and cleaning mechanism comprises a cylinder body a, an air bag ball, a crushing cone, a rod a, scraping parts and an air pump, the air bag ball and the rod a are simultaneously connected with the crushing cone and the cylinder a, the scraping parts are provided with a plurality of groups and are circumferentially distributed on the surface of the cylinder a, the air pump is arranged on the cylinder a and is communicated with the air bag ball, the recovery mechanism comprises a cylinder b, a motor a, a rod b, spiral conveying blades and a cylinder c, the cylinder b is rotationally connected inside the cylinder a, an opening a is formed in the surface of the cylinder a between two adjacent groups of scraping parts, the rod b is rotationally arranged inside the cylinder b, the spiral conveying blades are arranged on the rod b, the motor a is arranged on the cylinder b, the output end of the motor a is connected with the rod b, the cylinder c is connected with the outer side of the cylinder b, and the motor b is in transmission connection with the cylinder a. The invention enables the detection robot to carry out detection operation in the blocked pipeline, thereby reducing the use limitation.

Inventors

  • JIANG WENYING
  • LI DESHENG
  • LI QUNSHENG
  • LI JINRUI

Assignees

  • 陕西龙德检测科技有限公司

Dates

Publication Date
20260508
Application Date
20260203

Claims (7)

  1. 1. An automated ACFM ac electromagnetic field detection robot, comprising: The dredging and cleaning mechanism comprises a cylinder body a, an air bag ball (5), a crushing cone (6), a rod a (26), a scraping part and an air pump (14), wherein the air bag ball (5) is connected to one ends of the crushing cone (6) and the cylinder a (3), the rod a (26) is positioned in the air bag ball (5) and is connected to one ends of the crushing cone (6) and the cylinder a (3), the scraping part is provided with a plurality of groups and is circumferentially distributed on the surface of the cylinder a (3), and the air pump (14) is arranged on the cylinder a (3) and is communicated with the air bag ball (5); The recycling mechanism comprises a barrel b (15), a motor a (16), a rod b (25), a spiral conveying blade (13) and a barrel c (1), wherein the barrel b (15) is rotatably connected inside the barrel a (3), a feed inlet (1502) is formed in the surface of the barrel b (15), an opening a (301) is formed in the surface of the barrel a (3) between two adjacent scraping parts, the rod b (25) is rotatably arranged inside the barrel b (15), the spiral conveying blade (13) is arranged on the rod b (25), the motor a (16) is arranged on the barrel b (15) and the output end of the motor a is connected with the rod b (25), a discharge outlet (1501) is formed in the barrel b (15) close to the position of the motor a (16), the barrel c (1) is connected to the outer side of the barrel b (15), a motor b (24) is arranged on the barrel b (15), the motor b (24) is in transmission connection with the barrel a (3), and a plurality of TMR sensors (7), exciting coils (27) and cameras (21) are circumferentially distributed on the outer surface of the barrel c (1). The travelling mechanism is connected with the cylinder c (1) and used for driving the recovery mechanism and the dredging and cleaning mechanism to move in the pipeline.
  2. 2. An automated ACFM ac electromagnetic field detection robot according to claim 1, characterized in that the crushing cone (6) is conical and provided with spiral crushing blades on its surface.
  3. 3. The automatic ACFM alternating current magnetic field detection robot according to claim 1 is characterized in that the scraping part comprises a hollow plate (9), a scraping plate (10) and a spring (22), the hollow plate (9) is connected with the cylinder a (3), the scraping plate (10) is arranged inside the hollow plate (9) in a sliding mode, the spring (22) is connected to the scraping plate (10) and the inner wall of the hollow plate (9), and an inclined plane is arranged at the top end of the scraping plate (10).
  4. 4. An automated ACFM ac electromagnetic field detection robot according to claim 1, characterized in that the surface of the cylinder a (3) is provided with a gear ring (20), and the output of the motor b (24) is connected with a gear (23) which meshes with the gear ring (20).
  5. 5. The automatic ACFM alternating current magnetic field detection robot is characterized in that a partition plate is arranged in a cylinder c (1) and divides the inside of the cylinder c (1) into an isolation cavity and a recovery cavity, a motor a (16) is arranged in the isolation cavity, a discharge hole (1501) is arranged in the recovery cavity, a cleaning hole is formed in the cylinder c (1), and a sealing plug (8) is arranged in the cleaning hole.
  6. 6. The automatic ACFM alternating current magnetic field detection robot according to claim 1 is characterized in that the travelling mechanism comprises a cylinder d (2), a supporting arm (4), a roller (11), a motor c (12) and a telescopic component (18), wherein the cylinder d (2) is connected with the cylinder c (1), a plurality of circumferentially distributed openings b are formed in the cylinder d (2), one end of the supporting arm (4) is rotatably connected inside the opening b, the other end of the supporting arm (4) is provided with the opening c, the roller (11) is rotatably arranged inside the opening c, the motor c (12) is arranged on the supporting arm (4) and the output end of the motor c is connected with the roller (11), and the telescopic component (18) is arranged inside the cylinder d (2) and is in transmission connection with the supporting arm (4).
  7. 7. The automatic ACFM alternating current magnetic field detection robot is characterized in that one end of a telescopic component (18) is connected with a disc (17), a plurality of adapter blocks (19) are distributed on the circumference of the surface of the disc (17), sliding blocks are connected to the adapter blocks (19) in a rotating mode, an opening d is formed in a supporting arm (4), a sliding groove is formed in the inner wall of the opening d, and the sliding blocks are connected with the sliding groove in a sliding mode.

Description

Automatic ACFM alternating current electromagnetic field detection robot Technical Field The invention relates to the technical field of detection robots, in particular to an automatic ACFM alternating current magnetic field detection robot. Background ACFM AC electromagnetic field detection is an advanced nondestructive detection method, and is mainly used for detecting and evaluating crack defects on the surface and near surface of conductive materials (such as steel, aluminum alloy and the like). The Chinese patent with publication number CN115350992A discloses a pay-off device for engineering survey and drawing, and by arranging an elastic telescopic scraping plate, the scraping plate is arranged on a swivel, and the swivel is linked with a bevel gear disc through a gear set, so that the device can automatically clean dirt in the advancing direction in the moving process, and the bad influence of the dirt on a detection result is prevented. However, the prior art has the defects that the conventional detection device can scrape dirt on the inner wall of a pipeline when the inner wall of the pipeline walks, but cannot dredge the blockage when the blockage exists in the pipeline, so that the detection device cannot perform normal detection operation in the pipeline, and certain limitation exists in use. Disclosure of Invention The invention aims at solving the problems in the background technology and provides an automatic ACFM alternating current magnetic field detection robot. The technical scheme of the invention is that the automatic ACFM alternating current magnetic field detection robot comprises: The dredging and cleaning mechanism comprises a cylinder body a, an air bag ball, a crushing cone, a rod a, a scraping part and an air pump, wherein the air bag ball is connected to one end of the crushing cone and one end of the cylinder a; The recovery mechanism comprises a cylinder b, a motor a, a rod b, a spiral conveying blade and a cylinder c, wherein the cylinder b is rotatably connected inside the cylinder a, the surface of the cylinder b is provided with a feed inlet, the surface of the cylinder a is provided with an opening a between two adjacent groups of scraping parts, the rod b is rotatably arranged inside the cylinder b, the spiral conveying blade is arranged on the rod b, the motor a is arranged on the cylinder b, the output end of the motor a is connected with the rod b, the cylinder b is provided with a discharge outlet near the motor a, the cylinder c is connected to the outer side of the cylinder b, the cylinder b is provided with the motor b, the motor b is in transmission connection with the cylinder a, and a plurality of TMR sensors, exciting coils and cameras are distributed on the circumference of the outer surface of the cylinder c; and the walking mechanism is connected with the cylinder c and used for driving the recovery mechanism and the dredging and cleaning mechanism to move in the pipeline. Preferably, the crushing cone is conical and the surface thereof is provided with helical crushing blades. Preferably, the scraping part comprises a hollow plate, a scraping plate and a spring, wherein the hollow plate is connected with the cylinder a, the scraping plate is arranged in the hollow plate in a sliding mode, the spring is connected to the scraping plate and the inner wall of the hollow plate, and an inclined plane is arranged at the top end of the scraping plate. Preferably, the surface of the cylinder a is provided with a gear ring, and the output end of the motor b is connected with a gear meshed with the gear ring. Preferably, a partition plate is arranged in the cylinder c and divides the inside of the cylinder c into an isolation cavity and a recovery cavity, the motor a is positioned in the isolation cavity, the discharge hole is positioned in the recovery cavity, a cleaning hole is formed in the cylinder c, and a sealing plug is arranged in the cleaning hole. The walking mechanism comprises a cylinder d, a supporting arm, rollers, a motor c and a telescopic component, wherein the cylinder d is connected with the cylinder c, a plurality of circumferentially distributed openings b are formed in the cylinder d, one end of the supporting arm is rotatably connected inside the openings b, the other end of the supporting arm is provided with the openings c, the rollers are rotatably arranged inside the openings c, the motor c is arranged on the supporting arm, the output end of the motor c is connected with the rollers, and the telescopic component is arranged inside the cylinder d and is in transmission connection with the supporting arm. Preferably, one end of the telescopic component is connected with a disc, a plurality of conversion blocks are distributed on the circumference of the surface of the disc, the conversion blocks are rotatably connected with sliding blocks, an opening d is formed in the supporting arm, a sliding groove is formed in the inner wall of the open