The application is suitable for the field of
nondestructive testing equipment, and provides an automatic
crawling scanning vehicle for
rust removal based on full-focus detection, which comprises a scanning vehicle body, magnetic force wheels located at the bottom of the scanning vehicle body, an angle adjusting device located at the front end of the scanning vehicle body, a buffer device located at the output end in front of the angle adjusting device, a
polishing device installed at the front end of the buffer device, a
rust removal wheel body on the
polishing device, a scanning device at the
tail end of the scanning vehicle body, and a visual guiding unit installed at the top of the scanning vehicle body; the angle adjusting device is used for adjusting the buffer
stroke of the buffer device, so that the buffer
stroke direction and the ground form an
acute angle; the scanning device comprises a
scanner which can scan back and forth along the width direction of the scanning vehicle body, and the
scanner is internally provided with a 3D full-focus
ultrasonic imaging assembly and a
visual detection unit. Therefore, the device realizes integrated operation of
rust removal, ultrasonic full-focus detection and
magnetic powder detection, completes the detection operation in a restricted space, and meets the
nondestructive testing requirements of
metal structure welds.