An offset roller magnetic crawling device

Abstract

The present invention relates to an offset roller magnetic crawling device, comprising a vehicle body, a pair of crawling roller mechanisms and a driving mechanism, wherein the pair of crawling roller mechanisms are respectively arranged on both sides of the vehicle body, each of the crawling roller mechanisms comprises a pair of magnetic roller groups capable of adsorbing on the surface of an object to be detected, and the driving mechanism drives the pair of magnetic roller groups to rotate, so that the vehicle body moves along the surface of the object to be detected under the drive of the pair of crawling roller mechanisms. The offset roller magnetic crawling device comprises a plurality of magnetic roller groups, wherein the magnetic roller comprises a pair of magnet rings and a magnetic isolation ring sandwiched between the pair of magnet rings, and the magnet ring is made of a magnet material with super strong adsorption force, so that the adsorption capacity of the offset roller magnetic crawling device can be maximized, so that it is always firmly adsorbed on the surface of the object to be detected during the entire crawling process.

Description

Technical Field

[0001] The present invention relates to the field of detection of the outer surface of conveying equipment in the petrochemical industry, and in particular to an offset roller magnetic crawling device capable of carrying various detection instrument probes and automatically crawling along the outer surfaces of various large tanks, pipelines and other conveying equipment in the petrochemical industry. Background Art

[0002] In various links of the petrochemical industry, a large number of oil storage tanks, pipelines and other transportation equipment are used. Since some liquids used in industrial applications are corrosive, long-term use will cause corrosion to the surfaces of oil storage tanks, pipelines and other transportation equipment; on the other hand, in actual production activities, there are also certain external environmental factors (such as rain, wind and sand, etc.) that will cause defects on the surfaces of these tanks, pipelines and other transportation equipment. If such corrosion or damage cannot be discovered and repaired by engineering maintenance personnel in time, it will undoubtedly become a major safety hazard. Especially in the petrochemical industry, once the corrosion or damage of the walls of these oil storage tanks, pipelines or other transportation equipment leads to leakage of oil or other chemical products, it may cause immeasurable property losses and may even cause casualties.

[0003] In order to avoid such property losses or casualties, the engineering maintenance personnel must periodically inspect the integrity of the outer surfaces of various equipment used to identify potential safety hazards. At present, the inspection methods used in the petrochemical industry mostly adopt manual scanning and detection methods, which have many problems such as low detection efficiency and large detection errors. Especially when inspecting large tanks or pipelines with a certain height, when detecting damage to the outer surface at a higher position, the height of the inspector is limited, which may cause greater errors. Even if the inspector can use auxiliary equipment such as elevators to rise to a higher position for inspection, such high-altitude operations take a long time and are limited by the area of ​​the operating area and the maximum lifting height of the auxiliary equipment. It itself poses a great threat to the personal safety of the inspector himself. Summary of the invention

[0004] The present invention aims to provide an offset roller magnetic crawling device which can carry various detection instrument probes, adsorb on the outer surface of various equipment and automatically crawl along the surface.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] The offset roller magnetic crawling device of the present invention includes a vehicle body, a pair of crawling roller mechanisms and a driving mechanism, wherein the pair of crawling roller mechanisms are respectively arranged on both sides of the vehicle body, each of the crawling roller mechanisms includes a pair of magnetic roller groups that can be adsorbed on the surface of the object to be detected, and the driving mechanism drives the pair of magnetic roller groups to rotate so that the vehicle body moves along the surface of the object to be detected under the drive of the pair of crawling roller mechanisms.

[0007] Furthermore, the pair of crawling roller mechanisms are rotatably arranged on both sides of the vehicle body in an asymmetrical manner, and the setting height of the crawling roller mechanism arranged on one side of the vehicle body is higher than the setting height of the crawling roller mechanism arranged on the other side of the vehicle body.

[0008] Furthermore, each of the crawling roller mechanisms further includes an inner guard plate and a motor pulley arranged in a triangle with the pair of magnetic roller groups, wherein the driving mechanism is fixed on the inner guard plate, and the pair of magnetic roller groups are respectively fixed on the outer sides of the inner guard plate, and their bottoms protrude from the bottom of the vehicle body, and the motor pulley is connected to the output shaft of the driving mechanism and rotates clockwise or counterclockwise under the drive of the driving mechanism; the pair of magnetic roller groups are connected to the motor pulley via a synchronous belt and rotate clockwise or counterclockwise under the drive of the motor pulley.

[0009] Furthermore, each of the magnetic roller groups further includes a roller shaft and a magnetic roller and a synchronous pulley respectively mounted on the roller shaft, wherein the synchronous pulley is connected to the motor pulley via a synchronous belt and rotates under the drive of the motor pulley, and the magnetic roller is connected to the synchronous pulley, so as to rotate synchronously under the drive of the synchronous pulley; one end of the roller shaft is connected to the inner guard plate of the crawling roller mechanism.

[0010] Furthermore, each of the magnetic roller groups further includes a roller shaft, a roller sleeve, a magnetic roller, a clamping ring and a synchronous pulley. The roller sleeve is provided with a roller sleeve inner hole for the roller shaft to pass through, and a first large diameter portion is provided on the outer wall thereof. The magnetic roller is arranged on the first large diameter portion of the roller sleeve and is clamped on the roller sleeve via the clamping ring. The synchronous pulley is sleeved and fixed on the other side of the roller sleeve relative to the clamping ring. The synchronous pulley is connected to the motor pulley via a synchronous belt and rotates under the drive of the motor pulley. The magnetic roller rotates synchronously under the drive of the synchronous pulley. One end of the roller shaft is connected to the inner guard plate of the crawling roller mechanism.

[0011] Furthermore, the outer wall surface of the roller sleeve is provided with an outer small diameter portion, the first large diameter portion, a large diameter ring and an inner small diameter portion in sequence, wherein the clamping ring is sleeved on the outer small diameter portion and fixed to the roller sleeve via end face bolts, and the magnetic roller is clamped between the clamping ring and the large diameter ring; the synchronous pulley is sleeved on the inner small diameter portion and fixed to the roller sleeve via end face bolts.

[0012] Furthermore, bearing mounting holes are respectively arranged on both sides of the inner hole of the roller sleeve, a pair of bearings are respectively arranged in the bearing mounting holes, and the roller shaft passes through the inner ring of the bearing.

[0013] Furthermore, the magnetic roller includes a pair of magnet rings and a magnetic isolation ring sandwiched between the pair of magnet rings.

[0014] Furthermore, each of the crawling roller mechanisms also includes an outer guard plate arranged opposite to the inner guard plate, and the other end of the roller shaft is connected to the outer guard plate; a plurality of connecting rods are arranged between the inner guard plate and the outer guard plate to fix the inner guard plate and the outer guard plate together and maintain the interval between the two.

[0015] Furthermore, the driving mechanism is a DC reduction motor, which is fixed to the side of the inner guard plate close to the vehicle body, and the output shaft of the DC reduction motor is connected to the motor pulley, and the motor pulley rotates under the drive of the DC reduction motor; a through hole is opened on the inner guard plate for the output shaft to pass through the through hole; the aperture of the through hole is larger than the diameter of the output shaft.

[0016] Furthermore, the pair of crawling roller mechanisms are driven by different DC reduction motors respectively.

[0017] Furthermore, the pair of crawling roller mechanisms are respectively arranged on both sides of the vehicle body through a mounting shaft, wherein one end of the mounting shaft is fixed to the side of the vehicle body, and the other end thereof passes through the inner guard plate and is fastened by a fastener on the outer side of the inner guard plate, and the crawling roller mechanism can rotate relative to the vehicle body with the mounting shaft as the axis.

[0018] Furthermore, a circular ring-shaped mounting sleeve is further provided on the inner guard plate, a mounting shaft hole is opened on the mounting sleeve, a small diameter portion is provided at the other end of the mounting shaft, and a threaded portion is provided at the end of the small diameter portion, the small diameter portion passes through the mounting shaft hole, and is screwed to the threaded portion of the mounting shaft by a nut on the outer side of the inner guard plate.

[0019] Compared with the prior art, the offset roller magnetic crawling device described in the present invention has the following advantages: first, the offset roller magnetic crawling device includes a plurality of magnetic roller groups that can be adsorbed on the surface of the object to be detected, and the magnetic rollers in the magnetic roller group are made of magnetic materials with super strong adsorption force, which effectively improves the adsorption capacity; second, the magnetic roller includes a pair of magnet rings and a magnetic isolation ring sandwiched between the pair of magnet rings, so that the adsorption capacity of the offset roller magnetic crawling device can be maximized; third, the two crawling roller mechanisms of the offset roller magnetic crawling device are rotatable. It is arranged on both sides of the vehicle body, which effectively improves the working flexibility of the magnetic crawling device; fourthly, the two crawling roller mechanisms of the offset roller magnetic crawling device are respectively arranged on both sides of the vehicle body in an offset manner, so that when one of the magnetic rollers of the magnetic crawling device passes through the concave and convex position on the surface of the object to be detected, the other three magnetic rollers are ensured to be adsorbed on the metal surface at all times; fifthly, the two crawling roller mechanisms are driven by independent DC reduction motors, and the crawling trajectory of the magnetic crawling device is adjusted by respectively controlling two independent DC reduction motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will be apparent from the following description of preferred embodiments and accompanying drawings which illustrate the subject matter of the present invention and its use, in which:

[0021] Figure 1 It is a three-dimensional diagram of the offset roller magnetic crawling device of the present invention;

[0022] Figure 2 It is a front view of the offset roller magnetic crawling device of the present invention;

[0023] Figure 3 It is a side view of the offset roller magnetic crawling device of the present invention;

[0024] Figure 4 For along Figure 2 Partial cross-sectional view along line AA;

[0025] Figure 5 It is a structural schematic diagram of the crawling roller mechanism of the present invention;

[0026] Figure 6 It is a cross-sectional view of the magnetic roller assembly of the crawling roller mechanism of the present invention;

[0027] Figure 7 It is a schematic diagram of the working state of the offset roller magnetic crawling device described in the present invention.

[0028]

Main component symbol description

[0029] Body 1 Connecting ear piece 11

[0030] Crawling roller mechanism 2

[0031] Magnetic roller set 21, 22

[0032] Roller shaft 211 Synchronous pulley 212

[0033] Roller sleeve 213

[0034] Roller sleeve inner hole 2131 First large diameter portion 2132

[0035] Outer small diameter portion 2133 Inner small diameter portion 2134

[0036] Large diameter encirclement 2135

[0037] Clamping ring 214 Bearing 215

[0038] Motor pulley 23 Synchronous belt 24

[0039] End bolt 25

[0040] Magnet ring 261 Magnetic isolation ring 262

[0041] Inner guard plate 271 Outer guard plate 272

[0042] Through hole 273 Mounting sleeve 274

[0043] Mounting shaft hole 275

[0044] Connecting rod 28

[0045] Nut 291 Washer 292

[0046] Output shaft 31 DC reduction motor 32

[0047] DC reduction motor connector 33

[0048] Install axis 4

[0049] Small diameter portion 41 Threaded portion 42

[0050] Surface of the object to be detected 5 Protrusion 51 DETAILED DESCRIPTION

[0051] The offset roller magnetic crawling device of the present invention is described below with reference to the accompanying drawings.

[0052] like Figure 1-7As shown, the offset roller magnetic crawling device described in the present invention includes a body 1, a pair of crawling roller mechanisms 2 and a driving mechanism, wherein the pair of crawling roller mechanisms 2 are respectively arranged on both sides of the body 1, and each of the crawling roller mechanisms 2 includes a pair of magnetic roller groups 21, 22, and the magnetic roller groups 21, 22 are made of magnetic material so that they can be firmly adsorbed on the surface 5 of the object to be detected, and the driving mechanism drives the pair of magnetic roller groups 21, 22 to rotate, so that the body 1 moves along the surface 5 of the object to be detected under the drive of the pair of crawling roller mechanisms 2.

[0053] In such Figure 1 In the specific embodiment of the body body 1 shown, the body body 1 is a rectangular parallelepiped structure, the pair of crawling roller mechanisms 2 are respectively arranged on a pair of long sides of the body body 1 of the rectangular parallelepiped structure, and a pair of connecting ears 11 are further arranged on a pair of short sides of the body body 1, and various detection instrument probe devices that need to be carried on the offset roller magnetic crawling device are fixed to the crawling device via the connecting ears 11, so that when the offset roller magnetic crawling device crawls along the surface 5 of the object to be detected, the corrosion and / or damage of the surface 5 of the object to be detected can be detected one by one by the various detection instrument probe devices carried. The various detection instrument probe devices are further connected to a data processing device, and the data processing device receives data related to corrosion and / or damage of the surface 5 of the object to be detected obtained by the various detection instrument probe devices, and the data processing device processes and analyzes the received relevant data to locate the corrosion and / or damage on the surface 5 of the object to be detected, and sends the detection results to engineering maintenance personnel or other relevant personnel.

[0054] In other embodiments of the present invention, the various types of detection instrument probe devices are further connected to a display mechanism, which receives images captured in real time by the various types of detection instrument probe devices that can reflect the corrosion and / or damage conditions of the surface 5 of the object to be detected, and the display mechanism displays the received image data clearly to the on-site engineering maintenance personnel in the most intuitive manner, so that these on-site engineering maintenance personnel can make timely analysis of the observed corrosion and / or damage conditions, and can even propose countermeasures for a certain corrosion and / or damage at the first time.

[0055] In one embodiment of the present invention, the two crawling roller mechanisms 2 of the offset roller magnetic crawling device are symmetrically arranged on both sides of the vehicle body 1. In other words, when the offset roller magnetic crawling device is as follows Figure 7When placed vertically in the manner shown, the setting height of the crawling roller mechanism 2 arranged on one side of the vehicle body 1 is the same as the setting height of the crawling roller mechanism 2 arranged on the other side of the vehicle body 1.

[0056] Furthermore, in order to ensure that when one of the magnetic roller groups 21 of the crawling roller mechanism 2 on one side of the offset roller magnetic crawling device of the present invention passes through the protrusion 51 (such as Figure 7 As shown) or in a recessed position, the other three magnetic roller groups (including another magnetic roller group 22 of the crawling roller mechanism 2 on the side and two magnetic roller groups 21, 22 of the crawling roller mechanism 2 on the other side) are guaranteed to be adsorbed on the surface 5 of the object to be detected, and provide power to maintain the stable crawling of the offset roller magnetic crawling device, and the two crawling roller mechanisms 2 of the offset roller magnetic crawling device are respectively arranged on both sides of the vehicle body 1 in an offset manner; in other words, when the offset roller magnetic crawling device is as shown Figure 6 When placed vertically in the manner shown, with the center line of the vehicle body 1 as a reference line, the pair of crawling roller mechanisms 2 are rotatably arranged on both sides of the vehicle body 1 in an asymmetrical manner. Specifically, the crawling roller mechanism 2 arranged on one side of the vehicle body 1 is arranged at a higher height than the crawling roller mechanism 2 arranged on the other side of the vehicle body 1. Figure 2 As shown, the relatively upper magnetic roller group 21 in the crawling roller mechanism 2 arranged on the right side of the vehicle body 1 is not on the same horizontal line as the relatively upper magnetic roller group 21 in the left crawling roller mechanism 2, and the height of the relatively upper magnetic roller group 21 in the right crawling roller mechanism 2 is higher than the height of the relatively upper magnetic roller group 21 in the left crawling roller mechanism 2.

[0057] Furthermore, in Figure 5In a specific embodiment of the crawling roller mechanism 2 described in the present invention shown, the crawling roller mechanism 2 includes an inner guard plate 271 and a motor pulley 23 arranged in a triangle with the pair of magnetic roller groups 21 and 22, wherein the pair of magnetic roller groups 21 and 22 are respectively fixed to the outer sides of the inner guard plate 271, and their bottoms protrude from the bottom of the vehicle body 1, and when the pair of magnetic roller groups 21 and 22 are adsorbed on the surface 5 of the object to be detected, their bottoms are in contact with the surface 5 of the object to be detected, and since each of the magnetic roller groups 21 and 22 protrudes from the bottom of the vehicle body 1 to a considerable extent, at this time, the bottom of the vehicle body 1 is parallel to the surface 5 of the object to be detected. The motor pulley 23 is connected to the output shaft 31 of the driving mechanism and rotates clockwise or counterclockwise under the drive of the driving mechanism; the pair of magnetic rollers 21 and 22 are connected to the motor pulley 23 via a synchronous belt 24 and rotate synchronously in a clockwise or counterclockwise direction under the drive of the motor pulley 23. Specifically, Figure 5 As shown, the synchronous belt 24 is arranged in a triangular shape around the pair of magnetic roller groups 21, 22 and the motor pulley 23, and the pair of magnetic roller groups 21, 22 and the motor pulley 23 respectively have a portion of their outer periphery in contact with the synchronous belt 24.

[0058] In one embodiment of the magnetic roller group, each of the magnetic roller groups further includes a roller shaft 211 and a magnetic roller and a synchronous pulley 212 respectively mounted on the roller shaft 211, wherein the synchronous pulley 212 is connected to the motor pulley 23 via a synchronous belt 24 and rotates under the drive of the motor pulley 23, and the magnetic roller is connected to the synchronous pulley 212, so as to rotate synchronously around the roller shaft 211 under the drive of the synchronous pulley 212; one end of the roller shaft 211 is connected to the inner guard plate 271 of the crawling roller mechanism 2.

[0059] Preferably, if Figure 6As shown, it shows a cross-sectional view of a preferred embodiment of the magnetic roller group of the crawling roller mechanism of the present invention, wherein each of the magnetic roller groups further includes a roller shaft 211, a roller sleeve 213, a magnetic roller, a clamping ring 214 and a synchronous pulley 212, the roller sleeve 213 is provided with a roller sleeve inner hole 2131 for the roller shaft 211 to pass therethrough, and its outer wall surface is provided with a first large diameter portion 2132, the magnetic roller is arranged on the first large diameter portion 2132 of the roller sleeve 213, and is clamped on the roller sleeve 213 via the clamping ring 214, and the synchronous pulley 212 is sleeved and fixed on the roller sleeve 213 relative to the clamping ring On the other side of 214, the synchronous belt 24 is triangularly arranged around two synchronous pulleys 212 of a pair of magnetic roller groups and a motor pulley 23 located on the same side of the vehicle body 1, and the two synchronous pulleys 212 and the motor pulley 23 respectively have part of their outer circumference in contact with the synchronous belt 24, so that the two synchronous pulleys 212 located on the same side of the vehicle body 1 are connected to the motor pulley 23 via the synchronous belt 24 at the same time, and rotate synchronously under the drive of the motor pulley 23, and the magnetic roller rotates synchronously under the drive of the synchronous pulley 212; one end of the roller shaft 211 is connected to the inner guard plate 271 of the crawling roller mechanism 2.

[0060] Furthermore, in order to make the movement of the motor pulley 23 driving the pair of magnetic roller groups 21 and 22 via the synchronous belt 24 smoother and achieve a better driving effect, in a preferred embodiment of the present invention, small protrusions can be further provided on the outer periphery of the two synchronous pulleys 212 and the motor pulley 23 to increase the friction coefficient between the inner surface of the synchronous belt 24 and the pair of magnetic roller groups 21 and 22 in contact therewith and the outer periphery of the motor pulley 23, and the small protrusions as described above can be circular protrusions, tooth-shaped protrusions or protrusions of other shapes.

[0061] Alternatively, in another embodiment of the crawling roller mechanism, the two magnetic roller groups 21, 22 of the crawling roller mechanism are connected to the motor pulley 23 via two different synchronous belts. Specifically, the motor pulley 23 includes a driving pulley and a driven pulley that rotate synchronously, wherein the driving pulley is connected to the output shaft 31 of the driving mechanism and rotates under the drive of the driving mechanism. It is connected to one of the magnetic roller groups 21 in the crawling roller mechanism via a synchronous belt, so that it rotates under the drive of the driving pulley of the motor pulley 23; the driven pulley is connected to the other magnetic roller group 22 in the crawling roller mechanism via another synchronous belt, so that it rotates under the drive of the driven pulley of the motor pulley 23. Since the rotation between the driving pulley and the driven pulley is synchronous, the rotations of the two magnetic roller groups 21, 22 driven by the driving pulley and the driven pulley respectively are also synchronized with each other.

[0062] Furthermore, if Figure 6 As shown, the outer wall surface of the roller sleeve 213 is provided with an outer small diameter portion 2133, the first large diameter portion 2132, a large diameter ring 2135 and an inner small diameter portion 2134 in sequence, wherein the clamping ring 214 is sleeved on the outer small diameter portion 2133 and fixed to the roller sleeve 213 via end bolts 25. Under the joint action of the clamping ring 214 and the large diameter ring 2135, the magnetic roller is clamped between the clamping ring 214 and the large diameter ring 2135, thereby ensuring that no relative angular displacement occurs between the magnetic roller and the roller sleeve 213; the synchronous pulley 212 is sleeved on the inner small diameter portion 2134 and fixed to the roller sleeve 213 via end bolts 25. When the synchronous pulley 212 rotates under the drive of the motor pulley 23, the synchronous pulley 212 drives the roller sleeve 213 to rotate around the roller shaft 211, and the roller sleeve 213 further drives the magnetic roller to rotate.

[0063] Furthermore, in order to make the rotation of the roller sleeve 213 around the roller shaft 211 smoother and not be affected by the possible friction between the two, Figure 6In the specific embodiment shown, a pair of bearings 215 are further arranged between the roller sleeve 213 and the roller shaft 211. Specifically, the inner diameter of the roller sleeve inner hole 2131 opened at the center position of the roller sleeve 213 is larger than the outer diameter of the roller shaft 211, and bearing mounting holes are respectively arranged on both sides of the roller sleeve inner hole 2131 for the pair of bearings 215 to be respectively arranged in the bearing mounting holes, wherein the outer ring diameter of the bearing 215 corresponds to the inner diameter of the bearing mounting hole, and the inner ring inner diameter of the bearing 215 corresponds to the inner diameter of the roller sleeve inner hole 2131, and the roller shaft 211 passes through the inner ring of the bearing 215.

[0064] In a preferred embodiment of the present invention, the magnetic roller is made of a strong neodymium iron boron magnet material, so as to ensure that the offset roller magnetic crawling device is firmly adsorbed on the metal surface of the object to be detected, and can even be firmly adsorbed on the metal surface of the object to be detected coated with multiple layers of paint. In order to maximize the adsorption force between the magnetic roller of the offset roller magnetic crawling device and the surface 5 of the object to be detected, as Figure 6 As shown, the magnetic roller of the present invention preferably has the following structure. Specifically, the magnetic roller includes a pair of magnet rings 261 and a magnetic isolation ring 262 sandwiched between the pair of magnet rings 261 .

[0065] Furthermore, in Figure 1 , 2 In a preferred embodiment of the present invention shown, in order to prevent the external operating environment factors from affecting the offset roller magnetic crawling device, each crawling roller mechanism 2 further includes an outer guard plate 272 arranged opposite to the inner guard plate 271, and one end of the roller shaft 211 is connected to the inner guard plate 271 of the crawling roller mechanism 2, and the other end thereof is connected to the outer guard plate 272. Specifically, as Figure 1 , 2 , 6, both ends of the roller shaft 211 are respectively provided with threads, and the threaded ends are respectively passed through the matching through holes opened on the inner guard plate 271 and the outer guard plate 272, and nuts 291 matching the threaded ends are respectively provided on the other side of the inner guard plate 271 and the outer guard plate 272, and the nuts 291 are respectively fastened to the threaded ends on both sides of the roller shaft 211, so as to realize the connection and fixation of the roller shaft 211 with the inner and outer guard plates 271, 27. More preferably, washers 292 are respectively provided between the inner and outer guard plates 271, 27 and the roller sleeve 213.

[0066] In practical applications, if the inner guard plate 271 and the outer guard plate 272 are connected only by the roller shaft 211, the connection strength is insufficient. Figure 1 As shown, since the two magnetic rollers of the crawling roller mechanism 2 are arranged at the bottom of the crawling roller mechanism 2, the roller shaft 211 is able to connect the inner guard plate 271 and the outer guard plate 272 at the bottom of the crawling roller mechanism 2, while at the top of the crawling roller mechanism 2, that is, on the side close to the motor pulley 23, there is no connection, resulting in insufficient connection strength. In order to compensate for the problem of insufficient connection strength as mentioned above, a plurality of connecting rods 28 may be further provided between the inner guard plate 271 and the outer guard plate 272 to fix the inner guard plate 271 and the outer guard plate 272 together while maintaining a spacing therebetween. Specifically, the connecting rod 28 has a structure similar to that of the roller shaft 211, and threads are respectively provided at both ends thereof. The threaded ends are respectively passed through matching through holes opened on the inner guard plate 271 and the outer guard plate 272, and nuts 28 matching the threaded ends are provided on the other sides of the inner guard plate 271 and the outer guard plate 272. The nuts 28 are respectively fastened to the threaded ends on both sides of the roller shaft 211, thereby realizing the connection and fixation of the roller shaft 211 with the inner and outer guard plates 271, 272.

[0067] On the other hand, in order to ensure that when one of the magnetic roller groups 21 of the crawling roller mechanism 2 of the offset roller magnetic crawling device of the present invention passes through the protrusion 51 (such as Figure 6 , 7 ) or recessed position, the other three magnetic roller groups (including another magnetic roller group 22 of the crawling roller mechanism 2 on the side and two magnetic roller groups 21, 22 of the crawling roller mechanism 2 on the other side) are guaranteed to be adsorbed on the surface 5 of the object to be detected, and provide power to maintain the stable crawling of the offset roller magnetic crawling device, and the pair of crawling roller mechanisms 2 can rotate respectively relative to the vehicle body 1. In other words, the pair of crawling roller mechanisms 2 are rotatably arranged on both sides of the vehicle body 1.

[0068] Specifically, in Figure 1-5In the specific embodiment of the present invention shown, the pair of crawling roller mechanisms 2 are respectively arranged on both sides of the vehicle body 1 through the mounting shaft 4, wherein one end of the mounting shaft 4 is fixed to the side of the vehicle body 1, and the other end thereof passes through the inner guard plate 271 and is fastened by fasteners on the outer side of the inner guard plate 271, and the crawling roller mechanism 2 can rotate relative to the vehicle body 1 with the mounting shaft 4 as the axis.

[0069] More preferably, the inner guard plate 271 is further provided with a ring-shaped mounting sleeve 274, the mounting sleeve 274 is provided with a mounting shaft hole 275, the other end of the mounting shaft 4 is provided with a small diameter portion 41 whose diameter matches the mounting shaft hole 275, and a threaded portion 42 is provided at the end of the small diameter portion 41, the small diameter portion 41 passes through the mounting shaft hole 275, and is screwed to the threaded portion 42 of the mounting shaft 4 by a nut 43 on the outer side of the inner guard plate 271, thereby realizing the rotation of the crawling roller mechanism 2 relative to the vehicle body 1 with the mounting shaft 4 as the axis.

[0070] Furthermore, if Figure 1 As shown, in order to ensure the normal operation of the driving mechanism, the driving mechanism can be fixed on the crawling roller mechanism 2, preferably, the driving mechanism can be fixed on the inner guard plate 271.

[0071] More preferably, the driving mechanism is a DC reduction motor 32, which is fixed to a side of the inner guard plate 271 close to the vehicle body 1 via a DC reduction motor connecting piece 33, and the output shaft 31 of the DC reduction motor 32 is connected to the motor pulley 23, and the motor pulley 23 rotates under the drive of the DC reduction motor 32. A through hole 273 is provided on the inner guard plate 271, so that the output shaft 31 can pass through the through hole 273.

[0072] When the crawling roller mechanism 2 rotates relative to the vehicle body 1, the output shaft 31 will move to a certain extent along with the crawling roller mechanism 2. In order to prevent such displacement from causing the output shaft 31 to contact the hole wall of the through hole 273, the hole diameter of the through hole 273 is larger than the diameter of the output shaft 31. The specific size of the through hole 273 is preferably larger than the moving range of the output shaft 31.

[0073] In the present invention, Figure 1 In the preferred embodiment shown, the two crawling roller mechanisms 2 arranged on both sides of the fuselage body 1 are independently driven by different DC reduction motors 32, thereby achieving the adjustment of the crawling trajectory of the offset roller magnetic crawling device.

[0074] Although the present invention is described herein by way of embodiments, those skilled in the art will recognize that many modifications and variations may be made to the present invention without departing from the spirit and substance of the invention, the scope of which is defined by the appended claims.

Claims

1. An offset roller magnetic crawling device, characterized in that: The invention comprises a vehicle body (1), a pair of crawling roller mechanisms (2) and a pair of driving mechanisms, wherein the pair of crawling roller mechanisms (2) are rotatably arranged on both sides of the vehicle body (1) in an asymmetrical manner, the crawling roller mechanism (2) arranged on one side of the vehicle body (1) is arranged at a higher height than the crawling roller mechanism (2) arranged on the other side of the vehicle body (1), each crawling roller mechanism (2) comprises an inner guard plate (271), a pair of magnetic roller groups (21, 22) fixed to the outer side of the inner guard plate (271) and capable of being adsorbed on the surface (5) of the object to be detected, and a motor pulley (23) driven by the driving mechanism, the pair of magnetic roller groups The pair of magnetic rollers (21, 22) are arranged in a triangle with the motor pulley (23) and are connected via a synchronous belt (24); the pair of magnetic roller groups (21, 22) rotate under the drive of the motor pulley (23), so that the vehicle body (1) moves along the surface (5) of the object to be detected under the drive of the pair of crawling roller mechanisms (2); the bottoms of the pair of magnetic roller groups (21, 22) protrude from the bottom of the vehicle body (1); the inner side guard plates of the pair of crawling roller mechanisms (2) are rotatably connected to the two sides of the vehicle body (1) through the mounting shafts (4), so that each of the crawling roller mechanisms (2) can rotate relative to the vehicle body (1) with the corresponding mounting shaft (4) as the axis.

2. The offset roller magnetic crawling device according to claim 1, characterized in that: The driving mechanism is fixed to the other side of the inner guard plate (271) relative to the magnetic roller group (21, 22); the motor pulley (23) is connected to the output shaft (31) of the driving mechanism and rotates clockwise or counterclockwise under the drive of the driving mechanism; the pair of magnetic roller groups (21, 22) rotate clockwise or counterclockwise under the drive of the motor pulley (23).

3. The offset roller magnetic crawling device according to claim 2, characterized in that: Each of the magnetic roller groups comprises a roller shaft (211), a magnetic roller and a synchronous pulley (212) respectively sleeved on the roller shaft (211), wherein the synchronous pulley (212) is connected to the motor pulley (23) via a synchronous belt (24) and rotates under the drive of the motor pulley (23), and the magnetic roller is connected to the synchronous pulley (212), so as to rotate synchronously under the drive of the synchronous pulley (212); one end of the roller shaft (211) is connected to the inner side guard plate (271) of the crawling roller mechanism (2).

4. The offset roller magnetic crawling device according to claim 2, characterized in that: Each of the magnetic roller assemblies comprises a roller shaft (211), a roller sleeve (213), a magnetic roller, a clamping ring (214) and a synchronous pulley (212); the roller sleeve (213) is provided with a roller sleeve inner hole (2131) for the roller shaft (211) to pass through. The outer wall surface thereof is provided with a first large diameter portion (2132); the magnetic roller is arranged on the first large diameter portion (2132) of the roller sleeve (213) and is pressed onto the roller sleeve (213) via the clamping ring (214); the synchronous pulley (212) is sleeved and fixed on the other side of the roller sleeve (213) relative to the clamping ring (214); the synchronous pulley (212) is connected to the motor pulley (23) via a synchronous belt (24) and rotates under the drive of the motor pulley (23); the magnetic roller rotates synchronously under the drive of the synchronous pulley (212); one end of the roller shaft (211) is connected to the inner side guard plate (271) of the crawling roller mechanism (2).

5. The offset roller magnetic crawling device according to claim 4, characterized in that: The outer wall surface of the roller sleeve (213) is provided with an outer small diameter portion (2133), the first large diameter portion (2132), a large diameter ring (2135) and an inner small diameter portion (2134) in sequence, wherein the clamping ring (214) is sleeved on the outer small diameter portion (2133) and fixed to the roller sleeve (213) via end bolts (25), and the magnetic roller is clamped between the clamping ring (214) and the large diameter ring (2135); the synchronous pulley (212) is sleeved on the inner small diameter portion (2134) and fixed to the roller sleeve (213) via end bolts (25).

6. The offset roller magnetic crawling device according to claim 5, characterized in that: Bearing mounting holes are respectively arranged on both sides of the inner hole (2131) of the roller sleeve, a pair of bearings (215) are respectively arranged in the bearing mounting holes, and the roller shaft (211) passes through the inner rings of the bearings (215).

7. The offset roller magnetic crawling device according to any one of claims 3 to 6, characterized in that: The magnetic roller comprises a pair of magnet rings (261) and a magnetic isolation ring (262) sandwiched between the pair of magnet rings (261).

8. The offset roller magnetic crawling device according to claim 7, characterized in that: Each of the crawling roller mechanisms (2) further comprises an outer guard plate (272) arranged opposite to the inner guard plate (271), and the other end of the roller shaft (211) is connected to the outer guard plate (272); a plurality of connecting rods (28) are arranged between the inner guard plate (271) and the outer guard plate (272) to fix the inner guard plate (271) and the outer guard plate (272) together and maintain a spacing therebetween.

9. The offset roller magnetic crawling device according to claim 2, characterized in that: The driving mechanism is a DC reduction motor (32), the DC reduction motor (32) being fixed to a side of the inner guard plate (271) close to the vehicle body (1), the output shaft (31) of the DC reduction motor (32) being connected to the motor pulley (23), the motor pulley (23) rotating under the drive of the DC reduction motor (32); a through hole (273) is provided on the inner guard plate (271) for the output shaft (31) to pass through the through hole (273); the aperture of the through hole (273) is larger than the diameter of the output shaft (31).

10. The offset roller magnetic crawling device according to claim 9, characterized in that: The pair of crawling roller mechanisms (2) are driven respectively by different DC reduction motors (32).

11. The offset roller magnetic crawling device according to claim 2, characterized in that: One end of the mounting shaft (4) is fixed to the side surface of the vehicle body (1), while the other end thereof passes through the inner guard plate (271) and is fastened by a fastener on the outer side of the inner guard plate (271).

12. The offset roller magnetic crawling device according to claim 11, characterized in that: The inner guard plate (271) is provided with a circular mounting sleeve (274), the mounting sleeve (274) is provided with a mounting shaft hole (275), the other end of the mounting shaft (4) is provided with a small diameter portion (41), and the end of the small diameter portion (41) is provided with a threaded portion (42), the small diameter portion (41) passes through the mounting shaft hole (275), and is screwed to the threaded portion (42) of the mounting shaft (4) by a nut (43) on the outer side of the inner guard plate (271).

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