Wheel type water-cooled wall thickness detection creeper-traveler and detection method thereof

Abstract

The invention relates to the field of nondestructive testing, and provides a wheel type water-cooled wall thickness detection creeper-traveler and a method. The crawling vehicle comprises a vehicle body, a driving structure with magnetic wheels on the two sides, a guide structure and a detection structure. The magnetic wheel adsorbs the water-cooled wall to provide driving force; the guide structure comprises an adjustable guide wheel which is embedded into a gap between adjacent seamless pipes and then clamps the pipe wall through a hydraulic expansion auxiliary wheel; the detection structure is linked with the holding frame through the slide rail, and when the first guide wheel and the second guide wheel hold the pipe wall, the insertion rod is triggered to be self-locked to fix the position of the electromagnetic ultrasonic thickness measuring probe; the top of the vehicle body is provided with a holder and a zoom camera. The method comprises the steps of adjusting the width of the guide wheel to adapt to the pipe diameter, conducting magnetic force driving steering, conducting probe self-adaptive attachment and conducting appearance visual inspection. According to the scheme, the problems of equipment crawling shaking, inaccurate probe positioning and blind area detection are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of non-destructive testing, and in particular to a wheeled water-cooled wall thickness detection crawler vehicle and a detection method thereof. Background Art

[0002] Water-wall thickness testing is crucial for the safe operation of high-temperature equipment such as boilers. Traditional testing relies on manual labor, which is inefficient and poses safety risks in high-temperature and high-pressure environments. Existing automated testing equipment still has shortcomings in adapting to varying pipe diameters, maintaining stable operation, and ensuring accurate testing. Some equipment struggles to adapt to varying seamless pipe diameters, leading to shaking or falling off during testing. Imperfect guide mechanisms can easily cause equipment to deviate from its intended path. Furthermore, loosely secured probes can lead to external interference affecting data accuracy.

[0003] Therefore, it is of great practical significance to develop a wheeled water-cooled wall thickness inspection crawling vehicle that can adapt to water-cooled walls of different specifications, crawl stably and detect accurately. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the existing test probe that cannot maintain the correct relative position with the water-cooled wall, the wall-climbing machine is prone to shaking when moving, and the appearance corrosion inspection cannot be performed in places that the crawling vehicle cannot reach. A wheeled water-cooled wall thickness detection crawling vehicle and a detection method are proposed.

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

[0006] A wheeled crawler vehicle for detecting the thickness of a water-cooled wall, comprising:

[0007] vehicle body;

[0008] At least two driving structures are fixed to both sides of the vehicle body, respectively, for driving the vehicle body to move, the driving structures include magnetic wheels, and the magnetic wheels can adsorb the driving structures on the water-cooled wall to ensure stable adsorption of the crawler vehicle;

[0009] A guide structure, provided on one side of one of the driving structures, for guiding the vehicle body to move forward stably on the water-cooled wall;

[0010] A detection structure is provided on one side of the vehicle body and located between the two driving structures, and is used to detect the wall thickness of the water-cooled wall during movement;

[0011] During the movement, the magnetic wheel absorbs the water-cooled wall, the driving structure drives the vehicle body to move, the guide structure stabilizes the forward direction, and the detection structure performs wall thickness detection.

[0012] In one possible design, the drive structure further includes a fixed baffle, a movable frame, two synchronous wheels, a synchronous belt, and a hub motor;

[0013] The fixed baffle is rigidly connected to one side of the mobile frame and is rigidly connected to the vehicle body. The fixed baffle is pivotally connected to two synchronous wheels, and the two synchronous wheels are connected by a synchronous belt transmission. One side of the central axis of the two synchronous wheels is rigidly connected to a magnetic wheel, and the rotating shaft of the magnetic wheel is pivotally connected to the mobile frame. The hub motor is used to drive one of the synchronous wheels to rotate. The top inner wall of the mobile frame is rigidly connected to a U-shaped frame. A guide wheel is pivotally connected to the U-shaped frame. The guide wheel cooperates with the synchronous belt to tension the synchronous belt.

[0014] Among them, the hub motor drives the synchronous wheel to rotate, and drives the magnetic wheel to rotate through the synchronous belt. The magnetic attraction of the magnetic wheel makes the crawler vehicle adsorbed on the water-cooled wall and move forward stably.

[0015] In one possible design, the guide structure includes a guide frame, two first slide rails, two first sliders, a first motor, a first cam, a first pin and two guide wheels;

[0016] The two first slide rails are rigidly connected to a side of one of the mobile frames away from the vehicle body, the outer walls of the two first slide rails are slidably connected to the first slider, the first slider is rigidly connected to the guide frame, the first motor is fixed to one side of the mobile frame through the frame, the output shaft of the first motor is rigidly connected to the first cam, the side of the first cam deviating from the center of the circle is rigidly connected to the first pin, the first pin is located below the guide frame and is used to control the lifting of the guide frame, the guide frame is pivotally connected to two guide wheels, and the guide wheels are adapted to fit between adjacent seamless pipes;

[0017] The first motor drives the first cam to rotate. When the first pin rod rotates downward, the guide frame moves downward under the action of gravity, so that the guide wheel enters between adjacent seamless tubes of the water-cooled wall.

[0018] In one possible design, the guide wheel includes a main wheel, two secondary wheels, a circular shaft, a plurality of hydraulic cylinders, a piston rod, a guide ring and an annular groove;

[0019] The main wheel is located between the two secondary wheels, and multiple pins are welded on both sides of the main wheel. Multiple pin grooves are provided on the side where the two secondary wheels are close to each other, and the pins slide in conjunction with the pin grooves. A circular shaft is rigidly passed through the main wheel, and both ends of the circular shaft pivotally pass through the guide frame. The two secondary wheels are slidingly sleeved on the outer wall of the circular shaft. Multiple hydraulic cylinders are rigidly connected to both sides of the main wheel, and piston rods are sealingly slidable in the hydraulic cylinders. One end of the piston rod is rigidly connected to the secondary wheel. A guide ring is rigidly connected to the side where the secondary wheels are close to each other. An annular groove is provided on both sides of the main wheel, and the guide ring slides and extends into the annular groove to seal.

[0020] The piston rod drives the secondary wheel to move outward to contact the seamless pipe, so that the guide wheel is stably clamped between the seamless pipes.

[0021] In a possible design, the guide wheel further includes a cavity, a bidirectional screw, a piston plate, a fixed cylinder and a nut block. A cavity is provided in the circular shaft, a bidirectional screw is pivotally connected in the cavity, one end of the bidirectional screw extends to one side of the circular shaft, multiple hydraulic cylinders are connected to the cavity through a hose, two piston plates are sealingly slidable in the cavity, the piston plate sealing sleeve is provided on the outer wall of the bidirectional screw, the two piston plates are rigidly connected to the fixed cylinder on the sides away from each other, the bidirectional screw seal passes through the fixed cylinder, the two fixed cylinders are rigidly connected with nut blocks, and the nut blocks are threadedly sleeved on the positive and negative thread segments of the bidirectional screw;

[0022] Among them, the bidirectional screw rotates through the nut block to drive the piston plates to move toward each other, squeezing the hydraulic oil into the hydraulic cylinder, causing the piston rod to extend and drive the secondary wheel to move.

[0023] In one possible design, the detection structure includes two connecting frames, a holding frame, a mounting sleeve, a probe, a second slide rail, a third slide rail, a second slider, a third slider, a guide rod, a bending rod, a first guide wheel, and a second guide wheel;

[0024] The two second slide rails are fixed to one side of the vehicle body, and the outer wall of the second slide rail is slidably connected to the second slider, and the third slide rail is rigidly connected to one side of the two second sliders, and the outer wall of the third slide rail is slidably connected to two third sliders, and the two third sliders are rigidly connected to the two connecting frames respectively. A plurality of guide rods are rigidly connected to the connecting frame, and the outer wall of the guide rod is slidably connected to the clamping frame, and the mounting sleeve rigidly passes through the clamping frame, and a probe is clamped and installed in the mounting sleeve, and the probe is a probe of an electromagnetic ultrasonic thickness gauge. The two sides of the clamping frame are pivotally connected to a bending rod, and the outer wall of the bending rod is pivotally connected to the first guide wheel, and the other two sides of the clamping frame are pivotally connected to the second guide wheel;

[0025] The cooperation between the slide rail and the slider enables the clamping frame to remain stable when clamping the seamless pipe.

[0026] In one possible design, the detection structure further includes a second motor, a second cam, and a second pin;

[0027] The second motor is fixed to one side of the vehicle body, the output shaft of the second motor is rigidly connected to the second cam, the side of the second cam that deviates from the center of the circle is rigidly connected to the second pin, and the second pin is located below the third slide rail;

[0028] The second motor drives the second cam to rotate, and the second pin rod controls the lifting and lowering of the third slide rail, so that the second guide wheel cooperates with the first guide wheel to hold the seamless pipe tightly.

[0029] In one possible design, the holding frame further includes a universal ball, a sliding groove, a sliding block, a driving wheel, a fixing ear, a fixing frame, a base block, a sliding rod, a moving rod, an L-shaped seat, a sliding cylinder, an insertion rod and a card slot;

[0030] Universal balls are pivotally connected to both sides of the clamping frame, and the universal balls are rigidly connected to the bending rods. Four sliding grooves are provided in the clamping frame, and sliding blocks are slidably connected in the sliding grooves. A driving wheel is pivotally passed through two adjacent sliding blocks, and a second guide wheel is fixedly sleeved on the outer wall of the driving wheel;

[0031] The top of the bending rod is rigidly connected to a fixing ear, and the fixing ear is rigidly connected to a fixing frame. The top of the clamping frame is rigidly connected to two base blocks, and a sliding rod is slidably penetrated in the base block. The outer wall fixing sleeve of the sliding rod is provided with a moving rod, and the moving rod extends to slide in the fixed frame. The outer wall fixing sleeve of the moving rod is provided with an L-shaped seat, and the L-shaped seat slides on the outer wall of the clamping frame. The outer wall sliding sleeves of the two sliding rods are provided with a sliding cylinder. The bottom of the sliding rod is provided with a plurality of slots. An insertion rod is slidably connected to the clamping frame, and the insertion rod cooperates with the slot for positioning, and the bottom end of the insertion rod is rigidly connected to the sliding block;

[0032] Among them, when the holding frame moves downward, the second guide wheel contacts the seamless pipe, the holding frame moves upward relatively, and the bending rod rotates with the universal ball as the center to make the first guide wheel contact the seamless pipe. At the same time, the insertion rod moves upward and is locked into the slot for positioning to ensure stable holding.

[0033] In one possible design, a V-mount, a pan / tilt head, and a zoom camera are also included;

[0034] The tops of the two drive structures are fixed with a V-shaped frame by bolts, a pan-tilt head is pivotally passed through the V-shaped frame, and a zoom camera is pivotally connected to the pan-tilt head;

[0035] Among them, the pan-tilt and zoom camera are used to photograph the location of the water cooling pipe for appearance inspection.

[0036] In this application, a method for detecting the thickness of a wheeled water-cooled wall crawler comprises the following steps:

[0037] S1. Positioning of crawler vehicle and adjustment of guide wheel: Place the crawler vehicle on the surface of the water-cooled wall, start the first motor to drive the first cam to rotate, and drive the guide frame to move downward through the first pin rod, so that the guide wheel is embedded in the gap between adjacent seamless pipes; drive the bidirectional screw to rotate, drive the nut block and piston plate to squeeze the hydraulic oil into the hydraulic cylinder, push the piston rod to extend, and move the auxiliary wheel outward to abut the side wall of the seamless pipe, so as to achieve stable positioning of the guide wheel.

[0038] S2. Magnetic drive and direction control: Start the hub motor to drive the synchronous wheel and synchronous belt, driving the magnetic wheel to adsorb the water-cooled wall and move forward; by independently controlling the start and stop of the hub motors of the two drive structures, the crawler vehicle can turn; before turning, the guide wheel needs to be driven upward to disengage from the gap between the seamless pipes.

[0039] S3. Lowering and adaptive adjustment of the detection mechanism: Start the second motor to drive the second cam to rotate, and lower the third slide rail through the second pin until the second guide wheel contacts the water-cooled wall; during the crawling process, the probe performs wall thickness detection; when offset, the third slider slides along the third slide rail, and at the same time, the mounting sleeve slides in the connecting frame, so that the clamping frame adaptively fits the water-cooled wall.

[0040] S4. Self-locking of the clamping mechanism: When the clamping frame falls on the top of the seamless pipe, the second guide wheel touches the pipe, causing the clamping frame to move up. The bending rod rotates inward with the universal ball as the axis, driving the first guide wheel to abut against the pipe wall to form a clamp; at the same time, the bending rod moves outward through the fixed frame and the fixed ear, and the inserted rod is locked in the slot at the bottom of the sliding rod.

[0041] S5. Auxiliary visual inspection: Use the remote control to adjust the pan / tilt angle and the focal length of the zoom camera on the drive structure to perform appearance inspection on the area not covered by the probe.

[0042] Beneficial effect: In the present invention, the outer walls of the two second slide rails are both slidingly sleeved with a second slider, the third slide rail is fixed to one side of the two second sliders, the outer wall sliding sleeve of the third slide rail is provided with two third sliders, the two third sliders are respectively fixedly connected to the two connecting frames, the two connecting frames are slidably connected with a clamping frame through a guide rod, the mounting sleeve is fixedly passed through the clamping frame, and a probe is clamped and installed in the mounting sleeve; thereby, by providing two clamping frames, the detection efficiency can be greatly increased. In addition, through the sliding cooperation between the second slide rail, the second slider, the third slide rail, the third slider, the clamping frame and the connecting frame, the stability of the clamping frame can be ensured when the second guide wheel and the first guide wheel clamp the seamless pipe;

[0043] In the present invention, a pan-tilt head is rotatably passed through the V-shaped frame, and a zoom camera is rotatably connected to the pan-tilt head. Through the cooperation of the pan-tilt head and the zoom camera, different positions of the water cooling pipe can be photographed, and the appearance inspection of the position that is inconvenient for the probe to detect can be performed;

[0044] Material toggling mechanism, its both ends are to be matched with the base two ends, and their top ends are matched with the base two ends to match with the base two.

[0045] In the present invention, a guide frame is slidably provided on one side of the driving structure through a first slide rail and a first slider, a first cam is fixed to the output shaft of the first motor, a first pin is fixed to the side of the first cam deviating from the center of a circle, and two guide wheels are rotatably provided in the guide frame; the first motor drives the first cam to rotate, and when the first pin rotates downward, the guide frame moves downward under the action of its own gravity until the guide wheel moves to between two adjacent seamless tubes of the water-cooled wall. Since the diameters of the seamless tubes in water-cooled walls of different specifications are different, in order to ensure that the guide wheel can effectively play a guiding effect, the two auxiliary wheels are moved to both sides and contact the adjacent seamless tubes, thereby ensuring that the crawler can move forward stably, and thus ensuring that the probe can perform stable and continuous detection;

[0046] In the present invention, a bidirectional screw is rotatably connected in the cavity, and multiple hydraulic cylinders are connected to the cavity through a hose. Two piston plates are sealed and slidably connected in the cavity, and a fixed cylinder is fixed on the side of the two piston plates away from each other. The two nut blocks are respectively threadedly sleeved on the positive and negative threaded sections of the bidirectional screw; by driving the bidirectional screw to rotate, the bidirectional screw drives the two piston plates to move toward each other through the nut block, and then the hydraulic oil in the cavity is squeezed into the corresponding hydraulic cylinder, and the piston rod is extended, thereby driving the secondary wheel to move outward, ensuring that the guide wheel can be stably located between the two adjacent seamless pipes, and ensuring that the crawling vehicle crawls along the water-cooled wall pipeline.

[0047] In the present invention, the guide wheel is designed to enable continuous detection while moving; and the guide wheel is designed to maintain the relative position of the vehicle body and the test pipe according to the direction of the water-cooled wall tube, and the clamping frame, bending rod, first guide wheel and second guide wheel are designed, so that the bending rod and the second guide wheel can cooperate to clamp the pipe wall and effectively solve the problem of inaccurate detection data due to position change of the probe; in addition, the crawling vehicle is equipped with a pan-tilt head and a zoom camera, and the angle and focus of the zoom camera can be controlled by a remote control, so that the appearance inspection can be performed on the position that is inconvenient for the probe to detect. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a first-perspective three-dimensional structural diagram of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0049] Figure 2 A schematic diagram of the three-dimensional structure from a second perspective of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0050] Figure 3 A three-dimensional schematic diagram of the driving structure of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0051] Figure 4 A schematic diagram of a three-dimensional exploded structure of a driving structure of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0052] Figure 5 A schematic diagram of a three-dimensional exploded structure of a guide structure of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0053] Figure 6 A schematic diagram of a three-dimensional exploded cross-section structure of a guide wheel of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0054] Figure 7 This is a schematic cross-sectional view of the circular shaft and fixed cylinder of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0055] Figure 8 A schematic diagram of the three-dimensional structure of a detection structure of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0056] Figure 9 A schematic diagram of a three-dimensional exploded structure of a detection structure of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0057] Figure 10 This is a schematic diagram of the three-dimensional exploded structure of the clamping frame, connecting frame and probe of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0058] Figure 11 A schematic diagram of a three-dimensional exploded structure of a moving rod, a bending rod, a driving wheel and a clamping frame of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0059] Figure 12 This is a schematic diagram of a three-dimensional partial cross-sectional structure of a sliding cylinder and a sliding rod of a wheeled water-cooled wall thickness detection crawler provided by the present invention;

[0060] Figure 13This is a schematic diagram of the three-dimensional exploded structure of the V-frame and zoom camera of a wheeled water-cooled wall thickness detection crawler provided by the present invention.

[0061] In the figure: 1. vehicle body; 2. driving structure; 3. guide structure; 4. V-shaped frame; 5. pan / tilt; 6. zoom camera; 7. moving frame; 8. fixed baffle; 9. magnetic wheel; 10. synchronous wheel; 11. synchronous belt; 12. U-shaped frame; 13. first slide rail; 14. first slider; 15. guide frame; 16. first motor; 17. first cam; 18. first pin; 19. guide wheel; 20. main wheel; 21. circular shaft; 22. secondary wheel; 23. pin groove; 24. pin shaft; 25. guide ring; 26. annular groove; 27. groove; 28. cavity; 29. bidirectional screw; 30. piston plate; 31. fixing cylinder; 32. screw Mother block; 33. Hydraulic cylinder; 34. Piston rod; 35. Detection structure; 36. Second slide rail; 37. Second slider; 38. Third slide rail; 39. Third slider; 40. Connecting frame; 41. Clamping frame; 42. Mounting sleeve; 43. Probe; 44. Second motor; 45. Second cam; 46. Second pin rod; 47. Guide rod; 48. Bending rod; 49. First guide wheel; 50. Second guide wheel; 51. Universal ball; 52. Sliding groove; 53. Driving wheel; 54. Sliding block; 55. Base block; 56. Sliding rod; 57. Sliding cylinder; 58. Insert rod; 59. Moving rod; 60. L-shaped seat; 61. Fixing ear; 62. Fixing frame. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0063] Example 1: Reference Figure 2 The crawling vehicle relates to the field of non-destructive testing technology. The crawling vehicle mainly includes a vehicle body 1, a driving structure 2, a guide structure 3 and a detection structure 35.

[0064] Reference Figure 2 The car body 1, the main structure of the crawler, has drive structures 2 fixed on either side. These drive structures 2 are used to drive the car body 1 along the water-cooled wall. A guide structure 3 is installed on one side of one of the drive structures 2 to ensure stable movement of the car body 1 and the drive structure 2 along the water-cooled wall. Furthermore, a detection structure 35 is installed on one side of the car body 1, located between the two drive structures 2, to detect the thickness of the water-cooled wall during movement.

[0065] Reference Figure 3 and Figure 4The drive structure 2 includes a fixed baffle 8 and a mobile frame 7. The fixed baffle 8 is fixed to one side of the mobile frame 7 and is fixedly connected to the vehicle body 1. The fixed baffle 8 is rotatably connected to one side of the mobile frame 7, and the two synchronous wheels 10 are connected by a synchronous belt 11. A magnetic wheel 9 is fixed to one side of the central axis of the two synchronous wheels 10, and the rotating shaft of the magnetic wheel 9 is rotatably connected to the mobile frame 7. The magnetic wheel 9 can tightly adsorb the drive structure 2 on the water-cooled wall, thereby ensuring the stable advancement of the vehicle body 1. A hub motor is provided in the drive structure 2 for driving one of the synchronous wheels 10 to rotate. A U-shaped frame 12 is fixed to the inner wall of the top of the mobile frame 7, and a guide wheel rotates inside the U-shaped frame 12. The guide wheel cooperates with the synchronous belt 11 to keep the synchronous belt 11 in a taut state. The magnetic wheel 9 adopts a multi-layer composite structure: a neodymium iron boron permanent magnet core (remanence 1.2-1.4T, size Φ60-80mm×20-30mm); a soft iron magnetic ring (thickness 3-5mm, covering the circumference of the permanent magnet); a 304 stainless steel shell (wall thickness 2-3mm, surface knurling treatment, pattern depth 0.5-1mm).

[0066] In actual use, when the in-wheel motor drives one of the synchronous wheels 10 to rotate, the two synchronous wheels 10, connected by a timing belt 11, can also drive the two magnetic wheels 9 to rotate. The magnetic attraction of the magnetic wheels 9 to the water-cooled wall ensures that the crawler vehicle is firmly attached to the water-cooled wall, thereby enabling the crawler vehicle to move forward stably. Furthermore, since the two drive structures 2 are driven by two in-wheel motors, the crawler vehicle's direction of travel can be adjusted by controlling one in-wheel motor to rotate while the other is stationary.

[0067] Reference Figure 2 and Figure 5 The guide structure 3 includes a guide frame 15 and two first slide rails 13. The two first slide rails 13 are fixed to the side of one of the movable frames 7 away from the vehicle body 1. The outer walls of the two first slide rails 13 are slidably connected to the first slider 14 fixedly connected to the guide frame 15. A first motor 16 is fixed to one side of one of the movable frames 7 through a frame. The output shaft of the first motor 16 is fixed to a first cam 17. A first pin 18 is fixed to the side of the first cam 17 that deviates from the center of the circle, and the first pin 18 is located below the guide frame 15.

[0068] In actual use, when the crawler needs to move to detect wall thickness, the first motor 16 drives the first cam 17 to rotate, which in turn drives the first pin 18 to rotate in a circular motion. When the first pin 18 rotates downward, the guide frame 15 moves downward under its own weight until the guide wheel 19 moves between two adjacent seamless tubes of the water-cooled wall.

[0069] Reference Figure 6The guide wheel 19 fits between two adjacent seamless tubes of different outer diameters, enhancing the vehicle's forward stability. The guide wheel 19 consists of two secondary wheels 22 and a main wheel 20 located between them. Multiple pin slots 23 are located on the adjacent sides of the secondary wheels 22. Multiple pins 24 are welded to both sides of the main wheel 20, slidingly engaging with the slots 23 to ensure stable sliding movement between the secondary wheels 22 and the main wheel 20. A circular shaft 21 is fixedly inserted through the main wheel 20, with both ends of the shaft 21 rotatably extending through the guide frame 15. Both secondary wheels 22 are slidably mounted on the outer wall of the shaft 21. A groove 27 is located on the adjacent sides of the secondary wheels 22. Multiple hydraulic cylinders 33 are fixed to both sides of the main wheel 20, with piston rods 34 sealingly and slidably extending through each cylinder. The end of the piston rod 34, facing away from the main wheel 20, is fixedly connected to the inner wall of one side of the groove 27, driving the movement of the secondary wheels 22. A guide ring 25 is fixed on the side where the two secondary wheels 22 are close to each other, and an annular groove 26 is provided on both sides of the main wheel 20. The guide ring 25 slides and extends into the annular groove 26 to prevent large particles of impurities from entering between the main wheel 20 and the secondary wheel 22 when the secondary wheel 22 and the main wheel 20 rotate.

[0070] Reference Figure 6 and Figure 7 The guide wheel 19 also includes a cavity 28 provided in the circular shaft 21. A bidirectional screw rod 29 is rotatably connected in the cavity 28, and one end of the bidirectional screw rod 29 is rotatably extended to one side of the circular shaft 21. Multiple hydraulic cylinders 33 are connected to the cavity 28 through a hose, which is used to inject the hydraulic oil in the cavity 28 into the hydraulic cylinder 33 to drive the piston rod 34 to move. Two piston plates 30 are sealingly and slidably connected in the cavity 28, and the two piston plates 30 are sealingly sleeved on the outer wall of the bidirectional screw rod 29. A fixed cylinder 31 is fixed on the side of the two piston plates 30 away from each other, and one end of the bidirectional screw rod 29 is sealed and passes through the fixed cylinder 31. Nut blocks 32 are fixed in the two fixed cylinders 31, and the two nut blocks 32 are respectively threaded on the positive and negative thread sections of the bidirectional screw rod 29, and are used to drive the two piston plates 30 to move toward each other, thereby driving the piston rod 34 to extend and retract.

[0071] In practice, by rotating the bidirectional screw 29, it drives the two piston plates 30 toward each other via the nut block 32, thereby forcing the hydraulic oil in the cavity 28 into the corresponding hydraulic cylinder 33. The piston rod 34 extends under the action of the hydraulic oil, thereby driving the auxiliary wheel 22 outward until it contacts the adjacent seamless tube. This allows the guide wheel 19 to be stably clamped between the two seamless tubes, ensuring the stability of the vehicle body 1 during subsequent movement.

[0072] The adjustable design of the secondary wheel 22 in the guide wheel 19 can adapt to the changes in the diameter of seamless tubes in water-cooled walls of different specifications, ensuring that the guide wheel 19 can always be stably clamped between two adjacent seamless tubes, thereby ensuring the stable crawling of the crawling vehicle.

[0073] Reference Figures 8-10 The detection structure 35 includes two connecting frames 40, a clamping frame 41, a mounting sleeve 42, a second slide rail 36 and a third slide rail 38. The two second slide rails 36 are fixed to one side of the vehicle body 1 by bolts, and the outer walls of the two second slide rails 36 are both slidably sleeved with second sliders 37. The third slide rail 38 is fixed to one side of the two second sliders 37, and the outer wall of the third slide rail 38 is slidably sleeved with two third sliders 39. The two third sliders 39 are respectively fixedly connected to the two connecting frames 40. A plurality of guide rods 47 are fixed in the two connecting frames 40, and the outer walls of the plurality of guide rods 47 located in the same connecting frame 40 are slidably connected with the corresponding clamping frame 41. The mounting sleeve 42 is fixedly passed through the clamping frame 41, and a probe 43 is clamped and installed in the mounting sleeve 42 for detecting the water-cooled wall. The probe 43 is a probe of an electromagnetic ultrasonic thickness gauge.

[0074] Reference Figure 10 and Figure 11 Bending rods 48 are rotatably connected to both sides of the clamping frame 41. First guide wheels 49 are rotatably mounted on the outer walls of both bending rods 48. Second guide wheels 50 are rotatably mounted on the other two sides of the clamping frame 41. The sliding cooperation between the second slide rail 36, second slider 37, third slide rail 38, third slider 39, and the clamping frame 41 and connecting frame 40 ensures the stability of the second guide wheels 50 and first guide wheels 49 when clamping the seamless pipe.

[0075] Reference Figure 9 The detection structure 35 also includes a second motor 44 fixed to one side of the vehicle body 1. A second cam 45 is fixed to the output shaft of the second motor 44. A second pin 46 is fixed to the side of the second cam 45 that is offset from the center of the circle. The second pin 46 is located below the third slide rail 38. When the second cam 45 drives the second pin 46 to rotate, it can control the raising and lowering of the third slide rail 38, so that the second guide wheel 50 cooperates with the first guide wheel 49 to hold the seamless pipe tightly.

[0076] Reference Figure 10 and Figure 11Universal balls 51 are rotatably connected to both sides of the clamping frame 41. The ends of the two universal balls 51 that face away from each other are fixedly connected to the two bending rods 48. Four sliding slots 52 are provided within the clamping frame 41, each of which is slidably connected to a sliding block 54. A common drive wheel 53 rotatably extends between two adjacent sliding blocks 54, and two second guide wheels 50 are fixedly sleeved on the outer walls of the two drive wheels 53. A fixing ear 61 is fixed to the top of each bending rod 48, and a fixing frame 62 is fixed to the side of each fixing ear 61 that faces each other. Two base blocks 55 are fixed to the top of the clamping frame 41, and a sliding rod 56 slidably extends through each base block 55. A moving rod 59 is fixedly sleeved on the outer walls of each sliding rod 56. One end of each moving rod 59 extends into the corresponding fixing frame 62 and slidably engages with the fixing frame 62, driving the moving rod 59 and the sliding rod 56 to move when the bending rod 48 rotates.

[0077] Reference Figure 10 and Figure 11 The outer walls of the two moving rods 59 are fixedly sleeved with an L-shaped seat 60, and the L-shaped seat 60 slides on the outer wall of the clamping frame 41, which is used to make the moving rod 59 move stably. The outer wall sliding sleeves of the two sliding rods 56 are provided with the same sliding cylinder 57, which is used to make the sliding rod 56 slide stably. The bottom of the two sliding rods 56 are provided with multiple slots, and two insertion rods 58 are slidably connected in the clamping frame 41, and the insertion rods 58 cooperate with the slots to position the sliding rods 56. The bottom ends of the two insertion rods 58 extend into the corresponding sliding grooves 52 respectively and are fixedly connected to the corresponding sliding blocks 54, which are used to drive the insertion rods 58 to move upward to position the sliding rods 56 when the second guide wheel 50 is placed on the seamless pipe, ensuring that the first guide wheel 49 and the second guide wheel 50 cooperate to hold the seamless pipe.

[0078] In practice, when the clamping frame 41 descends and lands on top of the seamless tube on the water-cooled wall, the second guide wheel 50 contacts the seamless tube, causing the clamping frame 41 to move upward relative to the second guide wheel 50. Under the force of gravity, the two bending rods 48 rotate toward the center, centered around the universal ball 51, until the two first guide wheels 49 collide. At this point, the first and second guide wheels 49, 50, cooperate to secure the clamping frame 41 to the seamless tube. The rotation of the bending rod 48, through the cooperation of the fixed frame 62 and the fixed ears 61, drives the movable rod 59 and the sliding rod 56 outward. As the second guide wheel 50 moves upward relative to the clamping frame 41, it drives the insertion rod 58 upward. The insertion rod 58 engages the slot at the bottom of the sliding rod 56, positioning the sliding rod 56. This, in turn, positions the first guide wheel 49, the fixed ears 61, and the bending rod 48, ensuring the stability of the clamping frame 41. This ensures accurate inspections during later testing, even if there is any shaking.

[0079] The design of the magnetic wheel 9 allows the crawler to be firmly attached to the water-cooled wall, preventing it from falling off during the inspection process. At the same time, the clamping frame 41 can stably clamp to the seamless pipe of the water-cooled wall through the cooperation of the first guide wheel 49 and the second guide wheel 50, further improving the stability of the inspection.

[0080] The probe 43 is a probe of an electromagnetic ultrasonic thickness gauge.

[0081] Example 2: Reference Figure 1 and Figure 13 This is an improvement on Example 1: The tops of the two drive structures 2 are bolted to a common V-shaped frame 4. A pan / tilt head 5 is rotatably inserted into the V-shaped frame 4, and a zoom camera 6 is rotatably connected to the pan / tilt head 5. The pan / tilt head 5 and zoom camera 6 work together to capture images of various locations on the water-cooling pipe, allowing for visual inspections in locations that are inconvenient for probe 43 to detect.

[0082] The probe 43 is fixed to the clamping frame 41 via the mounting sleeve 42, and the clamping frame 41 can remain stable during movement, thus preventing external interference from affecting the detection results. In addition, the cooperation between the pan / tilt head 5 and the zoom camera 6 can also perform visual inspections in locations that are inconvenient for the probe 43 to detect, further improving the accuracy of the detection.

[0083] A method for detecting the thickness of a wheeled water-cooled wall crawler comprises the following steps:

[0084] S1. Place the crawler on the water-cooled wall. When the crawler needs to move to detect the wall thickness, the first motor 16 drives the first cam 17 to rotate, and the first cam 17 drives the first pin 18 to rotate in a circle. When the first pin 18 rotates downward, the guide frame 15 moves downward under the action of its own gravity until the guide wheel 19 moves between two adjacent seamless tubes of the water-cooled wall. Since the diameters of seamless tubes in water-cooled walls of different specifications are different, in order to ensure that the guide wheel 19 can effectively play a guiding effect, the two auxiliary wheels 22 are moved to both sides and contact the adjacent seamless tubes; the specific operation is to drive the bidirectional screw rod 29 to rotate, and the bidirectional screw rod 29 drives the two piston plates 30 to move toward each other through the nut block 32, thereby squeezing the hydraulic oil in the cavity 28 into the corresponding hydraulic cylinder 33, and the piston rod 34 extends, thereby driving the auxiliary wheel 22 to move outward, ensuring that the guide wheel 19 can be stably located between the two adjacent seamless tubes;

[0085] S2. Then the hub motor in the driving structure 2 drives one of the synchronous wheels 10 to rotate, and the two synchronous wheels 10 are connected by a synchronous belt 11, so that they can drive the two magnetic wheels 9 to rotate. Due to the magnetic attraction of the magnetic wheel 9 to the water-cooled wall, the crawler can be firmly adsorbed on the water-cooled wall, thereby making the crawler move forward stably. The two driving structures 2 are driven by two hub motors respectively, and the forward direction of the crawler can be adjusted by controlling one of the hub motors to rotate and the other hub motor to remain stationary. In addition, when adjusting the forward direction, it is necessary to drive the guide wheel 19 to move upward and disengage from between the two adjacent seamless pipes to prevent the guide wheel 19 from obstructing the steering of the crawler;

[0086] S3. During testing, the second motor 44 drives the second cam 45 and the second pin 46 to rotate. The second pin 46 is located below the third slide rail 38. Therefore, when the second pin 46 rotates downward, the third slide rail 38 moves downward under the action of gravity until the second guide wheel 50 contacts the water-cooled wall. Therefore, when the crawler moves, testing is performed through the probe 43. In addition, when the crawler deviates, the third slider 39 slides on the third slide rail 38 and the mounting sleeve 42 slides in the connecting frame 40, thereby giving way to the clamping frame 41, so that the clamping frame 41 is stably set on the water-cooled wall, ensuring the accuracy of the test.

[0087] S4. In addition, to further enhance the stability of the clamping frame 41 on the water-cooled wall, when the clamping frame 41 moves down and lands on the top of the seamless pipe on the water-cooled wall, the second guide wheel 50 touches the seamless pipe, and the clamping frame 41 moves upward relative to the second guide wheel 50. The two bending rods 48 rotate toward the center under the action of gravity with the universal ball 51 as the center until the two first guide wheels 49 collide. At this time, the first guide wheel 49 and the second guide wheel 50 cooperate to clamp the clamping frame 41 on the seamless pipe. The bending rod 48 rotates, driving the movable rod 59 and the sliding rod 56 to move outward through the cooperation of the fixed frame 62 and the fixed ear 61. When the second guide wheel 50 moves upward relative to the holding frame 41, it drives the insertion rod 58 to move upward. The insertion rod 58 can be snapped into the slot at the bottom of the sliding rod 56 to position the sliding rod 56, thereby positioning the first guide wheel 49, the fixed ear 61 and the bending rod 48, ensuring the stability of the holding frame 41. Even if there is shaking during the later detection, accurate detection can be carried out;

[0088] S5. The cooperation of the pan-tilt head 5 and the zoom camera 6 provided on the two driving structures 2 can shoot at different angles. The angle and focus of the zoom camera 6 can be controlled by a remote controller, and the appearance inspection can be performed on the position that is inconvenient for the probe 43 to detect.

[0089] However, as is well known to those skilled in the art, the working principles and wiring methods of the zoom camera 6, the second motor 44, the probe 43 and the first motor 16 are commonplace and are conventional means or common knowledge, so they will not be elaborated here. Those skilled in the art can make any optional selections according to their needs or convenience.

[0090] The drawings in this application are for illustrative purposes only. The sizes and shapes of the components shown are not intended to be limiting, but are merely for illustrative purposes. In actual implementation, the components may be appropriately configured and adjusted based on specific needs and actual conditions.

[0091] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A wheeled crawler for detecting the thickness of water-cooled wall, characterized in that: include: Vehicle body (1); At least two drive structures (2) are respectively fixed on both sides of the vehicle body (1) and are used to drive the vehicle body (1) to move. The drive structure (2) includes a magnetic wheel (9). The magnetic wheel (9) can adsorb the drive structure (2) on the water-cooled wall so that the crawling vehicle can be stably adsorbed. A guide structure (3) is provided on one side of one of the driving structures (2) and is used to guide the vehicle body (1) to move forward stably on the water-cooled wall; A detection structure (35) is provided on one side of the vehicle body (1) and is located between the drive structures (2), and is used to detect the wall thickness of the water-cooled wall during movement; During the movement, the magnetic wheel (9) adsorbs the water-cooled wall, the driving structure (2) drives the vehicle body (1) to move, the guide structure (3) stabilizes the forward direction, and the detection structure (35) performs wall thickness detection.

2. The wheeled water-cooled wall thickness detection crawler according to claim 1, characterized in that: The driving structure (2) further comprises a fixed baffle (8), a movable frame (7), two synchronous wheels (10), a synchronous belt (11) and a hub motor; The fixed baffle (8) is rigidly connected to one side of the mobile frame (7) and is rigidly connected to the vehicle body (1). The fixed baffle (8) is pivotally connected to two synchronous wheels (10). The two synchronous wheels (10) are connected to each other through a synchronous belt (11). One side of the central axis of the two synchronous wheels (10) is rigidly connected to a magnetic wheel (9), and the rotating shaft of the magnetic wheel (9) is pivotally connected to the mobile frame (7). The hub motor is used to drive one of the synchronous wheels (10) to rotate. The top inner wall of the mobile frame (7) is rigidly connected to a U-shaped frame (12). A guide wheel is pivotally connected inside the U-shaped frame (12). The guide wheel cooperates with the synchronous belt (11) to tension the synchronous belt (11). The hub motor drives the synchronous wheel (10) to rotate, and drives the magnetic wheel (9) to rotate through the synchronous belt (11). The magnetic attraction of the magnetic wheel (9) enables the crawler to be adsorbed on the water-cooled wall and move forward stably.

3. The wheeled water-cooled wall thickness detection crawler according to claim 2, characterized in that: The guide structure (3) comprises a guide frame (15), two first slide rails (13), two first slide blocks (14), a first motor (16), a first cam (17), a first pin (18) and two guide wheels (19); Two first slide rails (13) are rigidly connected to one side of one of the moving frames (7) away from the vehicle body (1); the outer walls of the two first slide rails (13) are slidably connected to a first slider (14); the first slider (14) is rigidly connected to the guide frame (15); the first motor (16) is fixed to one side of the moving frame (7) through a frame; the output shaft of the first motor (16) is rigidly connected to a first cam (17); the side of the first cam (17) deviating from the center of the circle is rigidly connected to a first pin (18); the first pin (18) is located below the guide frame (15) and is used to control the lifting of the guide frame (15); two guide wheels (19) are pivotally connected inside the guide frame (15); the guide wheels (19) are adapted between adjacent seamless pipes; The first motor (16) drives the first cam (17) to rotate, and when the first pin (18) rotates downward, the guide frame (15) moves downward under the action of gravity, so that the guide wheel (19) enters between adjacent seamless tubes of the water-cooled wall.

4. The wheeled water-cooled wall thickness detection crawler according to claim 3, characterized in that: The guide wheel (19) comprises a main wheel (20), two secondary wheels (22), a circular shaft (21), a plurality of hydraulic cylinders (33), a piston rod (34), a guide ring (25) and an annular groove (26); The main wheel (20) is located between the two secondary wheels (22). A plurality of pins (24) are welded on both sides of the main wheel (20). A plurality of pin grooves (23) are provided on the side where the two secondary wheels (22) are close to each other. The pins (24) and the pin grooves (23) are slidably matched. A circular shaft (21) is rigidly passed through the main wheel (20). Both ends of the circular shaft (21) pivotally pass through the guide frame (15). The two secondary wheels (22) are slidably sleeved on the outer wall of the circular shaft (21). A plurality of hydraulic cylinders (33) are rigidly connected on both sides of the main wheel (20). A piston rod (34) is sealed and slidably provided in the hydraulic cylinder (33). One end of the piston rod (34) is rigidly connected to the secondary wheel (22). A guide ring (25) is rigidly connected on the side where the secondary wheels (22) are close to each other. An annular groove (26) is provided on both sides of the main wheel (20). The guide ring (25) slides and extends into the annular groove (26) to seal. The piston rod (34) drives the auxiliary wheel (22) to move outward to contact the seamless pipe, so that the guide wheel (19) is stably clamped between the seamless pipes.

5. The wheeled water-cooled wall thickness detection crawler according to claim 4, characterized in that: The guide wheel (19) further comprises a cavity (28), a bidirectional screw rod (29), a piston plate (30), a fixed cylinder (31) and a nut block (32); a cavity (28) is provided in the circular shaft (21); a bidirectional screw rod (29) is pivotally connected in the cavity (28); one end of the bidirectional screw rod (29) extends to one side of the circular shaft (21); a plurality of hydraulic cylinders (33) are connected to the cavity (28) through a hose; two piston plates (30) are sealed and slidably provided in the cavity (28); the piston plates (30) are sealed and sleeved on the outer wall of the bidirectional screw rod (29); the two piston plates (30) are rigidly connected to the fixed cylinder (31) on the sides away from each other; the bidirectional screw rod (29) is sealed and passes through the fixed cylinder (31); the two fixed cylinders (31) are rigidly connected to the nut blocks (32); the nut blocks (32) are threadedly sleeved on the positive and negative thread sections of the bidirectional screw rod (29); The bidirectional screw rod (29) rotates through the nut block (32) to drive the piston plate (30) to move toward each other, squeeze the hydraulic oil into the hydraulic cylinder (33), and make the piston rod (34) extend to drive the auxiliary wheel (22) to move.

6. The wheeled water-cooled wall thickness detection crawler according to claim 5, characterized in that: The detection structure (35) includes two connecting frames (40), a holding frame (41), a mounting sleeve (42), a probe (43), a second slide rail (36), a third slide rail (38), a second slider (37), a third slider (39), a guide rod (47), a bending rod (48), a first guide wheel (49) and a second guide wheel (50); Two second slide rails (36) are fixed to one side of the vehicle body (1); the outer wall of the second slide rail (36) is slidably connected to a second slider (37); the third slide rail (38) is rigidly connected to one side of the two second sliders (37); the outer wall of the third slide rail (38) is slidably connected to two third sliders (39); the two third sliders (39) are rigidly connected to two connecting frames (40) respectively; a plurality of guide rods (47) are rigidly connected inside the connecting frame (40); the guide rods The outer wall of (47) is slidably connected to the holding frame (41), the mounting sleeve (42) rigidly penetrates the holding frame (41), and a probe (43) is mounted in the mounting sleeve (42), and the probe (43) is a probe of an electromagnetic ultrasonic thickness gauge. The two sides of the holding frame (41) are pivotally connected to a bending rod (48), and the outer wall of the bending rod (48) is pivotally connected to a first guide wheel (49), and the other two sides of the holding frame (41) are pivotally connected to a second guide wheel (50); The slide rail and the slider cooperate to ensure that the holding frame (41) remains stable when holding the seamless pipe.

7. The wheeled water-cooled wall thickness detection crawler according to claim 6, characterized in that: The detection structure (35) further includes a second motor (44), a second cam (45) and a second pin (46); The second motor (44) is fixed to one side of the vehicle body (1); the output shaft of the second motor (44) is rigidly connected to a second cam (45); a side of the second cam (45) that deviates from the center of the circle is rigidly connected to a second pin (46); the second pin (46) is located below the third slide rail (38); The second motor (44) drives the second cam (45) to rotate, and the second pin (46) controls the third slide rail (38) to rise and fall, so that the second guide wheel (50) and the first guide wheel (49) cooperate to hold the seamless pipe tightly.

8. The wheeled water-cooled wall thickness detection crawler according to claim 7, characterized in that: The holding frame (41) further comprises a universal ball (51), a sliding groove (52), a sliding block (54), a driving wheel (53), a fixing ear (61), a fixing frame (62), a base block (55), a sliding rod (56), a moving rod (59), an L-shaped seat (60), a sliding cylinder (57), an inserting rod (58) and a card slot; Universal balls (51) are pivotally connected to both sides of the clamping frame (41), and the universal balls (51) are rigidly connected to the bending rod (48). Four sliding grooves (52) are provided in the clamping frame (41), and sliding blocks (54) are slidably connected in the sliding grooves (52). A driving wheel (53) is pivotally passed through two adjacent sliding blocks (54), and a second guide wheel (50) is fixedly sleeved on the outer wall of the driving wheel (53); The top of the bending rod (48) is rigidly connected with a fixed ear (61), and the fixed ear (61) is rigidly connected with a fixed frame (62). The top of the holding frame (41) is rigidly connected with two base blocks (55). A sliding rod (56) slides through the base block (55). The outer wall fixed sleeve of the sliding rod (56) is provided with a moving rod (59). The moving rod (59) extends to slide in the fixed frame (62). The outer wall fixed sleeve of the moving rod (59) is provided with an L-shaped seat (60). The L-shaped seat (60) slides on the outer wall of the holding frame (41). The outer wall sliding sleeves of the two sliding rods (56) are provided with a sliding cylinder (57). The bottom of the sliding rod (56) is provided with a plurality of card slots. The holding frame (41) is slidably connected with an insertion rod (58). The insertion rod (58) cooperates with the card slot for positioning. The bottom end of the insertion rod (58) is rigidly connected to the sliding block (54). When the holding frame (41) moves downward, the second guide wheel (50) contacts the seamless pipe, the holding frame (41) moves upward relatively, the bending rod (48) rotates with the universal ball (51) as the center of the circle to make the first guide wheel (49) contact the seamless pipe, and at the same time the insertion rod (58) moves upward and is locked in the slot for positioning, thereby ensuring stable holding.

9. The wheeled water-cooled wall thickness detection crawler according to claim 8, characterized in that: It also includes a V-shaped frame (4), a pan / tilt head (5) and a zoom camera (6); The top of the driving structure (2) is fixed with a V-shaped frame (4) by means of bolts, a pan / tilt platform (5) is pivotally passed through the V-shaped frame (4), and a zoom camera (6) is pivotally connected to the pan / tilt platform (5); The pan / tilt platform (5) and the zoom camera (6) are used to photograph the position of the water cooling pipe for appearance inspection.

10. A method for detecting the wall thickness of a water-cooled wall by a wheeled crawler vehicle, applied to the wheeled crawler vehicle for detecting the wall thickness of a water-cooled wall according to claim 9, characterized in that: The following steps are involved: S1. Positioning of the crawler and adjustment of the guide wheel: Place the crawler on the surface of the water-cooled wall, start the first motor (16) to drive the first cam (17) to rotate, and drive the guide frame (15) to move downward through the first pin (18), so that the guide wheel (19) is embedded in the gap between the adjacent seamless pipes; drive the bidirectional screw (29) to rotate, drive the nut block (32) and the piston plate (30) to squeeze the hydraulic oil into the hydraulic cylinder (33), push the piston rod (34) to extend, and move the auxiliary wheel (22) outward to abut the side wall of the seamless pipe, so as to achieve stable positioning of the guide wheel (19); S2, magnetic drive and direction control: start the hub motor to drive the synchronous wheel (10) and the synchronous belt (11), drive the magnetic wheel (9) to adsorb the water-cooled wall and move forward; by independently controlling the start and stop of the hub motors of the two drive structures (2), the crawler vehicle can be turned; before turning, the guide wheel (19) needs to be driven to move upward to separate from the gap between the seamless pipes; S3, lowering of the detection mechanism and adaptive adjustment: starting the second motor (44) to drive the second cam (45) to rotate, lowering the third slide rail (38) to the second guide wheel (50) to contact the water-cooled wall through the second pin (46); during the crawling process, the probe (43) performs wall thickness detection; when offset, the third slider (39) slides along the third slide rail (38), and at the same time, the mounting sleeve (42) slides in the connecting frame (40), so that the holding frame (41) adaptively fits the water-cooled wall; S4, self-locking of the clamping mechanism: when the clamping frame (41) falls on the top of the seamless pipe, the second guide wheel (50) touches the pipe, causing the clamping frame (41) to move upward, and the bending rod (48) rotates inward with the universal ball (51) as the axis, driving the first guide wheel (49) to abut against the pipe wall to form a clamping; at the same time, the bending rod (48) is linked to the moving rod (59) and the sliding rod (56) through the fixed frame (62) and the fixed ear (61) to move outward, and the insertion rod (58) is locked in the bottom slot of the sliding rod (56) to lock the position; S5. Auxiliary visual inspection: adjust the angle of the pan / tilt platform (5) on the driving structure (2) and the focal length of the zoom camera (6) through the remote control to perform appearance inspection on the area not covered by the probe (43).

Images