CN116413285A - Nondestructive testing equipment - Google Patents

Abstract

The application relates to the field of accelerator detection and provides nondestructive testing equipment, which comprises an accelerator, a lifting device and a traveling device. The accelerator is used for emitting X rays so as to carry out nondestructive testing on the workpiece to be tested; the accelerator is arranged on the lifting device, and the lifting device drives the accelerator to lift along the up-down direction; the lifting device is arranged on the walking device, and the walking device is configured to be capable of moving on the bearing surface. The nondestructive testing equipment provided by the application is wide in application scene and strong in applicability.

Description

Nondestructive testing equipment

Technical Field

The application relates to the field of accelerator detection, in particular to nondestructive detection equipment.

Background

The accelerator is used for nondestructive testing of a workpiece to be tested, and for large-sized workpieces to be tested with larger volume, one mode in the related art is as follows: and detecting different parts of the workpiece to be detected through a plurality of accelerators. This approach requires multiple accelerators and is costly. Another way is: the position of the workpiece to be detected is changed by moving the workpiece to be detected, so that detection of different parts of the workpiece to be detected is realized. This approach is not only very demanding in terms of the equipment used to move the workpiece to be measured, but is also not suitable for difficult or immovable workpieces to be measured.

Disclosure of Invention

In view of this, it is desirable to provide a nondestructive testing apparatus that is highly adaptable.

In order to achieve the above purpose, the technical solution of the embodiments of the present application is implemented as follows:

the embodiment of the application discloses nondestructive test equipment, includes:

the accelerator is used for emitting X-rays so as to carry out nondestructive testing on the workpiece to be tested;

the lifting device is arranged on the accelerator and drives the accelerator to lift up and down;

the lifting device is arranged on the walking device and is configured to be capable of moving on a bearing surface.

In an embodiment, the driving mode of the lifting device is hydraulic.

In one embodiment, the walking device comprises:

the frame is connected below the lifting device;

the power source is arranged on the frame;

the two travelling wheels are respectively arranged on two sides of the frame along the left-right direction, and the power source is in transmission connection with the two travelling wheels.

In one embodiment, the walking device comprises two driven wheels and two tracks, wherein the tracks are sleeved on the driven wheels and the walking wheels.

In an embodiment, the travelling device comprises a plurality of bearing wheels, and the bearing wheels are arranged between the driven wheels and the travelling wheels at intervals.

In an embodiment, the number of the power sources is two, each power source is correspondingly connected with one travelling wheel, and the power of different power sources is respectively controlled so as to realize the steering of the travelling device.

In one embodiment, the microwave band of the accelerator is the C band.

In an embodiment, the nondestructive testing device comprises a water cooling unit and a water cooling pipeline, wherein the water cooling unit is arranged on the running gear and is connected with the accelerator through the water cooling pipeline.

In an embodiment, the nondestructive testing device comprises a modulator, the modulator is arranged on the travelling device, and the modulator is respectively electrically connected with the water cooling unit and the accelerator and is used for controlling the start and stop of the accelerator and outputting energy and monitoring the water temperature of the water cooling unit.

In an embodiment, the nondestructive testing device comprises a winder and a connecting wire, the winder is arranged on the travelling device, the connecting wire can be wound in the winder, one end of the connecting wire is electrically connected with the modulator, and the other end of the connecting wire is electrically connected with an external power supply.

In an embodiment, the nondestructive testing device comprises a protective cover, wherein the protective cover is arranged on the walking device and is configured to stretch and retract along the vertical direction so as to shield or avoid the accelerator, the walking device and the lifting device.

In one embodiment, the non-destructive inspection apparatus comprises:

the transceiver is electrically connected with the walking device and the lifting device and is used for acquiring the current position information of the accelerator and driving the walking device and the lifting device to work according to a moving instruction;

the remote control device is in communication connection with the transceiver device and is used for acquiring the current position information and sending the moving instruction to the transceiver device according to the current position information.

The embodiment of the application discloses nondestructive testing equipment, which is characterized in that an accelerator is arranged on a lifting device, so that the accelerator can lift up and down, the accelerator is convenient to perform nondestructive testing on X-rays emitted by workpieces to be tested with different heights, and the nondestructive testing equipment is safe, reliable and high in practicability; the lifting device is arranged on the traveling device, so that the lifting device can move to the workpiece to be detected on the bearing surface to carry out nondestructive detection on the workpiece, and therefore, the nondestructive detection device can carry out nondestructive detection indoors and outdoors so as to carry out nondestructive detection on the workpiece to be detected which is inconvenient to move and cannot move, and the nondestructive detection device is wide in application scene and high in applicability.

Drawings

FIG. 1 is a schematic structural diagram of a nondestructive testing device according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the frame of FIG. 1 with portions removed;

FIG. 3 is a schematic view of the frame of FIG. 1 with portions removed from the view;

fig. 4 is a schematic structural diagram of fig. 1 at another lower view angle.

Description of the reference numerals

A nondestructive testing device 100; an accelerator 1; a lifting device 2; a base 21; a load-bearing platform 22; a support arm 23; a walking device 3; a frame 31; a bracket 311; a top plate 312; a limit bar 3121; a limit stop 3122; a power source 32; a motor 321; a speed reducer 322; a road wheel 33; driven wheel 34; a crawler belt 35; a load bearing wheel 36; a pressing plate 4; a stopper 41; a connecting seat 5; a guide wheel 6; a tension member 7; a water cooling unit 8; a modulator 9; a protective cover 10; a fixing member 101; an accommodation space 1011; an opening 1012; a telescoping member 102; a winder 11; the electric wire 12 is connected.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and technical features in the embodiments may be combined with each other, and the detailed description in the specific embodiments should be interpreted as an explanation of the gist of the present application and should not be construed as undue limitation to the present application.

The present application will now be described in further detail with reference to the accompanying drawings and specific examples. The description of "first," "second," etc. in the embodiments of the present application is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly including at least one feature. In the description of the embodiments of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

The embodiment of the present application provides a nondestructive testing apparatus, referring to fig. 1 to 4, a nondestructive testing apparatus 100 includes an accelerator 1, a lifting device 2, and a traveling device 3. The accelerator 1 is used for emitting X-rays for nondestructive inspection of a workpiece to be inspected. The accelerator 1 is arranged on the lifting device 2, and the lifting device 2 drives the accelerator 1 to lift along the up-down direction. The lifting device 2 is arranged on a running gear 3, the running gear 3 being configured to be movable on a carrying surface.

For example, in one embodiment, the accelerator 1 may detect whether the workpiece to be measured has defects of bubbles, cracks, or the like that have an influence on the intensity by emitting X-rays.

According to the embodiment, the accelerator 1 is arranged on the lifting device 2, so that the accelerator 1 can be lifted up and down, the accelerator 1 can conveniently perform nondestructive detection on X-rays emitted by workpieces to be detected with different heights, and the device is safe, reliable and high in practicability; the lifting device 2 is arranged on the traveling device 3, so that the lifting device can move to the workpiece to be detected on the bearing surface to carry out nondestructive detection on the workpiece, and the nondestructive detection device 100 not only can carry out nondestructive detection indoors, but also can move outdoors to carry out nondestructive detection on some inconvenient and immovable workpieces to be detected, and has wide application range and strong applicability.

The bearing surface is a base surface for placing the non-destructive inspection apparatus 100. Illustratively, the bearing surface may be a surface of the ground or other structure.

The type of workpiece to be measured is not limited, and the workpiece to be measured may be a movable structure, for example. The workpiece to be measured may also be of an immovable structure. Immovable structures include, but are not limited to, large, inconvenient to move objects such as bridges, gas pipelines, or petroleum pipelines.

Illustratively, in one embodiment, the microwave band of accelerator 1 is the C-band. The lifting device has the advantages of good stability, higher output energy and lighter weight, so that the burden of the lifting device 2 and the running device 3 is lightened, the service life of the lifting device is prolonged, and the working stability is good.

The C-band refers to a band of an operating frequency of the accelerator 1, and generates an electron beam, which bombards a target to generate X-rays.

In an exemplary embodiment, referring to fig. 1 to 4, the lifting device 2 includes a base 21, a carrying platform 22, a supporting arm 23 and a driving mechanism (not shown in the drawings), the base 21 may be fixedly mounted on the walking device 3 by bolts or the like, the supporting arm 23 is located on two sides of the base 21 along the front-back direction, the supporting arm 23 may be a scissor type, the carrying platform 22 is located on one end of the supporting arm 23 far away from the base 21, and the driving mechanism is disposed on the supporting arm 23 and can drive the supporting arm 23 to be unfolded or folded along the up-down direction so as to realize lifting along the up-down direction.

For example, referring to fig. 1 to 4, in one embodiment, the nondestructive testing apparatus 100 includes a pressing plate 4, where the pressing plate 4 is fixedly mounted on the carrying platform 22 by bolts or the like, and the accelerator 1 is placed on the pressing plate 4 to avoid the accelerator 1 from crushing the carrying platform 22.

For example, in an embodiment, referring to fig. 1 to 4, the limiting blocks 41 are formed on the pressing plate 4, the number of the limiting blocks 41 is not limited, for example, the limiting blocks 41 may be disposed at four corners of the pressing plate 4, and the limiting blocks 41 are approximately L-shaped, so that the accelerator 1 can be limited by the space enclosed by the 4 limiting blocks 41, so as to reduce the influence of shaking on the accelerator 1, and the installation and the disassembly are easy, thereby facilitating the replacement and the overhaul of the accelerator 1.

In one embodiment, the lifting device 2 is hydraulically driven. The lifting device 2 comprises a hydraulic pump, and the hydraulic pump is arranged on the base 21 and is in transmission connection with the driving mechanism, so that on one hand, the accelerator 1 can be driven to lift up and down more stably, and the nondestructive testing quality is improved; on the other hand, the accelerator 1 with larger load can be born by using a hydraulic mode, so that the nondestructive testing effect of the workpiece to be tested is improved.

In one embodiment, referring to fig. 2 and 3, the running gear 3 includes a frame 31, a power source 32, and two running wheels 33. The power source 32 is provided on the frame 31. Illustratively, the frame 31 includes two brackets 311 and a top plate 312, the base 21 may be fixedly mounted on the top plate 312 by bolts or the like, the two brackets 311 are connected below the top plate 312 and located on both sides in the left-right direction, and the power source 32 is disposed on the brackets 311.

The two traveling wheels 33 are respectively arranged at two sides of the frame 31 along the left-right direction, and the power source 32 is in transmission connection with the two traveling wheels 33. The power source 32 includes a storage battery, a motor 321, a transmission shaft, a coupling, a differential mechanism and a speed reducer 322, where the storage battery is disposed on the support 311, the motor 321 is disposed on the support 311 and between the two travelling wheels 33, the storage battery is electrically connected with the motor 321 and is used for providing electric energy, the motor 321 is in transmission connection with the transmission shaft, the transmission shaft is respectively connected with the two differential mechanisms through bevel gears, each differential mechanism is connected with one speed reducer 322, and each speed reducer 322 is connected with one travelling wheel 33 through the coupling, so that one motor 321 is driven, different rotation speeds of the two travelling wheels 33 can be realized through the two differential mechanisms, so that the nondestructive testing device 100 can not only move along the front-rear direction, but also turn left or right along the left-right direction, so that the nondestructive testing device 100 can be moved to the workpiece to be tested to perform nondestructive testing, and the mobility is strong.

In one embodiment, referring to fig. 1 to 4, the running gear 3 includes two driven wheels 34 and two tracks 35, and the tracks 35 are sleeved on the driven wheels 34 and the running wheels 33. Illustratively, the driven wheels 34 are disposed on one side of the frame 311 in the front-rear direction opposite to the traveling wheels 33, and each track 35 is sleeved on one traveling wheel 33 and one driven wheel 34 on one side in the left-right direction, so that the mobility of the nondestructive testing device 100 can be improved by means of the tracks 35 to move on complex road conditions such as sand, muddy ground and uneven road surfaces, and can adapt to various application scenarios.

In one embodiment, the track 35 is made of rubber. Therefore, the friction force between the ground and the ground can be increased, slipping is avoided, and the cost is low.

In one embodiment, referring to fig. 1 to 4, the running device 3 includes a plurality of bearing wheels 36, and the plurality of bearing wheels 36 are disposed between the driven wheel 34 and the running wheel 33 at intervals. Illustratively, the nondestructive inspection apparatus 100 includes a connection base 5, the connection base 5 is generally triangular in shape, one "corner" portion of the connection base 5 is fixedly disposed on a support 311, such as a screw or a bolt, and the other two "corner" portions are disposed below the support 311, and each "corner" is connected to a pair of weight-bearing wheels 36, one weight-bearing wheel 36 is disposed on one side of the support 311 in the left-right direction, the other weight-bearing wheel 36 is disposed on the other side of the support 311 in the left-right direction, and a plurality of connection bases 5 are disposed on the support 311 at intervals in the front-rear direction to provide good support.

In an exemplary embodiment, referring to fig. 2, the nondestructive inspection apparatus 100 includes a guide wheel 6, the guide wheel 6 being disposed on a side of the frame 311 away from the load bearing wheel 36, such that the transmission efficiency is improved by supporting the crawler 35 above the frame 311 to prevent the crawler 35 from contacting the frame 311.

In an exemplary embodiment, referring to fig. 2, the nondestructive testing device 100 includes a tension member 7, one end of the tension member 7 is fixedly disposed on a side of the support 311 away from the travelling wheel 33, and the other end of the tension shaft is connected with the driven wheel 34, so that the driven wheel 34 is abutted against the track 35 by generating a certain pretension, and slip can be prevented when the track 35 is driven with the travelling wheel 33 or the driven wheel 34, and the transmission efficiency is high.

In an embodiment, referring to fig. 3, the number of the power sources 32 is two, each power source 32 is correspondingly connected with one traveling wheel 33, and the powers of the different power sources 32 are respectively controlled to realize the steering of the traveling device 3. The motors 321 include two motors, each motor 321 is respectively connected with one speed reducer 322, and each speed reducer 322 is connected with one travelling wheel 33 through a coupling, so that when the nondestructive testing device 100 needs to move, the motors 321 can output torque to the travelling wheels 33 positioned at the left side and the right side through the speed reducers 322 to drive the caterpillar tracks 35 to rotate, and the movement is realized; when the nondestructive testing device 100 is required to turn, the nondestructive testing device 100 can be turned left or right by controlling the rotation speed of the motors 321 on the left side and the right side to be different, so that the nondestructive testing device 100 can be conveniently moved to the workpiece to be tested to perform nondestructive testing on the workpiece, and the flexibility is high.

In one embodiment, referring to fig. 1 to 4, the nondestructive inspection apparatus 100 includes a water cooling unit 8 and a water cooling pipe, and the water cooling unit 8 is disposed on the running gear 3. For example, the water cooling unit 8 may be disposed on one side of the top plate 312 in the left-right direction thereof. The water cooling unit 8 is connected with the accelerator 1 through a water cooling pipeline. In this way, the temperature of the accelerator 1 can be continuously reduced to ensure that the accelerator 1 can work stably and efficiently.

For example, in an embodiment, referring to fig. 1 to 4, the top plate 312 is formed with the limiting strips 3121, the shape of the limiting strips 3121 is approximately L-shaped, the number of the limiting strips 3121 is not limited, for example, four limiting strips 3121 may be provided, so that the water-cooling unit 8 may be placed into the space enclosed by the four limiting strips 3121 to limit the water-cooling unit 8, the influence of shaking on the water-cooling unit 8 is reduced, and the installation and the disassembly are also easier, so that the subsequent maintenance and replacement of the water-cooling unit 8 are convenient.

In one embodiment, referring to fig. 1 to 4, the nondestructive inspection apparatus 100 includes a modulator 9, and the modulator 9 is disposed on the running gear 3. For example, the modulator 9 may be disposed at one side of the top plate 312 in the front-rear direction thereof, and disposed opposite to the water cooling unit 8. The modulator 9 is electrically connected with the water cooling unit 8 and the accelerator 1 respectively and is used for controlling the start and stop of the accelerator 1 and outputting energy and monitoring the water temperature of the water cooling unit 8. On the one hand, the output energy of the accelerator 1 is regulated by controlling the modulator 9 so as to carry out nondestructive testing on workpieces to be tested of different materials, so that the applicability is high; on the other hand, by monitoring the water temperature of the water cooling unit 8, the working temperature of the accelerator 1 can be detected in an auxiliary way, and when the water temperature is too high, the accelerator 1 can be shut down through the modulator 9 so as to prolong the service life of the accelerator 1.

For example, in one embodiment, referring to fig. 1 to 4, the top plate 312 is formed with the limit stops 3122, the limit stops 3122 are substantially L-shaped, and the number of the limit stops 3122 is not limited, for example, four limit stops 3122 may be provided, so that the modulator 9 may be placed in the space enclosed by the four limit stops 3122 to limit the modulator, so as to reduce the influence of shake on the modulator 9, and the mounting and dismounting are easy, so that the subsequent maintenance and replacement of the modulator 9 are convenient.

By way of example, in one embodiment, modulator 9 may be a solid state modulator 9 with adjustable waveforms, fast ramp-up and ramp-down, high power density, low input voltage, and long switching life.

In an embodiment, referring to fig. 1 to 4, the nondestructive inspection apparatus 100 includes a protective cover 10, the protective cover 10 is disposed on the traveling device 3, and the protective cover 10 is configured to be retractable in a vertical direction to shield or avoid the accelerator 1, the traveling device 3, and the lifting device 2. Illustratively, the protective cover 10 includes a fixing member 101 and a telescopic member 102, where the fixing member 101 is fixedly disposed on the top plate 312 and located on a side of the water cooling unit 8 away from the modulator 9. The shape of the fixing member 101 is not limited, and for example, may be a rectangular parallelepiped, an accommodating space 1011 and an opening 1012 are formed in the fixing member 101, the opening 1012 is formed at one side of the fixing member 101 close to the accelerator 1, the opening 1012 communicates with the accommodating space 1011, the telescopic member 102 is provided in the accommodating space 1011, the telescopic member 102 can be pulled out from the opening 1012, and the telescopic member 102 may be in a folded door shape, so that when severe weather such as rainy or snowy weather is encountered, the telescopic member 102 can be pulled out from the accommodating space 1011 through the opening 1012 to shield the accelerator 1, the traveling device 3 and the lifting device 2 from being corroded and aged by rainwater, thereby improving the service lives of the accelerator 1, the traveling device 3 and the lifting device 2, having strong applicability, and wide application.

In one embodiment, referring to fig. 1 to 4, the nondestructive inspection apparatus 100 includes a winder 11 and a connecting wire 12, the winder 11 being disposed on the running gear 3. Illustratively, the winder 11 may be disposed on the top plate 312 and within the protective cover 10, so that the winder 11 may be protected from being degraded by rain water to increase the service life; the shape of the winder 11 is not limited, and for example, the shape of the winder 11 may be a short cylindrical shape.

The connection wire 12 can be wound around the reel 11, and one end of the connection wire 12 is electrically connected to the modulator 9, and the other end of the connection wire 12 is electrically connected to an external power source. Illustratively, the winder 11 is formed with a winding slot, the connecting wire 12 is wound in the winding slot, and the length of the connecting wire 12 is not limited, for example, the length of the connecting wire 12 may be set to 15 meters, so that, when nondestructive inspection is performed, one end of the connecting wire 12 may be pulled, and the winder 11 is rotated to extend the connecting length, so that the remote power supply requirement of the accelerator 1 may be satisfied, and the maneuverability and applicability are strong.

Illustratively, in one embodiment, the nondestructive testing apparatus 100 includes a housing formed with a receiving cavity and two outlets, both of which are communicated with the receiving cavity, the winder 11 is disposed in the receiving cavity, and two ends of the connection wire 12 respectively extend from the two outlets and respectively connect the modulator 9 and the external power supply, so that the connection wire 12 not pulled out of the receiving cavity is protected from being corroded by rainwater and aged.

Illustratively, in one embodiment, the nondestructive testing device 100 includes a connection arm, which may be integrally formed with the housing, and on which a mounting location is formed, and which may be fixed to an inner wall of the accommodating space 1011 by a screw or a bolt, etc., to provide an adhesion point for the connection wire 12, so as to facilitate elongation of the connection wire 12.

In one embodiment, the non-destructive testing apparatus 100 comprises a space plug through which the connection wire 12 is electrically connected to an external power source. Therefore, the space plug is convenient to maintain and replace in the later period, and has high flexibility.

In one embodiment, the non-destructive inspection apparatus 100 includes a transceiver and a remote control. The transceiver is electrically connected with the walking device 3 and the lifting device 2, and is used for acquiring the current position information of the accelerator 1 and driving the walking device 3 and the lifting device 2 to work according to the movement instruction. The transceiver device comprises a battery sensor, a displacement sensor and a wireless module, wherein the wireless module is electrically connected with the battery sensor and a displacement sensor battery, and the battery sensor is electrically connected with a storage battery and is used for acquiring electric quantity information of the storage battery; the number of the displacement sensors is two, and the displacement sensors are respectively and electrically connected with the lifting device 2 and the traveling device 3 and are used for acquiring the position information of the accelerator 1 along the up-down direction and the position information on the supporting surface, wherein the position information along the up-down direction and the position information on the supporting surface are the current position information of the accelerator 1, the wireless module receives and transmits the current position information, and the lifting device 2 and the traveling device 3 can be electrically driven to move to the preset position according to the received movement instructions.

The remote control device is in communication connection with the transceiver device and is used for acquiring current position information and sending a moving instruction to the transceiver device according to the current position information. For example, the connection mode of the remote control device and the wireless module may be WiFi (wireless fidelity ), bluetooth or local area network. Thus, the movement of the accelerator 1 is controlled by wireless means, so that the operator can be prevented from being damaged by radiation, and the safety is high.

The remote control device may be, for example, a remote control handle having three levers thereon, one for controlling the lifting and lowering of the lifting device 2 in the up-down direction and the other two for controlling the movement and steering of the running gear 3 on the carrying surface.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and changes will become apparent to those skilled in the art. All such modifications, equivalents, alternatives, and improvements are intended to be within the spirit and principles of this application.

Claims (12)

1. A non-destructive inspection apparatus, comprising:

the accelerator is used for emitting X-rays so as to carry out nondestructive testing on the workpiece to be tested;

the lifting device is arranged on the accelerator and drives the accelerator to lift up and down;

the lifting device is arranged on the walking device and is configured to be capable of moving on a bearing surface.

2. The nondestructive inspection apparatus of claim 1 wherein the lifting device is hydraulically driven.

3. The nondestructive inspection apparatus of claim 1 wherein the running gear comprises:

the frame is connected below the lifting device;

the power source is arranged on the frame;

the two travelling wheels are respectively arranged on two sides of the frame along the left-right direction, and the power source is in transmission connection with the two travelling wheels.

4. A nondestructive testing device according to claim 3, wherein the running gear comprises two driven wheels and two tracks, the tracks being sleeved on the driven wheels and the running wheels.

5. The non-destructive inspection apparatus according to claim 4, wherein said running gear comprises a plurality of load bearing wheels, a plurality of said load bearing wheels being spaced between said driven wheel and said running wheel.

6. A nondestructive testing device according to claim 3, wherein the number of the power sources is two, each power source is correspondingly connected with one travelling wheel, and the powers of different power sources are respectively controlled to realize the steering of the travelling device.

7. The non-destructive inspection apparatus according to claim 1, wherein the microwave band of the accelerator is the C-band.

8. The nondestructive inspection apparatus of claim 1, wherein the nondestructive inspection apparatus comprises a water cooling unit and a water cooling pipe, wherein the water cooling unit is provided on the running gear, and wherein the water cooling unit is connected with the accelerator through the water cooling pipe.

9. The nondestructive inspection apparatus of claim 8, comprising a modulator disposed on the running gear, the modulator electrically connected to the water-cooled unit and the accelerator, respectively, for controlling the start-stop and output of energy of the accelerator, and monitoring the water temperature of the water-cooled unit.

10. The nondestructive inspection apparatus according to claim 9, wherein the nondestructive inspection apparatus comprises a wire winder provided on the traveling device, and a connection wire capable of being wound in the wire winder, one end of the connection wire being electrically connected to the modulator, and the other end of the connection wire being electrically connected to an external power source.

11. The nondestructive inspection apparatus of claim 1, comprising a protective cover disposed on the running gear, the protective cover configured to be retractable in a vertical direction to shield or avoid the accelerator, the running gear, and the lifting gear.

12. The non-destructive inspection apparatus according to claim 1, wherein the non-destructive inspection apparatus comprises:

the transceiver is electrically connected with the walking device and the lifting device and is used for acquiring the current position information of the accelerator and driving the walking device and the lifting device to work according to a moving instruction;

the remote control device is in communication connection with the transceiver device and is used for acquiring the current position information and sending the moving instruction to the transceiver device according to the current position information.

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