CN101074031A - Urban discharging pipeline robot of closed caterpillar differential driven - Google Patents
Urban discharging pipeline robot of closed caterpillar differential driven Download PDFInfo
- Publication number
- CN101074031A CN101074031A CN 200710072408 CN200710072408A CN101074031A CN 101074031 A CN101074031 A CN 101074031A CN 200710072408 CN200710072408 CN 200710072408 CN 200710072408 A CN200710072408 A CN 200710072408A CN 101074031 A CN101074031 A CN 101074031A
- Authority
- CN
- China
- Prior art keywords
- wheel
- screw
- caterpillar
- sealing
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention is concerned with a robot of city drainpipe drove by closed track, relating to closed structure, drive transmission system, wide track, tension structure and outside frame structure. The outside frame structure is made of outside frame branch and outside frame. The closed structure relates to closed part, closed part of front wheel and of cable dragging structure. The closed structure of box is made of upper box, lower box and the static closed structure between the end covers of box. The drive transmission system is made of two DC motors, worm, chain transmission equipment and driver. The wide track is made of single ear transmission chain, rubber block of track and track armor plate. The track tension framework is made of front wheel branch, driven axis and adjustment bolt. It is fit for cable pulling, bug checking, mend and dredge of pipe to all kinds of natural gas pipe, oil pipe, city drainpipe pipe, water supply pipe and nucleus industry pipe.
Description
(1) technical field
The present invention relates to a kind of pipeline instrument, be specifically related to a kind of urban discharging pipeline robot.
(2) background technology
Pipe robot is a kind of robot that can be used for the work such as mediation of wearing cable, detection of defects, repairing, pipeline of multiple small pipelines such as natural gas line, petroleum pipe line, urban discharging pipeline, water supply pipe, nuke industry pipeline.Pipe robot arises at the historic moment as a kind of feasibility instrument of trouble diagnosing, detection, mediation and maintenance of pipeline, and more and more come into one's own. the travel mechanism of walking is one of field of micro-tube robot emphasis research and development in the pipeline, present stage the type of drive of domestic and international micro-tube robot moving mechanism can be divided into motor-driven, Piezoelectric Driving, Electromagnetic Drive, air pressure driving, hydraulic-driven etc.; And the walking manner of robot can be divided into inertia impact walking, climbing, elasticity pin type vibration walking and running on wheels etc.The operation mechanism of pipe robot is: under the control of computing machine, automatically detect self attitude and environmental parameters, carry out position adjustment and job space automatically, also can pass through man-machine interface, reflection environmental parameters and robot pose are carried out operation in the pipeline by the people by computing machine.Can in pipeline, walk along straight line or curve according to path planning, promptly the inlet from pipeline enters, advance along pipeline, can self carry out the adjustment of pose, the obstacle of crossing certain altitude, correction deviation centering setting and target in advancing, finish the work such as mediation of wearing cable, detection of defects, repairing, pipeline, at last, another appointment mouth from pipeline comes out.
In brief, existing pipe robot generally comprises robot car and the power tool as carrier.Existing pipe robot dolly generally comprises: motion steamboat or narrow crawler belt, motor or Piezoelectric Driving power drive system, by the adjustable wheel support structure etc. of also comprising partly form.And can only under the environment of drying, carry out the operation in the pipeline, can not be used under the complicated liquid environment, as the operation of the oil and gas pipes after urban discharging pipeline and the utilization.When in the pipeline obstacle being arranged, very limited of its obstacle climbing ability, most of volume is excessive, does not have the operational capability of amphibious environment.Above all existing, mentions existing pipe robot some capability defects.
(3) summary of the invention
The object of the present invention is to provide a kind of can being widely used in various natural gas lines, petroleum pipe line, urban discharging pipeline, water supply pipe, the nuke industry pipeline, wear work such as cable, detection of defects, repairing, pipe-dredging, and the closed caterpillar that can walk drives urban discharging pipeline robot in muddy corrosive liquid.
The object of the present invention is achieved like this: it comprises power drive system, hermetically-sealed construction, broad track and tension structure and outer shelf structure, outer shelf structure is made up of fastening outrigger support and outrigger, hermetically-sealed construction comprises the box sealing part, front-wheel sealing and towing cable sealing structure part, the box sealing structure is by upper box, lower box and between static seal structure form, upper box and lower box are connected, side and outrigger are fastening, be provided with the takeoff output hole between the last lower box, power drive system is by two DC machine, worm screw and chain gearing and driving wheel are formed, two DC machine are connected imput shaft by worm screw with chain gearing, driving wheel is fixed on the imput shaft, imput shaft is arranged between the housing plate, front-wheel is made up of flower wheel, track tension device is by front-wheel support, driven shaft and adjustable bolt are formed, front-wheel support is fixed on the lower box front end, driven shaft is arranged in the front-wheel support, flower wheel is connected with driven shaft, broad track is by single ear driving chain, crawler belt rubber block and caterpillar steel plate are formed, caterpillar steel plate is arranged on single ear driving chain, and the crawler belt rubber block is fixed on the caterpillar steel plate both sides.
The present invention also has some architectural features like this:
1, described two DC machine are installed the transmission minor sprocket on the output shaft of motor, the transmission minor sprocket connects transmission Dalian wheel by gimmal, transmission Dalian wheel is fixed on the imput shaft by flat key, the two ends of imput shaft are connected with driving wheel by flat key, by trailing wheel end cap, end cap screw driving wheel is fixed on the imput shaft, imput shaft is fixed by sleeve, bearing, accent crack steel ring, trailing wheel end cap and two main shaft deep groove ball bearings, and main shaft deep groove ball bearing outer shroud is fixed on the casing;
2, described outrigger support is fastening by the side boss of screw and last lower box, by adding tightening screw and outrigger is fastening;
3, described front-wheel support passes through the front-wheel support screw retention on the boss of last lower box front end, driven shaft is arranged in the horizontal bifurcation shape mouth of front-wheel support, tie bolt one end is installed in the screw of driven shaft, fastening by nut, the tie bolt other end passes a square washer that is placed in the front-wheel support square groove, by the fastening driven shaft of nut, driven shaft is fixed by the shaft shoulder, clamp nut and the clamping washer of driven shaft;
4, described single ear driving chain is installed on a driving wheel and the flower wheel, and the ear of single ear driving chain of every side crawler belt is all outwards placed, on the corresponding ear of two single ear driving chains, place caterpillar steel plate, fix by flathead screw, nut, and it is vertical with two that are connected single ear driving chains that caterpillar steel plate gets symmetrical center line, fixedly the crawler belt rubber block is on the vertical ear in caterpillar steel plate both sides by screw, nut, and the circular arc of crawler belt rubber block is to the outside of robot;
5, described upper box and lower box are fixed by taper pin, tightening screw, nuts and washers, seal with the O RunddichtringO between takeoff output hole end surface between the last lower box and the casing end face, use the housing plate screw fastening between the two, enclose sealing with the imput shaft lattice between housing plate and the imput shaft;
6, described flower wheel is connected by deep groove ball bearing with driven shaft, driven shaft, deep groove ball bearing, accent crack steel ring, and circlip, front-wheel end cap and front-wheel end cap screw retention flower wheel enclose sealing with the driven shaft lattice between flower wheel and the driven shaft; Seal by O type rubber seal and waterproof gasket cement between flower wheel and the front-wheel end cap, by front-wheel end cap screw leak-tight joint;
7, described towing cable hermetically-sealed construction is by the towing cable aluminum barrel, sealing nut, O RunddichtringO and screw are formed, under the faying face of last lower box, lower box is provided with a plane boss, boss is provided with tapped bore and cable aperture, cable is through sealing nut, the O RunddichtringO, the towing cable aluminum barrel, introduce box house through the cable aperture of lower box again, seal by waterproof gasket cement between boss and the towing cable aluminum barrel, the towing cable aluminum barrel is fixed on the boss of lower box by screw, by the fine thread sealing, sealing nut and cable are by the sealing of O RunddichtringO between towing cable aluminum barrel and the sealing nut.
General plotting of the present invention is: adopt whole closed structure, make robot to walk in liquid; 2. adopt anticorrosion aluminium as the pressure casing material, robot can be walked in the corrosive liquid of certain pressure intensity; 3. adopt the differential driving of two servomotors realizations, thereby make robot in ducted flexible walking to two independent crawler belts; 4. adopt bidimensional obliquity sensor robot measurement at ducted posture, realize that the self adaptation pose of robot is adjusted.
Entire machine people of the present invention adopts the structure distribution of left-right symmetric formula, adopts differential track propulsion, can realize that in pipeline wide-angle turns to, and the percent of pass of various curved pipelines is greatly improved, and the ability of across obstacle also greatly improves simultaneously.Its principal feature has: 1) integral seal has the operational capability of amphibious environment; 2) adopt anticorrosion aluminium as withstand voltage anticorrosion shell, adopt lattice to enclose the realization dynamic seal; 3) adopt two servomotors to realize differential driving to two independent crawler belts, thus compound action such as realize that any radius of turn turns to; 4) adopt bidimensional obliquity sensor robot measurement at ducted posture, realize that robot at ducted self-equalizing, prevents inclination and overturning.Robot of the present invention can be widely used in wearing work such as cable, detection of defects, repairing, pipe-dredging in various natural gas lines, petroleum pipe line, urban discharging pipeline, water supply pipe, the nuke industry pipeline.
(4) description of drawings
Fig. 1 is that closed caterpillar driving urban discharging pipeline robot is faced structural representation;
Fig. 2 is that closed caterpillar drives urban discharging pipeline robot plan structure scheme drawing;
Fig. 3 is amphibious cterpillar drive and structural representation;
Fig. 4 is that closed caterpillar drives urban discharging pipeline robot track tension device structural representation;
Fig. 5 is that closed caterpillar drives urban discharging pipeline robot driven wheel structure sealing scheme drawing;
Fig. 6-Fig. 8 is that closed caterpillar drives urban discharging pipeline robot caterpillar steel plate structural representation;
Fig. 9-Figure 10 is that closed caterpillar drives urban discharging pipeline robot crawler belt rubber block structural representation.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
In conjunction with Fig. 1 and Fig. 2, present embodiment comprises propulsion source and driving system, hermetically-sealed construction, novel broad track and tension structure and outer shelf structure four major parts, is described respectively below:
The propulsion source driving system and the structure of a, robot
The propulsion source of dolly is two DC machine 14, the worm and gear that carries by motor spreads out of power, transmission minor sprocket 37 is installed on the output shaft of motor, power on the transmission minor sprocket 37 is passed to transmission Dalian wheel 48 by gimmal 38, passing to transmission Dalian wheel 48 is fixed on the imput shaft 43 as shown in Figure 2 by flat key 49, two imput shaft all are the two ends outputs, by sleeve 47, bearing 46, transfer crack steel ring 45, the end float misalignment of trailing wheel end cap 41 constraint imput shaft 43, radial-play by two main shaft deep groove ball bearings, 46 constraint imput shaft 43, main shaft deep groove ball bearing 46 outer shrouds are fixed on the casing, the two ends of imput shaft 43 are connected with driving wheel 39 by flat key 49, again by trailing wheel end cap 41, end cap screw 42, driving wheel 39 is fixed on the imput shaft 43, imput shaft 43 drives driving wheel 39, crawler belt and flower wheel 1 rotate, and two motors 14 drive two crawler belts and realize differential motion.
B, robot hermetically-sealed construction
The robot sealing system comprises three parts: box sealing part, front-wheel sealing and towing cable sealing structure part.
The box sealing structure: by upper box 7, tightening screw, nuts and washers 8,9,10, lower box 13, O RunddichtringO 44 housing plates 19, housing plate screw 18, imput shaft lattice enclose 40 and imput shaft 43 form.With taper pin 11 tightening screws, nuts and washers 8,9,10 fixedly upper box 7 and lower box 13, between faying face, coat sealant, form sealing, between four takeoff output hole end surfaces between the last lower box and the casing end face with 44 sealings of O RunddichtringO, use housing plate screw 18 fastening between the two, enclose 40 sealings with the imput shaft lattice between housing plate 19 and the imput shaft 43.Thereby formed the operation sealing of two motors 14, interior chain transmission system, motor drive module, sensor assembly and signal processing circuit being carried out liquid environment.
Fore wheel structure and sealing: in conjunction with Fig. 5, enclose 27, transfer crack steel ring 28 by flower wheel 1, front-wheel end cap 3, front-wheel end cap screw 4, driven shaft lattice, O type rubber seal 29, circlip 30, driven shaft 31, deep groove ball bearing 32 is formed.Driven shaft 31 relative robot cars are fixed, and deep groove ball bearing 32 is passed through in being connected of flower wheel 1 and driven shaft 31; By driven shaft 31, deep groove ball bearing 32, transfer crack steel ring 28, circlip 30, front-wheel end cap 3, front-wheel end cap screw 4 retrain the end float misalignment of flower wheel 1, realize the circumferential rotation of flower wheel with deep groove ball bearing 32.Enclose 27 sealings with the driven shaft lattice between flower wheel 1 and the driven shaft 31; With O type rubber seal 29 and waterproof gasket cement sealing, use front-wheel end cap screw 4 leak-tight joints between flower wheel 1 and the front-wheel end cap 3.
Towing cable hermetically-sealed construction: in conjunction with Fig. 2, by lower box 13, towing cable aluminum barrel 50, sealing nut 51, O RunddichtringO 52, screw 35.Robot car adopts the towing cable operation, power lead, signal wire (SW) and operation cable are introduced in the rear portion, under the faying face of last lower box, lower box 13 has a plane boss, tapped bore and cable aperture are arranged on the boss, cable is introduced the casing in-to-in through the cable aperture of lower box 13 again through sealing nut 51, O RunddichtringO 52, towing cable aluminum barrel 50.With the waterproof gasket cement sealing, towing cable aluminum barrel 50 is fixed on the boss of lower box 13 between boss and the towing cable aluminum barrel 50 with screw 35.Again with the fine thread sealing, using O RunddichtringO 52 between towing cable aluminum barrel 50 and the sealing nut 51 sealing nut 51 and cable seal.
The broad track of c, robot and tension structure
Track tension device: form by front-wheel support 6, nut 24, tie bolt 25, pad 26, driven shaft 31, clamp nut 33, clamping washer 34.In conjunction with Fig. 1, front-wheel support 6 is fixed on the boss of lower box front end by front-wheel support screw 5.In conjunction with Fig. 2, driven shaft 31 is placed in level ' bifurcation ' the shape mouth of front-wheel support 6, tie bolt 25 1 ends are installed in the screw of driven shaft 31, tighten locking with nut 24 again, tie bolt 25 other ends pass a square washer 26 that is placed in front-wheel support 6 square grooves, in the position of arriving crawler tensioning with nut 24 tension driven shafts 31, and in this position, the shaft shoulder, clamp nut 33 and clamping washer 34 by driven shaft 31 are fixing with driven shaft 31, thereby reach the position of simple and easy crawler tensioning.
The novel broad track structure of pipe robot: form by single ear driving chain 2, crawler belt rubber block 15, flathead screw 21, screw 22, nut 23, caterpillar steel plate 53.In conjunction with Fig. 1, Fig. 3, robot has four flower wheels 1 and four driving wheels 39, and every imput shaft 43 two ends are equipped with two driving wheels 43, and every driven shaft 31 two ends are equipped with two principal and subordinate wheels 1.A driving wheel 43 and flower wheel 1 in-line in the every side of the robot outside, inboard a driving wheel 43 and flower wheel 1 in-line, and this two Heaven's commandments straight line parallel.The pipe robot dolly has two novel broad tracks, every crawler belt has two single ear driving chains 2, every single ear driving chain 2 is installed on a driving wheel 39 and the flower wheel 1, on driving wheel 43 on the every line that promptly mentions above and the flower wheel 1, four parallel placements of crawler belt of dolly, and the ear of single ear driving chain 2 of every side crawler belt is all outwards placed.Placement, caterpillar steel plate 53 on the corresponding ear of two single ear driving chains 2, fix with flathead screw 21, nut 23, and caterpillar steel plate 53 symmetrical center line is vertical with two that are connected single ear driving chains 2, again with screw 22, nut 23 fixedly rubber block 15 on the vertical ear in caterpillar steel plate 53 both sides, make the outside of the circular arc of rubber block 15 to robot.The caterpillar steel plate structure as shown in Figure 6.Crawler belt rubber block structure is in conjunction with Fig. 7, the rubber block outer rim adopts the circular arc of radius 250mm, has adapted to the environment of pipeline operations, has satisfied the job requirements in the urban discharging pipeline, make that when having only robot crawler belt circular arc stressed the stress curve of dolly industry also satisfies the walking job requirements of robot.It is fast to add rubber on crawler belt, can improve the obstacle climbing ability of robot car, once add the attached power of work, anti-skidding.
The outer shelf structure of d, robot
Outer shelf structure: by screw 35, outrigger support 54, add tightening screw 55, outrigger 56 is formed, in conjunction with Fig. 1, Fig. 2, outrigger support 54 is fastening by the side boss of screw 35 and last lower box, and outrigger support 54 is by adding tightening screw 55 and outrigger 56 is fastening, for outrigger 56 provides support power.When outrigger 56 can prevent because of robot car and inner-walls of duct collision, block the upper front portion of crawler belt, simultaneously, add the top platform is provided, for pipe robot pipeline operations instrument provides an open erecting stage.
Present embodiment can be used as the urban discharging pipeline towing port and uses, and the drainage pipeline desilting can be dragged to the other end automatically and draw vertical shaft clearly with the vertical shaft of drawing clearly of wirerope from drainage pipeline one end.
Claims (8)
1, a kind of urban discharging pipeline robot of closed caterpillar differential driven, it comprises casing, Power train is set in casing, be separately installed with front-wheel and trailing wheel in the front and back of casing, Power train links to each other with trailing wheel, crawler belt and stretching device thereof are installed between front-wheel and the trailing wheel, it is characterized in that: further comprising the outrigger and the sealing mechanism that are installed on the casing, outer shelf structure is made up of fastening outrigger support and outrigger, hermetically-sealed construction comprises the box sealing part, front-wheel sealing and towing cable sealing structure part, the box sealing structure is by upper box, lower box and between static seal structure form, upper box and lower box are connected, side and outrigger are fastening, be provided with the takeoff output hole between the last lower box, power drive system is by two DC machine, worm screw and chain gearing and driving wheel are formed, two DC machine are connected imput shaft by worm screw with chain gearing, driving wheel is fixed on the imput shaft, imput shaft is arranged between the housing plate, front-wheel is made up of flower wheel, track tension device is by front-wheel support, driven shaft and adjustable bolt are formed, front-wheel support is fixed on the lower box front end, driven shaft is arranged in the front-wheel support, flower wheel is connected with driven shaft, broad track is by single ear driving chain, crawler belt rubber block and caterpillar steel plate are formed, caterpillar steel plate is arranged on single ear driving chain, and the crawler belt rubber block is fixed on the caterpillar steel plate both sides.
2, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described two DC machine are installed the transmission minor sprocket on the output shaft of motor, the transmission minor sprocket connects the transmission hinge wheel by gimmal, the transmission hinge wheel is fixed on the imput shaft by flat key, the two ends of imput shaft are connected with driving wheel by flat key, by the trailing wheel end cap, the end cap screw is to the driving wheel axial restraint, imput shaft is passed through sleeve, bearing, transfer the crack steel ring, trailing wheel end cap and two main shaft deep groove ball bearings are fixed, and main shaft deep groove ball bearing outer shroud is fixed on the casing.
3, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1 is characterized in that: described side and the outrigger support of going up lower box is fastening by screw bosses, and the outrigger support is by adding tightening screw and outrigger is fastening.
4, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described front-wheel support passes through the front-wheel support screw retention on the boss of last lower box front end, driven shaft is arranged in the horizontal bifurcation shape mouth of front-wheel support, tie bolt one end is installed in the screw of driven shaft, fastening by nut, the tie bolt other end passes a square washer that is placed in the front-wheel support square groove, by the fastening driven shaft of nut, driven shaft is fixed by the shaft shoulder, clamp nut and the clamping washer of driven shaft.
5, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described single ear driving chain is installed on a driving wheel and the flower wheel, and the ear of single ear driving chain of every side crawler belt is all outwards placed, on the corresponding ear of two single ear driving chains, place caterpillar steel plate, pass through flathead screw, nut is fixed, and it is vertical with two that are connected single ear driving chains that caterpillar steel plate gets symmetrical center line, pass through screw, fixedly the crawler belt rubber block is on the vertical ear in caterpillar steel plate both sides for nut, and the circular arc of crawler belt rubber block is to the outside of robot.
6, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described upper box and lower box are fixed by taper pin, tightening screw, nuts and washers, seal with O-ring seals between delivery orifice end face between the last lower box and the casing end face, use the housing plate screw fastening between the two, enclose sealing with the imput shaft lattice between housing plate and the imput shaft.
7, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described flower wheel is connected by deep groove ball bearing with driven shaft, driven shaft, deep groove ball bearing, accent crack steel ring, circlip, front-wheel end cap and front-wheel end cap screw retention flower wheel enclose sealing with the driven shaft lattice between flower wheel and the driven shaft; Seal by O type rubber seal and waterproof gasket cement between flower wheel and the front-wheel end cap, by front-wheel end cap screw leak-tight joint.
8, urban discharging pipeline robot of closed caterpillar differential driven according to claim 1, it is characterized in that: described towing cable hermetically-sealed construction is by the towing cable aluminum barrel, sealing nut, O RunddichtringO and screw are formed, under the faying face of last lower box, lower box is provided with a plane boss, boss is provided with tapped bore and cable aperture, cable is through sealing nut, the O RunddichtringO, the towing cable aluminum barrel, introduce box house through the cable aperture of lower box again, seal by waterproof gasket cement between boss and the towing cable aluminum barrel, the towing cable aluminum barrel is fixed on the boss of lower box by screw, by the fine thread sealing, sealing nut and cable are by the sealing of O RunddichtringO between towing cable aluminum barrel and the sealing nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710072408XA CN100554066C (en) | 2007-06-27 | 2007-06-27 | Urban discharging pipeline robot of closed caterpillar differential driven |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710072408XA CN100554066C (en) | 2007-06-27 | 2007-06-27 | Urban discharging pipeline robot of closed caterpillar differential driven |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101074031A true CN101074031A (en) | 2007-11-21 |
| CN100554066C CN100554066C (en) | 2009-10-28 |
Family
ID=38975344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710072408XA Expired - Fee Related CN100554066C (en) | 2007-06-27 | 2007-06-27 | Urban discharging pipeline robot of closed caterpillar differential driven |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100554066C (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417674B (en) * | 2008-11-20 | 2010-05-12 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| CN102358361A (en) * | 2011-09-26 | 2012-02-22 | 吉林大学 | Adaptive multi-road-condition caterpillar composite-driving biomimetic robot |
| CN102730093A (en) * | 2012-06-21 | 2012-10-17 | 西安交通大学 | Transmission mechanism of robot |
| CN103066534A (en) * | 2013-02-06 | 2013-04-24 | 山东电力集团公司德州供电公司 | Automatic cable culvert penetrator |
| CN104401192A (en) * | 2014-11-21 | 2015-03-11 | 刘延俊 | Crawler attachment for amphibian excavators |
| CN104613274A (en) * | 2015-01-29 | 2015-05-13 | 温州大学瓯江学院 | Self-adaptive pipeline exploration robot |
| WO2015109631A1 (en) * | 2014-01-21 | 2015-07-30 | 瑞烨世纪（深圳）模型有限公司 | Simple, glue-free movable track model with dual-pin structure |
| CN105526310A (en) * | 2016-01-19 | 2016-04-27 | 湖州迈隆机械有限公司 | Chain of robot |
| CN107719492A (en) * | 2017-10-17 | 2018-02-23 | 中铁工程设计咨询集团有限公司 | A kind of crawler type walking mechanism of top chord check car |
| CN109305239A (en) * | 2018-10-08 | 2019-02-05 | 哈尔滨工业大学 | A kind of compound moving platform device of sealed wheel leg |
| CN111236413A (en) * | 2020-02-26 | 2020-06-05 | 江苏工程职业技术学院 | Municipal administration pipeline cleaning robot |
-
2007
- 2007-06-27 CN CNB200710072408XA patent/CN100554066C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417674B (en) * | 2008-11-20 | 2010-05-12 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| CN102358361A (en) * | 2011-09-26 | 2012-02-22 | 吉林大学 | Adaptive multi-road-condition caterpillar composite-driving biomimetic robot |
| CN102730093A (en) * | 2012-06-21 | 2012-10-17 | 西安交通大学 | Transmission mechanism of robot |
| CN103066534B (en) * | 2013-02-06 | 2016-06-01 | 山东电力集团公司德州供电公司 | Automatic cable culvert penetrator |
| CN103066534A (en) * | 2013-02-06 | 2013-04-24 | 山东电力集团公司德州供电公司 | Automatic cable culvert penetrator |
| WO2015109631A1 (en) * | 2014-01-21 | 2015-07-30 | 瑞烨世纪（深圳）模型有限公司 | Simple, glue-free movable track model with dual-pin structure |
| CN104401192A (en) * | 2014-11-21 | 2015-03-11 | 刘延俊 | Crawler attachment for amphibian excavators |
| CN104401192B (en) * | 2014-11-21 | 2016-08-03 | 刘延俊 | A kind of crawler attachment of amphibious excavator |
| CN104613274A (en) * | 2015-01-29 | 2015-05-13 | 温州大学瓯江学院 | Self-adaptive pipeline exploration robot |
| CN104613274B (en) * | 2015-01-29 | 2016-06-08 | 温州大学瓯江学院 | A kind of self-adapting pipe sniffing robot |
| CN105526310A (en) * | 2016-01-19 | 2016-04-27 | 湖州迈隆机械有限公司 | Chain of robot |
| CN107719492A (en) * | 2017-10-17 | 2018-02-23 | 中铁工程设计咨询集团有限公司 | A kind of crawler type walking mechanism of top chord check car |
| CN109305239A (en) * | 2018-10-08 | 2019-02-05 | 哈尔滨工业大学 | A kind of compound moving platform device of sealed wheel leg |
| CN111236413A (en) * | 2020-02-26 | 2020-06-05 | 江苏工程职业技术学院 | Municipal administration pipeline cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100554066C (en) | 2009-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100554066C (en) | Urban discharging pipeline robot of closed caterpillar differential driven | |
| JP6929392B2 (en) | Crawl welding robot and its control method | |
| CN205226751U (en) | Pipeline inspection microrobot | |
| CN205363868U (en) | Pipeline inspection special robots | |
| CN108286433B (en) | Shield tunnel detection mechanism and using method thereof | |
| CN1789062A (en) | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing | |
| DeVault | Robotic system for underwater inspection of bridge piers | |
| CN1876329A (en) | Internal aligning device for pipe | |
| CN110841840A (en) | Telescopic spraying robot for ship outer plate coating | |
| CN103148314A (en) | Pipeline walking robot | |
| CN103162060A (en) | Steering mechanism of pipeline walking robot | |
| CN102127897A (en) | Horizontal telescopic device of bridge inspection operation car | |
| CN208519395U (en) | A kind of modularization magnetic suck pipe robot that can quickly adjust angle | |
| CN111123955A (en) | Amphibious operation pipeline detection equipment | |
| CN108177725B (en) | A kind of ship ventilation damping device based on crawler type movement absorption | |
| CN201548392U (en) | Automobile ball durability testing machine | |
| CN104608743A (en) | Installation structure for window wiper of urban rail vehicle | |
| CN109229221B (en) | Pipeline walking mechanism capable of climbing up and down steps and working method thereof | |
| CN210571344U (en) | Lip oil seal muddy water test bed for input end of recirculating ball power steering gear | |
| KR20140051521A (en) | Blasting apparatus | |
| CN212510071U (en) | Sewage pipeline detection robot system | |
| CN212200530U (en) | Deep water limited space dredging vehicle | |
| CN2881232Y (en) | Rubber-ring type water lubricating stern shaft sealing device | |
| CN219137931U (en) | Underground pipe network underwater intelligent dredging robot | |
| CN217078940U (en) | Traveling device and amphibious excavator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091028 Termination date: 20120627 |