CN107024565B - A kind of intelligent gas detection means and method - Google Patents
A kind of intelligent gas detection means and method Download PDFInfo
- Publication number
- CN107024565B CN107024565B CN201710230206.7A CN201710230206A CN107024565B CN 107024565 B CN107024565 B CN 107024565B CN 201710230206 A CN201710230206 A CN 201710230206A CN 107024565 B CN107024565 B CN 107024565B
- Authority
- CN
- China
- Prior art keywords
- leg
- electric pushrod
- reference circle
- gas
- die cavity
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title description 3
- 238000003860 storage Methods 0.000 claims abstract description 64
- 238000004880 explosion Methods 0.000 claims abstract description 12
- 239000007789 gas Substances 0.000 claims description 82
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000002156 mixing Methods 0.000 claims description 6
- 239000002341 toxic gas Substances 0.000 claims description 3
- 238000013507 mapping Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000505 pernicious effect Effects 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0073—Control unit therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/22—Devices for withdrawing samples in the gaseous state
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0031—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/0057—Warfare agents or explosives
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Medicinal Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Food Science & Technology (AREA)
- Automation & Control Theory (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Investigating Or Analyzing Materials By The Use Of Electric Means (AREA)
- Emergency Alarm Devices (AREA)
- Sampling And Sample Adjustment (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent gas detection means, including gas-detecting device, it is on the first electric pushrod, it is placed in body jogger hole, there is oblique Athey wheel spill storage die cavity body both sides, leg storage chamber, bottom surface has bottom tracks wheel spill to deposit die cavity, oblique Athey wheel spill storage die cavity has the second electric pushrod and oblique crawler belt wheel assembly, bottom tracks wheel spill storage die cavity has the 3rd electric pushrod and bottom tracks wheel assembly, leg storage chamber has the 4th electric pushrod and leg assembly, there is anti-explosion surveillance camera before and after body, it is left, right explosion-proof lamp and explosion-proof avoidance sensor, there are gas collector and control unit in body.Crawler belt and leg of the present invention are recoverable to, and are hardly damaged, and occupation of land is small, are had enough to meet the need beneficial to storage, possess three kinds of progressions, adapt to different terrain, high lower gas can be detected, blanketing gas detects in all directions, with auto-mapping landform, progression is selected, positions the function of leakage point.
Description
Technical field
The present invention relates to field of gas detection, specially a kind of intelligent gas detection means.
Background technology
With the quickening of process of industrialization, air ambient security situation is increasingly severe, and air quality allows of no optimist, especially
It is oil, metallurgical, cement, chemical industry, the industry such as colliery can produce substantial amounts of pernicious gas, once pernicious gas leakage or raw occurs
Produce security incident, it will the ecological environment to periphery causes serious harm, damages the health of people；For the gas of high risk industries
It is fixed that generally use is surveyed in physical examination, inspection type, and this can meet detection and early warning needs for normal operating conditions, but one
Accident occurs for denier, and on-site detecting device cannot be told on, existing disposal options take artificial protection, approach by broken ring
Detection, testing staff's security is not very high, can also be detected using remotely pilotless detection device, but it is existing nobody
Detection device, progression is single, is not adapted to for some complex environments.
The content of the invention
It is an object of the invention to provide a kind of intelligent gas detection means, solves existing gas-detecting device in face of peace
Versatility is not high during full accident, unsafe problem, there is provided and it is a kind of intelligent, unmanned, removableization, adapt to a variety of landform
The device of environment.
To achieve the above object, the present invention provides following technical scheme：A kind of intelligent gas detection means, including gas inspection
Device is surveyed, the gas-detecting device includes gas detection box, gas sensor unit and surface-mounted integrated circuit, the gas detection
Box is shaped as cuboid, and it includes protection box and automatic protective door assembly, and the reference circle with central coaxial is arranged at protection box bottom
Decile screwed hole, the gas sensor unit are mounted in protection box, and it includes argoshield sensor, poison gas body sensor,
Combustible gas sensor, explosion hazard gases sensor and dusty gas sensor, gas-detecting device are mounted in the first electric pushrod top
The top of level push rod, is circular flange disk at the top of the top push rod of the first electric pushrod, there is point with central coaxial above
Degree circle etc. divides through hole, and reference circle of it and protection box bottom etc. divides corresponding threaded holes, and is bolted, the first electric pushrod
Base be fixed in the jogger hole above body, the body is inequilateral hexahedron, and two sides being connected with top surface are
Inclined-plane, their sizes and angle of inclination are identicals, and the length of length and top surface is identical, is vertical below the inclined-plane of both sides
Face directly, their sizes are identicals, symmetrical, and the length of length and top surface is identical, is bottom below two vertical planes
Face, its length and the length of top surface are identicals, and width is more than the width of top surface, has jogger hole in the centre of body top surface,
It is counter sink, and counter sink portion is rectangular slot, and rectangular slot matches with gas detection box, and counter sink bottom is tack hole,
There are two oblique Athey wheel spills storage die cavities on each inclined-plane of body, they are cuboid spill die cavities, perpendicular to inclined-plane,
There is reference circle etc. to divide screwed hole in the center of oblique Athey wheel spill storage die cavity bottom surface, two oblique Athey wheels on each inclined-plane are recessed
Shape storage die cavity is symmetrical relative to the jogger hole of top surface, also has three leg storages between each inclined-plane and vertical plane
Chamber, they are trapezoidal concave shaped cavities, and the oblique Athey wheel in left side and right side for being arranged in the oblique Athey wheel spill storage die cavity in left side is recessed
Shape deposits the right side of die cavity, also has a leg storage chamber in both centres, also has below the medial surface of leg storage chamber and divide
Degree circle etc. divides screwed hole, also has four bottom tracks wheel spill storage die cavities in the bottom surface of body, they are cuboid spill types
Chamber, perpendicular to bottom surface, there is reference circle etc. to divide screwed hole in the center of bottom tracks wheel spill storage die cavity bottom surface, four bottoms are carried out
Belt wheel spill storage die cavity is all around arranged symmetrically, and second is fitted with body each oblique Athey wheel spill storage die cavity
Electric pushrod, the bottom of second electric pushrod is flange plate structure, has the reference circle with central coaxial etc. to divide through hole above,
Reference circle of storage die cavity bottom surface etc. divides corresponding threaded holes with oblique Athey wheel spill for it, and is bolted, and second electronic pushes away
It is ring flange at the top of the push rod of bar, has the reference circle with central coaxial etc. to divide through hole above, be fitted with oblique crawler belt wheel assembly,
The tiltedly crawler belt wheel assembly includes Athey wheel and guide pad, is the shoe for protruding from middle connecting seat at left and right sides of the Athey wheel
Band, crawler belt outer ring two edges are circular arc, and Athey wheel is fixed on the top of guide pad, are had on the bottom of the guide pad point
Degree circle etc. divides screwed hole, and it is with the reference circle on the second electric pushrod push rod ring flange etc. divides through hole to match, and blending bolt connects,
The width of the width of guide pad and oblique Athey wheel spill storage die cavity is identical, in each bottom tracks wheel spill storage of body
The 3rd electric pushrod is fitted with die cavity, the bottom of the 3rd electric pushrod is flange plate structure, is had above same with center
Reference circle of axle etc. divides through hole, and it deposits reference circle of die cavity bottom surface etc. with bottom tracks wheel spill and divides corresponding threaded holes, and leads to
Bolt connection is crossed, is ring flange at the top of the push rod of the 3rd electric pushrod, has the reference circle with central coaxial etc. to divide through hole above,
Bottom tracks wheel assembly is fitted with, the bottom tracks wheel assembly includes bottom tracks wheel and bottom guide block, the bottom
It is the bottom tracks for protruding from middle connecting seat at left and right sides of Athey wheel, bottom tracks outer ring two edges are circular arc,
Bottom tracks wheel is fixed on the top of bottom guide block, has reference circle etc. to divide screwed hole on the bottom of the bottom guide block, it
Through hole is divided to match with the reference circle on the 3rd electric pushrod push rod ring flange etc., blending bolt connection, the width of bottom guide block
Width with bottom tracks wheel spill storage die cavity is identical, is equipped with below the medial surface of each leg storage chamber of body
4th electric pushrod, the bottom of the 4th electric pushrod is flange plate structure, there is the reference circle decile with central coaxial above
Through hole, the reference circle below its medial surface with leg storage chamber etc. divides corresponding threaded holes, and is bolted, and the 4th is electronic
It is ring flange at the top of the push rod of push rod, has the reference circle with central coaxial etc. to divide through hole above, in the push rod of the 4th electric pushrod
Leg assembly is housed in front of ring flange, anti-explosion surveillance camera is all disposed with the leading flank of body and trailing flank, it is left explosion-proof
Lamp, right explosion-proof lamp and explosion-proof avoidance sensor, the inside below body are equipped with gas collector and control unit.
Preferably, automatic protective door assembly includes protective door on the gas-detecting device, door-opening rotating shaft mechanism and explosion-proof
Enabling motor, the door-opening rotating shaft mechanism is at protection door pivot.
Preferably, the motor tiltedly on crawler belt wheel assembly and bottom tracks wheel assembly is all fire-proof motor.
Preferably, the leg assembly includes leg orientating box, and its profile is cuboid, width and leg storage chamber width
It is identical, its right flank has spill cuboid die cavity, has reference circle etc. to divide screwed hole in the medial surface of spill cuboid die cavity,
It divides through hole to match with the reference circle on the 4th electric pushrod push rod ring flange etc., is bolted, on leg orientating box top
The left in face is equipped with rotating seat, is double branch auricles above the rotating seat, and lower section is shaft hole, and it is with being fixed on leg orientating box
On the first motor be connected, the first leg is installed in the double branch ear slots of rotating seat, is to have pan on the right side of first leg
Single journal stirrup, it is arranged in the double branch ear slots of rotating seat, and is connected with the second motor being fixed on rotating seat, and the first leg is left
Side is fork-shaped journal stirrup, and the second leg is provided with fork groove, and the second leg width is phase with the first leg fork-shaped well width
With, fork-shaped slot length is more than the length of the second leg, has pan on the right side of the second leg, and it is with being fixed on the first leg left side
3rd motor of side end is connected.
Preferably, first motor, the second motor and the 3rd motor are fire-proof motors.
Preferably, described control unit includes explosive-proof protector case, and there are controller, gas concentration tracker, landform point in the inside
Parser, memory cell, surface-mounted integrated circuit, explosion-proof electrical source, explosion-proof positioner and explosion-proof radio transmitting device.
Compared with prior art, beneficial effects of the present invention are as follows：
It is 1st, of the invention by arranging that oblique Athey wheel spill deposits die cavity and bottom tracks wheel spill deposits die cavity on body,
Fix the second electric pushrod and the 3rd electric pushrod respectively in die cavity, and divide on the second electric pushrod and the 3rd electric pushrod
Oblique crawler belt wheel assembly and bottom tracks wheel assembly are not installed, oblique crawler belt wheel assembly and bottom tracks wheel assembly is stretched out or is deposited
It is placed in die cavity, compared with conventional track formula machine, adds Athey wheel on top both sides inclined-plane, can run in the duct,
Simultaneously all crawler belts be recoverable to avoid rugged topography crawler belt can not in use, protrusion influence advance the problem of.
2nd, the present invention fixes the 4th electric pushrod, in the 4th electricity by arranging leg storage chamber on body in die cavity
Mounting leg component on dynamic push rod, and by the first motor on leg assembly, the second motor, the 3rd motor and fork configuration
First leg, make leg assembly folding to minimum state, and be stored in die cavity, compared with traditional six pawl robots, without using
All legs can be backed up into cabin during leg, avoiding leg, the easy damaged in collision of exposed leg, leg are exposed when not in use
Space is big, is unfavorable for the problem of storage is had enough to meet the need.
3rd, the present invention can scan surrounding terrain by front and rear anti-explosion surveillance camera, and controller automatically selects advance side
Formula, by stretching out bottom tracks wheel assembly, withdraw other local forward gears can high speed in gentle ground run, pass through
Stretching out bottom tracks wheel assembly and oblique crawler belt wheel assembly, the crawler belt in three directions allows device to advance in the duct, passes through receipts
Return all crawler belts and stretch out six legs, can advance in rugged landform, compared with conventional machines device, be provided simultaneously with three kinds
Progression, adapt to different landform.
4th, the present invention by body central aperture install the first electric pushrod, gas-detecting device is filled above push rod,
Controller in control unit drives detection means to move up and down automatically, can detect the small gas of lower density ratio air, high
Locate the big gas of density ratio air, avoid the problem of detection means is fixed from blanketing gas detection in all directions.
5th, the present invention, can be with real time scan by filling anti-explosion surveillance camera and explosion-proof avoidance sensor in body front and back
Surrounding terrain graph, front topographic map is drawn by terrain analysis device automatically, while after gas sensor detects gas, gas
Concentration tracing device can automatically analyze this gas concentration regional change scope, and homing device is to before the high place of concentration
Enter, be automatically found source of leaks, explosion-proof positioner is automatically positioned, and is rearward transmitted in real time by explosion-proof radio transmitting device, gas
The gas that body collector be able to can not be judged with collecting sensor, and take back rear analysis, compared with traditional gas detects machine, dress
Put and select the ability of a variety of progressions with auto-mapping landform, automatic decision, leakage point can also be automatically positioned, avoided
Artificial remote control robot repetitive operation, the problem of efficiency is low.
Brief description of the drawings
Fig. 1 is the axial schematic diagram that track rail assembly of the present invention stretches out；
Fig. 2 is the axial schematic diagram that leg assembly of the present invention stretches out；
Fig. 3 is idea figure of the present invention；
Fig. 4 is Fig. 3 A-A sectional views；
Fig. 5 is Fig. 3 B-B sectional views；
Fig. 6 is the oblique Athey wheel assembly diagram of the present invention；
Fig. 7 is leg assembly schematic diagram of the present invention；
In figure：1 body, 2 oblique crawler belt wheel assemblies, 3 anti-explosion surveillance cameras, 4 left explosion-proof lamps, 5 explosion-proof avoidance sensors, 6
Right explosion-proof lamp, 7 first electric pushrods, 8 gas-detecting devices, 9 leg assemblies, 10 gas collectors, 11 control units, 12 second
Electric pushrod, 13 the 3rd electric pushrods, 14 bottom tracks wheel assemblies, 15 the 4th electric pushrods, 201 Athey wheels, 202 guide pads,
901 leg orientating boxs, 902 first motors, 903 rotating seats, 904 first legs, 905 the 3rd motors, 906 second legs, 907
Two motors.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-7, a kind of intelligent gas detection means, including gas-detecting device 8 are referred to, it includes gas detection box,
Gas sensor unit and surface-mounted integrated circuit, gas detection box are shaped as cuboid, and it includes protection box and automatic protective door
Assembly, automatic protective door assembly include protective door, door-opening rotating shaft mechanism and explosion-proof enabling motor, and door-opening rotating shaft mechanism is mounted in protection
At door pivot, it, which is connected with explosion-proof enabling motor in detection gas, automatically opens up, and usually closes protective gas sensor automatically
Unit, protection box bottom have the reference circle with central coaxial etc. to divide screwed hole, and for being connected with the first electric pushrod 7, gas passes
Sensor cell is mounted in protection box, and it includes argoshield sensor, poison gas body sensor, combustible gas sensor, explosive gas
Body sensor and dusty gas sensor, sensor can be plugged on surface-mounted integrated circuit, and sensor is adjusted according to testing goal
Module, gas-detecting device 8 are mounted in the top of 7 top push rod of the first electric pushrod, the top of 7 top push rod of the first electric pushrod
It is circular flange disk, has the reference circle with central coaxial etc. to divide through hole above, reference circle of it and protection box bottom etc. divides screw thread
Hole matches, and is bolted, and the base of the first electric pushrod 7 is fixed in the jogger hole of body 1, makes gas-detecting device
8 can move up and down the gas of detection different densities, and body 1 is inequilateral hexahedron, and two sides being connected with top surface are oblique
Face, their sizes and angle of inclination are identicals, and the length of length and top surface is identical, is vertical below the inclined-plane of both sides
Face, their sizes are identicals, symmetrical, and the length of length and top surface is identical, is bottom surface below two vertical planes,
Its length and the length of top surface are identicals, and width is more than the width of top surface, has jogger hole in the centre of the top surface of body 1, it
It is counter sink, counter sink portion is rectangular slot, and rectangular slot matches with gas detection box, is recoverable to gas-detecting device 8
Storage, counter sink bottom is tack hole, there is two oblique Athey wheel spill storage die cavities on each inclined-plane of body 1, they
It is cuboid spill die cavity, perpendicular to inclined-plane, has reference circle etc. to divide screw thread in the center of oblique Athey wheel spill storage die cavity bottom surface
Hole, two oblique Athey wheel spills storage die cavities on each inclined-plane are symmetrical relative to the jogger hole of top surface, on each inclined-plane
There are three leg storage chambers between vertical plane, they are trapezoidal concave shaped cavities, and being arranged in left side, tiltedly Athey wheel spill is deposited
The right side of the oblique Athey wheel spill storage die cavity in left side and right side of die cavity is put, also has a leg storage chamber in both centres,
There is reference circle etc. to divide screwed hole below the medial surface of leg storage chamber, also have four bottom tracks wheels recessed in the bottom surface of body 1
Shape deposits die cavity, and they are cuboid spill die cavities, perpendicular to bottom surface, in the center of bottom tracks wheel spill storage die cavity bottom surface
There is reference circle etc. to divide screwed hole, four bottom tracks wheel spill storage die cavities are all around arranged symmetrically, in each tiltedly shoe of body 1
The second electric pushrod 12 is fitted with belt wheel spill storage die cavity, its bottom is flange plate structure, is had above same with center
Reference circle of axle etc. divides through hole, and it deposits reference circle of die cavity bottom surface etc. with oblique Athey wheel spill and divides corresponding threaded holes, and passes through
Bolt connection, the push rod top of the second electric pushrod 12 is ring flange, has the reference circle with central coaxial etc. to divide through hole above,
Oblique crawler belt wheel assembly 2 is fitted with, it is stretched out or is withdrawn, oblique crawler belt wheel assembly 2 includes Athey wheel 201 and guide pad
202, the left and right sides of Athey wheel 201 is the crawler belt for protruding from middle connecting seat, and its outer ring two edges are circular arc, are easy to
Advance in pipeline, Athey wheel 201 is fixed on the top of guide pad 202, has reference circle etc. to divide screw thread on the bottom of guide pad 202
Hole, it divides through hole to match with the reference circle on the push rod ring flange of the second electric pushrod 12 etc., blending bolt connection, guide pad 202
The width of width and oblique Athey wheel spill storage die cavity be identical, can be oriented to, in each bottom tracks wheel of body 1
The 3rd electric pushrod 13 is fitted with spill storage die cavity, its bottom is flange plate structure, is had above and central coaxial
Reference circle etc. divides through hole, and it deposits reference circle of die cavity bottom surface etc. with bottom tracks wheel spill and divides corresponding threaded holes, and passes through spiral shell
Tether and connect, be ring flange at the top of the push rod of the 3rd electric pushrod 13, there is the reference circle with central coaxial etc. to divide through hole above, upper
Face is equipped with bottom tracks wheel assembly 14, bottom tracks wheel assembly 14 is stretched out or is retracted, bottom tracks wheel assembly 14 includes
Bottom tracks wheel and bottom guide block, it is the bottom tracks for protruding from middle connecting seat at left and right sides of bottom tracks wheel, it
Outer ring two edges are circular arc, are easy to advance in the duct, and bottom tracks wheel is fixed on the top of bottom guide block, and bottom is oriented to
There is reference circle etc. to divide screwed hole on the bottom of block, it is with the reference circle on the push rod ring flange of the 3rd electric pushrod 13 etc. divides through hole phase
Match somebody with somebody, blending bolt connection, the width of the width and bottom tracks wheel spill storage die cavity of bottom guide block is identical, for leading
To being equipped with the 4th electric pushrod 15 below the medial surface of each leg storage chamber of body 1, its bottom is ring flange knot
Structure, there is the reference circle with central coaxial etc. to divide through hole above, reference circle below its medial surface with leg storage chamber etc. divides spiral shell
Pit matches, and is bolted, and is ring flange at the top of the push rod of the 4th electric pushrod 15, there is point with central coaxial above
Degree circle etc. divides through hole, leg assembly 9 is housed in front of the push rod ring flange of the 4th electric pushrod 15, it includes leg orientating box
901, profile is cuboid, and width and leg storage chamber width are identicals, and for being oriented to, its right flank has spill cuboid-type
Chamber, there is reference circle etc. to divide screwed hole in the medial surface of spill cuboid die cavity, it with the push rod ring flange of the 4th electric pushrod 15 on
Reference circle etc. divide through hole to match, be bolted, rotating seat 903 be housed in the left of the top surface of leg orientating box 901, on it
Side is double branch auricles, and lower section is shaft hole, and it is connected with the first motor 902 being fixed on leg orientating box 901, can be with 360
Degree rotation, the first leg 904 is provided with 903 pairs of branch ear slots of rotating seat, and its right side is the single journal stirrup for having pan, is arranged on
In 903 pairs of branch ear slots of rotating seat, and it is connected with the second motor 907 being fixed on rotating seat 903, drives 904 turns of the first leg
Dynamic, the left side of the first leg 904 is fork-shaped journal stirrup, and the second leg 906, its width and the first leg 904 are provided with fork groove
Fork-shaped well width is identical, and fork-shaped slot length is more than the length of the second leg 906, can make the 906 whole foldings of the second leg
Into the fork groove of the first leg 904, there is pan on the right side of the second leg 906, and it is with being fixed on the left-hand end of the first leg 904
3rd motor 905 in portion is connected, and drives the second leg 906 to rotate, the first motor 902, the second motor 907 and the 3rd motor 905
It is fire-proof motor, can be all disposed with the leading flank of body 1 and trailing flank explosion-proof in safety work under explosive atmosphere
Monitoring camera 3, left explosion-proof lamp 4, right explosion-proof lamp 6 and explosion-proof avoidance sensor 5, the inside below body 1 are adopted equipped with gas
Storage 10 and control unit 11, the gas that gas collector 10 be able to can not be judged with collecting sensor, and take back rear analysis, control
Unit 11 processed includes explosive-proof protector case, and there is controller the inside, gas concentration tracker, terrain analysis device, memory cell, integrates electricity
Road plate, explosion-proof electrical source, explosion-proof positioner and explosion-proof radio transmitting device, anti-explosion surveillance camera 3 and explosion-proof avoidance sensor
5, front topographic map can be drawn automatically, controller can select automatically by terrain analysis device with terrain graph in front of real time scan
Select and change progression, gas concentration tracker can automatically analyze gas concentration regional change scope, and guiding dress automatically
Put to the high place of concentration and advance, be automatically found source of leaks.
In use, after taking device to monitoring section, anti-explosion surveillance camera 3 and the explosion-proof meeting of avoidance sensor 5 on device
Terrain graph in front of automatically scanning, and front topographic map is drawn by terrain analysis device automatically, controller receives topographic map data
Afterwards, front landform is automatically analyzed, and selects optimal advance route, when front is gentle road, the electricity of control order the 3rd
Dynamic push rod 13 releases bottom tracks wheel assembly 14, device can high speed in gentle ground run, when front is narrow and small pipe
During road, the second electric pushrod of control order 12 again releases oblique crawler belt wheel assembly 2, device is advanced in the duct, when
Front landform is rugged when being not suitable with crawler belt and advancing, and control order the second electric pushrod 12 and the 3rd electric pushrod 13 are by oblique crawler belt
Wheel assembly 2 and bottom tracks wheel assembly 14 are recovered in die cavity, then order the 4th electric pushrod 15 to release leg assembly 9, control
The first motor 902 on device processed driving leg assembly 9, the second motor 907 and the 3rd motor 905, make rotating seat 903, first
Pin 904, the coordination of the second leg 907 move on；After device proceeds to region to be monitored, controller can order explosion-proof enabling
Motor opens protective door, makes gas sensor contact measured gas, while controller drives the first electric pushrod 7 to move up and down,
The gas sensor in gas-detecting device 8 is set to gather the gas of various density, the data of collection can store control list
In memory cell in member 11, in the case where there is wireless network, also data can be passed by explosion-proof radio transmitting device in real time
To rear, the gas concentration tracker in control unit 11 can automatically analyze surveyed gas concentration and change feelings in detection zone
Condition, and data are transmitted to controller, controller is advanced to the high place of concentration, be automatically found source of leaks, and by explosion-proof fixed
Position device at this geographical location information position, while anti-explosion surveillance camera collection leakage point image information, positioning and
Image information will preserve in the memory unit, in the case where there is wireless network, also data can be passed through into explosion-proof wireless biography in real time
Defeated device passes to rear, the gas that can not be judged for gas sensor, and gas collector 10 will collect a certain amount of this gas
Body, and take back rear analysis；When device is preserved and had enough to meet the need, gas-detecting device 8, oblique crawler belt wheel assembly 2, bottom tracks wheel assembly
14 and leg assembly 9 can retract in die cavity, be easy to protect and have enough to meet the need.
In summary：The intelligent gas detection means, by arranging that oblique Athey wheel spill deposits die cavity and bottom on body
Portion's Athey wheel spill storage die cavity, fixes the second electric pushrod 12 and the 3rd electric pushrod 13 respectively in die cavity, and second
Oblique crawler belt wheel assembly 2 and bottom tracks wheel assembly 14 are installed respectively on the electric pushrod 13 of electric pushrod 12 and the 3rd, make oblique crawler belt
Wheel assembly 2 and bottom tracks wheel assembly 14 can stretch out or be stored in die cavity, compared with conventional track formula machine, at top two
Skew back face adds Athey wheel, can run in the duct, while all crawler belts are recoverable to and avoid rugged topography crawler belt not
Can be in use, the problem of protrusion influences to advance, by arranging leg storage chamber on body, the 4th be fixed in die cavity and electronic is pushed away
Bar 15, the mounting leg component 9 on the 4th electric pushrod 15, and pass through the first motor 902 on leg assembly 9, the second motor
907, the first leg 904 of the 3rd motor 905 and fork configuration, make leg assembly folding to minimum state, and be stored in die cavity
In, compared with traditional six pawl robots, all legs can be backed up into cabin without using during leg, avoid leg when not in use
The exposed easy damaged in collision of leg, the exposed space of leg is big, is unfavorable for the problem of storage is had enough to meet the need, passes through front and rear explosion-proof prison
Control camera 3 can gather surrounding terrain image, and controller automatically selects progression, by stretching out bottom tracks wheel assembly
14, withdraw other local forward gears can high speed in gentle ground run, by stretching out the He of bottom tracks wheel assembly 14
Oblique crawler belt wheel assembly 2, the crawler belt in three directions allows device to advance in the duct, stretches out six branch by withdrawing all crawler belts
It pin component 9, can advance in rugged landform, compared with conventional machines device, be provided simultaneously with three kinds of progressions, adapted to not
Same landform, by installing the first electric pushrod 7 in body central aperture, gas-detecting device 8 is filled above push rod, control is single
Controller in member drives detection means to move up and down automatically, can detect the small gas of lower density ratio air, eminence density
The gas bigger than air, the problem of detection means is fixed from blanketing gas detection in all directions is avoided, by before and after body
Side's dress anti-explosion surveillance camera 3 and explosion-proof avoidance sensor 3, can be automatic by terrain analysis device with real time scan surrounding landform
Front topographic map is drawn, while after gas sensor detects gas, gas concentration tracker can automatically analyze this gas
Concentration range excursion, and homing device advances to the high place of concentration, is automatically found source of leaks, explosion-proof positioner
It is automatically positioned, is rearward transmitted in real time by explosion-proof radio transmitting device, gas collector be able to can not be judged with collecting sensor
Gas, and take back rear analysis, compared with traditional gas detects machine, device has an auto-mapping landform, automatic decision choosing
The ability of a variety of progressions is selected, leakage point can also be automatically positioned, avoids artificial remote control robot repetitive operation, is imitated
The problem of rate is low.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of intelligent gas detection means, including gas-detecting device（8）, it is characterised in that：The gas-detecting device（8）
Box, gas sensor unit and surface-mounted integrated circuit are detected including gas, the gas detection box is shaped as cuboid, and it includes
Protection box and automatic protective door assembly, protection box bottom have reference circle with central coaxial etc. to divide screwed hole, the gas sensing
Device unit is mounted in protection box, and it includes argoshield sensor, poison gas body sensor, combustible gas sensor, explosion hazard gases
Sensor and dusty gas sensor, gas-detecting device（8）Mounted in the first electric pushrod（7）The top of top push rod, it is described
First electric pushrod（7）It is circular flange disk at the top of top push rod, has the reference circle with central coaxial etc. to divide through hole above, it
Divide corresponding threaded holes with the reference circle of protection box bottom etc., and be bolted, the first electric pushrod（7）Base be fixed on
Body（1）Jogger hole in, the body（1）It is inequilateral hexahedron, two sides being connected with top surface are inclined-planes, their chis
Very little and angle of inclination is identical, and the length of length and top surface is identical, is vertical plane below the inclined-plane of both sides, their chis
Very little is identical, symmetrical, and the length of length and top surface is identical, is bottom surface below two vertical planes, its length
Length with top surface is identical, and width is more than the width of top surface, in body（1）There is jogger hole the centre of top surface, and it is countersunk head
Hole, counter sink portion are rectangular slots, and rectangular slot matches with gas detection box, and counter sink bottom is tack hole, in body（1）'s
There are two oblique Athey wheel spill storage die cavities on each inclined-plane, they are cuboid spill die cavities, perpendicular to inclined-plane, are tiltedly being carried out
The center of belt wheel spill storage die cavity bottom surface has reference circle etc. to divide screwed hole, and two oblique Athey wheel spills on each inclined-plane are deposited
Die cavity is symmetrical relative to the jogger hole of top surface, also has three leg storage chambers between each inclined-plane and vertical plane, they
It is trapezoidal concave shaped cavity, is arranged in the oblique Athey wheel spill storage type in left side and right side of the oblique Athey wheel spill storage die cavity in left side
The right side of chamber, there is a leg storage chamber in both centres, also have reference circle decile below the medial surface of leg storage chamber
Screwed hole, in body（1）Bottom surface also have four bottom tracks wheel spills storage die cavities, they are cuboid spill die cavities, are hung down
Directly in bottom surface, there is reference circle etc. to divide screwed hole, four bottom tracks wheels in the center of bottom tracks wheel spill storage die cavity bottom surface
Spill storage die cavity is all around arranged symmetrically, in body（1）Second is fitted with each tiltedly Athey wheel spill storage die cavity
Electric pushrod（12）, second electric pushrod（12）Bottom be flange plate structure, have the reference circle with central coaxial above
Decile through hole, it deposits reference circle of die cavity bottom surface etc. with oblique Athey wheel spill and divides corresponding threaded holes, and is bolted, the
Two electric pushrods（12）Push rod at the top of be ring flange, there is the reference circle with central coaxial etc. to divide through hole above, be fitted with
Oblique crawler belt wheel assembly（2）, the tiltedly crawler belt wheel assembly（2）Including Athey wheel（201）And guide pad（202）, the Athey wheel
（201）The left and right sides be the crawler belt for protruding from middle connecting seat, crawler belt outer ring two edges are circular arc, Athey wheel
（201）It is fixed on guide pad（202）Top, the guide pad（202）Bottom on there is reference circle etc. to divide screwed hole, it is with the
Two electric pushrods（12）Reference circle on push rod ring flange etc. divides through hole to match, blending bolt connection, guide pad（202）Width
Width with oblique Athey wheel spill storage die cavity is identical, in body（1）In each bottom tracks wheel spill storage die cavity
3rd electric pushrod is installed（13）, the 3rd electric pushrod（13）Bottom be flange plate structure, have above same with center
Reference circle of axle etc. divides through hole, and it deposits reference circle of die cavity bottom surface etc. with bottom tracks wheel spill and divides corresponding threaded holes, and leads to
Cross bolt connection, the 3rd electric pushrod（13）Push rod at the top of be ring flange, there is the reference circle decile with central coaxial to lead to above
Hole, it is being fitted with bottom tracks wheel assembly（14）, the bottom tracks wheel assembly（14）Led including bottom tracks wheel and bottom
It is the bottom tracks for protruding from middle connecting seat at left and right sides of the bottom tracks wheel to block, the bottom tracks outer ring two
Edge is circular arc, and bottom tracks wheel is fixed on the top of bottom guide block, has reference circle on the bottom of the bottom guide block
Decile screwed hole, it is with the 3rd electric pushrod（13）Reference circle on push rod ring flange etc. divides through hole to match, blending bolt connection,
The width of the width of bottom guide block and bottom tracks wheel spill storage die cavity is identical, in body（1）Each leg storage
The 4th electric pushrod is equipped with below the medial surface of chamber（15）, the 4th electric pushrod（15）Bottom be flange plate structure,
There is the reference circle with central coaxial etc. to divide through hole above, reference circle below its medial surface with leg storage chamber etc. divides screwed hole
Match, and be bolted, the 4th electric pushrod（15）Push rod at the top of be ring flange, have the indexing with central coaxial above
Circle etc. divides through hole, in the 4th electric pushrod（15）Push rod ring flange in front of leg assembly is housed（9）, in body（1）Front side
Anti-explosion surveillance camera is all disposed with face and trailing flank（3）, left explosion-proof lamp（4）, right explosion-proof lamp（6）With explosion-proof avoidance sensor
（5）, in body（1）The inside of lower section is equipped with gas collector（10）And control unit（11）.
A kind of 2. intelligent gas detection means according to claim 1, it is characterised in that：The gas-detecting device（8）
Upper automatic protective door assembly includes protective door, door-opening rotating shaft mechanism and explosion-proof enabling motor, and the door-opening rotating shaft mechanism is mounted in anti-
Protect at door pivot.
A kind of 3. intelligent gas detection means according to claim 2, it is characterised in that：The tiltedly crawler belt wheel assembly（2）
With bottom tracks wheel assembly（14）On motor be all fire-proof motor.
A kind of 4. intelligent gas detection means according to claim 1-3, it is characterised in that：The leg assembly（9）Bag
Include leg orientating box（901）, its profile is cuboid, and width and leg storage chamber width are identicals, and its right flank has spill
Cuboid die cavity, there is reference circle etc. to divide screwed hole in the medial surface of spill cuboid die cavity, it is with the 4th electric pushrod（15）Push away
Reference circle on bar ring flange etc. divides through hole to match, and is bolted, in leg orientating box（901）The left of top surface is equipped with rotation
Swivel base（903）, the rotating seat（903）Top is double branch auricles, and lower section is shaft hole, and it is with being fixed on leg orientating box
（901）On the first motor（902）It is connected, in rotating seat（903）The first leg is installed in double branch ear slots（904）, described
One leg（904）Right side is the single journal stirrup for having pan, and it is arranged on rotating seat（903）In double branch ear slots, and with being fixed on rotation
Swivel base（903）On the second motor（907）It is connected, the first leg（904）Left side is fork-shaped journal stirrup, and second is provided with fork groove
Leg（906）, second leg（906）Width and the first leg（904）Fork-shaped well width is identical, and fork-shaped slot length is big
In the second leg（906）Length, the second leg（906）Right side have pan, it and be fixed on the first leg（904）Left side
3rd motor of end（905）It is connected.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230206.7A CN107024565B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection means and method |
| CN201710898599.9A CN107764939B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection method |
| CN201710898364.XA CN107576762B (en) | 2017-04-10 | 2017-04-10 | Application method of intelligent gas detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230206.7A CN107024565B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection means and method |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710898599.9A Division CN107764939B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection method |
| CN201710898364.XA Division CN107576762B (en) | 2017-04-10 | 2017-04-10 | Application method of intelligent gas detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107024565A CN107024565A (en) | 2017-08-08 |
| CN107024565B true CN107024565B (en) | 2018-01-12 |
Family
ID=59527811
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710898364.XA Expired - Fee Related CN107576762B (en) | 2017-04-10 | 2017-04-10 | Application method of intelligent gas detection device |
| CN201710230206.7A Active CN107024565B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection means and method |
| CN201710898599.9A Active CN107764939B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710898364.XA Expired - Fee Related CN107576762B (en) | 2017-04-10 | 2017-04-10 | Application method of intelligent gas detection device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710898599.9A Active CN107764939B (en) | 2017-04-10 | 2017-04-10 | A kind of intelligent gas detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN107576762B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108195893B (en) * | 2017-12-25 | 2020-09-15 | 北京中凯达自动化工程有限公司 | Integrated circuit board integrated with gas sensor |
| CN109596775A (en) * | 2018-11-26 | 2019-04-09 | 盐城吉大智能终端产业研究院有限公司 | A kind of pollution intelligent monitor |
| CN114280251B (en) * | 2021-12-31 | 2024-04-12 | 江苏智闻智能传感科技有限公司 | Gas detection robot and gas leakage source detection method |
| CN115026027B (en) * | 2022-07-29 | 2023-05-12 | 宁德师范学院 | High efficiency optoelectronic device belt cleaning device |
| CN114979587B (en) * | 2022-07-29 | 2022-11-04 | 四川锦美环保股份有限公司 | Shared coating line scheduling management control system |
| CN116256475B (en) * | 2023-05-15 | 2023-11-03 | 宁波长壁流体动力科技有限公司 | High-precision positioning measurement method and device and readable storage medium |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| KR100507505B1 (en) * | 2003-09-16 | 2005-08-17 | 현대자동차주식회사 | Leaky display system and method of displaying leakage using the same |
| KR101242443B1 (en) * | 2006-09-13 | 2013-03-12 | 에스케이플래닛 주식회사 | System and method for perceiving a gas leak using robot |
| CN101888413A (en) * | 2010-07-08 | 2010-11-17 | 河北工业大学 | Leakage monitoring and positioning early-warning system in petrochemical industry and establishment method thereof |
| CN202878306U (en) * | 2012-10-25 | 2013-04-17 | 上海诺菲能源科技有限公司 | Autonomous-walking environmental detection robot system |
| JP2015070981A (en) * | 2013-10-04 | 2015-04-16 | 日本精工株式会社 | Obstacle avoidable leading robot |
| US9849926B2 (en) * | 2014-07-23 | 2017-12-26 | Boston Dynamics, Inc. | Predictively adjustable hydraulic pressure rails |
| CN204101538U (en) * | 2014-09-03 | 2015-01-14 | 广西电网公司钦州供电局 | A kind of gas-detecting device of the movement based on Intelligent Mobile 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 |
| CN105128975B (en) * | 2015-04-07 | 2017-09-05 | 哈尔滨工业大学深圳研究生院 | High California bearing ratio bionic 6-leg robot and its leg structure optimization method |
| CN104828163A (en) * | 2015-05-12 | 2015-08-12 | 中国安全生产科学研究院 | Dangerous chemical leakage accident emergency monitoring mobile robot |
| CN105082180B (en) * | 2015-08-04 | 2018-01-02 | 杭州华能工程安全科技股份有限公司 | A kind of Tunnel testing robot and detection method |
| CN105014654A (en) * | 2015-08-10 | 2015-11-04 | 重庆科技学院 | Intelligent inspection robot |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN105301190A (en) * | 2015-10-15 | 2016-02-03 | 康俊瑄 | Chemical accident site poisonous gas monitoring system and emergency processing method thereof |
| CN105383586B (en) * | 2015-11-23 | 2018-11-16 | 上海交通大学 | Crawler leg composite movable robot |
| CN105383587A (en) * | 2015-11-25 | 2016-03-09 | 济南大学 | Four-leg robot for detecting mine tunnel |
| CN105459093A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Autonomous navigation harmful gas detecting robot |
| CN205862231U (en) * | 2016-07-30 | 2017-01-04 | 广东石油化工学院 | A kind of search positioning robot's device detecting the leakage of petrochemical industry gas |
-
2017
- 2017-04-10 CN CN201710898364.XA patent/CN107576762B/en not_active Expired - Fee Related
- 2017-04-10 CN CN201710230206.7A patent/CN107024565B/en active Active
- 2017-04-10 CN CN201710898599.9A patent/CN107764939B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107764939A (en) | 2018-03-06 |
| CN107576762A (en) | 2018-01-12 |
| CN107764939B (en) | 2019-03-08 |
| CN107024565A (en) | 2017-08-08 |
| CN107576762B (en) | 2020-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024565B (en) | A kind of intelligent gas detection means and method | |
| CN210233046U (en) | Rail mounted utility tunnel patrols and examines robot and system | |
| CN109047029A (en) | A kind of solar battery sorting machine | |
| CN105973168B (en) | Gas chamber piston operational diagnostics system and method | |
| CN103292714B (en) | Based on the belt conveyor coal piling state testing method of image technique | |
| CN107756375A (en) | A kind of tunnel cruising inspection system and its robot | |
| CN105775666B (en) | A kind of positive and negative identification device of workpiece and automatic charging device | |
| CN103909006A (en) | Method for detecting deflagration in coal mill outlet coal dust pipeline, and detection system thereof | |
| CN205862231U (en) | A kind of search positioning robot's device detecting the leakage of petrochemical industry gas | |
| CN109239276A (en) | A kind of intelligent gas detection device | |
| CN114104653A (en) | Intelligent inspection detection method for coal belt conveyor in coal conveying bin area | |
| CN108560381A (en) | A kind of Highway Maintenance method | |
| CN106089202A (en) | Coal mining machine in full-mechanized mining face Automatic Height-Adjusting method based on current monitoring | |
| CN112630594A (en) | A patrol and examine robot for cable detects | |
| CN109060828A (en) | A kind of locomotive wheel thread defect image detecting system | |
| CN208666340U (en) | Underground coal mine belt conveyor fault detection means based on image | |
| CN107813315A (en) | Natural-gas transfer pipeline intelligence laying machine people | |
| CN208567805U (en) | A kind of Contact Line Detection equipment | |
| CN207991508U (en) | A kind of front overhang camber angle detecting system | |
| CN215568943U (en) | Track inspection pipeline robot | |
| CN204924259U (en) | Mouth of pipe is had records of distance by log and is coasted formula narrow tube way orbit measuring apparatu | |
| CN206161036U (en) | Pantograph and contact network state detection device | |
| CN206038004U (en) | Detection device and entry driving machine of entry driving machine | |
| CN208721586U (en) | A kind of locomotive wheel thread defect image detecting system | |
| CN106352854A (en) | Heading machine and detection device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ding Gensheng Inventor after: Fang Pu Inventor after: Ning Xiaole Inventor after: Wang Ruyi Inventor after: Hong He Inventor after: Bao Dielun Inventor before: Luo Jiahao |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171208 Address after: 311112 the two floor of No. 4 workshop of the Liangzhu village, Liangzhu street, Yuhang District, Hangzhou, Zhejiang Applicant after: HANGZHOU CHAUMEI TECHNOLOGY CO., LTD. Address before: Zhejiang province Jinhua City Xiguan Street 321000 Wucheng Dong Zhai community Dong Kang Lane 6, Room 203 Applicant before: JINHUA ZHICHAN WUYUAN INFORMATION TECHNOLOGY CO., LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |