CN107131391B - A kind of adaptive screwdriven pipe robot - Google Patents
A kind of adaptive screwdriven pipe robot Download PDFInfo
- Publication number
- CN107131391B CN107131391B CN201710590249.6A CN201710590249A CN107131391B CN 107131391 B CN107131391 B CN 107131391B CN 201710590249 A CN201710590249 A CN 201710590249A CN 107131391 B CN107131391 B CN 107131391B
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- China
- Prior art keywords
- support plate
- support
- screwdriven
- servo motor
- link mechanism
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- Expired - Fee Related
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive screwdriven pipe robots, including screwdriven device, driving steering mechanism, guiding support device and control system；The screwdriven device and guiding support device are located at the both ends of driving steering mechanism, and control system is electrically connected with screwdriven device, driving steering mechanism, guiding support device；The screwdriven device and guiding support device include support wheel, link mechanism, support plate and servo motor；The support wheel is connect by link mechanism with servo motor；The support wheel, link mechanism and servo motor are integrally located between support plate；By setting screwdriven device and guiding support device and steering mechanism's combination, it can effectively solve that pipeline operations are difficult in the prior art, and for the problem that different pipelines, pipe robot bad adaptability greatly reduced labour.The safety and use value of operation are improved, structure is simple, and use cost is low.
Description
Technical field
The present invention relates to pipe walking mechanical equipment technical field, especially a kind of adaptive screwdriven pipe robot.
Background technique
Pipeline is after a while, it may occur that such as crackle, the damage such as clog, since space is narrow in pipeline
It is small, manually it is difficult to enter inspection, repairing, cleaning, it is therefore desirable to which robot replaces being manually entered in pipeline being inspected periodically.Pipe
Pipeline robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and operation is mechanical,
Under the remote control operation or computer controlled automatic of staff, the integrated system of a series of the mechanical, electrical of pipeline operations, instrument is carried out
System.
Research for pipe robot, it is more to the research of more wheel support constructions in the past, it is mobile just to study Conventional drum
Robot is used directly in the detection and maintenance of circular pipe.The wheel of the in-pipe robot of the more wheel constructions in space is contacted with wall surface
When, the line of contact point and core wheel is on the radial direction of cylinder, and the driving direction of wheel is parallel with the bus of cylinder, this
It is a kind of special circumstances of single wheel pose in canal surface.When wheeled mobile robot is run in the duct, due to pipe
Road size not, there is bend and " T " type joint etc., the pose of each wheel of wheeled mobile robot in the duct is
The uncertain axis direction for producing wheel may be not orthogonal to the radial direction of round tube, and it is therefore necessary to analyze single wheel to exist
Meet pure rolling on round tube curved surface when free-position and without the kinematics characteristic under the conditions of sideslip.Exist for wheeled pipe robot
What actual application Shanghai encountered, which ask, for example occurs movement interference in bend pipe and irregular pipeline, as caused by in-fighting
Driving force is insufficient, and the error of the deformation ten thousand and robot itself due to wall surface causes robot to deviate in the duct correctly
Posture, or even rollover and stuck these problems.Researcher both domestic and external mainly from structure, is such as joined using differential mechanism, flexibility
Connect etc. is solved, but this can make structure more complicated, increases cost.
As it can be seen that structure is complicated, bulky, turning insensitive cannot be well adapted for diameter not for existing pipe robot
With pipeline, for this purpose, inventing a kind of adaptive screwdriven pipe robot can effectively solve that pipeline operations are difficult, different pipelines are suitable
The problems such as answering property is poor.It is significantly reduced labour, improves the safety of operation, improves the performance of enterprises.The structure letter of this running gear
It is single small in size, the pipeline of different-diameter is adapted to, high reliablity, intelligence is by force.
Summary of the invention
Goal of the invention of the invention is: in view of the above problems, providing a kind of adaptive screwdriven pipe machine
Device people can effectively solve existing skill by setting screwdriven device and guiding support device and steering mechanism's combination
Pipeline operations are difficult in art, and for the problem that different pipelines, pipe robot bad adaptability greatly reduced labour.
The safety and use value of operation are improved, structure is simple, and use cost is low.
The technical solution adopted by the invention is as follows:
Adaptive screwdriven pipe robot of the invention, including screwdriven device, driving steering mechanism, guiding branch
Support arrangement and control system；The screwdriven device and guiding support device are located at the both ends of driving steering mechanism, control
System processed is electrically connected with screwdriven device, driving steering mechanism, guiding support device；It the screwdriven device and leads
It include support wheel, link mechanism, support plate and servo motor to support device；The support wheel passes through link mechanism and watches
Motor connection, support wheel and link mechanism is taken to act under servo motor effect；The support wheel, link mechanism and servo motor
It is integrally located between support plate.Support of the robot in pipeline is realized using link mechanism, and according to the difference passed through in pipeline
Link supports angle can be adjusted adaptively, tensioning of the connecting rod in pipeline be realized using the characteristic of servo motor, with a kind of spiral
The mode of rising is walked in pipeline, robot can be realized in pipe in pipeline bending place guiding support device and driving steering mechanism
Turning in road, structure is simple, small in size, can be applicable in the use of different direct pipelines, high reliablity, intelligence is by force.
Further, the link mechanism includes link mechanism one and link mechanism two；The setting of link mechanism one exists
In screwdriven device, link mechanism two is arranged in guiding support device；The link mechanism one includes rocking bar and connecting rod one,
Rocking bar is connected and fixed in support plate by pin and connecting rod one；The link mechanism two includes slide bar and connecting rod two, slide bar
It is connected and fixed in support plate by pin and connecting rod two.Related rocking bar, slide bar and the connecting rod of link mechanism can be according to reality
The size of pipe diameter is adjusted, and enables it to that support wheel is enabled to be bonded effect with inner wall of the pipe, it is made to be applicable in different pipes
The use of road inner diameter is walked, and guarantees pipe inspection, repairing and clean convenience and reliability.
Further, the screwdriven device includes support wheel one, link mechanism one, gear one, axle sleeve one, support plate
One, support plate two and servo motor one；The support wheel one is connect with the rocking bar end of link mechanism one, and connecting rod one and quarter butt are logical
Pin connection is crossed, quarter butt is fixedly connected with axle sleeve one；Fixing sleeve is equipped with gear one on the axle sleeve one, and axle sleeve one and gear one are solid
It is scheduled in support plate one；The support plate two is equipped with servo motor one and support shaft, and servo motor one and gear one form tooth
Transmission connection；The support shaft is fixed in support plate two and is located in axle sleeve one；The support plate two and driving steering mechanism
Connection.Servo motor is connected by meshing transmission with the formation of gear one, and gear one is enabled to drive support under the action of servo motor
Disk one and the mechanism part unitary rotation connected thereon pass through support shaft and axle sleeve to realize the movement of screwdriven device
One interaction ensure that the relative position between turntable one and turntable two.
Further, the support wheel one is arranged at least provided with three, and along one even circumferential of support plate；The support wheel
One with support plate one be in 15 ° of angles.So that the spiral during screwdriven is advanced, displacement is suitable for for the setting of angle, to guarantee
It is good to the inspection, repairing and cleaning quality of inner wall of the pipe.
Adaptive screwdriven pipe robot of the invention, the guiding support device include support wheel two, connecting rod machine
Structure two, gear three, axle sleeve two, support plate three, support plate four and servo motor three；The cunning of the support wheel two and link mechanism two
Boom end connection, slide bar are fixed by a pin in support plate four；The connecting rod two is connect with quarter butt by pin, quarter butt and axis
Set two is fixedly connected；Fixing sleeve is equipped with gear three on the axle sleeve two, and axle sleeve two and gear three are fixed in support plate four；It is described
Support plate three is equipped with servo motor three and support shaft, and servo motor three is sequentially connected with gear three at tooth；The support shaft is solid
It is scheduled in support plate three and is located in axle sleeve two；The support plate three is connect with driving steering mechanism.Likewise, servo motor three
The associated mechanisms component unitary rotation for making support plate four by gear three and connecting thereon, makees jointly with screwdriven device
With that realizes adaptive screwdriven pipe robot of the invention stablizes mobile and turning.
Further, it there are three the support wheel two is set less, and is arranged along four even circumferential of support plate；The support wheel
Two with support plate four be in 90 ° of angles.The structure and screwdriven apparatus structure cooperate, and enable guiding support device in spiral row
In walking apparatus walking process, in the case where the reasoning that it is generated pushes, stable travels forward, when encountering bend pipe, guide support dress
Set and drive steering mechanism to realize the function of guiding and turning.
Adaptive screwdriven pipe robot of the invention, the driving steering mechanism are located at support plate two and support plate
Between three, it includes candan universal joint, gear two, servo motor two and gear shaft；One end of the candan universal joint and support
Disk two is fixedly connected, and the other end is fixedly connected with gear shaft；Fixing sleeve is equipped with gear two on the gear shaft, and gear shaft is nested in
In support plate three；The servo motor two is fixed in support plate three, and is sequentially connected with gear two in tooth.
Since using the above structure, servo motor two can drive cross unidirectionally to save unitary rotation, enable it to realize 360 °
Bending guarantee adaptive screwdriven pipe robot of the invention to realize the steering-effecting that different pipelines are bent out
Flexibly turn to act on, with screwdriven mechanism collective effect, can more quickly and easily act, moreover it is possible to guarantee itself with
The relative position of screwdriven mechanism and guiding support device, structure is simple, and function and effect are good.
Adaptive screwdriven pipe robot of the invention, the control system include force snesor one, force snesor
Two, A/D converter and single-chip microcontroller；The force snesor one is arranged on rocking bar, and force snesor two is arranged on slide bar；The power passes
Sensor one and force snesor two are electrically connected by A/D converter and single-chip microcontroller；The single-chip microcontroller also with servo motor one, watch
It takes motor two and servo motor three is electrically connected, and control its movement.Robot is put into pipeline rear servo motor one, watches
Taking the work of motor three supports link mechanism and resists tube wall, and when support force reaches setting value, power single-chip microcontroller issues signal,
Single-chip microcontroller control servo motor one, servo motor three stop operating, while servo motor two starts turning driving screwdriven dress
Set for the helical movement, the thrust of generation pushes guiding support device to travel forward, the guiding support device and ten thousand when encountering bend pipe
To the function of saving achievable guide turning.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, adaptive screwdriven pipe robot structure of the invention is simple, and small in size, applicability is good；
2, by using driving steering mechanism and screwdriven mechanism combination, so that it is turned, flexible row is preferable；
3, link mechanism is centered in guiding support device and screwdriven dress, so that adaptive spiral row of the invention
Walking pipe robot can be adjusted according to different internal diameter of the pipeline sizes, enable it to the use of the pipeline of practical different-diameter,
It is practical；
4, adaptive screwdriven pipe robot inspection of the invention, repairing and cleaning effect are good；
5, high reliablity, intelligence are strong；
6, labour, the safety of the operation of raising be greatly reduced.
Detailed description of the invention
Fig. 1 is the structure schematic diagram of adaptive screwdriven pipe robot；
Fig. 2 is the structure schematic diagram of screwdriven device；
Fig. 3 is the structure schematic diagram of guiding support device；
Fig. 4 is the work flow diagram of adaptive screwdriven pipe robot；
Marked in the figure: 1- support wheel one, 2- rocking bar, 3- connecting rod one, 4- servo motor one, 5- axle sleeve one, 6- gear one, 7-
Support plate one, 8- force snesor one, 9- support plate two, 10- candan universal joint, 11- gear two, 12- servo motor two, 13- branch
Support plate three, 14- support wheel two, 15- force snesor two, 16- slide bar, 17- gear three, 18- axle sleeve two, 19- connecting rod two, 20- is watched
Take motor three, 21- support plate four, 22- pin, 23- gear shaft, 24- support shaft.
Specific embodiment
Below with reference to embodiment, the present invention is described in detail.
In order to make invention objects, technical solutions and advantages be more clearly understood, with reference to embodiments, to the present invention into
Row is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit
The fixed present invention.
Embodiment 1
As shown in Figure 1, a kind of adaptive screwdriven pipe robot, including screwdriven device, driving steering mechanism,
Guiding support device and control system；Screwdriven device and guiding support device are located at the both ends of driving steering mechanism,
Control system is electrically connected with screwdriven device, driving steering mechanism, guiding support device；Screwdriven device and guiding
Support device includes support wheel, link mechanism, support plate and servo motor；Support wheel passes through link mechanism and servo motor
Connection, support wheel and link mechanism act under servo motor effect；Support wheel, link mechanism and servo motor are integrally located at branch
Between support plate.
Link mechanism includes link mechanism one and link mechanism two；Link mechanism one is arranged in screwdriven device, even
Linkage two is arranged in guiding support device；Link mechanism one includes rocking bar 2 and connecting rod 1, and rocking bar 2 is by pin 22 and even
Bar 1 is connected and fixed in support plate；Link mechanism two includes slide bar 16 and connecting rod 2 19, and slide bar 16 is by pin 22 and even
Bar 2 19 is connected and fixed in support plate.
Screwdriven device includes support wheel 1, link mechanism one, gear 1, axle sleeve 1, support plate 1, support plate
29 and servo motor 1；Support wheel 1 is connect with 2 end of rocking bar of link mechanism one, and connecting rod 1 and quarter butt pass through pin 22
Connection, quarter butt are fixedly connected with axle sleeve 1；Fixing sleeve is equipped with gear 1 on axle sleeve 1, and axle sleeve 1 is fixed on gear 1
In support plate 1；Support plate 29 is equipped with servo motor 1 and support shaft 24, and servo motor 1 and gear 1 form tooth and pass
Dynamic connection；Support shaft 24 is fixed in support plate 29 and is located in axle sleeve 1, as shown in Figure 2；Support plate 29 and driving turn to
Mechanism connection.Support wheel 1 is arranged at least provided with three, and along one 7 even circumferential of support plate, keeps the stability of structure；Branch
Support wheel 1 is in 15 ° of angles with support plate 1.
Guiding support device includes support wheel 2 14, link mechanism two, gear 3 17, axle sleeve 2 18, support plate 3 13, branch
Support plate 4 21 and servo motor 3 20；Support wheel 2 14 is connect with 16 end of slide bar of link mechanism two, and slide bar 16 passes through pin
22 are fixed in support plate 4 21；Connecting rod 2 19 is connect with quarter butt by pin 22, and quarter butt is fixedly connected with axle sleeve 2 18；Axle sleeve
Fixing sleeve is equipped with gear 3 17 on 2 18, and axle sleeve 2 18 and gear 3 17 are fixed in support plate 4 21；It is set in support plate 3 13
There are servo motor 3 20 and support shaft 24,17 one-tenth teeth of servo motor 3 20 and gear 3 are sequentially connected；Support shaft 24 is fixed on branch
On support plate 3 13 and it is located in axle sleeve 2 18, as shown in Figure 3；Support plate 3 13 is connect with driving steering mechanism；Support wheel 2 14
There are three setting less, and arranged along 4 21 even circumferential of support plate；Support wheel 2 14 and support plate 4 21 are in 90 ° of angles.
Drive steering mechanism between support plate 29 and support plate 3 13, it includes candan universal joint 10, gear two
11, servo motor 2 12 and gear shaft 23；One end of candan universal joint 10 is fixedly connected with support plate 29, the other end and gear
Axis 23 is fixedly connected；Fixing sleeve is equipped with gear 2 11 on gear shaft 23, and gear shaft 23 is nested in support plate 3 13；Servo motor
2 12 are fixed in support plate 3 13, and are sequentially connected with gear 2 11 in tooth.
Control system includes force snesor 1, force snesor 2 15, A/D converter and single-chip microcontroller；Force snesor 1 is set
It sets on rocking bar 2, force snesor 2 15 is arranged on slide bar 16；Force snesor 1 and force snesor 2 15 pass through A/D converter
It is electrically connected with single-chip microcontroller；Single-chip microcontroller also electrically connects with servo motor 1, servo motor 2 12 and servo motor 3 20 respectively
It connects, and controls its movement.
As shown in figure 4, the workflow of the adaptive screwdriven pipe robot are as follows: after robot is put into pipeline
Turn on the switch servo motor one, the work of servo motor three supports link mechanism and resists tube wall, force snesor one, power sensing
Device two is sent to single-chip microcontroller by A/D converter to pressure data；Single-chip microcontroller handles data, and startup program is simultaneously judged by single-chip microcontroller
Whether analog quantity and the standard value of initial setting up, which control, reaches standard, and indicator light is bright if reaching, if not up to standard by
Servo motor rotation inputs single-chip microcontroller again to obtain new analog quantity and is compared, until support force reaches the mark of initial setting up
It is quasi-；Single-chip microcontroller control servo motor one, servo motor three stop operating, while single-chip microcontroller control servo motor two starts turning drive
Dynamic screwdriven device is for the helical movement, and the thrust of generation pushes guiding support device to travel forward, the guiding when encountering bend pipe
Support device and universal joint can realize the function of guide turning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of adaptive screwdriven pipe robot, which is characterized in that including screwdriven device, driving steering mechanism,
Guiding support device and control system；The screwdriven device and guiding support device are located at the two of driving steering mechanism
End, control system are electrically connected with screwdriven device, driving steering mechanism, guiding support device；The screwdriven dress
Setting with guiding support device includes support wheel, link mechanism, support plate and servo motor；The support wheel passes through connecting rod machine
Structure is connect with servo motor, and support wheel and link mechanism act under servo motor effect；It the support wheel, link mechanism and watches
Motor is taken to be integrally located between support plate；The link mechanism includes link mechanism one and link mechanism two；The link mechanism
One is arranged in screwdriven device, and link mechanism two is arranged in guiding support device；The link mechanism one includes rocking bar
(2) it is connected and fixed in support plate with connecting rod one (3), rocking bar (2) by pin and connecting rod one (3)；The link mechanism two
Including slide bar (16) and connecting rod two (19), slide bar (16) is connected and fixed in support plate by pin and connecting rod two (19).
2. adaptive screwdriven pipe robot according to claim 1, which is characterized in that the screwdriven device
Including support wheel one (1), link mechanism one, gear one (6), axle sleeve one (5), support plate one (7), support plate two (9) and servo
Motor one (4)；The support wheel one (1) connect with rocking bar (2) end of link mechanism one, and connecting rod one (3) and quarter butt pass through pin
Nail connection, quarter butt are fixedly connected with axle sleeve one (5)；On the axle sleeve one (5) fixing sleeve be equipped with gear one (6), axle sleeve one (5) with
Gear one (6) is fixed in support plate one (7)；The support plate two (9) is equipped with servo motor one (4) and support shaft, servo
Motor one (4) and gear one (6) form tooth transmission connection；The support shaft is fixed in support plate two (9) and is located at axle sleeve one
(5) in；The support plate two (9) connect with driving steering mechanism.
3. adaptive screwdriven pipe robot according to claim 2, which is characterized in that the support wheel one (1)
It is arranged at least provided with three, and along support plate one (7) even circumferential；The support wheel one (1) and support plate one (7) are in 15 ° of folders
Angle.
4. adaptive screwdriven pipe robot according to claim 1 or 2 or 3, which is characterized in that the guiding branch
Support arrangement includes support wheel two (14), link mechanism two, gear three (17), axle sleeve two (18), support plate three (13), support plate four
(21) and servo motor three (20)；The support wheel two (14) connect with slide bar (16) end of link mechanism two, slide bar (16)
It is fixed by a pin in support plate four (21)；The connecting rod two (19) is connect with quarter butt by pin, quarter butt and axle sleeve two
(18) it is fixedly connected；Fixing sleeve is equipped with gear three (17) on the axle sleeve two (18), and axle sleeve two (18) and gear three (17) are fixed
In support plate four (21)；The support plate three (13) is equipped with servo motor three (20) and support shaft, servo motor three (20)
It is sequentially connected with gear three (17) at tooth；The support shaft is fixed in support plate three (13) and is located in axle sleeve two (18)；Institute
Support plate three (13) is stated to connect with driving steering mechanism.
5. adaptive screwdriven pipe robot according to claim 4, which is characterized in that the support wheel two (14)
There are three setting less, and arranged along support plate four (21) even circumferential；The support wheel two (14) and support plate four (21) are in 90 ° of folders
Angle.
6. adaptive screwdriven pipe robot according to claim 4, which is characterized in that the driving steering mechanism
Between support plate two (9) and support plate three (13), it includes candan universal joint (10), gear two (11), servo motor two
(12) and gear shaft (23)；One end of the candan universal joint (10) is fixedly connected with support plate two (9), the other end and gear shaft
(23) it is fixedly connected；Fixing sleeve is equipped with gear two (11) on the gear shaft (23), and gear shaft (23) is nested in support plate three
(13) on；The servo motor two (12) is fixed in support plate three (13), and is sequentially connected with gear two (11) in tooth.
7. adaptive screwdriven pipe robot according to claim 6, which is characterized in that the control system includes
Force snesor one (8), force snesor two (15), A/D converter and single-chip microcontroller；The force snesor one (8) is arranged in rocking bar (2)
On, force snesor two (15) is arranged on slide bar (16)；The force snesor one (8) and force snesor two (15) are turned by A/D
Parallel operation and single-chip microcontroller are electrically connected；The single-chip microcontroller also with servo motor one (4), servo motor two (12) and servo motor three
(20) it is electrically connected, and controls its movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710590249.6A CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710590249.6A CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107131391A CN107131391A (en) | 2017-09-05 |
| CN107131391B true CN107131391B (en) | 2019-02-15 |
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| CN201710590249.6A Expired - Fee Related CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
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| CN108223968B (en) * | 2017-12-01 | 2023-10-20 | 上海大学 | Autonomous small-sized pipeline robot |
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| CN108223966B (en) * | 2017-12-01 | 2021-01-12 | 上海大学 | Full-automatic operation device suitable for small-sized pipeline |
| CN109954728A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of pipeline cleaning machine people |
| CN111571358B (en) * | 2020-06-01 | 2021-05-25 | 山东梁山华宇集团汽车制造有限公司 | Pipeline inner wall solder joint processing apparatus |
| CN112974434A (en) * | 2021-02-05 | 2021-06-18 | 李显红 | Pipeline mediation guiding mechanism for clearance that adaptability is strong |
| CN114075968B (en) * | 2021-11-16 | 2024-05-14 | 泰安泰烁岩层控制科技有限公司 | Drilling peeping instrument |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
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| CN205824488U (en) * | 2016-06-28 | 2016-12-21 | 宁波天弘电力器具有限公司 | A kind of novel pipeline robot |
| CN105953028A (en) * | 2016-07-07 | 2016-09-21 | 西南石油大学 | Pipeline robot suitable for detection of multi-branch pipeline networks |
| CN206159741U (en) * | 2016-10-21 | 2017-05-10 | 东南大学成贤学院 | Pipeline is visited and is decreased robot |
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| CN107131391A (en) | 2017-09-05 |
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