CN108167575A - Detection robot inside a kind of straight tube based on composite drive - Google Patents
Detection robot inside a kind of straight tube based on composite drive Download PDFInfo
- Publication number
- CN108167575A CN108167575A CN201810012454.9A CN201810012454A CN108167575A CN 108167575 A CN108167575 A CN 108167575A CN 201810012454 A CN201810012454 A CN 201810012454A CN 108167575 A CN108167575 A CN 108167575A
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- self
- support
- wheel
- driving
- locking
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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
- F16L2101/30—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 present invention relates to pipe robot frame for movement technical field,Detection robot inside specifically a kind of straight tube based on composite drive,It is characterized in that the robot is by front end connector,Forepart self-locking mechanism,Middle supporting mechanism,Rear portion driving mechanism and power supply composition,The forepart self-locking mechanism is by front cavity,Forward flange,Internal gear,External gear,Nut slider,Leading screw,Self locking frame,Self-locking wheel carrier and from lockwheel form,The middle supporting mechanism is by middle cavity,Middle forward flange,Middle rear flange,Support wheel,Support wheel bar,Supporting sleeve arm and support bar group into,The rear portion driving mechanism is by rear chamber,Rear flange,Center bevel gear,Taper driving cog group,Triangular belt,Drive wheel group into,The robot integrates motor driving and two kinds of type of drive of fluid hydraulic-driven,Focus on solving the problem of continuation of the journey of untethered type power supply supply mode is short,Different operation assignments are completed for it to require that corresponding control can be carried,Detection,The functional module elements such as positioning.
Description
Technical field
The present invention relates to pipe robot frame for movement technical field, specifically a kind of integrated motor driving and fluid
Two kinds of type of drive of hydraulic-driven, focus on solving the problem of continuation of the journey of untethered type power supply supply mode is short, and different work is completed for it
Mission requirements can carry to be examined inside the straight tube based on composite drive of the functional module elements such as corresponding control, detection, positioning
Survey robot.
Background technology
It is well known that pipeline robot technique is quickly grown, the structure using motor as the pipe robot of type of drive is set
Meter clump goes out not poor.But the problem of power supply supply type selection is generally faced when using motor-driven, common pipe machine
There are two types of the power supply supply types of device people：There are cable and untethered.However, both power supplys supply type respectively by cable and tube wall
There are the influences of the factors such as frictional force and battery capacity, robot overall structure size, and this seriously inhibits pipe robots
Complete multi-parameter, remote, prolonged Detection task.
Invention content
Present invention aim to address above-mentioned the deficiencies in the prior art, provide a kind of integrated motor driving and are driven with fluid hydraulic pressure
Two kinds of type of drive are moved, focus on solving the problem of continuation of the journey of untethered type power supply supply mode is short, completing different operation assignments for it will
Seek detection machine inside the straight tube based on composite drive that can carry the functional module elements such as corresponding control, detection, positioning
People.
The technical solution adopted by the present invention to solve the technical problems is：
Detection robot inside a kind of straight tube of composite drive, it is characterised in that the robot is by front end connector, forepart self-locking
Mechanism, middle supporting mechanism, rear portion driving mechanism and power supply composition,
The forepart self-locking mechanism by front cavity, forward flange, internal gear, external gear, nut slider, leading screw, self locking frame, from
It lockwheel frame and is formed from lockwheel, the front end inside center of the front cavity is equipped with self-locking motor through motor mounting rack, described
The output shaft of self-locking motor is meshed through central gear with being distributed at least three internal gears of central gear outer, the ante-chamber
The tube wall of body is equipped with the through-hole being meshed for internal gear with external gear, and the external tooth of the internal gear is with being located at outside front cavity
External gear be meshed, outer gear portion is put on the inside of front cavity, and the center of the external gear is equipped with leading screw, the leading screw
One end be connected with external gear, the reach out rear end of chamber outer wall of the other end is fixed through fixed block, the fixed block it is upper
Side is equipped with self-locking wheel carrier, and the lower end of the self-locking wheel carrier is hinged with fixed block, and the upper end of self-locking wheel carrier is equipped with from lockwheel, institute
The leading screw stated is equipped with nut slider, and the sliding slot that lower end and the front cavity outer wall of nut slider are equipped with is connected, nut slider
Upper end be equipped with self locking frame, lower end and the nut slider of the self locking frame be hinged, the upper end of self locking frame and self-locking
The upper end of wheel carrier is hinged, and is driven by self-locking motor and central gear is driven to rotate, and then drives internal gear and external gear rotation
Turn, it is final that leading screw rotation is driven to make nut slider is mobile on leading screw to realize that self locking frame drives the angle change of self-locking wheel carrier real
Auto-lock function is now positioned, the rear end of front cavity is equipped with forward flange；
The middle supporting mechanism is by middle cavity, middle forward flange, middle rear flange, support wheel, support wheel bar, supporting sleeve arm and branch
Strut forms, and is laid at least three support wheels on the outside of the middle cavity, support wheel is through support wheel bar and middle cavity
Outer wall front end is hinged, and the bar portion of the support wheel bar is equipped with supporting sleeve arm, one end of the supporting sleeve arm and support wheel
Bar is hinged, and the other end socket supporting rod of supporting sleeve arm, supporting sleeve arm is internally provided with support spring, and one end of supporting rod is put in
It is connected in supporting sleeve arm with support spring, the other end of supporting rod is hinged with middle chamber outer wall rear end, passes through support spring
Cushioning effect be applicable in different reducing pipelines, the front end of the middle cavity is equipped with middle forward flange, and the rear end of middle cavity is equipped with
Middle rear flange；
The rear portion driving mechanism is by rear chamber, rear flange, center bevel gear, taper driving cog group, triangular belt, drive wheel group
Into the rear end of the rear chamber is laid with three U-shaped framves of support, and the upper end of the U-shaped frame of support is equipped with transmission shaft, stretches
Go out to support the transmission shaft of U-shaped frame to be equipped with male-tapered driving cog, U-shaped set up of one of support is main transmission bracket,
Inner conical driving cog is respectively equipped on transmission shaft on the inside of main transmission stent, the middle part of the rear chamber is set through motor mounting rack
There is driving motor, the output shaft of driving motor stretches out rear chamber and equipped with center bevel gear, and center bevel gear is driven with inner conical
Tooth is meshed, and inner conical driving cog is meshed with adjacent male-tapered driving cog, the stretching transmission shaft of the main transmission stent
On male-tapered driving cog be meshed with adjacent male-tapered driving cog, and then realize between the transmission shafts of three U-shaped framves of support
Drive connection, the transmission shaft inside the described U-shaped frame of support is equipped with driving wheel, after the same position with driving wheel
The driven wheel supported on chamber outer wall through driven wheel carrier, one end and the rear chamber outer wall of the driven wheel carrier are hinged, driven
The other end of wheel carrier is connected with driven wheel, and set is equipped with triangular belt between driven wheel and driving wheel, and the both sides of driven wheel are equipped with
Driving wheel, the driven wheel carrier are equipped with sliding support, and one end and the driven wheel carrier of sliding support are hinged, and the other end is with after
Chamber outer wall is slidably connected, and drives center bevel gear rotation by the driving effect of driving motor to drive transmission shaft rotation most
Driving wheel rotation is driven to realize driving eventually, is attached between the front cavity, middle cavity and rear chamber by flange, ante-chamber
The front end of body is connected with the front end connector of connecting detection device, and the rear end of rear chamber is connected through hook hinge with power supply,
Power supply is powered by cable for motor.
Arc leather cup, the arc are equipped between the forward flange of front cavity of the present invention and the middle forward flange of middle cavity
The opening of shape leather cup is equipped with arc towards cavity in rear between the middle rear flange of the middle cavity and the rear flange of rear chamber
Leather cup, arc leather cup opening act on the power of leather cup by fluid, can drive the robot towards rear rear chamber
Advance.
The front end of sliding support in rear portion driving mechanism of the present invention is equipped with compression spring, when driving wheel encounters obstacle energy
Transmission effect is nor affected on while enough slight reducings.
The present invention is since the robot is by front end connector, forepart self-locking mechanism, middle supporting mechanism, rear portion driving mechanism
It is formed with power supply, the forepart self-locking mechanism is by front cavity, forward flange, internal gear, external gear, nut slider, leading screw, self-locking
Stent, self-locking wheel carrier and from lockwheel form, the middle supporting mechanism is by middle cavity, middle forward flange, middle rear flange, support
Wheel, support wheel bar, supporting sleeve arm and support bar group are into the rear portion driving mechanism is by rear chamber, rear flange, center cone tooth
Wheel, taper driving cog, triangular belt, drive wheel group are into the robot integrates motor driving and two kinds of driving sides of fluid hydraulic-driven
Formula focuses on solving the problem of continuation of the journey of untethered type power supply supply mode is short, and completing different operation assignments for it requires that phase can be carried
The functional module elements such as control, detection, the positioning answered have many advantages, such as simple in structure, easy to use, economical and practical.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the stereogram of the present invention.
Fig. 3 is the structure diagram of middle and back driving mechanism of the present invention.
Fig. 4 is the structure diagram of middle front part self-locking mechanism of the present invention.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in drawings, detection robot inside a kind of straight tube of composite drive, it is characterised in that the robot is connected by front end
First 1, forepart self-locking mechanism 2, middle supporting mechanism 3, rear portion driving mechanism 4 and power supply 5 form, the forepart self-locking mechanism 2
By front cavity 201, forward flange 202, internal gear 203, external gear 204, nut slider 205, leading screw 206, self locking frame 207, from
It lockwheel frame 208 and is formed from lockwheel 209, the front end inside center of the front cavity 201 is equipped with self-locking electricity through motor mounting rack
Machine 210, the output shaft of the self-locking motor 210 through central gear 214 and are distributed on at least three of 214 outer of central gear
Internal gear 203 is meshed, and the tube wall of the front cavity 201 is equipped with the through-hole being meshed for internal gear 203 with external gear 204
211, the external tooth of the internal gear 203 is meshed with the external gear 204 being located at outside front cavity 201, and 204 part of external gear is stretched
Into 201 inside of front cavity, the center of the external gear 204 is equipped with leading screw 206, one end of the leading screw 206 and external gear
204 are connected, and the rear end that the other end stretches to 201 outer wall of front cavity is fixed through fixed block 212, the top of the fixed block 212
Equipped with self-locking wheel carrier 208, lower end and the fixed block 212 of the self-locking wheel carrier 208 are hinged, and the upper end of self-locking wheel carrier 208 is set
Have from lockwheel 209, the leading screw 206 is equipped with nut slider 205, and lower end and 201 outer wall of front cavity of nut slider 205 are set
Some sliding slots 213 are connected, and the upper end of nut slider 205 is equipped with self locking frame 207, the lower end of the self locking frame 207
It is hinged with nut slider 205, the upper end and the upper end of self-locking wheel carrier 208 of self locking frame 207 are hinged, and pass through self-locking motor
210 drivings drive central gear 214 to rotate, and then internal gear 203 and external gear 204 is driven to rotate, final that leading screw 206 is driven to revolve
Turn to make nut slider 205 is mobile on leading screw 206 to realize that self locking frame 207 drives the angle change realization of self-locking wheel carrier 208 fixed
Position auto-lock function, the rear end of front cavity 201 are equipped with forward flange 202；The middle supporting mechanism 3 by middle cavity 301, in preceding method
Orchid 302, middle rear flange 303, support wheel 304, support wheel bar 305, supporting sleeve arm 306 and supporting rod 307 form, the lumen
At least three support wheels 304 are laid on the outside of body 301, support wheel 304 is through support wheel bar 305 and middle 301 outer wall of cavity
Front end is hinged, and the bar portion of the support wheel bar 305 is equipped with supporting sleeve arm 306, one end of the supporting sleeve arm 306 and branch
Support wheel bar 305 is hinged, and the other end socket supporting rod 307 of supporting sleeve arm 306, supporting sleeve arm 306 is internally provided with support spring,
One end of supporting rod 307 is put in supporting sleeve arm 306 to be connected with support spring, the other end of supporting rod 307 and middle cavity 301
Outer wall rear end is hinged, and different reducing pipelines, the front end of the middle cavity 301 are applicable in by the cushioning effect of support spring
Equipped with middle forward flange 302, the rear end of middle cavity 301 is equipped with middle rear flange 303；The rear portion driving mechanism 4 is by rear chamber
401st, rear flange 402, center bevel gear 403, taper driving cog group, triangular belt 405, driving wheel 406 form, the rear chamber
401 rear end is laid with three U-shaped framves 407 of support, and the upper end of the U-shaped frame 407 of support is equipped with transmission shaft 408, stretches out
The transmission shaft of U-shaped frame 407 is supported to be equipped with male-tapered driving cog 409, one of support is U-shaped to be set up as main transmission branch
Frame 410, is respectively equipped with inner conical driving cog 411 on the transmission shaft of the inside of main transmission stent 410, in the rear chamber 401
Portion is equipped with driving motor 412 through motor mounting rack, and the output shaft of driving motor 412 stretches out rear chamber 401 and equipped with center cone tooth
Wheel 403, center bevel gear 403 is meshed with inner conical driving cog 411, and inner conical driving cog 411 is driven with adjacent male-tapered
Tooth 409 is meshed, the male-tapered driving cog 409 stretched out on transmission shaft and the adjacent male-tapered of the main transmission stent 410
Driving cog is meshed, and then realizes the drive connection between the transmission shaft of three U-shaped framves of support, in the U-shaped frame 407 of the support
The transmission shaft in portion is equipped with driving wheel 413, through driven wheel on 401 outer wall of rear chamber with 413 same position of driving wheel
The driven wheel 414 that frame 415 supports, one end and 401 outer wall of rear chamber of the driven wheel carrier 415 are hinged, driven wheel carrier 415
The other end be connected with driven wheel 414, between driven wheel 414 and driving wheel 413 set be equipped with triangular belt 405, driven wheel 414
Both sides be equipped with driving wheel 406, the driven wheel carrier 415 be equipped with sliding support 416, one end of sliding support 416 with from
Driving wheel frame 415 is hinged, and the other end is slidably connected with 401 outer wall of rear chamber, in being driven by the driving effect of driving motor 412
Heart bevel gear 403 rotates and then drives transmission shaft rotation is final the rotation of driving wheel 406 is driven to realize driving, the front cavity
201st, it is attached between middle cavity 301 and rear chamber 401 by flange, front end and the connecting detection device of front cavity 201
Front end connector 1 is connected, and the rear end of rear chamber 301 is connected through hook hinge 6 with power supply 5, and power supply 5 is motor by cable
Power supply is equipped with arc leather cup 7 between the forward flange 202 of the front cavity 201 and the middle forward flange 302 of middle cavity 301, described
Arc leather cup 7 opening towards cavity in rear 301, the middle rear flange 303 of the middle cavity 301 and rear chamber 401
Arc leather cup 7 is equipped between rear flange 402, the arc leather cup 7 is open towards rear rear chamber 401, by fluid to skin
The power effect of bowl 7, can drive the robot to advance, the front end of the sliding support 416 in the rear portion driving mechanism 4 is equipped with
Compression spring can nor affect on transmission effect when driving wheel encounters obstacle while slight reducing.
In the use of the present invention, corresponding detection device is connected on front end connector 1 first according to task to be detected,
Then two robots are placed in pipeline, and driving forwards the robot by rear portion driving mechanism 4 advances, middle supporting mechanism
3 are supported on the tube wall of pipeline, when needing to pinpoint detection, the driving motor 412 in rear portion driving mechanism 4 are closed, before opening
The robot is locked at the position of pipeline by the self-locking motor 210 in portion's self-locking mechanism 2, can realize fixed point detection, detection
After the completion, forepart self-locking motor 210 can be opened to turn round, rear portion driving motor 412 of then performing fighting again is driven, before continuation
Row, complete whole process, the present invention due to the robot by front end connector 1, forepart self-locking mechanism 2, middle supporting mechanism 3,
Rear portion driving mechanism 4 and power supply 5 form, the forepart self-locking mechanism 2 by front cavity 201, forward flange 202, internal gear 203,
It external gear 204, nut slider 205, leading screw 206, self locking frame 207, self-locking wheel carrier 208 and is formed from lockwheel 209, in described
Portion's supporting mechanism 3 is by middle cavity 301, middle forward flange 302, middle rear flange 303, support wheel 304, support wheel bar 305, supporting sleeve arm
306 and supporting rod 307 form, the rear portion driving mechanism 4 by rear chamber 401, rear flange 402, center bevel gear 403, cone
Shape driving cog group, triangular belt 405, driving wheel 406 form, which integrates two kinds of drivings of motor driving and fluid hydraulic-driven
Mode focuses on solving the problem of continuation of the journey of untethered type power supply supply mode is short, and completing different operation assignments for it requires to carry
The functional module elements such as corresponding control, detection, positioning, have many advantages, such as simple in structure, easy to use, economical and practical.
Claims (3)
1. detection robot inside the straight tube of composite drive a kind of, it is characterised in that the robot by front end connector, forepart from
Latch mechanism, middle supporting mechanism, rear portion driving mechanism and power supply composition,
The forepart self-locking mechanism by front cavity, forward flange, internal gear, external gear, nut slider, leading screw, self locking frame, from
It lockwheel frame and is formed from lockwheel, the front end inside center of the front cavity is equipped with self-locking motor through motor mounting rack, described
The output shaft of self-locking motor is meshed through central gear with being distributed at least three internal gears of central gear outer, the ante-chamber
The tube wall of body is equipped with the through-hole being meshed for internal gear with external gear, and the external tooth of the internal gear is with being located at outside front cavity
External gear be meshed, outer gear portion is put on the inside of front cavity, and the center of the external gear is equipped with leading screw, the leading screw
One end be connected with external gear, the reach out rear end of chamber outer wall of the other end is fixed through fixed block, the fixed block it is upper
Side is equipped with self-locking wheel carrier, and the lower end of the self-locking wheel carrier is hinged with fixed block, and the upper end of self-locking wheel carrier is equipped with from lockwheel, institute
The leading screw stated is equipped with nut slider, and the sliding slot that lower end and the front cavity outer wall of nut slider are equipped with is connected, nut slider
Upper end be equipped with self locking frame, lower end and the nut slider of the self locking frame be hinged, the upper end of self locking frame and self-locking
The upper end of wheel carrier is hinged, and is driven by self-locking motor and central gear is driven to rotate, and then drives internal gear and external gear rotation
Turn, it is final that leading screw rotation is driven to make nut slider is mobile on leading screw to realize that self locking frame drives the angle change of self-locking wheel carrier real
Auto-lock function is now positioned, the rear end of front cavity is equipped with forward flange；
The middle supporting mechanism is by middle cavity, middle forward flange, middle rear flange, support wheel, support wheel bar, supporting sleeve arm and branch
Strut forms, and is laid at least three support wheels on the outside of the middle cavity, support wheel is through support wheel bar and middle cavity
Outer wall front end is hinged, and the bar portion of the support wheel bar is equipped with supporting sleeve arm, one end of the supporting sleeve arm and support wheel
Bar is hinged, and the other end socket supporting rod of supporting sleeve arm, supporting sleeve arm is internally provided with support spring, and one end of supporting rod is put in
It is connected in supporting sleeve arm with support spring, the other end of supporting rod is hinged with middle chamber outer wall rear end, passes through support spring
Cushioning effect be applicable in different reducing pipelines, the front end of the middle cavity is equipped with middle forward flange, and the rear end of middle cavity is equipped with
Middle rear flange；
The rear portion driving mechanism is by rear chamber, rear flange, center bevel gear, taper driving cog group, triangular belt, drive wheel group
Into the rear end of the rear chamber is laid with three U-shaped framves of support, and the upper end of the U-shaped frame of support is equipped with transmission shaft, stretches
Go out to support the transmission shaft of U-shaped frame to be equipped with male-tapered driving cog, U-shaped set up of one of support is main transmission bracket,
Inner conical driving cog is respectively equipped on transmission shaft on the inside of main transmission stent, the middle part of the rear chamber is set through motor mounting rack
There is driving motor, the output shaft of driving motor stretches out rear chamber and equipped with center bevel gear, and center bevel gear is driven with inner conical
Tooth is meshed, and inner conical driving cog is meshed with adjacent male-tapered driving cog, the stretching transmission shaft of the main transmission stent
On male-tapered driving cog be meshed with adjacent male-tapered driving cog, and then realize between the transmission shafts of three U-shaped framves of support
Drive connection, the transmission shaft inside the described U-shaped frame of support is equipped with driving wheel, after the same position with driving wheel
The driven wheel supported on chamber outer wall through driven wheel carrier, one end and the rear chamber outer wall of the driven wheel carrier are hinged, driven
The other end of wheel carrier is connected with driven wheel, and set is equipped with triangular belt between driven wheel and driving wheel, and the both sides of driven wheel are equipped with
Driving wheel, the driven wheel carrier are equipped with sliding support, and one end and the driven wheel carrier of sliding support are hinged, and the other end is with after
Chamber outer wall is slidably connected, and drives center bevel gear rotation by the driving effect of driving motor to drive transmission shaft rotation most
Driving wheel rotation is driven to realize driving eventually, is attached between the front cavity, middle cavity and rear chamber by flange, ante-chamber
The front end of body is connected with the front end connector of connecting detection device, and the rear end of rear chamber is connected through hook hinge with power supply,
Power supply is powered by cable for motor.
2. detection robot inside a kind of straight tube of composite drive according to claim 1, it is characterised in that before described
It is equipped with arc leather cup between the forward flange of cavity and the middle forward flange of middle cavity, the opening of the arc leather cup is towards in rear
Cavity, is equipped with arc leather cup between the middle rear flange of the middle cavity and the rear flange of rear chamber, the arc leather cup is opened
Mouth acts on the power of leather cup by fluid, the robot can be driven to advance towards rear rear chamber.
3. detection robot inside a kind of straight tube of composite drive according to claim 1, it is characterised in that after described
The front end of sliding support in portion's driving mechanism is equipped with compression spring, when driving wheel encounter obstacle can slight reducing while also not shadow
Ring transmission effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810012454.9A CN108167575A (en) | 2018-01-05 | 2018-01-05 | Detection robot inside a kind of straight tube based on composite drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810012454.9A CN108167575A (en) | 2018-01-05 | 2018-01-05 | Detection robot inside a kind of straight tube based on composite drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108167575A true CN108167575A (en) | 2018-06-15 |
Family
ID=62517723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810012454.9A Withdrawn CN108167575A (en) | 2018-01-05 | 2018-01-05 | Detection robot inside a kind of straight tube based on composite drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108167575A (en) |
Cited By (7)
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| CN109058653A (en) * | 2018-10-26 | 2018-12-21 | 哈尔滨工业大学（威海） | A kind of adaptation detects the composite drive pipe robot of operating condition more |
| CN109340584A (en) * | 2018-10-15 | 2019-02-15 | 冯小宇 | A kind of Urban Underground water supply line defectoscope |
| CN109374030A (en) * | 2018-10-25 | 2019-02-22 | 南京工程学院 | A kind of automatic traction device for the detection of multi-step deep hole |
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN110131518A (en) * | 2019-05-24 | 2019-08-16 | 北京交通大学 | Small-bore line for polyethylene gas pipes intelligent detector |
| CN110421573A (en) * | 2019-07-22 | 2019-11-08 | 大连理工大学 | A kind of rescue robot support device based on small diameter deep well |
| CN112128511A (en) * | 2020-09-24 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Pipeline endoscope inspection mobile robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109340584A (en) * | 2018-10-15 | 2019-02-15 | 冯小宇 | A kind of Urban Underground water supply line defectoscope |
| CN109340584B (en) * | 2018-10-15 | 2020-09-01 | 宁乡渝泉市政工程有限公司 | Flaw detector for urban underground water supply pipeline |
| CN109374030A (en) * | 2018-10-25 | 2019-02-22 | 南京工程学院 | A kind of automatic traction device for the detection of multi-step deep hole |
| CN109374030B (en) * | 2018-10-25 | 2024-05-24 | 南京工程学院 | Automatic traction device for multi-step deep hole detection |
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| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN109555933B (en) * | 2019-01-28 | 2021-04-23 | 江苏科技大学 | Spiral inner wall cleaning robot |
| CN110131518A (en) * | 2019-05-24 | 2019-08-16 | 北京交通大学 | Small-bore line for polyethylene gas pipes intelligent detector |
| CN110421573A (en) * | 2019-07-22 | 2019-11-08 | 大连理工大学 | A kind of rescue robot support device based on small diameter deep well |
| CN112128511A (en) * | 2020-09-24 | 2020-12-25 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Pipeline endoscope inspection mobile robot |
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Application publication date: 20180615 |