CN111805531B - Pipeline endoscopic robot - Google Patents
Pipeline endoscopic robot Download PDFInfo
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- CN111805531B CN111805531B CN202010607250.7A CN202010607250A CN111805531B CN 111805531 B CN111805531 B CN 111805531B CN 202010607250 A CN202010607250 A CN 202010607250A CN 111805531 B CN111805531 B CN 111805531B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Optics & Photonics (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
The invention relates to a pipeline endoscopic robot, which comprises a rotating mirror assembly, a detector and a walking assembly, wherein the rotating mirror assembly is arranged on the detector; the detector is connected with the rotating mirror assembly through a support, and the detector and the rotating mirror assembly are coaxially arranged in a front-back mode; the rotating mirror assembly comprises a mirror frame, a prism is arranged in the mirror frame, a driving cavity is fixedly sleeved on the outer side of the mirror frame, a sleeve is sleeved on the rotating mirror assembly, one side of the driving cavity is fixedly connected with the annular side face of the sleeve, a supporting frame is arranged on the opposite side of the driving cavity, the supporting frame is connected with the mirror frame through a bearing III, a bearing I is arranged between the inner side of the sleeve and the mirror frame, and the walking assembly is rotatably arranged on the outer side of the sleeve; the driving cavity is respectively connected with the pump and the storage box through electromagnetic valves. Compared with the prior art, the invention can realize the online monitoring of the conditions of the internal environment, the crack damage and the like of the pipeline, and the walking component can be freely opened and closed according to the pipe diameters with different sizes, thereby being suitable for the internal monitoring of the pipelines with different sizes.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline endoscopic robot.
Background
With the rapid development of national economy, pipelines for conveying petroleum, natural gas, domestic water and sewage are increasing day by day, and great pressure is brought to pipeline maintenance and endoscopic monitoring. In addition, with the increase of medical level, the requirement for endoscopic detection of organs such as esophagus, intestine and stomach is increasing. Therefore, development of an autonomous device for endoscopic intubation is one of the important issues in current research on robotics.
In the prior art, a motor is adopted to drive a prism to rotate to realize adjustment of an optical axis, but the device is difficult to adapt to underwater or humid environments, and the complicated transmission mode makes the device bulky and difficult to apply in pipeline environments with narrow spaces.
The existing target tracking system adopts a turntable to drive a camera to move so as to realize the adjustment of a visual axis, thereby realizing the wide-area monitoring of a large visual field, but the device is easy to cause image blurring caused by the movement of the camera. In addition, the system is large in size and difficult to adapt to narrow pipeline operation environments.
And a robot adopting a motor to drive mechanical feet or rollers is adopted, and a large-driving-torque motor is required to have a larger structural space, so that the robot is not easy to be applied to a pipeline environment with a narrow space. Furthermore, electric drives are difficult to adapt to underwater or humid complex environments.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a robot for endoscopic pipeline.
The purpose of the invention can be realized by the following technical scheme:
a pipeline endoscope robot comprises a rotating mirror assembly, a detector and a walking assembly; the detector is connected with the rotating mirror assembly through a support, and the detector and the rotating mirror assembly are coaxially arranged in a front-back mode; the rotating mirror assembly comprises a mirror frame, a prism is arranged in the mirror frame, a driving cavity is fixedly sleeved on the outer side of the mirror frame, a sleeve is sleeved on the rotating mirror assembly, one side of the driving cavity is fixedly connected with the annular side face of the sleeve, a supporting frame is arranged on the opposite side of the driving cavity, the supporting frame is connected with the mirror frame through a bearing III, a bearing I is arranged between the inner side of the sleeve and the mirror frame, and the walking assembly is rotatably arranged on the outer side of the sleeve; the driving cavity is respectively connected with the pump and the storage box through electromagnetic valves.
Preferably, the driving cavity is fixedly connected with the sealing cover through a sealing gasket, the supporting frame is fixedly connected with the sealing cover, the driving cavity is in contact sealing with the mirror frame through a first sealing ring, and the sealing cover is in contact sealing with the mirror frame through a second sealing ring; the mirror frame is provided with a plurality of blades which are uniformly arranged in the driving cavity.
Preferably, the first sealing ring is pressed on the driving cavity through the first pressing cover, and the second sealing ring is pressed on the sealing cover through the second pressing cover.
Preferably, the walking assembly comprises a driving sleeve connected with the outer side of the sleeve through a bearing II, the driving sleeve is hinged with one end of a connecting rod I and one end of a connecting rod IV respectively, the other end of the connecting rod I and the other end of the connecting rod IV are hinged with a sliding block I and a sliding block III respectively, and the sliding block I and the sliding block III are both connected with the driving block in a sliding manner;
the outer side of the driving sleeve is provided with a screw sleeve through a bearing, a first nut and a second nut which are opposite in rotation direction are screwed on the screw sleeve, the first nut and the second nut are hinged with one end of a second connecting rod and one end of a third connecting rod respectively, the other ends of the second connecting rod and the third connecting rod are hinged with a second sliding block and a fourth sliding block respectively, and the second sliding block and the fourth sliding block are connected with the first connecting rod and the fourth connecting rod in a sliding mode respectively.
Preferably, the driving sleeve is connected with the first hydraulic motor through the first gear ring and the first gear sequentially, and the first hydraulic motor is fixedly arranged on the sleeve; the screw sleeve is connected with a second hydraulic motor through a second gear ring and a second gear in sequence, and the second hydraulic motor is fixedly arranged on the driving sleeve.
Preferably, the driving block and a component formed by the sliding block I, the sliding block III, the connecting rod I, the connecting rod IV, the sliding block II, the sliding block IV, the connecting rod II and the connecting rod III which are matched with the driving block can be provided with a plurality of sets on the driving sleeve and are respectively hinged with the driving sleeve, the nut I and the nut II.
Preferably, the driving block is provided with a spiral pattern.
Preferably, a throttle valve is arranged between the electromagnetic valve and the driving cavity.
Preferably, the outer ring of the first bearing is pressed on the sleeve by the retainer ring, and the inner ring of the first bearing is clamped on the lens frame by the clamp spring.
Preferably, the detector is any one of an infrared camera, a searchlight and a laser emitter.
Compared with the prior art, the invention has the following beneficial effects:
1. the endoscopic robot can realize online monitoring of the conditions of the internal environment, crack damage and the like of the pipeline.
2. The walking assembly of the monitoring robot can be freely opened and closed according to pipe diameters of different sizes, and can be suitable for internal monitoring of pipelines of different sizes.
3. The endoscopic robot adopts the rotating mirror assembly to adjust the visual axis of the detector, and can avoid imaging blurring generated by the movement of the detector compared with the traditional method of adopting the rotating table to drive the detector to move to adjust the visual axis.
4. The power source of the endoscopic robot adopts hydraulic transmission, and has the characteristics of large driving torque, strong adaptability to complex underwater or humid environments and the like.
5. The endoscopic robot has the advantages of compact structure, flexible movement, insensitive interference, strong adaptability to narrow space and complex environment and the like, and can be widely applied to scenes such as pipeline monitoring, intestinal endoscopic and the like.
Drawings
FIG. 1 is a front cross-sectional view of the present invention;
FIG. 2 is an enlarged view of a portion I-I of FIG. 1;
FIG. 3 is an enlarged view of a portion II-II of FIG. 1;
FIG. 4 is a left side elevation view of the present invention;
FIG. 5 is an enlarged view of a portion III-III of FIG. 4;
FIG. 6 is a front cross-sectional view of the sleeve;
FIG. 7 is a front cross-sectional view of the drive chamber;
FIG. 8 is a left side view of the drive chamber;
fig. 9 is a top view of the drive block.
The figure is marked with: 1 is a throttle valve, 2 is a bracket, 3 is a rotating mirror assembly, 4 is a detector, 5 is a pipeline I, 6 is an electromagnetic valve, 7 is a pipeline II, 8 is a storage box, 9 is a pipeline III, 10 is a pump, 11 is a sleeve, 12 is a bearing I, 13 is a retainer ring, 14 is a snap spring, 15 is a bearing II, 16 is a hydraulic motor I, 17 is a gear I, 18 is a gear ring I, 19 is a traveling assembly, 20 is a pipeline IV, 21 is a pipeline V, 3-1 is a driving cavity, 3-2 is a gland I, 3-3 is a sealing ring I, 3-4 is a prism, 3-5 is a mirror frame, 3-6 is a blade, 3-7 is a sealing ring II, 3-8 is a bearing III, 3-9 is a gland II, 3-10 is a supporting frame, 3-11 is a sealing gasket, 3-12 is a sealing cover, 11-1 is a through cavity, 19-1 is a driving block, 19-2 is a first sliding block, 19-3 is a first connecting rod, 19-4 is a second sliding block, 19-5 is a second connecting rod, 19-6 is a first nut, 19-7 is a second nut, 19-8 is a third connecting rod, 19-9 is a third sliding block, 19-10 is a fourth connecting rod, 19-11 is a fourth sliding block, 19-12 is a thread sleeve, 19-13 is a second gear ring, 19-14 is a fourth bearing, 19-15 is a second gear, 19-16 is a second hydraulic motor, 19-17 is a driving sleeve, 3-1-1 is a liquid inlet, 3-1-2 is a liquid outlet, 3-1-3 is a cavity, and 19-1-1 is a spiral pattern.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1, the present application provides a pipeline endoscopic robot, which comprises a rotating mirror assembly 3, a detector 4 and a walking assembly 19, and can overcome the interference of an underwater, humid and narrow complex environment, and realize an online autonomous monitoring function of the internal state of a pipeline. The detector 4 may be any one of an infrared camera, a searchlight, and a laser transmitter.
The detector 4 is connected with the rotating mirror assembly 3 through the bracket 2, and the detector 4 and the rotating mirror assembly 3 are coaxially arranged in a front-back mode. The rotating mirror component 3 comprises a mirror frame 3-5, a prism 3-4 is arranged in the mirror frame 3-5, the prism 3-4 is fixedly connected with the mirror frame 3-5 through glue injection, and a driving cavity 3-1 is fixedly sleeved on the outer side of the mirror frame 3-5. The rotating mirror component 3 is sleeved with a sleeve 11, one side of a driving cavity 3-1 is fixedly connected with the annular side face of the sleeve 11, a support frame 3-10 is arranged on the opposite side of the driving cavity 3-1, and the support frame 3-10 is connected with a mirror frame 3-5 through a bearing III 3-8. The running assembly 19 is rotatably arranged outside the sleeve 11.
A bearing I12 is arranged between the inner side of the sleeve 11 and the spectacle frame 3-5. The outer ring of the first bearing 12 is pressed on the sleeve 11 by the retainer ring 13, and the inner ring of the first bearing 12 is clamped on the lens frame 3-5 by the clamp spring 14.
The driving cavity 3-1 is respectively connected with the pump 10 and the storage box 8 through the electromagnetic valve 6, and the throttle valve 1 is arranged between the electromagnetic valve 6 and the driving cavity 3-1. Specifically, the pump 10 is connected with the electromagnetic valve 6 through a second pipeline 7, the electromagnetic valve 6 is connected with the throttle valve 1 through a first pipeline 5, the throttle valve 1 is connected with the rotating mirror assembly 3 through a fourth pipeline 20,
as shown in figure 2, the driving cavity 3-1 is fixedly connected with the sealing cover 3-12 through the sealing gasket 3-11, the supporting frame 3-10 is fixedly connected with the sealing cover 3-12, the driving cavity 3-1 is in contact sealing with the mirror frame 3-5 through the sealing ring I3-3, and the sealing cover 3-12 is in contact sealing with the mirror frame 3-5 through the sealing ring II 3-7. The lens frame 3-5 is provided with a plurality of blades 3-6 which are uniformly arranged in the driving cavity 3-1.
The first sealing ring 3-3 is pressed on the driving cavity 3-1 through the first pressing cover 3-2, and the first sealing ring 3-3 is in contact with the mirror frame 3-5 for sealing due to the pressing deformation of the first pressing cover 3-2. The second sealing ring 3-7 is pressed on the sealing cover 3-12 through the second pressing cover 3-9, and the second sealing ring 3-7 is in contact sealing with the mirror frame 3-5 due to the pressing deformation of the second pressing cover 3-9.
As shown in figures 3-5, the traveling assembly 19 comprises a first sliding block 19-2, a first connecting rod 19-3, a second sliding block 19-4, a second connecting rod 19-5, a first nut 19-6, a second nut 19-7, a third connecting rod 19-8, a third sliding block 19-9, a fourth connecting rod 19-10, a fourth sliding block 19-11, a thread sleeve 19-12, a second gear ring 19-13, a fourth bearing 19-14, a second gear 19-15, a second hydraulic motor 19-16 and a driving sleeve 19-17. The driving sleeves 19-17 are connected with the outside of the sleeve 11 through a second bearing 15.
The driving sleeve 19-17 is respectively hinged with one end of the first connecting rod 19-3 and one end of the fourth connecting rod 19-10, the other end of the first connecting rod 19-3 and the other end of the fourth connecting rod 19-10 are respectively hinged with the first sliding block 19-2 and the third sliding block 19-9, and the first sliding block 19-2 and the third sliding block 19-9 are both in sliding connection with the driving block 19-1;
the outside of the driving sleeve 19-17 is sleeved with a thread sleeve 19-12 through a bearing IV 19-14. The thread sleeve 19-12 is provided with threads with opposite screwing directions, and the threads are screwed with the first nut 19-6 and the second nut 19-7 respectively. The first nut 19-6 and the second nut 19-7 are respectively hinged with one end of the second connecting rod 19-5 and one end of the third connecting rod 19-8, the other end of the second connecting rod 19-5 and the other end of the third connecting rod 19-8 are respectively hinged with the second sliding block 19-4 and the fourth sliding block 19-11, and the second sliding block 19-4 and the fourth sliding block 19-11 are respectively connected with the first connecting rod 19-3 and the fourth connecting rod 19-10 in a sliding mode.
The driving sleeve 19-17 is connected with the hydraulic motor I16 sequentially through the gear ring I18 and the gear I17, the hydraulic motor I16 is installed on the sleeve 11, the gear I17 is fixedly connected with the hydraulic motor I16, the gear ring I18 is meshed with the gear I17, and the gear ring I18 is fixedly installed on the driving sleeve 19-17. The screw sleeve 19-12 is connected with the hydraulic motor II 19-16 through the gear ring II 19-13 and the gear II 19-15 in sequence. The second hydraulic motor 19-16 is fixedly arranged on the driving sleeve 19-17, the second gear 19-15 is fixedly arranged on the second hydraulic motor 19-16, the second gear 19-15 is meshed with the second gear ring 19-13, and the second gear ring 19-13 is fixedly arranged on the screw sleeve 19-12.
The driving block 19-1 and a sliding block I19-2, a sliding block III 19-9, a connecting rod I19-3, a connecting rod IV 19-10, a sliding block II 19-4, a sliding block IV 19-11, a connecting rod II 19-5 and a connecting rod III 19-8 which are matched with the driving block can be provided with a plurality of sets on the driving sleeve 19-17 and are respectively hinged with the driving sleeve 19-17, a nut I19-6 and a nut II 19-7.
As shown in FIG. 6, the sleeve 11 is provided with a through cavity 11-1 at the middle.
As shown in FIGS. 7-8, the driving cavity 3-1 is provided with a liquid inlet 3-1-1 connected with the fourth pipeline 20 and a liquid outlet 3-1-2 connected with the third pipeline 9, and the middle part of the driving cavity 3-1 is a cavity 3-1-3.
As shown in FIG. 9, the driving block 19-1 is provided with a spiral pattern 19-1-1.
Claims (10)
1. The pipeline endoscope robot is characterized by comprising a rotating mirror assembly (3), a detector (4) and a walking assembly (19); the detector (4) is connected with the rotating mirror assembly (3) through the bracket (2), and the detector (4) and the rotating mirror assembly (3) are coaxially arranged in a front-back manner; the rotating mirror assembly (3) comprises a mirror frame (3-5), a prism (3-4) is arranged in the mirror frame (3-5), a driving cavity (3-1) is fixedly sleeved on the outer side of the mirror frame (3-5), a sleeve (11) is sleeved on the rotating mirror assembly (3), one side of the driving cavity (3-1) is fixedly connected with the annular side face of the sleeve (11), a support frame (3-10) is arranged on the opposite side of the driving cavity (3-1), the support frame (3-10) is connected with the mirror frame (3-5) through a bearing III (3-8), a bearing I (12) is arranged between the inner side of the sleeve (11) and the mirror frame (3-5), and the walking assembly (19) is rotatably arranged on the outer side of the sleeve (11); the driving cavity (3-1) is respectively connected with the pump (10) and the storage box (8) through the electromagnetic valve (6).
2. The pipeline endoscope robot according to claim 1, wherein the driving cavity (3-1) is fixedly connected with a sealing cover (3-12) through a sealing gasket (3-11), the supporting frame (3-10) is fixedly connected with the sealing cover (3-12), the driving cavity (3-1) is in contact sealing with the lens frame (3-5) through a sealing ring I (3-3), and the sealing cover (3-12) is in contact sealing with the lens frame (3-5) through a sealing ring II (3-7); the mirror frame (3-5) is provided with a plurality of blades (3-6) which are uniformly arranged in the driving cavity (3-1).
3. The robot of claim 2, wherein the first sealing ring (3-3) is pressed against the driving chamber (3-1) by the first pressing cover (3-2), and the second sealing ring (3-7) is pressed against the second pressing cover (3-12) by the second pressing cover (3-9).
4. The pipeline endoscope robot according to claim 1, wherein the walking assembly (19) comprises driving sleeves (19-17) connected with the outer side of the sleeve (11) through a second bearing (15), the driving sleeves (19-17) are respectively hinged with one ends of a first connecting rod (19-3) and a fourth connecting rod (19-10), the other ends of the first connecting rod (19-3) and the fourth connecting rod (19-10) are respectively hinged with a first sliding block (19-2) and a third sliding block (19-9), and the first sliding block (19-2) and the third sliding block (19-9) are respectively connected with the driving block (19-1) in a sliding manner;
the outer side of the driving sleeve (19-17) is sleeved with a screw sleeve (19-12) through a bearing four (19-14), a nut I (19-6) and a nut II (19-7) with opposite rotation directions are screwed on the screw sleeve (19-12), the nut I (19-6) and the nut II (19-7) are respectively hinged with one end of a connecting rod II (19-5) and one end of a connecting rod III (19-8), the other ends of the connecting rod II (19-5) and the connecting rod III (19-8) are respectively hinged with a sliding block II (19-4) and a sliding block IV (19-11), and the sliding block II (19-4) and the sliding block IV (19-11) are respectively connected with the connecting rod I (19-3) and the connecting rod IV (19-10) in a sliding mode.
5. The pipeline endoscope robot according to claim 4, wherein the driving sleeve (19-17) is connected with a first hydraulic motor (16) through a first gear ring (18) and a first gear (17) in sequence, and the first hydraulic motor (16) is fixedly arranged on the sleeve (11); the screw sleeve (19-12) is connected with a second hydraulic motor (19-16) sequentially through a second gear ring (19-13) and a second gear (19-15), and the second hydraulic motor (19-16) is fixedly arranged on the driving sleeve (19-17).
6. The pipeline endoscope robot according to claim 4, wherein the driving block (19-1) and the matched assembly of the first slider (19-2), the third slider (19-9), the first connecting rod (19-3), the fourth connecting rod (19-10), the second slider (19-4), the fourth slider (19-11), the second connecting rod (19-5) and the third connecting rod (19-8) are arranged on the driving sleeve (19-17) in multiple sets and are respectively hinged with the driving sleeve (19-17), the first nut (19-6) and the second nut (19-7).
7. Endoscopic robot according to claim 4, characterized in that said driving block (19-1) is provided with a helical pattern (19-1-1).
8. Endoscopic robot according to claim 1, characterized in that a throttle valve (1) is provided between the solenoid valve (6) and the driving chamber (3-1).
9. Endoscopic robot according to claim 1, characterized in that the outer ring of said first bearing (12) is pressed against the sleeve (11) by a retaining ring (13) and the inner ring of said first bearing (12) is clamped against the frame (3-5) by a retaining spring (14).
10. The pipeline endoscope robot according to claim 1, wherein the detector (4) is any one of an infrared camera, a searchlight, and a laser transmitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010607250.7A CN111805531B (en) | 2020-06-30 | 2020-06-30 | Pipeline endoscopic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010607250.7A CN111805531B (en) | 2020-06-30 | 2020-06-30 | Pipeline endoscopic robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111805531A CN111805531A (en) | 2020-10-23 |
| CN111805531B true CN111805531B (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010607250.7A Active CN111805531B (en) | 2020-06-30 | 2020-06-30 | Pipeline endoscopic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114906299B (en) * | 2022-05-24 | 2023-03-31 | 郑州大学 | Magnetic type underwater operation robot and condenser pipe porous detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405828A (en) * | 2016-11-21 | 2017-02-15 | 同济大学 | Composite type beam coarse and fine coupling scanning device |
| CN110389437A (en) * | 2018-04-21 | 2019-10-29 | 江苏天宁光子科技有限公司 | A kind of endoscope lens group squinted |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3359323B2 (en) * | 2000-08-14 | 2002-12-24 | ティーディーケイ株式会社 | Guide mechanism for electronic component mounting head and electronic component mounting apparatus using the same |
| CN205166244U (en) * | 2015-11-10 | 2016-04-20 | 中辰环能技术（株洲）有限公司 | Robot of crawling |
| CN106541419B (en) * | 2016-10-13 | 2019-01-25 | 同济大学 | A kind of measurement method of robot trajectory's error |
| CN207696535U (en) * | 2017-12-29 | 2018-08-07 | 山西九方和建筑工程有限公司 | A kind of pipe endoscopic robot |
| CN109633853B (en) * | 2018-12-25 | 2020-11-27 | 同济大学 | Self-cleaning rotary prism device |
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2020
- 2020-06-30 CN CN202010607250.7A patent/CN111805531B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405828A (en) * | 2016-11-21 | 2017-02-15 | 同济大学 | Composite type beam coarse and fine coupling scanning device |
| CN110389437A (en) * | 2018-04-21 | 2019-10-29 | 江苏天宁光子科技有限公司 | A kind of endoscope lens group squinted |
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| CN111805531A (en) | 2020-10-23 |
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