CN205534830U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN205534830U CN205534830U CN201620273566.6U CN201620273566U CN205534830U CN 205534830 U CN205534830 U CN 205534830U CN 201620273566 U CN201620273566 U CN 201620273566U CN 205534830 U CN205534830 U CN 205534830U
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Abstract
The utility model discloses a pipeline robot, including a motor section of thick bamboo, install the motor in the motor section of thick bamboo, the motor is connected with the switch board electricity, install walking unit in one side of motor, the camera has been installed to walking unit's front end, walking unit is including walking lead screw, connecting sleeve, guide cylinder, walking nut, first slider supporting seat and first umbrella -type supporter, the motor shaft of one end and the motor of walking lead screw links to each other, and the other end of walking lead screw passes connecting sleeve, guide cylinder, walking nut, first slider supporting seat and first umbrella -type supporter in proper order, cooperatees with foremost set nut, the front end of first slider supporting seat is fixed with first slider, and first slider is articulated with the one end of first umbrella -type supporter, and the other end of first umbrella -type supporter links to each other with set nut, install the walking wheel on first umbrella -type supporter. The utility model discloses not easy slipping, can provide sufficient traction force for the motion of whole device, be applicable to the pipeline of different pipe diameters.
Description
Technical field
This utility model relates to a kind of pipeline tractor, is specifically related to a kind of pipe robot.
Background technology
Along with the development of science and technology, pipeline is widely applied at society.After life-time service, pipeline unavoidably there will be the situations such as crackle, blocking.Due to a lot of pipelines, to be embedded in underground environment more severe, or the least people of caliber cannot enter to carry out periodic inspection, and dig out pipeline and carry out overhauling, stop for a long time runing so the most uneconomical unrealistic, this just can check and can drag heavy construction tool and raw-material pipe robot of constructing in the urgent need to a kind of inside pipeline.
Current pipe robot uses straight wheel type pipe robot mostly, straight wheel type pipe robot can only rely on the frictional force between robot and the borehole wall and provide required pull strength of creeping, and can only rely on the gravity-pressing of self on inner-walls of duct, so this robot is extremely limited to the normal pressure of tube wall, easily skid, the frictional force being provided that is limited, and the pull strength of generation is the most very limited.Therefore, it is necessary to prior art is improved.
Summary of the invention
The purpose of this utility model is, for the deficiencies in the prior art, it is provided that a kind of pull strength is big, be difficult to the pipe robot of skidding.
The technical solution adopted in the utility model is: a kind of pipe robot, including motor cylinder, installs motor in motor cylinder, and motor electrically connects with switch board；Be provided with walking unit in the side of motor cylinder, the front end of walking unit is installed on photographic head；Described walking unit includes walk screw mandrel, branch sleeve, guide cylinder, walking nut, the first slider support seat and the first umbrella-type support body, and described one end of walking screw mandrel is connected with the motor shaft of motor, and motor shaft drives walking screw mandrel to rotate；The other end of walking screw mandrel sequentially passes through branch sleeve, guide cylinder, walking nut, the first slider support seat and the first umbrella-type support body, matches with location nut foremost；One end of branch sleeve is connected with motor cylinder, and the other end of branch sleeve is connected with guide cylinder；Described first slider support seat be fixedly arranged at the front end with the first slide block, the first slide block set is expert on screw mandrel；One end of first slide block and the first umbrella-type support body is hinged, and the other end of the first umbrella-type support body is connected with location nut；First umbrella-type support body is provided with road wheel；When the first umbrella-type support body struts, road wheel can contact with duct wall.
By such scheme, described first umbrella-type support body includes the first connecting rod seat being positioned at center, and circumferentially-spaced three group of the one or the six bar linkage being evenly arranged on first connecting rod seat, and first connecting rod seat is also one of rod member of the one or six bar linkage；The rear end of the one or six bar linkage is drive end, and the drive end of three group of the one or six bar linkage is all hinged on the first slide block；One or six bar linkage connecting rod foremost is the first strut, and the front end of the first strut is hinged with first connecting rod seat, and the rear end of the first strut is hinged with first round bar, and the axis of first round bar is parallel with the axis of first connecting rod seat；Installing road wheel on described first round bar, the central axis of road wheel is not orthogonal to the axis of first round bar.
By such scheme, the walking screw mandrel between walking nut and the first slider support seat being provided with the first spring base, the first spring base is installed on the first spring, the front end of the first spring is touched with the first slider support seated connection.
By such scheme, described guide cylinder includes cylindrical body, and one end of cylindrical body is provided with two pieces of relative variable diameter plates, forms gathering sill, described gathering sill and the protruding phase configuration being arranged on walking nut between two pieces of variable diameter plates；Cylindrical body installed inside has two guide motors, and the drive shaft of guide motor is connected with worm screw, and worm screw is matched with turbine, and turbine is fixed on variable diameter plate；Variable diameter plate can move along the axis of cylindrical body.
By such scheme, the opposite side at motor cylinder is provided with righting unit, and righting unit includes righting screw mandrel, the second umbrella-type support body, the second slider support seat and righting nut, and one end of righting screw mandrel is fixedly linked with motor cylinder；The other end of righting screw mandrel sequentially passes through the second umbrella-type support body and the second slider support seat, with righting nut screw connection；Being installed on righting wheel on described second umbrella-type support body, one end of the second umbrella-type support body is connected with motor cylinder, and the other end and second slide block of the second umbrella-type support body are hinged, and the second slide block is fixed on the second slider support seat.
By such scheme, the righting screw mandrel between the second slider support seat and righting nut is provided with the second spring base, the second spring base is arranged with the second spring.
By such scheme, described second umbrella-type support body includes the second connecting rod seat being positioned at center, and circumferentially-spaced three group of the two or the six bar linkage being evenly arranged on second connecting rod seat, and second connecting rod seat is one of rod member of the two or six bar linkage；The rear end of the two or six bar linkage is drive end, and the drive end of three group of the two or six bar linkage is all hinged on the second slide block；Two or six bar linkage connecting rod foremost is the second strut, and the front end of the second strut is hinged on second connecting rod seat, and the rear end of the second strut is with second to take turns bar hinged, and second to take turns the axis of bar parallel with the axis of second connecting rod seat；Described second takes turns and is provided with righting wheel on bar, and the central axis upright of righting wheel is in the second axis taking turns bar.
By such scheme, described road wheel and righting wheel are gear.
By such scheme, described road wheel and righting wheel are installed on pressure transducer respectively.
The beneficial effects of the utility model are:
1, walking unit and righting unit are all by threads of lead screw secondary motion compression spring, make umbrella-type support body strut, and road wheel and righting wheel are pressed on inner-walls of duct, produce sufficiently large normal pressure on inner-walls of duct, are difficult to skid；Owing to the central axis of road wheel exists certain angle with conduit axis, under the effect of frictional force, road wheel is walked along inner-walls of duct, for the pull strength that the motion offer of whole device is enough.
2, the guide cylinder structure of walking unit can change the length of gathering sill, to be suitable for the pipeline of different tube diameters, has wide range of applications.
3, three group of six bar linkage (spaced 120 °) the uniform intervals distribution of umbrella-type support body, the central axis of described pipe robot and conduit axis overlap, each righting wheel and road wheel uniform force, it is ensured that the even running of described pipe robot.
4, the front-facing camera of walking unit can make the effective avoiding obstacles of this utility model, prevents from damaging.
5, the pressure transducer on road wheel and righting wheel, can prevent road wheel and righting wheel due to pressurized is excessive and conquassation.
6, this utility model is simple and reasonable, and cost of investment is low；Reliability is high, possesses camera detection and ability that big load pulls, practical.
Accompanying drawing explanation
Fig. 1 is the structural representation of one specific embodiment of this utility model.
Fig. 2 is the structure diagram of unit of walking in the present embodiment.
Fig. 3 is the structural representation of righting unit in the present embodiment.
Fig. 4 is the nut structural representation with guide cylinder of walking in the present embodiment.
Fig. 5 is the structural representation of guide cylinder in the present embodiment.
Fig. 6 is the scheme of installation of road wheel in the present embodiment.
Wherein: 1, location nut；2, first connecting rod seat；3, road wheel；4, the first slider support seat；4.1, the first slide block；5, walking nut；6, guide cylinder；6.1, cylindrical body；6.2, variable diameter plate；6.3, guide motor；6.4, worm screw；6.5, turbine；6.6, gathering sill；7, branch sleeve；8, motor cylinder；9, second connecting rod seat；10, righting wheel；11, the second slider support seat；11.1, the second slide block；12, the second spring base；13, righting nut；14, drag hook；15, cable；16, switch board；17, the first spring；18, the second spring；19, walking leading screw；20, righting leading screw；21, photographic head；22, the first spring base；23, the one or six bar linkage；24, the two or six bar linkage；25, the first strut；26, the second strut；27, first round bar；28, second bar, 29 inner-walls of duct are taken turns.
Detailed description of the invention
In order to be more fully understood that this utility model, with specific embodiment, this utility model is further described below in conjunction with the accompanying drawings.
A kind of pipe robot as shown in Figure 1, including motor cylinder 8, installs motor and decelerator in motor cylinder 8, motor is electrically connected with switch board 16 by cable 15, and switch board 16 controls motor work；Arrange walking unit in the side of motor, the front end of walking unit is mounted with photographic head 21, photographic head 21 observable pipe interior situation, avoiding obstacles；The opposite side of motor is provided with righting unit, and motor provides power for walking unit and righting unit.
Walking unit includes walk screw mandrel 19, branch sleeve 7, guide cylinder 6, walking nut 5 (can be copper nut), the first spring base the 22, first slider support seat 4 and the first umbrella-type support body, one end of walking screw mandrel 19 is connected with the reducer shaft of motor cylinder, motor shaft drives reducer shaft to rotate, and reducer shaft drives walking screw mandrel 19 to rotate；The other end of walking screw mandrel 19 sequentially passes through branch sleeve 7, guide cylinder the 6, first spring base the 22, first slider support seat 4 and the first umbrella-type support body, matches with location nut 1 foremost；One end of branch sleeve 7 is connected (can be threaded connection with) with motor cylinder 8, the other end of branch sleeve 7 is connected (can be threaded connection with) with guide cylinder 6, the front end of guide cylinder 6 is provided with gathering sill, gathering sill and the protruding phase configuration on walking nut 5, walking nut 5 matches with walking screw mandrel 19；The first spring 17 (walking nut 5 and the first spring base 22 are monolithic construction) it is arranged with on the first spring base 22 between walking nut 5 and the first slider support seat 4；First slider support seat 4 be fixedly arranged at the front end with the first slide block 4.1, the first slide block 4.1 be enclosed within walking screw mandrel 19 on；First slide block 4.1 is hinged with one end of the first umbrella-type support body, and the other end of the first umbrella-type support body is connected with location nut 1；First umbrella-type support body is provided with road wheel 3；When walking nut 5 interacts with walking screw mandrel 19, and when moving to the direction of the first umbrella-type support body, the first umbrella-type support body is opened, and the road wheel 3 on the first umbrella-type support body can contact with duct wall.
In walking unit, the first umbrella-type support body includes the first connecting rod seat 2 being positioned at center, and circumferentially-spaced three group of the one or the six bar linkage 23 being arranged on first connecting rod seat 2, and first connecting rod seat 2 is also one of rod member of the one or six bar linkage 23；The rear end of the one or six bar linkage 23 is drive end, and the drive end of three group of the one or six bar linkage 23 is all hinged on the first slide block 4.1；The connecting rod that one or six bar linkage 23 (is nut 1 one end, location) foremost is the first strut 25, first strut 25 front end is hinged with first connecting rod seat 2, the rear end of the first strut 25 is hinged with first round bar 27, and the axis of first round bar 27 is parallel with the axis of first connecting rod seat 2；Being provided with road wheel 3 on first round bar 27, road wheel 3 is gear, and road wheel 3 is installed on pressure transducer；The central axis of road wheel 3 is not orthogonal to the axis of first round bar 27；When screw mandrel 19 of walking occurs relativity with walking nut 5, three group of the one or six bar linkage 23 on the first umbrella-type support body is opened, and first round bar 27 outwards struts, and the road wheel 3 being fixed on first round bar 27 contacts with inner-walls of duct.
Righting unit includes righting screw mandrel the 20, second umbrella-type support body, the second slider support seat the 11, second spring base 12 and righting nut 13, one end of righting screw mandrel 19 is connected (solderable fixing) with motor cylinder, motor drives walking unit to advance, walking unit drive motor cylinder 8 advances, and (motor and motor cylinder 8 are that bolt connects, motor cylinder 8 and righting screw mandrel 20 weld), motor cylinder 8 drags righting screw mandrel 20 and advances；The other end of righting screw mandrel 20 sequentially passes through the second umbrella-type support body, the second slider support seat 11 and the second spring base 12, coordinate with righting nut 13 that (one end that righting screw mandrel 20 coordinates with righting nut 13 is stretched out, being connected with drag hook 14, drag hook 14 connection pulls steel wire rope)；Being installed on righting wheel 10 on described second umbrella-type support body, one end of the second umbrella-type support body is connected with motor cylinder 8, and the other end and second slide block 11.1 of the second umbrella-type support body are hinged, and the second slide block 11.1 is fixed on one end of the second slider support seat 11；Arranging the second spring 18 between the second slider support seat 11 and the second spring base 12, the second spring 18 is set on the second spring base 12.
In righting unit, second umbrella-type support body includes the second connecting rod seat 9 being positioned at center, and circumferentially-spaced three group of the two or the six bar linkage 24 (adjacent two the two or six bar linkages 24 are spaced 120 °) being arranged on second connecting rod seat 9, second connecting rod seat 9 is also one of rod member of the two or six bar linkage 24；The rear end of the two or six bar linkage 24 is drive end, and the drive end of three group of the two or six bar linkage 24 is all hinged on the second slide block 11.1；The connecting rod of the two or six bar linkage 24 (being to be positioned at the one end at motor cylinder 8 foremost) foremost is the second strut 26, the front end of the second strut 26 is hinged with second connecting rod seat 9 front end, the rear end of the second strut 26 is with second to take turns bar 28 hinged, and second to take turns the axis of bar 28 parallel with the axis of second connecting rod seat 9；Second takes turns and is provided with righting wheel 10 on bar 28, and righting wheel 10 is gear, and righting wheel 10 is installed on pressure transducer；The central axis upright of righting wheel 10 is in the second axis taking turns bar 28；When righting screw mandrel 20 acts on righting nut 13, three group of the two or six bar linkage 24 of the second umbrella-type support body is opened, and second takes turns bar 28 outwards struts, and is fixed on the second righting wheel 10 taking turns on bar 28 and contacts with inner-walls of duct.
In this utility model, walking unit and righting unit all use the supporting mechanism that umbrella-type support body and screw pair combine, on the connecting rod of the umbrella-shaped brace body six bar linkage (two six bar linkages are parallelogram linkage) that road wheel 3 and righting wheel 10 are separately mounted to walking unit and righting unit.Walking unit is identical with the operation principle of the umbrella-type support body of righting unit, is all that the squeezing action utilizing spring is gradually opened, and makes road wheel 3 and righting wheel 10 that inner-walls of duct is produced enough normal pressures respectively.Due to spring, (including the first spring 17 and the second spring 18, in the present embodiment, the first spring 17 is identical with the rigidity of the second spring 18；And the rigidity of spring is the biggest, bigger pull strength can be provided under identical caliber) there is certain retractility and winding degree, therefore this utility model can be used for the pipeline of different tube diameters.
After pipe diameter change, the external diameter of the first umbrella-type support structure can be changed by changing gathering sill 6.6 length on guide cylinder, to adapt to the pipeline that diameter has changed.Such as Fig. 5, guide cylinder 6 include cylindrical body 6.1, one end of cylindrical body 6.1 be provided with two pieces just to arc variable diameter plate 6.2, form gathering sill 6.6 between two pieces of variable diameter plates 6.2；Cylindrical body 6.1 installed inside has two guide motors 6.3, and the drive shaft of guide motor 6.3 is connected with worm screw 6.4, and worm screw 6.4 is matched with turbine 6.5, and turbine 6.5 is fixed on variable diameter plate 6.2；Variable diameter plate 6.2 can move along the axis of cylindrical body 6.1.If desired changing the length of gathering sill 6.6, start guide motor 6.3, the motor shaft of guide motor drives worm screw 6.4 to rotate, turbine 6.5 concomitant rotation, thus drives variable diameter plate 6.2 to move.Two pieces of variable diameter plates 6.2 move to cylindrical body 6.1 simultaneously, when cylindrical body 6.1, gathering sill 6.6 length that two pieces of variable diameter plates 6.1 are formed shortens.After the change of gathering sill 6.6 length, the decrement change of spring, the degree change that the first umbrella shaped support body of walking unit opens outward, therefore adapt to the pipeline that caliber is different.Two pieces are changed footpath plate 6.1 when all stretching out, the stretching degree of the first umbrella-type support body of scalable walking unit；When one piece of variable diameter plate stretches out, one piece of variable diameter plate is return, walking nut 5 can return gathering sill (because the pitch on walking screw mandrel 19 is bigger during motor reversal, and the projection of walking nut 5 have rotated more than half circumference, so the protruding dropping distance of walking nut 5 enough allows the projection of walking nut 5 be stuck on those block reducing edges of boards stretched, then be expert at screw mandrel 19 and walking nut 5 interaction under, walking nut 5 is retracted into gathering sill 6.6, going out guide cylinder process with walking nut 5 contrary, principle is the same).When pipe diameter changes, the length that can first pass through change gathering sill 6.6 changes the stretching degree of the first umbrella-type support body；When unit of walking enters the different pipeline of another caliber from a pipeline, the stretching degree of the second umbrella-type support body of righting unit can be regulated by righting nut 13, to adapt to the reducing of pipeline.
This utility model uses voltage stepless time adjustment, when photographic head 21 shows that front is accessible and every destination is the most far apart when, controllable described pipe robot improves speed, fast running；If ideal velocity is bigger with differing of actual speed, turn on thyristors angle is regulated by potentiometer, realize the supply voltage consecutive variations of motor to control motor (pipe robot) stepless time adjustment (the biggest rotating speed of voltage is the biggest), change travel speed flexibly.
Operation principle of the present utility model is:
1), during original state, the first umbrella-type support body of the present utility model and the second umbrella-type support body are contraction state；After putting into pipeline, rotating righting nut 13, righting nut 13 moves axially along righting screw mandrel 20, promotes the second spring base 12 to move forward, compresses the second spring 18；Under the effect of the second spring 18, second slide block 11.1 moves axially, the second umbrella-type support body (front end of the second umbrella-type support body is by the drag effect of motor cylinder 8) that now one end is hinged on the second slide block 11.1 is opened, three group of the two or six bar linkage 24 stress moves to motor cylinder 8 direction and constantly outwards struts, until second takes turns the righting wheel 10 on bar 28 and contact (the second spring 18 now stop compression) with inner-walls of duct, and produce certain normal pressure.Normal pressure ensure that the axis of righting screw mandrel 20 is parallel with conduit axis all the time, and the second umbrella-type support body keeps softened state, it also avoid the dragged hinge of cable 15 and breaks.
2) motor is started, driven by motor walking screw mandrel 19 rotates, and the walking nut 5 coordinated with walking screw mandrel 19 rotates and produces axial displacement, owing to the projection of walking nut 5 is stuck in the gathering sill 6.6 of guide cylinder 6, walking nut 5 can not rotate, can only be moved axially forward.Walking nut 5 constantly compresses the first spring 17 when moving forward, under the effect of the first spring 17, first umbrella-type support body opens (front end of the first umbrella-type support body is by the drag effect of location nut 1), three group of the one or six bar linkage 23 stress moves to the direction of location nut 1 and constantly outwards struts, until the protruding gathering sill departing from guide cylinder 6 of walking nut 5, first spring 17 fails, one or six bar linkage 23 fully opens, road wheel 3 on first round bar 27 contacts with inner-walls of duct, and produces sufficiently large normal pressure between inner-walls of duct.Owing to road wheel 3 central axis is not orthogonal to the axis of first round bar 27, (also for helical angle, the least pull strength of helical angle is the biggest, and speed is the slowest to there is certain angle；Helical angle can be 8 °), under the driving of frictional force, road wheel 3 is threadingly advanced (and righting wheel 10 moves) only along conduit axis along inner-walls of duct, drives whole device to move.The screw movement of road wheel 3 provides power for whole device, drives whole device to advance along inner-walls of duct.When described robot retreats, controlling motor reversal can realize.During motor reversal, because walking leading screw 19 rotates the width of a gathering sill 6.6, so the protruding dropping distance of walking nut 5 is the least, will not be stuck in gathering sill 6.6.
Only Application Example of the present utility model described above, the interest field that certainly can not limit this utility model with this, therefore change according to the equivalence that this utility model claim is made, still belong to protection domain of the present utility model.
Claims (9)
1. a pipe robot, it is characterised in that including motor cylinder, install motor in motor cylinder, motor is electrically connected with switch board
Connect；Be provided with walking unit in the side of motor cylinder, the front end of walking unit is installed on photographic head；Described walking unit includes row
Walk screw mandrel, branch sleeve, guide cylinder, walking nut, the first slider support seat and the first umbrella-type support body, described walking screw mandrel
One end be connected with the motor shaft of motor, motor shaft drive walking screw mandrel rotate；The other end of walking screw mandrel sequentially passes through adapter sleeve
Cylinder, guide cylinder, walking nut, the first slider support seat and the first umbrella-type support body, match with location nut foremost；
One end of branch sleeve is connected with motor cylinder, and the other end of branch sleeve is connected with guide cylinder；Before described first slider support seat
End is fixed with the first slide block, and the first slide block set is expert on screw mandrel；One end of first slide block and the first umbrella-type support body is hinged, the
The other end of one umbrella-type support body is connected with location nut；First umbrella-type support body is provided with road wheel；When the first umbrella shape is propped up
When support body struts, road wheel can contact with duct wall.
2. a kind of pipe robot as claimed in claim 1, it is characterised in that during described first umbrella-type support body includes being positioned at
The first connecting rod seat of the heart, and circumferentially-spaced three group of the one or the six bar linkage being evenly arranged on first connecting rod seat, first even
Pole socket is also one of rod member of the one or six bar linkage；The rear end of the one or six bar linkage is drive end, three group of the one or six bar
The drive end of linkage is all hinged on the first slide block；One or six bar linkage connecting rod foremost is the first strut, first
The front end of strut is hinged with first connecting rod seat, and the rear end of the first strut is hinged with first round bar, and the axis of first round bar and first is even
The axis of pole socket is parallel；Installing road wheel on described first round bar, the central axis of road wheel is not orthogonal to the axis of first round bar.
3. pipe robot as claimed in claim 2 a kind of, it is characterised in that walking nut and the first slider support seat it
Between walking screw mandrel on the first spring base is installed, the first spring base is installed on the first spring, the front end of the first spring and first
Slider support seated connection touches.
4. a kind of pipe robot as claimed in claim 1, it is characterised in that described guide cylinder includes cylindrical body, tubular
One end of body is provided with two pieces of relative variable diameter plates, between two pieces of variable diameter plates formed gathering sill, described gathering sill be arranged on walking
Protruding phase configuration on nut；Cylindrical body installed inside has two guide motors, and the drive shaft of guide motor is connected with worm screw,
Worm screw is matched with turbine, and turbine is fixed on variable diameter plate；Variable diameter plate can move along the axis of cylindrical body.
5. a kind of pipe robot as claimed in claim 1, it is characterised in that the opposite side at motor cylinder is provided with righting list
Unit, righting unit includes righting screw mandrel, the second umbrella-type support body, the second slider support seat and righting nut, the one of righting screw mandrel
End is fixedly linked with motor cylinder；The other end of righting screw mandrel sequentially passes through the second umbrella-type support body and the second slider support seat, and holds up
Positive nut screw connection；Being installed on righting wheel on described second umbrella-type support body, one end of the second umbrella-type support body is connected with motor cylinder,
The other end and second slide block of the second umbrella-type support body are hinged, and the second slide block is fixed on the second slider support seat.
6. pipe robot as claimed in claim 5 a kind of, it is characterised in that the second slider support seat and righting nut it
Between righting screw mandrel be provided with the second spring base, the second spring base is arranged with the second spring.
7. a kind of pipe robot as claimed in claim 5, it is characterised in that during described second umbrella-type support body includes being positioned at
The second connecting rod seat of the heart, and circumferentially-spaced three group of the two or the six bar linkage being evenly arranged on second connecting rod seat, second even
Pole socket is one of rod member of the two or six bar linkage；The rear end of the two or six bar linkage is drive end, and three group of the two or six bar is even
The drive end of linkage is all hinged on the second slide block；Two or six bar linkage connecting rod foremost is the second strut, the second support
The front end of bar is hinged on second connecting rod seat, and the rear end of the second strut is with second to take turns bar hinged, and second takes turns the axis and second of bar even
The axis of pole socket is parallel；Described second takes turns and is provided with righting wheel on bar, and the central axis upright of righting wheel is in the second axis taking turns bar.
8. a kind of pipe robot as claimed in claim 5, it is characterised in that described road wheel and righting wheel are gear.
9. a kind of pipe robot as claimed in claim 5, it is characterised in that install respectively on described road wheel and righting wheel
There is pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273566.6U CN205534830U (en) | 2016-04-05 | 2016-04-05 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273566.6U CN205534830U (en) | 2016-04-05 | 2016-04-05 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205534830U true CN205534830U (en) | 2016-08-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620273566.6U Expired - Fee Related CN205534830U (en) | 2016-04-05 | 2016-04-05 | Pipeline robot |
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| Country | Link |
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| CN (1) | CN205534830U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107514519A (en) * | 2017-08-31 | 2017-12-26 | 安徽信息工程学院 | Pipe robot |
| CN107587855A (en) * | 2017-10-24 | 2018-01-16 | 西安同兴石油设备技术有限公司 | Tractor in a kind of oil well horizontal well tube |
| CN107859810A (en) * | 2017-12-01 | 2018-03-30 | 北京恒研精创科技有限公司 | Adjustable support device and its system |
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN109140112A (en) * | 2018-09-19 | 2019-01-04 | 中广核核电运营有限公司 | Pipe robot and pipe detection system |
| CN109373203A (en) * | 2018-11-22 | 2019-02-22 | 乐至海天水务有限公司 | A kind of intelligent water supply water pipe quality determining method |
| CN109719742A (en) * | 2019-01-28 | 2019-05-07 | 中交上海航道勘察设计研究院有限公司 | A kind of pipe inspection robot device |
| CN110260881A (en) * | 2019-06-14 | 2019-09-20 | 中国地质大学（武汉） | A kind of floating type screwdriven log arrangement |
| CN112127810A (en) * | 2020-10-26 | 2020-12-25 | 南通市华业石油机械有限公司 | Wear-resistant roller for centralizing rod body |
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2016
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107514519A (en) * | 2017-08-31 | 2017-12-26 | 安徽信息工程学院 | Pipe robot |
| CN107587855A (en) * | 2017-10-24 | 2018-01-16 | 西安同兴石油设备技术有限公司 | Tractor in a kind of oil well horizontal well tube |
| CN107859810A (en) * | 2017-12-01 | 2018-03-30 | 北京恒研精创科技有限公司 | Adjustable support device and its system |
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN108730677B (en) * | 2018-07-13 | 2024-03-26 | 唐山市中宇科技发展有限公司 | Multifunctional wireless remote control visual pipeline robot crawler |
| CN109140112A (en) * | 2018-09-19 | 2019-01-04 | 中广核核电运营有限公司 | Pipe robot and pipe detection system |
| CN109140112B (en) * | 2018-09-19 | 2021-02-19 | 中广核核电运营有限公司 | Pipeline robot and pipeline detection system |
| CN109373203A (en) * | 2018-11-22 | 2019-02-22 | 乐至海天水务有限公司 | A kind of intelligent water supply water pipe quality determining method |
| CN109373203B (en) * | 2018-11-22 | 2020-06-26 | 乐至海天水务有限公司 | Intelligent water supply pipe quality detection method |
| CN109719742A (en) * | 2019-01-28 | 2019-05-07 | 中交上海航道勘察设计研究院有限公司 | A kind of pipe inspection robot device |
| CN110260881A (en) * | 2019-06-14 | 2019-09-20 | 中国地质大学（武汉） | A kind of floating type screwdriven log arrangement |
| CN112127810A (en) * | 2020-10-26 | 2020-12-25 | 南通市华业石油机械有限公司 | Wear-resistant roller for centralizing rod body |
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