CN208331552U - Pipe robot - Google Patents
Pipe robot Download PDFInfo
- Publication number
- CN208331552U CN208331552U CN201820952186.4U CN201820952186U CN208331552U CN 208331552 U CN208331552 U CN 208331552U CN 201820952186 U CN201820952186 U CN 201820952186U CN 208331552 U CN208331552 U CN 208331552U
- Authority
- CN
- China
- Prior art keywords
- bearing body
- connect
- pipe robot
- support base
- mechanism includes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 230000003044 adaptive effect Effects 0.000 claims abstract description 22
- 239000012636 effector Substances 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 15
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 18
- 230000035939 shock Effects 0.000 claims description 18
- 239000006096 absorbing agent Substances 0.000 claims description 16
- 238000012546 transfer Methods 0.000 claims description 11
- 238000001179 sorption measurement Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 239000008187 granular material Substances 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012770 industrial material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of pipe robots, it includes supporting mechanism, the walking mechanism connecting with supporting mechanism, Anti-collision mechanism, Working mechanism and external connection mechanism, supporting mechanism includes support base and bearing body, bearing body is the hollow structure inside of side opening, and support base is located at the lower section of bearing body；Walking mechanism is connect by adaptive mechanism with support base, the top and both sides of bearing body is arranged in Anti-collision mechanism, Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, the first end of multi-degree-of-freemechanical mechanical arm is fixed on the inside of bearing body, and the second end of multi-degree-of-freemechanical mechanical arm is connect with end effector；External connection mechanism includes material cable conveying device and control system, and material cable conveying device is arranged in the inside of bearing body and connect with pipeline external, and control system carries out operation for controlling each mechanism.The utility model is applied widely, can operating environment in the pipeline of adaptive various shapes.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of pipe robot.
Background technique
In recent years, petroleum, chemical industry, nuclear industry, the disaster relief, urban construction sewage, natural with the rapid development of China's industrial level
The fields such as gas conveying, industrial material transport and constructure ventilation system more and more use pipe-line system, inner wall of the pipe
Burn into cracking etc. becomes its fatal harm.To increase the service life of pipeline, improving its utilization rate, prevent safety accident
Deng needing to enter pipeline with pipe robot and sprayed, polish, weld, maintain etc. what a series of workers were not easy directly to operate
Work.
But current pipe robot can only the operation in circular pipe, rectangular duct or other shapes pipe can not be adapted to
Road can not adapt to the continuous normal work under variable cross-section operating condition moreover, being only capable of completing single work pattern under single section,
If there is the irregular pipeline such as uneven, walking stability sharply declines, and also has no security consideration at work, easily occurs
The dangerous situations such as explosion.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of pipe robot, applied widely, is applicable to more
Operating environment in the pipeline of kind shape, and be not limited only in circular pipe, and polishing, spray can be continuously finished in pipeline
The several work modes such as painting, welding.
The utility model is realized in this way:
A kind of pipe robot comprising supporting mechanism, the walking mechanism connecting with the supporting mechanism, anti-collision collide
Structure, Working mechanism and external connection mechanism,
The supporting mechanism includes support base and bearing body, and the bearing body is the inner hollow knot of side opening
Structure, the support base are located at the lower section of the bearing body；
The walking mechanism is connect by adaptive mechanism with the support base, the walking mechanism include driving wheel,
Power is transmitted to the driving wheel by gear by rubber belt track and decelerating motor, the decelerating motor, and the driving wheel drive is enclosed
It is wound on the rubber belt track on the outside of the driving wheel to be rotated, the outside of the rubber belt track is evenly arranged with multiple softwares
Sucker；The adaptive mechanism includes spring shock-absorbing device, two-way function shock absorber and Hooke's hinge transfer, the spring shock-absorbing
Device includes into two spring shock-absorbing devices of splayed setting, and the first end of each spring shock-absorbing device is fixed on the support bottom
On seat, the second end of each spring shock-absorbing device is connect with the Hooke's hinge transfer, and the Hooke's hinge transfer is solid
It is scheduled in the walking mechanism, the first end of the two-way function shock absorber is fixed in the support base, the two-way work
It is fixed in the walking mechanism with the second end of shock absorber, the two-way function shock absorber is located at two spring shock-absorbing devices
Between middle position；
The top and both sides of the bearing body is arranged in the Anti-collision mechanism, and the Anti-collision mechanism includes elasticity
The first end of telescopic guide, connecting spring and directive wheel, the elastic telescopic guiding device is fixed on the bearing body
On, the second end of the elastic telescopic guiding device is connect with the directive wheel, and the connecting spring leads two elastic telescopics
Together to device flexible connection；
The Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, the first end of the multi-degree-of-freemechanical mechanical arm
It is fixed on the inside of the bearing body, the second end of the multi-degree-of-freemechanical mechanical arm is connect with the end effector；
The external connection mechanism includes material cable conveying device and control system, and the material cable conveying device is set
It sets the inside in the bearing body and is connect with pipeline external, the decelerating motor is electrically connected with the control system.
Preferably, the Anti-collision mechanism is equipped with four groups, and two groups of tops for being arranged in the bearing body, two groups set respectively
It sets in the two sides of the bearing body.
Preferably, the elastic telescopic guiding device is elastic telescopicing rod.
It preferably, further include safe auxiliary body for subsidiary conduit robot security's operation, the safe auxiliary machine
Structure includes air supplying and exhausting system, and the air supplying and exhausting system includes exhaust blower, air hose, activated carbon adsorption device and fan, the air draft
Machine is located at the outside of pipeline, and the activated carbon adsorption device and the fan are located at the inside of the bearing body, the air draft
Machine is connect with the air hose, and the wind that the exhaust blower is sent is transported through the activated carbon adsorption device mistake by the air hose
The fan is driven to rotate after filter.
It preferably, further include positioning mechanism, the positioning mechanism includes ultrasonic sensor, is arranged in the bearing body
Inside.
It preferably, further include information collection mechanism, the information collection mechanism includes infrared camera, is arranged at the end
It holds on actuator.
Preferably, sensor and warning device are additionally provided on the bearing body, the sensor includes concentration sensor
And temperature sensor.
Compared with prior art, the utility model has the following beneficial effects:
(1) pipe robot structure provided by the utility model is simple, applied widely, can adaptive various shapes pipe
Road, including the operating environment in circle, rectangle, variable cross-section or the rough various shapes pipeline such as irregular, be equipped with from
Adapt to mechanism and Anti-collision mechanism, can adaptive various contact surfaces, and can bumper and absorbing shock, make robot safety in pipeline
It walks and stablizes operation.
(2) Working mechanism of the utility model includes multi-degree-of-freemechanical mechanical arm and end effector, is arranged so that pipeline
Robot can be completed at the same time multiple-working mode, and the several work mould such as polishing, spraying, welding can be continuously finished in pipeline
Formula, functional movement expansion are strong.
(3) the utility model is compact-sized, design is reasonable, can be adaptive to walking environment, walking mechanism and adaptive machine
The setting of structure so that pipe robot walking flexibility is high, in particular circumstances still can safe and stable, reliable work,
And it is equipped with positioning mechanism and information collection mechanism, real-time monitoring operation and location information.
(4) the utility model makes pipe robot be connected with External cable by external connection mechanism, continually
It is that it provides necessary power, or when such as spraying operation, generation is can be effectively reduced in material needed for its transportation work
The vibration of pump housing when circulation conveying.
(5) the safe auxiliary body of the utility model includes air supplying and exhausting system, and wind-force is passed through air hose in outside by exhaust blower
Conveying is come in, and is adjusted wind speed size in conjunction with concentration sensor, the granule density of working region can be reduced, in certain special operations
When the generation of safety accident (such as explode) can be effectively prevented, improve operational security.
(6) the big equipment of the weight needed for operation can be placed in outside by the utility model, such as exhaust blower, circulating pump, control
Central apparatus processed, material etc., can be effectively reduced overall weight, the pressure to contact surface can be reduced in certain special operations
Power, the danger for preventing contact surface to be crushed.
(7) the rubber belt track wheel that the utility model uses, and subsidiary multiple software suckers thereon, structure is simple, functional
By force, the part of impact force that generates and vibration when can mitigate pipe robot startup-shutdown, traveling and work, and Athey wheel with contact
The contact area in face is big, and pressure is small, there is higher safety and stability.
(8) the utility model uses multiple groups elastic telescopic guiding device, and whole design is reasonable, can be by robot entirety
Envelope in safe range, prevents to scrape inner surface of pipeline, causes the damage of pipe robot or inner surface of pipeline, protect
The safety of operation is demonstrate,proved.
Detailed description of the invention
Fig. 1 is the schematic diagram of the pipe robot of the utility model；
Fig. 2 is the schematic diagram of the walking mechanism of the utility model；
Fig. 3 is the schematic diagram of the adaptive mechanism of the utility model.
Specific embodiment
The exemplary embodiment, feature and aspect of the utility model are described in detail below with reference to attached drawing.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
As shown in Figure 1, a kind of pipe robot comprising supporting mechanism, walking mechanism, adaptive mechanism, anti-collision collide
Structure, Working mechanism, safe auxiliary body, information collection mechanism, external connection mechanism and positioning mechanism,
Supporting mechanism includes support base 3 and bearing body 15, and bearing body 15 is the hollow structure inside of side opening,
For bearing body 15 for carrying necessary equipment, support base 3 is located at the lower section of bearing body 15, works in pipe robot
When, the opening of bearing body 15 is the front end of pipe robot；
As shown in Fig. 2, walking mechanism is connect by adaptive mechanism with support base 3, walking mechanism include driving wheel 12,
Power is transmitted to driving wheel 12 by gear by rubber belt track 13 and decelerating motor 2, decelerating motor 2, and the drive of driving wheel 12 is centered around
The rubber belt track 13 in 12 outside of driving wheel is rotated, and completes walking, the outside of rubber belt track 13 is evenly arranged with multiple softwares
The setting of sucker 11, rubber belt track 13 and software sucker 11 has the function of buffering, damping, in the process of walking, ground in pipeline
It impacts in face of the part that robot generates and is mitigated by software sucker 11；As shown in figure 3, adaptive mechanism includes spring shock-absorbing device
16, two-way function shock absorber 17 and Hooke's hinge transfer 18, spring shock-absorbing device 16 include into two springs of splayed setting
The first end of shock absorber 16, each spring shock-absorbing device 16 is fixed in support base 3, the second end of each spring shock-absorbing device 16 with
Hooke's hinge transfer 18 connects, and Hooke's hinge transfer 18 is fixed in walking mechanism, and the first of two-way function shock absorber 17
End is fixed in support base 3, and the second end of two-way function shock absorber 17 is fixed in walking mechanism, two-way function shock absorber 17
Middle position between two spring shock-absorbing devices 16；At work, if ground shape changes in pipeline, side
The trend rotated at once can occur for two groups of Hooke's hinge transfers 18, but due to two-way function shock absorber 17 under the action of, turn
It is dynamic to be carried out slowly middle, and when walking mechanism and contact surface completely attach to, two-way function shock absorber 17 stops stretching, and
And certain contractility is maintained, keep it in this state, and the generation when pipe robot is opened, shuts down, travels and works
Most of impact force will thus adaptive mechanism mitigation filter out, thus greatly reduce due to external environment change and cause
Pipe robot entirety vibration, guarantee pipe robot can safe and stable, efficient work；
The top and both sides of bearing body 15 is arranged in Anti-collision mechanism, and Anti-collision mechanism includes elastic telescopic guiding dress
7, connecting spring 8 and directive wheel 10 are set, the first end of elastic telescopic guiding device 7 is fixed on bearing body 15, elastic telescopic
The second end of guiding device 7 is connect with directive wheel 10, and two elastic telescopic guiding devices 7 for being flexibly connected by connecting spring 8
Together；Preferably, elastic telescopic guiding device is elastic telescopicing rod；The setting of Anti-collision mechanism is used for entire pipeline machine
People integrally include in entire operation process, avoid that special pipeline inner wall is caused to damage in trouble free service spatial dimension, and
And mitigate vibration when impact operation；
Working mechanism includes multi-degree-of-freemechanical mechanical arm 13 and end effector 12, and the first end of multi-degree-of-freemechanical mechanical arm 13 is solid
It is scheduled on the inside of bearing body 15, the second end of multi-degree-of-freemechanical mechanical arm 13 is connect with end effector 12, and extends to carrying
The outside of car body 15, end effector can be the apparatus for work such as spray equipment, grinding device, welder device, as robot is grabbed
Hand, spray gun, robotic gun, robot deburred tool etc.；
Information collection mechanism includes infrared camera 11, and infrared camera 11 is arranged on end effector 12, infrared to take the photograph
As head 11 is moved with end effector 12, for real-time detection handling situations and acquires information and be sent to control system, so as to
It is shown with the display unit in external control system；
Safe auxiliary body includes air supplying and exhausting system, air supplying and exhausting system include exhaust blower, air hose, activated carbon adsorption device and
Fan 6, exhaust blower are located at the outside of pipeline, and activated carbon adsorption device and fan 6 are located at the inside of bearing body 15, exhaust blower with
Air hose connection, the wind that exhaust blower is sent drives fan 6 to rotate by being transported through after activated carbon adsorption device filters for air hose, excellent
Choosing, fan is located at city and is open on corresponding side in car body, for dispelling the powder of pipe robot operation front end high concentration
Dirt, subsidiary conduit robot security's operation；
External connection mechanism includes material cable conveying device 4 and control system 14, and the setting of material cable conveying device 4 exists
The inside of bearing body 15 is simultaneously connect with pipeline external, and for conveying material or cable, control system 14 is for controlling each mechanism
Operation is carried out, decelerating motor 2 be electrically connected with control system 14, and when work, material cable conveying device connection cables drive deceleration
Motor 2 rotates, and driving wheel is driven to rotate, so that rubber belt track be driven to move, pipe robot is made to walk, positioning mechanism includes
Ultrasonic sensor 5 is set to the inside of bearing body 15, for the accurate position letter of simultaneously transfer canal robot to be accurately positioned
Breath.
Preferably, in the present embodiment, Anti-collision mechanism is equipped with four groups, two groups of tops for being arranged in bearing body 15, and two
Group is separately positioned on the two sides of bearing body 15.
Preferably, sensor and warning device are additionally provided on bearing body 15, sensor includes concentration sensor and temperature
Sensor, when the concentration or temperature that sensor detects are more than alarm threshold value, warning device is sounded an alarm, the control system
The wind speed size of pressure fan is adjusted according to the concentration that concentration sensor detects.
According to job requirements, multi-degree-of-freemechanical mechanical arm 13 is selected, and end effector 12 is changed to required corresponding function
Apparatus for work, such as robot gripper, spray gun, robotic gun, robot deburred tool, in Anti-collision mechanism
Between connecting spring and elastic telescopicing rod automatically adjust its initial length and adaptive mechanism according to pipeline section shape carry out from
Dynamic hue angle, makes the complete envelope of pipe robot in pipeline, and allow end effector also within the scope of its envelope.Mostly freely
The setting for spending mechanical arm aloows different location of the end effector in pipeline to carry out operation.By pipe robot people
Work is placed in initial position preparation in pipeline, issues power-on command by external control centre, and robot starts self-test, occurs
Failure puts back to specified initial position after artificial maintenance, and then power-on command reaches control system 14, when signal reaches decelerating motor
After 2, through gear drive driving wheel is rotated, so that rubber belt track be driven to rotate, driving walking mechanism is to a desired speed
It is moved, it is always pipe that External cable, which can be followed by pipe robot by material cable conveying device 4 and constantly extend internally,
The electrical equipment of pipeline robot provides electric power, maintains it normally to work, can also provide under certain Special Work modes for it
Material needed for working.The adaptive mechanism being connected with walking mechanism can generate the impact in motion process and effectively cut
It is weak, and automatic adaptation different shape road surface, the reaction force generated when barrier, startup-shutdown, work can be inhaled by software
Disk 11, rubber belt track 13, Anti-collision mechanism, spring shock-absorbing device 16, two-way function shock absorber 17 carry out multiple mitigation and weaken, and guarantee
Stability and safety when robot manipulating task.Meanwhile also ultrasonic sensor 5 and the infrared camera 11 of work, ultrasound
Wave sensor 5 accurately spreads out of the location information of pipe robot to external control centre, and the control of control system 14 is mostly certainly
End effector 12 is carried by degree mechanical arm 13 and reaches operating position progress operation, infrared camera 11 can be according to end effector
12 movement and pose variation occurs, and by collected work information by the display simultaneous display of external control unit
Out, the moment monitors handling situations.In the inside of control system 14 equipped with sensors and warning devices such as concentration and temperature, and
The wind speed size that air supplying and exhausting system is controlled according to the concentration that concentration sensor detects, sounds an alarm when dangerous, guarantees in work
The granule density for making region is not too big, prevents the generation of safety accident.After the completion of work, material cable conveying device and wind
Guan Junke is collected by external draw off gear, while pipe robot, according to scheduled path exit conduit, operation terminates.
Off-line programing system and trajectory planning can also be used in the motion path of the pipe robot of the utility model, can measure in advance
Basic size inside pipeline model directly carries out path planning using CAM software, generates NC processing program, after then utilizing
It sets processing routine and generates robot language, thus more efficient operation.
To sum up, the utility model has the advantage that
Pipe robot structure provided by the utility model is simple, can adaptive various shapes pipeline, be equipped with adaptive
Answer mechanism and Anti-collision mechanism, can adaptive various contact surfaces, and can bumper and absorbing shock, make robot security row in pipeline
It walks and stablizes operation.Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, and setting is so that pipe robot can be with
It is completed at the same time multiple-working mode, the several work mode such as polishing, spraying, welding, functional movement can be continuously finished in pipeline
Expansion is strong.Compact-sized, design rationally, can be adaptive to walking environment, the setting of walking mechanism and adaptive mechanism so that
Pipe robot flexibility of walking is high, in particular circumstances still can safe and stable, reliable work, and be equipped with positioning
Mechanism and information collection mechanism, real-time monitoring operation and location information.
Finally, it should be noted that above-described each embodiment is merely to illustrate the technical solution of the utility model, rather than
It is limited；Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art
It is understood that it can still modify to technical solution documented by previous embodiment, or to part of or whole
Technical characteristic is equivalently replaced；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution the utility model
The range of each embodiment technical solution.
Claims (7)
1. a kind of pipe robot, it is characterised in that: it include supporting mechanism, the walking mechanism being connect with the supporting mechanism,
Anti-collision mechanism, Working mechanism and external connection mechanism,
The supporting mechanism includes support base and bearing body, and the bearing body is the hollow structure inside of side opening,
The support base is located at the lower section of the bearing body；
The walking mechanism is connect by adaptive mechanism with the support base, and the walking mechanism includes driving wheel, rubber
Power is transmitted to the driving wheel by gear by crawler belt and decelerating motor, the decelerating motor, and the driving wheel drive is centered around
The rubber belt track on the outside of the driving wheel is rotated, and the outside of the rubber belt track is evenly arranged with multiple softwares and inhales
Disk；The adaptive mechanism includes spring shock-absorbing device, two-way function shock absorber and Hooke's hinge transfer, the spring shock-absorbing device
Including two spring shock-absorbing devices being arranged at splayed, the first end of each spring shock-absorbing device is fixed on the support base
On, the second end of each spring shock-absorbing device is connect with the Hooke's hinge transfer, and the Hooke's hinge transfer is fixed
In the walking mechanism, the first end of the two-way function shock absorber is fixed in the support base, the two-way function
The second end of shock absorber is fixed in the walking mechanism, the two-way function shock absorber be located at two spring shock-absorbing devices it
Between middle position；
The top and both sides of the bearing body is arranged in the Anti-collision mechanism, and the Anti-collision mechanism includes elastic telescopic
The first end of guiding device, connecting spring and directive wheel, the elastic telescopic guiding device is fixed on the bearing body, institute
The second end for stating elastic telescopic guiding device is connect with the directive wheel, and the connecting spring is by two elastic telescopic guiding devices
Flexible connection is together；
The Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, and the first end of the multi-degree-of-freemechanical mechanical arm is fixed
In the inside of the bearing body, the second end of the multi-degree-of-freemechanical mechanical arm is connect with the end effector；
The external connection mechanism includes material cable conveying device and control system, and the material cable conveying device setting exists
The inside of the bearing body is simultaneously connect with pipeline external, and the decelerating motor is electrically connected with the control system.
2. pipe robot according to claim 1, it is characterised in that: the Anti-collision mechanism is equipped with four groups, and two groups set
It sets at the top of the bearing body, two groups of two sides for being separately positioned on the bearing body.
3. pipe robot according to claim 2, it is characterised in that: the elastic telescopic guiding device is elastic telescopic
Bar.
4. pipe robot according to claim 1, it is characterised in that: further include making for subsidiary conduit robot security
The safe auxiliary body of industry, the safe auxiliary body includes air supplying and exhausting system, and the air supplying and exhausting system includes exhaust blower, wind
Pipe, activated carbon adsorption device and fan, the exhaust blower are located at the outside of pipeline, the activated carbon adsorption device and the fan
Positioned at the inside of the bearing body, the exhaust blower is connect with the air hose, and the wind that the exhaust blower is sent passes through the air hose
Be transported through activated carbon adsorption device filtering after drive the fan to rotate.
5. pipe robot according to claim 1, it is characterised in that: it further include positioning mechanism, the positioning mechanism packet
Ultrasonic sensor is included, the inside of the bearing body is set.
6. pipe robot according to claim 1, it is characterised in that: further include information collection mechanism, the information is adopted
Collecting mechanism includes infrared camera, is arranged on the end effector.
7. pipe robot according to claim 1, it is characterised in that: be additionally provided with sensor and report on the bearing body
Alarm device, the sensor include concentration sensor and temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820952186.4U CN208331552U (en) | 2018-06-20 | 2018-06-20 | Pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820952186.4U CN208331552U (en) | 2018-06-20 | 2018-06-20 | Pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208331552U true CN208331552U (en) | 2019-01-04 |
Family
ID=64769143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820952186.4U Expired - Fee Related CN208331552U (en) | 2018-06-20 | 2018-06-20 | Pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208331552U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986251A (en) * | 2019-05-16 | 2019-07-09 | 董青文 | A kind of multi-functional automatic stabilisation welding robot |
| CN111022828A (en) * | 2019-09-27 | 2020-04-17 | 高程明 | Engineering measurement device and using method |
| CN111674420A (en) * | 2020-06-23 | 2020-09-18 | 株洲时代新材料科技股份有限公司 | Adaptive guide wheel device for railway vehicle and design method thereof |
| CN112032467A (en) * | 2020-09-07 | 2020-12-04 | 浙江研基科技有限公司 | Concrete sewer pipe damage detection device |
-
2018
- 2018-06-20 CN CN201820952186.4U patent/CN208331552U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986251A (en) * | 2019-05-16 | 2019-07-09 | 董青文 | A kind of multi-functional automatic stabilisation welding robot |
| CN109986251B (en) * | 2019-05-16 | 2020-10-16 | 南京勒佳电气有限公司 | Multifunctional automatic stable welding robot |
| CN111022828A (en) * | 2019-09-27 | 2020-04-17 | 高程明 | Engineering measurement device and using method |
| CN111022828B (en) * | 2019-09-27 | 2021-05-14 | 高程明 | Engineering measurement device and using method |
| CN111674420A (en) * | 2020-06-23 | 2020-09-18 | 株洲时代新材料科技股份有限公司 | Adaptive guide wheel device for railway vehicle and design method thereof |
| CN111674420B (en) * | 2020-06-23 | 2021-10-26 | 株洲时代新材料科技股份有限公司 | Adaptive guide wheel device for railway vehicle and design method thereof |
| CN112032467A (en) * | 2020-09-07 | 2020-12-04 | 浙江研基科技有限公司 | Concrete sewer pipe damage detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108692133A (en) | Pipe robot | |
| CN208331552U (en) | Pipe robot | |
| CN107489854B (en) | A kind of contactless magnetic adsorption wall climbing robot adapting to complicated wall surface operation | |
| US9492907B2 (en) | Surface media blasting system and method | |
| US5081800A (en) | Vehicular device designed to operate in enclosed canals | |
| CN105881555B (en) | Photovoltaic plant sweeping robot and its working method based on the direct dedusting of blower | |
| CN105962855A (en) | Glass curtain wall cleaning robot capable of crossing obstacles | |
| CN105962856A (en) | Double-suction-cup connecting rod type wall face cleaning robot | |
| JP2019517829A (en) | System and method for cleaning an exterior wall of a building | |
| CN110925521B (en) | Pipeline deashing robot | |
| CN206166841U (en) | Double suction dish connecting rod formula wall cleaning machines people | |
| Bisht et al. | Design and development of a glass façade cleaning robot | |
| CN104048139B (en) | Magnet base type iron-based wall self-adaption crawling robot | |
| CN112024545A (en) | Central air conditioning tuber pipe clearance ware | |
| CN110193502A (en) | Pipeline cleaning robot and control method | |
| CN114850141B (en) | Steel construction welding slag self-cleaning equipment | |
| CN212421320U (en) | Wall climbing maintenance robot for fan | |
| KR20110024946A (en) | Blasting apparatus for hull shell | |
| CN205685347U (en) | Photovoltaic plant sweeping robot based on the direct dedusting of blower fan | |
| CN114379775B (en) | Anticollision buffering adherence flying robot | |
| CN208274533U (en) | A kind of two-legged type climbing robot | |
| CN107458493A (en) | A kind of Climbing Robot glided | |
| CN107499407A (en) | A kind of Climbing Robot of wind-power electricity generation | |
| CN109249157A (en) | A kind of environment-friendly type welding robot | |
| CN206663236U (en) | A kind of robot arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 |