CN105500337B - A kind of pipe gallery crusing robot - Google Patents
A kind of pipe gallery crusing robot Download PDFInfo
- Publication number
- CN105500337B CN105500337B CN201610066996.5A CN201610066996A CN105500337B CN 105500337 B CN105500337 B CN 105500337B CN 201610066996 A CN201610066996 A CN 201610066996A CN 105500337 B CN105500337 B CN 105500337B
- Authority
- CN
- China
- Prior art keywords
- motor
- rubber blanket
- wire
- screw
- middle housing
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
-
- 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
-
- 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
- B25J19/023—Optical sensing devices including video camera means
Abstract
The present invention relates to robotic technology field, a kind of pipe gallery crusing robot, mainly include metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, the motor is connected by screw with reduction box, the reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket and oil sealing end cap are sequentially connected by screw and nut, the oil sealing end cap is connected by tight fit with oil sealing, the metal wheel is connected by tight fit with reduction gearbox output shaft.The present invention uses wireless bridge as communication modes, greatly improves communication distance of the robot inside pipe gallery.Multiple gases sensor has been used, various gas concentrations inside pipe gallery can be monitored in real time, cable tunnel maintenance is entered to staff and provides safety guarantee.In addition, the present invention uses low latency camera, it is ensured that the real-time operation ability of operating personnel, navigability is improved, the generation of contingency is prevented.
Description
Technical field
The present invention relates to a kind of pipe gallery crusing robot, belong to robotic technology field.
Background technology
Pipe gallery increasingly becomes the important component of the system such as city or dense population areas power network, the network of rivers, and it can
It is the basis for ensureing city function by stable operation.Pipe gallery is checked, is all by artificial in some time.With
The fast development of robot technology and application deepens continuously in each field, some domestic and international researchers began to focus in the last few years
Robot technology is introduced into pipe gallery inspection field.
Crawler type type of drive being used existing crusing robot, although obstacle climbing ability is strong, but still exists following several more
Point is not enough：One be take action it is more slow, it is impossible to meet the demand of fast inspection；Two be because complicated, it is difficult to is realized narrow
Narrow tunnel inside turn, it is impossible to tackle condition complicated inside pipe gallery；Three be because pipe gallery is overall higher, in lower very
Multiposition can not be observed.
The intelligent electric power tunnel intelligent robot moving monitoring system for opening up intelligent company's exploitation, is with electric power tunnel intelligent patrol detection
The artificial core of machine, coordinates the autonomous extinguishing vehicle in tunnel, in combination with remote monitoring platform, data server and related accessories,
The continual movement to power tunnel environment and equipment can be achieved and comes and goes purpose monitoring and emergent fire alarm and disposal.But because
It uses rail mounted robot and can not used in some built pipe galleries, and many pipe galleries because physical features it is multiple
It is miscellaneous, it is not appropriate for using rail mounted robot.The substantial amounts of manpower of early investment, expense are needed using rail mounted robot, caused
Greatly waste.
The content of the invention
In order to overcome the deficiencies in the prior art, it is an object of the present invention to provide a kind of pipe gallery crusing robot.
The robot has the characteristics that：One is to employ bamboo joint type lifting platform mechanism, can be increased to top camera close to comprehensive
Piping lane tip position is closed, camera can also be dropped to close to the position on ground, for realizing omnibearing observation.Two be the machine
Device people's size meets the size of most of pipe galleries, is adapted to a variety of different pipe gallery environment.Three be the robot with
Contact area of ground is small, and the road clearance is high, can easily bypass or across barrier.Four be that the robot uses metal wheel,
Muddy road surface and scene of fire can be tackled.Five be that the robot uses waterproof, fire protection design, can be tackled inside pipe gallery
Various complex situations.
In order to realize foregoing invention purpose, solve the problems of in the prior art, the technical scheme that the present invention takes
It is：A kind of pipe gallery crusing robot, mainly including metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing end
Lid rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, the motor lead to
Cross screw to be connected with reduction box, the reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket and oil sealing end
Lid is sequentially connected by screw and nut, and the oil sealing end cap is connected by tight fit with oil sealing, and the metal wheel passes through tight fit
It is connected with reduction gearbox output shaft, the motor is connected with rubber pad for motor and motor support respectively by screw, the motor is consolidated
Fixed board is connected by screw with motor support and motor support rubber blanket, and motor fixing plate and the motor fixing plate rubber blanket leads to
Cross screw and nut to fix with motor case body, the motor case body is connected by screw and nut with motor housing reinforcement, the motor
Casing is connected by screw with motor roof box, motor housing ceiling rubber blanket and motor housing connecting plate, and the motor roof box leads to
Screw is crossed to be connected with hanger, hanger rubber blanket, the middle housing connecting plate by screw and lifting platform, lifting platform rubber blanket,
Middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, middle housing reinforcement rubber blanket, motor housing connection
Plate and the connection of motor housing connecting plate rubber blanket, the middle housing pass through screw and middle housing cover plate and middle housing cover plate rubber
Rubber cushion is connected.
The robot integrated circuit, including top canister circuit, middle housing circuit, left side casing circuit, right side case
Body circuit, robotic end bridge, operator end bridge and operator end computer, wherein, the middle housing circuit passes through wire
It is connected respectively with top canister circuit, left side casing circuit, right side casing circuit, robotic end bridge, the robotic end net
Bridge is connected using communication with operator end bridge, and operator end bridge is connected by netting twine and operator end computer
Connect.
The middle housing circuit, including main control chip STM32F103ZET6 and the battery electricity that is connected with it by wire
Pressure sensor, left side casing PORT COM, temperature sensor, floor light, laser sensor, steering wheel, right side casing communication terminal
Mouth, lifting platform, serial server module and power management module, the battery voltage sensor is connected by wire with battery,
The battery, power management module and floor light are sequentially connected by wire, the power management module, serial server mould
Block and lifting platform are connected with robotic end bridge, router and camera respectively by wire, the robotic end bridge, route
Device and camera are sequentially connected by wire, and the power management module is crossed wire and is also connected respectively with router and camera.
The left side casing circuit is identical with right side casing circuit, including main control chip STM32F103ZET6 and logical with it
The connected battery voltage sensor of wire, water depth sensor, middle housing communication module, motor speed sensor, motor is crossed to drive
Dynamic model block, current sensor and power management module, the battery voltage sensor are connected by wire with battery, the battery
It is connected by wire with power management module, the power management module is passed with motor drive module and electric current respectively by wire
Sensor is connected, and the motor drive module is connected with anterior motor and rear portion motor respectively by wire, and the motor speed is passed
Sensor is connected with anterior motor and rear portion motor respectively by wire.
The top canister circuit, including main control chip STM32F103ZET6 and the oxidation that is connected with it by wire
Carbon/sensing methane concentration device, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensors, light intensity sensing
Device, power management module, serial server, router, camera and floor light, the floor light pass through wire and shooting
Head, router and serial server are sequentially connected.
Present invention has the advantages that：A kind of pipe gallery crusing robot, mainly including metal wheel, motor, reduction box rubber
Rubber cushion, motor fixing plate, oil sealing end cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and machine
People's integrated circuit, the motor is connected by screw with reduction box, the reduction box, reduction box rubber blanket, motor fixing plate, oil
End-blocking lid rubber blanket and oil sealing end cap are sequentially connected by screw and nut, and the oil sealing end cap is connected by tight fit with oil sealing,
The metal wheel is connected by tight fit with reduction gearbox output shaft, the motor by screw respectively with rubber pad for motor and motor
Support connection, the motor fixing plate is connected by screw with motor support and motor support rubber blanket, the motor fixing plate
And motor fixing plate rubber blanket is fixed by screw and nut with motor case body, the motor case body passes through screw and nut and motor housing
Reinforcement is connected, and the motor case body is connected by screw and motor roof box, motor housing ceiling rubber blanket and motor housing connecting plate
Connect, the motor roof box is connected by screw with hanger, hanger rubber blanket, the middle housing connecting plate passes through screw and bamboo
Section formula lifting platform, bamboo joint type lifting platform rubber blanket, middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, in
Between casing reinforcement rubber blanket, motor housing connecting plate and the connection of motor housing connecting plate rubber blanket, the middle housing passes through screw
It is connected with middle housing cover plate and middle housing cover plate rubber blanket.Compared with the prior art, the present invention uses wireless bridge conduct
Communication modes, greatly improve communication distance of the robot inside pipe gallery.Multiple gases sensor, Ke Yishi are used
When monitoring pipe gallery inside various gas concentrations, cable tunnel maintenance is entered to staff and provides safety guarantee.In addition,
The present invention uses low latency camera, it is ensured that the real-time operation ability of operating personnel, improves navigability, prevents contingency
Occur.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is integrated circuit block diagram of the present invention.
Fig. 3 is the middle housing circuit block diagram in the present invention.
Fig. 4 is the left and right side casing circuit block diagram in the present invention.
Fig. 5 is the top canister circuit block diagram in the present invention.
In figure：1st, metal wheel, 2, oil sealing end cap, 3, oil sealing, 4, oil sealing end cap rubber blanket, 5, motor fixing plate, 6, slow down
Case rubber blanket, 7, motor fixing plate rubber blanket, 8, reduction box, 9, motor, 10, motor support rubber blanket, 11, rubber pad for motor,
12nd, motor support, 13, motor case body, 14, motor housing reinforcement, 15, motor housing ceiling rubber blanket, 16, motor housing ceiling, 17,
Hanger rubber blanket, 18, hanger, 19, motor housing connecting plate, 20, motor housing connecting plate rubber blanket, 21, middle housing connecting plate,
22nd, middle housing connecting plate rubber blanket, 23, middle housing, 24, middle housing reinforcement rubber blanket, 25, middle housing strengthens
Muscle, 26, lifting platform rubber blanket, 27, middle housing cover plate rubber blanket, 28, middle housing cover plate, 29, lifting platform.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of pipe gallery crusing robot, mainly include metal wheel 1, motor 9, reduction box rubber blanket 6,
Motor fixing plate 5, oil sealing end cap rubber blanket 4, oil sealing end cap 2, motor fixing plate rubber blanket 7, middle housing connecting plate 21 and machine
Device people's integrated circuit, the motor 9 is connected by screw with reduction box 8, and the reduction box 8, reduction box rubber blanket 6, motor are solid
Fixed board 5, oil sealing end cap rubber blanket 4 and oil sealing end cap 2 are sequentially connected by screw and nut, and the oil sealing end cap 2 passes through tight fit
Be connected with oil sealing 3, the metal wheel 1 is connected by tight fit with the output shaft of reduction box 8, the motor 9 by screw respectively with
Rubber pad for motor 11 and motor support 12 are connected, and the motor fixing plate 5 passes through screw and motor support 12 and motor support rubber
Rubber cushion 10 is connected, and the motor fixing plate 5 and motor fixing plate rubber blanket 7 are fixed by screw and nut with motor case body 13, institute
State motor case body 13 to be connected with motor housing reinforcement 14 by screw and nut, the motor case body 13 passes through screw and motor housing top
Plate 16, motor housing ceiling rubber blanket 15 and motor housing connecting plate 19 are connected, the motor roof box 16 by screw and hanger 18,
Hanger rubber blanket 17 is connected, and the middle housing connecting plate 21 passes through screw and lifting platform 29, lifting platform rubber blanket 26, intermediate box
Body 23, middle housing connecting plate rubber blanket 22, middle housing reinforcement 25, middle housing reinforcement rubber blanket 24, motor housing connect
Fishplate bar 19 and motor housing connecting plate rubber blanket 20 are connected, and the middle housing 23 passes through screw and middle housing cover plate 28 and centre
Box cover rubber blanket 27 is connected.
As shown in Fig. 2 the robot integrated circuit, including top canister circuit, middle housing circuit, left side casing electricity
Road, right side casing circuit, robotic end bridge, operator end bridge and operator end computer, wherein, the middle housing circuit
It is connected respectively with top canister circuit, left side casing circuit, right side casing circuit, robotic end bridge by wire, the machine
Device people end bridge is connected using communication with operator end bridge, and operator end bridge passes through netting twine and operator
Hold computer connection.
As shown in figure 3, the middle housing circuit, including main control chip STM32F103ZET6 and pass through wire phase with it
Battery voltage sensor even, left side casing PORT COM, temperature sensor, floor light, laser sensor, steering wheel, right side
Casing PORT COM, lifting platform, serial server module and power management module, the battery voltage sensor by wire with
Battery is connected, the battery, power management module and floor light are sequentially connected by wire, the power management module, string
Mouth server module and lifting platform are connected with robotic end bridge, router and camera respectively by wire, the robot
End bridge, router and camera are sequentially connected by wire, the power management module cross wire also respectively with router and
Camera is connected.Main control chip STM32F103ZET6 collecting temperature sensor informations, to ensure that robot is operated in reasonable temperature
Interval, temperature is too high to remind operator to sail out of high-temperature area as early as possible；When pipe gallery intraoral illumination is not enough, main control chip is opened auxiliary
Illumination is helped to ensure observation of the camera to environment；Laser sensor information is gathered, to perceive Environment Obstacles thing, is independently being travelled
Control machine people independently travels forward under pattern；Steering wheel is controlled to ensure that laser sensor works in possible angle；With left side case
Body PORT COM and the communication of right side casing PORT COM obtain battery electricity in the side box body of left and right to control left and right sides motor speed
Amount, left and right side box body flooded condition, left and right sides motor load situation etc.；Output of the battery voltage sensor by gathering battery is electric
Pressure, its magnitude of voltage is transmitted to main control chip STM32F103ZET6 to determine robot battery dump energy；Battery management module is led to
Cross the voltage conversion of battery into each circuit required voltage, be floor light, main control chip STM32F103ZET6, robot
Bridge, serial port service module, router, lifting platform, camera is held to provide power supply；Main control chip STM32F103ZET6 will need
Send to the information of operator's computer and sent by serial port service module to router, then retransmited to robotic end bridge,
Reverse transfer can receive control instruction；Main control chip STM32F103ZET6 controls top tank by controlling lifting of lifting table
The height of body；Camera sends image information to router, then sends information to robotic end bridge by router.
As shown in figure 4, the left side casing circuit is identical with right side casing circuit, including main control chip
STM32F103ZET6 and the battery voltage sensor being connected with it by wire, water depth sensor, middle housing communication module,
Motor speed sensor, motor drive module, current sensor and power management module, the battery voltage sensor is by leading
Line is connected with battery, and the battery is connected by wire with power management module, and the power management module is distinguished by wire
It is connected with motor drive module and current sensor, the motor drive module is electric with anterior motor and rear portion respectively by wire
Machine is connected, and the motor speed sensor is connected with anterior motor and rear portion motor respectively by wire.Main control chip
STM32F103ZET6 gathers water depth sensor information, determines robot flooded condition, and with middle housing communication module communicate with
Motor speed control information is obtained, the depth of water, voltage, current information is sent；Motor speed sensor by gather anterior motor with
Rear portion motor speed, main control chip STM32F103ZET6 is sent to by the rotating speed of two motors；Main control chip
STM32F103ZET6 controls the motion of anterior motor and rear portion motor by sending control instruction to motor drive module；Electricity
Cell voltage sensor gathers battery voltage information, is sent to main control chip STM32F103ZET6 to determine battery dump energy；Electricity
Voltage needed for cell voltage is converted into each circuit by source control module is main control chip STM32F103ZET6 and motor driving mould
Block provides power supply；Current sensor gathers power management module output current, sends to main control chip STM32F103ZET6 with true
Fixed each motor load situation.
As shown in figure 5, the top canister circuit, including main control chip STM32F103ZET6 and pass through wire phase with it
Carbon monoxide/methane concentration sensor even, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensors, light
Line strength sensor, power management module, serial server, router, camera and floor light, the floor light pass through
Wire is sequentially connected with camera, router and serial server.Main control chip STM32F103ZET6 gathers carbon monoxide/first
Alkane concentration sensor, gas concentration lwevel sensor, oxygen concentration sensor, PM2.5 sensors, light intensity sensor letter
Breath, and will be sent after finish message to serial server；Router is sent information to by serial server again, and from router
Obtain control information and be sent to main control chip STM32F103ZET6, the brightness for controlling floor light；Camera believes image
Breath is sent to router, and power management module is that main control chip STM32F103ZET6, floor light, camera and router are carried
For corresponding power supply.
The invention has the advantages that：A kind of pipe gallery crusing robot uses wireless bridge as communication modes, greatly carries
Communication distance of the Gao Liao robots inside pipe gallery.Multiple gases sensor has been used, pipe gallery can be monitored in real time
Internal various gas concentrations, cable tunnel maintenance is entered to staff and provides safety guarantee.In addition, the present invention is prolonged using low
Slow camera, it is ensured that the real-time operation ability of operating personnel, improves navigability, prevents the generation of contingency.
Claims (1)
1. a kind of pipe gallery crusing robot, mainly including metal wheel, motor, reduction box rubber blanket, motor fixing plate, oil sealing
End cap rubber blanket, oil sealing end cap, motor fixing plate rubber blanket, middle housing connecting plate and robot integrated circuit, the motor
It is connected by screw with reduction box, the reduction box, reduction box rubber blanket, motor fixing plate, oil sealing end cap rubber blanket and oil sealing
End cap is sequentially connected by screw and nut, and the oil sealing end cap is connected by tight fit with oil sealing, and the metal wheel passes through close-fitting
Conjunction is connected with reduction gearbox output shaft, and the motor is connected with rubber pad for motor and motor support respectively by screw, the motor
Fixed plate is connected by screw with motor support and motor support rubber blanket, motor fixing plate and the motor fixing plate rubber blanket
Fixed by screw and nut with motor case body, the motor case body is connected by screw and nut with motor housing reinforcement, the electricity
Box body is connected by screw with motor roof box, motor housing ceiling rubber blanket and motor housing connecting plate, the motor roof box
It is connected by screw with hanger, hanger rubber blanket, the middle housing connecting plate passes through screw and bamboo joint type lifting platform, ring
Formula lifting platform rubber blanket, middle housing, middle housing connecting plate rubber blanket, middle housing reinforcement, middle housing reinforcement rubber
Rubber cushion, motor housing connecting plate and the connection of motor housing connecting plate rubber blanket, the middle housing pass through screw and middle housing cover plate
And the connection of middle housing cover plate rubber blanket, it is characterised in that：The robot integrated circuit, including top canister circuit, centre
Casing circuit, left side casing circuit, right side casing circuit, robotic end bridge, operator end bridge and operator end computer, its
In, the middle housing circuit by wire respectively with top canister circuit, left side casing circuit, right side casing circuit, machine
People end bridge connection, the robotic end bridge is connected using communication with operator end bridge, the operator end
Bridge is connected by netting twine with operator end computer；The middle housing circuit, including main control chip STM32F103ZET6 and with
Its battery voltage sensor being connected by wire, left side casing PORT COM, temperature sensor, floor light, laser sensing
Device, steering wheel, right side casing PORT COM, lifting platform, serial server module and power management module, the cell voltage sensing
Device is connected by wire with battery, the battery, power management module and floor light are sequentially connected by wire, the power supply
Management module, serial server module and lifting platform are connected with robotic end bridge, router and camera respectively by wire,
The robotic end bridge, router and camera are sequentially connected by wire, and the power management module is crossed wire and also distinguished
It is connected with router and camera；The left side casing circuit is identical with right side casing circuit, including main control chip
STM32F103ZET6 and the battery voltage sensor being connected with it by wire, water depth sensor, middle housing communication module,
Motor speed sensor, motor drive module, current sensor and power management module, the battery voltage sensor is by leading
Line is connected with battery, and the battery is connected by wire with power management module, and the power management module is distinguished by wire
It is connected with motor drive module and current sensor, the motor drive module is electric with anterior motor and rear portion respectively by wire
Machine is connected, and the motor speed sensor is connected with anterior motor and rear portion motor respectively by wire；The top canister electricity
Road, including main control chip STM32F103ZET6 and the carbon monoxide/methane concentration sensor, the dioxy that are connected with it by wire
Change concentration of carbon sensor, oxygen concentration sensor, PM2.5 sensors, light intensity sensor, power management module, serial ports clothes
Business device, router, camera and floor light, the floor light pass through wire and camera, router and serial server
It is sequentially connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066996.5A CN105500337B (en) | 2016-01-30 | 2016-01-30 | A kind of pipe gallery crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610066996.5A CN105500337B (en) | 2016-01-30 | 2016-01-30 | A kind of pipe gallery crusing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105500337A CN105500337A (en) | 2016-04-20 |
| CN105500337B true CN105500337B (en) | 2017-10-13 |
Family
ID=55708831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610066996.5A Expired - Fee Related CN105500337B (en) | 2016-01-30 | 2016-01-30 | A kind of pipe gallery crusing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105500337B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945895B (en) * | 2016-06-08 | 2018-03-16 | 东营市航宇工贸有限责任公司 | A kind of cable tunnel intelligent inspection robot |
| CN106080814B (en) * | 2016-07-18 | 2018-06-01 | 泉州市家园网信息科技有限公司 | A kind of crawler type electric power first-aid robot |
| CN105977871B (en) * | 2016-07-18 | 2018-05-25 | 宿州市众力保温节能材料有限公司 | A kind of electric power first-aid robot suitable for a variety of cables |
| CN106200485A (en) * | 2016-08-10 | 2016-12-07 | 上海化学工业区公共管廊有限公司 | Public piping lane supervisory-controlled robot based on android system |
| CN107322567A (en) * | 2017-07-11 | 2017-11-07 | 丁志国 | A kind of piping lane monitoring robot |
| CN108032301A (en) * | 2017-12-15 | 2018-05-15 | 沈坤龙 | It is a kind of that there is the robot of path planning |
| CN108414153B (en) * | 2018-02-05 | 2020-04-28 | 河南省乾憬光电科技有限公司 | Intelligent pipe gallery inspection robot with emergency function |
| CN108769136A (en) * | 2018-05-07 | 2018-11-06 | 安徽恒诺机电科技有限公司 | A kind of underground pipe gallery total management system that BIM is combined with Internet of Things |
| CN109048846A (en) * | 2018-09-25 | 2018-12-21 | 五邑大学 | A kind of smog crusing robot and its control method |
| CN110794900A (en) * | 2019-09-25 | 2020-02-14 | 武汉圣达电气股份有限公司 | Comprehensive pipe rack ACU cabinet |
| CN112571427A (en) * | 2020-12-01 | 2021-03-30 | 山东中烟工业有限责任公司 | Power cable trench inspection robot and operation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0522924D0 (en) * | 2005-11-10 | 2005-12-21 | Allen Vanguard Ltd | Remotely operated machine with manipulator arm |
| CN102221831A (en) * | 2011-04-20 | 2011-10-19 | 福建省电力有限公司福州电业局 | Patrol inspection system of movable remote-controlled visual sense machine |
| CN203422665U (en) * | 2013-06-04 | 2014-02-05 | 沈阳易思达智能通讯有限公司 | Inspection robot for transformer station |
| CN203331024U (en) * | 2013-07-02 | 2013-12-11 | 福建师范大学 | Modularization general wheeled mobile robot |
| CN203781661U (en) * | 2014-03-22 | 2014-08-20 | 林本顺 | Respectively-drivable trolley running device with splines |
| CN104298235A (en) * | 2014-08-25 | 2015-01-21 | 洛阳理工学院 | Mobile robot system based on wireless video transmission and PID compound control |
| CN204069209U (en) * | 2014-09-25 | 2014-12-31 | 国家电网公司 | A kind of transformer station ground cruising inspection system |
| CN104991488B (en) * | 2015-05-27 | 2018-01-30 | 华北电力大学（保定） | Intelligent robot inspection system for cable tunnel |
-
2016
- 2016-01-30 CN CN201610066996.5A patent/CN105500337B/en not_active Expired - Fee Related
Also Published As
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|---|---|
| CN105500337A (en) | 2016-04-20 |
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