CN101435522A - Pipe walking robot and control method thereof - Google Patents
Pipe walking robot and control method thereof Download PDFInfo
- Publication number
- CN101435522A CN101435522A CNA200810244764XA CN200810244764A CN101435522A CN 101435522 A CN101435522 A CN 101435522A CN A200810244764X A CNA200810244764X A CN A200810244764XA CN 200810244764 A CN200810244764 A CN 200810244764A CN 101435522 A CN101435522 A CN 101435522A
- Authority
- CN
- China
- Prior art keywords
- dial
- supporting leg
- robot
- body fuselage
- pipeline
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a pipeline cleaning robot applied to industrial field, and also relates to a method for controlling the walking robot. The robot comprises a connection shaft (2), a supporting leg (3), a drive plate (4), a pusher dog (5), a connection rope (8), a variable pitch motor (9), a drive motor (10), a cleaning device (12) and a roller wheel device (14), wherein the connection rope (8) passes through the drive plate (4), and is connected with variable pitch motor (9); the supporting leg (3) which can retractably rotate is connected with the drive plate (4); the drive motor (10) is connected with another frame shell end part (18) through a gear disc (17) and the connection shaft (2); the supporting leg extends out of a frame shell (13), and is contacted with the inner surface of the pipeline; and the cleaning device (12) is arranged on the frame shell (13). With the scheme, the robot is more efficient, can turn a curve smoothly, can be controlled more easily, has the advantages of simple structure and convenient manufacture, and is applicable to pipelines with different diameters.
Description
Technical field
The present invention relates to the industrial robot field, more particularly, the invention belongs to and in pipeline, to walk, be applied to the robot of pipeline cleaning, simultaneously, the invention still further relates to the controlling method of this pipe walking robot.
Background technique
Pipeline all has a wide range of applications at industrial field and civil area, but thorny problems such as fouling, obstruction in use take place in pipeline unavoidably, especially for the narrow pipeline in some spaces, manpower can't directly clean or handle it at all.Along with the development of industrial technology, people begin to adopt pipeline robot to carry out when the narrow pipeline of cleaning space.But mostly structure is comparatively complicated in the robot that adopts at present.Such as the central air-conditioner special purpose robot, its structure mostly is crawler, complex structure, and can only in square pipe, travel and clean.The robot that designs at the cleaning of circular pipe is also arranged at present specially, but the general complex structure all of these robots, inefficiency, and control comparatively trouble, environmental suitability is poor.For example, application number is that 200620003659.3 utility model patent discloses a kind of connecting rod creeping robot for pipeline.The working principle of this robot is: is converted into the flexible mechanical energy of linkage mechanism by electric energy, is converted into the kinetic energy of whole device again, make the crawling in pipeline of whole device, but this robot not only is difficult to manufacturing, and adaptability, poor reliability; Application number is that 01128568.0 patent of invention then discloses a kind of spring creeping robot for pipeline, and this robot utilizes electromagnetic energy to be converted into the elastic potential energy of spring, is converted into the kinetic energy of whole device again, thereby makes the device motion.The main purpose of this invention is to realize the motion of robot in pipeline, but its structure can't realize the cleaning to pipeline, and its adaptive capacity is relatively poor; The patent No. is that 200710035846.9 patent of invention discloses a kind of robot that can wriggle in microtubule, but this robot significant feature also is in ducted walking, its structure can't satisfy whole pipe, especially to the omnibearing cleaning of circular pipe.In a word, study the more of creepage robot at present, thereby its method for driving is more, but the gait of march of its big multirobot is slower, and mechanical efficiency is low etc., environmental suitability difference etc., therefore can't satisfy the pipeline needs of cleaning comprehensively, also limit further developing of it because of these shortcomings.
Summary of the invention
A kind of walking robot that is applied in the circular pipe of the present invention, its technical problem that will solve is: provide a kind of by new drive unit make the mechanical efficiency that is applied in the walking robot in the circular pipe higher, more smooth and easy when crossing bend, be easier to control and high working efficiency, simple in structure, with low cost, easy to make.
For solving above technical problem, the technical solution used in the present invention is:
The present invention is a kind of pipe walking robot, described robot comprises coupling shaft, supporting leg, dial, pusher dog, bridle line, the displacement motor, drive motor, cleaning device, body fuselage, rotary roller, described bridle line passes dial, is connected with the displacement motor that is fixed on body fuselage inside, and the supporting leg that is set to the scalable rotation of (optimal number is three) more than is connected with dial, described drive motor is connected with another body fuselage end with coupling shaft by gear disk, described supporting leg extends body fuselage, contacts with inner surface of pipeline, be provided with on the body fuselage can with the cleaning device of inner surface of pipeline contact.
Described drive motor and gear disk engagement, gear disk is fixedlyed connected with coupling shaft, and coupling shaft is fixedlyed connected with the body fuselage end of another body fuselage, and the coupling shaft of described connection two-part body fuselage is a flexible structure.
Described dial is discoideus structure, and dial is provided with in each body fuselage more than one, and bridle line fixedly passes the dial central position, arranges the flange of projection on the dial, and the flange middle part is provided with the elongated slot that is arranged in parallel with the dial surface; Described displacement motor is fixed on the central position of body fuselage inner end portion, the displacement motor with can spur dial and be connected at the inner axially movable and bridle line that pass coupling shaft of body fuselage.
Described supporting leg is the shaft-like spring structure of scalable rotation, and supporting leg and dial are arranged in parallel, and supporting leg bottom is provided with the pusher dog that extends supporting leg, and the pull bar vertical with pusher dog on the pusher dog extends in the elongated slot on the dial.
The described supporting leg that is connected with each dial is set to three, is 120 ° of angles between each supporting leg and arranges that rotary roller is installed at the position that supporting leg contacts with inner surface of pipeline.
Described supporting leg is fixed its position by body fuselage, and described supporting leg inside is mobilizable shaft-like movable axis, and pusher dog and movable axis are fixed connection structure.
Described dial is set to 2 in each body fuselage.
The cleaning device of described inner surface of pipeline contact contact is a hairbrush, and hairbrush is installed in the medium position of the arc surface between per two supporting legs; Described bridle line one end is connected with the displacement motor, and the other end is fixed on the end of another body fuselage, and a draught spring is installed between this end and bridle line.
Rotary roller of the present invention comprises roller and turning rolls.
The invention still further relates to the controlling method of this pipe walking robot, described controlling method step is:
When a) needing robot ambulation, start drive motor, drive motor drives the coupling shaft running by gear disk, and coupling shaft drives another body fuselage and rotates, and robot realizes walking in pipeline;
When b) needing to reconcile robot ambulation speed, start the displacement motor, bending moment motor tension bridle line, thereby drive the dial axial motion, the dial of motion drives the movable axis rotation of supporting leg by the motion of the elongated slot on pusher dog and the flange, thereby regulate the angle of rotary roller, realize the variation of robot ambulation speed;
C) need robot to finish to advance, the original place rotation, when retreating three kinds of actions, can realize by the angle of regulating the rotary roller that is connected with movable axis (20), and robot finish advance, the original place rotates, retreat three kinds is stepless change when moving.
Described bridle line drives the dial motion, makes the slewing area of supporting leg movable axis be+45 ° to-45 °.
Adopt technological scheme of the present invention, following beneficial effect arranged:
1, make the mechanical efficiency that is applied in ducted walking robot higher, more smooth and easy when crossing bend, be easier to control and high working efficiency, simple in structure, with low cost, easy to make;
2, the invention provides the mode of a kind of screw drives of circular pipe robot, this mechanism is reliable, and long service life operates steadily, and skew or rollover can not take place; The reducing scope is bigger, goes for the pipeline of different tube diameters;
3, the present invention is directed to that the cleaning of various circular pipes needs and design, its power utilization is abundant, as long as body has one will produce driving power in rotation; Efficiency of movement height, spinning movement can be finished and advance and clear up two functions, and the pipeline adaptability of its original creation has improved practicability and widespread popularity especially greatly.
Description of drawings
Make briefly bright to each width of cloth accompanying drawing in the specification of the present invention expressed content and the mark among the figure below:
Fig. 1 is the sectional structure schematic representation of a kind of ducted walking robot of the present invention;
Fig. 2 is the linkage structure schematic representation of dial of the present invention and supporting leg;
Fig. 3 is the structural representation of bending moment part of the present invention;
Fig. 4 is the structural representation of supporting leg of the present invention;
Fig. 5 is the linkage structure schematic representation of pull bar of the present invention and projection;
Be labeled as among the figure: 1, walking robot; 2, coupling shaft; 3, supporting leg; 4, dial; 5, pusher dog; 6, inboard end cap; 7, return spring; 8, bridle line; 9, displacement motor; 10, drive motor; 11, angular contact ball bearing; 12, cleaning device; 13, body fuselage; 14, rotary roller; 15, flange; 16, hairbrush; 17, gear disk; 18, body fuselage end; 19, pull bar; 20, movable axis; 21, draught spring; 22, roller; 23, turning rolls.
Embodiment
Contrast accompanying drawing below, by description, the effect of the mutual alignment between the shape of the specific embodiment of the present invention such as related each member, structure, the each several part and annexation, each several part and working principle etc. are described in further detail embodiment:
As Fig. 1-shown in Figure 5, the present invention is a kind of pipe walking robot, described robot comprises coupling shaft 2, supporting leg 3, dial 4, pusher dog 5, bridle line 8, displacement motor 9, drive motor 10, cleaning device 12, body fuselage 13, rotary roller 14, described bridle line 8 passes dial 4, be connected with the displacement motor 9 that is fixed on body fuselage 13 inside, the supporting leg 3 that is set to more than one scalable rotation is connected with dial 4, and described drive motor 10 is connected with another body fuselage end 18 with coupling shaft 2 by gear disk 17, and described supporting leg 3 extends body fuselage 13, contact with inner surface of pipeline, be provided with on the body fuselage 13 can with the cleaning device 12 of inner surface of pipeline contact.
Described drive motor 10 and gear disk 17 engagements, gear disk 17 is fixedlyed connected with coupling shaft 2, and coupling shaft 2 is fixedlyed connected with the body fuselage end 18 of another body fuselage 13.The coupling shaft that connects two-part body fuselage 13 is a flexible structure, thereby makes walking robot can pass through crooked pipeline.
The drive motor 10 of an internal body drives another body rotation of fixedlying connected with coupling shaft 2 by gear disk 17, because the conservation of angular momentum, so two-part body fuselage 13 reverses mutually, robot realizes that spiral advances.
Described dial 4 is discoideus structure, and dial 4 is provided with more than one in each body fuselage 13, and bridle line 8 fixedly passes dial 4 central positions, arranges the flange 15 of projection on the dial 4, and flange 15 middle parts are provided with the elongated slot that is arranged in parallel with dial 4 surfaces; Described displacement motor 9 is fixed on the central position of 18 inside, body fuselage end, displacement motor 9 with can spur dial 4 and bridle line 8 that pass coupling shaft 2 inner axially movable and be connected at body fuselage 13.
Described supporting leg 3 is the shaft-like spring structure of scalable rotation, and supporting leg 3 is arranged in parallel with dial 4, and supporting leg 3 bottoms are provided with the pusher dog 5 that extends supporting leg 3, and the pull bar 19 vertical with pusher dog 5 on the pusher dog 5 extends in the elongated slot on the dial 4.
The described supporting leg 3 that is connected with each dial 4 is set to three, is 120 ° of angles between each supporting leg 3 and arranges that rotary roller 14 is installed at the position that supporting leg 3 contacts with inner surface of pipeline.
By rotary roller 14 is installed, the supporting leg 3 pressure inside springs of spring structure just are pressed on rotary roller 14 on the inner surface of pipeline, be robot enough adhesion is provided; Each rotary roller 14 can be under the driving of the bending moment mechanism that is made up of dial 4 and bridle line 8 of inside and coordinating, the angle that the movable axis 20 lines rotation in supporting leg is+45 ° to-45 °;
Described supporting leg 3 is fixed its position by body fuselage 13, and described supporting leg 3 inside are mobilizable shaft-like movable axis 20, and pusher dog 5 is a fixed connection structure with movable axis 20.
When dial 4 moved 19 rotations of drive pull bar, the movable axis 20 in the supporting leg 3 also rotated thereupon, and the rotary roller 14 that is fixed on supporting leg 3 ends also rotates, and changes its angle, thereby made robot realize speed change.
Described dial 4 is set to 2 in each body fuselage 13.
The cleaning device 12 of described inner surface of pipeline contact contact is a hairbrush, and hairbrush is installed in the medium position of the arc surface between per two supporting legs 3.
The invention still further relates to the controlling method of this pipe walking robot, the step of described controlling method is:
When a) needing robot ambulation, start drive motor 10, drive motor 10 drives coupling shaft 2 runnings by gear disk 17, and coupling shaft 2 drives another body fuselage 13 and rotates, and robot realizes walking in pipeline;
When b) needing to reconcile robot ambulation speed, start displacement motor 9, bending moment motor 9 tension bridle lines 8, thereby drive dial 4 horizontal motion, the dial 4 of motion drives movable axis 20 rotations of supporting leg 3 by the motion of the elongated slot on pusher dog 5 and the flange 15, thereby regulate the angle of rotary roller 14, realize the variation of robot ambulation speed;
C) need robot to finish to advance, the original place rotation, when retreating three kinds of actions, can realize by the angle of regulating the rotary roller 14 that is connected with movable axis 20, and robot finish advance, the original place rotates, retreat three kinds is stepless change when moving.
Bridle line 8 is by bending moment motor 9 folding and unfoldings that are installed in body fuselage 13 inside, because two-part body fuselage 13 reverses, so a turnover degrees of freedom must be arranged between the bridle line 8, so the body fuselage 13 interior bridle line 8 and 4 of the dials of draught spring 7 are installed an angular contact ball bearing 11 is installed, thereby is increased a rotary freedom.
Described bridle line 8 drives the motion of dial 4, makes the slewing area of supporting leg 3 movable axis 20 be+45 ° to-45 °.
In conjunction with the accompanying drawings the present invention has been carried out exemplary description above; obviously the concrete realization of the present invention is not subjected to the restriction of aforesaid way; as long as the various improvement of having adopted method design of the present invention and technological scheme to carry out; or, all fall within protection scope of the present invention without improving through design of the present invention and technological scheme being directly applied to other occasions.
Claims (10)
1, a kind of pipe walking robot, it is characterized in that: described robot comprises coupling shaft (2), supporting leg (3), dial (4), pusher dog (5), bridle line (8), displacement motor (9), drive motor (10), cleaning device (12), body fuselage (13), rotary roller (14), described bridle line (8) passes dial (4), and the displacement motor (9) inner with being fixed on body fuselage (13) is connected, and the supporting leg (3) that is set to more than one scalable rotation is connected with dial (4), described drive motor (10) is connected with another body fuselage end (18) with coupling shaft (2) by gear disk (17), described supporting leg (3) extends body fuselage (13), contacts with inner surface of pipeline, be provided with on the body fuselage (13) can with the cleaning device (12) of inner surface of pipeline contact.
2, according to the described a kind of pipe walking robot of claim 1, it is characterized in that: described drive motor (10) and gear disk (17) engagement, gear disk (17) is fixedlyed connected with coupling shaft (2), coupling shaft (2) is fixedlyed connected with the body fuselage end (18) of another body fuselage (13), and the coupling shaft of described connection two-part body fuselage (13) is a flexible structure.
3, according to the described a kind of pipe walking robot of claim 1, it is characterized in that: described dial (4) is discoideus structure, dial (4) is provided with more than one in each body fuselage (13), bridle line (8) fixedly passes dial (4) central position, dial (4) is gone up the flange (15) of arranging projection, and flange (15) middle part is provided with the elongated slot that is arranged in parallel with dial (4) surface; Described displacement motor (9) is fixed on inner central position, body fuselage end (18), displacement motor (9) with can spur dial (4) and bridle line (8) that pass coupling shaft (2) axially movable and be connected in body fuselage (13) inside.
4, according to the described a kind of pipe walking robot of claim 1, it is characterized in that: described supporting leg (3) is the shaft-like spring structure of scalable rotation, supporting leg (3) is arranged with dial (4) place plane parallel, supporting leg (3) bottom is provided with extends the pusher dog (5) of supporting leg (3), and the pull bar (19) vertical with pusher dog (5) on the pusher dog (5) extends in the elongated slot on the dial (4).
5, according to claim 1,4 described a kind of pipe walking robots, it is characterized in that: the described supporting leg (3) that is connected with each dial (4) is set to three, be 120 ° of angles between each supporting leg (3) and arrange that rotary roller (14) is installed at the position that supporting leg (3) contacts with inner surface of pipeline.
6, according to the described a kind of pipe walking robot of claim 5, it is characterized in that: described supporting leg (3) is fixed its position by body fuselage (13), described supporting leg (3) inside is mobilizable shaft-like movable axis (20), and pusher dog (5) is a fixed connection structure with movable axis (20).
7, according to claim 1,3 described a kind of pipe walking robots, it is characterized in that: described dial (4) is set to 2 in each body fuselage (13).
8, according to the described a kind of pipe walking robot of claim 1, it is characterized in that: the cleaning device (12) of described inner surface of pipeline contact contact is a hairbrush, hairbrush is installed in the medium position of the arc surface between per two supporting legs (3), described bridle line (8) one ends are connected with displacement motor (9), the other end is fixed on the end of another body fuselage (13), a draught spring (21) is installed between this end and bridle line (8), and there is a turnover degrees of freedom at the middle part of bridle line (8).
9, a kind of controlling method of pipe walking robot is characterized in that: described controlling method is:
When a) needing robot ambulation, start drive motor (10), drive motor (10) drives coupling shaft (2) running by gear disk (17), and coupling shaft (2) drives another body fuselage (13) and rotates, and robot realizes walking in pipeline;
When b) needing to reconcile robot ambulation speed, start displacement motor (9), bending moment motor (9) tension bridle line (8), thereby drive dial (4) along axial-movement, the dial (4) of motion drives movable axis (20) rotation of supporting leg (3) by the motion of the elongated slot on pusher dog (5) and the flange (15), thereby reconcile the angle of rotary roller (14), realize the variation of robot ambulation speed;
C) need robot to finish to advance, the original place rotation, when retreating three kinds of actions, can realize by the angle of regulating the rotary roller (14) that is connected with movable axis (20), and robot finish advance, the original place rotates, retreat three kinds is stepless change when moving.
10, according to the controlling method of the described a kind of pipe walking robot of claim 9, it is characterized in that: described bridle line (8) drives the motion of dial (4), makes the slewing area of supporting leg (3) movable axis (20) be+45 ° to-45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810244764XA CN101435522B (en) | 2008-12-16 | 2008-12-16 | Pipe walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810244764XA CN101435522B (en) | 2008-12-16 | 2008-12-16 | Pipe walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101435522A true CN101435522A (en) | 2009-05-20 |
| CN101435522B CN101435522B (en) | 2010-12-08 |
Family
ID=40710097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810244764XA Expired - Fee Related CN101435522B (en) | 2008-12-16 | 2008-12-16 | Pipe walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101435522B (en) |
Cited By (72)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101788093A (en) * | 2010-03-10 | 2010-07-28 | 大庆石油学院 | Drive running mechanism of pipeline robot |
| CN101870103A (en) * | 2010-06-07 | 2010-10-27 | 华东理工大学 | Flaw detection robot for automatic collimation and automatic steering in circular pipeline |
| WO2011009420A2 (en) | 2009-07-24 | 2011-01-27 | Czech Technical University In Prague - Faculty Of Electrical Engineering | Robot for cleaning and inspection of conduits and its control unit |
| CN102011915A (en) * | 2010-11-09 | 2011-04-13 | 刘成琪 | Multifunctional pipeline robot driving mechanism |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
| CN102218421A (en) * | 2011-04-13 | 2011-10-19 | 沈阳航空航天大学 | Self-adapting air conditioning pipeline cleaning robot |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN102489481A (en) * | 2011-12-05 | 2012-06-13 | 上海电力学院 | Coal-fired power station boiler air duct and air-conditioning ventilation duct wormlike cleaning robot |
| CN102661470A (en) * | 2012-05-17 | 2012-09-12 | 北京邮电大学 | Novel crawling pipeline robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN103307408A (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic peristaltic pipeline running mechanism and control method thereof |
| CN103759095A (en) * | 2014-02-12 | 2014-04-30 | 滨州学院 | Device capable of walking freely in pipeline |
| CN104500913A (en) * | 2014-12-15 | 2015-04-08 | 郑州新力光电技术有限公司 | Curve crawl device |
| CN104722543A (en) * | 2014-08-08 | 2015-06-24 | 皖西学院 | Pipeline inner wall cleaning device |
| CN105032864A (en) * | 2015-06-03 | 2015-11-11 | 北京工业大学 | Hose cleaning robot |
| CN105257950A (en) * | 2015-08-13 | 2016-01-20 | 浙江理工大学 | Telescopic self-lock type intra-pipe movable robot |
| CN105344672A (en) * | 2015-11-10 | 2016-02-24 | 河南工业大学 | Pipeline inspection sweeping robot |
| CN105363742A (en) * | 2015-12-23 | 2016-03-02 | 济南陆枋志合信息技术有限公司 | Device for cleaning inner wall of elliptical pipeline |
| CN105436159A (en) * | 2015-12-21 | 2016-03-30 | 济南陆枋志合信息技术有限公司 | Elliptical pipeline inner wall cleaning robot |
| CN105508801A (en) * | 2015-12-23 | 2016-04-20 | 济南陆枋志合信息技术有限公司 | Device for painting inner wall of oval pipeline |
| CN105540168A (en) * | 2015-12-23 | 2016-05-04 | 济南陆枋志合信息技术有限公司 | Shaft part transferring device |
| CN105562405A (en) * | 2015-12-21 | 2016-05-11 | 济南陆枋志合信息技术有限公司 | Device for cleaning inner wall of elliptical pipeline |
| CN105598104A (en) * | 2016-03-16 | 2016-05-25 | 西华大学 | High-speed rotating brush pipe cleaner |
| CN105665383A (en) * | 2016-03-16 | 2016-06-15 | 西华大学 | Pipe cleaner adopting revolving brush |
| CN105715905A (en) * | 2016-04-22 | 2016-06-29 | 广东技术师范学院 | Spirally walking in-pipe robot and control system thereof |
| CN105736896A (en) * | 2014-12-07 | 2016-07-06 | 中国石油化工股份有限公司 | Hot wax-bearing crude oil pipeline auxiliary starting device |
| CN105945016A (en) * | 2016-05-24 | 2016-09-21 | 范志杰 | Pipe cleaning device |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106287108A (en) * | 2016-11-19 | 2017-01-04 | 西南石油大学 | A kind of combination type speed governing wiper |
| CN106583364A (en) * | 2016-12-16 | 2017-04-26 | 天津惠博普管道技术有限公司 | Efficient pipeline cleaning device |
| CN106623285A (en) * | 2016-12-16 | 2017-05-10 | 天津惠博普管道技术有限公司 | Pipeline cleaning and drying device |
| CN106625700A (en) * | 2016-12-01 | 2017-05-10 | 台山核电合营有限公司 | Crawling monitoring robot for large intake tunnel |
| CN106764245A (en) * | 2017-01-11 | 2017-05-31 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN106870875A (en) * | 2017-03-17 | 2017-06-20 | 燕山大学 | Submarine pipeline installs servo robot |
| CN107008710A (en) * | 2017-06-15 | 2017-08-04 | 国网山东省电力公司济南市历城区供电公司 | A kind of cable pipeline dredging device |
| CN107035935A (en) * | 2017-06-15 | 2017-08-11 | 湖州丘天电子科技有限公司 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108253228A (en) * | 2018-03-22 | 2018-07-06 | 厦门理工学院 | A kind of robot for being used to solve duct cleaning |
| CN108296895A (en) * | 2018-01-25 | 2018-07-20 | 成都科盛石油科技有限公司 | One kind being directed to petroleum pipeline inner wall sanding and polishing method |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN108435724A (en) * | 2018-06-15 | 2018-08-24 | 青岛科技大学 | One kind being threadingly advanced wheeled pipe detection and cleaning plant |
| CN108533885A (en) * | 2018-04-27 | 2018-09-14 | 国网浙江省电力有限公司信息通信分公司 | A kind of wisdom inspection mobile terminal |
| CN108644532A (en) * | 2018-05-25 | 2018-10-12 | 武汉理工大学 | A kind of self-adaptive pipe dredging machine people |
| CN108764762A (en) * | 2018-07-25 | 2018-11-06 | 中山市爱科应用科技有限公司 | A kind of movable type urban drainage pipe network is health management system arranged |
| CN108895244A (en) * | 2018-05-25 | 2018-11-27 | 哈尔滨工程大学 | A kind of variable diameter seabed tunnel robot for cleaning |
| WO2019000648A1 (en) * | 2017-06-30 | 2019-01-03 | 广船国际有限公司 | Processing device for interior of pipeline |
| CN109282108A (en) * | 2018-09-27 | 2019-01-29 | 中国科学院合肥物质科学研究院 | A kind of carrier robot for pipe detection |
| CN109365440A (en) * | 2018-11-12 | 2019-02-22 | 厦门佰欧环境智能科技有限公司 | A kind of pipeline cleaning climbing robot |
| WO2019114012A1 (en) * | 2017-12-11 | 2019-06-20 | 广州德科投资咨询有限公司 | Pipeline cleaning method applied to smart cities and intelligent robot |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN110328478A (en) * | 2019-08-02 | 2019-10-15 | 佳木斯大学 | A kind of computer pipe detection automatic welding machine people |
| CN110508572A (en) * | 2019-08-26 | 2019-11-29 | 安徽工程大学 | A kind of more support wheel type wriggle pipeline cleanings robot |
| CN110976449A (en) * | 2019-12-31 | 2020-04-10 | 广东海洋大学 | Pipe cleaning robot of self-adaptation pipe diameter |
| CN111136412A (en) * | 2020-01-06 | 2020-05-12 | 上海安宏建设工程有限公司 | Full-automatic internal welding machine for steel gas pipeline |
| CN111774385A (en) * | 2020-07-22 | 2020-10-16 | 张英杰 | Pipeline obstacle-breaking cleaning robot |
| CN111928987A (en) * | 2020-09-24 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112377722A (en) * | 2020-10-28 | 2021-02-19 | 杭州国辰机器人科技有限公司 | Online power and signal line system of plugging into of extra long pipeline |
| CN112923166A (en) * | 2021-02-05 | 2021-06-08 | 杭州电子科技大学 | Automatic direction adjusting device and method suitable for pipeline inspection robot |
| CN113118155A (en) * | 2021-04-23 | 2021-07-16 | 滨州学院 | Sweeping and spraying integrated pipeline cleaning robot |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| CN114227703A (en) * | 2021-12-14 | 2022-03-25 | 江苏伍昌新材料科技有限公司 | Stainless steel pipe automated processing handles robot |
| CN114274032A (en) * | 2021-12-30 | 2022-04-05 | 安徽达必立新能源科技有限公司 | Rust removal device for inner wall of wind power generation tower |
| CN115122361A (en) * | 2022-08-30 | 2022-09-30 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank truck |
| CN115780430A (en) * | 2023-02-06 | 2023-03-14 | 山西中煤东坡煤业有限公司 | Mine drainage pipe inner wall cleaning device |
| CN116106336A (en) * | 2023-04-13 | 2023-05-12 | 河北亿海管道集团有限公司 | Pipe fitting radiographic inspection equipment |
| CN116214549A (en) * | 2023-01-19 | 2023-06-06 | 中国科学院微小卫星创新研究院 | Teleoperation system and teleoperation method for space robot |
| CN116393461A (en) * | 2023-06-08 | 2023-07-07 | 山东神匠建设工程有限公司聊城分公司 | High-efficient belt cleaning device of building pipeline |
| CN116505440A (en) * | 2023-06-28 | 2023-07-28 | 杭州旦电科技有限公司 | Cable laying and pipe penetrating robot |
-
2008
- 2008-12-16 CN CN200810244764XA patent/CN101435522B/en not_active Expired - Fee Related
Cited By (100)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011009420A2 (en) | 2009-07-24 | 2011-01-27 | Czech Technical University In Prague - Faculty Of Electrical Engineering | Robot for cleaning and inspection of conduits and its control unit |
| US9101967B2 (en) | 2009-07-24 | 2015-08-11 | Neovision, S.R.O. | Robot for cleaning and inspection of conduits and its control unit |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
| CN101788093A (en) * | 2010-03-10 | 2010-07-28 | 大庆石油学院 | Drive running mechanism of pipeline robot |
| CN101870103A (en) * | 2010-06-07 | 2010-10-27 | 华东理工大学 | Flaw detection robot for automatic collimation and automatic steering in circular pipeline |
| CN101870103B (en) * | 2010-06-07 | 2014-11-05 | 华东理工大学 | Flaw detection robot for automatic collimation and automatic steering in circular pipeline |
| CN102011915A (en) * | 2010-11-09 | 2011-04-13 | 刘成琪 | Multifunctional pipeline robot driving mechanism |
| CN102218421A (en) * | 2011-04-13 | 2011-10-19 | 沈阳航空航天大学 | Self-adapting air conditioning pipeline cleaning robot |
| CN102425708A (en) * | 2011-10-01 | 2012-04-25 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN102425708B (en) * | 2011-10-01 | 2013-06-19 | 洛阳理工学院 | Nondestructive flaw detection pipeline robot |
| CN103307408A (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic peristaltic pipeline running mechanism and control method thereof |
| CN102489481A (en) * | 2011-12-05 | 2012-06-13 | 上海电力学院 | Coal-fired power station boiler air duct and air-conditioning ventilation duct wormlike cleaning robot |
| CN102489481B (en) * | 2011-12-05 | 2014-12-31 | 上海电力学院 | Coal-fired power station boiler air duct and air-conditioning ventilation duct wormlike cleaning robot |
| CN102661470B (en) * | 2012-05-17 | 2014-07-02 | 北京邮电大学 | Novel crawling pipeline robot |
| CN102661470A (en) * | 2012-05-17 | 2012-09-12 | 北京邮电大学 | Novel crawling pipeline robot |
| CN103009379A (en) * | 2012-12-24 | 2013-04-03 | 北京信息科技大学 | Scalable wheel type snake-shaped robot |
| CN103759095B (en) * | 2014-02-12 | 2015-10-21 | 滨州学院 | A kind of device freely can walked in pipeline |
| CN103759095A (en) * | 2014-02-12 | 2014-04-30 | 滨州学院 | Device capable of walking freely in pipeline |
| CN104722543A (en) * | 2014-08-08 | 2015-06-24 | 皖西学院 | Pipeline inner wall cleaning device |
| CN105736896A (en) * | 2014-12-07 | 2016-07-06 | 中国石油化工股份有限公司 | Hot wax-bearing crude oil pipeline auxiliary starting device |
| CN105736896B (en) * | 2014-12-07 | 2018-03-16 | 中国石油化工股份有限公司 | Hot waxy oil pipeline auxiliary actuating apparatus |
| CN104500913A (en) * | 2014-12-15 | 2015-04-08 | 郑州新力光电技术有限公司 | Curve crawl device |
| CN105032864A (en) * | 2015-06-03 | 2015-11-11 | 北京工业大学 | Hose cleaning robot |
| CN105257950A (en) * | 2015-08-13 | 2016-01-20 | 浙江理工大学 | Telescopic self-lock type intra-pipe movable robot |
| CN105344672A (en) * | 2015-11-10 | 2016-02-24 | 河南工业大学 | Pipeline inspection sweeping robot |
| CN105436159A (en) * | 2015-12-21 | 2016-03-30 | 济南陆枋志合信息技术有限公司 | Elliptical pipeline inner wall cleaning robot |
| CN105562405B (en) * | 2015-12-21 | 2018-01-19 | 广东泓睿科技有限公司 | A kind of device for cleaning oval ducts inwall |
| CN105562405A (en) * | 2015-12-21 | 2016-05-11 | 济南陆枋志合信息技术有限公司 | Device for cleaning inner wall of elliptical pipeline |
| CN105508801B (en) * | 2015-12-23 | 2017-11-07 | 黄俊龙 | A kind of device painted for oval ducts inwall |
| CN105508801A (en) * | 2015-12-23 | 2016-04-20 | 济南陆枋志合信息技术有限公司 | Device for painting inner wall of oval pipeline |
| CN105540168A (en) * | 2015-12-23 | 2016-05-04 | 济南陆枋志合信息技术有限公司 | Shaft part transferring device |
| CN105540168B (en) * | 2015-12-23 | 2017-09-29 | 盐城市高跃机械有限公司 | A kind of axial workpiece transporter |
| CN105363742A (en) * | 2015-12-23 | 2016-03-02 | 济南陆枋志合信息技术有限公司 | Device for cleaning inner wall of elliptical pipeline |
| CN105665383A (en) * | 2016-03-16 | 2016-06-15 | 西华大学 | Pipe cleaner adopting revolving brush |
| CN105598104A (en) * | 2016-03-16 | 2016-05-25 | 西华大学 | High-speed rotating brush pipe cleaner |
| CN105715905A (en) * | 2016-04-22 | 2016-06-29 | 广东技术师范学院 | Spirally walking in-pipe robot and control system thereof |
| CN105945016A (en) * | 2016-05-24 | 2016-09-21 | 范志杰 | Pipe cleaning device |
| CN106051376A (en) * | 2016-07-21 | 2016-10-26 | 上海理工大学 | Cleaning treatment device for independent walking pipeline |
| CN106287108A (en) * | 2016-11-19 | 2017-01-04 | 西南石油大学 | A kind of combination type speed governing wiper |
| CN106625700A (en) * | 2016-12-01 | 2017-05-10 | 台山核电合营有限公司 | Crawling monitoring robot for large intake tunnel |
| CN106625700B (en) * | 2016-12-01 | 2023-11-14 | 台山核电合营有限公司 | Large-scale water intaking tunnel monitoring robot that crawls |
| CN106623285A (en) * | 2016-12-16 | 2017-05-10 | 天津惠博普管道技术有限公司 | Pipeline cleaning and drying device |
| CN106583364A (en) * | 2016-12-16 | 2017-04-26 | 天津惠博普管道技术有限公司 | Efficient pipeline cleaning device |
| CN106764245A (en) * | 2017-01-11 | 2017-05-31 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN106764245B (en) * | 2017-01-11 | 2019-08-27 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN106870875B (en) * | 2017-03-17 | 2022-07-01 | 燕山大学 | Submarine pipeline installation servo robot |
| CN106870875A (en) * | 2017-03-17 | 2017-06-20 | 燕山大学 | Submarine pipeline installs servo robot |
| CN107008710B (en) * | 2017-06-15 | 2019-02-19 | 国网山东省电力公司济南市历城区供电公司 | A kind of cable pipeline dredging device |
| CN107035935A (en) * | 2017-06-15 | 2017-08-11 | 湖州丘天电子科技有限公司 | A kind of pipe robot for conveniently adapting to different pipelines |
| CN107008710A (en) * | 2017-06-15 | 2017-08-04 | 国网山东省电力公司济南市历城区供电公司 | A kind of cable pipeline dredging device |
| CN107035935B (en) * | 2017-06-15 | 2019-04-05 | 陈红 | A kind of pipe robot conveniently adapting to different pipelines |
| WO2019000648A1 (en) * | 2017-06-30 | 2019-01-03 | 广船国际有限公司 | Processing device for interior of pipeline |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108223968B (en) * | 2017-12-01 | 2023-10-20 | 上海大学 | Autonomous small-sized pipeline robot |
| WO2019114012A1 (en) * | 2017-12-11 | 2019-06-20 | 广州德科投资咨询有限公司 | Pipeline cleaning method applied to smart cities and intelligent robot |
| CN107990085A (en) * | 2017-12-29 | 2018-05-04 | 南京工程学院 | Multi-pose pipe with variable diameter pipeline robot |
| CN107990085B (en) * | 2017-12-29 | 2023-11-03 | 南京工程学院 | Multi-gesture variable-diameter pipeline robot |
| CN108296895A (en) * | 2018-01-25 | 2018-07-20 | 成都科盛石油科技有限公司 | One kind being directed to petroleum pipeline inner wall sanding and polishing method |
| CN108253228A (en) * | 2018-03-22 | 2018-07-06 | 厦门理工学院 | A kind of robot for being used to solve duct cleaning |
| CN108533885A (en) * | 2018-04-27 | 2018-09-14 | 国网浙江省电力有限公司信息通信分公司 | A kind of wisdom inspection mobile terminal |
| CN108895244A (en) * | 2018-05-25 | 2018-11-27 | 哈尔滨工程大学 | A kind of variable diameter seabed tunnel robot for cleaning |
| CN108644532A (en) * | 2018-05-25 | 2018-10-12 | 武汉理工大学 | A kind of self-adaptive pipe dredging machine people |
| CN108435724A (en) * | 2018-06-15 | 2018-08-24 | 青岛科技大学 | One kind being threadingly advanced wheeled pipe detection and cleaning plant |
| CN108764762A (en) * | 2018-07-25 | 2018-11-06 | 中山市爱科应用科技有限公司 | A kind of movable type urban drainage pipe network is health management system arranged |
| CN109282108B (en) * | 2018-09-27 | 2020-08-25 | 中国科学院合肥物质科学研究院 | Carrier robot for pipeline detection |
| CN109282108A (en) * | 2018-09-27 | 2019-01-29 | 中国科学院合肥物质科学研究院 | A kind of carrier robot for pipe detection |
| CN109365440A (en) * | 2018-11-12 | 2019-02-22 | 厦门佰欧环境智能科技有限公司 | A kind of pipeline cleaning climbing robot |
| CN110206961A (en) * | 2019-07-08 | 2019-09-06 | 中北大学 | Plugging system in a kind of pipe robot |
| CN110206961B (en) * | 2019-07-08 | 2021-01-15 | 中北大学 | Plugging system in pipeline robot |
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN110328478A (en) * | 2019-08-02 | 2019-10-15 | 佳木斯大学 | A kind of computer pipe detection automatic welding machine people |
| CN110508572A (en) * | 2019-08-26 | 2019-11-29 | 安徽工程大学 | A kind of more support wheel type wriggle pipeline cleanings robot |
| CN110976449A (en) * | 2019-12-31 | 2020-04-10 | 广东海洋大学 | Pipe cleaning robot of self-adaptation pipe diameter |
| CN111136412B (en) * | 2020-01-06 | 2021-06-08 | 上海安宏建设工程有限公司 | Full-automatic internal welding machine for steel gas pipeline |
| CN111136412A (en) * | 2020-01-06 | 2020-05-12 | 上海安宏建设工程有限公司 | Full-automatic internal welding machine for steel gas pipeline |
| CN111774385A (en) * | 2020-07-22 | 2020-10-16 | 张英杰 | Pipeline obstacle-breaking cleaning robot |
| CN111928987B (en) * | 2020-09-24 | 2020-12-22 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN111928987A (en) * | 2020-09-24 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112298507A (en) * | 2020-10-16 | 2021-02-02 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN112298507B (en) * | 2020-10-16 | 2022-06-07 | 哈尔滨工业大学（威海） | Robot in liquid environment lower pipe based on duck foot web imitating type active steering |
| CN112377722A (en) * | 2020-10-28 | 2021-02-19 | 杭州国辰机器人科技有限公司 | Online power and signal line system of plugging into of extra long pipeline |
| CN112923166A (en) * | 2021-02-05 | 2021-06-08 | 杭州电子科技大学 | Automatic direction adjusting device and method suitable for pipeline inspection robot |
| CN113118155A (en) * | 2021-04-23 | 2021-07-16 | 滨州学院 | Sweeping and spraying integrated pipeline cleaning robot |
| CN114227703B (en) * | 2021-12-14 | 2022-12-23 | 江苏伍昌新材料科技有限公司 | Stainless steel pipe automated processing handles robot |
| CN114227703A (en) * | 2021-12-14 | 2022-03-25 | 江苏伍昌新材料科技有限公司 | Stainless steel pipe automated processing handles robot |
| CN114274032A (en) * | 2021-12-30 | 2022-04-05 | 安徽达必立新能源科技有限公司 | Rust removal device for inner wall of wind power generation tower |
| CN114274032B (en) * | 2021-12-30 | 2024-01-26 | 安徽达必立新能源科技有限公司 | Rust removal device for inner wall of wind power generation tower barrel |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| CN115122361B (en) * | 2022-08-30 | 2022-11-04 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank car |
| CN115122361A (en) * | 2022-08-30 | 2022-09-30 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank truck |
| CN116214549B (en) * | 2023-01-19 | 2024-03-01 | 中国科学院微小卫星创新研究院 | Teleoperation system and teleoperation method for space robot |
| CN116214549A (en) * | 2023-01-19 | 2023-06-06 | 中国科学院微小卫星创新研究院 | Teleoperation system and teleoperation method for space robot |
| CN115780430A (en) * | 2023-02-06 | 2023-03-14 | 山西中煤东坡煤业有限公司 | Mine drainage pipe inner wall cleaning device |
| CN116106336A (en) * | 2023-04-13 | 2023-05-12 | 河北亿海管道集团有限公司 | Pipe fitting radiographic inspection equipment |
| CN116393461B (en) * | 2023-06-08 | 2023-08-25 | 山东神匠建设工程有限公司聊城分公司 | High-efficient belt cleaning device of building pipeline |
| CN116393461A (en) * | 2023-06-08 | 2023-07-07 | 山东神匠建设工程有限公司聊城分公司 | High-efficient belt cleaning device of building pipeline |
| CN116505440B (en) * | 2023-06-28 | 2023-10-24 | 国网浙江省电力有限公司岱山县供电公司 | Cable laying and pipe penetrating robot |
| CN116505440A (en) * | 2023-06-28 | 2023-07-28 | 杭州旦电科技有限公司 | Cable laying and pipe penetrating robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101435522B (en) | 2010-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101435522B (en) | Pipe walking robot | |
| CN101839385B (en) | Complex pipeline moving rat | |
| CN102004495B (en) | Tracking control device of solar condensation photovoltaic power generation mirror field | |
| CN101531217A (en) | Spirally driven walking robot in pipe | |
| CN110566753B (en) | Self-adaptive autonomous steering wheel type pipeline robot | |
| CN105715905A (en) | Spirally walking in-pipe robot and control system thereof | |
| CN206738733U (en) | A kind of water pipe mounting structure | |
| CN104943763A (en) | Wall-climbing robot motion mechanism capable of realizing three-dimensional wall surface transition | |
| CN2933744Y (en) | Connecting rod creeping conduit robot | |
| CN106041878B (en) | A kind of full ground anthropomorphic robot universal walking mechanism | |
| CN202398586U (en) | Truss-type visible automatic cleaning device for internal surface of horizontal-type tank body | |
| CN100577916C (en) | Telescopic structural restrictor bar | |
| CN203779494U (en) | Snakelike robot with creeping and swinging functions | |
| RU2011149733A (en) | DRIVE SYSTEM (OPTIONS) | |
| CN107588283A (en) | Pipe robot suitable for straight pipeline | |
| CN103352965B (en) | Clutch type reciprocating translatory is converted into the mechanical device of continuous equidirectional rotary motion | |
| CN202659832U (en) | Linear driving mechanism capable of realizing limit angle rotation of rotating component | |
| CN201848333U (en) | Swing mechanism for long-distance flexible transmission spray head | |
| CN101832401A (en) | Corrugated pipe ball valve | |
| CN106809292B (en) | A kind of deformable Lun Lv coupling driving mechanism | |
| CN210454945U (en) | Robot pivot steering system and robot moving platform | |
| CN206973025U (en) | A kind of movement transforming device of valve | |
| CN202922593U (en) | Mechanical wrist joint transmission device | |
| CN101539189B (en) | A kind of convolution kind of drive and device | |
| CN205506373U (en) | Realize loaded combination formula test device of follow -up |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101208 Termination date: 20111216 |