CN101818842A - Pipeline robot walking mechanism realizing walking by using self-locking - Google Patents
Pipeline robot walking mechanism realizing walking by using self-locking Download PDFInfo
- Publication number
- CN101818842A CN101818842A CN 201010144326 CN201010144326A CN101818842A CN 101818842 A CN101818842 A CN 101818842A CN 201010144326 CN201010144326 CN 201010144326 CN 201010144326 A CN201010144326 A CN 201010144326A CN 101818842 A CN101818842 A CN 101818842A
- Authority
- CN
- China
- Prior art keywords
- locking
- pipeline
- walking
- supporting mechanism
- advance
- 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
Abstract
The invention aims to provide a pipeline robot walking mechanism realizing walking by using self-locking, which ensures that a robot can walk in a horizontal pipeline, a vertical pipeline, a bended pipeline and the like. For solving the problem, the walking mechanism is realized by adopting the following technical scheme that: the walking mechanism comprises a front supporting mechanism, a middle transmission mechanism and a rear supporting mechanism which are connected in turn, wherein each of the front supporting mechanism and the rear supporting mechanism has an umbrella-shaped structure, and comprises an adjusting screw rod, a movable bracket plate which is movably sleeved on the adjusting screw rod through a nut and a spring, and a fixed bracket plate which is fixed on the adjusting screw rod through a pair of nuts; the movable bracket plate is movably connected with a plurality of short support rods; the fixed bracket plate is movably connected with main support rods in a number corresponding to that of the short support rods; and the short support rods are movably connected to the middle parts of the main support rods. Compared with the prior art, the walking mechanism has the advantages that: only one motor is needed to realize the walking of the robot in the pipeline by using the self-locking and the restraining action of the pipeline on inside objects; and the structure is simplified because the motor does not need arranging on a support component.
Description
Technical field
The present invention relates to a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance.
Background technique
Formed hidden microhabitat in the pipeline, in order to explore the state of pipe interior, and be implemented in operation in the pipeline, pipeline robot arises at the historic moment.Pipeline robot will carry out operation in pipeline, at first will solve the advance problem of robot in pipeline.Because the constraint of tube wall, make in the pipeline space narrow and small, the inner space is hidden, pipeline robot how vertically, crooked, advancing in the lateral arranged, generally believed it is an insoluble problem of pipeline robot.Prior art has also proposed various settling modes at this difficult point specially.It as the patent No. walking mechanism that the patent of invention of 200710035846.9 by name " crawling type micro pipeline robot " has just proposed a kind of pipeline robot that combines by supporting part and flexible part.Such structure can move in pipeline, but this device need be installed 3 motors, and supporting part need be pressed on the inner-walls of duct by the pressure that motor provides, and fixes by frictional force, add Electric Machine Control aspect demand, the cost of whole system has also improved relatively.In addition, pipeline robot weight of the prior art is big, and complex structure, cost are also higher, makes invested in plant production bring difficulty.
Summary of the invention
The object of the present invention is to provide a kind of moving device that utilizes the pipeline robot that self-locking realizes and to advance, this device only needs a motor, utilize mechanism's locking phenomenon, make robot can be in level, vertically, advance in the pipeline of form such as bending, and make this robot certain adaptability be arranged to the pipeline of different tube diameters, different cross section.
For addressing the above problem, the present invention is achieved through the following technical solutions: a kind of walking mechanism of the pipeline robot that utilizes self-locking to finish to advance, comprise by having the preceding supporting mechanism that the bindiny mechanism that connects spring connects successively, intermediate transmission mechanism, back supporting mechanism, supporting mechanism and back supporting mechanism are umbrella-shaped structure before described, comprise the adjusting screw mandrel, and be actively socketed on the travel(l)ing rest dish regulated on the screw mandrel and be fixed on the fixed support dish of regulating on the screw mandrel by 1 pair of nut by nut and spring, the travel(l)ing rest disk activity is connected with some short struts, the fixed support disk activity is connected with the main support rod of corresponding short strut quantity, short strut is movably connected in the main support rod middle part, the main support rod end is connected with branch pole, divide friction ball and upper saw pulley that symmetry is installed in the branch of pole, regulate also to be provided with on the screw mandrel and be used for the bindiny mechanism that is connected with intermediate transmission mechanism.
Preferably, with respect to direct of travel, the upper saw pulley of being installed on the pole in described minute is preceding, friction ball after.Such structure can make friction ball play the reverse slip of prevention overall structure with respect to direct of travel, especially plays anti-skidding effect in the process of vertically climbing, and has guaranteed the stable of system.
Preferably, flexibly connect mutually by Assembly of pin between described travel(l)ing rest dish, short strut, fixed support dish, the main support rod.Assembly of pin is simple in structure, uses reliably, is applicable to this.
Preferably, described short strut and main support rod quantity are 4.Short strut under the quantity and the main support rod pipeline that is useful in multiple sectional shape like this.
Preferably, the bindiny mechanism of described preceding supporting mechanism is the T-shaped slide block.Owing to adopted the T-shaped slide block, at the pipeline turning, preceding supporting mechanism can be an angle with intermediate transmission mechanism advances, and makes things convenient for whole system to turn over curved less than 90 °.
Preferably, the bindiny mechanism of described back supporting mechanism is a fixed base.
Preferably, described intermediate transmission mechanism is by being movably connected in the shrinking structure that connecting rod one, connecting rod two, connecting rod three that parallelogram links together are formed that is crossed as that drives on the screw mandrel, and the motor that is fixed on the motor bearing is formed, connecting rod one is connected in the bindiny mechanism of preceding supporting mechanism, connecting rod three is connected in the bindiny mechanism of back supporting mechanism, and motor connects the driving screw mandrel.Such bar linkage structure can drive the shrinking structure of screw mandrel drive link one, connecting rod two, connecting rod three compositions by driven by motor, and shrinking structure drives supporting mechanism and advances.
Preferably, the length of described connecting rod one is longer than the length of connecting rod three.She Ji advantage is to make the distance maximization of at every turn advancing like this, and shortens the length of screw mandrel, has improved mechanical efficiency.
Compared with prior art, the present invention is a kind of utilizes self-locking to realize that the advantage of the moving device of the pipeline robot of advancing is: the present invention only needs a motor, utilizes the effect of contraction of pipeline to internal objects, utilizes self-locking to finish robot advancing in pipeline.Preceding supporting mechanism and back supporting mechanism all have the automatic regulatory function under manual tune and the spring action, make robot to the pipeline of different-diameter certain adaptability be arranged.Robot can advance in level, bending, vertical pipeline, also can adapt to square, circular, rectangular cross-section pipeline, and can guarantee can not skid in traveling process.Utilize the automatic regulatory function of robot and, can make robot can adapt to the variation within the specific limits of pipeline section size the manual tune of robot.Do not need to be provided with motor on the supporting part simultaneously, simplify the structure, reduced the overall weight of robot, reduced cost yet.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing:
Fig. 1 utilizes self-locking to realize the structural representation of the walking mechanism of the pipeline robot advance for the present invention is a kind of;
Fig. 2 utilizes self-locking to realize the walking mechanism motion schematic representation of the pipeline robot advance for the present invention is a kind of;
Fig. 3 for a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance before supporting structure self-lock mechanism figure when moving upward.
Fig. 4 for a kind of walking mechanism that utilizes the pipeline robot that self-locking realizes and to advance before supporting structure self-lock mechanism figure fixedly the time.
Fig. 5 utilizes self-locking to realize the walking mechanism overall structure schematic representation of the pipeline robot advance for the present invention is a kind of;
Fig. 6 is a kind of adaptability schematic representation that utilizes the walking mechanism of the pipeline robot that self-locking realizes and to advance to the different cross section pipeline.
Embodiment
As Fig. 1, shown in Figure 5ly the present invention relates to a kind of walking mechanism of the pipeline robot that self-locking realizes and to advance that utilizes and form by three parts, comprise by having preceding supporting mechanism 14, intermediate transmission mechanism 4, the back supporting mechanism 15 that the bindiny mechanism that connects spring 11 connects successively, because connecting spring 11 can be crooked, so whole walking mechanism can be bent to less than 90 °, make the robot can be by less than 90 ° crooked pipeline.
Supporting mechanism 14 and back supporting mechanism 15 are umbrella-shaped structure before described, comprise and regulate screw mandrel 1, and be actively socketed on the travel(l)ing rest dish 41 regulated on the screw mandrel 1 and be fixed on the fixed support dish of regulating on the screw mandrel 1 42 by 1 pair of nut 2 by nut 2 and spring 3, travel(l)ing rest dish 41 is connected with some short struts 6, fixed support dish 42 is connected with the main support rod 9 of corresponding short strut 6 quantity, short strut 6 is movably connected in main support rod 9 middle parts, main support rod 9 ends are connected with branch pole 8, divide friction ball 7 and upper saw pulley 10 that symmetry is installed in the branch of pole 8, regulate also to be provided with on the screw mandrel 1 and be used for the bindiny mechanism that is connected with intermediate transmission mechanism 4.
Shown in motor 19 drive and drive screw mandrels 22 and rotate, thereby drive moving of feed screw nut, nut moves the mechanism of the parallelogram that drive is made of connecting rod 1, connecting rod 2 17, connecting rod 3 20, during the clockwise and anticlockwise of motor 19, realizes the elongation and the contraction of parallel-crank mechanism respectively; Because self-locking mechanism can only unidirectionally move, supporting mechanism 14 moves forward before promoting during the parallel mechanism elongation, when parallel mechanism shrinks, back supporting mechanism 15 is drawn in forward, thereby finishes the action of advancing of robot.
The self-lock mechanism of mechanism such as Fig. 3, shown in 4, with respect to the postive direction of advancing, the upper saw pulley of being installed on the pole 8 in described minute 10 is preceding, friction ball 7 after, form a self-locking mechanism like this, the self-locking mechanism principle is as follows: when supporting structure 14 is to positive movement before making under the effect of intermediate transmission mechanism 4, friction ball 7 is subjected to downward frictional force action, fixed support dish 42 will connect spring 11 compressions, main support rod 9 rotates to the direction of regulating screw mandrel 1 around the two ends of fixed support dish 42, distance between the branch pole 8 on several like this main support rods 9 shortens, friction ball 7 and upper saw pulley 10 reduce with the positive pressure of inner-walls of duct, friction reduction between supporting mechanism 14 and the tube wall can travel forward smoothly like this.And as shown in Figure 4, current supporting mechanism 14 puts in place, and in the time of need taking up back supporting mechanism 15 by intermediate transmission mechanism 4, supporting mechanism 14 is maintained fixed the position before needing in pipeline.When current supporting mechanism 14 has backward motion trend, as shown in Figure 4, before the suffered frictional force of supporting mechanism 14 opposite with direction shown in Figure 3, cause the distance between the branch pole 8 on several main support rods 9 that increase tendency is arranged, thereby increase the positive pressure between friction ball 7 and inner tube wall, frictional force is strengthened, make the mechanism can not backward motion, realized a kind of self-locking that utilizes the walking mechanism of the pipeline robot that self-locking realizes and advancing of the present invention.Mechanism can guarantee the one-way of robot activity in pipeline like this.
Flexibly connect mutually by Assembly of pin 5 between described travel(l)ing rest dish 41, short strut 6, fixed support dish 42, the main support rod 9, such connection is simple and reliable.Described short strut 6 and main support rod 9 quantity are 4, are adapted at operation in the different pipelines.The bindiny mechanism of supporting mechanism 14 is a T-shaped slide block 13 before described, convenient operation in the pipeline of bending.The bindiny mechanism of described back supporting mechanism 15 is a fixed base 21.Adopt robot of the present invention can adaptation level, bending, pipeline such as vertical; Can adapt to square, circular, rectangular cross-section pipeline; Utilize manual, automatic regulatory function, can make robot can adapt to line size variation within the specific limits.
Described intermediate transmission mechanism 4 is by being movably connected in the shrinking structure that connecting rod 1, connecting rod 2 17, connecting rod 3 20 that parallelogram links together are formed that is crossed as that drives on the screw mandrel 22, and the motor 19 that is fixed on the motor bearing 18 is formed, connecting rod 1 is connected in the bindiny mechanism of preceding supporting mechanism 14, connecting rod 3 20 is connected in the bindiny mechanism of back supporting mechanism 15, and motor 19 connects driving screw mandrel 22.The length of described connecting rod 1 is longer than the length of connecting rod 3 20.
Adjusting nut 2, changing appears in the stretching degree of supporting mechanism 14 and back supporting mechanism 15 before can making, under the effect of the tension force of spring 3, supporting mechanism 14 and back supporting mechanism 15 can adapt to the variation of caliber automatically before making, so the present invention can be manually or adapt to caliber variation within the specific limits automatically;
To sum up, the present invention is a kind of to be utilized self-locking to realize that the walking mechanism of the pipeline robot of advancing travels forward to be in elongation state from the shrinking structure of middle driving mechanism 4, one-period can be decomposed into following six actions: promptly back supporting structure 15 is as shown in Figure 2 shunk, the shrinking structure of intermediate transmission mechanism 4 shrinks, back supporting structure 15 is opened, preceding supporting structure 14 is shunk, and the shrinking structure of intermediate transmission mechanism 4 opens this six actions.Six actions form one-periods, and the repeating of a plurality of cycles makes robot finish forward motion.Because whole action is driven by a motor 19, simplifies the structure, reduce cost, and do not needed extra control circuit, be fit to mass production.
The above only is the concrete enforcement of the best of the present invention, but structure characteristic of the present invention is not limited thereto, and any those skilled in the art is in the field of the invention, and the variation of being done or modify all is encompassed among the claim of the present invention.
Claims (8)
1. the walking mechanism of a pipeline robot that utilizes self-locking to finish to advance, comprise the preceding supporting mechanism (14) that connects successively by the bindiny mechanism that has connection spring (11), intermediate transmission mechanism (4), back supporting mechanism (15), it is characterized in that, supporting mechanism (14) and back supporting mechanism (15) are umbrella-shaped structure before described, comprise and regulate screw mandrel (1), and be actively socketed on the travel(l)ing rest dish (41) regulated on the screw mandrel (1) and be fixed on fixed support dish (42) on the adjusting screw mandrel (1) by 1 pair of nut (2) by nut (2) and spring (3), travel(l)ing rest dish (41) is connected with some short struts (6), fixed support dish (42) is connected with the main support rod (9) of corresponding short strut (6) quantity, short strut (6) is movably connected in main support rod (9) middle part, main support rod (9) end is connected with branch pole (8), divide friction ball (7) and upper saw pulley (10) that symmetry is installed in the branch of pole (8), also be provided with on the adjusting screw mandrel (1) and be used for the bindiny mechanism that is connected with intermediate transmission mechanism (4).
2. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, with respect to direct of travel, the upper saw pulley of being installed on pole (8) in described minute (10) is preceding, friction ball (7) after.
3. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1, it is characterized in that, flexibly connect mutually by Assembly of pin (5) between described travel(l)ing rest dish (41), short strut (6), fixed support dish (42), the main support rod (9).
4. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that described short strut (6) and main support rod (9) quantity are 4.
5. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, described before the bindiny mechanism of supporting mechanism (14) be T-shaped slide block (13).
6. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1 is characterized in that, the bindiny mechanism of described back supporting mechanism (15) is fixed base (21).
7. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 1, it is characterized in that, described intermediate transmission mechanism (4) is by being movably connected in the connecting rod one (16) that parallelogram links together that is crossed as that drives on the screw mandrel (22), connecting rod two (17), the shrinking structure that connecting rod three (20) is formed, and the motor (19) that is fixed on the motor bearing (18) is formed, connecting rod one (16) is connected in the bindiny mechanism of preceding supporting mechanism (14), connecting rod three (20) is connected in the bindiny mechanism of back supporting mechanism (15), and motor (19) connects driving screw mandrel (22).
8. the walking mechanism of a kind of pipeline robot that utilizes self-locking to finish to advance as claimed in claim 7 is characterized in that the length of described connecting rod one (16) is longer than the length of connecting rod three (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101443263A CN101818842B (en) | 2010-04-02 | 2010-04-02 | Pipeline robot walking mechanism realizing walking by using self-locking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101443263A CN101818842B (en) | 2010-04-02 | 2010-04-02 | Pipeline robot walking mechanism realizing walking by using self-locking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101818842A true CN101818842A (en) | 2010-09-01 |
| CN101818842B CN101818842B (en) | 2011-09-21 |
Family
ID=42654047
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101443263A Expired - Fee Related CN101818842B (en) | 2010-04-02 | 2010-04-02 | Pipeline robot walking mechanism realizing walking by using self-locking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101818842B (en) |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279278A (en) * | 2011-04-22 | 2011-12-14 | 上海应用技术学院 | Support positioning device used in inner wall of pipeline |
| CN102401213A (en) * | 2011-07-06 | 2012-04-04 | 北京邮电大学 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
| CN102588672A (en) * | 2012-03-21 | 2012-07-18 | 苏州际能环境能源技术有限公司 | Double-U floating resistant device |
| CN102620056A (en) * | 2012-03-21 | 2012-08-01 | 苏州际能环境能源技术有限公司 | Single U-shaped vertical pipe burying automatically opened float resisting device |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103244790A (en) * | 2013-04-28 | 2013-08-14 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103363246A (en) * | 2012-03-31 | 2013-10-23 | 哈尔滨盛迪电力设备有限公司 | Combined-type examining walking device inside large-scale pipeline |
| CN103615630A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN105170581A (en) * | 2015-09-07 | 2015-12-23 | 厦门日村环保科技有限公司 | Automatic pulse cleaning device for pipeline |
| CN105276334A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Pipeline inspection robot |
| CN105947963A (en) * | 2016-06-27 | 2016-09-21 | 连云港天邦科技开发有限公司 | Lead screw-connecting rod clamping vehicle and train tank opening sealing device |
| CN106224689A (en) * | 2016-06-18 | 2016-12-14 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure and application thereof |
| CN106352198A (en) * | 2016-11-04 | 2017-01-25 | 航天科工智能机器人有限责任公司 | Pipeline crawler |
| CN106369245A (en) * | 2016-09-27 | 2017-02-01 | 阳江核电有限公司 | Pipeline crawling robot |
| CN104647366B (en) * | 2013-11-20 | 2017-03-15 | 科沃斯商用机器人有限公司 | Float split type robot |
| CN107598747A (en) * | 2017-10-19 | 2018-01-19 | 中国电建集团成都勘测设计研究院有限公司 | Inner-walls of duct sanding apparatus |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108591830A (en) * | 2018-04-13 | 2018-09-28 | 林锋 | Reducing crude oil viscosity sets mounting and positioning device in reserve well |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN109000086A (en) * | 2018-09-29 | 2018-12-14 | 辽宁工程技术大学 | A kind of pipe robot crawling structure |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| 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 |
| CN110548970A (en) * | 2019-10-10 | 2019-12-10 | 中冶天工集团天津有限公司 | Argon arc welding internal argon filling protection device and using method |
| CN112974431A (en) * | 2021-01-29 | 2021-06-18 | 河北工业大学 | Pipeline cleaning robot |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08233976A (en) * | 1995-02-27 | 1996-09-13 | Mitsubishi Heavy Ind Ltd | Traveling device for inspecting inside of pipe conduit |
| US20050104600A1 (en) * | 2003-11-18 | 2005-05-19 | Radiodetection Limited | Vehicle for inspecting a pipe |
| CN101187437A (en) * | 2007-12-10 | 2008-05-28 | 哈尔滨工业大学 | Triaxial differential type pipe creeping device |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN201696807U (en) * | 2010-04-02 | 2011-01-05 | 浙江师范大学 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
-
2010
- 2010-04-02 CN CN2010101443263A patent/CN101818842B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08233976A (en) * | 1995-02-27 | 1996-09-13 | Mitsubishi Heavy Ind Ltd | Traveling device for inspecting inside of pipe conduit |
| US20050104600A1 (en) * | 2003-11-18 | 2005-05-19 | Radiodetection Limited | Vehicle for inspecting a pipe |
| CN101187437A (en) * | 2007-12-10 | 2008-05-28 | 哈尔滨工业大学 | Triaxial differential type pipe creeping device |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN201696807U (en) * | 2010-04-02 | 2011-01-05 | 浙江师范大学 | Traveling device for pipeline robot utilizing self-locking to realize traveling |
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279278A (en) * | 2011-04-22 | 2011-12-14 | 上海应用技术学院 | Support positioning device used in inner wall of pipeline |
| CN102401213A (en) * | 2011-07-06 | 2012-04-04 | 北京邮电大学 | Flexible peristaltic pipeline robot with guide head and one-way traveling wheel structure |
| CN102588672A (en) * | 2012-03-21 | 2012-07-18 | 苏州际能环境能源技术有限公司 | Double-U floating resistant device |
| CN102620056A (en) * | 2012-03-21 | 2012-08-01 | 苏州际能环境能源技术有限公司 | Single U-shaped vertical pipe burying automatically opened float resisting device |
| CN103363246A (en) * | 2012-03-31 | 2013-10-23 | 哈尔滨盛迪电力设备有限公司 | Combined-type examining walking device inside large-scale pipeline |
| CN103363246B (en) * | 2012-03-31 | 2015-08-05 | 哈尔滨盛迪电力设备有限公司 | Inspection line walking apparatus in combined large pipeline |
| CN103148314B (en) * | 2013-03-06 | 2014-11-26 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103148314A (en) * | 2013-03-06 | 2013-06-12 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN103244790A (en) * | 2013-04-28 | 2013-08-14 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103244790B (en) * | 2013-04-28 | 2014-12-10 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103639162A (en) * | 2013-11-19 | 2014-03-19 | 无锡新人居科贸有限公司 | Central air conditioner washing robot |
| CN104647366B (en) * | 2013-11-20 | 2017-03-15 | 科沃斯商用机器人有限公司 | Float split type robot |
| CN103615630B (en) * | 2013-11-29 | 2015-07-22 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN103615630A (en) * | 2013-11-29 | 2014-03-05 | 哈尔滨工程大学 | Extensible robot for climbing inner wall of pipeline |
| CN103672292A (en) * | 2013-12-11 | 2014-03-26 | 上海电机学院 | Pipeline robot |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN104712879B (en) * | 2015-03-18 | 2017-10-27 | 中国计量学院 | Larger service load can be born and the inwall of different-diameter pipeline is applicable from walking dolly |
| CN105170581A (en) * | 2015-09-07 | 2015-12-23 | 厦门日村环保科技有限公司 | Automatic pulse cleaning device for pipeline |
| CN105276334B (en) * | 2015-10-23 | 2018-01-09 | 河北工业大学 | A kind of detecting robot of pipe |
| CN105276334A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Pipeline inspection robot |
| CN106224689A (en) * | 2016-06-18 | 2016-12-14 | 上海西派埃自动化仪表工程有限责任公司 | A kind of umbrella shape driving wheel structure and application thereof |
| CN106224689B (en) * | 2016-06-18 | 2020-05-15 | 上海西派埃自动化仪表工程有限责任公司 | Umbrella-shaped driving wheel structure and application thereof |
| CN105947963A (en) * | 2016-06-27 | 2016-09-21 | 连云港天邦科技开发有限公司 | Lead screw-connecting rod clamping vehicle and train tank opening sealing device |
| CN106369245A (en) * | 2016-09-27 | 2017-02-01 | 阳江核电有限公司 | Pipeline crawling robot |
| CN106352198A (en) * | 2016-11-04 | 2017-01-25 | 航天科工智能机器人有限责任公司 | Pipeline crawler |
| CN107598747A (en) * | 2017-10-19 | 2018-01-19 | 中国电建集团成都勘测设计研究院有限公司 | Inner-walls of duct sanding apparatus |
| CN108223968B (en) * | 2017-12-01 | 2023-10-20 | 上海大学 | Autonomous small-sized pipeline robot |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108006368A (en) * | 2017-12-29 | 2018-05-08 | 南京工程学院 | Creeping motion type pipe robot |
| CN108006368B (en) * | 2017-12-29 | 2023-11-10 | 南京工程学院 | Peristaltic pipeline robot |
| CN108591830A (en) * | 2018-04-13 | 2018-09-28 | 林锋 | Reducing crude oil viscosity sets mounting and positioning device in reserve well |
| CN108591830B (en) * | 2018-04-13 | 2019-09-06 | 河北君业科技股份有限公司 | Reducing crude oil viscosity sets mounting and positioning device in reserve well |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN109000086A (en) * | 2018-09-29 | 2018-12-14 | 辽宁工程技术大学 | A kind of pipe robot crawling structure |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| 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 |
| CN110548970A (en) * | 2019-10-10 | 2019-12-10 | 中冶天工集团天津有限公司 | Argon arc welding internal argon filling protection device and using method |
| CN112974431B (en) * | 2021-01-29 | 2022-12-09 | 湖南三一工业职业技术学院 | Pipeline cleaning robot |
| CN112974431A (en) * | 2021-01-29 | 2021-06-18 | 河北工业大学 | Pipeline cleaning robot |
| CN113182291A (en) * | 2021-05-10 | 2021-07-30 | 青岛黄海学院 | Remote control desilting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101818842B (en) | 2011-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101818842B (en) | Pipeline robot walking mechanism realizing walking by using self-locking | |
| CN201696807U (en) | Traveling device for pipeline robot utilizing self-locking to realize traveling | |
| CN202598023U (en) | Variable-diameter wheel type pipeline robot | |
| CN202708464U (en) | Peristaltic type pipeline robot movement traction mechanism | |
| CN100594100C (en) | Robot | |
| CN105644646A (en) | Wheel type pole-climbing robot | |
| CN105438304A (en) | Pole-climbing robot system device and application method | |
| CN106628902A (en) | Logistics delivery robot | |
| CN105983958A (en) | Dual-arm bionic mass-center-adjustable inspection robot mechanism | |
| US2788885A (en) | Conveyors | |
| CN105591606A (en) | System for automatically cleaning cell panel matrix of large solar power station | |
| CN203783494U (en) | Chain transmission drill rod conveying device | |
| CN203977935U (en) | For vertical chain link elevating mechanism and the multi-storied garage of multi-storied garage | |
| CN103053334B (en) | Edible fungus indoor suspension planting system | |
| CN105627816B (en) | Roller type purging system | |
| CN205114351U (en) | Hand push line actuating mechanism | |
| CN202131240U (en) | Automatic middle clamping device for detonators | |
| CN203995512U (en) | Delivery pipe supporting trolley device and pile tube pumping apparatus for distributing | |
| CN210558529U (en) | Vertical wire storage device for cable production | |
| CN113819018A (en) | Energy conversion output device | |
| CN208764559U (en) | A kind of pipe robot independently turned | |
| CN102976146B (en) | Conveyer device | |
| CN202750654U (en) | Disk type manipulator lifting device | |
| CN101525058B (en) | Material gathering unit | |
| CN205891862U (en) | Automatic access arrangement of storing storage |
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: 20110921 Termination date: 20120402 |