CN106476004A - A kind of derrick defect crusing robot - Google Patents
A kind of derrick defect crusing robot Download PDFInfo
- Publication number
- CN106476004A CN106476004A CN201611138169.9A CN201611138169A CN106476004A CN 106476004 A CN106476004 A CN 106476004A CN 201611138169 A CN201611138169 A CN 201611138169A CN 106476004 A CN106476004 A CN 106476004A
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- derrick
- drive mechanism
- leading screw
- motor
- frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a kind of derrick defect crusing robot, including front truck, attachment structure and rear car, front truck is connected with rear car by attachment structure；Described front truck includes front frame, antenna, signal projector, signal receiver, motion cameras, front clamp drive mechanism, electric magnet and 3-axis acceleration sensor；Described rear car includes Rear frame, motor, stepper motor driver, control device, rear clamping drive mechanism, electric magnet and supply unit；Described attachment structure includes leading screw and coil spring；Described control device is connected with signal projector, signal receiver, motion cameras, 3-axis acceleration sensor, electric magnet and stepper motor driver, and signal projector is connected with antenna；Supply unit is powered for whole system.Need not manually be patrolled and examined, save human resourcess, be not in human-body safety hidden danger, be improved monitoring accuracy simultaneously；In addition this device can be monitored and feedback data in real time, be easy to human observer and check.
Description
Technical field
The present invention relates to a kind of derrick inspection device, specifically a kind of derrick defect crusing robot.
Background technology
Derrick is metallurgical mining, mines, the important component part of the lifting means such as oil drilling.In derrick real work,
So that derrick produces the three-dimensional pendulum of plane and elevation direction under the influence of the many factors such as work lifting load, impulsive wind load
Dynamic deformation.When deforming more than a threshold value, safety in production can be had a strong impact on, become the most dangerous potential safety hazard in work process.
For that purpose it is necessary to grasp the dynamic deformation of derrick, to take corresponding safe early warning measure.Derrick brace basis stratum is from upper
Respectively banket down, Loessial silty clay, clay, residual soil.This layer of material composition complexity, not at necessary compacting
Reason, so quality is soft, bearing capacity is relatively low.Therefore, compression is big, after battered leg basis loads or earth's surface water level is adopted
Move impact and decline so that it may the basic larger sedimentation of oblique row can be caused.The coagulation on basement rock is directly located on derrick stand basis
On the native borehole wall, thus, its settling amount is negligible, and whole derrick so may be caused to tilt to diagonal brace direction.Normal
In the case of, derrick is safe enough, stable.However, when using misoperation or because of other reasons, derrick it can also happen that
Flexural deformation.After derrick flexural deformation, its general stability and bearing capacity will substantially reduce.So, once this feelings occur
Condition, the bearing capacity again stability check being carried out to the derrick after flexural deformation and correctly calculating this derrick, can to decision
No proceed subsequent job and take the remedial measures such as alignment, reinforcing, or it is all particularly significant to change derrick.Domestic at present
Outward, the deformation monitoring of derrick mainly takes general measure means, and such as total powerstation carries out plane deformation monitoring, and level gauge measures elevation
Deformation.But general measuring method monitoring cycle is long, high labor intensive is it is difficult to meet detection requirement.Meanwhile, also there is one kind
New measuring method Measurement Technology of 3 D Laser Scanning, it is a kind of new automatic High Precision Stereo scanning technique,
The method that it passes through high-rate laser scanning survey, large area, the three-dimensional coordinate on high-resolution ground quick obtaining measurand surface
Data.Compared with traditional measurement method, Three Dimensional Ground laser scanner technique gathered data does not need cooperative target, can be quick, accurate
Really obtain target volume data, have that density is high, high precision the features such as, the complicated object measurement of suitable large area or surface and
Its object local detail measures, and calculates target surface, volume, section, section, contour etc., is that mapping worker breaks through conventional measurement
Amount technology provides a kind of brand-new data acquisition means.But cost is larger, research cycle is longer, and practical significance is not very
Greatly.
As-Is analysis for current derrick safety inspection understand, are primarily present following problem：
1st, these detection methods are required for a large amount of human resourcess, and relatively costly, and the error ratio of data is larger, the most
Importantly there is potential safety hazard.
2nd, these detection methods are all rough detections it is impossible to enough more accurately react the present situation of derrick, for derrick
Detail section be unable to accurate detection, there is very big hidden danger.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of derrick defect crusing robot, need not be artificial
Patrolled and examined, save human resourcess, be not in human-body safety hidden danger, improved monitoring accuracy simultaneously；In addition this device can be real-time
It is monitored and feedback data, be easy to human observer and check.
To achieve these goals, the technical solution used in the present invention is：This kind of derrick defect crusing robot, including before
Car, attachment structure and rear car, front truck is connected with rear car by attachment structure；
Described front truck includes front frame, antenna, signal projector, signal receiver, motion cameras, front clamp driving machine
Structure and 3-axis acceleration sensor, described signal projector, signal receiver, motion cameras, electric magnet and 3-axis acceleration
Sensor is arranged in front frame, and antenna is arranged on signal projector top；Described front frame bottom is provided with two groups of rollers, described
It is hinged with front frame that roller passes through rotating shaft；Front clamp drive mechanism is arranged on front frame bottom, described front clamp drive mechanism by
Two steering wheels, two hollow-cup motors and the two pinch wheels compositions being arranged symmetrically along front frame central cross-section, the rotation of steering wheel
Support is fixedly connected with hollow-cup motor, and the output shaft of hollow-cup motor is fixedly connected with pinch wheels；
Described rear car include Rear frame, motor, stepper motor driver, control device, rear clamping drive mechanism and
Supply unit, described motor, stepper motor driver, control device, electric magnet and supply unit are arranged in Rear frame,
Stepper motor driver is connected with motor, and described motor and stepper motor driver are three, three stepping electricity
Machine is in that isosceles triangle is distributed, and the output shaft of described three motors is equipped with shape identical travelling gear；Described Rear frame
Bottom is provided with two groups of rollers, and it is hinged with Rear frame that described roller passes through rotating shaft；Clamping drive mechanism is arranged on Rear frame bottom afterwards,
Described rear clamping drive mechanism is by two steering wheels being arranged symmetrically along Rear frame central cross-section, two hollow-cup motors and two folders
Bearing up pulley forms, and the swinging mounting of steering wheel is fixedly connected with hollow-cup motor, and the output shaft of hollow-cup motor is fixing with pinch wheels even
Connect；
Described attachment structure includes leading screw and coil spring, and one end of leading screw and one end of coil spring are rigidly connected, coil spring
The other end be rigidly connected with front frame, the other end of leading screw passes through the support plate in Rear frame, and described leading screw is provided with linkage tooth
Wheel, the excircle of described linkage gear is provided with the tooth matching with travelling gear, the endoporus of linkage gear is screwed hole, described silk
Thick stick, coil spring and linkage gear are three, and three linkage gears are engaged with three travelling gears, after linkage gear is stuck in respectively
In pinion stand on vehicle frame；
Described control device and signal projector, signal receiver, motion cameras, 3-axis acceleration sensor, electromagnetism
Ferrum and stepper motor driver connect, and signal projector is connected with antenna；Supply unit is powered for whole system.
Further, described control device is single-chip microcomputer.
Further, described antenna is mushroom antenna.
Further, also include limiting plate, described limiting plate opens up three holes, limiting plate is arranged on leading screw, three silks
Thick stick is each passed through three holes.Using limiting plate when leading screw moves, the relative position of three leading screws can be kept will not to change,
Thus improving operation stability.
Further, described clamping wheel outer surface is quality of rubber materials.
Compared with prior art, the present invention, by the way of front truck, attachment structure and rear car combine, this device is placed
On derrick, front truck and rear car is made to be relatively fixed on derrick pipeline by front clamp drive mechanism and rear clamping drive mechanism,
Strengthen the absorption affinity of dolly and derrick, now opening movement video camera and 3-axis acceleration sensor by electric magnet, motion is taken the photograph
The real-time video of shooting is fed back to control device by camera, and 3-axis acceleration sensor is by the motion feelings of real-time detection front truck simultaneously
Condition simultaneously feeds back to control device, is sent to ground control centre by signal projector and antenna after control device pretreatment；Enter
When row is mobile, signal receiver receive ground control centre signal and be sent to control device.Before and after control device controls
Hollow-cup motor in clamping drive mechanism starts, and hollow-cup motor drives pinch wheels to rotate, by pinch wheels and derrick pipeline
Friction, complete whole device uniform motion forward.When running into cambered pipeline, control device controls front clamp driving machine
Steering wheel in structure outwards rotates 90 ° so that the pinch wheels in front clamp drive mechanism from clamping derrick pipeline state become with
Derrick pipeline not contact condition；Then control device controls three stepping motor synchronous to start by stepper motor driver, enters
And drive linkage gear to rotate by travelling gear, because rear car is in stationary state and linkage gear and leading screw are screw thread company
Connect, such linkage gear rotation can lead to leading screw to be carried forward motion relative to linkage gear, guide screw movement can drive front frame to lead to
Cross roller to realize travelling forward on derrick pipeline, this timed unit reduces the right of turn direction by stepper motor driver
Answer the rotating speed of motor, then the pace of linkage leading screw corresponding with motor will diminish, other two linkage silks
Thick stick keeps original pace, because the coil spring that leading screw connects has certain deflection, is achieved in the steering fortune of front truck
Dynamic.When front truck moves to corresponding track, control device controls motor to quit work, and controls front clamp drive mechanism simultaneously
In steering wheel inwardly rotate 90 °, so that the pinch wheels in front clamp drive mechanism are from contact condition does not become with derrick pipeline
Clamping derrick pipeline state, completes the process that front truck turns to and fixes；Then the rudder of clamping drive mechanism after control device controls
Machine is turned out 90 °.So that the pinch wheels in rear clamping drive mechanism become and derrick pipeline from clamping derrick pipeline state
Not contact condition；Then control device controls three stepping motor synchronous to start and front relatively by stepper motor driver
To rotation, and then linkage gear is driven to rotate by travelling gear, because now front truck is in stationary state, rear car is in removable
Dynamic state, such linkage gear rotation can lead to linkage gear to travel forward relative to leading screw, and then drives Rear frame to pass through roller
Derrick pipeline moves near front truck direction, this timed unit reduces the correspondence of turn direction by stepper motor driver
The rotating speed of motor, then the contraction speed of linkage leading screw corresponding with motor will diminish, other two linkage leading screws
Contraction speed keep constant, due to leading screw connect coil spring have certain deflection, can be achieved with the divertical motion of rear car.
When rear car enters front truck institute in rail, control device controls motor to quit work, and clamps the rudder of driving after controlling simultaneously
Machine inwardly rotates 90 °, so that the pinch wheels in rear clamp system are from contact condition does not become clamping derrick pipe with derrick pipeline
Line state, completes the steering procedure of whole device.So manually regular visit need not be carried out using plurality of devices, save manpower money
Source, is not in human-body safety hidden danger, by double item patrol modes of Video Detection and 3-axis acceleration sensor, can be more straight
That sees reflects ground control centre by the situation of derrick, effectively raises monitoring accuracy；Robot flexibly moves steering
Mechanism freely can advance in complicated pipeline, it is to avoid detection dead angle, expand detection range.In addition with respect to Three Dimensional Ground
Monitoring cost can be substantially reduced, simultaneously the week of its later stage processing data of ground three-dimensional laser scanning technique for laser scanner technique
Phase is longer, and this device can be monitored in real time and feedback data, be easy to human observer and check.
Brief description
Fig. 1 is the structural side view of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is that the front truck of the present invention turns to schematic diagram；
Fig. 4 is the structural representation of rear car in the present invention；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is the right view of Fig. 4.
In figure：1st, leading screw, 2, stepper motor driver, 3, motor, 4, support plate, 5, supply unit, 6, limiting plate, 7,
Coil spring, 8, mushroom antenna, 9, motion cameras, 10, signal receiver, 11, Rear frame, 12, hollow-cup motor, 13, steering wheel,
14th, pinch wheels, 15, electric magnet, 16, pinion stand, 17, roller, 18, signal generator, 19,3-axis acceleration sensor, 20, front
Vehicle frame, 21, travelling gear, 22, linkage gear.
Specific embodiment
The invention will be further described below.
As shown in Figures 1 to 5, the present invention includes front truck, attachment structure and rear car, and front truck passes through attachment structure with rear car even
Connect；
Described front truck includes front frame 20, antenna, signal projector 18, signal receiver 10, motion cameras 9, electromagnetism
Ferrum 15, front clamp drive mechanism and 3-axis acceleration sensor 19, described signal projector 18, signal receiver 10, motion are taken the photograph
Camera 9 and 3-axis acceleration sensor 19 are arranged in front frame 20, and antenna is arranged on signal projector 18 top；Described front truck
Frame 20 bottom is provided with two groups of rollers 17, and it is hinged with front frame 20 that described roller 17 passes through rotating shaft；Front clamp drive mechanism is arranged on
Front frame 20 bottom, described front clamp drive mechanism is by 13, two hollow-cup motors 12 of two steering wheels and 14 groups of two pinch wheels
Become, the swinging mounting of steering wheel 13 is fixedly connected with hollow-cup motor 12, the output shaft of hollow-cup motor 12 is fixing with pinch wheels 14
Connect；
Described rear car includes Rear frame 11, motor 3, stepper motor driver 2, control device, electric magnet 15, rear folder
Tight drive mechanism and supply unit 5, described motor 3, stepper motor driver 2, control device, electric magnet 15 and power supply dress
Put 5 to be arranged in Rear frame 11, stepper motor driver 2 is connected with motor 3, described motor 3 and motor drive
Dynamic device 2 is three, and three motors 3 are in that isosceles triangle is distributed, and the output shaft of described three motors 3 is equipped with shape
Identical travelling gear 21；Described Rear frame 11 bottom is provided with two groups of rollers 17, and described roller 17 passes through rotating shaft and Rear frame 11
Hinged；Clamping drive mechanism is arranged on Rear frame 11 bottom afterwards, and described rear clamp system is by steering wheel 13 and 14 groups of two pinch wheels
Become, the support of steering wheel 13 is fixedly connected with hollow-cup motor 12, and the output shaft of hollow-cup motor is fixedly connected with pinch wheels 14；
Described attachment structure includes leading screw 1 and coil spring 7, and one end of one end of leading screw 1 and coil spring 7 is rigidly connected, circle
The other end of spring 7 is rigidly connected with front frame 17, and the other end of leading screw 1 passes through the support plate 4 in Rear frame 11, described leading screw 1
It is provided with linkage gear 22, the excircle of described linkage gear 22 is provided with the tooth matching with travelling gear 21, linkage gear 22
Endoporus be screwed hole, described leading screw 1, coil spring 7 and linkage gear 22 be three, three linkage gears 19 respectively with three
Travelling gear 21 engages, and linkage gear 22 is stuck in the pinion stand 16 in Rear frame 11；
Described control device and signal projector 18, signal receiver 10, motion cameras 9,3-axis acceleration sensor
19 electric magnet 15 and stepper motor driver 2 connect, and signal projector 18 is connected with antenna；Supply unit 5 supplies for whole system
Electricity.
Further, described control device is single-chip microcomputer.
Further, described antenna is mushroom antenna 8.
Further, also include limiting plate 6, described limiting plate 6 opens up three holes, limiting plate 6 is arranged on leading screw 1, three
Individual leading screw 1 is each passed through three holes.Using limiting plate 6 when leading screw 1 moves, the relative position of three leading screws 1 can be kept
Will not change, thus improving operation stability.
Further, described pinch wheels 14 outer surface is quality of rubber materials.
This device is placed on derrick, front truck and rear car phase are made by front clamp drive mechanism and rear clamping drive mechanism
To being fixed on derrick pipeline, strengthen the absorption affinity of dolly and derrick, now opening movement video camera 9 and three by electric magnet 17
Axle acceleration sensor 19, the real-time video of shooting is fed back to control device by motion cameras 9, simultaneously 3-axis acceleration sensing
Device 19 by the motion conditions of real-time detection front truck and feeds back to control device, passes through signal projector 18 after control device pretreatment
And antenna 8 is sent to ground control centre；When moving, signal receiver 10 receive ground control centre signal and give
Enter to control device.Hollow-cup motor 12 in clamping drive mechanism before and after control device control starts, and hollow-cup motor 12 carries
Dynamic pinch wheels 14 rotate, and by the friction of pinch wheels 14 and derrick pipeline, complete whole device uniform motion forward.Have when running into
During the pipeline of radian, control device controls the steering wheel 13 in front clamp drive mechanism outwards to rotate 90 °, so that front clamp drives
Pinch wheels 14 in mechanism become and derrick pipeline not contact condition from clamping derrick pipeline state；Then control device passes through step
Stepper motor driver 2 controls three motor 3 synchronous averaging, and then drives linkage gear 22 to rotate by travelling gear 21,
Because rear car is in stationary state and linkage gear 22 and leading screw 1 are threaded, the rotation of such linkage gear 22 can lead to silk
Thick stick 1 linkage gear 22 relatively is carried forward motion, and it is real on derrick pipeline that leading screw 1 athletic meeting drives front frame 20 to pass through roller 17
Now travel forward, this timed unit reduces the rotating speed of the corresponding motor 3 of turn direction by stepper motor driver 2,
The pace of so corresponding with motor 3 linkage leading screw 1 will diminish, before other two linkage leading screws 1 keep original
Enter speed, because the coil spring 7 that leading screw 1 connects has certain deflection, be achieved in the divertical motion of front truck.Front truck moves to
During corresponding track, control device control motor 3 quit work, simultaneously control front clamp drive mechanism in steering wheel 13 to
Inside rotate 90 °, so that the pinch wheels 14 in front clamp drive mechanism are from contact condition does not become clamping derrick with derrick pipeline
Pipeline state, thus completes the process that front truck turns to and fixes；Then the steering wheel 13 of clamping drive mechanism after control device controls
It is turned out 90 °.So that the pinch wheels 14 in rear clamping drive mechanism become and derrick pipeline from clamping derrick pipeline state
Not contact condition；Then control device controls three motor 3 synchronous averaging relatively before by stepper motor driver 2
Direction rotates backward, and then drives linkage gear 22 to rotate by travelling gear 21, because now front truck is in stationary state, after
Car is in removable state, and the rotation of such linkage gear 22 can lead to linkage gear 22 leading screw relatively to travel forward, and then drives
Rear car is passed through roller 17 and is moved near front truck direction on derrick pipeline, and this timed unit is subtracted by stepper motor driver 2
The rotating speed of the corresponding motor 3 of little turn direction, then the contraction speed of linkage leading screw 1 corresponding with motor 3 will become
Little, because the coil spring 7 that leading screw 1 connects has certain deflection, can be achieved with the divertical motion of rear car.When rear car enters front truck
During institute's in rail, control device controls motor 3 to quit work, and the steering wheel 13 clamping driving after simultaneously controlling inwardly rotates
90 °, so that the pinch wheels 14 in rear clamp system are not from contact condition becomes clamping derrick pipeline state with derrick pipeline, complete
Become the steering procedure of whole device.So manually regular visit need not be carried out using plurality of devices, save human resourcess, Bu Huicun
In human-body safety hidden danger, by double item patrol modes of Video Detection and 3-axis acceleration sensor, can be more intuitively by well
The situation of frame reflects ground control centre, effectively raises monitoring accuracy；Robot flexibly moves steering mechanism can be
Freely advance in complicated pipeline, it is to avoid detection dead angle, expand detection range.In addition with respect to Three Dimensional Ground laser scanning
Monitoring cost can be substantially reduced, the cycle of its later stage processing data of ground three-dimensional laser scanning technique is longer simultaneously for technology,
And this device can be monitored in real time and feedback data, be easy to human observer and check.
Claims (5)
1. it is characterised in that including front truck, attachment structure and rear car, front truck passes through to connect a kind of derrick defect crusing robot
Structure is connected with rear car；
Described front truck include front frame, antenna, signal projector, signal receiver, motion cameras, front clamp drive mechanism,
Electric magnet and 3-axis acceleration sensor, described signal projector, signal receiver, motion cameras and 3-axis acceleration sensing
Device is arranged in front frame, and antenna is arranged on signal projector top；Described front frame bottom is provided with two groups of rollers, described roller
Hinged with front frame by rotating shaft；Front clamp drive mechanism is arranged on front frame bottom, and described front clamp drive mechanism is by along front
Two steering wheels, two hollow-cup motors and two pinch wheels compositions that vehicle frame central cross-section is arranged symmetrically, the swinging mounting of steering wheel
It is fixedly connected with hollow-cup motor, the output shaft of hollow-cup motor is fixedly connected with pinch wheels；
Described rear car includes Rear frame, motor, stepper motor driver, control device, rear clamping drive mechanism, electric magnet
And supply unit, described motor, stepper motor driver, control device, electric magnet and supply unit are arranged on Rear frame
On, stepper motor driver is connected with motor, and described motor and stepper motor driver are three, three steppings
Motor is in that isosceles triangle is distributed, and the output shaft of described three motors is equipped with shape identical travelling gear；Described rear car
Frame bottom is provided with two groups of rollers, and it is hinged with Rear frame that described roller passes through rotating shaft；Clamping drive mechanism is arranged under Rear frame afterwards
Portion, described rear clamp system is by two steering wheels being arranged symmetrically along Rear frame central cross-section, two hollow-cup motors and two folders
Bearing up pulley forms, and the swinging mounting of steering wheel is fixedly connected with hollow-cup motor, and the output shaft of hollow-cup motor is fixing with pinch wheels even
Connect；
Described attachment structure includes leading screw and coil spring, and one end of leading screw and one end of coil spring are rigidly connected, coil spring another
One end is rigidly connected with front frame, and the other end of leading screw passes through the support plate in Rear frame, and described leading screw is provided with linkage gear, institute
The excircle stating linkage gear is provided with the tooth matching with travelling gear, the endoporus of linkage gear is screwed hole, described leading screw, circle
Spring and linkage gear are three, and three linkage gears are engaged with three travelling gears respectively, and linkage gear is stuck in Rear frame
On pinion stand in；
Described control device and signal receiver, signal projector, motion cameras, 3-axis acceleration sensor, electric magnet and
Stepper motor driver connects, and signal projector is connected with antenna；Supply unit is powered for whole system.
2. a kind of derrick defect crusing robot according to claim 1 is it is characterised in that described control device is monolithic
Machine.
3. a kind of derrick defect crusing robot according to claim 1 is it is characterised in that described antenna is mushroom sky
Line.
4. a kind of derrick defect crusing robot according to claim 1 is it is characterised in that also including limiting plate, described
Three holes are opened up on limiting plate, limiting plate is arranged on leading screw, three leading screws are each passed through three holes.
5. a kind of derrick defect crusing robot according to claim 1 is it is characterised in that described clamping wheel outer surface is
Quality of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138169.9A CN106476004B (en) | 2016-12-12 | 2016-12-12 | A kind of derrick defect crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611138169.9A CN106476004B (en) | 2016-12-12 | 2016-12-12 | A kind of derrick defect crusing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106476004A true CN106476004A (en) | 2017-03-08 |
| CN106476004B CN106476004B (en) | 2018-12-07 |
Family
ID=58274854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611138169.9A Expired - Fee Related CN106476004B (en) | 2016-12-12 | 2016-12-12 | A kind of derrick defect crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106476004B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
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| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN101670578A (en) * | 2009-09-17 | 2010-03-17 | 北京深浪电子技术有限公司 | Arm extending type braking multi-CCD full-angle route inspecting robot |
| CN201484528U (en) * | 2009-09-17 | 2010-05-26 | 北京深浪电子技术有限公司 | Extend arm type braking function multi-CCD full-angle line inspection robot |
| CN102013653A (en) * | 2010-11-01 | 2011-04-13 | 哈尔滨工业大学 | Deicing and inspection robot for high voltage line |
| KR101281255B1 (en) * | 2011-09-28 | 2013-07-03 | 성균관대학교산학협력단 | Moving robot for inspecting pipelines |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
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- 2016-12-12 CN CN201611138169.9A patent/CN106476004B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN101670578A (en) * | 2009-09-17 | 2010-03-17 | 北京深浪电子技术有限公司 | Arm extending type braking multi-CCD full-angle route inspecting robot |
| CN201484528U (en) * | 2009-09-17 | 2010-05-26 | 北京深浪电子技术有限公司 | Extend arm type braking function multi-CCD full-angle line inspection robot |
| CN102013653A (en) * | 2010-11-01 | 2011-04-13 | 哈尔滨工业大学 | Deicing and inspection robot for high voltage line |
| KR101281255B1 (en) * | 2011-09-28 | 2013-07-03 | 성균관대학교산학협력단 | Moving robot for inspecting pipelines |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN114800567A (en) * | 2022-05-10 | 2022-07-29 | 上海工程技术大学 | Track robot for in-tunnel inspection |
| CN114800567B (en) * | 2022-05-10 | 2023-05-02 | 上海工程技术大学 | Track robot for inspection in tunnel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106476004B (en) | 2018-12-07 |
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