CN106476004B - A kind of derrick defect crusing robot - Google Patents
A kind of derrick defect crusing robot Download PDFInfo
- Publication number
- CN106476004B CN106476004B CN201611138169.9A CN201611138169A CN106476004B CN 106476004 B CN106476004 B CN 106476004B CN 201611138169 A CN201611138169 A CN 201611138169A CN 106476004 B CN106476004 B CN 106476004B
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- derrick
- lead screw
- control device
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of derrick defect crusing robot, including front truck, connection structure and rear car, front truck is connect by connection structure with rear car；The front truck includes front frame, antenna, signal projector, signal receiver, motion cameras, front clamp driving mechanism, electromagnet and 3-axis acceleration sensor；The rear car includes Rear frame, stepper motor, stepper motor driver, control device, rear clamping drive mechanism, electromagnet and power supply device；The connection structure includes lead screw and coil spring；The control device is connect with signal projector, signal receiver, motion cameras, 3-axis acceleration sensor, electromagnet and stepper motor driver, and signal projector is connect with antenna；Power supply device is whole system power supply.Without manually carrying out inspection, human resources are saved, there is no human-body safety hidden danger, while improving monitoring accuracy；In addition the present apparatus can real-time perfoming monitoring and feedback data, checked convenient for human observer.
Description
Technical field
The present invention relates to a kind of derrick inspection device, specifically a kind of derrick defect crusing robot.
Background technique
Derrick is metallurgy mining, mines, the important component of the lifting means such as oil drilling.In derrick real work,
Under the influence of work promotes many factors such as load, impulsive wind load, so that derrick generates plane and elevation direction three-dimensional pendulum
Dynamic deformation.When deforming more than a threshold value, safety in production can be seriously affected, becomes security risk most dangerous in the course of work.
For that purpose it is necessary to the dynamic deformation of derrick be grasped, to take corresponding safe early warning measure.Derrick brace basis stratum from upper and
It respectively bankets down, Loessial silty clay, clay, residual soil.This layer of material composition complexity, not by necessary compacting
Reason, so quality is soft, bearing capacity is lower.Therefore, compressive deformation is big, and after the load of battered leg basis or earth's surface water level is adopted
Moving influences and declines, so that it may can cause tiltedly to arrange the biggish sedimentation in basis.The coagulation on basement rock is directly located on derrick stand basis
On the native borehole wall, thus, settling amount can be ignored, and may cause entire derrick in this way and tilts 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
Bending deformation.After derrick bending deformation, general stability and bearing capacity will be substantially reduced.So once there are this feelings
Condition carries out stability check to the derrick after bending deformation again and correctly calculates the bearing capacity of the derrick, can to decision
It is no to continue subsequent job and take the remedial measures such as alignment, reinforcings, or to replace derrick all particularly significant.It is domestic at present
Outside, the deformation monitoring of derrick mainly takes general measure means, and if total station carries out plane deformation monitoring, level measures elevation
Deformation.However general measuring method monitoring cycle is long, large labor intensity, it is difficult to meet detection requirement.At the same time, also there is one kind
Novel measurement method --- Measurement Technology of 3 D Laser Scanning is a kind of new automatic High Precision Stereo scanning technique,
It by the method for high-rate laser scanning survey, large area, high-resolution quick obtaining measurand surface three-dimensional coordinate
Data.Compared with traditional measurement method, Three Dimensional Ground laser scanner technique acquisition data do not need cooperative target, can be quick, quasi-
Really obtain target volume data, have the characteristics that density is high, precision is high, be suitble to the object of large area or surface complexity measure and
The measurement of its object local detail, calculates target surface, volume, section, section, isopleth etc., breaks through conventional measurement for mapping worker
Amount technology provides a kind of completely 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 is it is found that be primarily present following problem:
1, these detection methods require a large amount of human resources, and higher cost, and the application condition of data is big, the most
Important is there are security risks.
2, these detection methods are all rough detections, the status of derrick more can not be accurately reacted, for derrick
Detail section cannot accurately detect, there is very big hidden danger.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of derrick defect crusing robots, without artificial
Inspection is carried out, saves human resources, there is no human-body safety hidden danger, while improving monitoring accuracy；In addition the present apparatus can be real-time
It is monitored simultaneously feedback data, is checked convenient for human observer.
To achieve the goals above, the technical solution adopted by the present invention is that: this kind of derrick defect crusing robot, including preceding
Vehicle, connection structure and rear car, front truck are connect by connection structure with rear car；
The front truck includes front frame, antenna, signal projector, signal receiver, motion cameras, front clamp driving machine
Structure and 3-axis acceleration sensor, the signal projector, signal receiver, motion cameras, electromagnet and 3-axis acceleration
Sensor is arranged in front frame, and antenna is arranged on signal projector top；The front frame lower part is equipped with two groups of idler wheels, described
Idler wheel is hinged by shaft and front frame；The setting of front clamp driving mechanism in front frame lower part, the front clamp driving mechanism by
Two steering engines, two hollow-cup motors and the two pinch wheels compositions being arranged symmetrically along front frame central cross-section, the rotation of steering engine
Bracket is fixedly connected with hollow-cup motor, and the output shaft of hollow-cup motor is fixedly connected with pinch wheels；
The rear car include Rear frame, stepper motor, stepper motor driver, control device, rear clamping drive mechanism and
Power supply device, the stepper motor, stepper motor driver, control device, electromagnet and power supply device are arranged in Rear frame,
Stepper motor driver is connect with stepper motor, and the stepper motor and stepper motor driver are three, three stepping electricity
Machine is distributed in isosceles triangle, is equipped with the identical transmission gear of shape on the output shaft of three stepper motors；The Rear frame
Lower part is equipped with two groups of idler wheels, and the idler wheel is hinged by shaft and Rear frame；Clamping drive mechanism is arranged in Rear frame lower part afterwards,
It is described after clamping drive mechanism by be arranged symmetrically along Rear frame central cross-section two steering engines, two hollow-cup motors and two folder
Bearing up pulley composition, the rotating bracket of steering engine are fixedly connected with hollow-cup motor, and the output shaft and pinch wheels of hollow-cup motor are fixed to be connected
It connects；
The connection structure includes lead screw and coil spring, and one end of lead screw and one end of coil spring are rigidly connected, coil spring
The other end and front frame be rigidly connected, the other end of lead screw passes through the supporting plate in Rear frame, and the lead screw is equipped with linkage tooth
Wheel, the inner hole that the excircle of the linkage gear is equipped with the tooth, linkage gear that match with transmission gear is threaded hole, the silk
Thick stick, coil spring and linkage gear are three, and three linkage gears are engaged with three transmission gears respectively, after linkage gear is stuck in
In pinion stand on vehicle frame；
The control device and signal projector, signal receiver, motion cameras, 3-axis acceleration sensor, electromagnetism
Iron is connected with stepper motor driver, and signal projector is connect with antenna；Power supply device is whole system power supply.
Further, the control device is single-chip microcontroller.
Further, the antenna is mushroom antenna.
Further, further include limit plate, three holes are opened up on the limit plate, limit plate is arranged on lead screw, three silks
Thick stick is each passed through three holes.Using limit plate when lead screw is moved, the relative position of three lead screws can be kept not change,
To improve operation stability.
Further, the clamping wheel outer surface is rubber material.
Compared with prior art, the present invention places the present apparatus in such a way that front truck, connection structure and rear car combine
On derrick, keep front truck and rear car relatively fixed on derrick pipeline by front clamp driving mechanism and rear clamping drive mechanism,
Enhance the adsorption capacity of trolley and derrick by electromagnet, opening movement video camera and 3-axis acceleration sensor, movement are taken the photograph at this time
Camera is by the real-time video of shooting feedback to control device, while 3-axis acceleration sensor is by the movement feelings of real-time detection front truck
Condition simultaneously feeds back to control device, is sent to ground control centre by signal projector and antenna after control device pretreatment；Into
When row is mobile, signal receiver receives the signal of ground control centre and is sent to control device.Control device control front and back
Hollow-cup motor starting in clamping drive mechanism, hollow-cup motor drive pinch wheels rotation, pass through pinch wheels and derrick pipeline
Friction, complete whole device uniform motion forward.When encountering cambered pipeline, control device controls front clamp driving machine
Steering engine in structure rotates outward 90 °, thus make pinch wheels in front clamp driving mechanism from clamp derrick pipeline state become with
Derrick pipeline not contact condition；Then control device controls three stepping motor synchronous startings by stepper motor driver, into
And linkage gear rotation is driven by transmission gear, since rear car is in stationary state and linkage gear and lead screw as screw thread company
It connects, such linkage gear rotation will lead to lead screw and be carried forward movement with respect to linkage gear, and it is logical that guide screw movement will drive front frame
It crosses idler wheel and is realized on derrick pipeline and travelled forward, control device passes through pair that stepper motor driver reduces turn direction at this time
The revolving speed of stepper motor is answered, then the forward speed of linkage lead screw corresponding with stepper motor will become smaller, other two linkage silks
Thick stick keeps original forward speed, since the coil spring of lead screw connection has certain deflection, is achieved in the steering fortune of front truck
It is dynamic.When front truck moves to corresponding track, control device control stepper motor stops working, while controlling front clamp driving mechanism
In steering engine rotate inward 90 °, to make the pinch wheels in front clamp driving mechanism from contact condition does not become with derrick pipeline
Derrick pipeline state is clamped, the process that front truck is turned to and fixed is completed；Then the rudder of clamping drive mechanism after control device controls
Machine is turned out 90 °.To make the pinch wheels in rear clamping drive mechanism become and derrick pipeline from derrick pipeline state is clamped
Not contact condition；Then control device controls three stepping motor synchronous startings and opposite front by stepper motor driver
Linkage gear rotation is driven to rotation, and then by transmission gear, since front truck is in stationary state at this time, rear car is in removable
Dynamic state, such linkage gear rotation will lead to linkage gear and travel forward with respect to lead screw, and then Rear frame is driven to pass through idler wheel
It is moved on derrick pipeline close to front truck direction, control device reduces the correspondence of turn direction by stepper motor driver at this time
The revolving speed of stepper motor, then the contraction speed of linkage lead screw corresponding with stepper motor will become smaller, other two linkage lead screws
Contraction speed remain unchanged, due to lead screw connection coil spring have certain deflection, can be achieved with the divertical motion of rear car.
Where rear car enters front truck when track, control device control stepper motor stops working, while the rudder of driving is clamped after controlling
Machine inwardly rotates 90 °, to make the pinch wheels in rear clamp system from contact condition does not become to clamp derrick pipe with derrick pipeline
Line state completes the steering procedure of whole device.In this way without manually carrying out regular visit using plurality of devices, manpower money is saved
Source, there is no human-body safety hidden danger can be more straight by double item patrol modes of video detection and 3-axis acceleration sensor
The situation by derrick seen reflects to ground control centre, effectively raises monitoring accuracy；Robot flexibly moves steering
Mechanism can freely advance in complicated pipeline, avoid detection dead angle, expand detection range.In addition relative to Three Dimensional Ground
Monitoring cost can be substantially reduced for laser scanner technique, while the week of ground three-dimensional laser scanning technique its post-processing data
Phase is longer, and the present apparatus can real-time perfoming monitoring and feedback data, checked convenient for human observer.
Detailed description of the invention
Fig. 1 is structural side view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is that front truck of the invention turns to schematic diagram；
Fig. 4 is the structural schematic diagram of rear car in the present invention；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is the gear drive schematic diagram of rear car in the present invention.
In figure: 1, lead screw, 2, stepper motor driver, 3, stepper motor, 4, supporting plate, 5, power supply device, 6, limit plate, 7,
Coil spring, 8, mushroom antenna, 9, motion cameras, 10, signal receiver, 11, Rear frame, 12, hollow-cup motor, 13, steering engine,
14, pinch wheels, 15, electromagnet, 16, pinion stand, 17, idler wheel, 18, signal generator, 19,3-axis acceleration sensor, 20, preceding
Vehicle frame, 21, transmission 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, connection structure and rear car, and front truck is connected by connection structure and rear car
It connects；
The front truck includes front frame 20, antenna, signal projector 18, signal receiver 10, motion cameras 9, electromagnetism
Iron 15, front clamp driving mechanism and 3-axis acceleration sensor 19, the signal projector 18, signal receiver 10, movement are taken the photograph
Camera 9 and 3-axis acceleration sensor 19 are arranged in front frame 20, and antenna is arranged on 18 top of signal projector；The front truck
20 lower part of frame is equipped with two groups of idler wheels 17, and the idler wheel 17 is hinged by shaft and front frame 20；The setting of front clamp driving mechanism exists
20 lower part of front frame, the front clamp driving mechanism is by two steering engines, 13, two hollow-cup motors 12 and two 14 groups of pinch wheels
At the rotating bracket of steering engine 13 is fixedly connected with hollow-cup motor 12, and the output shaft and pinch wheels 14 of hollow-cup motor 12 are fixed
Connection；
The rear car includes Rear frame 11, stepper motor 3, stepper motor driver 2, control device, electromagnet 15, rear folder
Tight driving mechanism and power supply device 5, the stepper motor 3, stepper motor driver 2, control device, electromagnet 15 and power supply dress
5 settings are set in Rear frame 11, stepper motor driver 2 is connect with stepper motor 3, and the stepper motor 3 and stepper motor drive
Dynamic device 2 is three, and three stepper motors 3 are distributed in isosceles triangle, is equipped with shape on the output shaft of three stepper motors 3
Identical transmission gear 21；11 lower part of Rear frame is equipped with two groups of idler wheels 17, and the idler wheel 17 passes through shaft and Rear frame 11
Hingedly；Clamping drive mechanism setting is in 11 lower part of Rear frame afterwards, and the rear clamp system is by steering engine 13 and two 14 groups of pinch wheels
At the bracket of steering engine 13 is fixedly connected with hollow-cup motor 12, and the output shaft of hollow-cup motor is fixedly connected with pinch wheels 14；
The connection structure includes lead screw 1 and coil spring 7, and one end of lead screw 1 and one end of coil spring 7 are rigidly connected, circle
The other end and front frame 17 of spring 7 are rigidly connected, and the other end of lead screw 1 passes through the supporting plate 4 in Rear frame 11, the lead screw 1
It is equipped with linkage gear 22, the excircle of the linkage gear 22 is equipped with the tooth, the linkage gear 22 that match with transmission gear 21
Inner hole be threaded hole, the lead screw 1, coil spring 7 and linkage gear 22 are three, three linkage gears 19 respectively with three
Transmission gear 21 engages, and linkage gear 22 is stuck in the pinion stand 16 in Rear frame 11；
The control device and signal projector 18, signal receiver 10, motion cameras 9,3-axis acceleration sensor
19 electromagnet 15 and stepper motor driver 2 connect, and signal projector 18 is connect with antenna；Power supply device 5 is whole system confession
Electricity.
Further, the control device is single-chip microcontroller.
Further, the antenna is mushroom antenna 8.
Further, further including limit plate 6, three holes are opened up on the limit plate 6, limit plate 6 is arranged on lead screw 1, and three
A lead screw 1 is each passed through three holes.Using limit plate 6 when lead screw 1 is moved, the relative position of three lead screws 1 can be kept
It will not change, to improve operation stability.
Further, 14 outer surface of pinch wheels is rubber material.
The present apparatus is placed on derrick, front truck and rear car phase are made by front clamp driving mechanism and rear clamping drive mechanism
To being fixed on derrick pipeline, enhance the adsorption capacity of trolley and derrick by electromagnet 17, at this time opening movement video camera 9 and three
Axle acceleration sensor 19, motion cameras 9 feeds back the real-time video of shooting to control device, while 3-axis acceleration senses
Device 19 is 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 being moved, signal receiver 10 receives the signal of ground control centre and send
Enter to control device.Hollow-cup motor 12 in the clamping drive mechanism of control device control front and back starts, 12 band of hollow-cup motor
Dynamic pinch wheels 14 rotate, and by the friction of pinch wheels 14 and derrick pipeline, complete whole device uniform motion forward.Have when encountering
When the pipeline of radian, the steering engine 13 in control device control front clamp driving mechanism rotates outward 90 °, so that front clamp be made to drive
Pinch wheels 14 in mechanism become and derrick pipeline not contact condition from derrick pipeline state is clamped；Then control device passes through step
Three 3 synchronous averagings of stepper motor are controlled into motor driver 2, and then drive linkage gear 22 to rotate by transmission gear 21,
Since rear car is in stationary state and linkage gear 22 and lead screw 1 are to be threadedly coupled, such rotation of linkage gear 22 will lead to silk
Thick stick 1 is carried forward movement with respect to linkage gear 22, and it is real on derrick pipeline by idler wheel 17 that the movement of lead screw 1 will drive front frame 20
Now travelling forward, control device reduces the revolving speed of the correspondence stepper motor 3 of turn direction by stepper motor driver 2 at this time,
The forward speed of linkage lead screw 1 so corresponding with stepper motor 3 will become smaller, before other two linkage lead screws 1 keep original
The divertical motion of front truck is achieved in since the coil spring 7 that lead screw 1 connects has certain deflection into speed.Front truck moves to
When corresponding track, control device control stepper motor 3 stop working, while control the steering engine 13 in front clamp driving mechanism to
It is inside rotated by 90 °, to make the pinch wheels 14 in front clamp driving mechanism from contact condition does not become to clamp derrick with derrick pipeline
Thus pipeline state completes the process that front truck is turned to and fixed；Then the steering engine 13 of clamping drive mechanism after control device controls
It is turned out 90 °.To make the pinch wheels 14 in rear clamping drive mechanism become and derrick pipeline from derrick pipeline state is clamped
Not contact condition；Then control device is by three 3 synchronous averagings of stepper motor of the control of stepper motor driver 2 and with respect to before
Direction rotates backward, and then drives linkage gear 22 to rotate by transmission gear 21, since front truck is in stationary state at this time, after
Vehicle is in removable state, and such rotation of linkage gear 22 will lead to linkage gear 22 and travel forward with respect to lead screw, and then drive
Rear car is moved on derrick pipeline close to front truck direction by idler wheel 17, and control device is subtracted by stepper motor driver 2 at this time
The revolving speed of the correspondence stepper motor 3 of small turn direction, then the contraction speed of linkage lead screw 1 corresponding with stepper motor 3 will become
It is small, since the coil spring 7 that lead screw 1 connects has certain deflection, it can be achieved with the divertical motion of rear car.When rear car enters front truck
When the track of place, control device control stepper motor 3 stops working, while the steering engine 13 that driving is clamped after controlling inwardly rotates
90 °, thus make the pinch wheels 14 in rear clamp system from contact condition does not become to clamp derrick pipeline state with derrick pipeline, it is complete
At the steering procedure of whole device.In this way without manually carrying out regular visit using plurality of devices, human resources, Bu Huicun are saved
In human-body safety hidden danger, by double item patrol modes of video detection and 3-axis acceleration sensor, energy is more intuitive by well
The situation of frame reflects to ground control centre, effectively raises monitoring accuracy；Robot flexibly moves steering mechanism can be
Freely advance in complicated pipeline, avoids detection dead angle, expand detection range.In addition relative to Three Dimensional Ground laser scanning
Monitoring cost can be substantially reduced for technology, while the period of ground three-dimensional laser scanning technique its post-processing data is longer,
And the present apparatus can real-time perfoming monitoring and feedback data, checked convenient for human observer.
Claims (5)
1. a kind of derrick defect crusing robot, which is characterized in that including front truck, connection structure and rear car, front truck passes through connection
Structure is connect with rear car；
The front truck include front frame, antenna, signal projector, signal receiver, motion cameras, front clamp driving mechanism,
Electromagnet and 3-axis acceleration sensor, the 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；The front frame lower part is equipped with two groups of idler wheels, the idler wheel
It is hinged with front frame by shaft；Front clamp driving mechanism is arranged in front frame lower part, and the front clamp driving mechanism is by along preceding
Two steering engines, two hollow-cup motors and the two pinch wheels compositions that vehicle frame central cross-section is arranged symmetrically, the rotating bracket of steering engine
It is fixedly connected with hollow-cup motor, the output shaft of hollow-cup motor is fixedly connected with pinch wheels；
The rear car includes Rear frame, stepper motor, stepper motor driver, control device, rear clamping drive mechanism, electromagnet
And power supply device, the stepper motor, stepper motor driver, control device, electromagnet and power supply device are arranged in Rear frame
On, stepper motor driver is connect with stepper motor, and the stepper motor and stepper motor driver are three, three steppings
Motor is distributed in isosceles triangle, is equipped with the identical transmission gear of shape on the output shaft of three stepper motors；The rear car
Frame lower part is equipped with two groups of idler wheels, and the idler wheel is hinged by shaft and Rear frame；Clamping drive mechanism is arranged under Rear frame afterwards
Portion, it is described after clamp system by be arranged symmetrically along Rear frame central cross-section two steering engines, two hollow-cup motors and two folder
Bearing up pulley composition, the rotating bracket of steering engine are fixedly connected with hollow-cup motor, and the output shaft and pinch wheels of hollow-cup motor are fixed to be connected
It connects；
The connection structure includes lead screw and coil spring, one end of lead screw and one end rigid connection of coil spring, coil spring it is another
One end and front frame are rigidly connected, and the other end of lead screw passes through the supporting plate in Rear frame, and the lead screw is equipped with linkage gear, institute
The inner hole that the excircle for stating linkage gear is equipped with the tooth, linkage gear that match with transmission gear is threaded hole, the lead screw, circle
Spring and linkage gear are three, and three linkage gears are engaged with three transmission gears respectively, and linkage gear is stuck in Rear frame
On pinion stand in；
The control device and signal receiver, signal projector, motion cameras, 3-axis acceleration sensor, electromagnet and
Stepper motor driver connection, signal projector are connect with antenna；Power supply device is whole system power supply.
2. a kind of derrick defect crusing robot according to claim 1, which is characterized in that the control device is monolithic
Machine.
3. a kind of derrick defect crusing robot according to claim 1, which is characterized in that the antenna is mushroom day
Line.
4. a kind of derrick defect crusing robot according to claim 1, which is characterized in that it further include limit plate, it is described
Three holes are opened up on limit plate, limit plate is arranged on lead screw, and three lead screws are each passed through three holes.
5. a kind of derrick defect crusing robot according to claim 1, which is characterized in that the clamping wheel outer surface is
Rubber material.
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 CN106476004A (en) | 2017-03-08 |
| CN106476004B true CN106476004B (en) | 2018-12-07 |
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| 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 |
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| CN (1) | CN106476004B (en) |
Families Citing this family (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 |
| CN114800567B (en) * | 2022-05-10 | 2023-05-02 | 上海工程技术大学 | Track robot for inspection in tunnel |
Citations (5)
| 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 |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101281255B1 (en) * | 2011-09-28 | 2013-07-03 | 성균관대학교산학협력단 | Moving robot for inspecting pipelines |
-
2016
- 2016-12-12 CN CN201611138169.9A patent/CN106476004B/en not_active Expired - Fee Related
Patent Citations (5)
| 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 |
| CN103802086A (en) * | 2014-02-17 | 2014-05-21 | 广州供电局有限公司 | Inspection robot |
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| Publication number | Publication date |
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| CN106476004A (en) | 2017-03-08 |
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