CN107131391A - A kind of adaptive screwdriven pipe robot - Google Patents
A kind of adaptive screwdriven pipe robot Download PDFInfo
- Publication number
- CN107131391A CN107131391A CN201710590249.6A CN201710590249A CN107131391A CN 107131391 A CN107131391 A CN 107131391A CN 201710590249 A CN201710590249 A CN 201710590249A CN 107131391 A CN107131391 A CN 107131391A
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- Prior art keywords
- support plate
- support
- screwdriven
- linkage
- servomotor
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adaptive screwdriven pipe robot, including screwdriven device, driving steering mechanism, guiding support device and control system；The screwdriven device and guiding support device are located at the two ends of driving steering mechanism respectively, and control system is electrically connected with screwdriven device, driving steering mechanism, guiding support device；The screwdriven device and guiding support device include support wheel, linkage, support plate and servomotor；The support wheel is connected by linkage with servomotor；The support wheel, linkage and servomotor are integrally located between support plate；By setting screwdriven device and guiding support device and steering mechanism's combination, the problem of can effectively solve the problem that pipeline operations are difficult in the prior art, and be directed to different pipelines, pipe robot bad adaptability greatly reducing labour.The security and use value of operation are improved, its is simple in construction, and use cost is low.
Description
Technical field
The present invention relates to pipe walking mechanical equipment technical field, especially a kind of adaptive screwdriven pipe robot.
Background technology
Pipeline is after a while, it may occur that such as crackle, and clog etc. is damaged, because space is narrow in pipeline
It is small, manually it is difficult to enter inspection, repairs, clean, it is therefore desirable to which robot is replaced being manually entered in pipeline and inspected periodically.Pipe
Pipeline robot be one kind can along automatically walk inside or outside small sized pipeline, carry one or more sensors and operation machinery,
Under the straighforward operation of staff or computer controlled automatic, a series of the mechanical, electrical of pipeline operations, the integrated system of instrument are carried out
System.
For the research of pipe robot, the research to many wheel supporting constructions was more in the past, just studied Conventional drum movement
Robot is used directly in the detection and maintenance of circular pipe.The wheel of the in-pipe robot of many wheel constructions in space is contacted with wall
When, the line of contact point and core wheel is on the radial direction of cylinder, and the travel direction of wheel and the bus of cylinder are parallel, this
It is a kind of special circumstances of single wheel pose in canal surface.When wheeled mobile robot is run in the duct, due to pipe
Road size not, with bend and " T " type joint etc., the pose of each wheel of wheeled mobile robot in the duct is
The axis direction of uncertain production wheel may be not orthogonal to the radial direction of pipe, and it is therefore necessary to analyze single wheel to exist
Pure rolling is met on pipe curved surface during free-position and without the kinematics characteristic under the conditions of sideslip.Exist for wheeled pipe robot
What actual application Shanghai ran into ask occurs movement interference for example in bend pipe, and during irregular pipeline, is caused due to in-fighting
Driving force is not enough, and the error of deformation ten thousand and robot in itself due to wall causes robot to deviate in the duct correctly
Posture, or even rollover and these stuck problems.Researcher both domestic and external is main from structure, such as using differential mechanism, flexible connection
Solved in terms of connecing, but this can make structure more complicated, increase cost.
It can be seen that, existing pipe robot is complicated, bulky, turning is insensitive can not be well adapted for diameter not
Same pipeline, is fitted therefore, a kind of adaptive screwdriven pipe robot of invention can effectively solve difficult, the different pipelines of pipeline operations
The problems such as answering property is poor.Labour is significantly reduced, the security of operation is improved, the performance of enterprises is improved.The letter of this running gear structure
Single small volume, adapts to the pipeline of different-diameter, and reliability is high, intelligent strong.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of adaptive screwdriven pipe machine
Device people, by setting screwdriven device and guiding support device and steering mechanism's combination, can effectively solve the problem that existing skill
Pipeline operations are difficult in art, and for different pipelines, the problem of pipe robot bad adaptability, greatly reducing labour.
The security and use value of operation are improved, its is simple in construction, and use cost is low.
The technical solution adopted by the present invention is as follows：
The adaptive screwdriven pipe robot of the present invention, including screwdriven device, driving steering mechanism, guide support dress
Put and control system；The screwdriven device and guiding support device are located at the two ends of driving steering mechanism, control system respectively
System is electrically connected with screwdriven device, driving steering mechanism, guiding support device；The screwdriven device and guiding branch
Support arrangement includes support wheel, linkage, support plate and servomotor；The support wheel passes through linkage and servo electricity
Machine is connected, and support wheel and linkage are acted under servomotor effect；The support wheel, linkage and servomotor are overall
Between support plate.Support of the robot in pipeline is realized using linkage, and according to the different connecting rods passed through in pipeline
Support angle can be adjusted adaptively, tensioning of the connecting rod in pipeline be realized using the characteristic of servomotor, with a kind of spiral
Mode walked in pipeline internal, pipeline bending place guiding support device and driving steering mechanism can realize robot in pipeline
Turning, its is simple in construction, small volume, can be applicable the use of different directly pipelines, and reliability is high, intelligent strong.
Further, the linkage includes linkage one and linkage two；The linkage one is arranged on
In screwdriven device, linkage two is arranged in guiding support device；The linkage one includes rocking bar and connecting rod one,
Rocking bar is connected and fixed in support plate by pin and connecting rod one；The linkage two includes slide bar and connecting rod two, slide bar
It is connected and fixed to by pin and connecting rod two in support plate.Related rocking bar, slide bar and the connecting rod of linkage can be according to reality
The size of pipe diameter is adjusted so that it can enable support wheel effect of fitting with inner-walls of duct, its is applicable different pipes
The use walking of road inner diameter, it is ensured that the convenience and reliability of pipe inspection, repairing and cleaning.
Further, the screwdriven device includes support wheel one, linkage one, gear one, axle sleeve one, support plate
First, support plate two and servomotor one；The support wheel one is connected with the rocking bar end of linkage one, and connecting rod one leads to quarter butt
Pin connection is crossed, quarter butt is fixedly connected with axle sleeve one；Fixed cover is provided with gear one on the axle sleeve one, and axle sleeve one is consolidated with gear one
It is scheduled in support plate one；The support plate two is provided with servomotor one and support shaft, servomotor one and the formation tooth of gear one
Drive connection；The support shaft is fixed in support plate two and in axle sleeve one；The support plate two and driving steering mechanism
Connection.Servomotor is connected by meshing transmission with the formation of gear one so that gear one can drive support in the presence of servomotor
Disk one and the mechanism part unitary rotation connected thereon, so as to realize the action of screwdriven device, pass through support shaft and axle sleeve
One interaction ensure that the relative position between rotating disk one and rotating disk two.
Further, the support wheel one is arranged at least provided with three, and along the even circumferential of support plate one；The support wheel
One is in 15 ° of angles with support plate one.The setting of angle make it that the spiral traveling displacement during screwdriven is suitable, so as to ensure
Inspection, repairing and cleaning quality to inner-walls of duct is good.
The adaptive screwdriven pipe robot of the present invention, the guiding support device includes support wheel two, connecting rod machine
Structure two, gear three, axle sleeve two, support plate three, support plate four and servomotor three；The cunning of the support wheel two and linkage two
Boom end is connected, and slide bar is fixed by a pin in support plate four；The connecting rod two is connected with quarter butt by pin, quarter butt and axle
Set two is fixedly connected；Fixed cover is provided with gear three on the axle sleeve two, and axle sleeve two is fixed in support plate four with gear three；It is described
Support plate three is provided with servomotor three and support shaft, and servomotor three is connected with gear three into tooth；The support shaft is consolidated
It is scheduled in support plate three and in axle sleeve two；The support plate three is connected with driving steering mechanism.Likewise, servomotor three
Support plate four and the associated mechanisms part unitary rotation connected thereon are caused by gear three, made jointly with screwdriven device
With the stable mobile and turning of the adaptive screwdriven pipe robot of the realization present invention.
Further, the support wheel two is provided with three less, and is arranged along the even circumferential of support plate four；The support wheel
Two be in 90 ° of angles with support plate four.The structure coordinates with screwdriven apparatus structure so that guiding support device can be in spiral row
In walking apparatus walking process, in the case where the reasoning of its generation is promoted, stable travels forward, when running into bend pipe, guide support dress
Put and drive steering mechanism to realize the function of being oriented to and turn.
The adaptive screwdriven pipe robot of the present invention, the driving steering mechanism is located at support plate two and support plate
Between three, it includes candan universal joint, gear two, servomotor two and gear shaft；One end of the candan universal joint and support
Disk two is fixedly connected, and the other end is fixedly connected with gear shaft；Fixed cover is provided with gear two on the gear shaft, and gear shaft is nested in
In support plate three；The servomotor two is fixedly installed in support plate three, and is connected with gear two in tooth.
Due to using said structure, servomotor two can drive cross unidirectionally to save unitary rotation so that it can realize 360 °
Bending, so as to realize the steering-effecting that different pipelines are bent out, it is ensured that adaptive screwdriven pipe robot of the invention
Flexibly turn to effect, with screwdriven mechanism collective effect, can more quickly and easily act, moreover it is possible to ensure itself with
The relative position of screwdriven mechanism and guiding support device, its is simple in construction, and action effect is good.
The adaptive screwdriven pipe robot of the present invention, the control system includes force snesor one, force snesor
2nd, A/D converter and single-chip microcomputer；The force snesor one is arranged on rocking bar, and force snesor two is set on slide bar；The power is passed
Sensor one is electrically connected with force snesor two by A/D converter and single-chip microcomputer；The single-chip microcomputer also with servomotor one, watch
Take motor two and servomotor three is electrically connected, and control it to act.Robot is put into pipeline rear servomotor one, watched
Taking the work of motor three supports linkage and props up tube wall, and when support force reaches setting value, power single-chip microcomputer sends signal,
Single-chip microcomputer control servomotor one, servomotor three stop operating, while servomotor two starts to rotate driving screwdriven dress
Put for the helical movement, the thrust of generation promotes guiding support device to travel forward, the guiding support device and ten thousand when running into bend pipe
The function of guide turning can be achieved to section.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, adaptive screwdriven pipe robot of the invention is simple in construction, and small volume, applicability is good；
2nd, by using driving steering mechanism and screwdriven mechanism combination so that its flexible row of turning is preferable；
3rd, linkage is centered in guiding support device and screwdriven dress so that adaptive screwdriven pipe of the invention
Pipeline robot can be adjusted according to different internal diameter of the pipeline sizes so that the use of the pipeline of the practical different-diameter of its energy, practical
Property is strong；
4th, adaptive screwdriven pipe robot of the invention inspection, repairing and cleaning effect are good；
5th, reliability is high, intelligent strong；
6th, labour, the security of the operation of raising be greatly reducing.
Brief description of the drawings
Fig. 1 is the structure schematic diagram of adaptive screwdriven pipe robot；
Fig. 2 is the structure schematic diagram of screwdriven device；
Fig. 3 is the structure schematic diagram of guiding support device；
Fig. 4 is the workflow diagram of adaptive screwdriven pipe robot；
Marked in figure：1- support wheels one, 2- rocking bars, 3- connecting rods one, 4- servomotors one, 5- axle sleeves one, 6- gears one, 7- supports
Disk one, 8- force snesors one, 9- support plates two, 10- candan universal joints, 11- gears two, 12- servomotors two, 13- support plates
Three, 14- support wheel two, 15- force snesors two, 16- slide bars, 17- gears three, 18- axle sleeves two, 19- connecting rods two, 20- servos electricity
Machine three, 21- support plates four, 22- pins, 23- gear shafts, 24- support shafts.
Embodiment
With reference to embodiment, the present invention is described in detail.
In order that the object, technical solution and advantage of invention are more clearly understood, with reference to embodiments, the present invention is entered
Row is further described.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, limit is not used to
The fixed present invention.
Embodiment 1
As shown in figure 1, a kind of adaptive screwdriven pipe robot, including screwdriven device, driving steering mechanism, guiding
Support meanss and control system；Screwdriven device and guiding support device are located at the two ends of driving steering mechanism, control respectively
System is electrically connected with screwdriven device, driving steering mechanism, guiding support device；Screwdriven device and guide support
Device includes support wheel, linkage, support plate and servomotor；Support wheel is connected by linkage and servomotor
Connect, support wheel and linkage are acted under servomotor effect；Support wheel, linkage and servomotor are integrally located at support
Between disk.
Linkage includes linkage one and linkage two；Linkage one is arranged in screwdriven device, even
Linkage two is arranged in guiding support device；Linkage one includes rocking bar 2 and connecting rod 1, and rocking bar 2 is by pin 22 with connecting
Bar 1 is connected and fixed in support plate；Linkage two includes slide bar 16 and connecting rod 2 19, and slide bar 16 is by pin 22 with connecting
Bar 2 19 is connected and fixed in support plate.
Screwdriven device includes support wheel 1, linkage one, gear 1, axle sleeve 1, support plate 1, support plate
29 and servomotor 1；Support wheel 1 is connected with the end of rocking bar 2 of linkage one, and connecting rod 1 passes through pin 22 with quarter butt
Connection, quarter butt is fixedly connected with axle sleeve 1；Fixed cover is provided with gear 1 on axle sleeve 1, and axle sleeve 1 is fixed on gear 1
In support plate 1；Support plate 29 is provided with servomotor 1 and support shaft 24, and servomotor 1 is passed with the formation tooth of gear 1
Dynamic connection；Support shaft 24 is fixed in support plate 29 and in axle sleeve 1, as shown in Figure 2；Support plate 29 is turned to driving
Mechanism is connected.Support wheel 1 at least provided with three, and along the even circumferential of support plate 1 arrange, the stability of holding structure；Branch
Support wheel 1 is with support plate 1 in 15 ° of angles.
Guiding support device includes support wheel 2 14, linkage two, gear 3 17, axle sleeve 2 18, support plate 3 13, branch
Support plate 4 21 and servomotor 3 20；Support wheel 2 14 is connected with the end of slide bar 16 of linkage two, and slide bar 16 passes through pin
22 are fixed in support plate 4 21；Connecting rod 2 19 is connected with quarter butt by pin 22, and quarter butt is fixedly connected with axle sleeve 2 18；Axle sleeve
Fixed cover is provided with gear 3 17 on 2 18, and axle sleeve 2 18 is fixed in support plate 4 21 with gear 3 17；Set in support plate 3 13
There are servomotor 3 20 and support shaft 24,17 one-tenth teeth of servomotor 3 20 and gear 3 are connected；Support shaft 24 is fixed on branch
On support plate 3 13 and in axle sleeve 2 18, as shown in Figure 3；Support plate 3 13 is connected with driving steering mechanism；Support wheel 2 14
Three are provided with less, and are arranged along the even circumferential of support plate 4 21；Support wheel 2 14 is with support plate 4 21 in 90 ° of angles.
Steering mechanism is driven to be located between support plate 29 and support plate 3 13, it includes candan universal joint 10, gear two
11st, servomotor 2 12 and gear shaft 23；One end of candan universal joint 10 is fixedly connected with support plate 29, the other end and gear
Axle 23 is fixedly connected；Fixed cover is provided with gear 2 11 on gear shaft 23, and gear shaft 23 is nested in support plate 3 13；Servomotor
2 12 are fixedly installed in support plate 3 13, and are connected with gear 2 11 in tooth.
Control system includes force snesor 1, force snesor 2 15, A/D converter and single-chip microcomputer；Force snesor 1 is set
Put on rocking bar 2, force snesor 2 15 is set on slide bar 16；Force snesor 1 passes through A/D converter with force snesor 2 15
It is electrically connected with single-chip microcomputer；Single-chip microcomputer also electrically connects respectively with servomotor 1, servomotor 2 12 and servomotor 3 20
Connect, and control it to act.
As shown in figure 4, the workflow of the adaptive screwdriven pipe robot is：After robot is put into pipeline
Opening switch servomotor one, the work of servomotor three supports linkage and props up tube wall, force snesor one, power sensing
Device two arrives pressure data, by A/D converter, is sent to single-chip microcomputer；Single-chip microcomputer processing data, startup program is simultaneously judged by single-chip microcomputer
Whether analog quantity and the standard value of initial setting up control to reach standard, and indicator lamp is bright if reaching, if not up to standard then by
Servomotor is rotated to be inputted single-chip microcomputer to obtain new analog quantity and is compared again, until support force reaches the mark of initial setting up
It is accurate；Single-chip microcomputer control servomotor one, servomotor three stop operating, and are driven while single-chip microcomputer control servomotor two starts to rotate
Dynamic screwdriven device is for the helical movement, and the thrust of generation promotes guiding support device to travel forward, and is oriented to when running into bend pipe
Support meanss and universal joint can realize the function of guide turning.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of adaptive screwdriven pipe robot, it is characterised in that including screwdriven device, driving steering mechanism,
Guiding support device and control system；The screwdriven device and guiding support device are located at the two of driving steering mechanism respectively
End, control system is electrically connected with screwdriven device, driving steering mechanism, guiding support device；The screwdriven dress
Put and include support wheel, linkage, support plate and servomotor with guiding support device；The support wheel passes through connecting rod machine
Structure is connected with servomotor, and support wheel and linkage are acted under servomotor effect；The support wheel, linkage and watch
Motor is taken to be integrally located between support plate.
2. adaptive screwdriven pipe robot according to claim 1, it is characterised in that the linkage includes
Linkage one and linkage two；The linkage one is arranged in screwdriven device, and linkage two, which is arranged on, leads
Into support meanss；The linkage one includes rocking bar（2）With connecting rod one（3）, rocking bar（2）Pass through pin and connecting rod one（3）
It is connected and fixed in support plate；The linkage two includes slide bar（16）With connecting rod two（19）, slide bar（16）Pass through pin
With connecting rod two（19）It is connected and fixed in support plate.
3. adaptive screwdriven pipe robot according to claim 2, it is characterised in that the screwdriven device
Including support wheel one（1）, linkage one, gear one（6）, axle sleeve one（5）, support plate one（7）, support plate two（9）And servo
Motor one（4）；The support wheel one（1）With the rocking bar of linkage one（2）End is connected, connecting rod one（3）Pass through pin with quarter butt
Nail connection, quarter butt and axle sleeve one（5）It is fixedly connected；The axle sleeve one（5）Upper fixed cover is provided with gear one（6）, axle sleeve one（5）With
Gear one（6）It is fixed on support plate one（7）On；The support plate two（9）It is provided with servomotor one（4）And support shaft, servo
Motor one（4）With gear one（6）Form tooth drive connection；The support shaft is fixed on support plate two（9）Go up and be located at axle sleeve one
（5）It is interior；The support plate two（9）Steering mechanism is connected with driving.
4. adaptive screwdriven pipe robot according to claim 3, it is characterised in that the support wheel one（1）
At least provided with three, and along support plate one（7）Even circumferential is arranged；The support wheel one（1）With support plate one（7）In 15 ° of folders
Angle.
5. the adaptive screwdriven pipe robot according to Claims 2 or 3 or 4, it is characterised in that the guiding branch
Support arrangement includes support wheel two（14）, linkage two, gear three（17）, axle sleeve two（18）, support plate three（13）, support plate four
（21）With servomotor three（20）；The support wheel two（14）With the slide bar of linkage two（16）End is connected, slide bar（16）
It is fixed by a pin to support plate four（21）On；The connecting rod two（19）It is connected with quarter butt by pin, quarter butt and axle sleeve two
（18）It is fixedly connected；The axle sleeve two（18）Upper fixed cover is provided with gear three（17）, axle sleeve two（18）With gear three（17）It is fixed
In support plate four（21）On；The support plate three（13）It is provided with servomotor three（20）And support shaft, servomotor three（20）
With gear three（17）Into tooth drive connection；The support shaft is fixed on support plate three（13）Go up and be located at axle sleeve two（18）It is interior；Institute
State support plate three（13）Steering mechanism is connected with driving.
6. adaptive screwdriven pipe robot according to claim 5, it is characterised in that the support wheel two（14）
Three are provided with less, and along support plate four（21）Even circumferential is arranged；The support wheel two（14）With support plate four（21）In 90 ° of folders
Angle.
7. adaptive screwdriven pipe robot according to claim 5, it is characterised in that the driving steering mechanism
Positioned at support plate two（9）With support plate three（13）Between, it includes candan universal joint（10）, gear two（11）, servomotor two
（12）And gear shaft（23）；The candan universal joint（10）One end and support plate two（9）It is fixedly connected, the other end and gear shaft
（23）It is fixedly connected；The gear shaft（23）Upper fixed cover is provided with gear two（11）, gear shaft（23）It is nested in support plate three
（13）On；The servomotor two（12）It is fixedly installed on support plate three（13）On, and with gear two（11）It is connected in tooth.
8. adaptive screwdriven pipe robot according to claim 7, it is characterised in that the control system includes
Force snesor one（8）, force snesor two（15）, A/D converter and single-chip microcomputer；The force snesor one（8）It is arranged on rocking bar（2）
On, force snesor two（15）Slide bar is set（16）On；The force snesor one（8）With force snesor two（15）Turned by A/D
Parallel operation is electrically connected with single-chip microcomputer；The single-chip microcomputer also with servomotor one（4）, servomotor two（12）With servomotor three
（20）It is electrically connected, and controls it to act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710590249.6A CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710590249.6A CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107131391A true CN107131391A (en) | 2017-09-05 |
| CN107131391B CN107131391B (en) | 2019-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710590249.6A Expired - Fee Related CN107131391B (en) | 2017-07-19 | 2017-07-19 | A kind of adaptive screwdriven pipe robot |
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Cited By (9)
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| CN107755372A (en) * | 2017-11-17 | 2018-03-06 | 孟庆仕 | A kind of Domestic pipeline dredging machine device people |
| CN108223966A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of adaptation small pipeline entire roboticized work device |
| CN108223968A (en) * | 2017-12-01 | 2018-06-29 | 上海大学 | A kind of autonomous type small pipeline robot |
| CN108561675A (en) * | 2017-12-01 | 2018-09-21 | 上海大学 | A kind of hand-held type miniature pipeline operations device |
| CN109954728A (en) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | A kind of pipeline cleaning machine people |
| CN111571358A (en) * | 2020-06-01 | 2020-08-25 | 杭州唛唐智能科技有限公司 | Pipeline inner wall solder joint processing apparatus |
| CN112974434A (en) * | 2021-02-05 | 2021-06-18 | 李显红 | Pipeline mediation guiding mechanism for clearance that adaptability is strong |
| CN114075968A (en) * | 2021-11-16 | 2022-02-22 | 泰安泰烁岩层控制科技有限公司 | Drilling peeping instrument |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
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