CN107321672A - Pipe surface attachment clears up robot - Google Patents
Pipe surface attachment clears up robot Download PDFInfo
- Publication number
- CN107321672A CN107321672A CN201710536790.9A CN201710536790A CN107321672A CN 107321672 A CN107321672 A CN 107321672A CN 201710536790 A CN201710536790 A CN 201710536790A CN 107321672 A CN107321672 A CN 107321672A
- Authority
- CN
- China
- Prior art keywords
- arc shell
- pipeline
- hydraulic giant
- robot
- pipe surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
Robot is cleared up the invention discloses a kind of pipe surface attachment, belongs to robot preparing technical field.Above-mentioned pipe surface attachment cleaning robot includes arc shell, it is provided with the inside of the arc shell for making arc shell move up dynamic wheeled locomotion mechanism in pipeline to be removed contamination, the vector propulsion mechanism for promoting arc shell to be moved along pipeline to be removed contamination is provided with the arc shell, for the fixing device being fixed on arc shell on pipeline to be removed contamination, for treating the giant system that pipeline of removing contamination is removed contamination, hydraulic giant slew gear and the hydraulic giant pose governor motion that is arranged on the hydraulic giant slew gear on for adjust hydraulic giant pose of the hydraulic giant in pipeline radial position to be removed contamination for adjusting giant system.The pipe surface attachment cleaning robot of the present invention can realize that pipeline surface contaminants to be removed contamination efficiently comprehensively are cleared up.
Description
Technical field
The present invention relates to robot preparing technical field, a kind of pipe surface attachment cleaning robot is particularly related to.
Background technology
In recent decades, with the development continually developed with Offshore Oil Industry of China's offshore oilfield, wellhead platform is made
For the important equipment in marine petroleum exploitation operation, more and more important role is play in modern marine exploitation.But, sea
Foreign biological meeting is largely adsorbed on the wellhead platform jacket of water immersion area and Tidal zone for a long time, common attachment marine organisms
Rise bottom, algae i.e. ocean software biology etc..The marine organisms of attachment change the roughness and damped coefficient on jacket surface,
The surface area of jacket is increased, while also increasing the gross weight of jacket, jacket is born bigger weight load, ripple
Wave load is action of ocean current power, and platform stabilization is that weatherliness declines, and dangerous occurrence probability is greatly increased.Meanwhile, ocean
Biological being attached to jacket surface also exacerbates corrosion of the marine environment to wellhead platform for a long time, also drops the slickness of catheter wall
It is low, add the surging suffered by post leg, swaying and the first wave for shaking direction and averagely drift about power, huge prestige is brought to safety in production
The side of body, therefore wellhead platform jacket needs progress periodic cleaning.
At present, China adheres to the method for cleaning of marine organisms for ocean wellhead platform jacket, still relies primarily on latent
Water person is slipped into seabed and marine organisms is cleared up using water jet, but manual cleaning operation is less efficient, wastes a large amount of
Manpower and materials.The cleaning work of offshore wellhead platform is realized also by specific cleaning equipment, compared to manual cleaning,
This method efficiency is higher, but larger by such environmental effects, is restricted to a certain extent.In addition, also having by waist hole
Mechanized equipment either robot is cleared up, cleaning efficiency is higher and this method prune job is stable, reliably, greatly improve
The operating efficiency of prune job, while adapting to marine environment complicated and changeable.
The content of the invention
The present invention, which provides one kind, can substitute manual mode of operation, realize that high-quality, high efficiency clears up pipeline table to be removed contamination
The pipe surface attachment cleaning robot of the dirt in face.
In order to solve the above technical problems, present invention offer technical scheme is as follows：
A kind of pipe surface attachment is cleared up on the inside of robot, including arc shell, the arc shell and is provided with use
It is provided with making arc shell be moved up in pipeline to be removed contamination on dynamic wheeled locomotion mechanism, the arc shell for promoting arc
Vector propulsion mechanism that housing is moved along pipeline to be removed contamination, fixed fill for be fixed on pipeline to be removed contamination by arc shell
Put, for treating giant system that pipeline of removing contamination removed contamination, waiting to remove contamination for adjusting the hydraulic giant of giant system
The hydraulic giant slew gear of pipeline radial position and the hydraulic giant position being arranged on the hydraulic giant slew gear for adjusting hydraulic giant pose
Appearance governor motion.
Further, the hydraulic giant slew gear includes the arc rotary support for being arranged on the arc shell head, institute
State and revolution slide rail is provided with arc rotary support, rotary slider is provided with the revolution slide rail.
Further, the hydraulic giant pose governor motion includes slider bracket, cylinder and hydraulic giant support bar, the sliding block branch
Frame is arranged in the rotary slider, and one end of the cylinder is hinged on the bottom of the slider bracket, the hydraulic giant support bar
One end be hinged on the top of the slider bracket, the other end of the hydraulic giant support bar is hinged on the other end of the cylinder,
The hydraulic giant of the giant system is arranged on the hydraulic giant support bar.
Further, the fixing device is clamp system, and the clamp system is two and is located at arc shell respectively
The both sides of length direction；The clamp system includes being arranged in the middle part of the arc shell by the first motor-driven leading screw, peace
Nut slider on the leading screw, it is fixed on the connecting rod at the nut slider two ends and is connected to the connecting rod end
The two ends of the width of the arc shell are hinged in the middle part of W shape guide rods, the W shapes guide rod；The vector propulsion mechanism
For series connection vector propulsion mechanism.
Further, the wheeled locomotion mechanism includes being arranged on the universal rolling wheel of the arc shell corner and is arranged on
It is used for the single-degree-of-freedom propeller that thrust is produced on the inside of arc shell, the single-degree-of-freedom propeller in the middle part of the arc shell
Including the second motor and the propeller being connected on second motor.
Further, the corner of the arc shell, which is provided with lug, the lug, is provided with open-work, in the open-work
Mobile putter is equipped with, the upper end of the mobile putter is provided with roller, and the lower end of the mobile putter sets the universal rolling
Wheel, spring is arranged between the roller and lug on the mobile putter；
The roller is located at the lower section on the W shape guide rods top of the clamp system, when decontamination orifice is treated in W shapes guide rod clamping
During road, the W shapes guide rod is not contacted with roller, when the W shapes guide rod unclamp do not clamp wait remove contamination pipeline when, the W shapes guide rod
Upper contact and promote the roller to move down.
Further, the fixing device is permanent magnetic adhesion device, and the magnetic adsorption device includes multiple absorbing units, often
Individual absorbing unit constitutes B-mode magnetic circuit by two pieces of permanent magnets and one piece of yoke；The vector propulsion mechanism is vector pusher in parallel
Structure.
Further, the wheeled locomotion mechanism includes the universal rolling wheel for being arranged on the arc shell corner.
The pipe surface attachment cleaning robot of the present invention, in use, moving to conjunction by vector propulsion device first
Right position is put, and pipe surface attachment cleaning robot is fixed together by fixing device with pipeline to be removed contamination, then in hydraulic giant position
Appearance governor motion is after correct position is adjusted to, and hydraulic giant slew gear works simultaneously with giant, carries out complete cycle blowdown.Complete
Into after the rubbish removing of a position, now fixing device is unclamped, and ensures that four universal rolling wheels have necessarily to pipeline by external force
Active force.Robot is moved ahead along pipeline to be removed contamination by vector propulsion device, blowdown is carried out to next position.Circulation
This action completes the cleaning blowdown to entirely pipeline to be removed contamination.
The invention has the advantages that：
1) the first clamp system and the second clamp system constitute a plane innovated completely eight with wheeled locomotion mechanism
Linkage, and only need to realize by a driving.When being clamped, sliding block can act on two handgrips simultaneously and pipeline is carried out
Step up, at the same design sliding block pipeline can be clamped in itself, so each clamp system be exactly realize one Wednesday face clamping；
During release, mechanism is two class cam mechanisms, and four universal rolling wheels of robot are placed on pipeline to be removed contamination, and composition one is wheeled
Travel mechanism, next action is carried out to facilitate.Research to the mechanism can enrich the development of mechanism well and realize wound
New opplication；
2) composition of hydraulic giant position adjusting mechanism and hydraulic giant slew gear is an improved space open chain mechanism.The mechanism
Design can realize giant in multiple angle positions, the cleaning to pipeline complete cycle, the design enriches manipulator family,
Realize the underwater application of manipulator；
3) wheeled locomotion mechanism is different from the plane open frame for the vehicle that there is now, and the design is one based on cylinder
Pipeline and the curved surface open frame innovated；The mechanics innovation and the research in terms of vehicle support stand is expanded, be also research later
Various climbing robots provide design experience for reference, and have expanded thinking；
4) permanent magnetic adhesion device includes multiple absorbing units, and each absorbing unit constitutes second by two pieces of permanent magnets, one piece of yoke
Type magnetic circuit；Absorbing unit volume in permanent magnetic adhesion device by finite element analysis and optimization design is smaller than similar, and material
The performance of material is high；
5) pipe surface attachment of the invention cleaning robot can realize replacement manual mode of operation, high-quality, height
The cleaning for completing pipeline surface contaminants to be removed contamination of efficiency.
Brief description of the drawings
Fig. 1 clears up the structural representation of robot for the pipe surface attachment of the embodiment of the present invention one；
Fig. 2 clears up the first clamp system structural representation of robot for the pipe surface attachment of the embodiment of the present invention one
Figure；
Fig. 3 is the hydraulic giant pose regulation of the pipe surface attachment cleaning robot of the embodiment of the present invention one and embodiment two
Mechanism structure schematic diagram；
Fig. 4 is the hydraulic giant slew gear of the pipe surface attachment cleaning robot of the embodiment of the present invention one and embodiment two
Structural representation；
Fig. 5 clears up the wheeled locomotion mechanism structural representation of robot for the pipe surface attachment of the embodiment of the present invention one
Figure；
Fig. 6 clears up the structural representation of robot for the pipe surface attachment of the embodiment of the present invention two；
Fig. 7 clears up the permanent magnetic adhesion device structural representation of robot for the pipe surface attachment of the embodiment of the present invention two
Figure；
Fig. 8 clears up the wheeled locomotion mechanism structural representation of robot for the pipe surface attachment of the embodiment of the present invention two
Figure.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
A kind of pipe surface attachment clears up robot, such as Fig. 1-8, including arc shell, and the inner side of arc shell is set
Have and be provided with the wheeled locomotion mechanism 6 for making arc shell be moved on pipeline 7 to be removed contamination, arc shell for promoting arc
Vector propulsion mechanism 1 that shape housing is moved along pipeline 7 to be removed contamination, for arc shell to be fixed on into consolidating on pipeline 7 to be removed contamination
Determine device 2, for treating giant system 3, the hydraulic giant for adjusting giant system 3 that pipeline 7 of removing contamination is removed contamination
32 the radial position of pipeline 7 to be removed contamination hydraulic giant slew gear 5 and be arranged on hydraulic giant slew gear 5 be used for adjust hydraulic giant pose
Hydraulic giant pose governor motion 4.
The pipe surface attachment cleaning robot of the present invention, in use, moving to conjunction by vector propulsion mechanism first
Right position is put, and pipe surface attachment cleaning robot is fixed together by fixing device with pipeline to be removed contamination, and then passes through hydraulic giant
Hydraulic giant is adjusted to after correct position by pose governor motion, and hydraulic giant slew gear works simultaneously with giant, carries out complete cycle row
It is dirty.After the rubbish for completing a position is removed, now fixing device is unclamped, four universal rolling wheels and tube contacts to be removed contamination,
Ensure that four universal rolling wheels have certain effect power to pipeline by external force.Make robot clear along treating by vector propulsion device
Dirty pipeline is moved ahead, and blowdown is carried out to next position.Cleaning blowdown of this action completion to entirely pipeline to be removed contamination is circulated,
Realize and substitute manual mode of operation, high-quality, the efficient cleaning for completing pipeline surface contaminants to be removed contamination.
Technical scheme is described in detail with two specific embodiments below.
Embodiment one：
The structural representation of robot is cleared up for pipe surface attachment as Figure 1-5.This example includes arc shell,
The wheeled locomotion mechanism 6 for making arc shell be moved on pipeline 7 to be removed contamination, arc shell are provided with the inside of arc shell
On be provided with moved for promoting arc shell along pipeline 7 to be removed contamination vector propulsion mechanism 1, for arc shell to be fixed on
Fixing device 2 on pipeline 7 to be removed contamination, for treating giant system 3 that pipeline 7 of removing contamination removed contamination, for adjusting height
The hydraulic giant 32 of pressure hydraulic giant system 3 the radial position of pipeline 7 to be removed contamination hydraulic giant slew gear 5 and be arranged on hydraulic giant slew gear 5
The upper hydraulic giant pose governor motion 4 for being used to adjust hydraulic giant pose.
Further, hydraulic giant slew gear 5 includes the arc rotary support 51 for being arranged on arc shell head, arc revolution
It is provided with support 51 on revolution slide rail 52, revolution slide rail 52 and is provided with rotary slider 53, revolution slide rail 52 can be in revolution branch
Revolution is realized on frame 51, complete circumference can be formed with rotary support 51, rotary slider 53 can be real on revolution slide rail 52
Now turn round, i.e., can realize along 360 ° of revolutions of pipeline to be removed contamination, be easy to the comprehensive dirt for clearing up pipe surface to be removed contamination.
Further, hydraulic giant pose governor motion 4 includes slider bracket 41, cylinder 43 and hydraulic giant support bar 42, sliding block branch
Frame 41 is arranged in rotary slider 53, and one end of cylinder 43 is hinged on the bottom of slider bracket 41, one end of hydraulic giant support bar 42
The top of slider bracket 41 is hinged on, the other end of hydraulic giant support bar 42 is hinged on the other end of cylinder 43, giant system 3
Hydraulic giant 31 be arranged on hydraulic giant support bar 42.Slider bracket 41 can move up and down in rotary slider 53, while can pass through
Adjust cylinder 43 to adjust the angle of hydraulic giant 31 with respect to the horizontal plane, be finally reached the purpose of the adjustment pose of hydraulic giant 31.Water under high pressure
Gun system 3 sprays high-pressure water jet to reach that removal is attached to pipeline table to be removed contamination by hydraulic giant 31 to the surface of pipeline 7 to be removed contamination
The purpose of face attachment.
Further, fixing device is clamp system 2, and clamp system 2 is two and is located at arc shell length side respectively
To both sides；Clamp system 2 includes being arranged in the middle part of arc shell by the first motor-driven leading screw 26, on leading screw 26
Nut slider 25, the W shapes guide rod 21 that is fixed on the connecting rod 24 at the two ends of nut slider 25 and is connected to the end of connecting rod 24, W shapes
The middle part of guide rod 21 is hinged on the two ends of the width of arc shell；Vector propulsion mechanism 1 is series connection vector propulsion mechanism.
Further, wheeled locomotion mechanism 6 includes being arranged on the universal rolling wheel 22 of arc shell corner and is arranged on arc
Housing central section is used on the inside of arc shell the single-degree-of-freedom propeller for producing thrust, and single-degree-of-freedom propeller includes the second motor
63 and the propeller 64 that is connected on the second motor 63, propeller 64 be used to making pipe surface attachment clear up robot away from or
Person moves close to pipeline to be removed contamination so that it can be rolled along pipeline to be removed contamination.
Further, the corner of arc shell, which is provided with to be provided with open-work, open-work on lug 62, lug 62, is equipped with shifting
Dynamic push rod 28, the upper end of mobile putter 28 is provided with roller 23, and the lower end of mobile putter 28 sets universal rolling wheel 22, the He of roller 23
Between lug 62 spring is arranged with mobile putter 28；
When nut slider 25 is moved straight up along leading screw 26, W shapes guide rod 21 unclamps from pipeline 7 to be removed contamination, spiral shell
Female other end of sliding block 25 is also away from pipeline, while the upper contact of W shapes guide rod 21 and promote roller 23 to move down, will be universal
Roller 22 presses to pipeline to be removed contamination, and final clamp system is unclamped, and four universal rolling wheels 22 are fitted with pipeline to be removed contamination；Work as slide nut
Block 25 along leading screw 26 move straight down when, W shapes guide rod 21 draws close clamping from pipeline 7 to be removed contamination, and nut slider 25 is in addition
One end is also fitted pipeline, while W shapes guide rod 21 is away from roller 23, and universal rolling wheel 22 is under the action of the spring away from pipeline, finally
Clamp system clamps pipeline.
Clamp system herein constitutes the plane innovated a completely eight-linkage mechanism with wheeled locomotion mechanism, and only needs to lead to
Cross a driving realization.When mechanism is clamped, nut slider can act on two clamp systems simultaneously and pipeline is carried out
Step up, while the nut slider of design can treat pipeline clamping of removing contamination in itself, so each clamp system is exactly to realize one week
The clamping in three faces；During release, clamp system acts on lug, four universal rolling wheels of robot is placed on pipeline to be removed contamination, structure
Into a wheeled locomotion mechanism, next action is carried out to facilitate, the research to the mechanism can enrich the hair of mechanism well
Open up and realize innovation and application.
The pipe surface attachment cleaning robot of the present embodiment is moved to properly by vector propulsion device 1 of connecting first
Pipe surface attachment cleaning robot is fixed together by position, clamp system 2 with pipeline 7 to be removed contamination, then in hydraulic giant position
Appearance governor motion 4 is after correct position is adjusted to, and hydraulic giant slew gear 5 works simultaneously with giant system 3, carries out complete cycle row
It is dirty.After the rubbish for completing a position is removed, now clamp system 2 unclamps, and clamp system 2 can act on four universal rolling wheels
22 constitute a wheeled locomotion mechanism 6 with tube contacts to be removed contamination, now universal rolling wheel 22 with frame.Middle position spiral
The rotation of oar 64 applies the thrust to pipeline 7 to be removed contamination to robot, it is ensured that four universal rolling wheels have certain to pipeline
Active force.Robot is moved ahead along pipeline to be removed contamination by vector propulsion device, blowdown is carried out to next position.Circulate this
Action completes the cleaning blowdown to entirely pipeline to be removed contamination.
Embodiment two：
As shown in Fig. 3-4,6-8, the present embodiment two has more similarity with embodiment one.Difference mainly has three
It is individual.
First, being that fixing device 2 ' is permanent magnetic adhesion device, comprising multiple absorbing units, each absorbing unit is by two pieces
Permanent magnet 22 ' and one piece of yoke 21 ' constitute B-mode magnetic circuit；By the device pipe surface attachment can be made to clear up robot to inhale
It is attached on pipeline 7 ' to be removed contamination.
Second, be in the design of wheeled locomotion mechanism 6 ', including arc shell 65 ', arc shell 65 ' is each side
Two universal rolling wheels 61 ' are installed；Four universal rolling wheels 61 ' are contacted with pipeline 7 ' to be removed contamination, under external force can be along
Pipeline to be removed contamination is rolled.
Third, being that vector propulsion mechanism 1 ' is vector propulsion mechanism in parallel.
The pipe surface attachment cleaning robot of the present embodiment moves to conjunction by vector propulsion mechanism 1 ' in parallel first
Right position is put, and it is solid with pipeline 7 ' to be removed contamination that pipe surface attachment is cleared up robot by permanent magnetic adhesion device 2 ' by suction-operated
Fixed, hydraulic giant pose governor motion 4 ' is after correct position is adjusted to, and hydraulic giant slew gear 5 ' is with giant system 3 ' while work
Make, carry out complete cycle blowdown.After the rubbish for completing a position is removed, permanent magnetic adhesion device 2 ' applies active force to robot and subtracted
It is small, but ensure that four universal rolling wheels 61 ' and pipeline have certain interaction force.Make finally by vector propulsion device 1 ' in parallel
Robot is moved ahead along pipeline to be removed contamination, and blowdown is carried out to next position.This action is circulated to complete to entirely waiting to remove contamination
The cleaning of pipeline.
To sum up, pipe surface attachment of the invention cleaning robot is pipe surface attachment using vector propulsion mechanism
Clear up robot and motion-promotion force is provided, cause it to move to ad-hoc location, fixed by clamp system with pipeline to be removed contamination, pass through height
Pressure hydraulic giant system, hydraulic giant slew gear and hydraulic giant pose governor motion realize pipeline complete cycle cleaning to be removed contamination, and then pass through wheel again
Formula travel mechanism causes it to move to the next position for needing to clear up, and realizes that pipeline surface contaminants to be removed contamination efficiently comprehensively are cleared up.
Above is the preferred embodiment of the present invention, it is noted that for those skilled in the art,
Under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should be regarded as this
The protection domain of invention.
Claims (8)
1. a kind of pipe surface attachment clears up robot, it is characterised in that including arc shell, the inner side of the arc shell
It is provided with for making arc shell move up in pipeline to be removed contamination to be provided with dynamic wheeled locomotion mechanism, the arc shell to be used for
Promote vector propulsion mechanism that arc shell moved along pipeline to be removed contamination, for arc shell to be fixed on pipeline to be removed contamination
Fixing device, for treating giant system that pipeline of removing contamination removed contamination, existing for adjusting the hydraulic giant of giant system
The hydraulic giant slew gear of pipeline radial position to be removed contamination and be arranged on the hydraulic giant slew gear be used for adjust hydraulic giant pose
Hydraulic giant pose governor motion.
2. pipe surface attachment according to claim 1 clears up robot, it is characterised in that the hydraulic giant slew gear
Revolution slide rail, institute are provided with arc rotary support including being arranged on the arc shell head, the arc rotary support
State and be provided with rotary slider on revolution slide rail.
3. pipe surface attachment according to claim 1 clears up robot, it is characterised in that the hydraulic giant pose regulation
Mechanism includes slider bracket, cylinder and hydraulic giant support bar, and the slider bracket is arranged in the rotary slider, the cylinder
One end is hinged on the bottom of the slider bracket, and one end of the hydraulic giant support bar is hinged on the top of the slider bracket, institute
The other end for stating hydraulic giant support bar is hinged on the other end of the cylinder, and the hydraulic giant of the giant system is arranged on the water
On gun strut.
4. robot is cleared up according to any described pipe surface attachments of claim 1-3, it is characterised in that the fixed dress
Clamp system is set to, the clamp system is two and is located at the both sides of arc shell length direction respectively；The clamp system
Including be arranged in the middle part of the arc shell by the first motor-driven leading screw, the nut slider on the leading screw,
The connecting rod for being fixed on the nut slider two ends and the W shape guide rods for being connected to the connecting rod end, the middle part of the W shapes guide rod
It is hinged on the two ends of the width of the arc shell；The vector propulsion mechanism is series connection vector propulsion mechanism.
5. pipe surface attachment according to claim 4 clears up robot, it is characterised in that the wheeled locomotion mechanism
It is used for including being arranged on the universal rolling wheel of the arc shell corner and being arranged in the middle part of the arc shell into arc shell
Side produces the single-degree-of-freedom propeller of thrust, and the single-degree-of-freedom propeller includes the second motor and is connected to second motor
On propeller.
6. pipe surface attachment according to claim 5 clears up robot, it is characterised in that the four of the arc shell
Angle, which is provided with lug, the lug, is provided with open-work, and mobile putter, the upper end of the mobile putter are equipped with the open-work
Roller is provided with, the lower end of the mobile putter sets the universal rolling wheel, pushed away between the roller and lug in the movement
Spring is arranged with bar；
The roller is located at the lower section on the W shape guide rods top of the clamp system, when the W shapes guide rod clamps pipeline to be removed contamination
When, the W shapes guide rod is not contacted with roller, when the W shapes guide rod unclamp do not clamp wait remove contamination pipeline when, the W shapes guide rod
Upper contact simultaneously promotes the roller to move down.
7. robot is cleared up according to any described pipe surface attachments of claim 1-3, it is characterised in that the fixed dress
Permanent magnetic adhesion device is set to, the magnetic adsorption device includes multiple absorbing units, and each absorbing unit is by two pieces of permanent magnets and one
Block yoke constitutes B-mode magnetic circuit；The vector propulsion mechanism is vector propulsion mechanism in parallel.
8. pipe surface attachment according to claim 7 clears up robot, it is characterised in that the wheeled locomotion mechanism
Universal rolling wheel including being arranged on the arc shell corner.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536790.9A CN107321672B (en) | 2017-07-04 | 2017-07-04 | Pipe surface attachment clears up robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710536790.9A CN107321672B (en) | 2017-07-04 | 2017-07-04 | Pipe surface attachment clears up robot |
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| CN107321672A true CN107321672A (en) | 2017-11-07 |
| CN107321672B CN107321672B (en) | 2019-08-27 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108212886A (en) * | 2018-01-02 | 2018-06-29 | 山东大学 | The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries |
| CN108216520A (en) * | 2018-01-03 | 2018-06-29 | 山东大学 | Alternative expression mobile mechanism applied to offshore oilfield wellhead platform duct frame |
| CN108216519A (en) * | 2018-01-02 | 2018-06-29 | 山东大学 | One kind is towards offshore oilfield wellhead platform jacket wheeled locomotion mechanism |
| CN108380601A (en) * | 2018-04-28 | 2018-08-10 | 中交第三航务工程局有限公司 | A kind of underwater steel-pipe pile surface cleaning machines people |
| CN108468862A (en) * | 2018-05-25 | 2018-08-31 | 东北石油大学 | A kind of underwater robot for submarine pipeline Magnetic memory testing |
| CN108655075A (en) * | 2018-06-04 | 2018-10-16 | 苏州格目软件技术有限公司 | A kind of annular cleaning equipment for ocean engineering platform |
| CN109760803A (en) * | 2018-12-27 | 2019-05-17 | 中国航天空气动力技术研究院 | A kind of underwater cleaning robot |
| CN109772785A (en) * | 2018-12-10 | 2019-05-21 | 中国船舶重工集团公司第七一九研究所 | A kind of energy-efficient aquatic organism cleaning system |
| CN109795647A (en) * | 2019-01-29 | 2019-05-24 | 山东大学 | Electromagnetic adsorption-thrust by airscrew underwater cleaning robot |
| CN109794476A (en) * | 2019-03-27 | 2019-05-24 | 王星月 | A kind of wisdom water utilities inner wall of the pipe dirt cleaner and cleaning method |
| CN109910022A (en) * | 2018-12-28 | 2019-06-21 | 张宝霞 | Underwater automatic cutting milling robot |
| CN111604306A (en) * | 2020-05-19 | 2020-09-01 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN111809695A (en) * | 2020-08-03 | 2020-10-23 | 江苏安全技术职业学院 | Robot manipulator clamp for cleaning blocked pipeline |
| CN112354978A (en) * | 2020-10-11 | 2021-02-12 | 中维建材科技(苏州)有限公司 | Municipal pipe network maintenance device |
| CN114224227A (en) * | 2021-08-06 | 2022-03-25 | 杭州嘉隆物联网科技有限公司 | Information coding method for frequency and position double modulation |
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| CN111809695A (en) * | 2020-08-03 | 2020-10-23 | 江苏安全技术职业学院 | Robot manipulator clamp for cleaning blocked pipeline |
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