CN108223969B - The double cable driving steering mechanism of pipe robot and control method - Google Patents
The double cable driving steering mechanism of pipe robot and control method Download PDFInfo
- Publication number
- CN108223969B CN108223969B CN201711361544.0A CN201711361544A CN108223969B CN 108223969 B CN108223969 B CN 108223969B CN 201711361544 A CN201711361544 A CN 201711361544A CN 108223969 B CN108223969 B CN 108223969B
- Authority
- CN
- China
- Prior art keywords
- cylinder block
- block set
- hawser
- robot
- double
- 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
-
- 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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
-
- 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
Landscapes
- 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 double cable driving steering mechanism of pipe robot and control methods, including preceding cylinder block set, propulsion assembly, rear cylinder block set and cable control component, propulsion assembly are connected between preceding cylinder block set and rear cylinder block set, and cable control component is connected to the rear end of rear cylinder block set；Preceding cylinder block set includes resilient support wheel leg, flexible steering wheel leg and casing；Flexibly supporting wheel leg includes support wheel, spring, sliding sleeve；Support wheel makees Elastic Sliding connection by spring and sliding sleeve；The flexible wheel leg that turns to includes left pinch roller and right pinch roller, double push rod cylinders；Left pinch roller and right pinch roller export axis connection and free to rotate with the both ends of double push rod cylinders respectively；Said mechanism and control method are based on hawser control and telescoping mechanism coordinative role, and robot body realizes that the lightweight of robot body structure and the zero curvature radius in pipe turn to, improve the adaptability to pipeline configuration without carrying steering motor.
Description
Technical field
The invention patent relates to pipe robot control technology fields, and in particular to a kind of double cable drivings turn of pipe robot
To mechanism and control method.It is turned to suitable for vertical plane pipe bent position and realizes that robot is (vertical by vertical pipeline to horizontal pipe
Face, the i.e. plane perpendicular to ground) right-angle steering.
Background technique
During pigging operation, pipe robot often will enter horizontal pipe from vertical shaft to investment pipeline work,
The bend pipe for being zero by radius of curvature, that is, right-angle elbow pipe are needed, this kind of bend pipe is almost without round-corner transition.Pipe robot
It realizes to turn to and needs to overcome self gravitation effect, for the right angle pipeline of not round-corner transition, robot can not be by fillet pipe
Wall work is turned to by action-oriented, it is necessary to configure high-power steering motor at rotary joint and speed reducer carries out active steering, significantly
Burden of robot body during straight trip is increased, the lightweight of robot body is unfavorable for.Therefore, for pipeline machine
People is difficult to realize the steering of zero curvature radius and light-weighted problem, proceeds from reality, based on double hawsers controls and telescopic machine
Structure coordinative role develops a kind of lightweight pipe robot of double cable drivings, thus for right-angle steering in vertical plane
The realization of pipeline cleaning provides basis.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a kind of double cables drives of pipe robot
Dynamic steering mechanism and control method, based on hawser control and telescoping mechanism coordinative role, robot body turns to electricity without carrying
Machine realizes that the lightweight of robot body structure and the zero curvature radius in pipe turn to, improves the adaptation to pipeline configuration
Property.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of double cables of pipe robot drive steering mechanism,
Including preceding cylinder block set, propulsion assembly, rear cylinder block set and cable control component, propulsion assembly are connected to preceding cylinder block set and rear body
Between component, the cable control component is connected to the rear end of rear cylinder block set；
The preceding cylinder block set includes resilient support wheel leg, flexible steering wheel leg and casing；The resilient support wheel leg
Including support wheel, spring, sliding sleeve；The support wheel makees Elastic Sliding connection by spring and sliding sleeve；The flexible steering wheel leg
Including left pinch roller and right pinch roller, double push rod cylinders；The left pinch roller and right pinch roller the both ends output shaft with double push rod cylinders respectively
It connects and free to rotate；
The cable control component includes reel, bracket, reel, left hawser and right hawser；The reel and reel are respectively by step
It is independently driven into motor, accurately controls the length of folding and unfolding left hawser and right hawser, to control the steering angle of robot body
Degree；The left hawser and right hawser are connected on the rear end face of rear cylinder block set；There are two tension to sense for installation on bracket
Device, left hawser and right hawser are each passed through the tension sensor.
The propulsion assembly includes single pole cylinder, the piston rod and cylinder body of single pole cylinder respectively with preceding cylinder block set and rear machine
Body component connection, so that preceding cylinder block set and rear cylinder block set do stretching motion.
The propulsion assembly include it is electronic push away cylinder, the electronic piston rod for pushing away cylinder and cylinder body respectively with preceding cylinder block set and rear machine
Body component connection, so that preceding cylinder block set and rear cylinder block set do stretching motion.
The double cables of pipe robot drive steering mechanism's control method, comprising the following steps:
A. firstly, by manually the pipe robot equipped with obliquity sensor, encoder, tension sensor, camera is set
Enter pipeline, pipe robot is wriggled by (a) keeps straight on to the position (b);
B. preceding cylinder block set is shunk, rear cylinder block set supports, and jointly controls cable length by double hawsers, so that robot
45 ° are rotated clockwise to the position (c) around rear cylinder block set center, and front and back body is axially stretched over the position (d), preceding cylinder block set branch
Support, rear cylinder block set are shunk, and front and back body is axially retracted to the position (e);
C. jointly control cable length by double hawsers, so that robot rotates clockwise 45 ° around preceding cylinder block set center
To the position (f), realization turned to curved；Wherein, in 0 °~45 ° and 45 °~90 ° course changing controls, indicate that motor control hawser is shunk
Or the pitch of release, it can be by this parameter of modification of program, smaller, it is higher that control turns to precision;
D. tension sensor guarantees two rope coordinated movements of various economic factors, can effectively avoid two by real-time detection cable tension
Rope active force mutually restrict and caused by energy loss;During robot rotates clockwise 0 °~45 °, left hawser is undertaken
Master control contraction, it is 0 state that right hawser, which keeps tension by tension sensor perception, makees driven release action, to avoid
Right hawser hinders divertical motion;
E. during robot rotates clockwise 45 °~90 °, right hawser undertakes master control release action, and left hawser relies on
Driven release action is made in tension sensor perception, and keeps left hawser identical with the tension of right hawser while release, with equal
Weigh two motor loads and extension hawser service life;
F. repeat step a to step e and complete to turn to pipe robot.
The double cables of pipe robot drive steering mechanism's control method, and pipe robot is wriggled by (a) keeps straight on to the position (b),
Preceding cylinder block set is shunk, rear cylinder block set supports, and jointly controls cable length by double hawsers, so that robot is around rear body group
Part center is axially extending to the position (d) while rotating clockwise 45 ° to the position (c), preceding cylinder block set and rear cylinder block set, preceding
Cylinder block set support, rear cylinder block set are shunk；Then preceding cylinder block set and rear cylinder block set axial shrinkage pass through to the position (e)
Double hawsers jointly control cable length, so that robot rotates clockwise 45 ° to the position (f), in fact around preceding cylinder block set (1) center
It turned now to curved；
Wherein, in 0 °~45 ° and 45 °~90 ° course changing controls, the pitch that motor control hawser shrinks or discharges is indicated,
Can be by this parameter of modification of program, smaller, it is higher that control turns to precision；Tension sensor passes through real-time detection cable tension,
Guarantee two rope coordinated movements of various economic factors, the active force that can effectively avoid right hawser and left hawser mutually restrict and caused by energy damage
Consumption；
During robot rotates clockwise 0 °~45 °, left hawser undertakes master control contraction, and right hawser relies on tension
It is 0 state that sensor perception, which keeps tension, makees driven release action, so that right hawser (4-3) be avoided to hinder divertical motion；
During robot rotates clockwise 45 °~90 °, right hawser undertakes master control release action, and left hawser, which relies on, to be opened
Driven release action is made in force snesor perception, and keeps right hawser identical with the tension of left hawser while release, with equilibrium
Two motor loads.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages:
By cable control component and telescoping mechanism coordinative role, robot body realizes robot without carrying steering motor
The lightweight of body construction and the zero curvature radius in pipe turn to, and improve the adaptability to pipeline configuration.It is passed by tension
Sensor perceives double hawser active forces, and realization control algolithm automatically adjusts two rope folding and unfolding length, and two rope stress of balance increases
Hawser service life.There is engineering significance to the comprehensive cleaning of pipeline.
Detailed description of the invention
Technical scheme of the present invention is further explained with reference to the accompanying drawing:
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is side view of the invention；
Fig. 5 is resilient support wheel leg of the invention and flexible steering wheel leg structural schematic diagram；
Fig. 6 is right-angle steering pipeline configuration figure of the invention；
Fig. 7 is cable control structure drawing of device of the invention；
Fig. 8 is straight trip campaign flow chart (section B-B view) of the invention；
Fig. 9 is divertical motion flow chart of the invention (Section A-A view)；
Figure 10 course changing control flow chart (0 ° clockwise~45 °)；
Figure 11 course changing control flow chart (45 ° clockwise~90 °)；
Figure 12 robot hardware's control system level framework map.
Wherein: 1, preceding cylinder block set；1-1, resilient support wheel leg；1-1-1, support wheel；1-1-2, spring；1-1-3, cunning
Set；1-2, flexible steering wheel leg；1-2-1, left pinch roller；1-2-2, left driving motor；1-2-3, double push rod cylinders；1-2-4, right drive
Dynamic motor；1-2-5, left pinch roller；1-3, casing；2, propulsion assembly；3, rear cylinder block set；4, cable control component；4-1, left reel；4-
2, bracket；4-3, left hawser；4-4, right reel；4-5, right hawser.
Specific embodiment
The present invention is described in further detail combined with specific embodiments below.
Pipe robot as shown in Figures 1 to 5 double cables drivings steering mechanism, including preceding cylinder block set 1, propulsion assembly 2,
The functional units such as cylinder block set 3 and cable control component 4 afterwards.Cable control component 4 gets up the other component suspentions of steering mechanism, makes pipe machine
Device people completes to turn to while from vertical pipeline exposure level pipeline.
Preceding cylinder block set 1 includes resilient support wheel leg 1-1, flexible steering wheel leg 1-2 and casing 1-3.Resilient support wheel
Leg 1-1 includes support wheel 1-1-1, spring 1-1-2, sliding sleeve 1-1-3；Support wheel 1-1-1 passes through spring 1-1-2 and sliding sleeve 1-1-3
Make Elastic Sliding connection.The flexible wheel leg 1-2 that turns to includes left pinch roller 1-2-1 and has pinch roller 1-2-3, double push rod electric cylinders 1-2-2；It is left
Pinch roller 1-2-1 and right pinch roller 1-2-3 can rotate freely movement with the both ends of double push rod electric cylinders 1-2-2 output axis connection respectively.
Propulsion assembly 2 includes single pole retractable electric cylinders 2, the piston rods of single pole electric cylinders 2 and cylinder body respectively with preceding cylinder block set 1 and
Cylinder block set 3 is connected afterwards, so that front and back body be driven to do stretching motion.
Afterwards body group 3 it is identical with preceding 1 structure composition of cylinder block set.
Cable control component 4 as shown in Figure 6 includes left reel 4-1, right reel 4-4, left hawser 4-3, right hawser 4-5 and bracket 4-
2；Left reel 4-1 and right reel 4-4 are independently driven by stepper motor respectively, accurately control the left hawser 4-3 of folding and unfolding and right hawser
The length of 4-5, to control robot body steering angle.
As shown in Fig. 2, left hawser 4-3 and right hawser 4-5 lie in after the casing of rear cylinder block set 3 nose circle face up and down two respectively
At node (two node lines pass through circle end face center), the rope tension of left hawser 4-3 and right hawser 4-5 are respectively by being mounted on bracket
Two tension sensors on 4-2 measure.
The working principle of the invention is:
Such as Fig. 8, when straight trip: firstly, by manually will equipped with sensor (obliquity sensor, encoder, tension sensor), take the photograph
As the pipe robot merging pipeline of head, preceding cylinder block set 1 is shunk, and rear cylinder block set 3 supports, and front and back body is axially stretched over
(b) position, the preceding support of cylinder block set 1, rear cylinder block set 3 are retracted to the position (c), and front and back body is axially retracted to the position (d), follows
Ring is reciprocal, realizes straight trip.
Such as Fig. 9, when steering: pipe robot arrives the position (b), the preceding contraction of cylinder block set 1, rear body by (a) straight trip of wriggling
Component 3 supports, and jointly controls cable length by double hawsers, so that robot rotates clockwise 45 ° around rear 3 center of cylinder block set
To the position (c), front and back body is axially stretched over the position (d), and the preceding support of cylinder block set 1, rear cylinder block set 3 are shunk, front and back body
Axial shrinkage jointly controls cable length to the position (e), by double hawsers, so that robot revolves clockwise around preceding 1 center of body
Turn 45 ° and arrive the position (f), realization turned to curved.
As shown in Figure 10 and Figure 11, it is 0 °~45 ° and 45 °~90 ° course changing control flow charts respectively, indicates motor control
Hawser is shunk or the pitch of release, can be by this parameter of modification of program, and smaller, it is higher that control turns to precision.Tension sensor
Effect is to guarantee that it is mutual to can effectively avoid two rope active forces by real-time detection cable tension for two rope coordinated movements of various economic factors
Restrict and caused by energy loss.During robot rotates clockwise 0 °~45 °, left hawser 4-3, which undertakes master control and shrinks, to be made
With it is 0 state that right hawser 4-5, which keeps tension by tension sensor perception, makees driven release action, to avoid right hawser 4-
5 hinder divertical motion.
During robot rotates clockwise 45 °~90 °, right hawser 4-3 undertakes master control release action, left hawser 4-5
Make driven release action by tension sensor perception, and keep the tension of hawser identical while release, with two balanced
Motor load.
The above is only specific application examples of the invention, are not limited in any way to protection scope of the present invention.All uses
Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.
Claims (4)
1. the double cables of pipe robot drive steering mechanism, it is characterised in that: including preceding cylinder block set (1), propulsion assembly (2), after
Cylinder block set (3) and cable control component (4), propulsion assembly (2) are connected between preceding cylinder block set (1) and rear cylinder block set (3), institute
State the rear end that cable control component (4) is connected to rear cylinder block set (3)；
The preceding cylinder block set (1) includes resilient support wheel leg (1-1), flexible steering wheel leg (1-2) and casing (1-3)；Institute
Stating resilient support wheel leg (1-1) includes support wheel (1-1-1), spring (1-1-2), sliding sleeve (1-1-3)；Support wheel (the 1-1-
1) Elastic Sliding connection is made by spring (1-1-2) and sliding sleeve (1-1-3)；The flexible steering wheel leg (1-2) includes left pinch roller
(1-2-1) and right pinch roller (1-2-3), double push rod cylinders (1-2-2)；The left pinch roller (1-2-1) and right pinch roller (1-2-3) are respectively
Axis connection and free to rotate is exported with the both ends of double push rod cylinders (1-2-2)；
The cable control component (4) includes reel (4-1), bracket (4-2), reel (4-4), left hawser (4-3) and right hawser (4-
5)；The reel (4-1) and reel (4-4) are independently driven by stepper motor respectively, accurately control the left hawser of folding and unfolding (4-3) and
The length of right hawser (4-5), to control the steering angle of robot body；The left hawser (4-3) and right hawser (4-5) point
It is not connected on the rear end face of rear cylinder block set (3)；Installation is there are two tension sensor on bracket (4-2), left hawser (4-3) and
Right hawser (4-5) is each passed through the tension sensor.
2. the double cables of pipe robot according to claim 1 drive steering mechanism, it is characterised in that: the propulsion assembly
It (2) include single pole cylinder, the piston rod of single pole cylinder is connect with preceding cylinder block set (1) and rear cylinder block set (3) respectively with cylinder body,
To which preceding cylinder block set (1) and rear cylinder block set (3) do stretching motion.
3. the double cables of pipe robot according to claim 1 drive steering mechanism, it is characterised in that: the propulsion assembly
(2) include it is electronic push away cylinder, the electronic piston rod for pushing away cylinder is connect with preceding cylinder block set (1) and rear cylinder block set (3) respectively with cylinder body,
To which preceding cylinder block set (1) and rear cylinder block set (3) do stretching motion.
4. the double cables of the pipe robot of claim 1 drive steering mechanism's control method, which comprises the following steps:
A. firstly, by the pipe robot equipped with obliquity sensor, encoder, tension sensor, camera is manually placed in pipe
Road, pipe robot is wriggled by a keeps straight on to the position b；
B. preceding cylinder block set (1) is shunk, rear cylinder block set (3) supports, and jointly controls cable length by double hawsers, so that machine
People rotates clockwise 45 ° to the position c around rear cylinder block set (3) center, and front and back body is axially stretched over the position d, preceding cylinder block set
(1) support, rear cylinder block set (3) are shunk, and front and back body is axially retracted to the position e；
C. jointly control cable length by double hawsers, arrived so that robot rotates clockwise 45 ° around preceding cylinder block set (1) center
The position f, realization turned to curved；Wherein, in 0 °~45 ° and 45 °~90 ° course changing controls, indicate that motor control hawser shrinks or releases
The pitch put, can be by this parameter of modification of program, and smaller, it is higher that control turns to precision；
D. tension sensor guarantees two rope coordinated movements of various economic factors, can effectively avoid two ropes by real-time detection cable tension
Active force mutually restrict and caused by energy loss;During robot rotates clockwise 0 °~45 °, left hawser (4-3) is held
Master control contraction is carried on a shoulder pole, it is 0 state that right hawser (4-5), which keeps tension by tension sensor perception, makees driven release action, keeps away
Exempt from right hawser (4-5) and hinders divertical motion；
E. during robot rotates clockwise 45 °~90 °, right hawser (4-5) undertakes master control release action, left hawser (4-
3) make driven release action by tension sensor perception, and keep left hawser (4-3) and right hawser (4-5) while release
Tension it is identical, with balanced two motor loads and extend hawser service life；
F. repeat step A to step E and complete to turn to pipe robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711361544.0A CN108223969B (en) | 2017-12-18 | 2017-12-18 | The double cable driving steering mechanism of pipe robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711361544.0A CN108223969B (en) | 2017-12-18 | 2017-12-18 | The double cable driving steering mechanism of pipe robot and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108223969A CN108223969A (en) | 2018-06-29 |
| CN108223969B true CN108223969B (en) | 2019-12-03 |
Family
ID=62652295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711361544.0A Expired - Fee Related CN108223969B (en) | 2017-12-18 | 2017-12-18 | The double cable driving steering mechanism of pipe robot and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108223969B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108758166B (en) * | 2018-07-17 | 2019-11-29 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN111895218A (en) * | 2020-07-09 | 2020-11-06 | 昆山宇顺环保科技有限公司 | Step-by-step pipeline robot |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1019512A4 (en) * | 2010-09-21 | 2012-08-07 | Renders Sa | DRIVING DEVICE FOR A PULLED VEHICLE FOR DRIVING ONE OR MULTI-PORTABLE STEEL WHEEL AXLE. |
| CN102601086B (en) * | 2012-03-09 | 2014-02-19 | 常州大学 | Double-drum type releasing and recovering device of pipeline robot |
| CN103445731B (en) * | 2012-06-01 | 2016-04-13 | 哈尔滨理工大学 | The glass curtain wall cleaning machine device people of two Wire driven robot |
| CN103867848B (en) * | 2012-12-14 | 2016-03-23 | 张瀚文 | A kind of helical driving type pipeline robot |
| CN104500914B (en) * | 2014-12-11 | 2016-09-14 | 浙江理工大学 | Reservoir culvert measuring robots |
| CN205278674U (en) * | 2015-10-23 | 2016-06-01 | 河北工业大学 | Pipeline detection robot |
| CN106436887B (en) * | 2016-11-29 | 2019-04-30 | 中国矿业大学 | A kind of pipe dredging machine people of multimode automatic butt |
| CN107478453A (en) * | 2017-08-17 | 2017-12-15 | 西南石油大学 | A kind of coiled tubing traction robot ground experiment analogue means |
-
2017
- 2017-12-18 CN CN201711361544.0A patent/CN108223969B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108223969A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108223969B (en) | The double cable driving steering mechanism of pipe robot and control method | |
| CN106314583B (en) | Articulated type pole-climbing detects robot | |
| CN104132795B (en) | A kind of model cable support system realizing wind-tunnel virtual flight | |
| CN104608112B (en) | Power line inspection robot and obstacle surmounting method thereof | |
| CN103625625B (en) | Bionic caudal fin underwater propeller based on hydraulic pressure artificial-muscle | |
| CN205534830U (en) | Pipeline robot | |
| CN102506266B (en) | Bionic squirm type pipeline travelling mechanism and control method thereof | |
| CN102179813B (en) | Flexible inchworm-like robot | |
| CN106314585B (en) | A kind of intelligence electric pole climbing robot | |
| CN108278440A (en) | The very big curvature steering mechanism of pipe robot and forward method | |
| CN105398990B (en) | Electric power angle steel tower auxiliary lifting apparatus | |
| CN111687820B (en) | Rigidity-variable exoskeleton structure based on positive pressure friction principle | |
| CN103253368B (en) | A kind of Pneumatic bionic muscle | |
| CN107416060B (en) | A kind of automation bar class climbing robot | |
| CN104108432B (en) | Steel tower climbing crusing robot | |
| CN106640553A (en) | Cleaning radius-variable fan tower cylinder cleaning equipment | |
| CN102032417A (en) | Pipeline robot driving mechanism | |
| CN103056882A (en) | Inchworm gait imitation climbing robot | |
| CN201902765U (en) | Driving mechanism of pipeline robot | |
| CN106584484B (en) | Fuselage rotary overhead line operation robot structure and application | |
| CN106672103B (en) | Internet of things spider robot for cleaning and maintaining outer wall of high building | |
| CN103240737A (en) | Three-degree-of-freedom hybrid drive winding type flexible cable parallel mechanism | |
| CN105366565B (en) | High voltage transmission line tower auxiliary lifting apparatus | |
| CN205204680U (en) | High -voltage line tower is with supplementary hoisting device | |
| CN108825927A (en) | Telescopic pipeline inner wall robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191203 Termination date: 20211218 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |