CN108692133A - Pipe robot - Google Patents
Pipe robot Download PDFInfo
- Publication number
- CN108692133A CN108692133A CN201810638273.7A CN201810638273A CN108692133A CN 108692133 A CN108692133 A CN 108692133A CN 201810638273 A CN201810638273 A CN 201810638273A CN 108692133 A CN108692133 A CN 108692133A
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- China
- Prior art keywords
- bearing body
- connect
- pipe robot
- support base
- pipeline
- 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.)
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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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- 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
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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
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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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of pipe robots, it includes supporting mechanism, the walking mechanism being connect with supporting mechanism, Anti-collision mechanism, Working mechanism and external connection mechanism, supporting mechanism includes support base and bearing body, bearing body is the hollow structure inside of lateral opening, and support base is located at the lower section of bearing body;Walking mechanism is connect by adaptive mechanism with support base, Anti-collision mechanism is arranged at the top and both sides of bearing body, Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, the first end of multi-degree-of-freemechanical mechanical arm is fixed on the inside of bearing body, and the second end of multi-degree-of-freemechanical mechanical arm is connect with end effector;External connection mechanism includes material cable conveying device and control system, and material cable conveying device is arranged in the inside of bearing body and is connect with pipeline external, and control system carries out operation for controlling each mechanism.The present invention is applied widely, operating environment that can be in the pipeline of adaptive various shapes.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of pipe robot.
Background technology
In recent years, oil, chemical industry, nuclear industry, the disaster relief, urban construction sewage, natural with the rapid development of China's industrial level
The fields such as gas conveying, industrial material transport and constructure ventilation system more and more use pipe-line system, inner wall of the pipe
Burn into cracking etc. becomes its fatal harm.To increase the service life of pipeline, improving its utilization rate, prevent safety accident
Deng needing to enter pipeline with pipe robot and sprayed, polish, weld, maintain etc. what a series of workers were not easy directly to operate
Work.
But current pipe robot can only the operation in circular pipe, rectangular duct or other shapes pipe can not be adapted to
Road can not adapt to the continuous normal work under variable cross-section operating mode moreover, being only capable of completing single work pattern under single section,
If there is the irregular pipeline such as uneven, walking stability drastically declines, and also has no security consideration at work, easily occurs
The dangerous situations such as explosion.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of pipe robot, applied widely, is applicable to a variety of shapes
Operating environment in the pipeline of shape, and be not limited only in circular pipe, and polishing, spraying, weldering can be continuously finished in pipeline
Connect equal several work pattern.
The invention is realized in this way:
A kind of pipe robot comprising supporting mechanism, the walking mechanism being connect with the supporting mechanism, anti-collision collide
Structure, Working mechanism and external connection mechanism,
The supporting mechanism includes support base and bearing body, and the bearing body is the inner hollow knot of lateral opening
Structure, the support base are located at the lower section of the bearing body;
The walking mechanism is connect by adaptive mechanism with the support base, the walking mechanism include driving wheel,
Power is transmitted to the driving wheel by rubber belt track and decelerating motor, the decelerating motor by gear, and the driving wheel drive is enclosed
It is wound on the rubber belt track on the outside of the driving wheel to be rotated, the outside of the rubber belt track is evenly arranged with multiple softwares
Sucker;The adaptive mechanism includes spring shock-absorbing device, two-way function shock absorber and Hooke's hinge transfer, the spring shock-absorbing
Device includes into two spring shock-absorbing devices of splayed setting, and the first end of each spring shock-absorbing device is fixed on the support bottom
On seat, the second end of each spring shock-absorbing device is connect with the Hooke's hinge transfer, and the Hooke's hinge transfer is solid
It is scheduled in the walking mechanism, the first end of the two-way function shock absorber is fixed in the support base, the two-way work
It is fixed in the walking mechanism with the second end of shock absorber, the two-way function shock absorber is located at two spring shock-absorbing devices
Between centre position;
The Anti-collision mechanism is arranged at the top and both sides of the bearing body, and the Anti-collision mechanism includes elasticity
The first end of telescopic guide, connecting spring and directive wheel, the elastic telescopic guider is fixed on the bearing body
On, the second end of the elastic telescopic guider is connect with the directive wheel, and the connecting spring is for stretching two elasticity
Contracting guider is flexibly connected together;
The Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, the first end of the multi-degree-of-freemechanical mechanical arm
It is fixed on the inside of the bearing body, the second end of the multi-degree-of-freemechanical mechanical arm is connect with the end effector;
The external connection mechanism includes material cable conveying device and control system, and the material cable conveying device is set
It sets in the inside of the bearing body and is connect with pipeline external, for conveying material or cable, the control system is for controlling
Zhi Ge mechanisms carry out operation, and the decelerating motor is electrically connected with the control system.
Preferably, the Anti-collision mechanism is equipped with four groups, and two groups are arranged at the top of the bearing body, and two groups set respectively
It sets in the both sides of the bearing body.
Preferably, the elastic telescopic guider is elastic telescopicing rod.
Preferably, further include safe auxiliary body for subsidiary conduit robot security's operation, the safe auxiliary machine
Structure includes air supplying and exhausting system, and the air supplying and exhausting system includes exhaust blower, air hose, activated carbon adsorption device and fan, the air draft
Machine is located at the outside of pipeline, and the activated carbon adsorption device and the fan are located at the inside of the bearing body, the air draft
Machine is connect with the air hose, and the wind that the exhaust blower is sent is transported through the activated carbon adsorption device mistake by the air hose
The fan is driven to rotate after filter.
Preferably, further include detent mechanism, the detent mechanism includes ultrasonic sensor, is arranged in the bearing body
Inside.
Preferably, further include information collection mechanism, described information collecting mechanism includes infrared camera, is arranged at the end
It holds on actuator.
Preferably, sensor and warning device are additionally provided on the bearing body, the sensor includes concentration sensor
And temperature sensor, when the concentration or temperature that sensor detects are more than alarm threshold value, warning device sends out alarm, the control
System processed adjusts the wind speed size of pressure fan according to the concentration that concentration sensor detects.
Compared with prior art, the invention has the advantages that:
(1) pipe robot provided by the invention is simple in structure, applied widely, can adaptive various shapes pipeline,
Including the operating environment in circle, rectangle, variable cross-section or the rough various shapes pipeline such as irregular, it is equipped with adaptive
Mechanism and Anti-collision mechanism, can adaptive various contact surfaces, and can bumper and absorbing shock, so that robot is walked safely in pipeline
And stablize operation.
(2) Working mechanism of the invention includes multi-degree-of-freemechanical mechanical arm and end effector, and setting is so that pipeline machine
People can be completed at the same time multiple-working mode, and the several work pattern such as polishing, spraying, welding, work(can be continuously finished in pipeline
It is strong expansion to be moved.
(3) structure of the invention is compact, reasonable design, can be adaptive to walking environment, walking mechanism and adaptive mechanism
Setting so that pipe robot walking compliance is high, in particular circumstances still can safe and stable, reliable work, and
Equipped with detent mechanism and information collection mechanism, real-time monitoring results and location information.
(4) present invention by external connection mechanism makes pipe robot be connected with External cable, endlessly for
It provides necessary power, or material needed for its transportation work when such as spraying operation, can be reduced effectively and be recycled
The vibrations of pump housing when conveying.
(5) safe auxiliary body of the invention includes air supplying and exhausting system, and exhaust blower is conveyed wind-force by air hose in outside
Come in, adjusts wind speed size in conjunction with concentration sensor, the granule density of working region can be reduced, it can in certain special operations
To effectively prevent the generation of safety accident (such as exploding), operational security is improved.
(6) the big equipment of the weight needed for operation can be placed in outside by the present invention, in exhaust blower, circulating pump, control
Heart equipment, material etc. can effectively reduce overall weight, and the pressure to contact surface can be reduced in certain special operations, prevent
The danger that only contact surface is crushed.
(7) the rubber belt track wheel that the present invention uses, and subsidiary multiple software suckers thereon, simple in structure, functional can
The part of impact force that generates and vibrations when mitigating pipe robot startup-shutdown, traveling and work, and Athey wheel and contact surface
Contact area is big, and pressure is small, there is higher safety and stability.
(8) present invention uses multigroup elastic telescopic guider, and global design is reasonable, can be by robot entirety envelope
In safe range, prevents to scrape inner surface of pipeline, cause the damage of pipe robot or inner surface of pipeline, ensure that
The safety of operation.
Description of the drawings
Fig. 1 is the schematic diagram of the pipe robot of the present invention;
Fig. 2 is the schematic diagram of the walking mechanism of the present invention;
Fig. 3 is the schematic diagram of the adaptive mechanism of the present invention.
Specific implementation mode
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect.It is identical attached in attached drawing
Icon note indicates functionally the same or similar element.Although the various aspects of embodiment are shown in the accompanying drawings, unless special
It does not point out, it is not necessary to attached drawing drawn to scale.
As shown in Figure 1, a kind of pipe robot comprising supporting mechanism, walking mechanism, adaptive mechanism, anti-collision collide
Structure, Working mechanism, safe auxiliary body, information collection mechanism, external connection mechanism and detent mechanism,
Supporting mechanism includes support base 3 and bearing body 15, and bearing body 15 is the hollow structure inside of lateral opening,
For bearing body 15 for carrying necessary equipment, support base 3 is located at the lower section of bearing body 15, works in pipe robot
When, the opening of bearing body 15 is the front end of pipe robot;
As shown in Fig. 2, walking mechanism is connect by adaptive mechanism with support base 3, walking mechanism include driving wheel 12,
Power is transmitted to driving wheel 12 by rubber belt track 13 and decelerating motor 2, decelerating motor 2 by gear, and the drive of driving wheel 12 is centered around
The rubber belt track 13 in 12 outside of driving wheel is rotated, and completes walking, the outside of rubber belt track 13 is evenly arranged with multiple softwares
The setting of sucker 11, rubber belt track 13 and software sucker 11 has the function of buffering, damping, in the process of walking, ground in pipeline
It impacts in face of the part that robot generates and is mitigated by software sucker 11;As shown in figure 3, adaptive mechanism includes spring shock-absorbing device
16, two-way function shock absorber 17 and Hooke's hinge transfer 18, spring shock-absorbing device 16 include into two springs of splayed setting
The first end of shock absorber 16, each spring shock-absorbing device 16 is fixed in support base 3, the second end of each spring shock-absorbing device 16 with
Hooke's hinge transfer 18 connects, and Hooke's hinge transfer 18 is fixed in walking mechanism, and the first of two-way function shock absorber 17
End is fixed in support base 3, and the second end of two-way function shock absorber 17 is fixed in walking mechanism, two-way function shock absorber 17
Centre position between two spring shock-absorbing devices 16;At work, if ground shape changes in pipeline, side
The trend rotated at once can occur for two groups of Hooke's hinge transfers 18, but due to two-way function shock absorber 17 under the action of, turn
It is dynamic to be carried out slowly middle, and when walking mechanism and contact surface completely attach to, two-way function shock absorber 17 stops stretching, and
And certain contractility is maintained, this state is kept it in, and generate when pipe robot is opened, shuts down, travels and works
Most of impact force will thus adaptive mechanism mitigation filter out, to greatly reduce due to external environment change and cause
Pipe robot entirety vibrations, ensure pipe robot can safe and stable, efficient work;
Anti-collision mechanism is arranged at the top and both sides of bearing body 15, and Anti-collision mechanism includes that elastic telescopic is oriented to dress
7, connecting spring 8 and directive wheel 10 are set, the first end of elastic telescopic guider 7 is fixed on bearing body 15, elastic telescopic
The second end of guider 7 is connect with directive wheel 10, and two elastic telescopic guiders 7 for being flexibly connected by connecting spring 8
Together;Preferably, elastic telescopic guider is elastic telescopicing rod;The setting of Anti-collision mechanism is used for entire pipeline machine
People include integrally in entire operation process, avoid that special pipeline inner wall is caused to damage in trouble free service spatial dimension, and
And mitigate vibrations when impact operation;
Working mechanism includes multi-degree-of-freemechanical mechanical arm 13 and end effector 12, and the first end of multi-degree-of-freemechanical mechanical arm 13 is solid
It is scheduled on the inside of bearing body 15, the second end of multi-degree-of-freemechanical mechanical arm 13 is connect with end effector 12, and extends to carrying
The outside of car body 15, end effector can be the apparatus for work such as spray equipment, grinding device, welder device, as robot is grabbed
Hand, spray gun, robotic gun, robot deburred tool etc.;
Information collection mechanism includes infrared camera 11, and infrared camera 11 is arranged on end effector 12, infrared to take the photograph
As head 11 is moved with end effector 12, for real-time detection operation situation and acquires information and be sent to control system, so as to
It is shown with the display unit in external control system;
Safe auxiliary body includes air supplying and exhausting system, air supplying and exhausting system include exhaust blower, air hose, activated carbon adsorption device and
Fan 6, exhaust blower are located at the outside of pipeline, and activated carbon adsorption device and fan 6 are located at the inside of bearing body 15, exhaust blower with
Air hose connects, and the wind that exhaust blower is sent drives fan 6 to rotate by being transported through after activated carbon adsorption device filters for air hose, excellent
Choosing, fan is located at city and is open on corresponding side in car body, and the powder of front end high concentration is run for dispelling pipe robot
Dirt, subsidiary conduit robot security's operation;
External connection mechanism includes material cable conveying device 4 and control system 14, and the setting of material cable conveying device 4 exists
The inside of bearing body 15 is simultaneously connect with pipeline external, and for conveying material or cable, control system 14 is for controlling each mechanism
Operation is carried out, decelerating motor 2 be electrically connected with control system 14, and when work, material cable conveying device connection cables drive deceleration
Motor 2 rotates, and driving wheel is driven to rotate, and to drive rubber belt track to move, pipe robot is made to walk, detent mechanism includes
Ultrasonic sensor 5 is set to the inside of bearing body 15, for the accurate position letter of simultaneously transfer canal robot to be accurately positioned
Breath.
Preferably, in the present embodiment, Anti-collision mechanism is equipped with four groups, and two groups are arranged at the top of bearing body 15, and two
Group is separately positioned on the both sides of bearing body 15.
Preferably, sensor and warning device are additionally provided on bearing body 15, sensor includes concentration sensor and temperature
Sensor, when the concentration or temperature that sensor detects are more than alarm threshold value, warning device sends out alarm, the control system
The wind speed size of pressure fan is adjusted according to the concentration that concentration sensor detects.
According to job requirements, multi-degree-of-freemechanical mechanical arm 13 is selected, and end effector 12 is changed to required corresponding function
Apparatus for work, such as robot gripper, spray gun, robotic gun, robot deburred tool, in Anti-collision mechanism
Between connecting spring and elastic telescopicing rod automatically adjust its initial length and adaptive mechanism according to pipeline section shape carry out from
Dynamic hue angle, makes the complete envelope of pipe robot in pipeline, and allow end effector also within the scope of its envelope.Mostly freely
The setting for spending mechanical arm may make end effector that can carry out operation in the different location in pipeline.By pipe robot people
Work is positioned over initial position preparation in pipeline, and power-on command is sent out by external control centre, and robot starts self-test, occurs
Failure puts back to specified initial position after artificial maintenance, and then power-on command reaches control system 14, when signal reaches decelerating motor
After 2, through gear drive so that driving wheel rotates, to drive rubber belt track to rotate, driving walking mechanism is to a desired speed
It is moved, External cable can be followed by pipe robot by material cable conveying device 4 and constantly extend internally, and be always pipe
The electrical equipment of pipeline robot provides electric power, it is maintained normally to work, and under certain Special Work patterns or it is provided
Material needed for work.The adaptive mechanism being connected with walking mechanism can generate the impact in motion process and effectively cut
It is weak, and automatic adaptation different shape road surface, the reaction force generated when barrier, startup-shutdown, work can be inhaled by software
Disk 11, rubber belt track 13, Anti-collision mechanism, spring shock-absorbing device 16, two-way function shock absorber 17 carry out multiple mitigation and weaken, and ensure
Stability when robot manipulating task and safety.Meanwhile work also has ultrasonic sensor 5 and infrared camera 11, ultrasound
Wave sensor 5 is by the accurate outflow of the location information of pipe robot to external control centre, and the control of control system 14 is mostly certainly
End effector 12 is carried by degree mechanical arm 13 and reaches operating position progress operation, infrared camera 11 can be according to end effector
12 movement and pose variation occurs, and by collected work information by the display simultaneous display of external control unit
Out, the moment monitors handling situations.In the inside of control system 14 equipped with sensors and warning devices such as concentration and temperature, and
The concentration detected according to concentration sensor controls the wind speed size of air supplying and exhausting system, and alarm is sent out when dangerous, is ensured in work
The granule density for making region will not be excessive, prevents the generation of safety accident.After the completion of work, material cable conveying device and wind
Guan Junke is collected by external draw off gear, while pipe robot, according to scheduled path exit conduit, operation terminates.
Off-line programing system and trajectory planning can also be used in the motion path of the pipe robot of the present invention, can measure pipeline in advance
Basic size inside model directly carries out path planning using CAM softwares, generates NC processing programs, then utilizes at postposition
Program Generating robot language is managed, to more efficient operation.
To sum up, the present invention has the following advantages:
Pipe robot provided by the invention is simple in structure, can adaptive various shapes pipeline, be equipped with adaptive machine
Structure and Anti-collision mechanism, can adaptive various contact surfaces, and can bumper and absorbing shock, so that robot is walked safely simultaneously in pipeline
Stablize operation.Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, setting allow pipe robot simultaneously
Multiple-working mode is completed, the several work pattern such as polishing, spraying, welding can be continuously finished in pipeline, functional movement is expanded
Property is strong.Compact-sized, reasonable design, can be adaptive to walking environment, and the setting of walking mechanism and adaptive mechanism makes pipeline
Robot ambulation compliance is high, in particular circumstances still can safe and stable, reliable work, and be equipped with detent mechanism
With information collection mechanism, real-time monitoring results and location information.
Finally it should be noted that:Above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation;Although the present invention is described in detail referring to the foregoing embodiments, it will be understood by those of ordinary skill in the art that:
It can still modify to the technical solution recorded in previous embodiment, or to which part or all technical features into
Row equivalent replacement;And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (7)
1. a kind of pipe robot, it is characterised in that:It include supporting mechanism, the walking mechanism being connect with the supporting mechanism,
Anti-collision mechanism, Working mechanism and external connection mechanism,
The supporting mechanism includes support base and bearing body, and the bearing body is the hollow structure inside of lateral opening,
The support base is located at the lower section of the bearing body;
The walking mechanism is connect by adaptive mechanism with the support base, and the walking mechanism includes driving wheel, rubber
Power is transmitted to the driving wheel by crawler belt and decelerating motor, the decelerating motor by gear, and the driving wheel drive is centered around
The rubber belt track on the outside of the driving wheel is rotated, and the outside of the rubber belt track is evenly arranged with multiple softwares and inhales
Disk;The adaptive mechanism includes spring shock-absorbing device, two-way function shock absorber and Hooke's hinge transfer, the spring shock-absorbing device
Include into two spring shock-absorbing devices that splayed is arranged, the first end of each spring shock-absorbing device is fixed on the support base
On, the second end of each spring shock-absorbing device is connect with the Hooke's hinge transfer, and the Hooke's hinge transfer is fixed
In the walking mechanism, the first end of the two-way function shock absorber is fixed in the support base, the two-way function
The second end of shock absorber is fixed in the walking mechanism, the two-way function shock absorber be located at two spring shock-absorbing devices it
Between centre position;
The Anti-collision mechanism is arranged at the top and both sides of the bearing body, and the Anti-collision mechanism includes elastic telescopic
The first end of guider, connecting spring and directive wheel, the elastic telescopic guider is fixed on the bearing body, institute
The second end for stating elastic telescopic guider is connect with the directive wheel, and the connecting spring is used to two elastic telescopics being oriented to
Device is flexibly connected together;
The Working mechanism includes multi-degree-of-freemechanical mechanical arm and end effector, and the first end of the multi-degree-of-freemechanical mechanical arm is fixed
In the inside of the bearing body, the second end of the multi-degree-of-freemechanical mechanical arm is connect with the end effector;
The external connection mechanism includes material cable conveying device and control system, and the material cable conveying device setting exists
The inside of the bearing body is simultaneously connect with pipeline external, and for conveying material or cable, the control system is each for controlling
Mechanism carries out operation, and the decelerating motor is electrically connected with the control system.
2. pipe robot according to claim 1, it is characterised in that:The Anti-collision mechanism is equipped with four groups, and two groups set
It sets in the top of the bearing body, two groups of both sides for being separately positioned on the bearing body.
3. pipe robot according to claim 2, it is characterised in that:The elastic telescopic guider is elastic telescopic
Bar.
4. pipe robot according to claim 1, it is characterised in that:Further include making for subsidiary conduit robot security
The safe auxiliary body of industry, the safe auxiliary body includes air supplying and exhausting system, and the air supplying and exhausting system includes exhaust blower, wind
Pipe, activated carbon adsorption device and fan, the exhaust blower are located at the outside of pipeline, the activated carbon adsorption device and the fan
Positioned at the inside of the bearing body, the exhaust blower is connect with the air hose, and the wind that the exhaust blower is sent passes through the air hose
Be transported through activated carbon adsorption device filtering after drive the fan to rotate.
5. pipe robot according to claim 1, it is characterised in that:Further include detent mechanism, the detent mechanism packet
Ultrasonic sensor is included, is arranged in the inside of the bearing body.
6. pipe robot according to claim 1, it is characterised in that:Further include information collection mechanism, described information is adopted
Collecting mechanism includes infrared camera, is arranged on the end effector.
7. pipe robot according to claim 1, it is characterised in that:It is additionally provided with sensor and report on the bearing body
Alarm device, the sensor includes concentration sensor and temperature sensor, when the concentration or temperature that sensor detects are more than report
When alert threshold value, warning device sends out alarm, and the control system adjusts pressure fan according to the concentration that concentration sensor detects
Wind speed size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638273.7A CN108692133B (en) | 2018-06-20 | 2018-06-20 | Pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810638273.7A CN108692133B (en) | 2018-06-20 | 2018-06-20 | Pipeline robot |
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| CN108692133A true CN108692133A (en) | 2018-10-23 |
| CN108692133B CN108692133B (en) | 2023-05-23 |
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| CN201810638273.7A Active CN108692133B (en) | 2018-06-20 | 2018-06-20 | Pipeline robot |
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| CN109630805A (en) * | 2018-11-09 | 2019-04-16 | 金华送变电工程有限公司 | A kind of cable channel intelligent robot |
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| CN113210372A (en) * | 2021-04-27 | 2021-08-06 | 杭州电子科技大学 | Self-adaptive air conditioner pipeline cleaning robot and pipeline cleaning method thereof |
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| CN114484144A (en) * | 2022-02-18 | 2022-05-13 | 吉林大学 | Underground pipeline detection trolley based on ultrasonic principle and control method thereof |
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