CN108869947A - A kind of cable preheating embedding line expansion robot - Google Patents
A kind of cable preheating embedding line expansion robot Download PDFInfo
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- CN108869947A CN108869947A CN201810967765.0A CN201810967765A CN108869947A CN 108869947 A CN108869947 A CN 108869947A CN 201810967765 A CN201810967765 A CN 201810967765A CN 108869947 A CN108869947 A CN 108869947A
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- Prior art keywords
- variable diameter
- shaft
- gear
- pitching
- driving motor
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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
- F16L55/18—Appliances for use in repairing pipes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
- B21D3/14—Recontouring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- 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
- F16L55/40—Constructional aspects of the body
-
- 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
Abstract
The invention discloses a kind of cable preheating embedding lines to expand robot, including cable preheating embedding line running gear, holder, expanding mechanism and central processing unit；Cable preheating embedding line running gear includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, and wheel assembly of walking includes wheel leg and support arm, and support arm both ends and wheel leg are hingedly and main shaft is hinged；Driving motor drives wheel leg；Diameter changing mechanism includes variable diameter driving motor, variable diameter connecting rod and lead-screw drive mechanism, variable diameter connecting rod two end and sliding block and support arm are hinged, and variable diameter driving motor is pushed by lead-screw drive mechanism and variable diameter connecting rod pushes the gradient change expanding mechanism of support arm to include expansion push rod and expansion driving motor；Central processing unit controls travel driving motor, variable diameter driving motor and expansion driving motor, so that recessed portion is pushed outwardly by expansion push rod at robot ambulation to canal depression, repairs recess pipeline.
Description
Technical field
The present invention relates to pipeline robot technique fields more particularly to a kind of cable preheating embedding line to expand robot.
Background technique
Buried cable, communications optical cable are the important components of electric system, are the bases for guaranteeing power supply reliability.Now
More and more cities replace overhead transmission line using buried cable power transmission and distribution mode, and cable channel is laid with as buried cable
Necessity, usage amount increasing fast.
Cable channel in use, can generate pipe deforming, especially canal depression and deform, cause cable that can not wear
It crosses.If repaired not in time to the cable channel of recess, it is possible to cause an accident, influence construction speed, causing need not
The loss wanted.
Therefore, pipe robot is generallyd use at present, and expansion reparation is carried out to the cable channel of recess.However, cable run
Caliber is generally 150-200 millimeters of ranges, multi-size, and pipe deforming, and blocking can all have an impact to caliber, existing pipeline
Robot walking device far from can satisfy the caliber demand of such complexity.
Summary of the invention
The object of the present invention is to provide a kind of pipeline robot walking devices, have variable diameter ability, can repair different pipes
The pipeline of the depressed deformation of diameter.
The technical solution adopted by the present invention is：
A kind of cable preheating embedding line expansion robot, including pipeline travelling device, holder, expanding mechanism and central processing unit；Institute
The expanding mechanism stated is connected by holder with pipeline travelling device；
The pipeline travelling device includes main shaft, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, described
Wheel assembly of walking includes wheel leg, the first transmission mechanism and support arm group；The support arm group includes that support arm and support arm are solid
Determine block, the support arm fixed block is set on main shaft, and described support arm one end and wheel leg are hinged, the other end and support arm
Fixed block is hinged；The driving motor drives wheel leg walking by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor and with walking the one-to-one variable diameter component of wheel assembly, the variable diameter
Component includes variable diameter connecting rod, variable diameter variable diameter lead-screw drive mechanism and the third transmission mechanism for driving support arm rotation, the change
Diameter lead-screw drive mechanism includes variable diameter lead screw and variable diameter sliding block, and the output shaft of the variable diameter driving motor passes through third driver
Structure connects the power intake of variable diameter lead screw, and variable diameter connecting rod one end and variable diameter sliding block are hinged, the variable diameter connecting rod other end
It is hinged with the support arm in corresponding wheel assembly；
The expanding mechanism includes one group of expansion push rod, expands driving motor and for pushing expansion push rod is flexible to stretch
Transmission mechanism；The expansion driving motor pushes expansion push rod flexible by stretching drive mechanism；
First output end of the central processing unit connects travel driving motor, and the second output terminal of central processing unit, which connects, to be become
Diameter driving motor, the third output end connection expansion driving motor of central processing unit.
The wheel leg includes driving wheel, driven wheel, the second transmission mechanism and mounting groove, and the driving wheel and transmission rotate
It is dynamic to be installed in mounting groove；The output shaft of the travel driving motor drives driving wheel rotation by the first transmission mechanism, actively
Wheel drives driven wheel rotation by the second transmission mechanism.
The variable diameter connecting rod includes sliding sleeve, the litter and preloading spring that are set in sliding sleeve；The variable diameter of the sliding sleeve is sliding
Block connecting pin and variable diameter sliding block are hinged, and the end of being inserted in of sliding sleeve is provided with spring limiting board, and the arm connecting pin of litter is provided with arm company
Connector, the arm connector and support arm in the variable diameter component are hinged；Preloading spring is set on litter, and preloading spring
Between spring limiting board and arm connector.
First transmission mechanism includes belt, the first rotating shaft parallel with driving wheel shaft, is sheathed on first rotating shaft
On the first helical gear, be sheathed in first rotating shaft first gear, second shaft parallel with driving wheel shaft and be arranged with
Second gear in second shaft, the second gear and first gear engagement；On the output shaft of the travel driving motor
It is arranged with the second helical gear；Travel driving motor drives first rotating shaft to turn by the second helical gear and the first helical gear cooperation
Dynamic, the first rotation drives the rotation of the second shaft by the cooperation of second gear and first gear, and the second shaft is driven by belt
The rotation of driving wheel shaft.
Third transmission mechanism in the variable diameter component includes variable diameter screw gear and variable diameter lead screw transmission gear group, institute
The variable diameter screw gear stated is sheathed on the power intake of variable diameter lead screw in the variable diameter component；The variable diameter driving motor
Third gear is arranged on output shaft, variable diameter driving motor passes through third gear, variable diameter lead screw transmission gear group and variable diameter lead screw
The cooperation driving variable diameter lead screw rotation of gear.
The diameter changing mechanism further includes slip ring, and the slip ring is sheathed on main shaft, in the variable diameter component
Variable diameter sliding block be fixedly installed on slip ring.
The walking wheel assembly further includes one or more arm of stability groups, and the arm of stability group includes flat with support arm
The arm of stability and arm of stability fixed block of row setting, the arm of stability fixed block are set on main shaft, described arm of stability one end
Hinged with wheel leg, the other end and arm of stability fixed block are hinged.
One group of expansion push rod includes two expansion push rods reversely to stretch；The stretching drive mechanism includes expanding
Pull spring thick stick and expansion driving gear set, there are two expand sliding block, two expansion sliding blocks for setting on the expansion lead screw
It moves in the opposite direction, each sliding block connects an expansion push rod；The expansion driving motor passes through expansion transmission gear
Group driving lead screw rotation.
The holder includes mounting plate for assembling external devices and staggeredly shaft assembly；The staggeredly shaft assembly packet
Pitching shaft, horizontal rotating shaft and staggeredly shaft coupling piece are included, the horizontal rotating shaft is perpendicular to pitching shaft；The mounting plate
It is rotated up and down along pitching shaft, the mounting plate is rotated in a vertical plane along horizontal rotating shaft；
The holder further include for drive pitching shaft rotate pitching driving assembly and for driving horizontal rotating shaft to rotate
Horizontal drive component；The pitching driving assembly includes pitching motor and first the first worm gearing of worm gear, described
Pitching motor be arranged along the vertical direction, and pitching motor output shaft is perpendicular to pitching shaft, and pitching motor output shaft passes through the
One the first worm gearing of worm gear drives the rotation of pitching shaft；The horizontal drive component include Horizontal offset motor and partially
Set gear set；The biased gear group includes the biased gear and central gear of engagement, and the biased gear face is horizontal
Motor output shaft, the central gear face horizontal rotating shaft are biased, the Horizontal offset motor output shaft passes through biased teeth
Wheel group drives horizontal rotating shaft rotation；The horizontal rotating shaft is fixedly connected with pipeline travelling device；
The holder further includes angle adjusting mechanism, and the angle adjusting mechanism includes angle acquisition unit, level code
Device and pitching encoder, the angle acquisition unit include gyro sensor and sensor mounting rod, the sensor
Gyro sensor is installed in one end of mounting rod, and the other end of sensor mounting rod is fixedly connected with mounting plate, the level
Encoder connects the shaft of Horizontal offset motor, the shaft of the pitching encoder connection pitching motor；
First signal input part of the signal output end connection central processing unit of the gyro sensor, the horizontal volume
The second signal input terminal of the signal output end connection central processing unit of code device, the signal output end of the pitching encoder connect
Connect the third signal input part of central processing unit；The fourth signal output end connection Horizontal offset motor of the central processing unit
Control signal, the control signal of the 5th signal output end connection pitching motor of the central processing unit.
The staggeredly shaft coupling piece includes swivel becket, and the swivel becket is fixedly connected with pitching shaft, the pitching
Shaft is circumferentially arranged to be had and is sheathed in the rotation slot with the matched rotation slot of swivel becket, the swivel becket.
The present invention has the pipeline travelling device of variable diameter ability by setting, and dilator is installed on pipeline travelling device
Structure completes pipeline rehabilitation so that the depressed area of pipeline be pushed to expand outwardly, and guarantees cable normally through reduction cable construction
Difficulty promotes wireline operation efficiency；Main shaft is set in pipeline travelling device, is circumferentially installed convenient for wheel leg, wheel leg is along pipeline diameter
It is close to pipeline, is very suitable for along pipe walking；By the way that the support arm being respectively articulated with wheel leg and main shaft is arranged and pushes away
The diameter changing mechanism that dynamic support arm tilt angle changes, realize wheel leg in a certain range extend out with interior receipts so that the pipeline
Robot walking device is suitable for the pipeline of different tube diameters, greatly improves the applicable model of the pipeline robot walking device
It encloses；
Further, by setting flexible with preloading spring for the variable diameter connecting in diameter changing mechanism with support arm connection
Bar, so that the pipeline robot walking device is according to pipe condition, self adaptive control wheel leg is extended out or interior in a certain range
Contracting further improves pipe robot there are the walking ability in the pipeline of obstacle, deformation；Preloading spring has damping
Function improves stability when pipeline robot walking device walking；The thrust of preloading spring makes between wheel leg and tube wall
Increase with pressure and frictional force, improves the climbing ability of pipeline robot walking device.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention
Fig. 2 is the pipeline travelling device structural schematic diagram；
Fig. 3 is the first drive mechanism schematic diagram；
Fig. 4 is the third drive mechanism schematic diagram；
Fig. 5 is the variable diameter link mechanism schematic diagram；
Fig. 6 is the expanding mechanism structural schematic diagram；
Fig. 7 is the stretching drive mechanism structural representation；
Fig. 8 is the cradle head structure schematic diagram；
Fig. 9 is the holder alternating axis component structure diagram；
Figure 10 is circuit diagram of the present invention；
Figure 11 is the encapsulation schematic diagram of the holder；
1, main shaft；2, wheel leg；2-1, driving wheel；2-2, driven wheel；2-3, mounting groove；3, support arm；4, support arm fixed block；5,
Travel driving motor；6, travel driving motor；7, variable diameter connecting rod；7-1, sliding sleeve；7-2, litter；7-3, preloading spring；7-4, bullet
Spring limit plate；7-5, arm connector；7-6, litter limited block；8, variable diameter lead screw；9, variable diameter sliding block；10, belt；11, first turn
Axis；12, the first helical gear；13, first gear；14, the second shaft；15, second gear；16, the second helical gear；17, variable diameter silk
Thick stick gear；18, third gear；19, variable diameter lead screw transmission gear group；20, slip ring；21, mounting plate；22, pitching shaft；23,
Horizontal rotating shaft；24, pitching motor；25, Horizontal offset motor；26, horizontal retarder；27, gyro sensor；28, sensor
Mounting rod；29, level code device；30, pitching encoder；31, the first worm screw；32, the first worm gear；33, swivel becket；34, slow down
Gear-box；35, deceleration hollow shaft；36, holder encapsulating shell；37, biased gear；38, central gear；39, shell is biased；40, expand
Open push rod；41, lead screw is expanded；42, sliding block is expanded；43, the 5th gear；44, the second worm gear；45, the second worm screw；46, expansion is driven
Dynamic motor slot；47, damping spring；48, expanding mechanism shell；49, card slot is assembled；50, the arm of stability；51, the arm of stability is fixed
Block；52, driving motor is expanded.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention includes pipeline travelling device, holder, expanding mechanism and central processing unit；The expansion
Mechanism is connected by holder with pipeline travelling device；The clamping direction of expanding mechanism is adjusted in holder.
As shown in Figure 2, Figure 3 and Figure 4, the pipeline travelling device includes main shaft 1, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor 5 and along the circumferential evenly arranged three groups of walking wheel assemblies of main shaft 1, described
Walking wheel assembly include wheel leg 2, the first transmission mechanism and 3 groups of support arm；Described 3 groups of support arm include support arm 3 and branch
Brace fixed block 4, the support arm fixed block 4 are set on main shaft 1, and described 3 one end of support arm and wheel leg 2 are hinged, separately
One end and support arm fixed block 4 are hinged；The driving motor drives wheel leg 2 to walk by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor 6 and with walking the one-to-one variable diameter component of wheel assembly, the change
Diameter component includes variable diameter connecting rod 7,8 transmission mechanism of variable diameter variable diameter lead screw and the third transmission mechanism for driving support arm 3 to rotate, described
8 transmission mechanism of variable diameter variable diameter lead screw include variable diameter lead screw 8 and variable diameter sliding block 9, the output shaft of the variable diameter driving motor 6 is logical
The power intake of third transmission mechanism connection variable diameter lead screw 8 is crossed, described 7 one end of variable diameter connecting rod and variable diameter sliding block 9 are hinged, described
7 other end of variable diameter connecting rod and the support arm 3 in corresponding wheel assembly are hinged.
As shown in Figure 6 and Figure 7, the expanding mechanism includes one group of expansion push rod 40, expansion driving motor and is used for
The stretching drive mechanism for pushing expansion push rod 40 flexible；The expansion driving motor pushes expansion to push away by stretching drive mechanism
Bar 40 is flexible.
One group of expansion push rod 40 includes two expansion push rods 40 reversely to stretch；The stretching drive mechanism packet
Expansion lead screw 41 and expansion driving gear set are included, setting expansion lead screw 41 is from centre two thread segments of difference, two thread segments
It is provided with contrary screw thread, is provided with an expansion sliding block 42 on each thread segment, two expansion sliding blocks 42 are to opposite
Direction movement, each expansion sliding block 42 connect an expansion push rod 40, then two expansion push rods 40 turn with expansion lead screw 41
Two opposite directions of trend are flexible；The expansion driving motor 52 drives lead screw rotation by expansion driving gear set.
In the present embodiment, the expansion driving gear set includes the 4 be sheathed on expansion 52 output shaft of driving motor
The 44 worm-drive machine of the second worm gear being driven on gear and the 5th gear 43 engaged with the 4th gear and realization alternate directions
Structure；Second worm gear, 44 worm gearing includes the second worm gear 44 and the second worm screw 45,45 sets of second worm screw
If the 5th gear 43 is sheathed on the second worm screw 45 on lead screw, the engagement of the 4th gear and the 5th gear 43 drives the second snail
Bar 45 rotates, and the second worm screw 45 drives expansion lead screw 41 to rotate by worm screw, the rotation of lead screw two expansion push rods 40 of drive to
Two opposite directions are stretched out or are withdrawn.
First output end of the central processing unit connects travel driving motor 5, the second output terminal of central processing unit
Connect variable diameter driving motor 6, the third output end connection expansion driving motor 52 of central processing unit.
Travel driving motor 5, variable diameter driving motor 6 and expansion driving motor 52 are all made of servo motor.
The course of work of the invention is as follows：It is determined after determining the caliber of cable channel, and using image collecting device
In cable channel behind the position of barrier, central processing unit controls travel driving motor 5, variable diameter driving motor 6 and expansion driving
Motor 52.Central processing unit controls variable diameter driving motor 6, and 6 output shaft of variable diameter driving motor is become by the driving of third transmission mechanism
Variable diameter lead screw 8 in 8 transmission mechanism of diameter variable diameter lead screw rotates, and the variable diameter in variable diameter lead screw 8 in 8 transmission mechanism of variable diameter lead screw is sliding
Block 9 is walked along straight line, and variable diameter sliding block 9 pushes the variable angle of support arm 3 and main shaft 1 by variable diameter connecting rod 7, so that wheel leg
The distance between 2 and 1 axis of main shaft change, and pipeline robot walking device stepless variable radius are realized, so that the pipeline
Robot walking device can walk in the pipeline of different tube diameters.
When recessed portion of the robot close to pipeline, central processing unit, which controls travel driving motor 5, to be stopped, and robot stops
Walking, central processing unit control expansion driving motor 52 rotation, two expansion push rods 40 are protruding, by the position of recess to
It is extrapolated, realize the reparation of recess pipeline.
According to the position of recessed portion, the direction of expansion push rod 40 is adjusted by holder, so that expansion 40 face of push rod recess
Recessed portion is pushed outwardly by portion.
The present invention is by setting main shaft 1, convenient for multiple wheel legs 2 are circumferentially arranged and are fixed, so that multiple wheel legs 2
Walk along tube wall.
Preferably, the walking wheel assembly is three groups, guarantees that the pipeline robot walking device is put down in the duct
Steady walking.
Preferably, the main shaft 1 is hollow shaft, and the travel driving motor 5 and variable diameter driving motor 6 are respectively set
Inside main shaft 1, the convenience of travel driving motor 5 and the installation of variable diameter driving motor 6 is greatly improved, and saves sky
Between, so that entire pipeline robot walking device structure is extremely compact, it is more suitable for this narrow space of pipeline.The row
It walks driving motor 5 and variable diameter driving motor 6 is located at two ends of main shaft 1, with travel driving motor 5 and variable diameter driving electricity
Corresponding first transmission mechanism of machine 6 and third transmission mechanism are respectively arranged at the both ends of main shaft 1, realize the reasonable cloth in space
Office, the first transmission mechanism and each self-operating of third transmission mechanism are not interfere with each other.
Preferably, 3 groups of support arm of number in walking wheel assembly is two groups, respectively from two support wheel legs of wheel leg 2
2, the bonding strength of wheel leg 2 and main shaft 1 is promoted, stability when wheel leg 2 is walked is promoted.
The wheel leg 2 includes driving wheel 2-1, driven wheel 2-2, the second transmission mechanism and mounting groove 2-3, the driving wheel
2-1 and driving wheel rotational installation are in mounting groove 2-3；The output shaft of the travel driving motor 5 is driven by the first transmission mechanism
Dynamic driving wheel 2-1 rotation, driving wheel 2-1 drive driven wheel 2-2 rotation by the second transmission mechanism.It is described in the present embodiment
Driven wheel 2-2 be provided with it is multiple, thus the stability of the enhancing pipeline robot walking device.
Preferably, the expanding mechanism further includes expansion driving motor slot 46, and the expansion motor slot is U-lag,
Expansion motor is set to the middle part of U-lag, and the two sides for expanding motor are provided with damping spring 47.
Part in expanding mechanism is packaged in expanding mechanism shell 48, for protecting the part in expanding mechanism.
As shown in figure 5, the variable diameter connecting rod 7 includes sliding sleeve 7-1, the litter 7-2 being set in sliding sleeve 7-1 and preload bullet
Spring 7-3；9 connecting pin of variable diameter sliding block of the sliding sleeve 7-1 and variable diameter sliding block 9 are hinged, and the end of being inserted in of sliding sleeve 7-1 is provided with spring limit
Position plate 7-4, the arm connecting pin that litter 7-2 insertion end is provided with the litter limited block 7-6, litter 7-2 that prevent litter 7-1 from skidding off is set
It is equipped with arm connector 7-5, the arm connector 7-5 is hinged with support arm 3 in the variable diameter component；Preloading spring 7-3 is arranged
On litter 7-2, and preloading spring 7-3 is located between spring limiting board 7-4 and arm connector 7-5.
There are errors for the diameter measurement of pipeline, and the position of barrier and deformation is frequently present of in pipeline, this results in pre-
The pipeline robot walking device first adjusted strict can not agree with pipeline, and wheel leg 2 can not all be bonded tube wall.
Therefore, preloading spring 7-3 is set in variable diameter connecting rod 7, the preloading spring 7-3 by spring limiting board 7-4 and
Arm connector 7-5 compression pushes wheel leg 2 to be tightly bonded tube wall to give wheel leg 2 certain thrust.Hinder when existing in pipeline
Hindering object or pipeline to be recessed inwardly makes, and wheel leg 2 compresses litter 7-2 into 1 direction of main shaft retraction sliding sleeve 7-1, when pipeline outward bulge
When out or caliber is bigger than normal, compressed spring elongation, the moved end of spring pushes litter 7-2 to stretch out to 2 direction of wheel leg, to push away
Driving wheel leg 2 expands outwardly, so that the self-adapting type for realizing distance between wheel leg 2 and main shaft 1 is adjusted, greatly strengthens pipe machine
Stability when device people running gear walking ability and walking in the duct, in the duct convenient for pipeline robot walking device
Simple obstacle and the pipeline by deformation smoothly are crossed, the frictional force between wheel leg 2 and tube wall is greatly improved, to be promoted
The climbing ability of pipe robot.
As shown in figure 3, first transmission mechanism includes belt 10, the first rotating shaft parallel with driving wheel 2-1 shaft
11, the first helical gear 12 for being sheathed in first rotating shaft 11, the first gear 13 being sheathed in first rotating shaft 11, with driving wheel 2-
It the second parallel shaft 14 of 1 shaft and is arranged and the second gear 15 in the second shaft 14, the second gear 15 and first
Gear 13 engages；The second helical gear 16 is arranged on the output shaft of the travel driving motor 5；Travel driving motor 5 passes through the
The cooperation driving rotation of first rotating shaft 11 of two helical gears 16 and the first helical gear 12, the second helical gear 16 and the first helical gear 12
Realize the transmission between staggered travel driving motor 5 and first rotating shaft 11；First rotation passes through second gear 15 and first
The cooperation of gear 13 drives the rotation of the second shaft 14, and the second shaft 14 drives the rotation of driving wheel 2-1 shaft by belt 10.
Second helical gear 16 in travel driving motor 5 and three the first helical gears 12 in three groups of walking wheel assemblies
Engagement reduces number of parts, and the driving wheel 2-1 in strict guarantee three wheel legs 2 of synchronous driving, and guarantees three groups of walkings
Each part in wheel assembly is circumferentially arranged, and guarantees that pipe robot Mass Distribution is uniform.
The third transmission mechanism in the variable diameter component includes that variable diameter screw gear 17 and variable diameter lead screw pass as shown in Figure 3
Moving gear group 19, the variable diameter screw gear 17 are sheathed on the power intake of variable diameter lead screw 8 in the variable diameter component；It is described
Variable diameter driving motor 6 output shaft on be arranged with third gear 18, variable diameter driving motor 6 passes through third gear 18, variable diameter silk
The cooperation driving variable diameter lead screw 8 of thick stick driving gear set 19 and variable diameter screw gear 17 rotates.
The pipeline robot walking device, the support arm 3 and the belt 10 constitute parallelogram sturcutre,
It is extended out or the interior time receiving when adjusting wheel leg 2 by diameter changing mechanism, the angle and belt between 1 axis direction of support arm 3 and main shaft
Angle synchronous change between 10 and 1 axis direction of main shaft, support arm 3 it is synchronous with belt 10 inclination, realize wheel leg 2 extend out or
The quick adjusting of interior receipts.
The diameter changing mechanism further includes slip ring 20, and the slip ring 20 is sheathed on main shaft 1, the variable diameter group
Variable diameter sliding block 9 in part is fixedly installed on slip ring 20.In the present embodiment, slip ring 20 and 9 integration of variable diameter sliding block are set
It sets.
The setting of the slip ring 20 substantially reduces 8 torque of variable diameter lead screw so that 8 torque of variable diameter lead screw is cancelled out each other.
The walking wheel assembly further includes 50 groups of one or more arms of stability, and described 50 groups of the arm of stability include and support
The arm of stability 50 disposed in parallel of arm 3 and arm of stability fixed block 51, the arm of stability fixed block 51 is set on main shaft 1, described
50 one end of the arm of stability and wheel leg 2 it is hinged, the other end and arm of stability fixed block 51 are hinged.Any one stabilization in walking wheel assembly
Arm 50 and support arm 3 constitute parallelogram sturcutre, convenient for wheel leg 2 extend out or interior receipts.The setting of the arm of stability 50 is so that wheel
Connection relationship between leg 2 and main shaft 1 is stronger, and more steady when the walking of wheel leg 2.
8 support arm fixed block 4 of variable diameter lead screw or the rotation of at least one arm of stability fixed block 51 in the walking wheel assembly
Connection.Variable diameter lead screw 8 passes through and rotationally connected from support arm fixed block 4 or arm of stability fixed block 51, defines change
The rotary motion trace of diameter lead screw 8 is not susceptible to deviate, and guarantees that variable diameter sliding block 9 is moved along 1 axis direction of main shaft.
The present invention is circumferentially installed by setting main shaft 1 convenient for wheel leg 2, and wheel leg 2 is close to along pipeline radial direction with pipeline, and ten
Divide and is suitable for along pipe walking；By the way that the support arm 3 being respectively articulated with wheel leg 2 and main shaft 1 is arranged and support arm 3 is pushed to tilt
The diameter changing mechanism of angulation change, realize wheel leg 2 in a certain range extend out with interior receipts so that the pipe robot walking dress
The pipeline suitable for different tube diameters is set, the scope of application of the pipeline robot walking device is greatly improved.
Further, by setting the variable diameter connecting in diameter changing mechanism with support arm 3 connection to preloading spring 7-3
Telescopic rod so that the pipeline robot walking device is according to outside pipe condition in a certain range self adaptive control wheel leg 2
Expand or inside contract, further improves pipe robot there are the walking ability in the pipeline of obstacle, deformation；Preloading spring
7-3 has shock-absorbing function, improves stability when pipeline robot walking device walking；The thrust of preloading spring 7-3 makes
Increase between wheel leg 2 and tube wall with pressure and frictional force, improves the climbing ability of pipeline robot walking device.
As shown in Fig. 8, Fig. 9 and Figure 11, the present invention includes mounting plate 21 for assembling expanding mechanism and staggeredly shaft assembly；
The staggeredly shaft assembly includes pitching shaft 22, horizontal rotating shaft 23 and staggeredly shaft coupling piece, the horizontal rotating shaft 23 are vertical
In pitching shaft 22, pitching shaft 22 passes through shaft coupling piece and the rotation connection of horizontal rotating shaft 23 of interlocking；The mounting plate 21 is U
Shape mounting plate 21 installs expanding mechanism on U-shaped mounting plate 21；Setting blocks with the matched assembly of U-shaped mounting plate 21 on expanding mechanism
Slot 49, assembly card slot 49 is connected on U-shaped mounting plate 21, and is bolted.The both ends of the pitching shaft 22 and peace
The two sidewalls of loading board 21 are fixedly connected；
It further include pitching driving assembly for driving pitching shaft 22 to be rotated up and down and for driving level to transfer in horizontal plane
The horizontal drive component of rotation；The pitching driving assembly includes pitching motor 24 and the transmission of 32 first worm screw 31 of the first worm gear
Mechanism, the pitching motor 24 are arranged along the vertical direction, and 24 output shaft of pitching motor is perpendicular to pitching shaft 22, so that cloud
The structure of platform is more compact, and the width of holder can satisfy the caliber of pipeline, and 24 output shaft of pitching motor passes through the first worm gear 32
First worm screw, 31 transmission mechanism drives pitching shaft 22 to rotate；First 32 first worm screw of worm gear, 31 transmission mechanism realizes staggered
The transmission of pitching motor 24 axis and pitching shaft 22, reduces the setting of 24 retarder of pitching motor, so that cradle head structure is compact,
The height of holder also can satisfy caliber limitation.
The horizontal drive component includes Horizontal offset motor 25,37 groups of biased gear and horizontal retarder 26；It is described
37 groups of biased gear include engagement biased gear 37 and central gear 38,37 face Horizontal offset electricity of the biased gear
25 output shaft of machine, the 38 face horizontal rotating shaft 23 of central gear, the output axis connection water of the Horizontal offset motor 25
The output shaft of the input shaft of flat retarder 26, horizontal retarder 26 is rotated by 37 groups of driving horizontal rotating shafts 23 of biased gear.Water
The setting of flat retarder 26 is used to reduce by 23 revolving speed of horizontal rotating shaft, so that horizontal rotating shaft 23 is more stable.
37 groups of biased gear are packaged in biasing shell 39, and biasing shell 39 is fixedly connected with pipeline travelling device.
Biasing motor is set by the driving motor in horizontal drive component, after holder is installed on pipeline travelling device,
Horizontal offset motor 25 is just arranged to be folded in the space for holding composition with two walking wheel assemblies, so that cable preheating embedding line expands
The mechanism for opening robot is more compact.
It as shown in Figure 10, further include angle adjusting mechanism, the angle adjusting mechanism includes angle acquisition unit, center
Processor, level code device 29 and pitching encoder 30, the angle acquisition unit include gyro sensor 27 and sensing
Gyro sensor 27 is installed in device mounting rod 28, one end of the sensor mounting rod 28, sensor mounting rod 28 it is another
End is fixedly connected with mounting plate 21, and the level code device 29 connects the shaft of Horizontal offset motor 25, and the pitching is compiled
Code device 30 connects the shaft of pitching motor 24；
First signal input part of the signal output end connection central processing unit of the gyro sensor 27, the level
The second signal input terminal of the signal output end connection central processing unit of encoder 29, the signal of the pitching encoder 30 are defeated
The third signal input part of outlet connection central processing unit；The fourth signal output end of the central processing unit connects Horizontal offset
The control of the control signal of motor 25, the 5th signal output end connection pitching motor 24 of the central processing unit is defeated
Enter end.
Under normal conditions, relay, relay are provided in the control circuit of pitching motor 24 and Horizontal offset motor 25
The 5th signal output end and fourth signal output end for being serially connected with central processing unit respectively pass through control and pitching motor 24 and water
The on-off of the flat biasing corresponding relay of motor 25, realizes the start-up and shut-down control of pitching motor 24 and Horizontal offset motor 25.
The course of work of the invention is as follows：Central processing unit controls pitching motor 24 and Horizontal offset motor 25, to control
The angle of holder processed controls the clamping direction of expanding mechanism.Gyro sensor 27 detects bias direction and the angle of mounting plate 21
Degree, as mounting plate 21 has offset up 30 in the vertical directiono；The result that gyro sensor 27 will test is transmitted to centre
It manages in device, central processing unit operation show that pitching motor 24 need to rotate by a certain angle, to drive installation by pitching shaft 22
Plate 21 offsets downward 30o, mounting plate 21 can return to horizontal position.
Central processing unit controls pitching motor 24 and rotates, and pitching encoder 30 reads the angle that pitching motor 24 rotates, and
It feeds back in central processing unit, after pitching motor 24 rotates by a certain angle, control pitching motor 24 is out of service, installs at this time
Plate 21 returns to initial position.
As mounting plate 21 has tilted 30 in perpendicularo；The result that gyro sensor 27 will test is transmitted to center
In processor, central processing unit operation show that Horizontal offset motor 25 need to rotate by a certain angle, to pass through 23 band of horizontal rotating shaft
Dynamic mounting plate 21 is to opposite rotation 30o, mounting plate 21 can return to initial position.Central processing unit controlled level biased electrical
Machine 25 rotates, and 30 read level of pitching encoder biases the angle that motor 25 rotates, and feeds back in central processing unit, works as pitching
After rotating horizontally certain angle, controlled level biasing motor 25 is out of service, and mounting plate 21 returns to horizontal position at this time.
The present invention detects whether mounting plate 21 shifts by gyro sensor 27, and is controlled by central processing unit
Pitching motor 24 and Horizontal offset motor 25 drive pitching shaft 22, horizontal rotating shaft 23 to rotate by a certain angle, so that mounting plate 21
Initial position is returned to, so that holder held stationary guarantees expanding mechanism to greatly improve the stability of holder
It is accurate to clamp direction, promotes the clamping quality of expanding mechanism；And staggeredly shaft assembly and pitching motor 24 are rationally arranged, so that holder
Structure is extremely compact, and the caliber that can easily meet pipeline limits.
The pitching driving assembly further includes pitching reducer structure, 31 driver of the first 32 first worm screw of worm gear
Structure includes the first worm gear 32 and the first worm screw 31, and the output axis connection of first worm screw 31 and pitching motor 24 is described
First worm gear 32 drives pitching shaft 22 to rotate by pitching reducer structure.The pitching driving assembly further includes that pitching is slowed down
Mechanism, the pitching reducer structure include deceleration hollow shaft 35 and train of reduction gears, the internal diameter of the deceleration hollow shaft 35
Greater than the diameter of pitching shaft 22；The deceleration hollow shaft 35 is sheathed in pitching shaft 22；32 sets of first worm gear
Set on deceleration hollow shaft 35；The input gear of the train of reduction gears is sheathed in deceleration hollow shaft 35, train of reduction gears
Output gear be sheathed in pitching shaft 22.Since the caliber of pipeline is limited, the output shaft of the pitching motor 24 cannot
It is directly connected to retarder.Pitching reducer structure and the ingenious cooperation of pitching shaft 22, take full advantage of space, so that auxiliary holder knot
Structure is compact, can satisfy the restriction of caliber.
The pipe robot assists holder, and the staggeredly shaft coupling piece includes swivel becket 33, the swivel becket
33 are sheathed in pitching shaft 22, and the swivel becket 33 is fixedly connected with horizontal rotating shaft 23.
The pitching shaft 22 is circumferentially arranged to be had and the matched rotation slot of swivel becket 33.Swivel becket 33 is matched with rotation slot
It puts the palms together before one point exquisite, rotation slot limits horizontal rotating shaft 23, prevents horizontal rotating shaft 23 from shifting；Swivel becket 33 is to pitching
Shaft 22 is limited, and prevents pitching shaft 22 from being deviated；To improve accurate control when erecting bed angle resets.
The pipe robot auxiliary holder further includes reduction gear box 34, and the train of reduction gears is packaged in deceleration
In gear-box 34, train of reduction gears is protected, convenient for assisting the assembling of holder.Swivel becket 33 on the horizontal rotating shaft 23 also seals
Loaded on reduction gear box 34, the end of horizontal rotating shaft 23 is protruded into gear-box.
The pipe robot auxiliary holder further includes holder encapsulating shell 36, holder encapsulating shell 36 and pipeline travelling device
It is fixedly connected.Be packaged in the holder encapsulating shell 36 staggeredly shaft assembly, 31 transmission mechanism of the first 32 first worm screw of worm gear, subtract
37 groups of fast hollow shaft 35, biased gear, provide protection for part.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of cable preheating embedding line expands robot, it is characterised in that：Including pipeline travelling device, holder, expanding mechanism and
Central processing unit；The expanding mechanism is connected by holder with pipeline travelling device；
The pipeline travelling device includes main shaft, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, described
Wheel assembly of walking includes wheel leg, the first transmission mechanism and support arm group；The support arm group includes that support arm and support arm are solid
Determine block, the support arm fixed block is set on main shaft, and described support arm one end and wheel leg are hinged, the other end and support arm
Fixed block is hinged；The driving motor drives wheel leg walking by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor and with walking the one-to-one variable diameter component of wheel assembly, the variable diameter
Component includes variable diameter connecting rod, variable diameter variable diameter lead-screw drive mechanism and the third transmission mechanism for driving support arm rotation, the change
Diameter lead-screw drive mechanism includes variable diameter lead screw and variable diameter sliding block, and the output shaft of the variable diameter driving motor passes through third driver
Structure connects the power intake of variable diameter lead screw, and variable diameter connecting rod one end and variable diameter sliding block are hinged, the variable diameter connecting rod other end
It is hinged with the support arm in corresponding wheel assembly；
The expanding mechanism includes one group of expansion push rod, expands driving motor and for pushing expansion push rod is flexible to stretch
Transmission mechanism；The expansion driving motor pushes expansion push rod flexible by stretching drive mechanism；
First output end of the central processing unit connects travel driving motor, and the second output terminal of central processing unit, which connects, to be become
Diameter driving motor, the third output end connection expansion driving motor of central processing unit.
2. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：The wheel leg includes actively
Wheel, driven wheel, the second transmission mechanism and mounting groove, the driving wheel and driving wheel rotational installation are in mounting groove；The walking
The output shaft of driving motor drives driving wheel rotation by the first transmission mechanism, and driving wheel is driven driven by the second transmission mechanism
Wheel rotation.
3. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：The variable diameter connecting rod includes
Sliding sleeve, the litter and preloading spring being set in sliding sleeve；The variable diameter sliding block connecting pin of the sliding sleeve and variable diameter sliding block are hinged, sliding sleeve
End of being inserted in be provided with spring limiting board, the arm connecting pin of litter is provided with arm connector, the arm connector and the change
Support arm is hinged in diameter component；Preloading spring is set on litter, and preloading spring be located at spring limiting board and arm connector it
Between.
4. cable preheating embedding line according to claim 2 expands robot, it is characterised in that：First transmission mechanism
Including belt, the first rotating shaft parallel with driving wheel shaft, the first helical gear being sheathed in first rotating shaft, it is sheathed on first turn
First gear on axis, second shaft parallel with driving wheel shaft and be arranged with the second gear in the second shaft, it is described
Second gear and first gear engagement；The second helical gear is arranged on the output shaft of the travel driving motor；Hoofing part electricity
Machine drives first rotating shaft rotation by the second helical gear and the first helical gear cooperation, and the first rotation passes through second gear and first
The cooperation of gear drives the rotation of the second shaft, and the second shaft drives driving wheel shaft to rotate by belt.
5. cable preheating embedding line according to claim 1 or 2 expands robot, it is characterised in that：The variable diameter component
In third transmission mechanism include variable diameter screw gear and variable diameter lead screw transmission gear group, the variable diameter screw gear is sheathed on
The power intake of variable diameter lead screw in the variable diameter component；Third tooth is arranged on the output shaft of the variable diameter driving motor
Wheel, variable diameter driving motor drive variable diameter silk by the cooperation of third gear, variable diameter lead screw transmission gear group and variable diameter screw gear
Thick stick rotation.
6. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：The diameter changing mechanism also wraps
Slip ring is included, the slip ring is sheathed on main shaft, and the variable diameter sliding block in the variable diameter component is fixedly installed on sliding
On ring.
7. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：The walking wheel assembly is also
Including one or more arm of stability groups, the arm of stability group includes fixing with the support arm arm of stability disposed in parallel and the arm of stability
Block, the arm of stability fixed block are set on main shaft, and described arm of stability one end and wheel leg are hinged, and the other end and the arm of stability are solid
It is hinged to determine block.
8. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：One group of expansion push rod
The expansion push rod reversely to stretch including two；The stretching drive mechanism includes expansion lead screw and expansion driving gear set, institute
Setting moves in the opposite direction there are two sliding block, two expansion sliding blocks are expanded on the expansion lead screw stated, each sliding block
Connect an expansion push rod；The expansion driving motor drives lead screw rotation by expansion driving gear set.
9. cable preheating embedding line according to claim 1 expands robot, it is characterised in that：The holder includes being used for
The mounting plate of assembly external devices and staggeredly shaft assembly；The staggeredly shaft assembly includes pitching shaft, horizontal rotating shaft and interlocks
Shaft coupling piece, the horizontal rotating shaft is perpendicular to pitching shaft；The mounting plate is rotated up and down along pitching shaft, described
Mounting plate is rotated in a vertical plane along horizontal rotating shaft；
The holder further include for drive pitching shaft rotate pitching driving assembly and for driving horizontal rotating shaft to rotate
Horizontal drive component；The pitching driving assembly includes pitching motor and first the first worm gearing of worm gear, described
Pitching motor be arranged along the vertical direction, and pitching motor output shaft is perpendicular to pitching shaft, and pitching motor output shaft passes through the
One the first worm gearing of worm gear drives the rotation of pitching shaft；The horizontal drive component include Horizontal offset motor and partially
Set gear set；The biased gear group includes the biased gear and central gear of engagement, and the biased gear face is horizontal
Motor output shaft, the central gear face horizontal rotating shaft are biased, the Horizontal offset motor output shaft passes through biased teeth
Wheel group drives horizontal rotating shaft rotation；The horizontal rotating shaft is fixedly connected with pipeline travelling device；
The holder further includes angle adjusting mechanism, and the angle adjusting mechanism includes angle acquisition unit, level code
Device and pitching encoder, the angle acquisition unit include gyro sensor and sensor mounting rod, the sensor
Gyro sensor is installed in one end of mounting rod, and the other end of sensor mounting rod is fixedly connected with mounting plate, the level
Encoder connects the shaft of Horizontal offset motor, the shaft of the pitching encoder connection pitching motor；
First signal input part of the signal output end connection central processing unit of the gyro sensor, the horizontal volume
The second signal input terminal of the signal output end connection central processing unit of code device, the signal output end of the pitching encoder connect
Connect the third signal input part of central processing unit；The fourth signal output end connection Horizontal offset motor of the central processing unit
Control signal, the control signal of the 5th signal output end connection pitching motor of the central processing unit.
10. cable preheating embedding line according to claim 9 expands robot, it is characterised in that：The staggeredly shaft coupling piece
Including swivel becket, the swivel becket is fixedly connected with pitching shaft, and the pitching shaft is circumferentially arranged to be had and swivel becket
Matched rotation slot, the swivel becket are sheathed in the rotation slot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967765.0A CN108869947B (en) | 2018-08-23 | 2018-08-23 | Cable pre-buried pipeline expansion robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967765.0A CN108869947B (en) | 2018-08-23 | 2018-08-23 | Cable pre-buried pipeline expansion robot |
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| CN108869947A true CN108869947A (en) | 2018-11-23 |
| CN108869947B CN108869947B (en) | 2023-08-11 |
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| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110523807A (en) * | 2019-08-21 | 2019-12-03 | 浙江工业大学之江学院 | A kind of conformal device of metal tube section finishing |
| CN111043447A (en) * | 2019-12-03 | 2020-04-21 | 响水县正响建设发展有限公司 | X-ray flaw detector for large-sized pipeline |
| CN112090996A (en) * | 2020-11-23 | 2020-12-18 | 烟台虹月电子商务有限公司 | Resetting device for metal pipe wall depression |
| CN113357332A (en) * | 2021-06-01 | 2021-09-07 | 贵州大学 | Non-equal-diameter vertical pipeline robot with improved climbing performance |
| CN113357481A (en) * | 2021-06-30 | 2021-09-07 | 天津大学 | Pipe diameter self-adaptive pipeline detection robot |
| CN113441613A (en) * | 2021-07-12 | 2021-09-28 | 内蒙古工业大学 | Clamping tool for heat setting of vascular stent |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN114055770A (en) * | 2021-12-01 | 2022-02-18 | 杭州电子科技大学 | Mechanical composite pipeline preparation method based on hydraulic drive |
| CN114293975A (en) * | 2022-01-17 | 2022-04-08 | 武汉理工大学 | Self-climbing and remote-control drilling imager with self-cleaning function |
| CN114688385A (en) * | 2022-02-26 | 2022-07-01 | 广东畅龙车辆装备科技有限公司 | Trenchless drainage pipeline pretreatment robot |
| CN115475806A (en) * | 2022-05-30 | 2022-12-16 | 国网山东省电力公司东明县供电公司 | Bury formula cable channel protection pipe prosthetic devices |
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| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110523807A (en) * | 2019-08-21 | 2019-12-03 | 浙江工业大学之江学院 | A kind of conformal device of metal tube section finishing |
| CN111043447A (en) * | 2019-12-03 | 2020-04-21 | 响水县正响建设发展有限公司 | X-ray flaw detector for large-sized pipeline |
| CN112090996A (en) * | 2020-11-23 | 2020-12-18 | 烟台虹月电子商务有限公司 | Resetting device for metal pipe wall depression |
| CN112090996B (en) * | 2020-11-23 | 2021-05-11 | 王鸳 | Resetting device for metal pipe wall depression |
| CN113357332A (en) * | 2021-06-01 | 2021-09-07 | 贵州大学 | Non-equal-diameter vertical pipeline robot with improved climbing performance |
| CN113357481A (en) * | 2021-06-30 | 2021-09-07 | 天津大学 | Pipe diameter self-adaptive pipeline detection robot |
| CN113441613A (en) * | 2021-07-12 | 2021-09-28 | 内蒙古工业大学 | Clamping tool for heat setting of vascular stent |
| CN113441613B (en) * | 2021-07-12 | 2023-04-28 | 内蒙古工业大学 | Frock clamp for heat setting of vascular stent |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN114055770A (en) * | 2021-12-01 | 2022-02-18 | 杭州电子科技大学 | Mechanical composite pipeline preparation method based on hydraulic drive |
| CN114293975A (en) * | 2022-01-17 | 2022-04-08 | 武汉理工大学 | Self-climbing and remote-control drilling imager with self-cleaning function |
| CN114688385A (en) * | 2022-02-26 | 2022-07-01 | 广东畅龙车辆装备科技有限公司 | Trenchless drainage pipeline pretreatment robot |
| CN115475806A (en) * | 2022-05-30 | 2022-12-16 | 国网山东省电力公司东明县供电公司 | Bury formula cable channel protection pipe prosthetic devices |
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