CN109237202A - A kind of fluid drive-type centrifugal governor pipe robot - Google Patents
A kind of fluid drive-type centrifugal governor pipe robot Download PDFInfo
- Publication number
- CN109237202A CN109237202A CN201811007163.7A CN201811007163A CN109237202A CN 109237202 A CN109237202 A CN 109237202A CN 201811007163 A CN201811007163 A CN 201811007163A CN 109237202 A CN109237202 A CN 109237202A
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- CN
- China
- Prior art keywords
- centrifugal governor
- centrifugal
- connecting rod
- leather cup
- valve
- 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.)
- Pending
Links
- 239000012530 fluid Substances 0.000 title claims abstract description 44
- 239000010985 leather Substances 0.000 claims description 45
- 238000007789 sealing Methods 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000005119 centrifugation Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000087 stabilizing effect Effects 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003709 heart valve Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
-
- 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 fluid drive-type centrifugal governor pipe robots, including walking mechanism, drive end bearing bracket, shell, rear end cap, centrifugal governor mechanism, fluid self-driven mechanism；The shell front and back end is installed by drive end bearing bracket, rear end cap respectively, walking mechanism is mounted on drive end bearing bracket, centrifugal governor mechanism includes Intake shaft and outlet axis, and Intake shaft and rear end cap are cooperatively connected, and fluid self-driven mechanism is located at behind centrifugal governor mechanism to be cooperatively connected with outlet axis.The present invention is not necessarily to power traction, creeps by fluids within pipes driving.Overcome the speed regulation problem of fluid driving type pipeline robot, devise centrifugation valve type speed adjusting gear, by the revolving speed of centrifugal valve come the openings of sizes of adjusting spool, to control creep speed of the pipe robot in pipeline, different operating rate request can satisfy.
Description
Technical field
The present invention relates to a kind of fluid drive-type centrifugal governor pipe robots, belong to walking machine field.
Background technique
Pipe robot be one kind can inside or outside small sized pipeline automatically walk, carry one or more sensors and
Operation is mechanical, under the remote control operation or computer controlled automatic of staff, carries out mechanical, electrical, the instrument of a series of pipeline operations
Integral system.According to the different driving mode of pipe robot, it is broadly divided into eight kinds: flow-type robot, this kind of machine
People does not have driving device, only flows with tube fluid；Wheeled robot, caterpillar type robot, stomach wall formula robot, vehicle with walking machine
Device people, squirmy robot, helical driving type robot and snake-shaped robot.
It can only be flowed with fluid for fluid driving type pipeline robot, speed when not being able to satisfy operation is adjustable to be wanted
It asks.
Summary of the invention
In order to overcome the problems, such as that existing fluid drive-type machine people's speed is unadjustable, the present invention provides a kind of drives of fluid
Dynamic formula centrifugal governor pipe robot.
The technical scheme is that a kind of fluid drive-type centrifugal governor pipe robot, including walking mechanism 100,
Drive end bearing bracket 12, shell 13, rear end cap 14, centrifugal governor mechanism 200, fluid self-driven mechanism 300；
Drive end bearing bracket 12, rear end cap 14 are installed in 13 front and back end of shell respectively, and walking mechanism 100 is mounted on drive end bearing bracket 12, from
Heart speed adjusting gear includes Intake shaft 17 and outlet axis 23, and Intake shaft 17 and rear end cap 14 are cooperatively connected, fluid self-driven mechanism 300
It is cooperatively connected behind centrifugal governor mechanism 200 with outlet axis 23.
The speed of traveling wheel 4 passes through the velocity pick-up being located in walking mechanism 100 on elastic cover 2 in the walking mechanism 100
The acquisition of device 9 reaches controller, and the revolving speed that via controller controls motor 15 in centrifugal governor mechanism 200 realizes centrifugal governor mechanism
The movement of spool 22 in 200 passes through the valve opening aperture in valve body 19 in the motion control centrifugal governor mechanism 200 of spool 22, stream
Body makes 28 two sides of sealing cup generate pressure difference by the barrier of sealing cup 28 in fluid self-driven mechanism 300, to drive
Robot flows in pipeline with fluid.
The walking mechanism 100 includes connecting rod 1, elastic cover 2, short connecting rod 3, traveling wheel 4, wheel shaft 5, axle sleeve 6, long connecting rod
7, traveling wheel pony sill 8, connecting rod support base 11, axis A31, axis B32；Wherein 7 one end of long connecting rod passes through axis A31 and traveling wheel bottom
Mounting 8 connects, and 3 one end of short connecting rod is connect by wheel shaft 5 with 7 other end of long connecting rod, and axle sleeve 6 is mounted on long connecting rod 7 and wheel shaft 5 connects
It connects at hole, 3 other end of short connecting rod is connect with elastic cover 2 by axis B32, and 2 sets of elastic cover in 1 outside of connecting rod, 1 one end of connecting rod
It is connect by screw thread with link supports seat 11, link supports seat 11 is connected by screw to traveling wheel pony sill 8.
The centrifugal governor mechanism 200 includes motor 15, shaft coupling 16, Intake shaft 17, centrifugal valve sliding cavity 18, valve body
19, centrifugal valve thread seal circle 20, spring 21, spool 22, outlet axis 23；Wherein motor 15 is fixed on 13 inside of shell and passes through
Shaft coupling 16 is connect with 17 one end of Intake shaft, and 17 other end of Intake shaft is fixed on 19 side of valve body, centrifugal valve thread seal circle 20
It is connect mounted in 18 one end of centrifugal valve sliding cavity and with 18 internal diameter whorl of centrifugal valve sliding cavity, 18 other end outer diameter of centrifugal valve sliding cavity
It being threadedly coupled with valve body 19,21 one end of spring is withstood on centrifugal valve thread seal circle 20, and 21 one end of spring withstands on 22 one end of spool,
Valve opening in 22 other end of spool and valve body 19 cooperates.
The valve sliding cavity 18, centrifugal valve thread seal circle 20, spring 21, spool 22 and the connection of valve body 19 are designed as 2-
4 groups.
The fluid self-driven mechanism 300 include outlet axis fixed ring 24, preceding leather cup fixed frame 25, leather cup fixing axle 26,
Leather cup fixed ring 27, sealing cup 28, rear leather cup fixed frame 29, most preceding gas outlet 30；Wherein most preceding gas outlet 30 passes through outlet
Axis fixed ring 24 is fixed on 23 end of outlet axis and outlet axis 23 and most preceding 30 clearance fit of gas outlet, leather cup fixing axle 26 are mounted in
It is fixed on the outside of most preceding gas outlet 30 and by holding screw, preceding leather cup fixed frame 25 is fixed on the outside of 26 one end of leather cup fixing axle, preceding
Equipped with the sealing cup 28 fixed by leather cup fixed ring 27 on leather cup fixed frame 25, rear leather cup fixed frame 29 is mounted in leather cup fixing axle
The outside of 26 other ends, equipped with the sealing cup 28 fixed by leather cup fixed ring 27 on rear leather cup fixed frame 29.
The gas outlet stabilizing ring 10 is mounted on most preceding 30 end of gas outlet and guarantees steam caliber to not shaking.
The beneficial effects of the present invention are: the present invention is not necessarily to power traction, creep by fluids within pipes driving.Overcome fluid
The speed regulation problem of driving type pipeline robot devises centrifugation valve type speed adjusting gear, is adjusted by the revolving speed of centrifugal valve
The openings of sizes of spool can satisfy different operating rate request to control creep speed of the pipe robot in pipeline.
Detailed description of the invention
Fig. 1 is to invent whole schematic cross-sectional view；
Fig. 2 is walking mechanism schematic diagram of the present invention；
Fig. 3 is centrifugal governor mechanism of the present invention partial schematic diagram；
Fig. 4 is fluid self-driven mechanism schematic diagram of the present invention；
Fig. 5 cuts open for valve body in the present invention shows schematic diagram；
Fig. 6 is preceding leather cup fixed frame schematic diagram in the present invention；
Fig. 7 is rear leather cup fixed frame schematic diagram in the present invention；
Each label in figure: 1- connecting rod, 100- walking mechanism, 200- centrifugal governor mechanism, 300- fluid self-driven mechanism, 2- pine
It is fixed, 3- short connecting rod, 4- traveling wheel, 5- wheel shaft, 6- axle sleeve, 7- long connecting rod, 8- traveling wheel pony sill, 9- velocity sensor, 10-
Gas outlet stabilizing ring, 11- connecting rod support base, 12- drive end bearing bracket, 13- shell, 14- rear end cap, 15- motor, 16- shaft coupling,
17- Intake shaft, 18- centrifugal valve sliding cavity, 19- valve body, 20- centrifugal valve thread seal circle, 21- spring, 22- spool, 23- outlet
Axis, 24- outlet axis fixed ring, leather cup fixed frame before 25-, 26- leather cup fixing axle, 27- leather cup fixed ring, 28- sealing cup,
Leather cup fixed frame after 29-, the most preceding gas outlet 30-, 31- axis A, 32- axis B.
Specific embodiment
With reference to the accompanying drawings and examples, the invention will be further described, but the contents of the present invention be not limited to it is described
Range.
Embodiment 1: as shown in figs. 1-7, a kind of fluid drive-type centrifugal governor pipe robot, including walking mechanism 100,
Drive end bearing bracket 12, shell 13, rear end cap 14, centrifugal governor mechanism 200, fluid self-driven mechanism 300；13 front and back end of shell is logical
It crosses the modes such as threaded connection/welding and drive end bearing bracket 12, rear end cap 14 is installed respectively, walking mechanism 100 is mounted on drive end bearing bracket 12, from
Heart speed adjusting gear includes Intake shaft 17 and outlet axis 23, and Intake shaft 17 is cooperatively connected with rear end cap 14, and (clearance fit, transition are matched
Close), fluid self-driven mechanism 300 is located at behind centrifugal governor mechanism 200 to be cooperatively connected with outlet axis 23.
The pine in walking mechanism 100 is passed through it is possible to further which the speed of traveling wheel 4 in the walking mechanism 100 is arranged
The acquisition of velocity sensor 9 on fixed 2 reaches controller, and via controller controls the revolving speed of motor 15 in centrifugal governor mechanism 200
The movement for realizing spool 22 in centrifugal governor mechanism 200, passes through valve body 19 in the motion control centrifugal governor mechanism 200 of spool 22
Interior valve opening aperture, fluid generate 28 two sides of sealing cup by the barrier of sealing cup 28 in fluid self-driven mechanism 300
Pressure difference, so that robot be driven to flow in pipeline with fluid.
It is possible to further be arranged the walking mechanism 100 include connecting rod 1, elastic cover 2, short connecting rod 3, traveling wheel 4,
Wheel shaft 5, axle sleeve 6, long connecting rod 7, traveling wheel pony sill 8, connecting rod support base 11, axis A31, axis B32；Wherein 7 one end of long connecting rod
It is connect by axis A31 with traveling wheel pony sill 8,3 one end of short connecting rod is connect by wheel shaft 5 with 7 other end of long connecting rod, and axle sleeve 6 is pacified
Mounted in long connecting rod 7 and 5 connection hole of wheel shaft, 3 other end of short connecting rod is connect with elastic cover 2 by axis B32, and 2 sets of elastic cover even
1 outside of extension bar, 1 one end of connecting rod are connect by screw thread with link supports seat 11, and link supports seat 11 and traveling wheel pony sill 8 are logical
Screw connection is crossed, traveling wheel pony sill 8 is mounted on drive end bearing bracket 12 by screw.
It include motor 15, shaft coupling 16, Intake shaft 17, centrifugation it is possible to further which the centrifugal governor mechanism 200 is arranged
Valve sliding cavity 18, valve body 19, centrifugal valve thread seal circle 20, spring 21, spool 22, outlet axis 23；Wherein motor 15 is fixed on
It being connect inside shell 13 and by shaft coupling 16 with 17 one end of Intake shaft, 17 other end of Intake shaft is fixed on 19 side of valve body, from
Heart valve thread seal circle 20 is connect mounted in 18 one end of centrifugal valve sliding cavity and with 18 internal diameter whorl of centrifugal valve sliding cavity, and centrifugal valve is sliding
Dynamic 18 other end outer diameter of chamber is threadedly coupled with valve body 19, and 21 one end of spring is withstood on centrifugal valve thread seal circle 20, spring 21 1
End withstands on 22 one end of spool, and (22 one end of spool is cylinder to the valve opening cooperation in 22 other end of spool and valve body 19, and one end is cone
Shape, that cylindrical one end are contacted with spring one end, and one end of taper and the valve opening in valve body 19 cooperate, which leans on the pressure of spring
Power make both parts about close to).
It is possible to further which the valve sliding cavity 18, centrifugal valve thread seal circle 20, spring 21, spool 22 and valve is arranged
The connection of body 19 is designed as 2-4 group (using symmetrical；It for example 3 groups, is then spaced 120 degree and is distributed, it is not inclined when making its rotation
The heart).
It include outlet axis fixed ring 24, preceding leather cup fixed frame it is possible to further which the fluid self-driven mechanism 300 is arranged
25, leather cup fixing axle 26, leather cup fixed ring 27, sealing cup 28, rear leather cup fixed frame 29, most preceding gas outlet 30；Wherein most before
Gas outlet 30 is fixed on 23 end of outlet axis and outlet axis 23 and most preceding 30 clearance fit of gas outlet by outlet axis fixed ring 24,
Leather cup fixing axle 26 is fixed mounted in most preceding 30 outside of gas outlet and by holding screw, and preceding leather cup fixed frame 25 is fixed on leather cup and fixes
On the outside of 26 one end of axis, equipped with the sealing cup 28 fixed by leather cup fixed ring 27, rear leather cup fixed frame on preceding leather cup fixed frame 25
29 are mounted in the outside of 26 other end of leather cup fixing axle, and the sealing skin fixed by leather cup fixed ring 27 is housed on rear leather cup fixed frame 29
Bowl 28.
The gas outlet stabilizing ring 10 is mounted on most preceding 30 end of gas outlet and guarantees steam caliber to not shaking.
The working principle of the invention is:
In use, the pipe robot is put into pipeline, and can be set in the shell in robot various for pipeline prison
Survey the device needed.Pipe robot can move and replace sealing cup along the axis direction of connecting rod 1 by elastic cover 2
28 adjust pipe robot minimax size to adapt to a certain range of pipe diameter size.
The speed feedback of the measurement traveling wheel 4 of velocity sensor 9 is set on elastic cover 2 to controller, so that control is fixed on
The revolving speed of the intracorporal motor 15 of shell, motor connect that centrifugal governor valve is driven to rotate with Intake shaft 17 by shaft coupling 16, electricity
The spool 22 of machine revolving speed difference centrifugal valve (constructs in valve body 19 along the distance difference that 18 inner wall of centrifugal valve sliding cavity moves
The fluid entered from Intake shaft 17 enters the channel of outlet axis 23 through open valve opening), then the aperture of valve opening is different, to realize
Throttling adjusts the speed (revolving speed is bigger, and valve opening aperture is bigger, and robot speed is lower) to realize.When not needing speed regulation, spring 21 can be protected
Card spool is in reset condition, i.e. valve opening aperture is zero.And in 200 rotary course of centrifugal governor mechanism, it is cooperatively connected with it
Fluid self-driven mechanism 300 and walking mechanism 100 will not be rotated with it and be rotated.
Above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (7)
1. a kind of fluid drive-type centrifugal governor pipe robot, it is characterised in that: including walking mechanism (100), drive end bearing bracket
(12), shell (13), rear end cap (14), centrifugal governor mechanism (200), fluid self-driven mechanism (300)；
Drive end bearing bracket (12), rear end cap (14) are installed in shell (13) front and back end respectively, and walking mechanism (100) is mounted on drive end bearing bracket
(12) on, centrifugal governor mechanism includes Intake shaft (17) and outlet axis (23), and Intake shaft (17) and rear end cap (14) are cooperatively connected,
Fluid self-driven mechanism (300) is located at centrifugal governor mechanism (200) and is cooperatively connected below with outlet axis (23).
2. fluid drive-type centrifugal governor pipe robot according to claim 1, it is characterised in that: the walking mechanism
(100) speed of traveling wheel (4) passes through velocity sensor (9) acquisition being located in walking mechanism (100) on elastic cover (2) and reaches in
Controller, the revolving speed that via controller controls motor (15) in centrifugal governor mechanism (200) realize valve in centrifugal governor mechanism (200)
The movement of core (22) passes through the valve opening aperture in valve body (19) in the motion control centrifugal governor mechanism (200) of spool (22), stream
Body makes sealing cup (28) two sides generate pressure difference by the barrier of sealing cup (28) in fluid self-driven mechanism (300), from
And robot is driven to flow in pipeline with fluid.
3. fluid drive-type centrifugal governor pipe robot according to claim 1, it is characterised in that: the walking mechanism
It (100) include connecting rod (1), elastic cover (2), short connecting rod (3), traveling wheel (4), wheel shaft (5), axle sleeve (6), long connecting rod (7), row
Walk to take turns pony sill (8), connecting rod support base (11), axis A(31), axis B(32)；Wherein long connecting rod (7) one end passes through axis A(31) with
Traveling wheel pony sill (8) connection, short connecting rod (3) one end are connect by wheel shaft (5) with long connecting rod (7) other end, axle sleeve (6) installation
In long connecting rod (7) and wheel shaft (5) connection hole, short connecting rod (3) other end passes through axis B(32 with elastic cover (2)) it connect, elastic cover
(2) it covers on the outside of connecting rod (1), connecting rod (1) one end is connect by screw thread with link supports seat (11), link supports seat (11)
It is connected by screw to traveling wheel pony sill (8).
4. fluid drive-type centrifugal governor pipe robot according to claim 1, it is characterised in that: the centrifugal governor
Mechanism (200) includes motor (15), shaft coupling (16), Intake shaft (17), centrifugal valve sliding cavity (18), valve body (19), centrifugal valve
Thread seal circle (20), spring (21), spool (22), outlet axis (23)；Wherein motor (15) be fixed on shell (13) it is internal and
It is connect by shaft coupling (16) with Intake shaft (17) one end, Intake shaft (17) other end is fixed on valve body (19) side, centrifugal valve
Thread seal circle (20) is mounted in centrifugal valve sliding cavity (18) one end and connect with centrifugal valve sliding cavity (18) internal diameter whorl, centrifugal valve
Sliding cavity (18) other end outer diameter is threadedly coupled with valve body (19), and spring (21) one end withstands on centrifugal valve thread seal circle (20)
On, spring (21) one end withstands on spool (22) one end, and the valve opening in spool (22) other end and valve body (19) cooperates.
5. fluid drive-type centrifugal governor pipe robot according to claim 4, it is characterised in that: the valve sliding cavity
(18), centrifugal valve thread seal circle (20), spring (21), spool (22) and the connection of valve body (19) are designed as 2-4 group.
6. fluid drive-type centrifugal governor pipe robot according to claim 1, it is characterised in that: the fluid self-powered
Motivation structure (300) includes outlet axis fixed ring (24), preceding leather cup fixed frame (25), leather cup fixing axle (26), leather cup fixed ring
(27), sealing cup (28), rear leather cup fixed frame (29), most preceding gas outlet (30)；Wherein most preceding gas outlet (30) passes through outlet
Axis fixed ring (24) is fixed on outlet axis (23) end and outlet axis (23) and most preceding gas outlet (30) clearance fit, leather cup are fixed
Axis (26) is fixed on the outside of most preceding gas outlet (30) and by holding screw, and preceding leather cup fixed frame (25) is fixed on leather cup fixing axle
(26) on the outside of one end, equipped with the sealing cup (28) fixed by leather cup fixed ring (27), rear leather cup on preceding leather cup fixed frame (25)
Fixed frame (29) is mounted in the outside of leather cup fixing axle (26) other end, is equipped on rear leather cup fixed frame (29) by leather cup fixed ring
(27) fixed sealing cup (28).
7. fluid drive-type centrifugal governor pipe robot according to claim 6, it is characterised in that: the gas outlet is steady
Determine ring (10) and be mounted on most preceding gas outlet (30) end to guarantee steam caliber to not shaking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007163.7A CN109237202A (en) | 2018-08-31 | 2018-08-31 | A kind of fluid drive-type centrifugal governor pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811007163.7A CN109237202A (en) | 2018-08-31 | 2018-08-31 | A kind of fluid drive-type centrifugal governor pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109237202A true CN109237202A (en) | 2019-01-18 |
Family
ID=65069919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811007163.7A Pending CN109237202A (en) | 2018-08-31 | 2018-08-31 | A kind of fluid drive-type centrifugal governor pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109237202A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
| CN113309929A (en) * | 2021-05-28 | 2021-08-27 | 燕山大学 | Bionic air bag type unpowered mobile pipeline robot and control method |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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| CN104052217A (en) * | 2014-06-26 | 2014-09-17 | 青岛斯普瑞能源科技有限公司 | Disk-type permanent magnetic speed regulator |
| US20150300554A1 (en) * | 2012-11-24 | 2015-10-22 | Southwest Petroleum University | Actively driven spiral pipeline robot |
| CN107763367A (en) * | 2017-11-16 | 2018-03-06 | 北华大学 | Screw drives centrifugal mechanical adaptive speed device |
| CN208997558U (en) * | 2018-08-31 | 2019-06-18 | 昆明理工大学 | A kind of fluid drive-type centrifugal governor pipe robot |
-
2018
- 2018-08-31 CN CN201811007163.7A patent/CN109237202A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150300554A1 (en) * | 2012-11-24 | 2015-10-22 | Southwest Petroleum University | Actively driven spiral pipeline robot |
| CN104052217A (en) * | 2014-06-26 | 2014-09-17 | 青岛斯普瑞能源科技有限公司 | Disk-type permanent magnetic speed regulator |
| CN107763367A (en) * | 2017-11-16 | 2018-03-06 | 北华大学 | Screw drives centrifugal mechanical adaptive speed device |
| CN208997558U (en) * | 2018-08-31 | 2019-06-18 | 昆明理工大学 | A kind of fluid drive-type centrifugal governor pipe robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
| CN109737264B (en) * | 2019-03-07 | 2023-08-18 | 北华大学 | Brake type intelligent plugging robot in pipeline |
| CN113309929A (en) * | 2021-05-28 | 2021-08-27 | 燕山大学 | Bionic air bag type unpowered mobile pipeline robot and control method |
| CN113309929B (en) * | 2021-05-28 | 2022-03-15 | 燕山大学 | Bionic air bag type unpowered mobile pipeline robot and control method |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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