CN109501814A - Tunnel crusing robot - Google Patents
Tunnel crusing robot Download PDFInfo
- Publication number
- CN109501814A CN109501814A CN201811360474.1A CN201811360474A CN109501814A CN 109501814 A CN109501814 A CN 109501814A CN 201811360474 A CN201811360474 A CN 201811360474A CN 109501814 A CN109501814 A CN 109501814A
- Authority
- CN
- China
- Prior art keywords
- wheel
- tunnel
- track
- crusing robot
- bracket
- 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
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 9
- 239000000779 smoke Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 19
- 239000010959 steel Substances 0.000 abstract description 19
- 229910000838 Al alloy Inorganic materials 0.000 abstract description 6
- 238000001179 sorption measurement Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 4
- 238000004891 communication Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 239000013307 optical fiber Substances 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001535 kindling effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000000391 smoking effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F9/00—Rail vehicles characterised by means for preventing derailing, e.g. by use of guide wheels
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Abstract
The invention discloses tunnel crusing robots, including the track and motion platform being installed on tunnel, track is hollow steel pipe, driving mechanism and falling-proof mechanism are equipped between track and motion platform, wherein, driving mechanism include with along tracks travel magnetic absorbing wheel, falling-proof mechanism include hold tightly track holding wheel.Robot running track replaces high-cost aluminium alloy using the steel pipe of low cost, and orbital weight mitigates, and effectively lowers Tunnel testing cost；Using magnetically adsorbed driving mechanism, magnetic absorbing wheel can effectively reduce the volume of robot by biggish magnetic-adsorption below steel pipe；The falling-proof mechanism of use has the function of dropproof and serves as robot driven wheel assembly, and volume reduces, and structure is simple, easy for installation.
Description
Technical field
The present invention relates to field of special robots, more specifically, it is related to tunnel crusing robot.
Background technique
The crusing robots such as country's pipe gallery, cable tunnel have been achieved for being in progress to a certain degree at present, each producer's machine
Although device people's shape is different, the core contents such as driving method, communication modes are almost the same, but have the following problems:
(1) rail actuation techniques are hung using aluminium alloy, though aluminium alloy has many advantages, such as that light-weight, antirust, price are opposite
It is higher；For ten kilometers of length or more of cable tunnel, track cost proportion is very big；Therefore it is badly in need of wanting a kind of low cost
Rail system.
(2) cable tunnel inspection robot mostly uses the I-shaped track of tradition at present, and orbit altitude all exists on the market at present
The left and right 80mm or more, with regard to limited, the Orbiting Potential of larger sectional area must occupy biggish tunnel space in tunnel space itself.
(3) cable tunnel robot does not have fall-proofing device mostly at present, and existing robot such as increases fall-proofing device,
Volume can further increase, to occupy biggish tunnel space.
Summary of the invention
The object of the present invention is to provide the tunnel crusing robots of a kind of low cost, small light.
The technical solution adopted by the present invention to solve the technical problems is: tunnel crusing robot, including is installed on tunnel
On track and motion platform, track is hollow steel pipe, and driving mechanism and dropproof machine are equipped between track and motion platform
Structure, wherein driving mechanism is as driving wheel, and as driven wheel, driving mechanism includes and the magnetic along tracks travel falling-proof mechanism
Sorption wheel, falling-proof mechanism include the holding wheel for holding track tightly.
As a preferred option, driving mechanism includes transmission shaft and transmission component, and transmission component drives magnetic by transmission shaft
Sorption wheel rotation.
As a preferred option, transmission component uses belt drive component, and belt drive component includes belt, driving pulley
And driven pulley.
As a preferred option, driving mechanism includes first support, second support, third bracket and motor, motor, active
Belt wheel and driven pulley are each attached on third bracket, and motor output shaft is connect with driving pulley by flat key, driving pulley with
Driven pulley is driven by belt；It is two groups identical that magnetic absorbing wheel is symmetrically arranged with structure, and transmission shaft one end passes through bearing and second
Bracket is fixed, and the other end sequentially passes through two magnetic absorbing wheels, third bracket, driven pulley, and transmission shaft passes through bearing and second
Frame is fixed, and second support and third bracket are both secured to first support, and steering shaft is fixed by bearing and first support.
As a preferred option, transmission component includes the tensioning wheel being mounted on third bracket, and tensioning wheel is set to belt
Side.
As a preferred option, falling-proof mechanism includes the 4th bracket and holds wheel tightly, if holding wheel tightly includes that structure is identical
Dry enclasped plate, enclasped plate are fixed by screws on the 4th bracket, and the 4th bracket is by bearing empty set in steering shaft.
Preferably, holding wheel tightly includes identical 2 enclasped plates of structure.
As a preferred option, the enclasped plate is linear bearing.Preferably, enclasped plate is by with the wear-resisting of lubricating function
Plastics are made.Rolling friction is converted for sliding friction using linear bearing, reduces the frictional force between enclasped plate and track.
As a preferred option, detection components, fire extinguisher bomb, temperature and humidity tester and smog are carried below motion platform to pass
Sensor.
As a preferred option, detection components include visible light camera, laser scanner and holder, and holder is fixed on fortune
Moving platform, it is seen that light video camera and laser scanner are fixed with the both ends of holder respectively.
Beneficial effects of the present invention:
(1) robot running track replaces high-cost aluminium alloy using the steel pipe of low cost, and orbital weight mitigates, effectively
Lower Tunnel testing cost.
(2) magnetically adsorbed driving mechanism is used, magnetic absorbing wheel can have by biggish magnetic-adsorption below steel pipe
Effect reduces the volume of robot.
(3) falling-proof mechanism used has the function of dropproof and serves as robot driven wheel assembly, and volume reduces, knot
Structure is simple, easy for installation.
(4) robot of the present invention can be used for detecting the temperature and humidity in tunnel, gas, find to transport automatically when fire
Row is put out a fire to ignition point.
(5) inventive belt transmission component is with tension pulley, can effectively prevent robot inspection in the process because of belt slack
And situations such as causing skidding, belt wheel idle running.
Detailed description of the invention
Fig. 1 is ceiling mounting type mounting structure schematic diagram of the present invention.
Fig. 2 is top view of the invention.
Fig. 3 is the structural schematic diagram of robot of the present invention.
Fig. 4 is drive wheel assemblies structural schematic diagram of the present invention.
Fig. 5 is the structural schematic diagram of inventive belt transmission component.
Fig. 6 is scheme of installation of the drive wheel assemblies of the present invention in robot.
Fig. 7 show the structural schematic diagram of the dropproof component of the present invention.
Fig. 8 show scheme of installation of the dropproof component of the present invention in robot.
Fig. 9 is the track ceiling mounting type mounting structure schematic diagram that embodiment 2 has leaky wave cable.
Figure 10 is the general structure schematic diagram of embodiment 2.
Figure 11 is the structural schematic diagram of 2 drive wheel assemblies of embodiment.
It is identified in figure: 101, hanger；102, horizontal support；103, track；2, driving mechanism；3, falling-proof mechanism；4, it transports
Moving platform；5, steering shaft；201, magnetic absorbing wheel；202, motor；203, transmission component；204, first support；205, second support；
206, third bracket；207, transmission shaft；2031, belt；2032, tensioning wheel；2033, driven pulley；2034, driving pulley；
301, enclasped plate；302, the 4th bracket；303, wheel is held tightly；104, circular hole；6, leaky wave cable；601, wireless access end；701, nothing
Line client；702, control system；703, communication system；704, holder；705, laser scanner；706, visible light camera；
8, backstage；9, optical fiber.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and detailed description.
Embodiment 1
As shown in figures 1-8, side-mounted or ceiling mounting type can be used in the mounting means of track, is now said by taking ceiling mounting type as an example
It is bright.
Tunnel crusing robot, including the track 103 and motion platform 4 being installed in tunnel, track 103 is hollow steel
Pipe is equipped with driving mechanism 2 and falling-proof mechanism 3 between track 103 and motion platform 4, wherein and driving mechanism 2 is used as driving wheel,
Falling-proof mechanism 3 is used as driven wheel, the magnetic absorbing wheel 201 that driving mechanism 2 includes and slides along track 103, falling-proof mechanism 34
Holding wheel 303 including holding track tightly.Track 103 includes symmetrically arranged two steel pipes, specifically, steel pipe is circle.
Tunnel is equipped with hanger 101, and hanger 101 is fixed on the wall in tunnel, and hanger 101 is fixedly connected with horizontal support
103.103 top end surface of track is plane, and top end surface is equipped with threaded hole, and horizontal support 103 is fixed with top end surface, specifically
, it can be fixedly connected by screw.Traditional track using aluminium alloy hang rail actuation techniques, though aluminium alloy have it is light-weight,
The advantages that antirust, but price is relatively high；For ten kilometers of length or more of cable tunnel, track cost proportion is very
Greatly；And cable tunnel inspection robot mostly uses the I-shaped track of tradition at present, and the Orbiting Potential of larger sectional area must occupy
Biggish tunnel space.The present invention uses hollow steel pipe track, and intensity is high, at low cost, light-weight, effectively reduces the detection in tunnel
Cost；The tunnel space that occupancy can be reduced using the track of steel pipe form is conducive to robot operation.Further, in order to prevent
Steel tube surface is got rusty, in steel tube surface chromium plating.
Driving mechanism
Driving mechanism 2 is rotatablely connected by steering shaft 5 and motion platform.Driving mechanism 2 includes magnetic absorbing wheel 201, transmission
Axis 207 and transmission component 203, magnetic absorbing wheel 201 are slided along track 103, and transmission component drives magnetic absorbing wheel by transmission shaft 207
201 rotations.Magnetic absorbing wheel 201 can make magnetic absorbing wheel 201 tightly be bonded track by biggish magnetic-adsorption below steel pipe
103, reduce the space between magnetic absorbing wheel 201 and track 103, to effectively reduce the volume of robot.Specifically, magnetic suck
Wheel 201 has the groove cooperated with track 103, and magnetic absorbing wheel 201 is moved along track 103.Specifically, track 103 is steel pipe
Semicircle be respectively positioned in groove.
Transmission component 203 can be one of chain conveyer, belt transmission, gear drive, in the present embodiment, transmission component
203 use belt drive component, including belt 2031, driving pulley 2034 and driven pulley 2033.Specifically, driving mechanism 2
Including first support 204, second support 205, third bracket 206 and motor 202, motor 202 and transmission component 203 are fixed on
On three brackets 206, motor output shaft is connect with driving pulley 2034 by flat key, and driving pulley 2034 and driven pulley 2033 are logical
Cross the transmission of belt 2031；It is 2 identical that magnetic absorbing wheel 201 is symmetrically arranged with structure, and 207 one end of transmission shaft passes through bearing and second
Frame 205 is fixed, and the other end sequentially passes through two magnetic absorbing wheels 201, third bracket 206, driven pulley 2033, and transmission shaft 207 is logical
It crosses bearing and second support 205 is fixed.Driven pulley 2033 in i.e. described 201 one end of magnetic absorbing wheel and belt drive component is solid
Fixed connection, the other end is by bearing support in second support 205；Two magnetic absorbing wheels 201 are fixed on a transmission shaft 207
On.Motor output shaft drives driving pulley 2034 to rotate, and driving pulley 2034 is transmitted with driven pulley 2033 by belt 2031
Movement, driven pulley 2033 drive transmission shaft 207 to rotate, so that two magnetic absorbing wheels 202 rotate.Second support 205 and third
Bracket 206 is both secured in first support 204, and steering shaft 5 is fixed by bearing and first support 204, and steering shaft 5 can turn
It is dynamic.Due to tunnel path complications, steering shaft 5 is provided with conducive to the turning of motion platform 4, to adapt to the operating path in tunnel.
Further, for prevent belt slack in robot kinematics and cause to skid, belt wheel idle running situations such as, transmission group
Part 203 includes tensioning wheel 2032, and tensioning wheel 2032 is set to 2031 side of belt.The tensioning wheel 2032, driving pulley 2034,
Driven pulley 2033 is installed on third bracket 206.
Falling-proof mechanism
Falling-proof mechanism 3 is rotatablely connected by steering shaft 5 and motion platform 4.Falling-proof mechanism 3 includes the 4th bracket 302
With hold wheel 303 tightly, holding wheel 303 tightly includes identical 2 enclasped plates 301 of structure, and two enclasped plates 301 are fixed by screws in the
On four brackets 302, the 4th bracket 302 is by bearing empty set in steering shaft 5.Specifically, each enclasped plate 301 and steel pipe
Half outer circle adaptation, two enclasped plates 301 surround steel pipe, and top end surface is exposed.Specifically, the enclasped plate 301 is
Linear bearing or wear-resistant plastic with lubricating function are made, and are able to extend the service life for holding wheel 303 tightly.Using linear bearing
Sliding friction can be converted to rolling friction, reduce the frictional force between enclasped plate 301 and track 103.By using dropproof
Mechanism 3 not only has the effect of falling for preventing robot, also has the function of serving as robot driven wheel.
In the present embodiment, driving mechanism 2 is used as driving wheel, and falling-proof mechanism 3 is used as driven wheel, and driving mechanism 2 is fallen with anti-
It falls before and after mechanism 3 and is arranged, falling-proof mechanism 3 has the function of dropproof and serves as robot driven wheel, reduces accounting for for robot
With space, cost is reduced.
Detection components
As a specific embodiment, detection components, fire extinguisher bomb, temperature and humidity tester are carried below motion platform 4
And smoke sensor device.In the present embodiment, using the Temperature Humidity Sensor of model HTU21, for detecting indoor temperature, wet
The environmental informations such as degree.
In the present embodiment, using the smoke sensor device of model JTY-GD-S836, mainly for what is be likely to occur in tunnel
Smoking, kindling etc. are detected.
Detection components include visible light camera 706, laser scanner 705 and holder 704, and holder 704 is fixed on movement
On platform 4, it is seen that the both ends of light video camera 706 and laser scanner 705 respectively with holder 704 are fixed.Visible light camera 706
For carrying out detection and intelligent recognition to cable appearance, foreign matter, meter reading in tunnel, laser scanner 705 is used for tunnel
The sedimentation of structure, variation of wriggling are detected, and the unexpected things such as the structure being likely to occur in tunnel is sagging, collapses can be effectively avoided
Therefore.
Embodiment 2
The present embodiment the difference from embodiment 1 is that, the track interior in the present embodiment is equipped with leaky wave cable 6.This reality
The track used in example is applied as hollow steel pipe, leaky wave cable 6 is located in hollow steel pipe, the wiring space of leaky wave cable 6 is saved,
It avoids simultaneously and leaky wave cable 6 is arranged in abrasion and destruction of the outside to cable.
As shown in figs. 9-11, the tunnel crusing robot includes leaky wave cable 6, and leaky wave cable 6 is mounted on track interior,
Motion platform is equipped with wireless client 701, control system 702 and communication system 703, wireless client 701 respectively with control
System 702 and communication system 703 connect, and 601 one end of wireless access end is connect with leaky wave cable 6,601 other end of wireless access end
It is connect by optical fiber 9 with backstage 8.Wireless client 701 is used to receive the signal of the transmission of leaky wave cable 6.Further, it is leaked to allow
The signals leakiness of wave cable 6 goes out, and several through-holes 104 are equidistantly provided with below track, forms several wireless fields being evenly arranged
It is communicated with robot.The shape of through-hole 104 is unlimited, specifically, through-hole 104 is round hole.The leaky wave cable 6 can enclose
Around one regular signaling zone of specified area radiation of cable, this function can guarantee in wireless client 701 and wireless
A reliable and stable communication link is established between incoming end 601, and is capable of providing determining datacycle access.Specifically
Signal transmission form are as follows: on the one hand, command signal is transmitted to wireless access end 601, wireless access end by optical fiber 9 by backstage 8
601 transmit a signal to wireless client 701 by leaky wave cable 6, and wireless client 701 transmits a signal to control system
702 and communication system 703, to be communicated and be controlled to robot.On the other hand, wireless client 701 supervises robot
The monitoring information measured passes sequentially through leaky wave cable 6, wireless access end 601, optical fiber 9 are transmitted to backstage 8.
Tunnel is usually implemented in underground, and impenetrably face radio communication base station establishes communication environment, it is therefore necessary to be tunnel
Road introduces dedicated communication system.In addition, wireless signal is decayed in tunnel, more open place is rapider, and signal relay station is also
The emphasis of communication environment construction.Currently, constructing the wireless communications environment of crusing robot in tunnel, it is necessary to just be built every 100m
One has the radio communication relay station of antenna, this not only greatly improves the project amount of tunnel crusing robot and is constructed into
This, considers, each relay station necessarily has independent current source, introduces relay station too much from secure context, certainly will be in tunnel
Operational safety work cause bigger burden.Therefore, using 6 communication modes of leaky wave cable, communication is reliable, avoids tunnel longer
When need the drawbacks of arranging several relay points.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (9)
1. tunnel crusing robot, it is characterised in that: including the track and motion platform being installed in tunnel, track and movement
Driving mechanism and falling-proof mechanism are equipped between platform, wherein driving mechanism is as driving wheel, and falling-proof mechanism is as driven
Wheel.
2. tunnel crusing robot as described in claim 1, it is characterised in that: driving mechanism includes magnetic absorbing wheel, transmission shaft
And transmission component, transmission component drive magnetic absorbing wheel to rotate by transmission shaft.
3. tunnel crusing robot as claimed in claim 2, it is characterised in that: transmission component uses belt drive component, skin
V belt translation component includes belt, driving pulley and driven pulley, and driving pulley and driven pulley are driven by belt.
4. tunnel crusing robot as claimed in claim 3, it is characterised in that: driving mechanism includes first support, second
Frame, third bracket and motor, motor, driving pulley and driven pulley are each attached on third bracket, motor output shaft and active
Belt wheel is connected by flat key；It is two identical that magnetic absorbing wheel is symmetrically arranged with structure, and transmission shaft one end passes through bearing and second support
Fixed, the other end sequentially passes through two magnetic absorbing wheels, third bracket, driven pulley, and transmission shaft is solid by bearing and second support
Fixed, second support and third bracket are both secured to first support, and steering shaft is fixed by bearing and first support.
5. tunnel crusing robot as claimed in claim 4, it is characterised in that: transmission component includes being mounted on third bracket
Tensioning wheel, tensioning wheel is set to belt side.
6. tunnel crusing robot as claimed in claim 5, it is characterised in that: falling-proof mechanism includes the 4th bracket and holding
Wheel, holding wheel tightly includes several identical enclasped plates of structure, and enclasped plate is fixed by screws on the 4th bracket, and described 4th
Frame is by bearing empty set in steering shaft.
7. tunnel crusing robot as claimed in claim 6, it is characterised in that: the enclasped plate is linear bearing.
8. tunnel crusing robot as claimed in claim 7, it is characterised in that: carry detection components below motion platform, go out
Fiery bullet, temperature and humidity tester and smoke sensor device.
9. tunnel crusing robot as claimed in claim 8, it is characterised in that: detection components include visible light camera, swash
Photoscanner and holder, holder are fixed on motion platform, it is seen that light video camera and laser scanner are solid with the both ends of holder respectively
It is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360474.1A CN109501814A (en) | 2018-11-15 | 2018-11-15 | Tunnel crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811360474.1A CN109501814A (en) | 2018-11-15 | 2018-11-15 | Tunnel crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109501814A true CN109501814A (en) | 2019-03-22 |
Family
ID=65748641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811360474.1A Pending CN109501814A (en) | 2018-11-15 | 2018-11-15 | Tunnel crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109501814A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500826A (en) * | 2018-11-15 | 2019-03-22 | 山东乐普韦尔自动化技术有限公司 | A kind of tunnel crusing robot |
| CN112911238A (en) * | 2021-01-27 | 2021-06-04 | 光控特斯联(重庆)信息技术有限公司 | Community pipe gallery intelligent maintenance device |
| CN113022594A (en) * | 2021-04-06 | 2021-06-25 | 四川省青云智创超轻型智慧轨道交通技术研发中心(有限合伙) | Ultra-light rail transit line system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9013909D0 (en) * | 1989-06-23 | 1990-08-15 | Hunting Eng Ltd | Communication via leaky cables |
| US20040050286A1 (en) * | 2000-10-11 | 2004-03-18 | Olav Liodden | Work cart for temporary cableway and a method for use of such work cart |
| CN203186345U (en) * | 2013-02-28 | 2013-09-11 | 山东康威通信技术股份有限公司 | Electric power tunnel wireless mobile video routing inspection robot structure |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| US20160167685A1 (en) * | 2013-07-29 | 2016-06-16 | Siemens S.A.S. | Method and devices for checking the correct rail position of a guided vehicle |
| CN109500826A (en) * | 2018-11-15 | 2019-03-22 | 山东乐普韦尔自动化技术有限公司 | A kind of tunnel crusing robot |
| CN209553183U (en) * | 2018-11-15 | 2019-10-29 | 浙江大学山东工业技术研究院 | Tunnel crusing robot |
| CN210121845U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Magnetic adsorption wheel type tunnel inspection robot |
| CN210121850U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Tunnel inspection robot with anti-falling mechanism |
| CN210121849U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Tunnel inspection robot |
-
2018
- 2018-11-15 CN CN201811360474.1A patent/CN109501814A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9013909D0 (en) * | 1989-06-23 | 1990-08-15 | Hunting Eng Ltd | Communication via leaky cables |
| US20040050286A1 (en) * | 2000-10-11 | 2004-03-18 | Olav Liodden | Work cart for temporary cableway and a method for use of such work cart |
| CN203186345U (en) * | 2013-02-28 | 2013-09-11 | 山东康威通信技术股份有限公司 | Electric power tunnel wireless mobile video routing inspection robot structure |
| US20160167685A1 (en) * | 2013-07-29 | 2016-06-16 | Siemens S.A.S. | Method and devices for checking the correct rail position of a guided vehicle |
| CN105680364A (en) * | 2016-01-06 | 2016-06-15 | 山东康威通信技术股份有限公司 | Orbit-change mechanism control system for electric power tunnel inspection robot and method |
| CN109500826A (en) * | 2018-11-15 | 2019-03-22 | 山东乐普韦尔自动化技术有限公司 | A kind of tunnel crusing robot |
| CN209553183U (en) * | 2018-11-15 | 2019-10-29 | 浙江大学山东工业技术研究院 | Tunnel crusing robot |
| CN210121845U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Magnetic adsorption wheel type tunnel inspection robot |
| CN210121850U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Tunnel inspection robot with anti-falling mechanism |
| CN210121849U (en) * | 2018-11-15 | 2020-03-03 | 浙江大学山东工业技术研究院 | Tunnel inspection robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500826A (en) * | 2018-11-15 | 2019-03-22 | 山东乐普韦尔自动化技术有限公司 | A kind of tunnel crusing robot |
| CN112911238A (en) * | 2021-01-27 | 2021-06-04 | 光控特斯联(重庆)信息技术有限公司 | Community pipe gallery intelligent maintenance device |
| CN113022594A (en) * | 2021-04-06 | 2021-06-25 | 四川省青云智创超轻型智慧轨道交通技术研发中心(有限合伙) | Ultra-light rail transit line system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209553183U (en) | Tunnel crusing robot | |
| CN109501814A (en) | Tunnel crusing robot | |
| CN112077823B (en) | Mobile platform of pipe gallery inspection robot | |
| CN210557563U (en) | Coal conveying trestle rail type automatic inspection device | |
| CN109500826A (en) | A kind of tunnel crusing robot | |
| CN102323331B (en) | In service cable rope defect detection device | |
| CN111217108A (en) | A single track robot system of patrolling and examining for extreme environment band conveyer | |
| CN111706765A (en) | Composite track steel wire rope traction coal mine inspection robot | |
| CN112171693A (en) | Intelligent inspection robot for mining belt conveyor | |
| CN108918652A (en) | A kind of detection device of haulage cable | |
| CN105823552A (en) | Intelligent detection robot car for architectural structure vibration | |
| CN211491564U (en) | Electric power piping lane patrols and examines robot | |
| CN109649982A (en) | Automatic tour inspection system along a kind of mine belt conveyor | |
| CN210121849U (en) | Tunnel inspection robot | |
| CN210121845U (en) | Magnetic adsorption wheel type tunnel inspection robot | |
| CN210121850U (en) | Tunnel inspection robot with anti-falling mechanism | |
| CN111457192A (en) | Wheeled pipeline inner wall cleans detection robot | |
| CN111711120A (en) | High-voltage ground wire inspection robot moving self-locking assembly | |
| CN109459128A (en) | A kind of fuel tank of vehicle oil liquid whine noise test macro | |
| CN107963086A (en) | A kind of traffic control method and pipeline | |
| CN110159930A (en) | The unmanned plane and its system of underground pipe gallery detection | |
| CN210115910U (en) | Double-cantilever hanger rail type tunnel inspection robot | |
| CN212497777U (en) | Hang rail formula intelligence and patrol and examine robot | |
| CN112623660A (en) | Belt conveyor inspection robot | |
| CN111915761A (en) | Portable intelligent inspection robot and inspection system for distribution network cable trench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190613 Address after: 277000 No. 15 Building, Internet Town, Zaozhuang High-tech Zone, Shandong Province Applicant after: Shandong Institute of industrial technology, Zhejiang University Applicant after: Shandong Dalai Intelligent Technology Co., Ltd. Applicant after: Shandong Lepwell Automation Technology Co., Ltd. Address before: 277 100 Room 408, Building 15, Jinshui Long Street, Zaozhuang High-tech Zone, Shandong Province Applicant before: Shandong Dalai Intelligent Technology Co., Ltd. Applicant before: Shandong Lepwell Automation Technology Co., Ltd. |