CN109630807A - A kind of climbing robot of pipeline electric wire non-destructive testing - Google Patents
A kind of climbing robot of pipeline electric wire non-destructive testing Download PDFInfo
- Publication number
- CN109630807A CN109630807A CN201811581031.5A CN201811581031A CN109630807A CN 109630807 A CN109630807 A CN 109630807A CN 201811581031 A CN201811581031 A CN 201811581031A CN 109630807 A CN109630807 A CN 109630807A
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- Prior art keywords
- climbing robot
- electric wire
- destructive testing
- wire non
- pipeline electric
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- 230000009194 climbing Effects 0.000 title claims abstract description 45
- 238000009659 non-destructive testing Methods 0.000 title claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 229920001821 foam rubber Polymers 0.000 claims description 31
- 229920001971 elastomer Polymers 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 238000000034 method Methods 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- 239000003595 mist Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000628997 Flos Species 0.000 description 1
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000032258 transport Effects 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
- F16L55/40—Constructional aspects of the body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools, brushes, or analogous members
-
- B08B1/10—
-
- B08B1/30—
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The present invention relates to climbing robot technical fields, and disclose a kind of climbing robot of pipeline electric wire non-destructive testing, including pedestal, the top and bottom end of the pedestal side have been respectively fixedly connected with square, one end of two squares has been respectively fixedly connected with telescopic rod, the other end of two telescopic rods has been respectively fixedly connected with link block, and pivot bush unit has ring spring respectively for the outside of two link blocks, and the side of two link blocks has been respectively articulated with connecting rod.The climbing robot of the pipeline electric wire non-destructive testing, pass through being used cooperatively for ring spring, link block, connecting rod, square and baffle, when the object collision for being pedestal in pipeline, the active force between pedestal and object can be slowed down, when preventing the climbing robot of pipeline electric wire non-destructive testing from walking in the duct excessive velocities and in pipeline object collision cause the climbing robot of pipeline electric wire non-destructive testing to damage.
Description
Technical field
The present invention relates to climbing robot technical field, specially a kind of climbing robot of pipeline electric wire non-destructive testing.
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.
In view of the drawbacks of the prior art, Chinese patent (publication number: CN106382434A) proposes a kind of intelligent pipeline and climbs
The advantages of row robot, the intelligent pipeline climbing robot is to make the first wheel and second using screw mechanism and taper driving member
Wheel is pressed on inner wall of the pipe, so that crawler belt and inner wall of the pipe will not produce relative sliding, it is high in machining efficiency, but still remain following
Defect needs to solve: when the intelligent pipeline climbing robot collides during traveling with the object in pipeline, due to not delaying
Flushing device, therefore easily there is active force mistake when climbing robot excessive velocities are collided with overturning when object collision or with object
The damage of components on climbing robot is caused greatly, and many droplets is depended on the inner wall of underground piping, and in pipeline
Portion's annular is moist, therefore climbing robot is when advancing, be easy on the camera lens of video camera on climbing robot adherency water mist or
Person's droplet is dropped on camera lens, affects the shooting quality of video camera.
Summary of the invention
The present invention provides a kind of climbing robots of pipeline electric wire non-destructive testing, and camera lens can be cleaned automatically by having
Water droplet and water mist on surface, the advantages of preventing the object collision in climbing robot and pipeline from climbing robot being caused to damage,
Solve climbing robot during traveling in pipeline object collide when, climbed without buffer unit, therefore easily
Active force is excessive when overturning or collide with object when row robot speed is too fast and object collides causes on climbing robot
Damage of components, and many droplets are depended on the inner wall of underground piping, and pipeline inner annular is moist, therefore creeper
Device people is easy to adherency water mist on the camera lens of video camera on climbing robot or droplet is dropped on camera lens, shadow when advancing
The problem of having rung the shooting quality of video camera.
The invention provides the following technical scheme: a kind of climbing robot of pipeline electric wire non-destructive testing, including pedestal, it is described
The top and bottom end of pedestal side have been respectively fixedly connected with square, and one end of two squares has been respectively fixedly connected with flexible
Bar, the other end of two telescopic rods have been respectively fixedly connected with link block, the external movable sleeve respectively of two link blocks
It is connected to ring spring, the side of two link blocks has been respectively articulated with connecting rod, and the other end of two connecting rods is cut with scissors
It is connected to baffle, rectangular block is fixedly installed in the middle part of the pedestal top, the quantity of the rectangular block is two, two squares
The positive two sides of shape block offer rectangular opening respectively, and the two sides of two described rectangular block one end offer sliding slot, four institutes respectively
Stating the inside of rectangular opening, pivot bush unit has round bar respectively, and pivot bush unit has connecting plate to four one group of round bar every two respectively,
The top of one rectangular block is fixedly installed with support plate, is fixedly installed with video camera in the middle part of the support plate top, institute
The top for stating video camera is fixedly installed with headlamp, and the support plate distinguishes movable sleeve far from the front and back of rectangular block side
It is connected to threaded rod, the bottom end of two threaded rods has been fixedly attached gear respectively, and two gears are connected by chain drive
It connects, the bottom end of a threaded rod is run through and extends to the bottom end of a gear and fixing sleeve is connected to turbine, the support plate
Bottom end is fixedly installed with motor close to the side of turbine, and worm screw, two spiral shells are fixedly connected on the output shaft of the motor
The top of support plate is run through and is extended on the top of rasp bar and screw thread is socketed with movable block respectively, and the movable block is close to camera shooting
Open up fluted in the middle part of machine side, the side screw thread on the movable block top is socketed with screw rod, the bottom end activity of the screw rod
It is socketed with the clamping plate positioned inside grooves, the internal activity of the groove is socketed with foam-rubber cushion.
Preferably, one end of the ring spring is fixedly connected with one end of link block, the other end of the ring spring
It is fixedly connected with one end of square.
Preferably, the baffle is fixedly installed with rubber strip far from the side of connecting rod, the number of rubber strip on the baffle
Amount is five.
Preferably, the quantity of the connecting plate be two, two connecting plates intersect and by shaft it is hinged.
Preferably, the lamp cap on the headlamp is located at the surface of camera lens on video camera, and on headlamp lamp cap one
Side is slidably connected with foam-rubber cushion.
Preferably, the threaded rod tip is fixedly connected with limited block, the bottom end of the threaded rod upper limit position block and activity
The top of block is flexibly connected.
Preferably, the worm screw is located at the side of turbine, and the outer tooth engagement of the outer of worm screw and turbine.
Preferably, the clamping plate is located at the surface of foam-rubber cushion, and the bottom end of clamping plate is flexibly connected with the top of foam-rubber cushion.
Preferably, the width value of the foam-rubber cushion be greater than video camera on camera lens diameter value, and the side of foam-rubber cushion with take the photograph
The side of camera lens is slidably connected on camera.
The present invention have it is following the utility model has the advantages that
1, the climbing robot of the pipeline electric wire non-destructive testing, passes through ring spring, link block, connecting rod, square and gear
Plate is used cooperatively, and when the object for being pedestal in pipeline collides, can be slowed down the active force between pedestal and object, be prevented
When the climbing robot of pipeline electric wire non-destructive testing is walked in the duct excessive velocities and in pipeline object collision cause pipe
The climbing robot of road electric wire non-destructive testing damages.
2, the climbing robot of the pipeline electric wire non-destructive testing, passes through worm screw, turbine, motor, threaded rod, gear and chain
Be used cooperatively, so that movable block is risen or is declined, and foam-rubber cushion is allow to clean the lamp cap on headlamp and video camera
The water droplet or fog on upper camera lens surface, ensure that the bright and clean of camera lens surface, prevent the drippage in pipeline water droplet and
The shooting quality of fog influence video camera.
3, the climbing robot of the pipeline electric wire non-destructive testing makes to press from both sides by being used cooperatively for clamping plate, screw rod and movable block
Foam-rubber cushion can easily be clamped or be unclamped to plate, and then in the decline of foam-rubber cushion serious wear water absorbing capacity, be conveniently replaceable sea
Silk floss pad, to improve the practicability of the climbing robot of pipeline electric wire non-destructive testing.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the threaded rod schematic diagram of structure of the invention；
Fig. 3 is enlarged diagram at the A of structure of the invention；
Fig. 4 is the connecting plate schematic diagram of structure of the invention.
In figure: 1, pedestal；2, square；3, telescopic rod；4, link block；5, ring spring；6, connecting rod；7, baffle；8, square
Shape block；9, rectangular opening；10, sliding slot；11, round bar；12, hydraulic stem；13, connecting plate；14, support plate；15, video camera；16, it illuminates
Lamp；17, threaded rod；18, gear；19, chain；20, turbine；21, motor；22, worm screw；23, movable block；24, groove；25, spiral shell
Bar；26, clamping plate；27, foam-rubber cushion.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-4, a kind of climbing robot of pipeline electric wire non-destructive testing, including pedestal 1, the top of 1 side of pedestal
End and bottom end have been respectively fixedly connected with square 2, and one end of two squares 2 has been respectively fixedly connected with telescopic rod 3, two telescopic rods 3
The other end be respectively fixedly connected with link block 4, pivot bush unit has ring spring 5, annular elastomeric respectively for the outside of two link blocks 4
One end of spring 5 is fixedly connected with one end of link block 4, and the other end of ring spring 5 is fixedly connected with one end of square 2, is passed through
Ring spring 5, link block 4, connecting rod 6, square 2 and baffle 7 are used cooperatively, the object collision that is pedestal 1 in pipeline
When, the active force between pedestal 1 and object can be slowed down, prevent the climbing robot of pipeline electric wire non-destructive testing from going in the duct
When walking excessive velocities and in pipeline object collision cause the climbing robot of pipeline electric wire non-destructive testing damage, two connect
The side of block 4 has been respectively articulated with connecting rod 6, and the other end of two connecting rods 6 is hinged with baffle 7, and baffle 7 is far from connecting rod 6
Side be fixedly installed with rubber strip, on baffle 7 quantity of rubber strip be five, by the rubber strip on baffle 7, reduce gear
Active force in plate 7 and pipeline between object plays buffer function to baffle 7, and pedestal is fixedly installed with rectangle in the middle part of 1 top
Block 8, the quantity of rectangular block 8 are two, and two positive two sides of rectangular block 8 offer rectangular opening 9, two rectangular blocks 8 one respectively
The two sides at end offer sliding slot 10 respectively, and pivot bush unit has round bar 11, four round bars 11 every two respectively for the inside of four rectangular openings 9
A one group respectively pivot bush unit have a connecting plate 13, the quantity of connecting plate 13 is two, and two connecting plates 13 intersect and pass through
Shaft is hinged, by being used cooperatively for connecting plate 13, hydraulic stem 12, round bar 11, sliding slot 10 and rectangular opening 9, makes support plate 14 can
Perhaps decline to rise and then video camera 15 is allow to rise or decline, allows to the electric wire on duct wall, make to clap
Take the photograph that image is relatively sharp, the top of a rectangular block 8 is fixedly installed with support plate 14, and the middle part on 14 top of support plate is fixedly mounted
There is video camera 15, the top of video camera 15 is fixedly installed with headlamp 16, and the lamp cap on headlamp 16 is located at mirror on video camera 15
The surface of head, and the side of lamp cap is slidably connected with foam-rubber cushion 27 on headlamp 16, when ensure that foam-rubber cushion 27 moves up and down
The water droplet or fog on camera lens surface on the lamp cap and video camera 15 on headlamp 16 can be removed simultaneously, improve foam-rubber cushion
27 cleaning efficiency, movable sleeve is connected to threaded rod 17, threaded rod to front and back of the support plate 14 far from 8 side of rectangular block respectively
17 tops are fixedly connected with limited block, and the bottom end of 17 upper limit position block of threaded rod is flexibly connected with the top of movable block 23, ensure that
Without departing from threaded rod 17 when movable block 23 rises, to improve the practical of the climbing robot of pipeline electric wire non-destructive testing
Property, the bottom end of two threaded rods 17 has been fixedly attached gear 18 respectively, and two gears 18 are sequentially connected by chain 19, a spiral shell
The bottom end of rasp bar 17 is run through and extends to the bottom end of a gear 18 and fixing sleeve is connected to turbine 20, and 14 bottom end of support plate is close to whirlpool
The side of wheel 20 is fixedly installed with motor 21, worm screw 22 is fixedly connected on the output shaft of motor 21, worm screw 22 is located at turbine 20
Side, and the outer tooth engagement of the outer of worm screw 22 and turbine 20 passes through worm screw 22, turbine 20, motor 21, threaded rod 17, tooth
Wheel 18 and chain 19 are used cooperatively, and so that movable block 23 is risen or is declined, and foam-rubber cushion 27 is allow to clean headlamp
The water droplet or fog on camera lens surface on lamp cap and video camera 15 on 16, ensure that the bright and clean of 15 camera lens surface of video camera, prevent
Only the water droplet of the drippage in pipeline and fog influence the shooting quality of video camera 15, and the top of two threaded rods 17 is run through and prolonged
It extends to the top of support plate 14 and screw thread is socketed with movable block 23 respectively, movable block 23 opens up in the middle part of 15 side of video camera
Fluted 24, the side screw thread on 23 top of movable block is socketed with screw rod 25, and the bottom end movable sleeve of screw rod 25 is connected to positioned at groove 24
Internal clamping plate 26, clamping plate 26 is located at the surface of foam-rubber cushion 27, and the top activity of the bottom end of clamping plate 26 and foam-rubber cushion 27 connects
It connects, by being used cooperatively for clamping plate 26, screw rod 25 and movable block 23, clamping plate 26 is allow easily to clamp or unclamp foam-rubber cushion
27, so 27 serious wear water absorbing capacity of foam-rubber cushion decline when, be conveniently replaceable foam-rubber cushion 27, thus improve pipeline electric wire without
The practicability of the climbing robot of detection is damaged, the internal activity of groove 24 is socketed with foam-rubber cushion 27, and the width value of foam-rubber cushion 27 is big
In the diameter value of camera lens on video camera 15, and the side of foam-rubber cushion 27 and the side of camera lens on video camera 15 are slidably connected, and guarantee
When foam-rubber cushion 27 moves up and down, the water droplet and water mist on camera lens surface on video camera 15 can all be removed, to improve
The reasonability of the climbing robot of pipeline electric wire non-destructive testing.
Working principle, the first climbing robot by pipeline electric wire non-destructive testing are put into pipeline, make two hydraulic stems 12
Work, two hydraulic stems 12 shrink and drive two connecting plates 13 to rotate by two round bars 11, and two connecting plates 13 pass through again
Other two round bar 11 rises support plate 14, when the top of video camera 15 and inner wall of the pipe is close, stops hydraulic stem 12
Work opens the power supply of motor 21, makes motor 21 then when the water droplet in inner wall of the pipe is dropped on the camera lens of video camera 15
Output shaft rotate clockwise, the output shaft of motor 21 drives turbine 20 to rotate by worm screw 22, and turbine 20 passes through two gears
18 and chain 19 drive two threaded rods 17 to rotate, increase movable block 23, and foam-rubber cushion 27 is made to clean camera lens on video camera 15
Surface invert the output shaft of motor 21 when the limited block on movable block 23 and threaded rod 17 contacts, make foam-rubber cushion 27 to
The camera lens of video camera 15 is cleaned in lower movement again, after the water droplet cleaning on 15 camera lens of video camera, and transports foam-rubber cushion 27
It is dynamic when making the top of headlamp 16, the power supply of motor 21 is closed, finally when the climbing robot of pipeline electric wire non-destructive testing is expert at
Into when colliding in the process with the object in pipeline, baffle 7 is contacted with object, and ring spring 5 is matched link block 4 and connecting rod 6
Power is restored it under conjunction use to act on baffle 7, reduces the active force between tubular object and pedestal 1.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of climbing robot of pipeline electric wire non-destructive testing, including pedestal (1), it is characterised in that: pedestal (1) side
Top and bottom end be respectively fixedly connected with square (2), one end of two squares (2) has been respectively fixedly connected with telescopic rod
(3), the other end of two telescopic rods (3) has been respectively fixedly connected with link block (4), the outside of two link blocks (4)
Movable sleeve is connected to ring spring (5) respectively, and the side of two link blocks (4) has been respectively articulated with connecting rod (6), described in two
The other end of connecting rod (6) is hinged with baffle (7), is fixedly installed with rectangular block (8), institute in the middle part of pedestal (1) top
The quantity for stating rectangular block (8) is two, and two positive two sides of the rectangular block (8) offer rectangular opening (9) respectively, two institutes
The two sides for stating rectangular block (8) one end offer sliding slot (10) respectively, and pivot bush unit has respectively for the inside of four rectangular openings (9)
Round bar (11), pivot bush unit has connecting plate (13) four one group of round bar (11) every two respectively, a rectangular block (8)
Top be fixedly installed with support plate (14), be fixedly installed with video camera (15) in the middle part of support plate (14) top, it is described
The top of video camera (15) is fixedly installed with headlamp (16), the support plate (14) far from rectangular block (8) side front and
Movable sleeve is connected to threaded rod (17) respectively at the back side, and the bottom end of two threaded rods (17) has been fixedly attached gear (18) respectively,
Two gears (18) are sequentially connected by chain (19), and the bottom end of a threaded rod (17) is run through and extends to one
The bottom end of gear (18) and fixing sleeve is connected to turbine (20), support plate (14) bottom end is close to the fixed peace in the side of turbine (20)
It equipped with motor (21), is fixedly connected with worm screw (22) on the output shaft of the motor (21), the top of two threaded rods (17)
The top of support plate (14) is run through and is extended at end and screw thread is socketed with movable block (23) respectively, and the movable block (23) is close
It is opened up fluted (24) in the middle part of video camera (15) side, the side screw thread on movable block (23) top is socketed with screw rod
(25), the bottom end movable sleeve of the screw rod (25) is connected to the clamping plate (26) internal positioned at groove (24), the groove (24) it is interior
Portion's movable sleeve is connected to foam-rubber cushion (27).
2. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the annular
One end of spring (5) is fixedly connected with one end of link block (4), the other end of the ring spring (5) and the one end of square (2)
It is fixedly connected.
3. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the baffle
(7) side far from connecting rod (6) is fixedly installed with rubber strip, and the quantity of rubber strip is five on the baffle (7).
4. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the connection
The quantity of plate (13) be two, two connecting plates (13) intersect and by shaft it is hinged.
5. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the illumination
Lamp cap on lamp (16) is located at the surface of camera lens on video camera (15), and the side of lamp cap and foam-rubber cushion on headlamp (16)
(27) it is slidably connected.
6. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the screw thread
Bar (17) top is fixedly connected with limited block, the top activity of the bottom end and movable block (23) of threaded rod (17) upper limit position block
Connection.
7. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the worm screw
(22) it is located at the side of turbine (20), and the outer tooth engagement of the outer of worm screw (22) and turbine (20).
8. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the clamping plate
(26) it is located at the surface of foam-rubber cushion (27), and the bottom end of clamping plate (26) is flexibly connected with the top of foam-rubber cushion (27).
9. a kind of climbing robot of pipeline electric wire non-destructive testing according to claim 1, it is characterised in that: the sponge
The width value for padding (27) is greater than the diameter value of camera lens on video camera (15), and mirror on the side of foam-rubber cushion (27) and video camera (15)
The side of head is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811581031.5A CN109630807A (en) | 2018-12-24 | 2018-12-24 | A kind of climbing robot of pipeline electric wire non-destructive testing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811581031.5A CN109630807A (en) | 2018-12-24 | 2018-12-24 | A kind of climbing robot of pipeline electric wire non-destructive testing |
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| Publication Number | Publication Date |
|---|---|
| CN109630807A true CN109630807A (en) | 2019-04-16 |
Family
ID=66076762
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811581031.5A Withdrawn CN109630807A (en) | 2018-12-24 | 2018-12-24 | A kind of climbing robot of pipeline electric wire non-destructive testing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110340869A (en) * | 2019-06-06 | 2019-10-18 | 邵阳学院 | The horizontal articulated robot of four axis in high precision |
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Application publication date: 20190416 |