CN109973759A - A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface - Google Patents
A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface Download PDFInfo
- Publication number
- CN109973759A CN109973759A CN201910319814.4A CN201910319814A CN109973759A CN 109973759 A CN109973759 A CN 109973759A CN 201910319814 A CN201910319814 A CN 201910319814A CN 109973759 A CN109973759 A CN 109973759A
- Authority
- CN
- China
- Prior art keywords
- sucker
- walking
- wall surface
- absorption type
- mobile robots
- 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.)
- Granted
Links
Classifications
-
- 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
- F16L2101/30—Inspecting, measuring or testing
Abstract
A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface, are related to specialized robot technical field.Sucker upper end closed, lower end is open, air outlet is equipped in the middle part of the closed end of sucker, blower is fixedly mounted in sucker, the lower end surface of any two opposing sidewalls of sucker is downwardly projecting arc surface, the lower end surface of four side walls of sucker is respectively and fixedly provided with sealed skirt, and the molded line for being fixed on the sealed skirt on two arc surfaces is consistent with the inward flange shape of cross-section of pipeline, and sealed skirt forms the air gap of constant altitude with inner wall of the pipe always；Chassis of vehicle body and frame are fixed in sucker, and each Mecanum wheel is installed in corresponding driving motor output shaft, and each driving motor is installed on corresponding bracket, four brackets with chassis of vehicle body and frame articulation；Controller is fixed on chassis of vehicle body and frame, and controller is for controlling four Mecanum wheel start and stop.The present invention is adsorbed in straight pipeline, to realize the comprehensive high covering motion detection of unlike material pipeline.
Description
Technical field
The present invention relates to specialized robot technical field more particularly to a kind of absorption type omnidirectionals along the walking of straight pipeline wall surface
Mobile robot.
Background technique
Pipeline is by the advantages such as conveying capacity is big, convenient and efficient, inexpensive, in petroleum, chemical industry, electric power, water supply and sewage, core
In occupation of very big specific gravity in the material conveying in the fields such as industry.Since chemically burn into pipeline itself design of pumped (conveying) medium lacks
It falls into, may cause the major accidents such as environmental pollution, combustibles explosion, energy waste, need periodically to examine pipeline inside
It surveys, maintenance and cleaning are maintained.Conventional pipelines detection is realized by manual work mode, faces heavy workload, inefficiency, and can not
Real-time detection contains noxious material or inner space is narrow, complicated pipeline.
Therefore, artificial realization pipe detection upkeep operation is replaced using detecting robot of pipe more and more.However, general
The problem of generally existing detection operation coverage rate of logical detecting robot of pipe is insufficient, complicated pipeline bad adaptability.Robot into
After entering pipeline, Work space is confined to duct bottom, and detection homework corner is excessive, is easy to touch with barrier in pipeline
Hit or can not pass through narrow space.
Application No. is the applications for a patent for invention of CN201610662977.9 to disclose " a kind of pipeline mobile robot device ",
The device discloses the robot walked in a kind of pipeline, and when operation needs to occupy much room, can not adapt to have knot in pipeline
The environment of structure.
In view of the above-mentioned problems, mainly using magnetic adsorption type detecting robot of pipe at present.Such as application No. is
The utility model patent of CN201620431067.5 discloses " a kind of curved surface adaptive absorption type omni-directional moving platform ", this is specially
Benefit describes a kind of robot for ferromagnetic conduit absorption, however, there are pipe materials to fit for the robot of ferromagnetic conduit absorption
The problem of answering property difference.Its scope of application is only limitted to the ferromagnetism material pipeline such as steel, cast iron, can not adapt to largely use in industry
The nonferromagnetics material pipeline such as PV, aluminium alloy.
Summary of the invention
The purpose of the present invention is in order to overcome the deficiencies of the above existing technologies, provide it is a kind of along straight pipeline wall surface walking
Absorption type omni-directional mobile robots, it can adapt to the pipeline of unlike material, keeps reliable, stablizes absorption；Have enough get over
Barrier ability, avoids bottom interference；Complex barrier that may be present in pipeline can be hidden, avoided collision, and can be reached in pipeline
The comprehensive high covering motion detection of unlike material pipeline is realized in each position of wall.
Realize above-mentioned purpose, the technical solution adopted by the present invention is that:
A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface, including negative pressure adsorption equipment, modularization are complete
To movement mechanism, chassis of vehicle body and frame and controller；The negative pressure adsorption equipment includes blower, sucker and sealed skirt；Institute
Stating modularization omnidirectional moving mechanism includes four Mecanum wheels, four driving motors and four brackets；
The sucker is rectangular frame structure, and the upper end of sucker is closed end, and lower end is open end, the closed end middle part of sucker
Equipped with air outlet, the blower is fixedly mounted on the top in sucker, and the air outlet setting of blower is inhaled in sucker upper outer
The lower end surface of any two opposing sidewalls of disk is downwardly projecting arc surface, and the lower end surface of four side walls of sucker is respectively and fixedly provided with close
Skirt is sealed, the molded line of the sealed skirt on two arc surfaces and the inward flange shape phase one of pipeline arbitrary cross section are fixed on
It causes, sealed skirt and the inner wall of the pipe are equipped with gap；The sealed skirt of the negative pressure adsorption equipment forms perseverance with inner wall of the pipe always
Determine the air gap of height, stablizes absorption to realize；The chassis of vehicle body and frame are fixed in sucker and are located at below blower, each
The Mecanum wheel is installed in corresponding driving motor output shaft, and each driving motor is installed in corresponding branch
On frame, four brackets are fixedly connected with chassis of vehicle body and frame；The controller is fixed on chassis of vehicle body and frame,
Controller is for controlling four Mecanum wheel start and stop.
The present invention compared with the existing technology the utility model has the advantages that
One, the present invention solves the problems, such as that operating personnel enters inside pipeline with robot, especially can be narrow in space
It is narrow, internal environment is complicated, is unfavorable for operating personnel containing poisonous and harmful substances, liquid, high pressure gas etc. approaches inside the pipeline of operation
Flexible motion, omnidirectional's walking.
Two, the present invention is applicable not only to the iron such as steel, the cast iron that existing magnetic adsorption type detecting robot of pipe is applicable in
The detection upkeep operation task of magnetic pipeline is also applicable in the nonferromagnetics such as common PVC pipeline, aluminium alloy pipeline in industrial production
The absorption type omnidirectional of pipeline walks.
Three, the present invention is designed by the negative pressure adsorption equipment and modularization omnidirectional moving mechanism, can be realized multiple
The avoidance of miscellaneous barrier, narrow space, which pass through, barrier blocks lower dead angle approaches operation, thus make robot have it is flexible from
Main movement avoidance operation function.
Detailed description of the invention
Fig. 1 is a kind of front view structure signal of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface of the invention
Figure；
Fig. 2 is the structural schematic diagram of individual module omnidirectional driving mechanism；
Fig. 3 is a kind of absorption type omni-directional mobile robots motion control signal along the walking of straight pipeline wall surface of the invention
Figure.
Fig. 4 is a kind of axis for looking up structure of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface of the invention
Mapping.
The parts title and label being related in figure are as follows:
Negative pressure adsorption equipment 1, blower 11, centrifugal fan 111, main air blower motor 112, driving plate 113, sucker 12, sealing
Skirt 13, modularization omnidirectional moving mechanism 2, Mecanum wheel 21, driving motor 22, bracket 23, chassis of vehicle body and frame 3, control
Device 4.
Specific embodiment
Specific embodiment 1: present embodiment describes a kind of along straight pipeline wall surface row as shown in Figure 1, Figure 2 and shown in Fig. 4
The absorption type omni-directional mobile robots walked, including negative pressure adsorption equipment 1, modularization omnidirectional moving mechanism 2, chassis of vehicle body and frame
3 and controller 4；The negative pressure adsorption equipment 1 includes blower 11, sucker 12 and sealed skirt 13；The modularization omnidirectional moving
Mechanism 2 includes four Mecanum wheels, 21, four driving motors 22 and four brackets 23；
The sucker 12 is rectangular frame structure, and the upper end of sucker 12 is closed end, and lower end is open end, the closing of sucker 12
End middle part is equipped with air outlet, and the blower 11 is fixedly mounted on the top in sucker 12, and the air outlet setting of blower 11 is being inhaled
12 upper outer of disk, the lower end surface of any two opposing sidewalls of sucker 12 are downwardly projecting arc surface, 12 4 sides of sucker
The lower end surface of wall is respectively and fixedly provided with sealed skirt 13, and the molded line and pipeline for being fixed on the sealed skirt 13 on two arc surfaces are appointed
The inward flange shape of meaning cross section is consistent, and sealed skirt 13 and the inner wall of the pipe are equipped with gap；The negative pressure adsorption equipment 1
Sealed skirt 13 forms the air gap of constant altitude with inner wall of the pipe always, stablizes absorption (sucker 12 and sealed skirt 13 and pipe to realize
Road inner wall forms negative pressure cavity, and the air outlet of sucker 12, i.e. negative pressure cavity air outlet are circle)；The chassis of vehicle body and frame 3 are fixed
In sucker 12 and it is located at below blower 11, each Mecanum wheel 21 is installed in corresponding 22 output shaft of driving motor
On, each driving motor 22 is installed on corresponding bracket 23, four brackets 23 with chassis of vehicle body and frame 3
It is fixedly connected；The controller 4 is fixed on chassis of vehicle body and frame 3, and controller 4 is opened for controlling four Mecanum wheels 21
Stop (part of the lower end of sucker 12 between 12 side wall of four Mecanum wheels 21 and sucker be blower air intake vent, sucker 12
Lower end be located at the air intake vent that four 21 middle sections of Mecanum wheel are sucker 12).
Four Mecanum wheels 21 are also alternatively at omni-directional wheel.
Specific embodiment 2: as shown in Figure 1, present embodiment is made furtherly to specific embodiment one
Bright, the blower 11 includes centrifugal fan 111, main air blower motor 112 and driving plate 113；The main air blower motor 112 is fixed on
Top in sucker 12, the output shaft rotation of main air blower motor 112 are pierced by air outlet described in sucker 12 and consolidate with centrifugal fan 111
Fixed connection, the driving plate 113 is fixed on main air blower motor 112, for controlling 112 start and stop of main air blower motor, driving plate 113
It is electrically connected with controller 4.
While driving plate 113 receives the control signal of controller 4, feedback main air blower motor 112 is (for DC servo electricity
Machine) information, directly drive the rotation of centrifugal fan 111, reduce gas content in negative pressure cavity, it is real to generate stable pressure difference
Existing robot reliably adsorbs.
Specific embodiment 3: as shown in Figures 3 and 4, present embodiment is made to specific embodiment one into one
Step explanation, the independent driving of four Mecanum wheels 21 of modularization omnidirectional moving mechanism 2, four 21 axis of Mecanum wheel
Line and the pipe surface normal of position are perpendicular.
Specific embodiment 4: as shown in Figure 2 and Figure 3, present embodiment be specific embodiment one or three is made into
One step illustrates that the axis angle at 45 ° of all rollers and Mecanum wheel 21 on each Mecanum wheel 21 (can
Any directions such as axial, circumferential are carried out along inner wall of the pipe to move), four Mecanum wheels 21 are in matrix arrangement, position
Two Mecanum wheels 21 in left side are one group, and two Mecanum wheels 21 positioned at right side are two in one group, every group
The roller axis of Mecanum wheel 21 is symmetrical arranged, the roller axis side of two Mecanum wheels 21 on every diagonal line
To consistent.Guarantee and pipe surface reliable contacts simultaneously realize Omni-mobile.
Specific embodiment 5: as shown, present embodiment is the further explanation made to specific embodiment one,
Each driving motor 22 is that (deceleration DC servo motor includes to slow down for deceleration DC servo motor or DC brushless motor
Device and DC servo motor have the characteristics that compact-sized, output torque is big.Driving motor 22 is also possible to DC servo motor
The driving mechanism being connected with separate transmission mechanism).
Specific embodiment 6: as shown in Fig. 2, present embodiment is made furtherly to specific embodiment one
Bright, the material of the sucker 12 is that silica gel, polyurethane or nitrile rubber (have excellent resilience and deformation resistance, leakproofness
Preferably).
Specific embodiment 7: as shown in Figure 1, present embodiment is made furtherly to specific embodiment one
Bright, the material of the sealed skirt 13 is that felt cloth, textile fibre cloth, rubber or resin (have preferable flexible, wearability and close
Envelope property).
Working principle: as shown in Figure 1-Figure 3, when Robot pipeline wall surface moves, driving plate 113 receives the letter of controller 4
Number, real-time control and the rotation of regulating main air electromechanics machine 112, driving centrifugal fan 111 rotate, and push gas to be discharged from air outlet,
To realize air outlet outlet, the air intake vent air inlet of blower 11.The air outlet of sucker 12 communicates side by side with the air intake vent of blower 11
Gas, sucker 12, sealed skirt 13 and pipeline wall surface form negative pressure cavity, and inside and outside differential pressure makes environmental gas enter negative pressure cavity and to sucker 12
(is it right) generates pressure.The pressure and gravity collective effect are in close contact sucker 12 and inner wall of the pipe anti-when robot
It only topples, and generating sufficiently large frictional force between Mecanum wheel 21 and pipeline wall surface prevents sucker 12 from sliding, to realize
Robot inner wall of the pipe is reliably adsorbed and omnidirectional moving.
At the same time, driving motor 22 receives 4 signal of controller, carries out motion control to Mecanum wheel 21.Such as Fig. 1 institute
Show.This pipe robot motion control is illustrated:
Four Mecanum wheels 21 are respectively defined as wheel a, wheel b, wheel c, wheel d, and four Mecanum wheels 21 are in the form of ABAB
Layout (presses the solution layout of specific embodiment).
(1) when wheel a, wheel b, wheel c, wheel d are rotated forward with same rotating speed, the movement of Robot axial direction positive direction；
(2) when wheel a, wheel c same rotating speed rotate forward, and wheel b, wheel d are inverted with same rotating speed, the circumferential side counterclockwise of Robot
To movement；
(3) when wheel a, wheel c same rotating speed rotate forward, when wheel b, wheel d are static, Robot axial direction positive direction and it is circumferential counterclockwise
Compound motion；
(1) when wheel a, wheel b same rotating speed rotate forward, and wheel c, wheel d are inverted with same rotating speed, the Robot own axes inverse time
Needle rotation.
Similarly, when four Mecanum wheels 21 are with other steerings and speed combination, robot can be realized along pipeline wall surface
Any direction walking.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (7)
1. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface, it is characterised in that: including negative pressure adsorption equipment
(1), modularization omnidirectional moving mechanism (2), chassis of vehicle body and frame (3) and controller (4)；The negative pressure adsorption equipment (1)
Including blower (11), sucker (12) and sealed skirt (13)；Modularization omnidirectional moving mechanism (2) includes four Mecanum wheels
(21), four driving motors (22) and four brackets (23)；
The sucker (12) is rectangular frame structure, and the upper end of sucker (12) is closed end, and lower end is open end, the envelope of sucker (12)
Air outlet is equipped in the middle part of closed end, the blower (11) is fixedly mounted on the top in sucker (12), and the air outlet of blower (11)
Setting is downwardly projecting arc surface in sucker (12) upper outer, the lower end surface of any two opposing sidewalls of sucker (12),
The lower end surface of (12) four side walls of sucker is respectively and fixedly provided with sealed skirt (13), the sealed skirt being fixed on two arc surfaces
(13) molded line is consistent with the inward flange shape of pipeline arbitrary cross section, between sealed skirt (13) and the inner wall of the pipe are equipped with
Gap；The sealed skirt (13) of the negative pressure adsorption equipment (1) forms the air gap of constant altitude with inner wall of the pipe always, to realize stabilization
Absorption；The chassis of vehicle body and frame (3) are fixed in sucker (12) and are located at below blower (11), each Mecanum
Wheel (21) is installed on corresponding driving motor (22) output shaft, and each driving motor (22) is installed in corresponding branch
On frame (23), four brackets (23) are fixedly connected with chassis of vehicle body and frame (3)；The controller (4) is fixed on vehicle
On body chassis and frame (3), controller (4) is for controlling four Mecanum wheel (21) start and stop.
2. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1, feature exist
In: the blower (11) includes centrifugal fan (111), main air blower motor (112) and driving plate (113)；The main air blower motor
(112) it is fixed on the top in sucker (12), the output shaft rotation of main air blower motor (112) is pierced by sucker (12) described air outlet
And be fixedly connected with centrifugal fan (111), the driving plate (113) is fixed on main air blower motor (112), for controlling main wind
Electromechanical machine (112) start and stop, driving plate (113) are electrically connected with controller (4).
3. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1, feature exist
In: the independent driving of four Mecanum wheels (21) of modularization omnidirectional moving mechanism (2), four Mecanum wheels (21)
Axis and the pipe surface normal of position are perpendicular.
4. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1 or 3, feature
It is: the axis angle at 45 ° of all rollers and Mecanum wheel (21) on each Mecanum wheel (21), it is described
Four Mecanum wheels (21) are in matrix arrangement, and two Mecanum wheels (21) positioned at left side are one group, are located at right side
Two Mecanum wheels (21) be one group, every group in two Mecanum wheels (21) roller axis be symmetrical arranged, be located at
The roller axis direction of two Mecanum wheels (21) on every diagonal line is consistent.
5. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1, feature exist
In: each driving motor (22) is deceleration DC servo motor or DC brushless motor.
6. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1, feature exist
In: the material of the sucker (12) is silica gel, polyurethane or nitrile rubber.
7. a kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface according to claim 1, feature exist
In: the material of the sealed skirt (13) is felt cloth, textile fibre cloth, rubber or resin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319814.4A CN109973759B (en) | 2019-04-19 | 2019-04-19 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910319814.4A CN109973759B (en) | 2019-04-19 | 2019-04-19 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109973759A true CN109973759A (en) | 2019-07-05 |
| CN109973759B CN109973759B (en) | 2021-06-08 |
Family
ID=67085519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910319814.4A Active CN109973759B (en) | 2019-04-19 | 2019-04-19 | Adsorption type omnidirectional mobile robot walking along wall surface of straight pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109973759B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025052A (en) * | 2020-04-03 | 2020-12-04 | 中国核工业第五建设有限公司 | Device and method for filling argon into pipeline |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
| CN116357900A (en) * | 2023-03-07 | 2023-06-30 | 张家港宏昌钢板有限公司 | Dust removal flue blocks up leak detector |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1219457A (en) * | 1997-12-12 | 1999-06-16 | 唐世明 | Wall climbing robot |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
-
2019
- 2019-04-19 CN CN201910319814.4A patent/CN109973759B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1219457A (en) * | 1997-12-12 | 1999-06-16 | 唐世明 | Wall climbing robot |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| JP2016101887A (en) * | 2014-11-28 | 2016-06-02 | シャープ株式会社 | Travel device |
| CN105480317A (en) * | 2016-01-18 | 2016-04-13 | 重庆交通大学 | Robot for working on vertical surface of building |
| CN106828649A (en) * | 2017-03-21 | 2017-06-13 | 重庆大学 | A kind of Climbing Robot |
Non-Patent Citations (1)
| Title |
|---|
| 闫莹莹: "《未来工程师 设计篇》", 31 October 2012, 济南出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025052A (en) * | 2020-04-03 | 2020-12-04 | 中国核工业第五建设有限公司 | Device and method for filling argon into pipeline |
| CN115370868A (en) * | 2022-07-13 | 2022-11-22 | 常州工学院 | Allosteric robot suitable for irregular pipeline |
| CN116357900A (en) * | 2023-03-07 | 2023-06-30 | 张家港宏昌钢板有限公司 | Dust removal flue blocks up leak detector |
| CN116357900B (en) * | 2023-03-07 | 2023-11-10 | 张家港宏昌钢板有限公司 | Dust removal flue blocks up leak detector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109973759B (en) | 2021-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109973759A (en) | A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface | |
| CN101412415B (en) | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof | |
| CN204775574U (en) | Magnetism adsorbs formula adaptive wall face mobile robot | |
| CN201545089U (en) | Wall-climbing robot capable of striding cross walls | |
| CN106945739B (en) | A kind of barrier-crossing wall-climbing robot with wall surface conversion function | |
| CN101565063B (en) | Permanent magnetic adsorption wheel-type wall-climbing robot | |
| CN101317744B (en) | Wall surface cleaning robot based on positive-negative pressure adsorption principle | |
| CN105465549A (en) | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters | |
| CN102961080A (en) | Multifunctional glass cleaning robot and control method | |
| CN106694227B (en) | A kind of gas purification dust-extraction unit | |
| CN111776100B (en) | Outer pipeline crawling robot with six-link mechanism | |
| CN2512554Y (en) | Crawler-type multiple sucking disc wall climbing robot | |
| CN101823256A (en) | Negative pressure adsorption wall-climbing robot | |
| CN110757478A (en) | Sucking disc formula snakelike curtain robot of crawling | |
| CN113232739A (en) | Detection wall-climbing robot based on negative pressure adsorption | |
| CN209789731U (en) | high altitude glass curtain wall cleaning robot | |
| CN106041878B (en) | A kind of full ground anthropomorphic robot universal walking mechanism | |
| CN106560251B (en) | A kind of dedusting module and cartridge-type gas dust-extraction unit | |
| CN205887180U (en) | Gaseous dust collector of dust removal module and cylinder | |
| CN211844678U (en) | Magnetic adsorption type wall-climbing robot chassis and magnetic adsorption type wall-climbing robot | |
| CN218003031U (en) | Portable industrial flue gas detects sampling device | |
| CN204263162U (en) | Underwater propeller thrust adsorbed wall-climbing robot | |
| CN201856832U (en) | Magnetic disc adsorption type wall-climbing robot | |
| CN207773298U (en) | A kind of climbing robot | |
| CN1277662C (en) | Double sucker negative adsorption unit with obstacle crossing function |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |