CN110053058A - A kind of boiler tubing detection robot - Google Patents
A kind of boiler tubing detection robot Download PDFInfo
- Publication number
- CN110053058A CN110053058A CN201910407278.3A CN201910407278A CN110053058A CN 110053058 A CN110053058 A CN 110053058A CN 201910407278 A CN201910407278 A CN 201910407278A CN 110053058 A CN110053058 A CN 110053058A
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- CN
- China
- Prior art keywords
- gear
- rotatably assorted
- rotation axis
- chamber
- welding
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
A kind of boiler tubing of the invention detects robot, including fuselage and the rotation chamber extended up and down in the fuselage is set, the rotation is intracavitary to be provided with detection device, crackle and corrosion location of the detection device to detect boiler tubing outer wall, the welding bars mobile cavity that Open Side Down is provided on the right side of the rotation chamber, weld assembly is provided in the welding bars mobile cavity, the weld assembly carries out REPAIR WELDING to the damaged portion for detecting the detection device, the claw working chamber that Open Side Down is provided on the right side of the welding bars mobile cavity, jaw means are provided in the claw working chamber, the jaw means by robot and boiler tubing to fix and control its direction, cooperated by mechanical transmission, improve the working efficiency of device, work rhythm is orderly, it is compact to design, device is light and handy, it is energy-efficient.
Description
Technical field
The present invention relates to detection robotic technology field, specifically a kind of boiler tubing detects robot.
Background technique
With the development of science and technology, social progress, industry manufacture occupies always larger status, state in gross national product
Family actively promotes high-tech development, especially the new technologies such as robot, artificial intelligence and intelligence manufacture day for constantly pouring in people
Often life and field of industrial manufacturing, FOR ALL WE KNOW, robot are the automatic installations for executing work, it can both receive
Mankind commander, and can run the program of preparatory layout, can also according to principle program action formulated with artificial intelligence technology,
Its task is to assist or replace the work of human work, however in traditional boiler tubing detection work, people must be taken
With complicated detecting instrument, the narrow detection and repairing that pipeline is carried out with dangerous career field is ranked among, task is heavy and ring
Border is severe, so traditional technology has been unable to meet the demand of existing industry manufacture and daily life, it is therefore desirable to design one kind
Automation, integrated, operation is easy and efficient rate and the robot that can be worked under narrow position and adverse circumstances just seem especially
It is important.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of boiler tubings to detect robot, is able to solve above-mentioned existing
In the art the problem of.
The present invention is achieved through the following technical solutions: a kind of boiler tubing of the invention detects robot, including
Fuselage and the rotation chamber that extension above and below in the fuselage is arranged in, the rotation is intracavitary to be provided with detection device, the detection
Crackle and corrosion location of the device to detect boiler tubing outer wall, the rotation chamber right side are provided with the welding bars that Open Side Down
Mobile cavity is provided with weld assembly in the welding bars mobile cavity, and the weld assembly is to detect the detection device
Damaged portion carry out REPAIR WELDING, be provided with the claw working chamber that Open Side Down, the card on the right side of the welding bars mobile cavity
Jaw means are provided in pawl working chamber, the jaw means by robot and boiler tubing to fix and control its side
To the rear wheel drive chamber extended before and after being provided on the right side of the claw working chamber, the rear wheel drive is intracavitary to be provided with rear-wheel drive
Dynamic component, the rear wheel drive chamber right side is provided with the rear-wheel cushion chamber extended up and down, after being provided in the rear-wheel cushion chamber
Wheel assembly, the rear wheel drive component provide power for the wheel assembly, and the welding bars mobile cavity and the claw work
It is symmetrically arranged with front-wheel steer chamber between chamber and before and after the fuselage two sides, the front-wheel steer is intracavitary to be provided with preceding rotation
To component, the direction of motion of the front-wheel steer component to control front-wheel.
Preferably technical solution, the detection device include being set to the intracavitary detection device shell of the rotation,
It is provided with detector in the detection device shell and swings chamber, the detector, which is swung, is provided with left and right extends first on the right side of chamber
Gear cavity, the first gear is intracavitary to be provided with first gear, and the first gear, which is rotatably assorted, is connected with the first rotation axis, institute
It states the first rotation axis and is rotatably assorted and be connected with the first driving motor that outer surface is embedded at first gear cavity wall bottom, institute
State detector swing it is intracavitary be provided with detector, mating connection, the inspection are engaged between the detector and the first gear
It surveys in device and is provided with the sliding cavity extended up and down, oscillating rod is provided in the sliding cavity, the oscillating rod bottom end is fixedly connected
There is the first scotch, is fixedly connected with the second scotch at the top of the oscillating rod, the oscillating rod is fixedly connected with rotor plate, institute
It states rotor plate and is fixedly connected with symmetrical second rotation axis in front and back, second rotation axis, which is rotatably assorted, to be connected with outer surface and be embedded
In it is described rotation cavity wall on rear side of the second driving motor, consequently facilitating realize the detector can swing detection and turn
It moves to lower section and is detected.
Preferably technical solution, the weld assembly include the welding arm being set in the welding bars mobile cavity
Bar, the welding armed lever top are fixedly connected with welding scotch, and the welding armed lever bottom end is fixedly connected with soldering apparatus, described
Second gear chamber is provided with and communicated on the right side of welding bars mobile cavity, the welding armed lever connects in the intracavitary engagement cooperation of the second gear
It is connected to second gear, the second gear, which is rotatably assorted, is connected with third rotation axis, and the third rotation axis is rotatably assorted connection
The third driving motor (not shown) for thering is outer surface to be embedded on rear side of the second gear cavity wall, consequently facilitating realizing the weldering
It connects the stretching of device and defect of pipeline part is welded.
Preferably technical solution, the jaw means include the claw shell being set in the claw working chamber,
The claw shell is fixedly connected with connecting rod, and the connecting rod is fixedly connected with claw scotch, and the connecting rod rotation is matched
Conjunction is connected with fixed plate, and the third gear cavity that front and back extends, setting in the third gear cavity are provided in the claw shell
There is the symmetrical half gear in front and back, the half gear is fixedly connected with swing arm, and the single order swing arm is rotatably assorted
The first pin shaft is connected, first pin shaft, which is rotatably assorted, is connected with second order swing arm, and the second order swing arm is fixedly connected with supporting rod,
The second order swing arm, which is rotatably assorted, is connected with the second pin shaft, and second pin shaft, which is rotatably assorted, is connected with steady arm, the support
Bar, which is rotatably assorted, is connected with third pin shaft, and the third pin shaft is connect with the claw shell secure fit, the half
Gear, which is rotatably assorted, is connected with the 4th rotation axis, and the 4th rotation axis, which is rotatably assorted, to be connected with outer surface and be embedded at the third
The 4th driving motor on the left of gear cavity wall, consequently facilitating realizing that the jaw means are fixed simultaneously by robot and boiler tubing
And control its direction.
Preferably technical solution, the rear wheel drive component include being set to the intracavitary third tooth of the rear wheel drive
Wheel, the third gear, which is rotatably assorted, is connected with the 5th rotation axis, and the 5th rotation axis is rotatably assorted, and to be connected with outer surface embedding
The 5th driving motor on the left of the rear wheel drive cavity wall, the third gear engagement are connected with the 4th gear,
Consequently facilitating being embodied as the wheel assembly provides power supply.
Preferably technical solution, the wheel assembly include being set to the 6th intracavitary rotation of the rear wheel drive
Axis, the 6th rotation axis upside press are provided with buffer spring, and the 6th rotation axis is rotatably assorted with the 4th gear
Connection, the 6th rotation axis rear and front end, which is rotatably assorted, is connected with rear-wheel, consequently facilitating realizing the motion function of robot.
Preferably technical solution, the front-wheel steer component include being set to intracavitary the 7th turn of the front-wheel steer
Moving axis, the 7th rotation axis, which is rotatably assorted, is connected with the 4th pin shaft, and the 4th pin shaft is fixedly connected with the fuselage, described
7th rotation axis, which is rotatably assorted, is connected with front-wheel, consequently facilitating realizing the control in robot front wheel motion direction.
The beneficial effects of the present invention are: the configuration of the present invention is simple, easy to operate, jaw means carry out boiler tubing first
Claw ensures the stability of robot, realizes the complete detection to conduit region by detection device, when discovery defect of pipeline
When, defect area is welded automatically by weld assembly, is not necessarily to artificial post-processing, greatly reducing the later period manually throws
Enter cost, is cooperated by mechanical transmission, improve the working efficiency of device, work rhythm is orderly, and compact to design, device is light
Ingeniously, energy-efficient.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is that a kind of boiler tubing of the invention detects robot interior overall structure diagram；
Fig. 2 is the cross section structure schematic diagram of " A-A " in Fig. 1；
Fig. 3 is the cross section structure schematic diagram of " B-B " in Fig. 1.
Specific embodiment
Below with reference to Fig. 1-3, the present invention is described in detail, wherein for sake of convenience, now to hereafter described orientation
Provide as follows: hereafter described front-rear direction up and down is consistent with the front-rear direction up and down of Fig. 1 projection relation itself.
Referring to Fig.1-3, a kind of boiler tubing of the invention detects robot, including fuselage 101 and setting in the machine
The rotation chamber 100 extended up and down in body 101 is provided with detection device in the rotation chamber 100, and the detection device is to detect
The crackle and corrosion location of boiler tubing outer wall are provided with the welding bars mobile cavity that Open Side Down on the right side of the rotation chamber 100
129, weld assembly is provided in the welding bars mobile cavity 129, and the weld assembly is to detect the detection device
Damaged portion carry out REPAIR WELDING, be provided with the claw working chamber 116 that Open Side Down on the right side of the welding bars mobile cavity 129,
Be provided with jaw means in the claw working chamber 116, the jaw means robot and boiler tubing to be fixed and
Its direction is controlled, the rear wheel drive chamber 120 that front and back extends, the rear wheel drive chamber are provided on the right side of the claw working chamber 116
It is provided with rear wheel drive component in 120, the rear-wheel cushion chamber 132 extended up and down, institute are provided on the right side of the rear wheel drive chamber 120
It states and is provided with wheel assembly in rear-wheel cushion chamber 132, the rear wheel drive component provides power, the weldering for the wheel assembly
Preceding rotation is symmetrically arranged between extension bar mobile cavity 129 and the claw working chamber 116 and before and after 101 two sides of fuselage
To chamber 102, front-wheel steer component is provided in the front-wheel steer chamber 102, the front-wheel steer component is to control front-wheel
The direction of motion.
Valuably, the detection device includes the detection device shell 148 being set in the rotation chamber 100, the inspection
It surveys in device housing 148 and is provided with detector swing chamber 150, the detector, which is swung, is provided with what left and right extended on the right side of chamber 150
First gear chamber 149 is provided with first gear 124,124 company of being rotatably assorted of first gear in the first gear chamber 149
It is connected to the first rotation axis 125, first rotation axis 125, which is rotatably assorted, to be connected with outer surface and be embedded at the first gear chamber
First driving motor 127 of 149 inner wall bottoms, the detector swing in chamber 150 and are provided with detector 111, the detector
Mating connection is engaged between 111 and the first gear 124, is provided with the sliding cavity extended up and down in the detector 111
110, oscillating rod 123 is provided in the sliding cavity 110,123 bottom end of oscillating rod is fixedly connected with the first scotch 126,
The second scotch 121 is fixedly connected at the top of the oscillating rod 123, the oscillating rod 123 is fixedly connected with rotor plate 122, institute
It states rotor plate 122 and is fixedly connected with symmetrical second rotation axis 112 in front and back, second rotation axis 112, which is rotatably assorted, to be connected with
Outer surface is embedded at the second driving motor 113 on rear side of rotation 100 inner wall of chamber, consequently facilitating realizing the detector 111
Can swing detection and turn to lower section detected.
Valuably, the weld assembly includes the welding armed lever 128 being set in the welding bars mobile cavity 129, described
Welding 128 top of armed lever is fixedly connected with welding scotch 114, and 128 bottom end of welding armed lever is fixedly connected with soldering apparatus
134, it is provided with and communicated with second gear chamber 137 on the right side of the welding bars mobile cavity 129, the welding armed lever 128 is described second
137 internal messing of gear cavity is connected with second gear 136, and the second gear 136, which is rotatably assorted, is connected with third rotation axis
135, the third rotation axis 135, which is rotatably assorted, is connected with outer surface is embedded on rear side of 137 inner wall of second gear chamber
Three driving motors (not shown), consequently facilitating realizing the stretching of the soldering apparatus 134 and being welded to defect of pipeline part.
Valuably, the jaw means include the claw shell 106 being set in the claw working chamber 116, the card
Pawl shell 106 is fixedly connected with connecting rod 131, and the connecting rod 131 is fixedly connected with claw scotch 115, the connecting rod
131, which are rotatably assorted, is connected with fixed plate 130, and the third gear cavity 138 that front and back extends, institute are provided in the claw shell 106
It states and is provided with the symmetrical half gear 139 in front and back in third gear cavity 138, the half gear 139 is fixedly connected
There is a swing arm 141, the single order swing arm 141 is rotatably assorted the first pin shaft 142 of connection, and first pin shaft 142 is rotatably assorted connection
There is a second order swing arm 143, the second order swing arm 143 is fixedly connected with supporting rod 146, and the second order swing arm 143 is rotatably assorted connection
There is the second pin shaft 145, second pin shaft 145, which is rotatably assorted, is connected with steady arm 144,144 company of being rotatably assorted of steady arm
It is connected to third pin shaft 147, the third pin shaft 147 is connect with 106 secure fit of claw shell, the half gear
139, which are rotatably assorted, is connected with the 4th rotation axis 140, and the 4th rotation axis 140, which is rotatably assorted, to be connected with outer surface and be embedded at institute
The 4th driving motor 152 on the left of 138 inner wall of third gear cavity is stated, consequently facilitating realizing the jaw means by robot and pot
Boiler tube road is fixed and controls its direction.
Valuably, the rear wheel drive component includes the third gear 119 being set in the rear wheel drive chamber 120, institute
It states third gear 119 and is rotatably assorted and be connected with the 5th rotation axis 118, the 5th rotation axis 118, which is rotatably assorted, is connected with appearance
Face is embedded at the 5th driving motor 117 on the left of 120 inner wall of rear wheel drive chamber, and the engagement of third gear 119 cooperation connects
It is connected to the 4th gear 108, consequently facilitating being embodied as the wheel assembly provides power supply.
Valuably, the wheel assembly includes the 6th rotation axis 109 being set in the rear wheel drive chamber 120, described
Press is provided with buffer spring 133 on the upside of 6th rotation axis 109, and the 6th rotation axis 109 is rotated with the 4th gear 108
It is cooperatively connected, 109 rear and front end of the 6th rotation axis, which is rotatably assorted, is connected with rear-wheel 107, consequently facilitating realizing robot
Motion function.
Valuably, the front-wheel steer component includes the 7th rotation axis 104 being set in the front-wheel steer chamber 102,
7th rotation axis 104, which is rotatably assorted, is connected with the 4th pin shaft 105, the 4th pin shaft 105 and the fixed company of the fuselage 101
It connects, the 7th rotation axis 104, which is rotatably assorted, is connected with front-wheel 103, consequently facilitating realizing the control in robot front wheel motion direction
System.
A kind of boiler tubing detection of the invention robot in the initial state, first driving motor 127, described the
Two driving motors 113, the third driving motor (not shown), the 4th driving motor 152 and the 5th driving motor
117 are in halted state, and the jaw means are in the open state, and the welding armed lever 128 does not extend out the fuselage 101,
The detection device is in a horizontal position with the fuselage 101.
When a kind of boiler tubing of invention detects robot at work, the 4th driving motor 152, which starts, simultaneously to be driven
4th rotation axis 140 rotation, the 4th rotation axis 140 drive the half gear 139 to rotate, described two/
One gear 139 drives the single order swing arm 141, first pin shaft 142, the second order swing arm 143, the steady arm 144, institute
The second pin shaft 145, the rotation of the supporting rod 146 are stated to which the symmetrical supporting rod 146 of cooperation clamps boiler tubing, described the
Five driving motors 117 drive the 5th rotation axis 118, the third gear 119, the 4th gear 108,6th turn described
Moving axis 109 rotates, and the 6th rotation axis 109 drives the rear-wheel 107 to rotate, and robot is just with pipe motion, institute at this time
It states the second driving motor 113 to start and second rotation axis 112 is driven to rotate counterclockwise, second rotation axis 112 drives
The rotor plate 122 and the oscillating rod 123 rotate, and the oscillating rod 123 drives the detection device in the rotation chamber 100
It inside swings to the right, its described detector 111 is made to be able to detect that the region of 101 bottom of fuselage.
When a kind of boiler tubing of invention detection robot needs to detect wider array of region, first driving motor
127 start and drive first rotation axis 125 and the first gear 124 to rotate, and the first gear 124 drives the inspection
It surveys device 111 and swings front and back rotation in chamber 150 in the detector along the oscillating rod 123.
When a kind of boiler tubing of invention detection robot needs to weld, the third driving motor starting (not shown)
And the third rotation axis 135 and the second gear 136 is driven to rotate, the second gear 136 drives the welding armed lever
128 stretch out the welding bars mobile cavity 129, and the welding bars mobile cavity 129 drives the soldering apparatus 134 to carry out to defective locations
Welding.
The beneficial effects of the present invention are: the configuration of the present invention is simple, easy to operate, jaw means carry out boiler tubing first
Claw ensures the stability of robot, realizes the complete detection to conduit region by detection device, when discovery defect of pipeline
When, defect area is welded automatically by weld assembly, is not necessarily to artificial post-processing, greatly reducing the later period manually throws
Enter cost, is cooperated by mechanical transmission, improve the working efficiency of device, work rhythm is orderly, and compact to design, device is light
Ingeniously, energy-efficient.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention
Protection scope should be determined by the scope of protection defined in the claims.
Claims (7)
1. a kind of boiler tubing of the invention detects robot, including fuselage and turn extended up and down in the fuselage is set
Dynamic chamber, the rotation is intracavitary to be provided with detection device, crackle and corrosion of the detection device to detect boiler tubing outer wall
Position, the rotation chamber right side are provided with the welding bars mobile cavity that Open Side Down, are provided with welding in the welding bars mobile cavity
Component, the weld assembly carry out REPAIR WELDING to the damaged portion for detecting the detection device, and the welding bars move
It is provided with the claw working chamber that Open Side Down on the right side of dynamic chamber, jaw means, the claw dress are provided in the claw working chamber
It sets to fix and control its direction for robot and boiler tubing, is provided with what front and back extended on the right side of the claw working chamber
Rear wheel drive chamber, the rear wheel drive is intracavitary to be provided with rear wheel drive component, is provided on the right side of the rear wheel drive chamber downward
The rear-wheel cushion chamber stretched, wheel assembly is provided in the rear-wheel cushion chamber, and the rear wheel drive component is the wheel assembly
Power is provided, is symmetrically arranged between the welding bars mobile cavity and the claw working chamber and before and after the fuselage two sides
Front-wheel steer chamber, the front-wheel steer is intracavitary to be provided with front-wheel steer component, and the front-wheel steer component is to control front-wheel
The direction of motion.
2. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the detection device includes setting
It is placed in the intracavitary detection device shell of the rotation, detector is provided in the detection device shell and swings chamber, the detection
Device swings and is provided with the first gear chamber that left and right extends on the right side of chamber, and the first gear is intracavitary to be provided with first gear, and described the
One gear, which is rotatably assorted, is connected with the first rotation axis, and first rotation axis, which is rotatably assorted, to be connected with outer surface and be embedded at described
First driving motor of one gear cavity wall bottom, the detector swing is intracavitary to be provided with detector, the detector and institute
It states to engage between first gear and be cooperatively connected, be provided with the sliding cavity extended up and down in the detector, set in the sliding cavity
It is equipped with oscillating rod, the oscillating rod bottom end is fixedly connected with the first scotch, is fixedly connected with second at the top of the oscillating rod and stops
Motion block, the oscillating rod are fixedly connected with rotor plate, and the rotor plate is fixedly connected with symmetrical second rotation axis in front and back, described
Second rotation axis, which is rotatably assorted, is connected with the second driving motor that outer surface is embedded on rear side of the rotation cavity wall.
3. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the weld assembly includes setting
The welding armed lever being placed in the welding bars mobile cavity, the welding armed lever top are fixedly connected with welding scotch, the weldering
It connects armed lever bottom end and is fixedly connected with soldering apparatus, be provided with and communicated with second gear chamber, the welding on the right side of the welding bars mobile cavity
Armed lever is connected with second gear in the intracavitary engagement of the second gear, and the second gear, which is rotatably assorted, is connected with third turn
Moving axis, the third rotation axis, which is rotatably assorted, is connected with the third driving that outer surface is embedded on rear side of the second gear cavity wall
Motor (not shown).
4. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the jaw means include setting
The claw shell being placed in the claw working chamber, the claw shell are fixedly connected with connecting rod, and the connecting rod is fixed to be connected
It is connected to claw scotch, the connecting rod, which is rotatably assorted, is connected with fixed plate, is provided with what front and back extended in the claw shell
Third gear cavity, the symmetrical half gear in front and back is provided in the third gear cavity, and the half gear is fixed
It is connected with swing arm, the single order swing arm, which is rotatably assorted, connects the first pin shaft, and first pin shaft, which is rotatably assorted, is connected with Second Order Pendulum
Arm, the second order swing arm are fixedly connected with supporting rod, and the second order swing arm, which is rotatably assorted, is connected with the second pin shaft, second pin
Axis, which is rotatably assorted, is connected with steady arm, and the steady arm, which is rotatably assorted, is connected with third pin shaft, the third pin shaft and the card
The connection of pawl shell secure fit, the half gear, which is rotatably assorted, is connected with the 4th rotation axis, and the 4th rotation axis turns
It is dynamic to be connected with the 4th driving motor that outer surface is embedded on the left of the third gear cavity wall.
5. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the rear wheel drive component packet
It includes and is set to the intracavitary third gear of the rear wheel drive, the third gear, which is rotatably assorted, is connected with the 5th rotation axis, described
5th rotation axis, which is rotatably assorted, is connected with the 5th driving motor that outer surface is embedded on the left of the rear wheel drive cavity wall, described
The engagement of third gear is connected with the 4th gear.
6. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the wheel assembly includes setting
It is placed in the 6th intracavitary rotation axis of the rear wheel drive, press is provided with buffer spring on the upside of the 6th rotation axis, and described the
Six rotation axis are rotatably assorted with the 4th gear and connect, and the 6th rotation axis rear and front end, which is rotatably assorted, is connected with rear-wheel.
7. a kind of boiler tubing according to claim 1 detects robot, it is characterised in that: the front-wheel steer component packet
It includes and is set to the 7th intracavitary rotation axis of the front-wheel steer, the 7th rotation axis, which is rotatably assorted, is connected with the 4th pin shaft, institute
It states the 4th pin shaft to be fixedly connected with the fuselage, the 7th rotation axis, which is rotatably assorted, is connected with front-wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407278.3A CN110053058A (en) | 2019-05-16 | 2019-05-16 | A kind of boiler tubing detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407278.3A CN110053058A (en) | 2019-05-16 | 2019-05-16 | A kind of boiler tubing detection robot |
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| CN110053058A true CN110053058A (en) | 2019-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910407278.3A Pending CN110053058A (en) | 2019-05-16 | 2019-05-16 | A kind of boiler tubing detection robot |
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| CN (1) | CN110053058A (en) |
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| CN110977167A (en) * | 2019-12-27 | 2020-04-10 | 温州青城机器人科技有限公司 | Robot for detecting and repairing cracks on inner wall of water pipe |
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| CN110977167A (en) * | 2019-12-27 | 2020-04-10 | 温州青城机器人科技有限公司 | Robot for detecting and repairing cracks on inner wall of water pipe |
| CN110977167B (en) * | 2019-12-27 | 2020-09-25 | 诸暨叶蔓电子商务有限公司 | Robot for detecting and repairing cracks on inner wall of water pipe |
| CN111981551A (en) * | 2020-08-10 | 2020-11-24 | 曹云飞 | Household floor heating winter maintenance device |
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Application publication date: 20190726 |