CN110296329A - A kind of running gear - Google Patents
A kind of running gear Download PDFInfo
- Publication number
- CN110296329A CN110296329A CN201910566497.6A CN201910566497A CN110296329A CN 110296329 A CN110296329 A CN 110296329A CN 201910566497 A CN201910566497 A CN 201910566497A CN 110296329 A CN110296329 A CN 110296329A
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- China
- Prior art keywords
- running gear
- carrier unit
- actuator
- folding rack
- junction
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- Pending
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- 230000000712 assembly Effects 0.000 claims abstract description 3
- 238000000429 assembly Methods 0.000 claims abstract description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 4
- 230000008094 contradictory effect Effects 0.000 claims description 3
- 241000209140 Triticum Species 0.000 claims 1
- 235000021307 Triticum Nutrition 0.000 claims 1
- 230000003068 static effect Effects 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of running gear, the running gear includes folding rack and at least three groups of control assemblies；The folding rack includes at least two carrier units, and the adjacent carrier unit is sequentially connected；The control assembly includes walking component and runner assembly, and the junction of the adjacent carrier unit is equipped with the walking component and runner assembly, and the carrier unit junction as the folding rack end is at least provided with the walking component.Corresponding carrier unit is rotated by runner assembly, adjacent two stands unit is set to form certain angle, and then the walking component for being located at each carrier unit both ends is tightly attached to respectively on the opposite face of pipeline, to increase the maximum static friction force of running gear and pipeline enclosure, to keep running gear opposing stationary in oblique or vertical pipe.When mobile, moved by walking Component driver folding rack along pipe surface, and then running gear is made to walk in oblique pipeline or vertical pipe.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of running gears.
Background technique
Pipeline transportation is in China with commonplace, but pipeline is in for a long time in the big adverse circumstances of pressure, by water oil
The corrosion of the pernicious gases such as mixture, hydrogen sulfide.For these pipelines after by corruption, tube wall is thinning, is easy to produce crack, cause oil leak,
The problem of gas leakage, there are major safety risks and economic loss.
Substitution people carry out the work such as detection, cleaning, the maintenance of pipeline well for the birth of pipe robot, but at present
Pipe robot majority walk in horizontal pipe, can not walk have certain angle oblique pipeline or vertical pipe
In.
Summary of the invention
The embodiment of the invention provides a kind of running gears, can walk in oblique pipeline or vertical pipe.
The present invention provides a kind of running gear, and the running gear includes folding rack and at least three groups of control assemblies；Institute
Stating folding rack includes at least two carrier units, and the adjacent carrier unit is sequentially connected；The control assembly includes row
Component and runner assembly are walked, the junction of the adjacent carrier unit is equipped with the walking component and runner assembly, and makees
For the folding rack end the carrier unit junction at least provided with the walking component；The walking component is for connecing
It touches in working face, the folding rack is driven to move along working face；The runner assembly is for driving the adjacent bracket list
Member is relatively rotated centered on junction.
The running gear, it is preferred that the walking component includes the first actuator and driving wheel；First driving
Part has power output shaft, is installed on the corresponding carrier unit junction；The driving wheel is installed on first driving
The power output shaft of part, for contradicting working face；First actuator is for driving the driving wheel to rotate.
The running gear, it is preferred that the runner assembly includes the second actuator；The fixed peace of second actuator
Junction loaded on the adjacent carrier unit, and second actuator is respectively fixedly connected in the adjacent bracket
Unit；Second actuator is for driving the adjacent carrier unit to relatively rotate centered on junction.
The running gear, it is preferred that the running gear further includes driven wheel；The driven wheel and the driving wheel
It rotates synchronously, and the driven wheel and driving wheel are respectively arranged in the two sides of the folding rack.
The running gear, it is preferred that the driving wheel and driven wheel on the folding rack ipsilateral are staggeredly set
It sets.
The running gear, it is preferred that the driving wheel and driven wheel are Mecanum wheel.
The running gear, it is preferred that first actuator and the second actuator are motor.
The running gear, it is preferred that the running gear further includes guide rod, one end of the guide rod and conduct
The carrier unit junction of the folding rack end is connected, and the other end is equipped with directive wheel, the rolling of the directive wheel
Direction is consistent with the folding rack moving direction.
The running gear, it is preferred that the carrier unit junction as folding rack end is equipped with described
Runner assembly, the runner assembly include third actuator, and the third actuator is respectively fixedly connected with corresponding carrier unit
And guide rod, the third actuator drive corresponding carrier unit and guide rod with the relative rotation of junction center.
The running gear, it is preferred that the directive wheel quantity is two, is located at the two sides of the guide rod.
In embodiments of the present invention, corresponding carrier unit is rotated by runner assembly, forms adjacent two stands unit
Certain angle, and then the walking component for being located at each carrier unit both ends is tightly attached to respectively on the opposite face of pipeline, to increase
The maximum static friction force of running gear and pipeline enclosure, to keep running gear opposing stationary in oblique or vertical pipe.It moves
When dynamic, moved by walking Component driver folding rack along pipe surface, and then make running gear in oblique pipeline or vertical tube
It walks in road.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 is a kind of overall structure diagram of running gear of the embodiment of the present invention；
Fig. 2 is the structure sectional view of control assembly in a kind of running gear of the embodiment of the present invention；
Fig. 3 is the structure sectional view that a kind of running gear of inventive embodiments is walked in vertical pipe.
Appended drawing reference: 1, carrier unit；11, mounting ring；2, walking component；21, the first actuator；22, driving wheel；3, turn
Dynamic component；31, the second actuator；32, connecting shaft；4, driven wheel；5, guide rod；6, directive wheel.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of overall structure diagram of running gear of the embodiment of the present invention；Fig. 2 is a kind of row of the embodiment of the present invention
The structure sectional view of control assembly in walking apparatus.
As depicted in figs. 1 and 2, the present invention provides a kind of running gear, and running gear includes folding rack and at least three groups
Control assembly.
Folding rack includes at least two carrier units 1, and adjacent carrier unit 1 is sequentially connected.
Control assembly includes that walking component 2 and runner assembly 3, the junction of adjacent carrier unit 1 are equipped with walking group
Part 2 and runner assembly 3, and as 1 junction of the carrier unit of folding rack end at least provided with walking component 2.
Walking component 2 drives folding rack to move along working face for being contacted with working face.
Runner assembly 3 is for driving adjacent carrier unit 1 to relatively rotate centered on junction.
Running gear in the present embodiment, 1 quantity of carrier unit are preferably two, and control assembly quantity is preferably three groups,
The quantity of certain carrier unit and control assembly with no restrictions, can be selected according to actual needs.The two of each carrier unit 1
End is connected with mounting ring 11, and the mounting ring at 1 both ends of each carrier unit is arranged in a staggered manner.In two neighboring carrier unit
1 mutually installs constantly, and the mounting ring 11 of two carrier units 1 is coaxially disposed, and then keeps folding rack in long strip.
Walking component 2 and runner assembly 3 are respectively arranged in two mounting rings 11 between adjacent two stands unit 1,
In, walking component 2 is also installed in the mounting ring 11 on 1 outboard end of folding rack head and the tail two stands unit.
In use, individually rotating corresponding carrier unit 1 by each runner assembly 3 on folding rack, make adjacent two
Carrier unit 1 forms certain angle, and then the walking component 2 for being located at folding rack both ends is tightly attached to the side of inner wall of the pipe,
Walking component 2 among folding rack is tightly attached to the other side of inner wall of the pipe.By further decrease two stands unit 1 it
Between angle, to increase the maximum static friction force of running gear and pipeline enclosure, thus keep running gear opposing stationary oblique or
In person's vertical pipe.When mobile, folding rack is driven to move along pipe surface by walking component 2, and then make running gear oblique
It walks into pipeline or vertical pipe.
In inventive embodiments, walking component 2 includes the first actuator 21 and driving wheel 22；First actuator 21 has dynamic
Power output shaft is installed on corresponding 1 junction of carrier unit；Driving wheel 22 is installed on the power output shaft of the first actuator 21,
For contradicting working face；First actuator 21 is for driving driving wheel 22 to rotate.
Running gear in the present embodiment, the first actuator 21 are installed on one of them between two adjacent carrier units 1
In mounting ring 11, and the power output shaft of the first actuator 21 is located on lateral surface, and driving wheel 22 is located at the outer of mounting ring 11
Side and the power output shaft being connected on the first actuator 21.In use, the first actuator 21 drives power output shaft to rotate,
To drive driving wheel 22 to rotate synchronously.
In inventive embodiments, runner assembly 3 includes the second actuator 31；Second actuator 31 is fixedly installed in adjacent
The junction of carrier unit 1, and the second actuator 31 is respectively fixedly connected in adjacent carrier unit 1；Second actuator 31
For driving adjacent carrier unit 1 to relatively rotate centered on junction.
Running gear in the present embodiment, the second actuator 31 are fixedly installed in another between two adjacent carrier units 1
In a mounting ring 11, and the second actuator 31 has power output shaft, and power output shaft is located at the inboard of the mounting ring 11
Face.Runner assembly 3 further includes connecting shaft 32, and for connecting shaft 32 between two mounting rings 11, the second driving is fixed at both ends respectively
The power output shaft of part 31 and mounting ring 11 for installing the first actuator 21.In use, the second actuator 31 drives power
Output shaft and adjacent carrier unit 1 are rotated centered on junction, to change the angle between adjacent two stands unit 1.
In inventive embodiments, the first actuator 21 and the second actuator 31 are motor.
Running gear in the present embodiment, the first actuator 21 and the second actuator 31 are motor, the first actuator 21
Power output shaft with the second actuator 31 is the rotation axis of motor, in use, motor drives rotation axis to circumferentially rotate, thus
Drive the rotation of 22/ connecting shaft 32 of driving wheel.
In inventive embodiments, running gear further includes driven wheel 4.Driven wheel 4 and driving wheel 22 rotate synchronously, and from
Driving wheel 4 and driving wheel 22 are respectively arranged in the two sides of folding rack.
Running gear in the present embodiment, driven wheel 4 are installed on the lateral surface of mounting ring 11 by rotation axis, and driven
Wheel 4 and the coaxial arrangement of driving wheel 22 and the two sides for being located at carrier unit 1.Driven wheel 4 is also contradicted on working face, works as folding
When walking on working face, driven wheel 4 rotates in same direction folded bracket with driving wheel 22.
In inventive embodiments, driving wheel 22 and driven wheel 4 on folding rack ipsilateral are staggered.
Running gear in the present embodiment, driving wheel 22 and driven wheel 4 on folding rack ipsilateral are successively arranged alternately,
So that folding rack is more steady in moving process.
In inventive embodiments, driving wheel 22 and driven wheel 4 are Mecanum wheel.
Running gear in the present embodiment works as folding by the way that driving wheel 22 and driven wheel 4 are disposed as Mecanum wheel
Bracket encounters barrier in advancing in pipeline, and when the barrier causes folding rack that can not continue to move ahead, can pass through drive
The first actuator 21 on each carrier unit 1 is moved, to change the rotation direction of each driving wheel 22, thus by folding rack
It is circumferentially rotated along inner wall of the pipe, thus avoiding obstacles.
In inventive embodiments, running gear further includes guide rod 5, one end of guide rod 5 with as folding rack end
1 junction of carrier unit be connected, the other end is equipped with directive wheel 6, the rotating direction and folding rack moving direction of directive wheel 6
Unanimously.
Running gear in the present embodiment, guide rod 5 are set to the outer end of folding rack head and the tail two stands unit 1, and
And the inboard end of guide rod 5 is also connected with mounting ring 11, and the mounting ring 11 and folding rack head and the tail two stands unit 1
Mounting ring 11 on outer end is coaxially disposed, and directive wheel 6 is installed on the outer end of guide rod 5, plays the role of guiding and buffering.
In use, forming certain angle between the length direction of guide rod 5 is parallel with pipe lengths or both.If
When encountering protrusion during folding rack is advanced in pipeline, the meeting of directive wheel 6 touches protrusion first and crosses protrusion, and
The driving wheel 22 for being located at folding rack end and driven wheel 4 is driven to cross protrusion under the cooperation of runner assembly 3, so as to make to roll over
Folded bracket can smoothly walk in pipeline.
In inventive embodiments, 1 junction of carrier unit as folding rack end is equipped with runner assembly 3, rotation
Component 3 includes third actuator, and third actuator is respectively fixedly connected with corresponding carrier unit 1 and guide rod 5, third actuator
Drive corresponding carrier unit 1 and guide rod 5 with the relative rotation of junction center.
Running gear in the present embodiment, third actuator are preferably motor, are fixedly installed in folding rack head and the tail two
In mounting ring 11 on 1 outboard end of frame unit or in the mounting ring 11 that is installed on guide rod 5, third actuator passes through connection
Axis 32 is fixedly installed in another corresponding mounting ring 11.When the rotation of third actuator, connecting shaft 32 is driven to circumferentially rotate,
To change the angle between guide rod 5 and the carrier unit 1 of the adjacent guide rod 5.
In inventive embodiments, 6 quantity of directive wheel is two, is located at the two sides of guide rod 5.
Running gear in the present embodiment, two directive wheels 6 are respectively positioned on outer end and the coaxial arrangement of guide rod 5, by setting
Two directive wheels 6 are set, when directive wheel 6 crosses protrusion, the stationarity of running gear can be improved.
Fig. 3 is the structure sectional view that a kind of running gear of inventive embodiments is walked in vertical pipe.
As shown in figure 3, folding rack is in " V " type, the driving wheel 22 at both ends when running gear is walked in vertical pipe
With driven wheel 4 into the side for being tightly attached to inner wall of the pipe, driving wheel 22 and driven wheel 4 among folding rack, which are located at, to be tightly attached to
The opposite other side of inner wall of the pipe reduces the angle between two stands unit 1 by runner assembly 3, increases driving wheel 22, driven
Maximum static friction force between wheel 4 and inner wall of the pipe, to keep entire running gear opposing stationary in pipeline.
Driving wheel 22 is driven to rotate by component 2 of walking, it can be achieved that folding rack is walked along pipe lengths, if being expert at
When front encounters barrier during walking, the directive wheel 6 positioned at front of advancing clears the jumps first, while in runner assembly 3
Cooperation under make be located at advance front driving wheel 22 and driven wheel 4 clear the jumps, complete obstacle detouring.If being met during traveling
When the barrier that can not be crossed to directive wheel 6, it can make entirely to roll under the cooperation by each runner assembly 3 on folding rack
Folded bracket is circumferentially rotated along pipeline, with avoiding obstacles.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
More than, only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, and it is any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of running gear, which is characterized in that the running gear includes folding rack and at least three groups of control assemblies；
The folding rack includes at least two carrier units (1), and the adjacent carrier unit (1) is sequentially connected；
The control assembly includes that walking component (2) and runner assembly (3), the junction of the adjacent carrier unit (1) are equal
It is connected equipped with the walking component (2) and runner assembly (3), and as the carrier unit (1) of the folding rack end
Place is at least provided with the walking component (2)；
The walking component (2) drives the folding rack to move along working face for being contacted with working face；
The runner assembly (3) is for driving the adjacent carrier unit (1) to relatively rotate centered on junction.
2. running gear according to claim 1, which is characterized in that the walking component (2) includes the first actuator
(21) and driving wheel (22)；First actuator (21) has power output shaft, is installed on the corresponding carrier unit (1)
Junction；The driving wheel (22) is installed on the power output shaft of first actuator (21), for contradicting working face；It is described
First actuator (21) is for driving the driving wheel (22) to rotate.
3. running gear according to claim 2, which is characterized in that the runner assembly (3) includes the second actuator
(31)；Second actuator (31) is fixedly installed in the junction of the adjacent carrier unit (1), and described second drives
Moving part (31) is respectively fixedly connected in the adjacent carrier unit (1)；Second actuator (31) is for driving the phase
Adjacent carrier unit (1) is relatively rotated centered on junction.
4. running gear according to claim 2, which is characterized in that the running gear further includes driven wheel (4)；It is described
Driven wheel (4) and the driving wheel (22) rotate synchronously, and described in the driven wheel (4) and driving wheel (22) be respectively arranged in
The two sides of folding rack.
5. running gear according to claim 4, which is characterized in that the driving wheel on the folding rack ipsilateral
(22) it is staggered with driven wheel (4).
6. running gear according to claim 4, which is characterized in that the driving wheel (22) and driven wheel (4) are wheat
Ke Namu wheel.
7. running gear according to claim 3, which is characterized in that first actuator (21) and the second actuator
It (31) is motor.
8. running gear according to claim 1, which is characterized in that the running gear further includes guide rod (5), described
One end of guide rod (5) is connected with the carrier unit (1) junction as the folding rack end, and the other end is equipped with
The rotating direction of directive wheel (6), the directive wheel (6) is consistent with the folding rack moving direction.
9. running gear according to claim 8, which is characterized in that the carrier unit as folding rack end
(1) junction is equipped with the runner assembly (3), and the runner assembly (3) includes third actuator, the third actuator point
Be not fixedly connected with corresponding carrier unit (1) and guide rod (5), the third actuator drive corresponding carrier unit (1) and
Guide rod (5) is with the relative rotation of junction center.
10. running gear according to claim 8 or claim 9, which is characterized in that directive wheel (6) quantity is two, respectively
Positioned at the two sides of the guide rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566497.6A CN110296329A (en) | 2019-06-27 | 2019-06-27 | A kind of running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910566497.6A CN110296329A (en) | 2019-06-27 | 2019-06-27 | A kind of running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110296329A true CN110296329A (en) | 2019-10-01 |
Family
ID=68029021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910566497.6A Pending CN110296329A (en) | 2019-06-27 | 2019-06-27 | A kind of running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110296329A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111442195A (en) * | 2020-05-18 | 2020-07-24 | 杭州屹升科技有限公司 | Robot technology for industrial detection |
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|---|---|---|---|---|
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| JP2008014447A (en) * | 2006-07-07 | 2008-01-24 | Hitachi Ltd | In-pipe working device |
| KR101244361B1 (en) * | 2013-01-04 | 2013-03-18 | 주식회사 가우스 | Pipe cleaning robot |
| WO2014079116A1 (en) * | 2012-11-24 | 2014-05-30 | 西南石油大学 | Actively driven spiral pipeline robot |
| WO2015012087A1 (en) * | 2013-07-26 | 2015-01-29 | 株式会社ハイボット | Apparatus moving through interior of pipe |
| CN204472946U (en) * | 2015-01-14 | 2015-07-15 | 浙江海洋学院 | A kind of deformable duct measuring robots |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN106015833A (en) * | 2016-06-28 | 2016-10-12 | 宁波天弘电力器具有限公司 | Novel pipeline robot |
| CN106015829A (en) * | 2016-06-28 | 2016-10-12 | 宁波天弘电力器具有限公司 | Pipeline robot |
| CN210319432U (en) * | 2019-06-27 | 2020-04-14 | 北京史河科技有限公司 | Walking device |
-
2019
- 2019-06-27 CN CN201910566497.6A patent/CN110296329A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59109470A (en) * | 1982-12-16 | 1984-06-25 | Agency Of Ind Science & Technol | Moving device in pipe |
| JP2008014447A (en) * | 2006-07-07 | 2008-01-24 | Hitachi Ltd | In-pipe working device |
| WO2014079116A1 (en) * | 2012-11-24 | 2014-05-30 | 西南石油大学 | Actively driven spiral pipeline robot |
| KR101244361B1 (en) * | 2013-01-04 | 2013-03-18 | 주식회사 가우스 | Pipe cleaning robot |
| WO2015012087A1 (en) * | 2013-07-26 | 2015-01-29 | 株式会社ハイボット | Apparatus moving through interior of pipe |
| CN204472946U (en) * | 2015-01-14 | 2015-07-15 | 浙江海洋学院 | A kind of deformable duct measuring robots |
| CN104875811A (en) * | 2015-06-12 | 2015-09-02 | 洛阳理工学院 | Wheel leg assisted composite obstacle crossing device |
| CN106015833A (en) * | 2016-06-28 | 2016-10-12 | 宁波天弘电力器具有限公司 | Novel pipeline robot |
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| CN210319432U (en) * | 2019-06-27 | 2020-04-14 | 北京史河科技有限公司 | Walking device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111442195A (en) * | 2020-05-18 | 2020-07-24 | 杭州屹升科技有限公司 | Robot technology for industrial detection |
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