CN112474641A - In-pipe self-adaptive walking system - Google Patents
In-pipe self-adaptive walking system Download PDFInfo
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- CN112474641A CN112474641A CN202011268768.9A CN202011268768A CN112474641A CN 112474641 A CN112474641 A CN 112474641A CN 202011268768 A CN202011268768 A CN 202011268768A CN 112474641 A CN112474641 A CN 112474641A
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000003044 adaptive effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000003755 preservative agent Substances 0.000 description 1
- 230000002335 preservative effect Effects 0.000 description 1
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- -1 stains Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2209/00—Details of machines or methods for cleaning hollow articles
- B08B2209/02—Details of apparatuses or methods for cleaning pipes or tubes
- B08B2209/027—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces
- B08B2209/04—Details of apparatuses or methods for cleaning pipes or tubes for cleaning the internal surfaces using cleaning devices introduced into and moved along the pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses an in-pipe self-adaptive walking system, which comprises: the power device is provided with a mounting seat at one end and a shaft lever at the other end; the device comprises a plurality of groups of driving wheel travelling mechanisms, wherein each group of driving wheel travelling mechanism comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with a mounting seat, and the other end of the first connecting rod is hinged with the driving wheel; the device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on a shaft rod at intervals, one end of the second connecting rod is hinged with the fixed seat, one end of the adjusting rod is hinged with the sliding seat, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seat to control the sliding seat to move along the shaft rod; and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning, in particular to an in-pipe self-adaptive walking system.
Background
The pipe diameter of the inner wall of the current large cable sleeve generally changes in phi 270-phi 600, and the inner wall surface of the current large cable sleeve is an inner conical surface of phi 270-phi 600 or a combination of a plurality of discontinuous inner conical surfaces. When the sleeve is installed, the inner wall of the sleeve needs to be cleaned, and the inner wall is ensured to be clean and free of impurities such as stains, dust and tiny particles, so that the insulation safety under high voltage and ultrahigh voltage is ensured. Conventional cleaning devices are difficult to adapt to the conditions of their pipe diameter. Therefore, at present, the large-scale cable terminal sleeve still adopts a manual cleaning mode, the manual cleaning is difficult and inefficient, in order to prevent carrying dirt into a pipeline or causing secondary pollution, a preservative film is required to be wrapped on the whole body in advance and then enters a long and narrow pipeline for cleaning, the operation space is limited, and the comprehensive cleaning cannot be realized.
In order to clean the inner wall of the sleeve, a walking system corresponding to the cleaning equipment for cleaning the inner wall of the sleeve needs to have adjusting capability of contraction and extension so as to adapt to the condition of pipe diameter change of the cable sleeve.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an in-pipe self-adaptive walking system which can automatically adapt to the change of pipe diameter when walking in a reducing sleeve.
The technical scheme adopted by the embodiment of the invention is as follows: an in-pipe adaptive walking system comprising: the power device is provided with a mounting seat at one end and a shaft lever at the other end; the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel; the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on the shaft rod at intervals, the fixed seats are fixedly arranged on the shaft rod, the sliding seats are movably arranged on the shaft rod, one end of the second connecting rod is hinged with the fixed seats, one end of the adjusting rod is hinged with the sliding seats, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seats to control the sliding seats to move along the shaft rod; and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
The self-adaptive walking system in the pipe provided by the embodiment of the invention at least has the following beneficial effects: the application discloses intraductal self-adaptation traveling system can contract or extend along with the change of pipe diameter when the intraductal moving of pipe diameter change to the condition that the adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking.
According to some embodiments of the present invention, the regulating system includes a stepping motor and a pressure sensor, the shaft is a ball screw, the sliding seat is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is disposed on the adjusting lever for monitoring the pressure applied to the adjusting lever, and the pressure sensor is electrically connected with the stepping motor.
According to some embodiments of the invention, the regulating system comprises a compression spring and a bearing platform, the bearing platform is fixedly arranged on the shaft rod, the sliding seat is positioned between the bearing platform and the fixed seat, the compression spring is arranged between the bearing platform and the sliding seat, and the compression spring is sleeved on the shaft rod.
According to some embodiments of the invention, the driven wheel is connected to the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism includes a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is arranged on a base of the driven wheel, the driven wheel is movably connected to the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected to the base of the driven wheel, and the other end of the fine adjustment spring is connected to the spring mounting seat.
According to some embodiments of the invention, the power device is in transmission connection with the driving wheel through a chain transmission mechanism.
According to some embodiments of the invention, the power plant includes a mounting housing and a power motor disposed within the mounting housing and a battery connected to the power motor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of an in-pipe adaptive walking system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a variable diameter adjustment device;
fig. 3 is a schematic view of a connection structure between the driven wheel and the fine adjustment mechanism.
Reference numerals:
the power device 100, the mounting seat 110, the shaft rod 120, the fixed seat 121 and the sliding seat 122;
a driving wheel 210, a first connecting rod 220;
a second connecting rod 310, an adjusting lever 320;
a third connecting rod 410, a driven wheel 420 and a base 421;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
An intra-pipe adaptive walking system according to an embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 and 2, the system for walking inside a pipe according to an embodiment of the present invention includes:
the power device 100, one end of the power device 100 is provided with a mounting seat 110, and the other end is provided with a shaft rod 120;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel 210 and a first connecting rod 220, one end of the first connecting rod 220 is hinged with the mounting seat 110, the other end of the first connecting rod is connected with the driving wheel 210, and the power device 100 is in transmission connection with the driving wheel 210 to drive the driving wheel 210 to travel;
the variable diameter adjusting device comprises a plurality of groups of variable diameter mechanisms, each group of variable diameter mechanisms comprises a second connecting rod 310, an adjusting rod 320 and a regulating system, a fixed seat 121 and a sliding seat 122 are arranged on the shaft rod 120 at intervals, the fixed seat 121 is fixedly arranged on the shaft rod 120, the sliding seat 122 is movably arranged on the shaft rod 120, one end of the second connecting rod 310 is hinged to the fixed seat 121, one end of the adjusting rod 320 is hinged to the sliding seat 122, the other end of the adjusting rod is hinged to the middle of the second connecting rod 310, and the regulating system is connected with the sliding seat 122 to control the sliding seat 122 to move along the;
the driven wheel traveling mechanism comprises a third connecting rod 410 and a driven wheel 420, wherein one end of the third connecting rod 410 is hinged with the other end of the second connecting rod 310, the other end of the third connecting rod 410 is hinged with the middle part of the first connecting rod 220, and the driven wheel 420 is arranged on the third connecting rod 410.
The application discloses intraductal self-adaptation traveling system can contract or extend along with the change of pipe diameter when the intraductal moving of pipe diameter change to the condition that the adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking.
Specifically, when the traveling system travels along the direction in which the pipe diameter of the casing pipe is continuously reduced. The power device 100 provides power to drive the driving wheel 210 to walk in the pipe. In the walking process, the pressure between the driving wheel 210 and the driven wheel 420 and the pipe wall is increased along with the continuous reduction of the pipe diameter. When the pressure is monitored by the regulating device to be increased, the sliding seat 122 is controlled to move towards the direction away from the fixed seat 121, and along with the movement of the sliding seat 122, the third connecting rod 410 is driven to move towards the shaft rod 120 through the adjusting rod 320 and the second connecting rod 310 in sequence, so that the driven wheel 420 and the driving wheel 210 contract inwards, and the whole walking system contracts continuously, thereby adapting to the condition that the pipe diameter is reduced continuously.
And when the walking system walks along the direction that the pipe diameter of the sleeve pipe becomes bigger continuously. In the walking process, as the pipe diameter is continuously increased, the pressure between the driving wheel 210 and the driven wheel 420 and the pipe wall is reduced. After the pressure is monitored by the regulating device to be reduced, the sliding seat 122 is controlled to move towards the direction close to the fixed seat 121, and along with the movement of the sliding seat 122, the third connecting rod 410 is driven to move away from the shaft rod 120 through the adjusting rod 320 and the second connecting rod 310 in sequence, so that the driven wheel 420 and the driving wheel 210 move outwards in an extending manner, and the traveling system continuously extends, thereby adapting to the condition that the pipe diameter is continuously increased.
The motion direction of sliding seat 122 is controlled through the regulation and control device to the application to inwards contract or outwards extend from driving wheel 420 and driving wheel 210 through four-bar linkage control, make the running system can adapt to the change of pipe diameter when the intraductal walking.
As shown in fig. 1, in some embodiments of the present invention, the regulating system includes a stepping motor and a pressure sensor, the shaft 120 is a ball screw, the sliding seat 122 is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is disposed on the adjusting lever 320 for monitoring the pressure applied to the adjusting lever 320, and the pressure sensor is electrically connected with the stepping motor.
As the traveling system travels within the tube, the driven wheel 420 and the driving wheel 210 are subjected to varying pressures from the tube wall. After the pressure sensor arranged on the adjusting rod 320 monitors that the pressure is continuously increased, the stepping motor receives an electric signal and then rotates forwards to drive the ball screw to rotate forwards, and the screw nut on the ball screw makes linear motion on the ball screw so as to control the contraction or extension through the four-bar mechanism. The pressure between the driven wheel 420 and the driving wheel 210 and the pipe wall is always kept in a stable range, so that the pipe diameter change is adapted.
As shown in fig. 2, in some embodiments of the present invention, the regulating system includes a compression spring 610 and a platform 620, the platform 620 is fixed on the shaft 120, the sliding seat 122 is located between the platform 620 and the fixed seat 121, the compression spring 610 is disposed between the platform 620 and the sliding seat 122, and the compression spring 610 is sleeved on the shaft 120.
In this embodiment, when the traveling system travels along the direction in which the pipe diameter of the casing pipe is continuously reduced, the driven wheel 420 and the driving wheel 210 receive pressure from the pipe wall to increase, so as to press the four-bar linkage to contract, and the compression spring 610 receives pressure to increase, so as to perform adaptive contraction, so that the entire traveling system contracts.
And when the walking system walks along the direction that the pipe diameter of the sleeve pipe becomes bigger continuously. The driven wheel 420 and the driving wheel 210 are subjected to reduced pressure from the pipe wall, and the compression spring 610 is subjected to reduced pressure and gradually extends to push the four-bar linkage to extend, so that the whole walking system extends outwards. By providing the compression spring 610, the driven wheel 420 and the driving wheel 210 are balanced by the pressure from the tube wall and the elastic force between the compression spring 610, so as to automatically adapt to the change of the tube diameter, and the embodiment is simpler than the structure of the stepping motor and the ball wire.
As shown in fig. 1 and 3, in some embodiments of the present invention, the driven wheel 420 is connected to the third connecting rod 410 through a fine adjustment mechanism, the fine adjustment mechanism includes a spring mounting seat 710, a guide rod 720 and a fine adjustment spring 730, the spring mounting seat 710 is mounted on the third connecting rod 410, the guide rod 720 is vertically disposed on the spring mounting seat 710, a guide hole is disposed on a base 421 of the driven wheel 420, the driven wheel 420 is movably connected to the guide rod 720 through the guide hole, the fine adjustment spring 730 is disposed between the driven wheel 420 and the spring mounting seat 710, one end of the fine adjustment spring 730 is connected to the base of the driven wheel 420, and the other end is connected to the spring mounting seat 710.
During the running process of the running system in the pipe, the driven wheel 420 and the driving wheel 210 need to be ensured to be always in contact with the pipe wall. And four link mechanism that this application adopted, after one of them connecting rod position changes, the position of other connecting rods can follow the linkage. Therefore, the driven wheel 420 and the driving wheel 210 can be synchronously contracted or expanded on the same connecting line, and the inclined angle of the connecting line between the driven wheel 420 and the driving wheel 210 is fixed. Can only be used with sleeves with corresponding pipe diameter changes. When the sleeves with different pipe diameters are changed (the taper of the inner diameters of the sleeves can be different), the driven wheel 420 can be contacted with the pipe wall, and the driving wheel 210 is in a suspended state; or the driving wheel 210 is in contact with the pipe wall, and the driven wheel 420 is still in a suspended state. Or the pipe diameter of the sleeve is not changed, but the pipe diameter of a section of interval is reduced, and the pipe diameter of a section of interval is increased, so that the adaptability adjustment is difficult.
In order to solve the above problem, the present application further connects the driven wheel 420 to the third link 410 through a fine adjustment mechanism, so that the driven wheel 420 itself has a certain automatic adjustment capability. When cleaning sleeves of different pipe diameters, the driven wheel 420 contracts or extends along the guide rod 720 under the action of the fine adjustment spring 730, so that the inclination angle of the connecting line between the driven wheel 420 and the driving wheel 210 is changed, the sleeve with different pipe diameters can be adapted, and the applicability and the universality of the walking device are improved.
In some embodiments of the present invention, the power device 100 is in transmission connection with the driving wheel 210 through a chain transmission mechanism. The power of the motor is transmitted to the chain wheel through the worm gear and the worm, and then the driving wheel 210 is driven to travel through the chain wheel transmission.
In some embodiments of the present invention, power plant 100 includes a mounting housing and a power motor disposed within the mounting housing and a battery coupled to the power motor. Power motor and battery are all installed in the installation shell, improve equipment's safety protection performance, and the battery provides the electric energy for whole equipment, guarantees that whole equipment need not the outside power supply that provides when intraductal walking, improve equipment's independence.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. An in-pipe adaptive walking system, comprising:
the power device is provided with a mounting seat at one end and a shaft lever at the other end;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on the shaft rod at intervals, the fixed seats are fixedly arranged on the shaft rod, the sliding seats are movably arranged on the shaft rod, one end of the second connecting rod is hinged with the fixed seats, one end of the adjusting rod is hinged with the sliding seats, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seats to control the sliding seats to move along the shaft rod;
and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
2. The adaptive walking system in pipe according to claim 1, wherein: the regulating system comprises a stepping motor and a pressure sensor, the shaft rod is a ball screw, the sliding seat is a screw nut arranged on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is arranged on the adjusting rod and used for monitoring the pressure borne by the adjusting rod, and the pressure sensor is in electric control connection with the stepping motor.
3. The adaptive walking system in pipe according to claim 1, wherein: the regulating system comprises a compression spring and a bearing platform, the bearing platform is fixedly arranged on the shaft rod, the sliding seat is positioned between the bearing platform and the fixed seat, the compression spring is arranged between the bearing platform and the sliding seat, and the compression spring is sleeved on the shaft rod.
4. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the driven wheel is connected with the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism comprises a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is formed in a base of the driven wheel, the driven wheel is movably connected with the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end of the fine adjustment spring is connected with the spring mounting seat.
5. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the power device is in transmission connection with the driving wheel through a chain transmission mechanism.
6. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the power device comprises an installation shell, a power motor arranged in the installation shell and a battery connected with the power motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268768.9A CN112474641A (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011268768.9A CN112474641A (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
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| Publication Number | Publication Date |
|---|---|
| CN112474641A true CN112474641A (en) | 2021-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011268768.9A Pending CN112474641A (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN116006879A (en) * | 2023-03-24 | 2023-04-25 | 汕头市俊国机电科技有限公司 | Self-adaptive device for automatic oiling of sintering trolley wheels |
-
2020
- 2020-11-13 CN CN202011268768.9A patent/CN112474641A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN116006879A (en) * | 2023-03-24 | 2023-04-25 | 汕头市俊国机电科技有限公司 | Self-adaptive device for automatic oiling of sintering trolley wheels |
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Country or region after: China Address after: 410000 No. 223, tongzipo West Road, Lugu Industrial Park, high tech Development Zone, Changsha, Hunan Applicant after: Long Cable Technology Group Co.,Ltd. Address before: No.223, tongzipo West Road, Lugu Industrial Park, high tech Development Zone, Changsha City, Hunan Province, 410205 Applicant before: CHANGLAN CABLE ACCESSORIES Co.,Ltd. Country or region before: China |