CN115370868A - Allosteric robot suitable for irregular pipeline - Google Patents
Allosteric robot suitable for irregular pipeline Download PDFInfo
- Publication number
- CN115370868A CN115370868A CN202210818977.9A CN202210818977A CN115370868A CN 115370868 A CN115370868 A CN 115370868A CN 202210818977 A CN202210818977 A CN 202210818977A CN 115370868 A CN115370868 A CN 115370868A
- Authority
- CN
- China
- Prior art keywords
- walking wheel
- wheel
- pipelines
- walking
- carousel
- 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
Links
- 230000001788 irregular Effects 0.000 title claims abstract description 16
- 230000003281 allosteric effect Effects 0.000 title claims description 7
- 230000003068 static effect Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the structural design of a pipeline robot, in particular to a reconfigurable robot suitable for irregular pipelines, which adopts a modular design, can be assembled according to requirements, can work in various different pipelines such as variable diameter pipelines, ladder pipelines, circular pipelines, rectangular pipelines, bending pipelines and the like, is provided with external expansion interfaces at the front end and the rear end 2, can be selectively matched with a camera, various detectors, a cleaning and picking mechanism and the like according to requirements, and realizes the expansion of functions; the novel walking wheel device comprises a housin, install two on the carousel on the casing, install walking wheel assembly on the carousel, walking wheel assembly moves the support including walking wheel driving motor, walking wheel static bracket, mecanum wheel and walking wheel, and two carousels move support normal running fit with walking wheel static bracket and walking wheel respectively, and walking wheel driving motor's fuselage is installed on walking wheel static bracket and with mecanum wheel interlock, mecanum wheel also moves the leg joint with walking wheel static bracket and walking wheel respectively, is equipped with the deformation transmission assembly in the casing.
Description
Technical Field
The invention relates to the structural design of a pipeline robot, in particular to a reconfigurable robot suitable for irregular pipelines.
Background
The pipeline robot is used as an ideal pipeline detection and maintenance device, is widely applied to the fields of pipeline cleaning, detection, maintenance, welding and the like, and has important significance for prolonging the service life of the pipeline and reducing the risk of safety accidents;
the detection level of domestic pipeline detection is low, the requirement of detection equipment on the stability of the traveling speed is high, and the detection precision strongly depends on the speed stability; the fluid-driven pipeline robot widely used in China at present realizes self-driving by means of pressure difference of fluid media at the head end and the tail end, well solves the problem of energy supply, and is particularly suitable for detection operation of long-distance in-service oil and gas pipelines; however, such pipeline robots have no ability to autonomously change the moving speed, and cannot adapt to complicated and irregular pipeline structures.
Disclosure of Invention
Aiming at the problems mentioned in the background technology, the invention aims to provide a reconfigurable robot suitable for irregular pipelines, which adopts a modular design, can be assembled according to requirements, can work in various different pipelines such as variable diameter pipelines, ladder pipelines, circular pipelines, rectangular pipelines, bending pipelines and the like, is provided with external expansion interfaces at the front end and the rear end 2, and can be selectively provided with cameras, various detectors, cleaning and picking mechanisms and the like according to requirements to realize the function expansion.
The technical purpose of the invention is realized by the following technical scheme: the utility model provides a allosteric robot suitable for irregular pipeline, includes that the casing is installed in the bottom of mounting bracket and is linked through worm and turbine, the worm is all installed on the mounting bracket with the turbine, the turbine passes through transmission shaft and gear connection, one of them carousel and casing fixed connection, and another carousel and casing normal running fit are equipped with the arc rack on the rotatable carousel, gear and arc rack toothing, the mounting bracket is installed in the casing, and the carousel end cover is installed on the carousel.
Preferably, a plurality of road wheel assembly mounting holes B for mounting the road wheel assemblies are formed in one of the turntables, and a plurality of road wheel assembly mounting holes A for mounting the road wheel assemblies are formed in the other turntable.
Preferably, the turntable end cover is further provided with an external expansion interface, and the external expansion interface is further provided with a flexible shaft.
Preferably, a hollow middle shaft is arranged in the shell, penetrates through the shell and is connected with the end cover of the rotary table.
Preferably, the mounting frame is detachably connected with the shell.
Preferably, the Mecanum wheels may be left-hand Mecanum wheels and right-hand Mecanum wheels.
Preferably, the movable support of the walking wheel is connected with the rotatable turntable and is in running fit with the rotatable turntable, and the fixed support of the walking wheel is connected with the rotatable turntable and is in running fit with the rotatable turntable.
In conclusion, the allosteric robot applicable to the irregular pipeline has the following beneficial effects:
1. the wheel set adopts a modular design, the position can be adjusted as required, and the device is suitable for reducing and stepped pipelines;
2. the outer dimension of the robot is adjustable in real time, and the robot is suitable for pipelines with various shapes;
3. the wheel sets are in a modular design, the power of the wheels is mutually independent, and the axial parallel movement, the axial rotation movement, the axial spiral movement and the like of the robot can be realized by adjusting the steering and the rotating speed of different wheel sets;
4. external expansion interfaces are arranged at two ends of the robot, different groups of robots can be directly connected by flexible shafts, and various accessories (detection, pickup, cleaning and the like) can be configured as required.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic illustration of the internal transmission system of the present invention;
FIG. 3 is a schematic structural view of a modified transmission assembly of the present invention;
FIG. 4 is a cross-sectional view of the present invention;
FIG. 5 is a schematic diagram of a variation;
FIG. 6 is a schematic view of the present invention in assembly;
FIG. 7 is a schematic view of the stepped conduit of the present invention;
fig. 8 is a schematic diagram of the operation of the rectangular duct of the present invention.
Description of the drawings: 101. a turntable; 102. an arc-shaped rack; 103. a mounting hole A of the travelling wheel assembly; 201. a turntable end cover; 202. externally connecting an expansion interface; 203. a housing; 204. a wire hole; 205. a hollow center shaft; 206. a housing end cap; 207. a traveling wheel assembly mounting hole B; 300. a traveling wheel assembly; 301A, left-handed mecanum wheels; 301B, a right-handed Mecanum wheel; 302. a traveling wheel driving motor; 303. a traveling wheel static bracket; 304. a walking wheel movable support; 400. a deformation transmission assembly; 401. a drive shaft; 402. a gear; 403. a turbine; 404. a worm; 405. a deformation driving motor; 406. a mounting frame; 500. a flexible shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model provides a allosteric robot suitable for irregular pipeline, includes casing 203, install carousel 101 two on the casing 203, install walking wheel assembly 300 on the carousel 101, walking wheel assembly 300 includes walking wheel drive motor 302, walking wheel static support 303, mecanum wheel and walking wheel move support 304, two carousels 101 respectively with walking wheel static support 303 and walking wheel move support 304 normal running fit, walking wheel drive motor 302's fuselage is installed on walking wheel static support 303 and with mecanum wheel interlock, mecanum wheel also is connected with walking wheel static support 303 and walking wheel move support 304 respectively, be equipped with deformation transmission assembly 400 in the casing 203, deformation transmission assembly 400 includes deformation drive motor 405, worm 404, turbine 403, gear 402, transmission shaft 401 and mounting bracket 500, deformation drive motor 405 installs in the bottom of mounting bracket 406 and through worm 404 and turbine 403 linkage, worm 404 and turbine 403 all install on mounting bracket 406, the turbine is connected with gear 402 through transmission shaft 401, one of them carousel 101 and casing 203 fixed connection, another carousel 101 and casing 203 normal running fit, be equipped with arc-shaped gear 101 on the carousel 102, install on the arc-shaped gear 402 and the rotatable rack end cover 201, mounting bracket 406.
One of the turntables 101 is provided with a plurality of road wheel assembly mounting holes B207 for mounting the road wheel assembly 300, and the other turntable 101 is provided with a plurality of road wheel assembly mounting holes A103 for mounting the road wheel assembly 300; the turntable end cover 201 is also provided with an external expansion interface 202, and the external expansion interface 202 is also provided with a flexible shaft 500; a hollow middle shaft 205 is arranged in the shell 203, and the hollow middle shaft 205 penetrates through the shell 203 and is connected with the turntable end cover 201; the mounting frame 406 is detachably connected with the shell 203; the Mecanum wheels can be left-handed Mecanum wheels 301A and right-handed Mecanum wheels 301B; the walking wheel moving support 304 is connected with the rotatable turntable 101 and is in running fit with the rotatable turntable 101, and the walking wheel static support 303 is connected with the fixed turntable 101 and is in running fit with the fixed turntable 101.
2 levogyration mecanum wheels and 2 right-handed mecanum wheels constitute the walking wheel of robot, and four wheel independent drive according to the difference of every round positive and negative rotation, rotational speed, can make up out multiple different motion mode, for example: the pipe moves linearly along the axial direction of the pipe, rotates along the axial direction of the pipe and moves spirally along the axial direction of the pipe; different sets of robots can be connected by a flexible shaft 500.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The variable-structure robot suitable for irregular pipelines is characterized by comprising a shell (203), wherein two turntables (101) are installed on the shell (203), a walking wheel assembly (300) is installed on each turntable (101), each walking wheel assembly (300) comprises a walking wheel driving motor (302), a walking wheel static support (303), a Mecanum wheel and a walking wheel moving support (304), the two turntables (101) are respectively in rotating fit with the walking wheel static supports (303) and the walking wheel moving supports (304), a machine body of each walking wheel driving motor (302) is installed on each walking wheel static support (303) and is linked with the Mecanum wheel, the Mecanum wheel is also respectively connected with the walking wheel static supports (303) and the walking wheel moving supports (304), a deformation transmission assembly (400) is arranged in the shell (203), the deformation transmission assembly (400) comprises a deformation driving motor (405), a worm (404), a worm wheel installation rack (403), a gear (402), a transmission shaft (401) and a transmission shaft (500), the deformation driving motor (405) is installed at the bottom of each 406 (404) and is connected with the worm wheel (403) through the worm wheel (404), and the worm wheel (403), and the transmission shaft (401) and the worm wheel (404) is connected with the worm wheel (402), one of them carousel (101) and casing (203) fixed connection, another carousel (101) and casing (203) normal running fit are equipped with arc rack (102) on rotatable carousel (101), gear (402) and arc rack (102) meshing, mounting bracket (406) are installed in casing (203), and carousel end cover (201) are installed on carousel (101).
2. The reconfigurable robot for the irregular pipelines is characterized in that a plurality of road wheel assembly mounting holes B (207) for mounting the road wheel assemblies (300) are formed in one of the turntables (101), and a plurality of road wheel assembly mounting holes A (103) for mounting the road wheel assemblies (300) are formed in the other turntable (101).
3. The reconfigurable robot suitable for the irregular pipelines is characterized in that an external expansion interface (202) is further arranged on the turntable end cover (201), and a flexible shaft (500) is further arranged on the external expansion interface (202).
4. The allosteric robot for irregular pipelines according to claim 1, characterized in that a hollow central shaft (205) is arranged in the housing (203), and the hollow central shaft (205) passes through the housing (203) and is connected with a turntable end cover (201).
5. The reconfigurable robot for irregular pipelines according to claim 1, wherein the mounting bracket (406) is detachably connected to the housing (203).
6. An allosteric robot for irregular piping, according to claim 1, characterised by that the mecanum wheels can be left-hand mecanum wheels (301A) and right-hand mecanum wheels (301B).
7. The reconfigurable robot for the irregular pipelines is characterized in that the walking wheel movable support (304) is connected with and rotationally matched with the rotatable turntable (101), and the walking wheel static support (303) is connected with and rotationally matched with the fixed turntable (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210818977.9A CN115370868A (en) | 2022-07-13 | 2022-07-13 | Allosteric robot suitable for irregular pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210818977.9A CN115370868A (en) | 2022-07-13 | 2022-07-13 | Allosteric robot suitable for irregular pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115370868A true CN115370868A (en) | 2022-11-22 |
Family
ID=84062599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210818977.9A Pending CN115370868A (en) | 2022-07-13 | 2022-07-13 | Allosteric robot suitable for irregular pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115370868A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0484701A1 (en) * | 1990-10-19 | 1992-05-13 | Looper-Robot Systems Co., Ltd | Apparatus capable of moving in a tube, method of moving in a tube, and support mechanism |
| KR20050122953A (en) * | 2004-06-26 | 2005-12-29 | (주)인포그린테크 | Method of regenerating a corroded water supplying pipe |
| CN1966336A (en) * | 2006-11-24 | 2007-05-23 | 江苏工业学院 | Robot walking mechanism for tapered pipeline |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
| CN109973759A (en) * | 2019-04-19 | 2019-07-05 | 哈尔滨工业大学 | A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface |
| CN110510029A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform |
| CN111928057A (en) * | 2020-07-22 | 2020-11-13 | 上海锋泰建筑设备有限公司 | Small lamp chain for ultraviolet curing repair of urban underground pipelines |
| CN112097009A (en) * | 2020-09-25 | 2020-12-18 | 杭州电子科技大学 | Pipeline detection software robot and driving method thereof |
| CN113294624A (en) * | 2021-04-10 | 2021-08-24 | 浙江建设职业技术学院 | Robot for checking and repairing underground drainage pipeline |
| CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
| CN114251539A (en) * | 2021-12-27 | 2022-03-29 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
| CN216923673U (en) * | 2022-03-15 | 2022-07-08 | 合肥工业大学 | Novel driving device of pipeline detection robot |
| CN114719123A (en) * | 2022-04-20 | 2022-07-08 | 北京理工大学 | Reducing pipeline robot |
| US20220341533A1 (en) * | 2019-09-16 | 2022-10-27 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit-exploring robot comprising a bearing module |
-
2022
- 2022-07-13 CN CN202210818977.9A patent/CN115370868A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0484701A1 (en) * | 1990-10-19 | 1992-05-13 | Looper-Robot Systems Co., Ltd | Apparatus capable of moving in a tube, method of moving in a tube, and support mechanism |
| KR20050122953A (en) * | 2004-06-26 | 2005-12-29 | (주)인포그린테크 | Method of regenerating a corroded water supplying pipe |
| CN1966336A (en) * | 2006-11-24 | 2007-05-23 | 江苏工业学院 | Robot walking mechanism for tapered pipeline |
| CN107131391A (en) * | 2017-07-19 | 2017-09-05 | 四川农业大学 | A kind of adaptive screwdriven pipe robot |
| CN109973759A (en) * | 2019-04-19 | 2019-07-05 | 哈尔滨工业大学 | A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface |
| CN110510029A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | Mecanum wheel duplex branch leg and Omni-mobile posture adjustment platform |
| US20220341533A1 (en) * | 2019-09-16 | 2022-10-27 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit-exploring robot comprising a bearing module |
| CN111928057A (en) * | 2020-07-22 | 2020-11-13 | 上海锋泰建筑设备有限公司 | Small lamp chain for ultraviolet curing repair of urban underground pipelines |
| CN112097009A (en) * | 2020-09-25 | 2020-12-18 | 杭州电子科技大学 | Pipeline detection software robot and driving method thereof |
| CN113294624A (en) * | 2021-04-10 | 2021-08-24 | 浙江建设职业技术学院 | Robot for checking and repairing underground drainage pipeline |
| CN113357482A (en) * | 2021-07-30 | 2021-09-07 | 天津科技大学 | Flexible-driven active steering type pipeline robot |
| CN114251539A (en) * | 2021-12-27 | 2022-03-29 | 中技智能科技(盐城)有限公司 | Ultraviolet curing integrated vehicle adaptive to drainage pipelines with different pipe diameters |
| CN216923673U (en) * | 2022-03-15 | 2022-07-08 | 合肥工业大学 | Novel driving device of pipeline detection robot |
| CN114719123A (en) * | 2022-04-20 | 2022-07-08 | 北京理工大学 | Reducing pipeline robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101435521B (en) | Self-adapting pipe moving mechanism | |
| CN1962091B (en) | Diameter changeable pipeline cleaning robot having parallel four-bar mechanism | |
| CN102979988B (en) | Initiative-driving spiral pipeline robot | |
| CN113090865B (en) | Self-stabilizing walking mechanism of pipeline robot | |
| CN103697286B (en) | A kind of crawler belt type pipeline robot | |
| CN115076512A (en) | Self-adaptation pipeline detection cleaning device of high drive power | |
| CN205614670U (en) | High -precision locate mode industrial robot | |
| US11155313B2 (en) | High-load explosion-proof driving device | |
| CN115370868A (en) | Allosteric robot suitable for irregular pipeline | |
| CN214767555U (en) | Pipeline cleaning robot | |
| CN113294625A (en) | Robot and method for walking on bent pipeline | |
| CN113700979A (en) | Pipeline detection and repair robot | |
| CN106051375A (en) | Active steering device of pipe robot | |
| CN210131740U (en) | Steel-plastic composite pipe inner and outer anti-corrosion treatment device | |
| CN219796579U (en) | Fluid driving type pipeline robot braking device | |
| CN210739723U (en) | Crawler-type oil gas pipeline robot | |
| CN205614702U (en) | High -precision locate mode manipulator | |
| CN207931832U (en) | A kind of exoskeleton walking mechanism | |
| CN216923671U (en) | Crawler for pipeline robot detection | |
| CN206883635U (en) | Revolute robot and its linear actuator | |
| CN214684690U (en) | Pipeline welding seam inner wall protective gas filling device | |
| CN201344337Y (en) | Pipeline moving mechanism | |
| CN212143790U (en) | High-pressure water pipeline cleaning robot | |
| CN113086045A (en) | Six-wheel leg wall obstacle crossing robot | |
| CN217519483U (en) | Split type driven pipeline detection cleaning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |