CN116852399B - Multipurpose explosion-proof robot - Google Patents
Multipurpose explosion-proof robot Download PDFInfo
- Publication number
- CN116852399B CN116852399B CN202311137433.7A CN202311137433A CN116852399B CN 116852399 B CN116852399 B CN 116852399B CN 202311137433 A CN202311137433 A CN 202311137433A CN 116852399 B CN116852399 B CN 116852399B
- Authority
- CN
- China
- Prior art keywords
- ring frame
- fixedly arranged
- detection
- frame
- pipe
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000007689 inspection Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 97
- 238000012545 processing Methods 0.000 claims description 72
- 238000007789 sealing Methods 0.000 claims description 45
- 239000003292 glue Substances 0.000 claims description 31
- 238000003860 storage Methods 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 239000003570 air Substances 0.000 description 19
- 239000007789 gas Substances 0.000 description 15
- 238000012423 maintenance Methods 0.000 description 8
- 239000000084 colloidal system Substances 0.000 description 6
- 230000007306 turnover Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000012080 ambient air Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
- B25J11/002—Manipulators for defensive or military tasks
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/168—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe
- F16L55/175—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe by using materials which fill a space around the pipe before hardening
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
Abstract
The invention discloses a multipurpose explosion-proof robot, which particularly relates to the technical field of robots, and comprises a four-wheel walking robot, wherein inspection equipment is fixedly arranged on one side of the top end of the four-wheel walking robot, a camera is fixedly arranged on one side of the top end of the four-wheel walking robot, which is far away from the inspection equipment, a universal mechanical arm is fixedly arranged in the middle of the top end of the four-wheel walking robot, and an adjusting mechanism is fixedly arranged at the end part of the universal mechanical arm.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a multipurpose explosion-proof robot.
Background
The inspection under dangerous environment is a dangerous and complicated task, along with the continuous improvement of the industrial automation degree, the explosion-proof robot becomes a sharp tool for guaranteeing the industrial safety, and is widely applied to inspection and monitoring of dangerous places such as chemical industry, petroleum, natural gas and the like, and in addition, the explosion-proof robot can be applied to automatic production on an industrial production line, so that the production efficiency and quality are improved;
however, the existing explosion-proof robots still have some problems when used for inspecting and monitoring dangerous places: the explosion-proof robot can only detect the problem occurring in dangerous places in a general range, can not accurately detect which part is in problem, and can not timely and effectively cope with the problem, maintenance personnel are required to rapidly enter the field to accurately detect and process again, the efficiency is low, and certain maintenance dangerousness is increased.
Disclosure of Invention
The present invention is directed to a multipurpose explosion-proof robot, which solves the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multipurpose explosion-proof robot, includes four-wheel walking robot, top one side fixed mounting of four-wheel walking robot has the equipment of patrolling and examining, one side fixed mounting that the equipment was patrolled and examined is kept away from on four-wheel walking robot top has the appearance of making a video recording, the top middle part fixed mounting of four-wheel walking robot has the universal arm, the tip fixed mounting of universal arm has adjustment mechanism, be equipped with on the adjustment mechanism and examine a mechanism, the top fixed mounting of four-wheel walking robot has gas detector and the storage rubber cylinder that the cooperation of examining a mechanism was used, two protection brackets of symmetrical distribution are fixed mounting to the bottom of four-wheel walking robot, two sets of millimeter wave probes of symmetrical distribution are fixed mounting in the middle part of four-wheel walking robot;
the adjusting mechanism comprises a longitudinal frame, a bearing is fixedly clamped at the top of the longitudinal frame, a mounting frame is vertically arranged at the bottom of the longitudinal frame, and the mounting frame is fixedly arranged at the end part of the universal mechanical arm;
the detecting mechanism comprises a first pipe, the first pipe is fixedly clamped in the middle of the bearing, a connecting frame is fixedly arranged on the outer side of the first pipe, a detecting component is fixedly arranged at one end, away from the bearing, of the first pipe, a second pipe is fixedly clamped at one end, away from the first pipe, of the connecting frame, a processing component is fixedly arranged at one end, away from the connecting frame, of the second pipe, and an auxiliary component is arranged between the detecting component and the processing component;
the first pipe is provided with a second worm wheel in a fixed sleeve mode on one side, far away from the detection assembly, of the first pipe, a second motor is fixedly arranged on one side, close to the second worm wheel, of the outer wall of the longitudinal frame, a second worm is fixedly arranged at the driving end of the second motor, and the second worm is in meshed connection with the second worm wheel.
Preferably, the detection assembly comprises a detection bottom ring frame and a detection top ring frame, the detection bottom ring frame is integrally formed with a detection head at the top of the outer side, the detection head and the end part of a first pipe are fixedly installed, the opposite sides of the detection bottom ring frame and the detection top ring frame are fixedly provided with first sealing gaskets, the first sealing gaskets are in contact with each other, the detection bottom ring frame, the detection top ring frame and the first sealing gaskets are combined to form a detection ring frame with an annular sealing structure, the detection ring frame is of a hollow structure, the inner side of the detection ring frame is provided with a plurality of air guide holes which are uniformly distributed, two first rotating frames which are symmetrically distributed are fixedly installed on the outer wall of one end of the detection bottom ring frame, which is close to the detection head, two second rotating frames which are symmetrically distributed are fixedly installed on the outer wall of one end of the detection top ring frame, the second rotating frames are rotatably clamped in the corresponding first rotating frames, a first shaft is fixedly installed between the two second rotating frames, and the two ends of the first shaft are rotatably installed on the corresponding first rotating frames.
Preferably, an auxiliary shaft is fixedly arranged at one end part of the first shaft, a first worm wheel is fixedly sleeved on the outer side of the auxiliary shaft, a first motor is fixedly arranged on one side, close to the first worm wheel, of the outer wall of the detection bottom ring frame, a first worm is fixedly arranged at the driving end of the first motor, and the first worm is in meshed connection with the first worm wheel.
Preferably, the processing assembly comprises a processing bottom ring frame and a processing top ring frame, the processing bottom ring frame is integrally formed with a processing head at the top of the outer side, the processing head and the end part of a second pipe are fixedly installed, the second sealing gaskets are fixedly installed on the opposite sides of the processing bottom ring frame and the processing top ring frame, the second sealing gaskets are in contact with each other, the processing bottom ring frame, the processing top ring frame and the second sealing gaskets are combined to form a processing ring frame with an annular sealing structure, the processing ring frame is of a hollow structure, a plurality of glue guiding penetrating grooves which are uniformly distributed are formed in the inner side of the processing ring frame, two third rotating frames which are symmetrically distributed are fixedly installed on the outer wall of one end of the processing bottom ring frame, which is close to the processing head, two fourth rotating frames which are symmetrically distributed are fixedly installed on the outer wall of one end of the processing top ring frame, the fourth rotating frames are rotatably clamped in the corresponding third rotating frames, a second shaft is fixedly installed between the two fourth rotating frames, and two end parts of the second shaft are rotatably installed on the corresponding third rotating frames.
Preferably, the auxiliary assembly comprises an auxiliary bottom ring frame and an auxiliary top ring frame, a threading tube is fixedly arranged at the top of the auxiliary bottom ring frame, the threading tube is fixedly arranged in the middle of the connecting frame, explosion-proof curing lamp tubes are fixedly arranged on opposite sides of the auxiliary bottom ring frame and the auxiliary top ring frame, two symmetrically-distributed fifth rotating frames are fixedly arranged on the outer wall of one end, close to the threading tube, of the auxiliary bottom ring frame, two symmetrically-distributed sixth rotating frames are fixedly arranged on the outer wall of one end, close to the threading tube, of the auxiliary top ring frame, the sixth rotating frames are rotatably clamped in the corresponding fifth rotating frames, a third shaft is fixedly arranged between the two sixth rotating frames, and two end parts of the third shaft are rotatably arranged on the corresponding fifth rotating frames.
Preferably, a common driving shaft is fixedly arranged between two end parts of the third shaft and opposite ends of the first shaft and the second shaft respectively.
Preferably, one end of the first pipe far away from the detection assembly is fixedly provided with a first sealing rotating piece, the middle part of the first sealing rotating piece is fixedly provided with a first connecting pipe, the outer side of the first connecting pipe is fixedly provided with a first fixing frame, and the first connecting pipe is fixedly arranged on the outer wall of the longitudinal frame.
Preferably, one end of the second pipe far away from the processing assembly is fixedly provided with a second sealing rotating piece, the middle part of the second sealing rotating piece is fixedly provided with a connector, the bottom of the side end of the longitudinal frame is fixedly provided with a second fixing frame, the end part of the second fixing frame is fixedly provided with a second connecting pipe, and a first corrugated pipe is fixedly arranged between the end part of the second connecting pipe and the connector.
Preferably, an air pump is fixedly arranged at an air inlet port of the air detector, a second corrugated pipe is fixedly arranged at the air inlet port of the air pump, and the end part of the second corrugated pipe and the end part of the first connecting pipe are fixedly arranged.
Preferably, a glue guide pump is fixedly arranged at the liquid outlet port of the glue storage barrel, a third corrugated pipe is fixedly arranged at the output end of the glue guide pump, and the end part of the third corrugated pipe and the end part of the second connecting pipe are fixedly arranged.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up and examining a mechanism, examine a mechanism and including detection component, processing component and auxiliary assembly, can treat the pipeline that detects and carry out accurate detection to in time with the pipeline with solidification seal colloid evenly spout the pipeline reveal the department, and carry out the light curing to the solidification seal colloid of revealing the department, the pipeline reveals the department and carries out automatic shutoff rapidly, prevents that gas from continuing to reveal, and need not the maintenance personal approach and carry out accurate detection and handle once more, reduces the maintenance risk.
2. Through setting up adjustment mechanism, the cooperation uses universal arm, drives adjustment mechanism, examines a mechanism and carries out arbitrary high arbitrary angle removal, is convenient for move a mechanism to the pipeline position department of examining, and drive link, detection component, processing component and auxiliary assembly synchronous rotation, be convenient for follow-up pipeline to different crooked angle and carry out gas leakage detection and processing, promoted the result of use of whole robot.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Figure 1 is a schematic diagram of the structure of the present invention,
figure 2 is a schematic view of another construction of the present invention,
FIG. 3 is a schematic diagram showing the structural connection of the adjusting mechanism and the inspection mechanism in the invention,
figure 4 is an enlarged view of the invention at a in figure 3,
FIG. 5 is a schematic diagram of the structure of the detecting unit according to the present invention,
figure 6 is an enlarged view of the invention at B in figure 5,
figure 7 is a schematic view of the structure of the processing assembly of the present invention,
figure 8 is an enlarged view of figure 7 at C of the present invention,
figure 9 is a schematic view of the auxiliary assembly of the present invention,
fig. 10 is an enlarged view of the invention at D in fig. 9.
In the figure: 1. four-wheel walking robot; 2. inspection equipment; 3. a camera; 4. a universal mechanical arm; 5. an adjusting mechanism; 6. a checking mechanism; 7. a gas detector; 71. an air extracting pump; 72. a second bellows; 8. a glue storage cylinder; 81. a glue guiding pump; 82. a third bellows; 9. a protective frame; 10. a millimeter wave probe; 51. a longitudinal frame; 52. a bearing; 53. a mounting frame; 54. a second worm wheel; 55. a second motor; 56. a second worm; 61. a first tube; 611. a first seal rotating member; 612. a first connection pipe; 613. a first fixing frame; 62. a connecting frame; 63. a detection assembly; 64. a second tube; 641. a second seal rotating member; 642. a connector; 643. the second fixing frame; 644. a second connection pipe; 645. a first bellows; 65. a processing assembly; 66. an auxiliary component; 67. a common drive shaft; 631. detecting a bottom ring frame; 632. detecting a top ring frame; 633. a detection head; 634. a first rotating frame; 635. a second turret; 636. a first shaft; 637. a first gasket; 638. an auxiliary shaft; 639. a first worm wheel; 6310. a first motor; 6311. a first worm; 601. air guide perforation; 651. processing the bottom ring frame; 652. processing the top ring frame; 653. a processing head; 654. a third turret; 655. a fourth turret; 656. a second shaft; 657. a second gasket; 602. a glue guiding through groove; 661. an auxiliary bottom ring frame; 662. an auxiliary top ring frame; 663. an explosion-proof curing lamp tube; 664. a fifth turret; 665. a sixth turret; 666. and a third axis.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples: as shown in fig. 1-10, the invention provides a multipurpose explosion-proof robot, which comprises a four-wheel walking robot 1, wherein a patrol equipment 2 is fixedly arranged on one side of the top end of the four-wheel walking robot 1, a camera 3 is fixedly arranged on one side of the top end of the four-wheel walking robot 1 far away from the patrol equipment 2, the four-wheel walking robot 1 is controlled to drive the patrol equipment 2 and the camera 3 to move, the pipeline position of a dangerous place is automatically patrol and monitored, a universal mechanical arm 4 is fixedly arranged in the middle of the top end of the four-wheel walking robot 1, an adjusting mechanism 5 is fixedly arranged at the end part of the universal mechanical arm 4, a check mechanism 6 is arranged on the adjusting mechanism 5, and the universal mechanical arm 4 is controlled to drive the adjusting mechanism 5 and the check mechanism 6 to move at any angle and at any height so as to move the check mechanism 6 to the pipeline position;
the top end of the four-wheel walking robot 1 is fixedly provided with a gas detector 7 and a glue storage cylinder 8 which are matched with the detection mechanism 6 for use, a curing sealing colloid for a pipeline is stored in the glue storage cylinder 8, the bottom of the four-wheel walking robot 1 is fixedly provided with two symmetrically distributed protection frames 9, and the middle of the four-wheel walking robot 1 is fixedly provided with two symmetrically distributed millimeter wave probes 10;
the adjusting mechanism 5 comprises a longitudinal frame 51, a bearing 52 is fixedly clamped at the top of the longitudinal frame 51, a mounting frame 53 is vertically arranged at the bottom of the longitudinal frame 51, and the mounting frame 53 is fixedly arranged at the end part of the universal mechanical arm 4;
the detecting mechanism 6 comprises a first pipe 61, the first pipe 61 is fixedly clamped in the middle of the bearing 52, the first pipe 61 is convenient to rotate, a connecting frame 62 is fixedly arranged on the outer side of the first pipe 61, a detecting component 63 is fixedly arranged at one end of the first pipe 61 far away from the bearing 52, a second pipe 64 is fixedly clamped at one end of the connecting frame 62 far away from the first pipe 61, a processing component 65 is fixedly arranged at one end of the second pipe 64 far away from the connecting frame 62, an auxiliary component 66 is arranged between the detecting component 63 and the processing component 65, the first pipe 61 rotates to drive the connecting frame 62, the detecting component 63, the processing component 65 and the auxiliary component 66 to synchronously rotate, so that air leakage detection and processing can be conveniently carried out on pipelines with different inclination angles, and the using effect of the whole robot is improved;
the first pipe 61 is kept away from the fixed cover in one side of detection subassembly 63 and is equipped with the second worm wheel 54, the one side of vertical frame 51 outer wall near the second worm wheel 54 fixed mounting has the second motor 55, the driving end fixed mounting of second motor 55 has the second worm 56, second worm 56 and second worm wheel 54 meshing are connected, during the use, control opens the second motor 55 and drive second worm 56 and drive second worm wheel 54 rotation to drive first pipe 61 and rotate.
The detection assembly 63 comprises a detection bottom ring frame 631 and a detection top ring frame 632, wherein a detection head 633 is integrally formed at the top of the outer side of the detection bottom ring frame 631, and the detection head 633 and the end part of the first tube 61 are fixedly installed;
in the initial state, the detection bottom ring frame 631 and the detection top ring frame 632 are in an open state, so that the pipeline to be detected is conveniently arranged between the detection bottom ring frame 631 and the detection top ring frame 632;
two first rotating frames 634 which are symmetrically distributed are fixedly arranged on the outer wall of one end of the detection bottom ring frame 631, which is close to the detection head 633, two second rotating frames 635 which are symmetrically distributed are fixedly arranged on the outer wall of one end of the detection top ring frame 632, which is close to the detection head 633, the second rotating frames 635 are rotationally clamped in the corresponding first rotating frames 634, a first shaft 636 is fixedly arranged between the two second rotating frames 635, and two end parts of the first shaft 636 are rotationally arranged on the corresponding first rotating frames 634;
the opposite sides of the detection bottom ring frame 631 and the detection top ring frame 632 are fixedly provided with first sealing gaskets 637, the first sealing gaskets 637 are in contact with each other, the detection bottom ring frame 631, the detection top ring frame 632 and the first sealing gaskets 637 are combined to form a detection ring frame with an annular sealing structure, a pipeline to be detected is arranged in the detection ring frame, the detection ring frame is of a hollow structure, and a plurality of air guide perforations 601 which are uniformly distributed are formed in the inner side of the detection ring frame.
An auxiliary shaft 638 is fixedly arranged at one end part of the first shaft 636, a first worm gear 639 is fixedly sleeved on the outer side of the auxiliary shaft 638, a first motor 6310 is fixedly arranged on one side, close to the first worm gear 639, of the outer wall of the detection bottom ring frame 631, a first worm 6311 is fixedly arranged at the driving end of the first motor 6310, the first worm 6311 is in meshed connection with the first worm gear 639, and when the detection bottom ring frame is used, the first motor 6310 is controlled to be started to drive the first worm 6311 to drive the first worm gear 639 to rotate, so that the auxiliary shaft 638 and the first shaft 636 are driven to rotate.
The processing assembly 65 comprises a processing bottom ring frame 651 and a processing top ring frame 652, wherein a processing head 653 is integrally formed at the top of the outer side of the processing bottom ring frame 651, and the processing head 653 and the end part of the second pipe 64 are fixedly installed;
in the initial state, the processing bottom ring frame 651 and the processing top ring frame 652 are in an open state, so that the pipeline to be detected is conveniently placed between the processing bottom ring frame 651 and the processing top ring frame 652;
two third rotating frames 654 which are symmetrically distributed are fixedly arranged on the outer wall of one end of the treatment bottom ring frame 651, which is close to the treatment head 653, two fourth rotating frames 655 which are symmetrically distributed are fixedly arranged on the outer wall of one end of the treatment top ring frame 652, which is close to the treatment head 653, the fourth rotating frames 655 are rotationally clamped in the corresponding third rotating frames 654, a second shaft 656 is fixedly arranged between the two fourth rotating frames 655, and two end parts of the second shaft 656 are rotationally arranged on the corresponding third rotating frames 654;
the opposite sides of the processing bottom ring frame 651 and the processing top ring frame 652 are fixedly provided with second sealing gaskets 657, the second sealing gaskets 657 are in contact with each other, the processing bottom ring frame 651, the processing top ring frame 652 and the second sealing gaskets 657 are combined into a processing ring frame with an annular sealing structure, a pipeline to be detected is arranged in the processing ring frame, the processing ring frame is of a hollow structure, and a plurality of glue guiding penetrating grooves 602 which are uniformly distributed are formed in the inner side of the processing ring frame.
The auxiliary assembly 66 comprises an auxiliary bottom ring frame 661 and an auxiliary top ring frame 662, a threading tube is fixedly arranged at the top of the auxiliary bottom ring frame 661, the threading tube is fixedly arranged at the middle part of the connecting frame 62, explosion-proof curing lamp tubes 663 are fixedly arranged at the opposite sides of the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662,
in the initial state, the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662 are in an open state, so that a pipeline to be detected is conveniently placed between the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662;
two symmetrically-distributed fifth rotating frames 664 are fixedly arranged on the outer wall of one end of the auxiliary bottom ring frame 661, which is close to the threading tube, two symmetrically-distributed sixth rotating frames 665 are fixedly arranged on the outer wall of one end of the auxiliary top ring frame 662, which is close to the threading tube, the sixth rotating frames 665 are rotatably clamped in the corresponding fifth rotating frames 664, a third shaft 666 is fixedly arranged between the two sixth rotating frames 665, two end parts of the third shaft 666 are rotatably arranged on the corresponding fifth rotating frames 664, the third shaft 666 is controlled to rotate, the sixth rotating frames 665 are driven to rotate, the auxiliary top ring frame 662 is driven to rotate and turn over, the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662 are closed, and a pipeline to be detected is arranged between the two anti-explosion curing lamp tubes 663.
The two ends of the third shaft 666 are respectively and fixedly connected with opposite ends of the first shaft 636 and the second shaft 656, and when the first shaft 636 rotates, the second shaft 656 and the third shaft 666 are synchronously driven to synchronously rotate by being matched with the fixed connection of the common shaft 67.
The one end of first pipe 61 that keeps away from detection subassembly 63 fixedly mounted has first sealed rotation piece 611, the middle part fixed mounting of first sealed rotation piece 611 has first connecting pipe 612, the outside fixed mounting of first connecting pipe 612 has first mount 613, first connecting pipe 612 fixed mounting is at the outer wall of longitudinal frame 51, through setting up first sealed rotation piece 611, does not influence the sealed rotation of first pipe 61.
The second pipe 64 is fixed with a second sealing rotating member 641 at one end far away from the processing assembly 65, a connector 642 is fixedly arranged in the middle of the second sealing rotating member 641, a second fixing frame 643 is fixedly arranged at the bottom of the side end of the longitudinal frame 51, a second connecting pipe 644 is fixedly arranged at the end part of the second fixing frame 643, a first corrugated pipe 645 is fixedly arranged between the end part of the second connecting pipe 644 and the connector 642, and the second sealing rotating member 641 is arranged to be matched with the compensation of the first corrugated pipe 645, so that the sealing rotation of the second pipe 64 is not affected.
The air inlet port fixed mounting of gas detector 7 has aspiration pump 71, the air inlet port fixed mounting of aspiration pump 71 has second bellows 72, the tip of second bellows 72 and the tip fixed mounting of first connecting pipe 612, through setting up second bellows 72, carry out the compensation connection between aspiration pump 71, first connecting pipe 612, when the pipeline that needs to detect carries out accurate detection, control opens aspiration pump 71 and bleed, wait to detect pipeline ambient air and inhale in the detection ring frame through a plurality of air guide perforation 601, and guide into gas detector 7 through detection head 633, first pipe 61, first connecting pipe 612, second bellows 72 and aspiration pump 71, detect the air of inhaling, when the gas leakage appears in pipeline certain position, can be detected by gas detector 7 automatic accuracy, promote the quality of detection of whole robot.
The liquid outlet port of the glue storage cylinder 8 is fixedly provided with a glue guide pump 81, the output end of the glue guide pump 81 is fixedly provided with a third corrugated pipe 82, the end part of the third corrugated pipe 82 and the end part of a second connecting pipe 644 are fixedly provided, compensation connection between the glue guide pump 81 and the second connecting pipe 644 is carried out by arranging the third corrugated pipe 82, when leakage of a pipe is detected, the processing assembly 65 is moved to a leakage position of the pipe, the glue guide pump 81 is controlled to be started, and the solidified glue for the pipe is guided into a processing ring frame through the glue storage cylinder 8, the glue guide pump 81, the third corrugated pipe 82, the second connecting pipe 644, the first corrugated pipe 645, the second pipe 64 and the processing head 653 and is uniformly sprayed at the leakage position of the pipe through a plurality of glue guide penetrating grooves 602; thereupon, the auxiliary assembly 66 slowly moves back and forth at the pipeline leakage position, the explosion-proof curing lamp tube 663 is started, the curing sealing colloid at the pipeline leakage position is subjected to light curing, the pipeline leakage position is automatically and rapidly plugged, gas is prevented from continuing to leak, maintenance personnel are not required to enter the pipeline for accurate detection and treatment again, and maintenance dangers are reduced.
Working principle: when the automatic inspection device is used, the curing sealing colloid for the pipeline is stored in the glue storage cylinder 8, the four-wheel walking robot 1 is controlled to drive the inspection device 2 and the camera 3 to move, the pipeline position in a dangerous place is automatically inspected and monitored, and when the condition that the concrete position is required to be further detected when the gas leakage occurs in a certain area is detected, the universal mechanical arm 4 is controlled to drive the adjusting mechanism 5 and the inspection mechanism 6 to move at any height and any angle, and the inspection mechanism 6 is moved to the pipeline position;
the second motor 55 is controlled to be started to drive the second worm 56 to drive the second worm wheel 54 to rotate, so that the first pipe 61 is driven to rotate, and the connecting frame 62, the detection assembly 63, the processing assembly 65 and the auxiliary assembly 66 are driven to synchronously rotate, so that air leakage detection and processing of pipelines with different inclination angles are facilitated;
in the initial state, the detection bottom ring frame 631 and the detection top ring frame 632 are in an open state, so that the pipeline to be detected is conveniently arranged between the detection bottom ring frame 631 and the detection top ring frame 632; the processing bottom ring frame 651 and the processing top ring frame 652 are in an open state, so that a pipeline to be detected is conveniently placed between the processing bottom ring frame 651 and the processing top ring frame 652; the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662 are in an open state, so that a pipeline to be detected is conveniently placed between the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662;
subsequently, the first motor 6310 is controlled to be started to drive the first worm 6311 to drive the first worm gear 639 to rotate, so as to drive the auxiliary shaft 638 and the first shaft 636 to rotate, and the second shaft 656 and the third shaft 666 are synchronously driven to synchronously rotate in cooperation with the fixed connection of the common driving shaft 67, the first shaft 636 is driven to rotate to drive the second rotating frame 635 to rotate, and the detection top ring frame 632 is driven to rotate and turn over, so that the detection bottom ring frame 631 and the detection top ring frame 632 are closed, the first sealing pad 637 is contacted with each other, the detection bottom ring frame 631, the detection top ring frame 632 and the first sealing pad 637 are combined to form a detection ring frame with an annular sealing structure, and a pipeline to be detected is arranged in the detection ring frame; the second shaft 656 rotates to drive the fourth rotating frame 655 to rotate and drive the processing top ring frame 652 to rotate and turn over, so that the processing bottom ring frame 651 and the processing top ring frame 652 are closed, the second sealing gasket 657 contacts each other, the processing bottom ring frame 651, the processing top ring frame 652 and the second sealing gasket 657 are combined into a processing ring frame with an annular sealing structure, a pipeline to be detected is arranged in the processing ring frame, the third shaft 666 rotates to drive the sixth rotating frame 665 to rotate and drive the auxiliary top ring frame 662 to rotate and turn over, so that the auxiliary bottom ring frame 661 and the auxiliary top ring frame 662 are closed, and the pipeline to be detected is arranged between the two explosion-proof curing lamp tubes 663;
the suction pump 71 is controlled to be started for suction, air around a pipeline to be detected is sucked into the detection ring frame through the plurality of air guide holes 601, and is guided into the gas detector 7 through the detection head 633, the first pipe 61, the first connecting pipe 612, the second corrugated pipe 72 and the suction pump 71, so that the sucked air is detected, and when gas leakage occurs at a certain position of the pipeline, the sucked air is automatically and accurately detected by the gas detector 7;
when the leakage of the pipeline is detected, the processing assembly 65 is moved to the leakage position of the pipeline, the guide glue pump 81 is controlled to be started, and the curing sealing glue for the pipeline is guided into the processing ring frame through the glue storage cylinder 8, the guide glue pump 81, the third corrugated pipe 82, the second connecting pipe 644, the first corrugated pipe 645, the second pipe 64 and the processing head 653 and is uniformly sprayed at the leakage position of the pipeline through the plurality of guide glue penetrating grooves 602; thereupon, the auxiliary assembly 66 slowly moves back and forth at the pipeline leakage position, the explosion-proof curing lamp tube 663 is started, the curing sealing colloid at the pipeline leakage position is subjected to light curing, the pipeline leakage position is automatically and rapidly plugged, gas is prevented from continuing to leak, maintenance personnel are not required to enter the pipeline for accurate detection and treatment again, and maintenance dangers are reduced.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a multipurpose explosion-proof robot, includes four-wheel walking robot (1), its characterized in that: the four-wheel walking type robot comprises a four-wheel walking type robot body, wherein inspection equipment (2) is fixedly arranged on one side of the top end of the four-wheel walking type robot body (1), a camera (3) is fixedly arranged on one side, away from the inspection equipment (2), of the top end of the four-wheel walking type robot body (1), a universal mechanical arm (4) is fixedly arranged in the middle of the top end of the four-wheel walking type robot body (1), an adjusting mechanism (5) is fixedly arranged at the end of the universal mechanical arm (4), an inspection mechanism (6) is arranged on the adjusting mechanism (5), a gas detector (7) and a glue storage cylinder (8) which are matched with the inspection mechanism (6) are fixedly arranged at the top end of the four-wheel walking type robot body (1), two symmetrically distributed protection frames (9) are fixedly arranged at the bottom of the four-wheel walking type robot body (1), and two groups of millimeter wave probes (10) which are symmetrically distributed are fixedly arranged in the middle of the four-wheel walking type robot body (1);
the adjusting mechanism (5) comprises a longitudinal frame (51), a bearing (52) is fixedly clamped at the top of the longitudinal frame (51), a mounting frame (53) is vertically arranged at the bottom of the longitudinal frame (51), and the mounting frame (53) is fixedly arranged at the end part of the universal mechanical arm (4);
the detecting mechanism (6) comprises a first pipe (61), the first pipe (61) is fixedly clamped in the middle of the bearing (52), a connecting frame (62) is fixedly arranged on the outer side of the first pipe (61), a detection component (63) is fixedly arranged at one end, far away from the bearing (52), of the first pipe (61), a second pipe (64) is fixedly clamped at one end, far away from the first pipe (61), of the connecting frame (62), a processing component (65) is fixedly arranged at one end, far away from the connecting frame (62), of the second pipe (64), and an auxiliary component (66) is arranged between the detection component (63) and the processing component (65);
a second worm wheel (54) is fixedly sleeved on one side, far away from the detection assembly (63), of the first pipe (61), a second motor (55) is fixedly installed on one side, close to the second worm wheel (54), of the outer wall of the longitudinal frame (51), a second worm (56) is fixedly installed at the driving end of the second motor (55), and the second worm (56) is in meshed connection with the second worm wheel (54);
the detection assembly (63) comprises a detection bottom ring frame (631) and a detection top ring frame (632), a detection head (633) is integrally formed at the top of the outer side of the detection bottom ring frame (631), the ends of the detection head (633) and the first tube (61) are fixedly installed, first sealing gaskets (637) are fixedly installed on the opposite sides of the detection bottom ring frame (631) and the detection top ring frame (632), the first sealing gaskets (637) are in contact with each other, the detection bottom ring frame (631), the detection top ring frame (632) and the first sealing gaskets (637) are combined to form a detection ring frame with an annular sealing structure, the detection ring frame is of a hollow structure, a plurality of air guide holes (601) which are uniformly distributed are formed in the inner side of the detection ring frame, two first rotating frames (634) which are symmetrically distributed are fixedly installed on the outer walls of one end of the detection bottom ring frame (631) close to the detection head (633), two second rotating frames 635 which are symmetrically distributed are fixedly installed on the outer walls of one end of the detection top ring frame (632) close to the detection head (633), and the two rotating frames (636) are correspondingly installed on the first rotating frames (636) in a rotating mode;
an auxiliary shaft (638) is fixedly arranged at one end part of the first shaft (636), a first worm wheel (639) is fixedly sleeved on the outer side of the auxiliary shaft (638), a first motor (6310) is fixedly arranged on one side, close to the first worm wheel (639), of the outer wall of the detection bottom ring frame (631), a first worm (6311) is fixedly arranged at the driving end of the first motor (6310), and the first worm (6311) is in meshed connection with the first worm wheel (639);
the treatment assembly (65) comprises a treatment bottom ring frame (651) and a treatment top ring frame (652), a treatment head (653) is integrally formed at the top of the outer side of the treatment bottom ring frame (651), the ends of the treatment head (653) and the second pipe (64) are fixedly arranged, second sealing gaskets (657) are fixedly arranged on opposite sides of the treatment bottom ring frame (651) and the treatment top ring frame (652), the second sealing gaskets (657) are in contact with each other, the treatment bottom ring frame (651), the treatment top ring frame (652) and the second sealing gaskets (657) are combined to form a treatment ring frame with an annular sealing structure, the treatment ring frame is of a hollow structure, a plurality of glue guiding penetrating grooves (602) which are uniformly distributed are formed in the inner side of the treatment ring frame, two third rotating frames (654) which are symmetrically distributed are fixedly arranged on the outer wall of one end of the treatment bottom ring frame (651) close to the treatment head (653), four symmetrical third rotating frames (655) are fixedly arranged on the outer wall of one end of the treatment top ring frame (652) close to the treatment head (653), and the four second rotating frames (655) which are symmetrically distributed on the corresponding second rotating frames (655) are fixedly arranged on the two second rotating frames (656) which are correspondingly arranged;
the auxiliary assembly (66) comprises an auxiliary bottom ring frame (661) and an auxiliary top ring frame (662), a threading tube is fixedly arranged at the top of the auxiliary bottom ring frame (661), the threading tube is fixedly arranged in the middle of the connecting frame (62), explosion-proof curing lamp tubes (663) are fixedly arranged on opposite sides of the auxiliary bottom ring frame (661) and the auxiliary top ring frame (662), two symmetrically-distributed fifth rotating frames (664) are fixedly arranged on the outer wall of one end, close to the threading tube, of the auxiliary top ring frame (661), two symmetrically-distributed sixth rotating frames (665) are fixedly arranged on the outer wall of one end, close to the threading tube, of the auxiliary top ring frame (662), the sixth rotating frames (665) are rotatably clamped in the corresponding fifth rotating frames (664), a third shaft (666) is fixedly arranged between the two sixth rotating frames (665), and two end parts of the third shaft (666) are rotatably arranged on the corresponding fifth rotating frames (664);
and a common driving shaft (67) is fixedly arranged between two end parts of the third shaft (666) and opposite ends of the first shaft (636) and the second shaft (656) respectively.
2. The multipurpose explosion-proof robot of claim 1, wherein: one end of the first pipe (61) far away from the detection assembly (63) is fixedly provided with a first sealing rotating piece (611), the middle part of the first sealing rotating piece (611) is fixedly provided with a first connecting pipe (612), the outer side of the first connecting pipe (612) is fixedly provided with a first fixing frame (613), and the first connecting pipe (612) is fixedly arranged on the outer wall of the longitudinal frame (51).
3. The multipurpose explosion-proof robot of claim 1, wherein: one end that processing subassembly (65) was kept away from to second pipe (64) is fixed mounting has second sealed rotating member (641), the middle part fixed mounting of second sealed rotating member (641) has connector (642), the side end bottom fixed mounting of longitudinal frame (51) has second mount (643), the tip fixed mounting of second mount (643) has second connecting pipe (644), first bellows (645) are fixed mounting between the tip of second connecting pipe (644) and connector (642).
4. The multipurpose explosion-proof robot of claim 2, wherein: an air suction pump (71) is fixedly arranged at an air inlet port of the air detector (7), a second corrugated pipe (72) is fixedly arranged at an air inlet port of the air suction pump (71), and the end part of the second corrugated pipe (72) and the end part of the first connecting pipe (612) are fixedly arranged.
5. A multipurpose explosion-proof robot as claimed in claim 3, wherein: the glue storage device is characterized in that a glue guide pump (81) is fixedly arranged at a liquid outlet port of the glue storage barrel (8), a third corrugated pipe (82) is fixedly arranged at the output end of the glue guide pump (81), and the end part of the third corrugated pipe (82) and the end part of a second connecting pipe (644) are fixedly arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311137433.7A CN116852399B (en) | 2023-09-05 | 2023-09-05 | Multipurpose explosion-proof robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311137433.7A CN116852399B (en) | 2023-09-05 | 2023-09-05 | Multipurpose explosion-proof robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116852399A CN116852399A (en) | 2023-10-10 |
| CN116852399B true CN116852399B (en) | 2023-11-17 |
Family
ID=88219559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311137433.7A Active CN116852399B (en) | 2023-09-05 | 2023-09-05 | Multipurpose explosion-proof robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116852399B (en) |
Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4174735A (en) * | 1975-12-31 | 1979-11-20 | B.V. Neratoom | Method of temporarily sealing open ends of fluid conduits terminating in a header space |
| US4576401A (en) * | 1976-05-03 | 1986-03-18 | Team, Inc. | Leak repair clamp |
| GB9511931D0 (en) * | 1995-06-13 | 1995-08-09 | Clark David | Pneu-seal |
| US6102617A (en) * | 1998-01-13 | 2000-08-15 | Vivian A. Hampton | Impoundment leak detection, location, and containment system and method with mobile sensor |
| DE102004011035A1 (en) * | 2004-03-06 | 2005-09-22 | X-Fab Semiconductor Foundries Ag | Method for testing the tightness of disc bonds and arrangement for carrying out the method |
| KR20090067303A (en) * | 2007-12-21 | 2009-06-25 | 윤상조 | Sensing device for pipe connection portion |
| CN103221797A (en) * | 2010-07-21 | 2013-07-24 | 高级知识产权有限公司 | Joint cover with manifold block for duct leak detection system |
| CN104764566A (en) * | 2015-04-22 | 2015-07-08 | 西南石油大学 | Built-out type oil casing air-tight seal detection device and detection method |
| CN105319020A (en) * | 2015-10-16 | 2016-02-10 | 西南石油大学 | Jacket-type oil casing air tightness detection device and detection method |
| KR101659368B1 (en) * | 2015-12-03 | 2016-09-23 | 강우기업주식회사 | Material for repairing steam leak in steam pipe of plants, apparatus and method of using the same for repairing steam leak |
| CN206093527U (en) * | 2016-09-24 | 2017-04-12 | 李大远 | Prevent that natural gas detection who leaks surveys device |
| CN107401655A (en) * | 2016-05-20 | 2017-11-28 | 中国石油天然气股份有限公司 | Metal pipe line defect recognition and no-welding method for maintaining |
| CN109469830A (en) * | 2018-11-29 | 2019-03-15 | 秦飞 | A kind of natural gas line device for fast detecting |
| CN111609326A (en) * | 2020-05-28 | 2020-09-01 | 海南驿电通科技有限公司 | Gas leakage detection and plugging device |
| CN213120995U (en) * | 2020-10-19 | 2021-05-04 | 王伟 | Device for detecting leakage of online pressure pipeline |
| CN113029476A (en) * | 2019-11-15 | 2021-06-25 | 蔡钒钒 | Natural gas leakage detection system and use method thereof |
| KR102271942B1 (en) * | 2020-07-06 | 2021-07-02 | 송중민 | Fixing jig of high pressure tank cover |
| CN113090853A (en) * | 2021-04-07 | 2021-07-09 | 杭州城明环境建设有限公司 | Non-excavation pipeline in-situ resin curing repair equipment and process thereof |
| CN213686255U (en) * | 2020-09-08 | 2021-07-13 | 张帅 | Device for preventing leakage of natural gas pipeline |
| CN213840520U (en) * | 2020-09-28 | 2021-07-30 | 孙震 | Wisdom city gas pipeline operation monitoring system |
| CN113309913A (en) * | 2021-05-20 | 2021-08-27 | 禹州市洁通塑胶有限公司 | Assembled clamp for drainage pipe fitting |
| CN113418002A (en) * | 2021-06-21 | 2021-09-21 | 广东电网有限责任公司 | Air tightness detection, interface sealing and quick access device |
| CN113959646A (en) * | 2021-09-22 | 2022-01-21 | 成都嘉斯福科技有限公司 | Hydrogen pipeline joint leakage detection equipment |
| CN115683465A (en) * | 2022-11-11 | 2023-02-03 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Detection device and detection method for detecting sealing performance of GIS sealing surface |
| CN218608700U (en) * | 2022-11-30 | 2023-03-14 | 昆山市供排水水质检测中心有限公司 | Gas alarm and interconnection integrated device for laboratory |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210381656A1 (en) * | 2016-08-08 | 2021-12-09 | Total Containment Inc. | System and method for leak containment, leak detection, and corrosion mitigation in a pipeline environment |
-
2023
- 2023-09-05 CN CN202311137433.7A patent/CN116852399B/en active Active
Patent Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4174735A (en) * | 1975-12-31 | 1979-11-20 | B.V. Neratoom | Method of temporarily sealing open ends of fluid conduits terminating in a header space |
| US4576401A (en) * | 1976-05-03 | 1986-03-18 | Team, Inc. | Leak repair clamp |
| GB9511931D0 (en) * | 1995-06-13 | 1995-08-09 | Clark David | Pneu-seal |
| US6102617A (en) * | 1998-01-13 | 2000-08-15 | Vivian A. Hampton | Impoundment leak detection, location, and containment system and method with mobile sensor |
| DE102004011035A1 (en) * | 2004-03-06 | 2005-09-22 | X-Fab Semiconductor Foundries Ag | Method for testing the tightness of disc bonds and arrangement for carrying out the method |
| KR20090067303A (en) * | 2007-12-21 | 2009-06-25 | 윤상조 | Sensing device for pipe connection portion |
| CN103221797A (en) * | 2010-07-21 | 2013-07-24 | 高级知识产权有限公司 | Joint cover with manifold block for duct leak detection system |
| CN104764566A (en) * | 2015-04-22 | 2015-07-08 | 西南石油大学 | Built-out type oil casing air-tight seal detection device and detection method |
| CN105319020A (en) * | 2015-10-16 | 2016-02-10 | 西南石油大学 | Jacket-type oil casing air tightness detection device and detection method |
| KR101659368B1 (en) * | 2015-12-03 | 2016-09-23 | 강우기업주식회사 | Material for repairing steam leak in steam pipe of plants, apparatus and method of using the same for repairing steam leak |
| CN107401655A (en) * | 2016-05-20 | 2017-11-28 | 中国石油天然气股份有限公司 | Metal pipe line defect recognition and no-welding method for maintaining |
| CN206093527U (en) * | 2016-09-24 | 2017-04-12 | 李大远 | Prevent that natural gas detection who leaks surveys device |
| CN109469830A (en) * | 2018-11-29 | 2019-03-15 | 秦飞 | A kind of natural gas line device for fast detecting |
| CN113029476A (en) * | 2019-11-15 | 2021-06-25 | 蔡钒钒 | Natural gas leakage detection system and use method thereof |
| CN111609326A (en) * | 2020-05-28 | 2020-09-01 | 海南驿电通科技有限公司 | Gas leakage detection and plugging device |
| KR102271942B1 (en) * | 2020-07-06 | 2021-07-02 | 송중민 | Fixing jig of high pressure tank cover |
| CN213686255U (en) * | 2020-09-08 | 2021-07-13 | 张帅 | Device for preventing leakage of natural gas pipeline |
| CN213840520U (en) * | 2020-09-28 | 2021-07-30 | 孙震 | Wisdom city gas pipeline operation monitoring system |
| CN213120995U (en) * | 2020-10-19 | 2021-05-04 | 王伟 | Device for detecting leakage of online pressure pipeline |
| CN113090853A (en) * | 2021-04-07 | 2021-07-09 | 杭州城明环境建设有限公司 | Non-excavation pipeline in-situ resin curing repair equipment and process thereof |
| CN113309913A (en) * | 2021-05-20 | 2021-08-27 | 禹州市洁通塑胶有限公司 | Assembled clamp for drainage pipe fitting |
| CN113418002A (en) * | 2021-06-21 | 2021-09-21 | 广东电网有限责任公司 | Air tightness detection, interface sealing and quick access device |
| CN113959646A (en) * | 2021-09-22 | 2022-01-21 | 成都嘉斯福科技有限公司 | Hydrogen pipeline joint leakage detection equipment |
| CN115683465A (en) * | 2022-11-11 | 2023-02-03 | 中国南方电网有限责任公司超高压输电公司曲靖局 | Detection device and detection method for detecting sealing performance of GIS sealing surface |
| CN218608700U (en) * | 2022-11-30 | 2023-03-14 | 昆山市供排水水质检测中心有限公司 | Gas alarm and interconnection integrated device for laboratory |
Non-Patent Citations (2)
| Title |
|---|
| 一种基于集成阀控制的管道机器人设计;甄久军等;《机床与液压》;第57-60页 * |
| 煤矿井下巡检机器人的研究;马晓燕;《煤炭技术》;第40卷(第10期);第169-172页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116852399A (en) | 2023-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115077806B (en) | Nondestructive rapid detection device for welding seam of pressure vessel | |
| CN116852399B (en) | Multipurpose explosion-proof robot | |
| CN111842021B (en) | Automatic gluing and detecting equipment for assembling movable end section protecting cover of transmission shaft | |
| CN210487359U (en) | Food detects uses quick sampler | |
| CN216559591U (en) | Be used for fire hose valve detection device | |
| CN207280701U (en) | A kind of online test device for air tightness | |
| CN214066408U (en) | Remote transmission type pressure transmitter | |
| CN115419781A (en) | In-service ultra-long bent pipeline inspection robot | |
| CN115791411A (en) | Stainless steel ripples hose resistance to pressure check out test set | |
| CN111963907A (en) | Intelligent monitoring system for industrial gas leakage | |
| CN110319980A (en) | A kind of underwater dynamic water-proof test device and its control method | |
| CN219958460U (en) | Industrial flaw detection display screen for socket steel pipe | |
| CN112629451A (en) | Ultrasonic thickness gauge with high reliability | |
| CN2127490Y (en) | Pneumatic position measuring probe | |
| CN219956834U (en) | Fire control facility gas tightness check out test set | |
| CN206281572U (en) | A kind of alloy smelting temperature measuring equipment | |
| CN218725112U (en) | Hose assembly checking fixture | |
| CN217930712U (en) | Online bellows gas tightness testing arrangement | |
| CN212585973U (en) | Automatic detection device for safety of medical equipment | |
| CN219045709U (en) | Device suitable for heating power pipeline leak detection and leak source accurate positioning | |
| CN218411590U (en) | Novel potential safety hazard investigation device | |
| CN210426877U (en) | Pressure calibrating device capable of being connected quickly | |
| CN213422559U (en) | Piston compressor air valve air tightness detection device | |
| CN220230851U (en) | Sealing detection device | |
| CN220690394U (en) | CNC lathe main shaft and cutter seal detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |