CN204328337U - A kind of reservoir culvert measuring robots - Google Patents
A kind of reservoir culvert measuring robots Download PDFInfo
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- CN204328337U CN204328337U CN201420778682.4U CN201420778682U CN204328337U CN 204328337 U CN204328337 U CN 204328337U CN 201420778682 U CN201420778682 U CN 201420778682U CN 204328337 U CN204328337 U CN 204328337U
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Abstract
The utility model discloses a kind of reservoir culvert measuring robots.Not yet there is the pipe special robot for reservoir culvert testing.The utility model comprises driving wheels, steering system, bindiny mechanism, driven wheels and control system; Drive wheels to be connected by bindiny mechanism with driven wheels, steering system controls to drive turning to of wheels; Wheels are driven to comprise wheel leg mechanism and transfer system; Three wheel leg mechanism be uniformly distributed along the circumference be arranged on the first main mounting plate sidewall on; Transfer Operation system setting, in the center of the first main mounting plate, drives three to take turns leg mechanism; Steering system comprises rope, turns to rope roller, steer motor, turns to Returnning spring, initial position stop pin, torque arm and final position stop pin.The utility model is applicable to reservoir culvert working environment, can in pipeline original place around pipeline center's axle rotation, to avoid obstacle; Adopt front two rows wheels and telescopic diameter changing mechanism, each leg extending amount of taking turns is separate, adapts to pipe diameter changing capability strong.
Description
Technical field
The utility model belongs to mechanical field, relates to a kind of pipeline robot, is specifically related to a kind of reservoir culvert measuring robots.
Background technique
Pipeline, as a kind of mass transport instrument easily and effectively, is applied widely in daily life.In Long-Time Service process, there is the phenomenon such as crackle, leakage, particularly reservoir culvert unavoidably in pipeline, once generation problem causes reservoir dam damage sequence very serious.Reservoir culvert caliber is smaller, and without turnout, culvert pipe inwall has the things such as liver moss, and ponding, mud are arranged at bottom, and with the obstacle such as rubble, pit, personnel cannot directly enter, and is a very difficult thing to the detection of reservoir culvert.Only have and adopt pipeline robot to detect efficiently, the sensor carried by it, first-class equipment of making a video recording complete the testing of reservoir culvert.
Existing pipeline robot driving mode in pipeline is various, is broadly divided into medium differential pressure formula, creeping type, pin formula, wheeled, helical driving type and crawler etc. are several, but also not yet occur the pipe special robot for reservoir culvert testing.
Medium differential pressure formula pipeline robot, travelled forward by the pressure difference driving tube pipeline robot of Bottomhole pressure medium, reservoir culvert is operated in without water pressure condition, its opening/shutting valve has water side at dam body, and culvert pipe inwall is unsmooth, therefore medium differential pressure formula pipeline robot is not suitable for the working environment of reservoir culvert.
Creeping type pipeline robot realizes moving in pipeline by the fore and aft motion of the looper class animals self such as simulation earthworm, but its shortcoming is that travelling speed is slow in pipeline, and fluctuation is comparatively large, and keeps away barrier ability, the working environment of improper reservoir culvert.
Pin formula pipeline robot is walked at pipeline internal by multi-foot walking mode, but its shortcoming has more complicated kinology and dynamic characteristic, and in gait planning and pass internode cooperation control etc., difficulty is very high.Robot architecture is very complicated, needs a large amount of sophisticated sensors, and research cost and manufacture cost are all very high, and driving power is limited, is not suitable for the operation of long distance towing cable, the working environment of improper reservoir culvert.
Wheeled pipeline robot also can divide into support wheel type and vehicle type two class, supporting wheel pipeline robot adopts symmetrical supporting wheel to be close to inner-walls of duct, robot center roughly overlaps with pipeline center, robot motion's good stability, generally there is diameter changing mechanism, certain limit endoadaptation different tube diameters; Existing diameter changing mechanism generally adopts parallelogram sturcutre, although realize simple, shortcoming is that front and back wheel variable quantity is identical, easily causes empty wheel to run, is unfavorable in pipeline inner equilibrium.Vehicle type pipeline robot is walked in duct bottom, and owing to being rely on deadweight to provide positive pressure, therefore driving power is limited, easily skids between driving wheel and tube wall, is not suitable for creeping in reservoir culvert.
Helical driving type pipeline robot is made up of stationary part and rotating part usually, rotating part is respectively taken turns has an angle with tube wall, robot rotating part is relied on to rotate, each roller will rise along pipe wall screw, thus driving stationary part along tube wall axial-movement, each roller due to rotating part rises along pipe wall screw, and this spiral path runs into obstacle cannot be avoided, therefore obstacle ability, is not suitable for reservoir culvert.
Crawler belt type pipeline robot relies on crawler belt to move in pipeline, though track adhesion is large, has superior obstacle climbing ability, and driving mechanism is complicated, and dimensions of mechanical structures is comparatively large, is difficult to adjust attitude, is not suitable for the working environment of reservoir culvert in pipeline.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, there is provided a kind of reservoir culvert measuring robots, can realize reducing to adapt to different tube diameters, camera occupies on central axis, and the azimythal angle of camera remains unchanged, adopt dip sensor determination pipeline robot attitude angle; To be rotated around central axis by original place when camera finds that there is the obstacle such as pit, rubble and avoid obstacle continue to move ahead to adjust attitude angle.
The utility model comprises driving wheels, steering system, bindiny mechanism, driven wheels, Timing Belt and control system; Described driving wheels are connected by bindiny mechanism with driven wheels.
Described driving wheels comprise the first main mounting plate, wheel leg mechanism and transfer system; Three wheel leg mechanism be uniformly distributed along the circumference be arranged on the first main mounting plate sidewall on, transfer Operation system setting is in the center of the first main mounting plate.
Described wheel leg mechanism comprise turn to a supporting member, floating wheel carriers coil tension spring, turn to cylinder, floating wheel carriers, driven shaft, driving wheel, live axle, driving wheel driven wheel of differential and driving wheel drive bevel gear; The described cylinder that turns to passes through to turn to a supporting members support on the sidewall of the first main mounting plate; Floating wheel carriers is connected by sliding pair with turning to cylinder, and floating wheel carriers and turn between cylinder and be provided with floating wheel carriers coil tension spring; Described driven shaft and live axle are all bearing on floating wheel carriers by bearing; Driving wheel drive bevel gear is fixed on driven shaft outer end; Described driving wheel driven wheel of differential is fixed on live axle, and engages with driving wheel drive bevel gear; Two driving wheel centerings are fixed on live axle two ends.
Described transfer system comprises transfer drive shaft, transfer drive bevel gear, transfer driven wheel of differential and drive motor; The base of described drive motor is fixed on the first main mounting plate, and transfer drive bevel gear is fixed on the output shaft of drive motor; Three transfer drive shaft are uniform along the center of rotation of transfer drive bevel gear, and are all bearing on the first main mounting plate by bearing; One end of three transfer drive shaft is all connected with transfer driven wheel of differential, and the other end passes through spline joint with corresponding one driven shaft the inner of taking turns leg mechanism respectively; Three transfer driven wheels of differential all engage with transfer drive bevel gear.
Described steering system comprises rope, turns to rope roller, the first accessory mounting plate, steer motor, turn to Returnning spring, initial position stop pin, torque arm and final position stop pin; The first described accessory mounting plate is fixed with driving the first main mounting plate of wheels; The base of described steer motor is fixed on the first accessory mounting plate, turns to rope roller to be fixed on the output shaft of steer motor; One end of three ropes is all around turning on rope roller, and the other end is fixed with a torque arm respectively; Three torque arm be separately fixed at drive one of wheels wheel leg mechanism turn on cylinder; Torque arm is connected by turning to Returnning spring with the first main mounting plate; Described initial position stop pin and final position stop pin are all fixed on the first main mounting plate; Under normal travel condition, torque arm compresses initial position stop pin under the pretightening force turning to Returnning spring, and the circumference of driving wheel is arranged along the axial direction of pipeline; Under running into failure condition, steer motor is opened, and rope pulls torque arm to compress final position stop pin, and the circumference of driving wheel and the axes normal of pipeline are arranged.
Described driven wheels comprise the second main mounting plate, the second accessory mounting plate and wheel leg mechanism; The second described accessory mounting plate is fixed on the second main mounting plate; Three wheel leg mechanisms are uniformly distributed along the circumference, and each cylinder that turns to of taking turns leg mechanism passes through to turn to a supporting members support on the second main mounting plate; Driven wheels each takes turns leg mechanism and takes turns leg mechanism by a Timing Belt one corresponding with driving wheels and connect.
Described control system comprises controller, dip sensor and camera; Described dip sensor is arranged in the horizontal side wall at the second main mounting plate top; Described controller is connected with dip sensor, camera, steer motor and drive motor respectively.
Described bindiny mechanism comprises nut and connecting rod; All main with first mounting plate in one end of three connecting rods is connected by nut, and all main with second mounting plate of the other end is connected by nut.
Described control system also comprises camera bracket and balancing weight; Described camera bracket is bearing on the second accessory mounting plate by bearing; Described camera and balancing weight are all fixed with camera bracket; The rotating center of all main with second mounting plate of rotating center of described camera and camera bracket overlaps.
The beneficial effect that the utility model has is:
The utility model is applicable to reservoir culvert working environment, can in pipeline original place around central axis rotation, to avoid the obstacle such as pit, rubble; Adopt front two rows wheels and telescopic diameter changing mechanism, compact structure, each leg extending amount of taking turns is separate, adapts to pipe diameter changing capability strong; Dragline type steering system, realizes front two rows wheels and synchronously turns to, structure simple and flexible, is easy to realize; Number of motors is few, lightweight, camera rational design, and keep away barrier attitude angle and calculate simple, control system is simple.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present utility model;
Fig. 2 is the structural representation driving wheels in the utility model;
Fig. 3 is the structural representation of taking turns leg mechanism in the utility model;
Fig. 4-1 is the motion principle sketch of transfer system in the utility model;
Fig. 4-2 is the assembling schematic diagram of drive motor and the first main mounting plate in the utility model;
Fig. 5-1 is the kinematic sketch of mechanism of steering system in the utility model;
Fig. 5-2 is the assembling schematic diagram of steer motor and the first accessory mounting plate in the utility model;
Fig. 6-1 is the schematic diagram of taking turns the non-steering state of leg mechanism in the utility model;
Fig. 6-2 is the schematic diagram of taking turns leg mechanism steering state in the utility model;
Fig. 7 is the structural perspective of driven wheels in the utility model;
Fig. 8 is the assembling stereogram driving wheels and driven wheels in the utility model;
Fig. 9 is the rigging position schematic diagram of control system in the utility model;
Figure 10 is working principle flow chart of the present utility model.
In figure: 1, drive wheels, 2, steering system, 3, wheel leg mechanism, 4, transfer system, 5, bindiny mechanism, 6, driven wheels, 7, Timing Belt, 8, control system, 1-1, first main mounting plate, 2-1, rope, 2-2, turn to rope roller, 2-3, first accessory mounting plate, 2-4, steer motor, 2-5, turn to Returnning spring, 2-6, initial position stop pin, 2-7, torque arm, 2-8, final position stop pin, 3-1, turn to a supporting member, 3-2, floating wheel carriers coil tension spring, 3-3, turn to cylinder, 3-4, floating wheel carriers, 3-5, driven shaft, 3-6, driving wheel, 3-7, live axle, 3-8, driving wheel driven wheel of differential, 3-9, driving wheel drive bevel gear, 4-1, transfer drive shaft, 4-2, transfer drive bevel gear, 4-3, transfer driven wheel of differential, 4-4, drive motor, 5-1, nut, 5-2, connecting rod, 6-1, second main mounting plate, 6-2, second accessory mounting plate, 8-1, controller, 8-2, dip sensor, 8-3, camera, 8-4, camera bracket, 8-5, balancing weight.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, a kind of reservoir culvert measuring robots, comprises and drives wheels 1, steering system 2, bindiny mechanism 5, driven wheels 6, Timing Belt 7 and control system 8; Drive wheels 1 to be connected by bindiny mechanism 5 with driven wheels 6, steering system 2 controls to drive turning to of wheels 1.
As illustrated in fig. 1 and 2, wheels 1 are driven to comprise the first main mounting plate 1-1, wheel leg mechanism 3 and transfer system 4; Three wheel leg mechanism 3 be uniformly distributed along the circumference be arranged on the first main mounting plate 1-1 sidewall on; Transfer system 4 is arranged on the center of the first main mounting plate 1-1, drives three to take turns leg mechanism 3.
As shown in Figures 2 and 3, take turns leg mechanism 3 to comprise and turn to a supporting member 3-1, floating wheel carriers coil tension spring 3-2, turn to a 3-3, floating wheel carriers 3-4, driven shaft 3-5, driving wheel 3-6, live axle 3-7, driving wheel driven wheel of differential 3-8 and driving wheel drive bevel gear 3-9; Turning to a 3-3 to be bearing on the sidewall of the first main mounting plate 1-1 by turning to a supporting member 3-1, can rotate relative to the first main mounting plate 1-1; Floating wheel carriers 3-4 is connected by sliding pair with turning to a 3-3, and floating wheel carriers 3-4 and turn between a 3-3 and be provided with floating wheel carriers coil tension spring 3-2; Driven shaft 3-5 and live axle 3-7 is all bearing on floating wheel carriers 3-4 by bearing; Driving wheel drive bevel gear 3-9 is fixed on driven shaft 3-5 outer end; Driving wheel driven wheel of differential 3-8 is fixed on live axle 3-7, and engages with driving wheel drive bevel gear 3-9; Two driving wheel 3-6 centerings are fixed on live axle 3-7 two ends.
As shown in Fig. 3,4-1 and 4-2, transfer system 4 comprises transfer drive shaft 4-1, transfer drive bevel gear 4-2, transfer driven wheel of differential 4-3 and drive motor 4-4; The base of drive motor 4-4 is fixed on the first main mounting plate 1-1, and transfer drive bevel gear 4-2 is fixed on the output shaft of drive motor 4-4; Three transfer drive shaft 4-1 are uniform along the center of rotation of transfer drive bevel gear 4-2, and are all bearing on the first main mounting plate 1-1 by bearing; One end of three transfer drive shaft 4-1 is all connected with transfer driven wheel of differential 4-3, and spline joint is passed through in the other end takes turns leg mechanism respectively driven shaft 3-5 the inner with corresponding one; Three transfer driven wheel of differential 4-3 all engage with transfer drive bevel gear 4-2.
As shown in Fig. 5-1,5-2,6-1 and 6-2, steering system 2 comprises rope 2-1, turns to rope roller 2-2, the first accessory mounting plate 2-3, steer motor 2-4, turn to Returnning spring 2-5, initial position stop pin 2-6, torque arm 2-7 and final position stop pin 2-8; First accessory mounting plate 2-3 fixes with driving the first main mounting plate 1-1 of wheels; The base of steer motor 2-4 is fixed on the first accessory mounting plate 2-3, turns to rope roller 2-2 to be fixed on the output shaft of steer motor 2-4; One end of three rope 2-1 is all around turning on rope roller 2-2, and the other end is fixed with a torque arm 2-7 respectively; Three torque arm 2-7 be separately fixed at drive one of wheels 1 wheel leg mechanism turn on a 3-3; Torque arm 2-7 is connected by turning to Returnning spring 2-5 with the first main mounting plate 1-1; Initial position stop pin 2-6 and final position stop pin 2-8 is all fixed on the first main mounting plate 1-1, to torque arm 2-7 stop, thus plays the position-limiting action to turning to a 3-3; Under normal travel condition, torque arm 2-7 compresses initial position stop pin 2-6 under the pretightening force turning to Returnning spring 2-5, and the circumference of driving wheel 3-6 is arranged along the axial direction of pipeline; Under running into failure condition, steer motor 2-4 opens, and rope 2-1 pulls torque arm 2-7 to compress final position stop pin 2-8, and the circumference of driving wheel 3-6 and the axes normal of pipeline are arranged.
As illustrated in figures 1 and 7, driven wheels 6 comprise the second main mounting plate 6-1, the second accessory mounting plate 6-2 and wheel leg mechanism 3; Second accessory mounting plate 6-2 is fixed on the second main mounting plate 6-1; Three wheel leg mechanisms 3 are uniformly distributed along the circumference, and each 3-3 that turns to taking turns leg mechanism is bearing on the second main mounting plate 6-1 by turning to a supporting member 3-1, can rotate relative to the second main mounting plate 6-1; Driven wheels each takes turns leg mechanism 3 and takes turns leg mechanism 3 by a Timing Belt 7 one corresponding with driving wheels 1 and connect.
As shown in Figure 8, bindiny mechanism 5 comprises nut 5-1 and connecting rod 5-2; All main with the first mounting plate 1-1 in one end of three connecting rod 5-2 is connected by nut 5-1, and all main with the second mounting plate 6-1 of the other end is connected by nut 5-1.
As shown in Figure 9, control system 8 comprises controller 8-1, dip sensor 8-2, camera 8-3, camera bracket 8-4 and balancing weight 8-5; Controller 8-1 and dip sensor 8-2 is all fixed on the second main mounting plate 6-1, and dip sensor 8-2 is arranged in the horizontal side wall at the second main mounting plate 6-1 top; Camera bracket 8-4 is bearing on the second accessory mounting plate 6-2 by bearing; Camera 8-3 and balancing weight 8-5 all fixes with camera bracket 8-4, and the rotating center of all main with the second mounting plate 6-1 of the rotating center of camera 8-3 and camera bracket 8-4 overlaps; Controller 8-1 is connected with dip sensor 8-2, camera 8-3, steer motor 2-4 and drive motor 4-4 respectively.
The working principle of this reservoir culvert measuring robots:
As shown in Figure 10, controller 8-1 analyze by camera 8-3 gather the image come judge that front does not have an obstacle time, control drive motor 4-4 unlatching, now steering system 2 does not work; The power of drive motor 4-4 passes to three transfer driven wheel of differential 4-3 and three transfer drive shaft 4-1 through transfer drive bevel gear 4-2; Every root transfer drive shaft 4-1 transmits power to driving one of the wheels 1 driven shaft 3-5 taking turns leg mechanism; Driven shaft 3-5 drives driving wheel drive bevel gear 3-9 to rotate, and driving wheel drive bevel gear 3-9 engages with driving wheel driven wheel of differential 3-8, and driven wheel of differential 3-8 drives live axle 3-7, thus drives two driving wheel 3-6; Drive three of wheels 1 wheel leg mechanisms to drive this reservoir culvert measuring robots to keep straight in reservoir culvert, three wheel leg mechanisms 3 of driven wheels 6 for supporting the front portion of this reservoir culvert measuring robots, and drive lower advance at driving wheels 1.When reservoir culvert diameter changes, the floating wheel carriers 3-4 of wheel leg mechanism 3 along turning to a 3-3 fore and aft motion, makes driving wheel 3-6 be close to reservoir culvert inwall all the time under the effect of floating wheel carriers coil tension spring 3-2.
When controller 8-1 analyzes and judges that front runs into obstacle by the image that camera 8-3 collection is next, stall drive motor 4-4, open steer motor 2-4, and calculate the angle that should rotate around culvert pipe central shaft when this reservoir culvert measuring robots is avoided encountering obstacle, i.e. attitude angle
; Steer motor 2-4 drives and turns to rope roller 2-2 around entering rope 2-1, rope 2-1 pulls torque arm 2-7 to make to turn to a 3-3 to rotate, until torque arm 2-7 contacts with final position stop pin 2-8, namely a 3-3 that turns to for the wheel leg mechanism of wheels 1 is driven to turn over 90 °, Timing Belt 7 drives a 3-3 that turns to for the wheel leg mechanism of driven wheels 6 to turn over 90 ° simultaneously, this Time Controller 8-1 starts drive motor 4-4, and this reservoir culvert measuring robots rotates around the central shaft of reservoir culvert; Dip sensor 8-2 can detect the inclination angle in self relative level face, thus records the attitude angle that this reservoir culvert detects machine
; Work as attitude angle
when can ensure that this reservoir culvert detection machine is avoided encountering obstacle, the equal stall of drive motor 4-4 and steer motor 2-4, turn to Returnning spring 2-5 under restoring force effect, drive torque arm 2-7 that a 3-3 that turns to of driving wheels is resetted, until torque arm 2-7 contacts with initial position stop pin 2-6, rope 2-1 unwinding goes out to turn to rope roller 2-2, Timing Belt 7 drives a 3-3 that turns to of driven wheels to reset simultaneously, now drive motor 4-4 starts, and this reservoir culvert measuring robots continues vertically to keep straight in reservoir culvert.
The orientation principle of camera 8-3: due to the Action of Gravity Field of balancing weight 8-5, camera 8-3 remains a logical azimythal angle, can not with attitude angle
change and change.
Claims (3)
1. a reservoir culvert measuring robots, comprises and drives wheels, steering system, bindiny mechanism, driven wheels, Timing Belt and control system, it is characterized in that: described driving wheels are connected by bindiny mechanism with driven wheels;
Described driving wheels comprise the first main mounting plate, wheel leg mechanism and transfer system; Three wheel leg mechanism be uniformly distributed along the circumference be arranged on the first main mounting plate sidewall on, transfer Operation system setting is in the center of the first main mounting plate;
Described wheel leg mechanism comprise turn to a supporting member, floating wheel carriers coil tension spring, turn to cylinder, floating wheel carriers, driven shaft, driving wheel, live axle, driving wheel driven wheel of differential and driving wheel drive bevel gear; The described cylinder that turns to passes through to turn to a supporting members support on the sidewall of the first main mounting plate; Floating wheel carriers is connected by sliding pair with turning to cylinder, and floating wheel carriers and turn between cylinder and be provided with floating wheel carriers coil tension spring; Described driven shaft and live axle are all bearing on floating wheel carriers by bearing; Driving wheel drive bevel gear is fixed on driven shaft outer end; Described driving wheel driven wheel of differential is fixed on live axle, and engages with driving wheel drive bevel gear; Two driving wheel centerings are fixed on live axle two ends;
Described transfer system comprises transfer drive shaft, transfer drive bevel gear, transfer driven wheel of differential and drive motor; The base of described drive motor is fixed on the first main mounting plate, and transfer drive bevel gear is fixed on the output shaft of drive motor; Three transfer drive shaft are uniform along the center of rotation of transfer drive bevel gear, and are all bearing on the first main mounting plate by bearing; One end of three transfer drive shaft is all connected with transfer driven wheel of differential, and the other end passes through spline joint with corresponding one driven shaft the inner of taking turns leg mechanism respectively; Three transfer driven wheels of differential all engage with transfer drive bevel gear;
Described steering system comprises rope, turns to rope roller, the first accessory mounting plate, steer motor, turn to Returnning spring, initial position stop pin, torque arm and final position stop pin; The first described accessory mounting plate is fixed with driving the first main mounting plate of wheels; The base of described steer motor is fixed on the first accessory mounting plate, turns to rope roller to be fixed on the output shaft of steer motor; One end of three ropes is all around turning on rope roller, and the other end is fixed with a torque arm respectively; Three torque arm be separately fixed at drive one of wheels wheel leg mechanism turn on cylinder; Torque arm is connected by turning to Returnning spring with the first main mounting plate; Described initial position stop pin and final position stop pin are all fixed on the first main mounting plate; Under normal travel condition, torque arm compresses initial position stop pin under the pretightening force turning to Returnning spring, and the circumference of driving wheel is arranged along the axial direction of pipeline; Under running into failure condition, steer motor is opened, and rope pulls torque arm to compress final position stop pin, and the circumference of driving wheel and the axes normal of pipeline are arranged;
Described driven wheels comprise the second main mounting plate, the second accessory mounting plate and wheel leg mechanism; The second described accessory mounting plate is fixed on the second main mounting plate; Three wheel leg mechanisms are uniformly distributed along the circumference, and each cylinder that turns to of taking turns leg mechanism passes through to turn to a supporting members support on the second main mounting plate; Driven wheels each takes turns leg mechanism and takes turns leg mechanism by a Timing Belt one corresponding with driving wheels and connect;
Described control system comprises controller, dip sensor and camera; Described dip sensor is arranged in the horizontal side wall at the second main mounting plate top; Described controller is connected with dip sensor, camera, steer motor and drive motor respectively.
2. a kind of reservoir culvert measuring robots according to claim 1, is characterized in that: described bindiny mechanism comprises nut and connecting rod; All main with first mounting plate in one end of three connecting rods is connected by nut, and all main with second mounting plate of the other end is connected by nut.
3. a kind of reservoir culvert measuring robots according to claim 1, is characterized in that: described control system also comprises camera bracket and balancing weight; Described camera bracket is bearing on the second accessory mounting plate by bearing; Described camera and balancing weight are all fixed with camera bracket; The rotating center of all main with second mounting plate of rotating center of described camera and camera bracket overlaps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420778682.4U CN204328337U (en) | 2014-12-11 | 2014-12-11 | A kind of reservoir culvert measuring robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420778682.4U CN204328337U (en) | 2014-12-11 | 2014-12-11 | A kind of reservoir culvert measuring robots |
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| Publication Number | Publication Date |
|---|---|
| CN204328337U true CN204328337U (en) | 2015-05-13 |
Family
ID=53164696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420778682.4U Withdrawn - After Issue CN204328337U (en) | 2014-12-11 | 2014-12-11 | A kind of reservoir culvert measuring robots |
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| CN (1) | CN204328337U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN106015829A (en) * | 2016-06-28 | 2016-10-12 | 宁波天弘电力器具有限公司 | Pipeline robot |
| CN106622686A (en) * | 2015-08-26 | 2017-05-10 | 苏州瑞威离心分离技术有限公司 | Horizontal spiral centrifugal machine |
| CN107740907A (en) * | 2017-11-15 | 2018-02-27 | 珠海深圳清华大学研究院创新中心 | A kind of pipe robot detection means and pipeline fault detection method |
| CN113503423A (en) * | 2021-07-19 | 2021-10-15 | 燕山大学 | Non-circular gear driven double-plastid impact type pipeline robot and motion modeling method |
| CN116293203A (en) * | 2023-02-24 | 2023-06-23 | 韶关学院 | Pipeline robot |
| WO2023226806A1 (en) * | 2022-05-24 | 2023-11-30 | 安徽信息工程学院 | Walking robot in pipeline |
-
2014
- 2014-12-11 CN CN201420778682.4U patent/CN204328337U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN104500914B (en) * | 2014-12-11 | 2016-09-14 | 浙江理工大学 | Reservoir culvert measuring robots |
| CN106622686A (en) * | 2015-08-26 | 2017-05-10 | 苏州瑞威离心分离技术有限公司 | Horizontal spiral centrifugal machine |
| CN106015829A (en) * | 2016-06-28 | 2016-10-12 | 宁波天弘电力器具有限公司 | Pipeline robot |
| CN106015829B (en) * | 2016-06-28 | 2017-12-08 | 宁波天弘电力器具有限公司 | A kind of pipe robot |
| CN107740907A (en) * | 2017-11-15 | 2018-02-27 | 珠海深圳清华大学研究院创新中心 | A kind of pipe robot detection means and pipeline fault detection method |
| CN113503423A (en) * | 2021-07-19 | 2021-10-15 | 燕山大学 | Non-circular gear driven double-plastid impact type pipeline robot and motion modeling method |
| CN113503423B (en) * | 2021-07-19 | 2022-08-23 | 燕山大学 | Non-circular gear driven double-plastid impact type pipeline robot and motion modeling method |
| WO2023226806A1 (en) * | 2022-05-24 | 2023-11-30 | 安徽信息工程学院 | Walking robot in pipeline |
| CN116293203A (en) * | 2023-02-24 | 2023-06-23 | 韶关学院 | Pipeline robot |
| CN116293203B (en) * | 2023-02-24 | 2024-02-23 | 韶关学院 | Pipeline robot |
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