CN206206900U - The synchronous culvert pipe inwall detection robot of six wheels - Google Patents
The synchronous culvert pipe inwall detection robot of six wheels Download PDFInfo
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- CN206206900U CN206206900U CN201621253044.6U CN201621253044U CN206206900U CN 206206900 U CN206206900 U CN 206206900U CN 201621253044 U CN201621253044 U CN 201621253044U CN 206206900 U CN206206900 U CN 206206900U
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- bevel gear
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Abstract
The utility model discloses the synchronous culvert pipe inwall detection robot of six wheels.Existing reservoir culvert robot architecture is complicated, and Detection results are also undesirable.Signal is transmitted to control system, control system control stepper motor and two-degree-of-freedom cradle head camera detection structure by infrared sensor of the present utility model and obliquity sensor；Stepper motor is fixed in supporting construction；Forward drive system and driving and steering system set up separately in back and front supporting structure；Stepper motor above provides onward impulse to three front driving wheel leg mechanisms simultaneously by forward drive system；Stepper motor below drives three rear drive sprocket leg mechanisms to rotate simultaneously by driving and steering system；The sprocket wheel being fixed on the epicyclic wheel of rear drive sprocket leg mechanism cylinder is connected with sprocket wheel fixed on the epicyclic wheel cylinder of a corresponding front driving wheel leg mechanism by chain.The utility model is adapted to the culvert pipe of different tube diameters size, and avoidance can be realized in two-way process.
Description
Technical field
The utility model belongs to pipeline robot technique field, and in particular to the synchronous culvert pipe inwall detection robot of six wheels.
Background technology
The transfer passage that reservoir discharge culvert is irrigated as downstream, supplied water, is one of important hydraulic structure.Culvert pipe road
During service, due to being acted on by long-term fluid scouring and natural environment, piping failure inevitably occurs.Contain
Pipe is in danger with disguised, sudden and implication, once dangerous situation occur to be possible to cause heavy losses, or even causes other
Destructive consequence, therefore the periodic detection of discharge culvert is increasingly important.But the environment residing for pipeline is often people is difficult
Directly reach or do not allow what people were directly entered, maintenance difficulty is very big.
At present, it is main to the detection of culvert pipe both at home and abroad take manual observation to measure, the method for office's damage testing, and need into
One step could completely determine the position of piping failure by digging operation.The obvious this method energy consumption for detecting pipeline is big, efficiency
It is low, and it is easily destroyed other facilities of Near Pipelines.And the pipe robot major part developed both at home and abroad is also directed to industry
Pipeline and tiny pipeline, only small part for reservoir culvert robot, but complex structure, expensive, and tool
Body Detection results are also undesirable.
The content of the invention
The purpose of this utility model is directed to the deficiency of existing culvert pipe detection means, there is provided a kind of safe and reliable, structure is simple
Single inner-walls of duct detection robot.
The utility model includes two-degree-of-freedom cradle head camera detection structure, chain, front driving wheel leg mechanism, infrared sensing
Device, rear drive sprocket leg mechanism, sprocket wheel, obliquity sensor, supporting construction frame, stepper motor, sealing waterproof cover, drive system and
Control system.Described supporting construction frame is made up of former and later two supporting constructions being fixedly connected by three side links；It is described
Drive system include forward drive system and driving and steering system；Forward drive system is supported in supporting construction above,
Driving and steering system is supported in supporting construction below；Supporting construction is regular hexagon framework；Supporting construction outer end is fixed close
Envelope waterproof cover；Setting front driving wheel leg mechanism and infrared sensor are respectively separated on six sides of front support structure, after
Setting rear drive sprocket leg mechanism and infrared sensor are respectively separated on six sides of face supporting construction；Back and front supporting structure exists
Obliquity sensor is respectively provided with side where infrared sensor；Described sealing waterproof cover is provided with two-degree-of-freedom cradle head shooting
Detection structure；Described control system is fixed on supporting construction frame, and signal is transmitted to control by infrared sensor and obliquity sensor
System processed, control system control stepper motor and two-degree-of-freedom cradle head camera detection structure；It is fixed on the interior plate of supporting construction
Stepper motor, the output shaft center of stepper motor and the center overlapping of axles of supporting construction；Described forward drive system and steering
Drive system uses transfer gear, and sets up separately in back and front supporting structure；Stepper motor above passes through forward drive system
Simultaneously onward impulse is provided to three front driving wheel leg mechanisms；Stepper motor below drives three simultaneously by driving and steering system
Individual rear drive sprocket leg mechanism is rotated；It is fixed on sprocket wheel and a corresponding front driving wheel on the epicyclic wheel of rear drive sprocket leg mechanism cylinder
Fixed sprocket wheel is connected by chain on the epicyclic wheel cylinder of leg mechanism.
Described transfer gear includes master bevel gear, transfer bevel gear and transfer bevel gear shaft；Described master bevel gear is consolidated
It is scheduled on the output shaft of stepper motor, three engaged with master bevel gear transfer bevel gear is fixed on three transfer bevel gear shafts
On；Transfer bevel gear shaft is supported on the support structure by bearing.
Described front driving wheel leg mechanism and rear drive sprocket leg mechanism include adjustable spring, epicyclic wheel cylinder, floating bracket,
Scroll wheel, rolling shaft；Front driving wheel leg mechanism also includes rolling wheel drive shaft, scroll wheel driven wheel of differential and scroll wheel actively
Bevel gear.
In described front driving wheel leg mechanism, epicyclic wheel cylinder is made up of with supporting construction epicyclic wheel cylinder supporting member and rotates
It is secondary；Floating bracket constitutes sliding pair with the chute of epicyclic wheel cylinder side wall, and floating bracket is inner and epicyclic wheel cylinder is by the bullet that stretches
Spring is connected；Rolling shaft is supported on floating bracket outer end by bearing；Scroll wheel is fixed at rolling shaft two ends；Roll wheel drive
Scroll wheel drive bevel gear is fixed in the outer end of axle；Scroll wheel drive bevel gear and the scroll wheel being fixed on rolling shaft from mantle
Gear is engaged；The inner transfer cone tooth corresponding with forward drive system of the rolling wheel drive shaft of each front driving wheel leg mechanism
Axle outer end is fixed.
In described rear drive sprocket leg mechanism, epicyclic wheel cylinder is made up of with supporting construction epicyclic wheel cylinder supporting member and rotates
It is secondary；Floating bracket constitutes sliding pair with the chute of epicyclic wheel cylinder side wall, and floating bracket is inner and epicyclic wheel cylinder is by the bullet that stretches
Spring is connected；Rolling shaft is supported on floating bracket outer end by bearing；Scroll wheel is fixed at rolling shaft two ends；Driven after each
The inner transfer bevel gear shaft corresponding with driving and steering system of epicyclic wheel cylinder for taking turns leg mechanism is fixed.
Described two-degree-of-freedom cradle head camera detection structure include head housing, turnover chassis, mechanical arm, camera,
360 ° of steering wheels and 180 ° of steering wheels；Described head housing is fixed on sealing waterproof cover, and turnover chassis is constituted with head housing
Rotate secondary, 360 ° of output shafts of steering wheel are fixed with turnover chassis, 180 ° of bases of steering wheel are fixed with chassis is had enough to meet the need, mechanical arm and
The output shaft of 180 ° of steering wheels is fixed, and camera is fixed with mechanical arm.
Described control system includes control chip, wifi module, wireless serial module and six-axle acceleration sensor；Six
Axle acceleration sensor, stepper motor, 180 ° of steering wheels, 360 ° of steering wheels, infrared sensor and obliquity sensors by cable with
Control chip is connected, and control chip is communicated by wireless serial module with host computer.Camera passes through wifi module and host computer
Communication；Movement instruction is issued control chip to control stepper motor, 180 ° of steering wheels and 360 ° by host computer by wireless serial module
The motion of steering wheel, so as to control front driving wheel leg mechanism and rear drive sprocket leg mechanism.
Described camera carries ring-type light source.
Described control chip uses the STM32F103RCT6 chips with ARM CORTEX-M3 as kernel.
Described wifi module is down to+5V and is powered by portable power source.
The utility model has an advantageous effect in that：
The utility model is adapted to the culvert pipe of different tube diameters size, simple and light；Imaged using two-degree-of-freedom cradle head and examined
Geodesic structure swings and is capable of achieving angles of azimuth detection as camera bracket, chassis turnover cooperative mechanical arm 180 degree；Band ring-type light source
High-definition camera imaging effect it is good, be adapted to pipe in no light conditions；And one camera of each device before and after the utility model, it is past
Avoidance can be realized during returning；The infrared sensor for being used detection range and can not only can also detect barrier size,
Judge whether robot can pass through completely, greatly increase security；The utility model is equipped with obliquity sensor, can measure it
The angle turned when being circumferentially rotated around own axes, realizes taking the photograph while realizing control accurate robot attitude in the duct
As head absolute azimuth is constant；It is synchronous using Chain conveyer realization between deflecting roller leg, improve reliability；Control of the present utility model
System largely improves flexibility and the operating efficiency of robot, and when emergency situations are run into, can also be by upper
Position machine uses manual mode Safe withdrawing.
Brief description of the drawings
Fig. 1 is overall structure stereogram of the present utility model；
Fig. 2 is the structural perspective of two-degree-of-freedom cradle head camera detection structure in the utility model；
Fig. 3 is the structural representation of forward drive system in the utility model；
Fig. 4 is the kinematic sketch of front driving wheel leg mechanism in the utility model；
Fig. 5 is the kinematic sketch of rear drive sprocket leg mechanism in the utility model；
Fig. 6 is the schematic diagram of supporting construction frame in the utility model；
Fig. 7 is the structural representation of driving and steering system in the utility model；
Fig. 8 is the kinematic sketch of transfer gear in the utility model；
Fig. 9 is the structured flowchart of control system in the utility model.
In figure：1st, preposition high-definition camera, 2, ring-type light source, 3, two-degree-of-freedom cradle head camera detection structure, 4, advance and drive
Dynamic system, 5, chain, 6, front driving wheel leg mechanism, 7, infrared sensor, 8, rear drive sprocket leg mechanism, 9, sprocket wheel, 10, rearmounted height
Clear camera, 11, obliquity sensor, 12, supporting construction frame, 13, stepper motor, 14, driving and steering system, 15, sealing waterproof
Cover plate, 16, drive system, 17, camera, 18, control chip, 19, wifi module, 20, wireless serial module, 21, six axles add
Velocity sensor, 22, host computer, 3-1, head housing, 3-2, turnover chassis, 3-3, mechanical arm, 3-4,180 ° of degree steering wheels, 3-5,
360 ° of degree steering wheels, 4-1, transfer bevel gear, 4-2, master bevel gear, 6-1, epicyclic wheel cylinder supporting member, 6-2, adjustable spring, 6-3 weeks
Runner cylinder, 6-4, floating bracket, roll wheel drive shaft at 6-5,6-6, scroll wheel, 6-7, rolling shaft, and 6-8, scroll wheel are from mantle
Gear, 6-9, scroll wheel drive bevel gear, 6-10, transfer bevel gear shaft, 12-1, interior plate, 12-2, supporting construction, 12-3, company
Hack lever.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the utility model is described in further detail.
As shown in Fig. 1, Fig. 3, Fig. 6, Fig. 7, the synchronous culvert pipe inwall detection robot of six wheels, including two-degree-of-freedom cradle head shooting
Detection structure 3, chain 5, front driving wheel leg mechanism 6, infrared sensor 7, rear drive sprocket leg mechanism 8, sprocket wheel 9, obliquity sensor
11st, supporting construction frame 12, stepper motor 13, sealing waterproof cover 15, drive system 16 and control system.Control system is fixed on
On supporting construction frame 12；Supporting construction frame 12 is by former and later two supporting constructions 12- for being fixedly connected by three side link 12-3
2 compositions；Drive system 16 includes forward drive system 4 and driving and steering system 14；Forward drive system 4 is supported on branch above
On support structure 12-2, driving and steering system 14 is supported on supporting construction 12-2 below；Supporting construction 12-2 is regular hexagon
Framework；Supporting construction 12-2 outer ends fixing seals waterproof cover 15；It is respectively separated on six sides of front support structure 12-2
Front driving wheel leg mechanism 6 and infrared sensor 7 are set, setting rear-guard is respectively separated on six sides of supported back structure 12-2
Driving wheel leg mechanism 8 and infrared sensor 7；Back and front supporting structure 12-2 is respectively provided with inclination angle biography at the place side of infrared sensor 7
Sensor 11；Sealing waterproof cover 15 is provided with two-degree-of-freedom cradle head camera detection structure 3；It is solid on the interior plate 12-1 of supporting construction
Determine stepper motor 13, the output shaft center of stepper motor 13 and the center overlapping of axles of supporting construction；Forward drive system 4 and steering
Drive system 14 uses transfer gear, and sets up separately in back and front supporting structure 12；Stepper motor 13 above is driven by advancing
Dynamic system 4 provides onward impulse to three front driving wheel leg mechanisms 6 simultaneously；Stepper motor 13 below passes through driving and steering system
14 drive three rear drive sprocket leg mechanisms 8 to rotate simultaneously；It is fixed on the sprocket wheel 9 on the epicyclic wheel of rear drive sprocket leg mechanism 8 cylinder 6-3
Connected by chain 5 with sprocket wheel 9 fixed on the epicyclic wheel cylinder 6-3 of a corresponding front driving wheel leg mechanism 6, realize rear drive sprocket
The synchronous axial system of leg mechanism 8 and front driving wheel leg mechanism 6.
As shown in figure 8, transfer gear includes master bevel gear 4-2, transfer bevel gear 4-1 and transfer bevel gear shaft 6-10；It is main
Bevel gear 4-2 is fixed on the output shaft of stepper motor 13, and three engaged with master bevel gear 4-2 transfer bevel gear 4-1 is fixed
On three transfer bevel gear shaft 6-10, power is spread out of by transfer bevel gear shaft 6-10；Transfer bevel gear shaft 6-10 passes through axle
Hold and be supported in supporting construction 12.
As shown in Figures 4 and 5, front driving wheel leg mechanism 6 and rear drive sprocket leg mechanism 8 include adjustable spring 6-2, epicyclic wheel
Cylinder 6-3, floating bracket 6-4, scroll wheel 6-6, rolling shaft 6-7；Front driving wheel leg mechanism 6 also include rolling wheel drive shaft 6-5,
Scroll wheel driven wheel of differential 6-8 and scroll wheel drive bevel gear 6-9.
As shown in figure 4, in front driving wheel leg mechanism 6, epicyclic wheel cylinder 6-3 is tied by epicyclic wheel cylinder supporting member 6-1 with support
Structure is constituted and rotates secondary；The chute of floating bracket 6-4 and epicyclic wheel cylinder 6-3 sides wall constitutes sliding pair, and floating bracket 6-4 it is inner with
Epicyclic wheel cylinder 6-3 is connected by adjustable spring 6-2；Rolling shaft 6-7 is supported on floating bracket 6-4 outer ends by bearing；Roll
Scroll wheel 6-6 is fixed at wheel shaft 6-7 two ends；Scroll wheel drive bevel gear 6-9 is fixed in the outer end for rolling wheel drive shaft 6-5；Roll
Wheel drive bevel gear 6-9 is engaged with the scroll wheel driven wheel of differential 6-8 being fixed on rolling shaft 6-7；Each front driving wheel leg
Rolling wheel drive shaft 6-5 the inners of mechanism 6 are fixed with 4 corresponding transfer bevel gear shaft 6-10 outer ends of forward drive system,
Power is passed to rolling shaft 6-7 from wheel drive shaft 6-5 is rolled, and then is delivered to scroll wheel 6-6.
As shown in figure 5, in rear drive sprocket leg mechanism 8, epicyclic wheel cylinder 6-3 is tied by epicyclic wheel cylinder supporting member 6-1 with support
Structure is constituted and rotates secondary；The chute of floating bracket 6-4 and epicyclic wheel cylinder 6-3 sides wall constitutes sliding pair, and floating bracket 6-4 it is inner with
Epicyclic wheel cylinder 6-3 is connected by adjustable spring 6-2；Rolling shaft 6-7 is supported on floating bracket 6-4 outer ends by bearing；Roll
Scroll wheel 6-6 is fixed at wheel shaft 6-7 two ends；Epicyclic wheel cylinder 6-3 the inners of each rear drive sprocket leg mechanism 8 and driving and steering system
14 corresponding transfer bevel gear shaft 6-10 are fixed, and then directly drive whole rear drive sprocket leg mechanism 8 to rotate.
As shown in Fig. 2 two-degree-of-freedom cradle head camera detection structure 3 includes head housing 3-1, turnover chassis 3-2, mechanical arm
3-3, camera 17,360 ° of steering wheel 3-5 and 180 ° of steering wheel 3-4；Camera carries ring-type light source 2；Head housing 3-1 is fixed on close
Seal on waterproof cover 15, turnover chassis 3-2 and head housing 3-1 constitutes rotation pair, 360 ° of output shafts of steering wheel 3-5 and turnover bottom
Disk 3-2 is fixed, and 180 ° of bases of steering wheel 3-4 are fixed with turnover chassis 3-2, and mechanical arm 3-3 and 180 ° of output shafts of steering wheel 3-4 are consolidated
Fixed, camera is fixed with mechanical arm 3-3.It is set to positioned at the camera of two-degree-of-freedom cradle head camera detection structure 3 above preposition
High-definition camera 1, the camera positioned at two-degree-of-freedom cradle head camera detection structure 3 below is set to rearmounted high-definition camera 10.
As shown in figure 9, control system includes that control chip 18, wifi module 19, the axle of wireless serial module 20 and six accelerate
Degree sensor 21；Control chip uses the STM32F103RCT6 chips with ARM CORTEX-M3 as kernel.Six-axle acceleration is passed
Sensor, 13,180 ° of steering wheel 3-4 of stepper motor, 360 ° of steering wheel 3-5, infrared sensor 7 and obliquity sensors 11 by cable with
Control chip is connected, and control chip reads the sensor letter of six-axle acceleration sensor, obliquity sensor 11 and infrared sensor
After number, sensor signal is transmitted to by host computer 22 by wireless serial module.Camera is sent out view data by wifi module
Penetrate and read to host computer；Wifi module is down to+5V and is powered by portable power source.Host computer comprehensive analysis view data and sensor are believed
After number, prediction respectively obtains impeding angle and obstacle distance, automatically generates movement instruction, and by movement instruction by wireless serial mould
Block issues control chip to control 13,180 ° of steering wheel 3-4 of stepper motor and 360 ° of motions of steering wheel 3-5, makes epicyclic wheel cylinder 6-3 bands
Dynamic front driving wheel leg mechanism 6 and rear drive sprocket leg mechanism 8 keep the azimuth of camera 1 motionless while rotating avoidance, convenient real
When continuous obstacle, so as to control the robot normal pass and to gather the view data of crackle in reservoir culvert.
Claims (5)
1. the synchronous culvert pipe inwall of six wheels detects robot, including two-degree-of-freedom cradle head camera detection structure, chain, front driving wheel leg
Mechanism, infrared sensor, rear drive sprocket leg mechanism, sprocket wheel, obliquity sensor, supporting construction frame, stepper motor, sealing waterproof cover
Plate, drive system and control system, it is characterised in that：Described supporting construction frame is by being fixedly connected by three side links
Former and later two supporting constructions are constituted；Described drive system includes forward drive system and driving and steering system；Forward drive system
System is supported in supporting construction above, and driving and steering system is supported in supporting construction below；Supporting construction is positive six side
Shape framework；Supporting construction outer end fixing seal waterproof cover；Setting forerunner is respectively separated on six sides of front support structure
Driving wheel leg mechanism and infrared sensor, are respectively separated setting rear drive sprocket leg mechanism and red on six sides of supported back structure
Outer sensor；Back and front supporting structure is respectively provided with obliquity sensor at side where infrared sensor；Described sealing waterproof cover
Plate is provided with two-degree-of-freedom cradle head camera detection structure；Described control system is fixed on supporting construction frame, infrared sensor
Signal is transmitted to control system, control system control stepper motor and two-degree-of-freedom cradle head camera detection knot with obliquity sensor
Structure；Stepper motor, the output shaft center of stepper motor and the center overlapping of axles of supporting construction are fixed on the interior plate of supporting construction；
Described forward drive system and driving and steering system use transfer gear, and set up separately in back and front supporting structure；Above
Stepper motor provides onward impulse to three front driving wheel leg mechanisms simultaneously by forward drive system；Stepper motor below leads to
Cross driving and steering system drives three rear drive sprocket leg mechanisms to rotate simultaneously；It is fixed on the epicyclic wheel of rear drive sprocket leg mechanism cylinder
Sprocket wheel and a corresponding front driving wheel leg mechanism epicyclic wheel cylinder on fixed sprocket wheel connected by chain；
Described transfer gear includes master bevel gear, transfer bevel gear and transfer bevel gear shaft；Described master bevel gear is fixed on
On the output shaft of stepper motor, the three transfer bevel gears engaged with master bevel gear are fixed on three transfer bevel gear shafts；Point
Dynamic bevel gear axle is supported on the support structure by bearing；
Described front driving wheel leg mechanism and rear drive sprocket leg mechanism include adjustable spring, epicyclic wheel cylinder, floating bracket, rolling
Wheel, rolling shaft；Front driving wheel leg mechanism also includes rolling wheel drive shaft, scroll wheel driven wheel of differential and scroll wheel active conical tooth
Wheel；
In described front driving wheel leg mechanism, epicyclic wheel cylinder is made up of epicyclic wheel cylinder supporting member and supporting construction and rotates secondary；It is floating
Dynamic support constitutes sliding pair with the chute of epicyclic wheel cylinder side wall, and floating bracket the inner is connected with epicyclic wheel cylinder by adjustable spring
Connect；Rolling shaft is supported on floating bracket outer end by bearing；Scroll wheel is fixed at rolling shaft two ends；Roll wheel drive shaft
Scroll wheel drive bevel gear is fixed in outer end；Scroll wheel drive bevel gear and the scroll wheel driven wheel of differential being fixed on rolling shaft
Engagement；The inner transfer bevel gear shaft corresponding with forward drive system of the rolling wheel drive shaft of each front driving wheel leg mechanism
Outer end is fixed；
In described rear drive sprocket leg mechanism, epicyclic wheel cylinder is made up of epicyclic wheel cylinder supporting member and supporting construction and rotates secondary；It is floating
Dynamic support constitutes sliding pair with the chute of epicyclic wheel cylinder side wall, and floating bracket the inner is connected with epicyclic wheel cylinder by adjustable spring
Connect；Rolling shaft is supported on floating bracket outer end by bearing；Scroll wheel is fixed at rolling shaft two ends；Each rear drive sprocket leg
The inner transfer bevel gear shaft corresponding with driving and steering system of epicyclic wheel cylinder of mechanism is fixed；
Described two-degree-of-freedom cradle head camera detection structure includes head housing, turnover chassis, mechanical arm, camera, 360 ° of rudders
Machine and 180 ° of steering wheels；Described head housing is fixed on sealing waterproof cover, and turnover chassis constitutes with head housing and rotates secondary,
360 ° of output shafts of steering wheel are fixed with turnover chassis, and 180 ° of bases of steering wheel are fixed with chassis is had enough to meet the need, mechanical arm and 180 ° of steering wheels
Output shaft fix, camera is fixed with mechanical arm.
2. the synchronous culvert pipe inwall of six wheels according to claim 1 detects robot, it is characterised in that：Described control system
Including control chip, wifi module, wireless serial module and six-axle acceleration sensor；Six-axle acceleration sensor, stepping electricity
Machine, 180 ° of steering wheels, 360 ° of steering wheels, infrared sensor and obliquity sensors are connected by cable with control chip, control chip
Communicated with host computer by wireless serial module；Camera is communicated by wifi module with host computer；Host computer is by movement instruction
Control chip is issued by wireless serial module to control stepper motor, 180 ° of steering wheels and 360 ° of motions of steering wheel, so that before controlling
Driving wheel leg mechanism and rear drive sprocket leg mechanism.
3. the synchronous culvert pipe inwall of six wheels according to claim 2 detects robot, it is characterised in that：Described camera band
There is ring-type light source.
4. the synchronous culvert pipe inwall of six wheels according to claim 2 detects robot, it is characterised in that：Described control chip
Use the STM32F103RCT6 chips with ARM CORTEX-M3 as kernel.
5. the synchronous culvert pipe inwall of six wheels according to claim 2 detects robot, it is characterised in that：Described wifi module
+ 5V is down to by portable power source to power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621253044.6U CN206206900U (en) | 2016-11-22 | 2016-11-22 | The synchronous culvert pipe inwall detection robot of six wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621253044.6U CN206206900U (en) | 2016-11-22 | 2016-11-22 | The synchronous culvert pipe inwall detection robot of six wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206206900U true CN206206900U (en) | 2017-05-31 |
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ID=58749791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621253044.6U Expired - Fee Related CN206206900U (en) | 2016-11-22 | 2016-11-22 | The synchronous culvert pipe inwall detection robot of six wheels |
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| CN107327656A (en) * | 2017-07-17 | 2017-11-07 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct maintenance all-in-one and its traveling method |
| CN107328792A (en) * | 2017-08-31 | 2017-11-07 | 洛阳高昌机电科技有限公司 | With forward type line style infrared light supply flaw detection detent mechanism in a kind of machinery production |
| CN107389550A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of scalable fixed arm of construction pipeline welded joint flaw detection positioning |
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