CN206514004U - Pneumatic pipe robot - Google Patents
Pneumatic pipe robot Download PDFInfo
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- CN206514004U CN206514004U CN201720098165.6U CN201720098165U CN206514004U CN 206514004 U CN206514004 U CN 206514004U CN 201720098165 U CN201720098165 U CN 201720098165U CN 206514004 U CN206514004 U CN 206514004U
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Abstract
The utility model is a kind of Pneumatic pipe robot, including the first noumenon, one end of the first noumenon is hinged with the middle pneumatic bindiny mechanism of energy axial stretching, the other end of middle pneumatic bindiny mechanism is hinged with the second body, the first walking module that can radially stretch is provided with the first noumenon, the first pneumatic support module of energy radial expansion is additionally provided with the first noumenon, the second walking module that can radially stretch is provided with second body, the second pneumatic support module of energy radial expansion is additionally provided with second body, middle pneumatic bindiny mechanism, first pneumatic support module and the second pneumatic support module are connected with an atmospheric control.The Pneumatic pipe robot overcomes the problems such as security present in prior art is poor, device is heavy, stability is poor, simple in construction, high by property, and with very high stability, reliability and security.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of Pneumatic pipe using compressed air as power
Robot.
Background technology
Pipeline transportation has important work to national economic development as means of transportation irreplaceable in a kind of modern industry
With.The working environment of industrial pipeline is all poor, various forms of failures easily occurs, in pipe-line maintenance maintenance, investigation and dredging
It is frequently necessary to use pipe robot during operation.Therefore, pipe robot also turns into an important direction in robotics.
Existing pipe robot realizes the walking motion of robot mostly using motor as executive component.Existing skill
There is a kind of motor-driven spiral type pipeline robot in art, the robot is by the two pairs of walking being arranged symmetrically components and walking
Control assembly composition between component, is connected between walking component and control assembly by telescopic joint and universal joint, component of walking
Motor driving swivel mount in mounting bracket, drives idler wheel mechanism to be threadingly advanced so as to drive on swivel mount；In the prior art also
There is a kind of motor-driven creeping motion type pipe robot of list, the robot architecture includes the universal of unit section and connection unit section
Section, unit section includes mounting bracket, wheel leg assembly, lock assembly and transmission component, wheel leg assembly, lock assembly and transmission component peace
Loaded on mounting bracket, wherein wheel leg assembly is used to support Robot inner-walls of duct to walk, lock assembly is used for lock cell section,
Transmission component is used to move lock assembly action and unit section relative motion according to motor driven belts；In addition, also having in the prior art
Climbing robot in a kind of electric drive flexible pipeline, including intermediate connecting mechanism, four telescopic arms and two telescoping mechanisms, stretch
Contracting arm includes friction pad, arm telescope motor, arm telescope motor frame, arm telescoping tube frame linking, arm flexible leading screw, two arm external extensions
Telescoping tube in pipe, two arms.Telescoping mechanism by arm link, telescope motor, telescope motor frame, telescoping tube frame linking, flexible leading screw,
Two overhanging draws and two interior telescoping tubes.Intermediate connecting mechanism include center pivoted frame I, center pivoted frame II, steering motor I, turn
To motor II, central cross axle.Intermediate connecting mechanism by center pivoted frame I, center pivoted frame II respectively with two telescoping mechanisms
Telescope motor frame is fixedly connected.The arm telescope motor frame of a telescopic arm is fixedly connected with the arm link of each telescoping mechanism,
Two telescopic arms are symmetrical arranged on arm telescope motor frame.Using motor as the robot of executive component exist major defect be
In transport has the pipeline of inflammable and explosive property gas, due to remaining flammable explosive gas, the electric spark that motor is produced in pipeline
Great danger may be brought, there is potential safety hazard.
In the prior art, there is a kind of hydraulic pressure creeping motion type pipe robot draw-gear using hydraulic pressure as driving power,
The device is main by stretching out storehouse, promoting storehouse and propelling cylinder to constitute, wherein：Stretch out storehouse main by stretching out storehouse warehouse, stretching out before storehouse
Cang Gai, stretch out storehouse supporting leg, stretch out bin bracket, stretch out storehouse support bar, stretch out storehouse support oil cylinder, synchronous disk, synchronous disk sliding axle and
Cang Gai behind storehouse is stretched out to constitute；Promote storehouse main by promoting storehouse warehouse, promoting Cang Gai before storehouse, promote storehouse supporting leg, promote bin bracket, push away
Cang Gai is constituted behind warehouse entry support bar, propulsion storehouse support oil cylinder, synchronous disk, synchronous disk sliding axle and propulsion storehouse.Drive is used as using hydraulic pressure
The robot of dynamic element is avoided because of the danger that electric spark is brought, but there is hydraulic oil leakage, single unit system heaviness, by property
Poor the shortcomings of.
In addition, also there is a kind of electric-hydraulic combined driving pipe robot in the prior art, the robot includes job order
Member, steering unit, preceding power unit, rear power unit, drive control unit, the robot by turbine in power unit just
Despining driving robot is moved forward and backward, and promotes turbo blade to charge robot using fluid power when robot is short of power, should
The major defect of robot is that turbine is difficult to control, and robot motion has very big randomness.
Thus, the present inventor relies on experience and the practice for being engaged in relevant industries for many years, proposes a kind of Pneumatic pipe robot,
To overcome the defect of prior art.
Utility model content
The purpose of this utility model is to provide a kind of Pneumatic pipe robot, overcomes security present in prior art
The problems such as difference, device are heavy, stability is poor, Pneumatic pipe robot architecture is simple, high by property, and with very high stabilization
Property, reliability and security.
The purpose of this utility model is achieved in that a kind of Pneumatic pipe robot, Pneumatic pipe robot bag
The first noumenon is included, one end of the first noumenon is hinged with the middle pneumatic bindiny mechanism of energy axial stretching, the middle pneumatic
The other end of bindiny mechanism is hinged with the first walking mould that is provided with and can radially stretch on the second body, the first noumenon
It is additionally provided with block, the first noumenon on the first pneumatic support module of energy radial expansion, second body and is provided with energy
The second pneumatic support module of energy radial expansion is additionally provided with the second walking module radially stretched, second body,
The middle pneumatic bindiny mechanism, the first pneumatic support module and the second pneumatic support module with a pneumatic control
System is connected.
In a better embodiment of the present utility model, the middle pneumatic bindiny mechanism includes intermediate warp cylinder,
The intermediate warp cylinder includes the middle cylinders bar of middle cylinders cylinder and sealing slip cap in middle cylinders cylinder, institute
State the first noumenon to be hinged with middle cylinders cylinder, the free end of second body and the middle cylinders bar is hinged, described
Intermediate warp cylinder is connected with the atmospheric control.
In a better embodiment of the present utility model, the middle pneumatic bindiny mechanism also includes guider, institute
The first guide pad that guider is located on the middle cylinders drum outer wall including fixed cover is stated, the guider also includes solid
Surely it is sheathed on the second guide pad on the middle cylinders bar, first guide pad and is fixedly connected with and the middle cylinders
The guide rod that is being arranged in an axially parallel mode and can preventing the middle cylinders bar from being rotated relative to middle cylinders cylinder of cylinder, it is described
The other end of guide rod is worn by second guide pad, and second guide pad can be slided along the guide rod.
In a better embodiment of the present utility model, the first pneumatic support module includes multiple circumferentially uniform
Interval is connected on the first noumenon and along the be radially arranged first support cylinder of the first noumenon, each described first
The free end of support cylinder is fixedly installed non-slipping block, and each first support cylinder is connected in parallel in the pneumatic control system
System；The second pneumatic support module is connected on second body including multiple circumferentially uniform intervals and along described
Two bodies be radially arranged second support cylinder, it is each it is described second support cylinder free end be fixedly installed it is described anti-skidding
Block, each second support cylinder is connected in parallel in the atmospheric control.
In a better embodiment of the present utility model, first walking module includes multiple circumferentially uniform intervals
Be connected on the first noumenon and can radial expansion first connecting rod mechanism, the first connecting rod mechanism includes and described the
One body connection and along the first axially arranged fix bar of the first noumenon, one end of first fix bar is hinged with
First rocking bar, the other end of first fix bar is hinged with the first roller mounting rod, the first roller mounting rod it is another
End, which is hinged with the first roller, the first roller mounting rod, is fixedly hinged with the first sliding block, and first sliding block can be slidably
It is sheathed on first rocking bar；
Second walking module is connected on second body and can radially stretched including multiple circumferentially uniform intervals
The second connecting rod mechanism of contracting is that the second connecting rod mechanism includes being connected with second body and along second body shaft
To the second fix bar of setting, one end of second fix bar is hinged with the second rocking bar, the other end of second fix bar
The second roller mounting rod is hinged with, the other end of the second roller mounting rod is hinged with the second roller, the second roller peace
The second sliding block is fixedly hinged with dress bar, second sliding block can be slidably sheathed on second rocking bar.
In a better embodiment of the present utility model, one end that first rocking bar is hinged with first fix bar
It is provided with first step portion, first rocking bar and is arranged with the first spring, one end of first spring is resisted against described
In one stage portion, the other end of first spring is resisted against on the end face of first sliding block；
Second rocking bar is provided with second step portion, second rocking bar with one end that second fix bar is hinged
Second spring is arranged with, one end of the second spring is resisted against in the second step portion, the other end of the second spring
On the end face for being resisted against second sliding block.
In a better embodiment of the present utility model, the first noumenon include be coaxially disposed and diameter is equal
Multiple first disks, the head rod that two neighboring first disk is set by circumferential uniform intervals is fixedly connected,
Each first support cylinder is arranged on same first disk, and an institute is respectively fixedly connected with each head rod
State first connecting rod mechanism；
Second body includes multiple second disks be coaxially disposed and that diameter is equal, two neighboring described second
The second connecting rod that disk is set by circumferential uniform intervals is fixedly connected, and each second support cylinder is arranged at same described
On second disk, second connecting rod mechanism described in one is respectively fixedly connected with each second connecting rod.
In a better embodiment of the present utility model, set on first disk of the intermediate warp cylinder
The first ear mount is equipped with, first ear mount is by the first hinge in the sealed end of middle cylinders cylinder；In described
Between telescopic cylinder second disk on be provided with the second ear mount, second ear mount is by the second hinge in described
Between cylinder rod free end.
In a better embodiment of the present utility model, the atmospheric control includes controlling each first support
The first direction control valve of cylinder and the second direction control valve for controlling each second support cylinder, the atmospheric control
Also include the third direction control valve for controlling the intermediate warp cylinder.
In a better embodiment of the present utility model, the first direction control valve is the first two-position five-way valve, institute
State be additionally provided with the first air inlet for being provided with and being connected with source of the gas on the first two-position five-way valve, first two-position five-way valve with
First valve port of the rod chamber connection of each first support cylinder and connected with the rodless cavity of each first support cylinder
First row gas port and second exhaust port, first two-position five-way are additionally provided with second valve port, first two-position five-way valve
Valve is in the first working position, and first air inlet is connected with first valve port, second valve port and the first exhaust
Mouth connection, first two-position five-way valve is in the second working position, and first air inlet is connected with second valve port, described
First valve port is connected with the second exhaust port；
The second direction control valve is to be provided with and the gas on the second two-position five-way valve, second two-position five-way valve
The rod chamber being additionally provided with second air inlet of source connection, second two-position five-way valve with each second support cylinder connects
On the 3rd logical valve port and the 4th valve port connected with the rodless cavity of each second support cylinder, second two-position five-way valve
The 3rd exhaust outlet and the 4th exhaust outlet are additionally provided with, second two-position five-way valve is in the first working position, second air inlet
Mouthful connected with the 3rd valve port, the 4th valve port is connected with the 3rd exhaust outlet, second two-position five-way valve is the
During two working positions, second air inlet is connected with the 4th valve port, and the 3rd valve port is connected with the 4th exhaust outlet；
The third direction control valve is to be provided with and the gas on the 3rd two-position five-way valve, the 3rd two-position five-way valve
It is additionally provided with and is connected with the rod chamber of the intermediate warp cylinder on 3rd air inlet of source connection, the 3rd two-position five-way valve
The 5th valve port and the 6th valve port that is connected with the rodless cavity of the intermediate warp cylinder, also set on the 3rd two-position five-way valve
Be equipped with the 5th exhaust outlet and the 6th exhaust outlet, the 3rd two-position five-way valve in the first working position, the 3rd air inlet with
The 5th valve port connection, the 6th valve port is connected with the 5th exhaust outlet, and the 3rd two-position five-way valve is in the second work
When making position, the 3rd air inlet is connected with the 6th valve port, and the 5th valve port is connected with the 6th exhaust outlet.
From the above mentioned, the Pneumatic pipe robot that the utility model is provided has the advantages that：
Pneumatic pipe robot of the present utility model solves using compressed gas as power and is remaining imflammable gas
Pipeline present in safety issue, pneumatic control is reliable in time, improves the stability and reliability of pipeline operations；This reality
Two ends with the first noumenon and the second body of new Pneumatic pipe robot respectively with middle pneumatic bindiny mechanism are hinged, energy
Crooked pipeline is enough passed through, the first noumenon and the second body are symmetrical arranged on middle pneumatic bindiny mechanism, Pneumatic pipe machine
Can be that the first noumenon is located at the front of the direction of motion or the second body is located at the direction of motion in device people's motion process
Front；The walking module connected on the first noumenon and the second body of Pneumatic pipe robot of the present utility model, Neng Goushi
Shi Jinhang radial expansions, it is ensured that the roller of walking module and the real-time abutting contact of inner-walls of duct, can smoothly cross inner-walls of duct
On barrier, and can adapt to the pipeline in different tube diameters, have wide range of applications；Pneumatic pipe machine of the present utility model
People is simple in construction, can realize that modularized design makes, advantageously reduce cost and widely use.
Brief description of the drawings
The following drawings is only intended to, in doing the utility model schematic illustration and explanation, not limit model of the present utility model
Enclose.Wherein：
Fig. 1：For the structural representation of Pneumatic pipe robot of the present utility model.
Fig. 2：For the cross-sectional view of Pneumatic pipe robot of the present utility model.
Fig. 3：For the structural representation of middle pneumatic bindiny mechanism of the present utility model.
Fig. 4：For the structural representation of first connecting rod mechanism of the present utility model.
Fig. 5：For the structural representation of second connecting rod mechanism of the present utility model.
Fig. 6：For the schematic diagram of atmospheric control of the present utility model.
In figure：
100th, Pneumatic pipe robot；
1st, the first noumenon；
11st, the first disk；12nd, head rod；13rd, the first ear mount；14th, the first bearing pin；
2nd, the second body；
21st, the second disk；22nd, the second connecting rod；23rd, the second ear mount；24th, the second bearing pin；
3rd, middle pneumatic bindiny mechanism；
31st, intermediate warp cylinder；311st, middle cylinders cylinder；312nd, middle cylinders bar；
32nd, guider；321st, the first guide pad；322nd, the second guide pad；323rd, guide rod；
41st, the first walking module；
411st, first connecting rod mechanism；
4111st, the first fix bar；4112nd, the first rocking bar；4113rd, the first roller mounting rod；4114th, the first roller；4115、
First sliding block；4116th, first step portion；4117th, the first spring；
42nd, the second walking module；
421st, second connecting rod mechanism；
4211st, the second fix bar；4212nd, the second rocking bar；4213rd, the second roller mounting rod；4214th, the second roller；4215、
Second sliding block；4216th, second step portion；4217th, second spring；
51st, the first pneumatic support module；
511st, the first support cylinder；512nd, non-slipping block；
52nd, the second pneumatic support module；
521st, the second support cylinder；
6th, atmospheric control；
61st, the first two-position five-way valve；
610th, the first air inlet；611st, the first valve port；612nd, the second valve port；613rd, first row gas port；614th, second exhaust
Mouthful；
62nd, the second two-position five-way valve；
620th, the second air inlet；621st, the 3rd valve port；622nd, the 4th valve port；623rd, the 3rd exhaust outlet；624th, the 4th exhaust
Mouthful；
63rd, the 3rd two-position five-way valve；
630th, the 3rd air inlet；631st, the 5th valve port；632nd, the 6th valve port；633rd, the 5th exhaust outlet；634th, the 6th exhaust
Mouthful；
7th, source of the gas；
8th, pipeline.
Embodiment
In order to be more clearly understood to technical characteristic of the present utility model, purpose and effect, now control is illustrated
Embodiment of the present utility model.
As shown in Figures 1 to 6, the utility model provides a kind of Pneumatic pipe robot 100, including the first noumenon 1, first
One end of body 1 be hinged with can axially (axial direction described herein refer to middle pneumatic bindiny mechanism 3 pivot direction of principal axis or
The bearing of trend of person's pipeline) flexible middle pneumatic bindiny mechanism 3, the other end of middle pneumatic bindiny mechanism 3 is hinged with second
Be provided with body 2, the first noumenon 1 can radially (radial direction described herein refer to along the first noumenon 1 radius or diameter it is straight
Line direction) flexible the first walking module 41, be additionally provided with the first noumenon 1 can radial expansion the first pneumatic support module
51, being provided with the second body 2 can radially (radial direction described herein refers to the straight line of radius or diameter along the second body 2
Direction) flexible the second walking module 42, be additionally provided with the second body 2 can radial expansion the second pneumatic support module 52,
Middle pneumatic bindiny mechanism 3, the first pneumatic support module 51 and the second pneumatic support module 52 connect with an atmospheric control 6
Connect.Pneumatic pipe robot of the present utility model is solved using compressed gas as power and is being remained the pipe of imflammable gas
Safety issue present in road, pneumatic control is reliable in time, improves the stability and reliability of pipeline operations；This practicality is new
Two ends of the first noumenon and the second body of the Pneumatic pipe robot of type respectively with middle pneumatic bindiny mechanism are hinged, Neng Goushun
Profit passes through crooked pipeline；The walking mould connected on the first noumenon and the second body of Pneumatic pipe robot of the present utility model
Block, radial expansion can be carried out in real time, it is ensured that walking module and the real-time abutting contact of inner-walls of duct, smoothly can be got in piping
Barrier on wall, and the pipeline in different tube diameters is can adapt to, have wide range of applications；Pneumatic pipe machine of the present utility model
Device people is simple in construction, can realize that modularized design makes, advantageously reduce cost and widely use.
Further, as shown in figure 1, middle pneumatic bindiny mechanism 3 includes intermediate warp cylinder 31, intermediate warp cylinder 31 is wrapped
Include the middle cylinders bar 312 of middle cylinders cylinder 311 and sealing slip cap in middle cylinders cylinder 311, the first noumenon 1 and centre
Cylinder barrel 311 is hinged, and the free end of the second body 2 and middle cylinders bar 312 is hinged, and intermediate warp cylinder 31 passes through pneumatic line
It is connected with atmospheric control 6.
Further, as shown in Figure 1, Figure 3, middle pneumatic bindiny mechanism 3 also includes guider 32, and guider 32 includes
First guide pad 321 of the fixed cover on middle cylinders 311 outer walls of cylinder, guider 32 also includes fixed cover and is located at middle gas
It is fixedly connected with and is set with the axially in parallel of middle cylinders cylinder 311 on the second guide pad 322 in cylinder rod 312, the first guide pad 321
Guide rod 323 that is putting and can preventing middle cylinders bar 312 from being rotated relative to middle cylinders cylinder 311, the other end of guide rod 323
Wear by the second guide pad 322, the second guide pad 322 can be slided along guide rod 323.
Further, as shown in Figure 1 and Figure 2, the first noumenon 1 can be cylindrical-shaped structure, and the first pneumatic support module 51 includes
Multiple circumferentially (circumference described herein refers to the circumferencial direction of the first noumenon 1) uniform intervals be connected on the first noumenon 1 and
Along the be radially arranged first support cylinder 511 of the first noumenon 1, in a specific embodiment of the present utility model, the first support
The quantity of cylinder 511 is 3, and the circumferential angle between adjacent first support cylinder 511 is 120 °；Each first support cylinder 511
Free end be fixedly installed non-slipping block 512, each first support cylinder 511 is connected in parallel in atmospheric control 6；In this implementation
In mode, cylinder barrel being radially arranged and being fixedly connected on the first noumenon 1 along the first noumenon 1 of the first support cylinder 511, the
The piston rod of one support cylinder 511 can be moved along the radial expansion of the first noumenon 1, and first supports oneself of the piston rod of cylinder 511
Non-slipping block 512 is set by end.In the present embodiment, non-slipping block 512 is anti-skidding blob of viscose, when the first pneumatic support module 51 of needs
When being fixedly supported on the inwall of pipeline 8, first support cylinder 511 piston rod extend radially out, by non-slipping block 512 hold out against against
On the inwall of pipeline 8, it is to avoid relative slide occurs in motion between the inwall of pipeline 8 for Pneumatic pipe robot 100.
Second body 2 can be cylindrical-shaped structure, and the second pneumatic support module 52 includes multiple circumferentially (described herein
Circumferentially referring to the circumferencial direction of the second body 2) uniform intervals are connected to being radially arranged on the second body 2 and along the second body 2
Second support cylinder 521, in a specific embodiment of the present utility model, second support cylinder 521 quantity be 3, phase
Neighbour second supports the circumferential angle between cylinder 521 to be 120 °；The free end of each second support cylinder 521 is fixedly installed anti-skidding
Block 512, each second support cylinder 521 is connected in parallel in atmospheric control 6.In the present embodiment, the second support cylinder 521
Cylinder barrel being radially arranged and being fixedly connected on the second body 2 along the second body 2, second support cylinder 521 piston rod energy
Moved along the radial expansion of the second body 2, the free end of the piston rod of the second support cylinder 521 sets non-slipping block 512.Work as needs
When second pneumatic support module 52 is fixedly supported on the inwall of pipeline 8, the piston rod of the second support cylinder 521 is extended radially out,
Non-slipping block 512 is held out against and is resisted against on the inwall of pipeline 8, it is to avoid Pneumatic pipe robot 100 motion when and the inwall of pipeline 8 it
Between occur relative slide.
Further, as shown in Figure 1, Figure 2, Figure 4 shows, the first walking module 41 is connected to including multiple circumferentially uniform intervals
On one body 1 and can radial expansion first connecting rod mechanism 411, first connecting rod mechanism 411 include be connected with the first noumenon 1,
And along the first axially arranged fix bar 4111 of the first noumenon 1, one end of the first fix bar 4111 is hinged with the first rocking bar 4112,
The other end of first fix bar 4111 is hinged with the first roller mounting rod 4113, and the other end of the first roller mounting rod 4113 is hinged
Have in the first roller 4114, the motion process of Pneumatic pipe robot 100, the inwall of the first roller 4114 and pipeline 8 is in rolling contact；
The first sliding block 4115 is fixedly hinged with first roller mounting rod 4113, the first sliding block 4115 can slidably be sheathed on the first rocking bar
On 4112, slide block mechanism is constituted；First connecting rod mechanism 411 is the delta link mechanism (i.e. slide block mechanism) of the variable length of side,
By adjusting the installation site of the first rocking bar 4112, the first roller mounting rod 4113 in the first fix bar 4111, it can adjust
The length of side of first connecting rod mechanism 411, changes the axial dimension and radial dimension of first connecting rod mechanism 411, so that Pneumatic pipe
Robot 100 adapts to job requirements in the pipeline of different tube diameters.First sliding block 4115 can be slided along the first rocking bar 4112, can be with
The radial dimension of micro-adjustment of first connecting rod mechanism 411 is realized, so as to ensure that the first walking module 41 can adapt to pipeline 8 in real time
The caliber change (such as occurring the situation of barrier on inner-walls of duct) inside occurred temporarily.In of the present utility model one specific implementation
In example, the quantity of first connecting rod mechanism 411 is that circumferential angle between 3, adjacent first connecting rod mechanism 411 is 120 °, 3 the
The supporting construction of closing, 3 first are constituted between first walking module 41 of one linkage 411 formation and the inwall of pipeline 8
Linkage 411 causes Pneumatic pipe robot 100 to remain attitude stabilization in motion process.
As shown in Figure 1, Figure 2, Figure 5, the second walking module 42 is connected to the second body 2 including multiple circumferentially uniform intervals
It is upper and can radial expansion second connecting rod mechanism 421, it is that second connecting rod mechanism 421 includes being connected with the second body 2 and along the
The second axially arranged fix bar 4211 of two bodies 2, one end of the second fix bar 4211 is hinged with the second rocking bar 4212, and second consolidates
The other end of fixed pole 4211 is hinged with the second roller mounting rod 4213, and the other end of the second roller mounting rod 4213 is hinged with second
In roller 4214, the motion process of Pneumatic pipe robot 100, the inwall of the second roller 4214 and pipeline 8 is in rolling contact；Second rolling
The second sliding block 4215 is fixedly hinged with wheel mounting rod 4213, the second sliding block 4215 can slidably be sheathed on the second rocking bar 4212
On, constitute slide block mechanism.Second connecting rod mechanism 421 is identical with first connecting rod mechanism 411 structural principle, length of side adjustment mode
It is identical, in the present embodiment, in order to improve the modularized design degree of Pneumatic pipe robot 100, second connecting rod mechanism 421
Identical structure is used with first connecting rod mechanism 411.In a specific embodiment of the present utility model, second connecting rod mechanism 421
Quantity be 3, the circumferential angle between adjacent second connecting rod mechanism 421 is 120 °, 3 formation of second connecting rod mechanisms 421
The supporting construction of closing is constituted between second walking module 42 and the inwall of pipeline 8,3 second connecting rod mechanisms 421 cause pneumatic
Pipe robot 100 remains attitude stabilization in motion process.
Further, as shown in figure 4, one end that the first rocking bar 4112 and the first fix bar 4111 are hinged is provided with first step
The first spring 4117 is arranged with portion 4116, the first rocking bar 4112, one end of the first spring 4117 is resisted against first step portion
On 4116, the other end of the first spring 4117 is resisted against on the end face of the first sliding block 4115；In the restoring force of the first spring 4117
Under effect, the first sliding block 4115 promotes the first roller mounting rod 4113 so that the first roller 4114 compresses the inwall of pipeline 8, protects
Demonstrate,prove in motion process, central axis of the Pneumatic pipe robot 100 along pipeline 8 is moved, while the first spring 4117 has damping
Effect so that Pneumatic pipe robot 100 is more steady in motion process.
As shown in figure 5, one end that the second rocking bar 4212 and the second fix bar 4211 are hinged is provided with second step portion 4216,
Second spring 4217 is arranged with second rocking bar 4212, one end of second spring 4217 is resisted against in second step portion 4216, the
The other end of two springs 4217 is resisted against on the end face of the second sliding block 4215；Under the restoring force effect of second spring 4217, the
Two sliding blocks 4215 promote the second roller mounting rod 4213 so that the second roller 4214 compresses the inwall of pipeline 8, it is ensured that motion process
In, central axis of the Pneumatic pipe robot 100 along pipeline 8 is moved, while second spring 4217 has cushioning effect so that gas
Dynamic pipe robot 100 is more steady in motion process.
Further, as shown in figure 1, the first noumenon 1 includes multiple first disks 11 be coaxially disposed and that diameter is equal,
In a specific embodiment of the present utility model, the quantity of the first disk 11 is 3；Two neighboring first disk 11 passes through circumference
The head rod 12 that uniform intervals are set is fixedly connected, mounting distance between multiple first disks 11 (i.e. head rod
12 length) it can be adjusted according to actual use demand, so as to change the entire length chi of Pneumatic pipe robot 100
It is very little, add the flexibility that Pneumatic pipe robot 100 changes on length dimension., can be solid with first in order to simplify structure
Fixed pole 4111 completes being fixedly connected for adjacent first disk 11 instead of head rod 12；Each first support cylinder 511 is arranged at
On same first disk 11, a first connecting rod mechanism 411 is respectively fixedly connected with each head rod 12；
Second body 2 includes multiple second disks 21 be coaxially disposed and that diameter is equal, in of the present utility model one tool
In body embodiment, the quantity of the second disk 21 is 3；Two neighboring second disk 21 set by circumferential uniform intervals second
Connecting rod 22 is fixedly connected, and the mounting distance between multiple second disks 21 can be adjusted according to actual use demand, be
Simplified structure, can complete being fixedly connected for adjacent second disk 21 with the second fix bar 4211 instead of second connecting rod 22；
Each second support cylinder 521 is arranged on same second disk 21, and one second company is respectively fixedly connected with each second connecting rod 22
Linkage 421.In the present embodiment, in order to improve the modularized design degree of Pneumatic pipe robot 100, the second body 2
Identical structure is used with the first noumenon 1, and on the axially symmetric setting of middle pneumatic bindiny mechanism 3, Pneumatic pipe machine
Can be that the first noumenon 1 is located at the front of the direction of motion or the second body 2 is located at motion side in the motion process of people 100
To front.
Further, as shown in figure 1, being provided with the first ear mount 13 on the first disk 11 of intermediate warp cylinder 31, the
One ear mount 13 is articulated with the sealed end of middle cylinders cylinder 311 by the first bearing pin 14, realizes the first noumenon 1 and connects with middle pneumatic
Connection mechanism 3 is hinged；The second ear mount 23 is provided with the second disk 21 of intermediate warp cylinder 31, the second ear mount 23 passes through
Second bearing pin 24 is articulated with the free end of middle cylinders bar 312, realizes the second body 2 and the hinge of middle pneumatic bindiny mechanism 3
Connect.The first noumenon 1, the second body 2 are hinged with middle pneumatic bindiny mechanism 3, are easy to Pneumatic pipe robot 100 in bending
Steering in pipeline.
Further, the support of intermediate warp cylinder 31, first cylinder 511 and second support cylinder 521 is single rod double cropping
Use piston-cylinder.
Further, as shown in fig. 6, atmospheric control 6 includes controlling the first direction control of each first support cylinder 511
Valve and the second direction control valve for controlling each second support cylinder 521, atmospheric control also include control intermediate warp cylinder
31 third direction control valve.In a specific embodiment of the present utility model, first direction control valve is the first two-position five-way
Valve 61, in the present embodiment, the first two-position five-way valve 61 are to be provided with and gas on solenoid electric valve, the first two-position five-way valve 61
The rod chamber with each first support cylinder 511 is additionally provided with the first air inlet 610 that source 7 is connected, the first two-position five-way valve 61
First valve port 611 of connection and the second valve port 612 connected with the rodless cavity of each first support cylinder 511, the first two-position five-way
First row gas port 613 and second exhaust port 614 are additionally provided with valve 61, the first two-position five-way valve 61 is in the first working position (in Fig. 6
Right position) when, the first air inlet 610 is connected with the first valve port 611, and the second valve port 612 is connected with first row gas port 613, first
Two-position five-way valve 61 is at the second working position (the left position in Fig. 6), and the first air inlet 610 is connected with the second valve port 612, the first valve
Mouth 611 is connected with second exhaust port 614；
Second direction control valve is the second two-position five-way valve 62, in the present embodiment, and the second two-position five-way valve 62 is electricity
The second air inlet 620 being connected with source of the gas 7, the second two-position five-way valve 62 are provided with magnetic control valve, the second two-position five-way valve 62
On be additionally provided with the 3rd valve port 621 that connect of rod chamber of each second support cylinder 521 and support cylinder 521 with each second
The 3rd exhaust outlet 623 and the 4th exhaust outlet are additionally provided with 4th valve port 622 of rodless cavity connection, the second two-position five-way valve 62
624, the second two-position five-way valve 62 is at the first working position (the right position in Fig. 6), and the second air inlet 620 connects with the 3rd valve port 621
Logical, the 4th valve port 622 is connected with the 3rd exhaust outlet 623, and the second two-position five-way valve 62 is in the second working position (the left position in Fig. 6)
When, the second air inlet 620 is connected with the 4th valve port 622, and the 3rd valve port 621 is connected with the 4th exhaust outlet 624；
Third direction control valve is the 3rd two-position five-way valve 63, in the present embodiment, and the 3rd two-position five-way valve 63 is electricity
The 3rd air inlet 630 being connected with source of the gas 7, the 3rd two-position five-way valve 63 are provided with magnetic control valve, the 3rd two-position five-way valve 63
On be additionally provided with the 5th valve port 631 that is connected with the rod chamber of intermediate warp cylinder 31 and the rodless cavity with intermediate warp cylinder 31
The 5th exhaust outlet 633 and the 6th exhaust outlet 634, the 3rd are additionally provided with 6th valve port 632 of connection, the 3rd two-position five-way valve 63
Two-position five-way valve 63 is at the first working position (the right position in Fig. 6), and the 3rd air inlet 630 is connected with the 5th valve port 631, the 6th valve
Mouth 632 is connected with the 5th exhaust outlet 633, and the 3rd two-position five-way valve 63 is at the second working position (the left position in Fig. 6), the 3rd air inlet
Mouth 630 is connected with the 6th valve port 632, and the 5th valve port 631 is connected with the 6th exhaust outlet 634.
When carrying out pipeline operations using Pneumatic pipe robot 100 of the present utility model, first according to the inside feelings of pipeline 8
The axial distance that condition determines axial distance between the first adjacent disk 11 between the second adjacent disk 21, according to pipeline
8 internal diameter adjusts the first walking module 41 (each first connecting rod mechanism 411), (each second connecting rod mechanism of the second walking module 42
421) radial dimension, completes the assembling of Pneumatic pipe robot 100.After assembling, Pneumatic pipe robot 100 is placed in pipeline
In 8, the second body 2 is located at the front of the direction of motion of Pneumatic pipe robot 100, and each first is controlled by atmospheric control 6
(the first two-position five-way valve 61 is located at the second working position, and the first air inlet 610 passes through second for the piston rod stretching of support cylinder 511
Valve port 612 is connected with the rodless cavity of each first support cylinder 511, and the rod chamber of each first support cylinder 511 passes through the first valve port
611 connect with second exhaust port 614, and the piston rod of each first support cylinder 511 stretches out), the first pneumatic support module 51 is compressed
On the inwall for being resisted against pipeline 8, the piston rod for controlling each second support cylinder 521 by atmospheric control 6 withdraws the (the 2nd 2
Position five-way valve 62 is located at the first working position, and the second air inlet 620 supports having for cylinder 521 by the 3rd valve port 621 with each second
Rod cavity is connected, and the rodless cavity of each second support cylinder 521 is connected by the 4th valve port 622 with the 3rd exhaust outlet 623, each second
The piston rod for supportting cylinder 521 is withdrawn), now, the middle cylinders bar of intermediate warp cylinder 31 is controlled by atmospheric control 6
(the 3rd two-position five-way valve 63 is located at the second working position, and the 3rd air inlet 630 passes through the 6th valve port 632 and intermediate warp for 312 stretchings
The rodless cavity connection of cylinder 31, the rod chamber of intermediate warp cylinder 31 is connected by the 5th valve port 631 with the 6th exhaust outlet 634,
The middle cylinders bar 312 of intermediate warp cylinder 31 stretches out), middle cylinders bar 312 promotes the second body 2 to reach during stretching out
It is dynamic, complete after intermediate warp 31 1 strokes of cylinder, the piston of each second support cylinder 521 is controlled by atmospheric control 6
(the second two-position five-way valve 62 is located at the second working position, and the second air inlet 620 passes through the 4th valve port 622 and each second for bar stretching
The rodless cavity connection of cylinder 521 is supportted, the rod chamber of each second support cylinder 521 passes through the 3rd valve port 621 and the 4th exhaust outlet 624
Connection, the piston rod of each second support cylinder 521 stretches out), the second pneumatic support module 52 compresses the inwall for being resisted against pipeline 8
On, controlling the piston rod of each first support cylinder 511 to withdraw by atmospheric control 6, (the first two-position five-way valve 61 is located at the
One working position, the first air inlet 610 is connected by the first valve port 611 with the rod chamber of each first support cylinder 511, each first
The rodless cavity of support cylinder 511 is connected by the second valve port 612 with first row gas port 613, the piston rod of each first support cylinder 511
Withdraw), now, the middle cylinders bar 312 for controlling intermediate warp cylinder 31 by atmospheric control 6 withdraws (the three or two five
Port valve 63 is located at the first working position, and the 3rd air inlet 630 is connected by the rod chamber of the 5th valve port 631 and intermediate warp cylinder 31
Logical, the rodless cavity of intermediate warp cylinder 31 is connected by the 6th valve port 632 with the 5th exhaust outlet 633, intermediate warp cylinder 31
Middle cylinders bar 312 is withdrawn) because the free end of middle cylinders bar 312 and the second body being fixedly supported on the inwall of pipeline 8
2 fixations are hinged, and the relative duct size 8 of middle cylinders bar 312 is motionless, and the middle cylinders cylinder 311 of intermediate warp cylinder 31 travels forward, complete
Into the withdrawal of middle cylinders bar 312, middle cylinders cylinder 311 pulls the first noumenon 1 to travel forward while travelling forward, pneumatic tube
Pipeline robot 100 is completed after the completion of the vermicular movement of a cycle, a cycle, what Pneumatic pipe robot 100 was moved forward
Distance is a stroke of intermediate warp cylinder 31.Pneumatic pipe robot 100 completes pipe by the vermicular movement in multiple cycles
Operation in road 8.
In the operation process of Pneumatic pipe robot 100, the first noumenon 1 can also be made to be transported positioned at Pneumatic pipe robot 100
The front in dynamic direction, the piston rod for controlling each second support cylinder 521 by atmospheric control 6 stretches out (the second two-position five-way
Valve 62 is located at the second working position), the second pneumatic support module 52 is compressed and is resisted against on the inwall of pipeline 8, passes through pneumatic control system
The piston rod of each first support cylinder 511 of the control of system 6 withdraws (the first two-position five-way valve 61 is located at the first working position), now, leads to
The middle cylinders bar 312 for crossing the control of atmospheric control 6 intermediate warp cylinder 31 stretches out that (the 3rd two-position five-way valve 63 is located at second
Working position) it is hinged because the free end of middle cylinders bar 312 is fixed with the second body 2 being fixedly supported on the inwall of pipeline 8,
The relative duct size 8 of middle cylinders bar 312 is motionless, and the middle cylinders cylinder 311 of intermediate warp cylinder 31 travels forward, and completes middle cylinders
The stretching of bar 312, middle cylinders cylinder 311 promotes the first noumenon 1 to travel forward while travelling forward, and completes intermediate warp cylinder
After 31 1 strokes, the piston rod for controlling each first support cylinder 511 by atmospheric control 6 stretches out (the first two-position five-way
Valve 61 is located at the second working position), the first pneumatic support module 51 is compressed and is resisted against on the inwall of pipeline 8, passes through pneumatic control system
The piston rod of each second support cylinder 521 of the control of system 6 withdraws (the second two-position five-way valve 62 is located at the first working position), now, leads to
The middle cylinders bar 312 for crossing the control of atmospheric control 6 intermediate warp cylinder 31 withdraws that (the 3rd two-position five-way valve 63 is located at first
Working position), middle cylinders bar 312 pulls the second body 2 to move forward during withdrawing, and Pneumatic pipe robot 100 completes one
After the completion of the vermicular movement in individual cycle, a cycle, the distance that Pneumatic pipe robot 100 is moved forward is intermediate warp cylinder
31 stroke.Pneumatic pipe robot 100 completes the operation in pipeline 8 by the vermicular movement in multiple cycles.
Pneumatic pipe robot of the present utility model solves using compressed gas as power and is remaining imflammable gas
Pipeline present in safety issue, pneumatic control is reliable in time, improves the stability and reliability of pipeline operations；This reality
Two ends with the first noumenon and the second body of new Pneumatic pipe robot respectively with middle pneumatic bindiny mechanism are hinged, energy
Crooked pipeline is enough passed through, the first noumenon and the second body are symmetrical arranged on middle pneumatic bindiny mechanism, Pneumatic pipe machine
Can be that the first noumenon is located at the front of the direction of motion or the second body is located at the direction of motion in device people's motion process
Front；The walking module connected on the first noumenon and the second body of Pneumatic pipe robot of the present utility model, Neng Goushi
Shi Jinhang radial expansions, it is ensured that the roller of walking module and the real-time abutting contact of inner-walls of duct, can smoothly cross inner-walls of duct
On barrier, and can adapt to the pipeline in different tube diameters, have wide range of applications；Pneumatic pipe machine of the present utility model
People is simple in construction, can realize that modularized design makes, advantageously reduce cost and widely use.
The schematical embodiment of the utility model is the foregoing is only, model of the present utility model is not limited to
Enclose.Any those skilled in the art, the made equivalent change on the premise of design of the present utility model and principle is not departed from
Change and change, the scope of the utility model protection all should be belonged to.
Claims (10)
1. a kind of Pneumatic pipe robot, it is characterised in that the Pneumatic pipe robot includes the first noumenon, the first
One end of body is hinged with the middle pneumatic bindiny mechanism of energy axial stretching, and the other end of the middle pneumatic bindiny mechanism is hinged with
It is provided with the first walking module that can radially stretch, the first noumenon and also sets up on second body, the first noumenon
There is the second walking mould that is provided with and can radially stretch on the first pneumatic support module of energy radial expansion, second body
The second pneumatic support module of energy radial expansion, the middle pneumatic bindiny mechanism, institute are additionally provided with block, second body
State the first pneumatic support module and the second pneumatic support module is connected with an atmospheric control.
2. Pneumatic pipe robot as claimed in claim 1, it is characterised in that the middle pneumatic bindiny mechanism includes centre
Telescopic cylinder, the intermediate warp cylinder includes the centre of middle cylinders cylinder and sealing slip cap in middle cylinders cylinder
Cylinder rod, the first noumenon is hinged with middle cylinders cylinder, the free end of second body and the middle cylinders bar
It is hinged, the intermediate warp cylinder is connected with the atmospheric control.
3. Pneumatic pipe robot as claimed in claim 2, it is characterised in that the middle pneumatic bindiny mechanism also includes leading
To device, the guider includes first guide pad of the fixed cover on the middle cylinders drum outer wall, the guiding dress
Putting also includes being fixedly connected with and institute on the second guide pad of the fixed cover on the middle cylinders bar, first guide pad
State the being arranged in an axially parallel mode of middle cylinders cylinder and the middle cylinders bar can be prevented relative to leading that middle cylinders cylinder is rotated
To bar, the other end of the guide rod is worn by second guide pad, and second guide pad can be slided along the guide rod
It is dynamic.
4. Pneumatic pipe robot as claimed in claim 2, it is characterised in that the first pneumatic support module includes multiple
Circumferentially uniform intervals are connected on the first noumenon and along the be radially arranged first support cylinder of the first noumenon,
The free end of each first support cylinder is fixedly installed non-slipping block, and each first support cylinder is connected in parallel in the gas
Autocontrol system；The second pneumatic support module be connected to including multiple circumferentially uniform intervals on second body and
Along the be radially arranged second support cylinder of second body, the free end of each second support cylinder is fixedly installed
Non-slipping block is stated, each second support cylinder is connected in parallel in the atmospheric control.
5. Pneumatic pipe robot as claimed in claim 4, it is characterised in that first walking module includes multiple along week
Be connected to uniform intervals on the first noumenon and can radial expansion first connecting rod mechanism, first connecting rod mechanism bag
Include being connected with the first noumenon and along the first axially arranged fix bar of the first noumenon, first fix bar
One end is hinged with the first rocking bar, and the other end of first fix bar is hinged with the first roller mounting rod, the first roller peace
The other end of dress bar, which is hinged with the first roller, the first roller mounting rod, is fixedly hinged with the first sliding block, and described first slides
Block can be slidably sheathed on first rocking bar；
Second walking module includes multiple circumferentially uniform intervals and is connected on second body and can radial expansion
Second connecting rod mechanism, the second connecting rod mechanism include be connected with second body and axially set along second body
The second fix bar put, one end of second fix bar is hinged with the second rocking bar, and the other end of second fix bar is hinged
There is the second roller mounting rod, the other end of the second roller mounting rod is hinged with the second roller, the second roller mounting rod
On be fixedly hinged with the second sliding block, second sliding block can be slidably sheathed on second rocking bar.
6. Pneumatic pipe robot as claimed in claim 5, it is characterised in that first rocking bar and first fix bar
The one end being hinged, which is provided with first step portion, first rocking bar, is arranged with the first spring, and one end of first spring is supported
It is against in the first step portion, the other end of first spring is resisted against on the end face of first sliding block；
Second rocking bar is provided with second step portion, second rocking bar with one end that second fix bar is hinged and is arranged
Have second spring, one end of the second spring is resisted against in the second step portion, the other end of the second spring against
In on the end face of second sliding block.
7. Pneumatic pipe robot as claimed in claim 5, it is characterised in that the first noumenon include it is being coaxially disposed,
And equal multiple first disks of diameter, the head rod that two neighboring first disk is set by circumferential uniform intervals
It is fixedly connected, each first support cylinder is arranged on same first disk, solid respectively on each head rod
Surely first connecting rod mechanism described in one is connected；
Second body includes multiple second disks be coaxially disposed and that diameter is equal, two neighboring second disk
The second connecting rod set by circumferential uniform intervals is fixedly connected, and each second support cylinder is arranged at same described second
On disk, second connecting rod mechanism described in one is respectively fixedly connected with each second connecting rod.
8. Pneumatic pipe robot as claimed in claim 7, it is characterised in that close to described the of the intermediate warp cylinder
The first ear mount is provided with one disk, first ear mount is by the first hinge in the sealed end of middle cylinders cylinder；
The second ear mount is provided with second disk of the intermediate warp cylinder, second ear mount is cut with scissors by the second bearing pin
It is connected to the free end of the middle cylinders bar.
9. Pneumatic pipe robot as claimed in claim 4, it is characterised in that the atmospheric control includes controlling each institute
State the first direction control valve of the first support cylinder and control the second direction control valve of each second support cylinder, the gas
Autocontrol system also includes the third direction control valve for controlling the intermediate warp cylinder.
10. Pneumatic pipe robot as claimed in claim 9, it is characterised in that the first direction control valve is the one or two
The first air inlet being connected with source of the gas, first two-position five-way valve are provided with position five-way valve, first two-position five-way valve
On be additionally provided with the first valve port for connect of rod chamber of each first support cylinder and support cylinder with each described first
First row gas port and second exhaust port are additionally provided with second valve port of rodless cavity connection, first two-position five-way valve, it is described
First two-position five-way valve is in the first working position, and first air inlet is connected with first valve port, second valve port with
The first row gas port connection, first two-position five-way valve is in the second working position, first air inlet and described second
Valve port is connected, and first valve port is connected with the second exhaust port；
The second direction control valve is to be provided with to connect with the source of the gas on the second two-position five-way valve, second two-position five-way valve
It is additionally provided with what is connected with the rod chamber of each second support cylinder on the second air inlet connect, second two-position five-way valve
Also set on 3rd valve port and the 4th valve port connected with the rodless cavity of each second support cylinder, second two-position five-way valve
Be equipped with the 3rd exhaust outlet and the 4th exhaust outlet, second two-position five-way valve in the first working position, second air inlet with
The 3rd valve port connection, the 4th valve port is connected with the 3rd exhaust outlet, and second two-position five-way valve is in the second work
When making position, second air inlet is connected with the 4th valve port, and the 3rd valve port is connected with the 4th exhaust outlet；
The third direction control valve is to be provided with to connect with the source of the gas on the 3rd two-position five-way valve, the 3rd two-position five-way valve
Connected with the rod chamber of the intermediate warp cylinder is additionally provided with the 3rd air inlet connect, the 3rd two-position five-way valve
It is additionally provided with five valve ports and the 6th valve port connected with the rodless cavity of the intermediate warp cylinder, the 3rd two-position five-way valve
5th exhaust outlet and the 6th exhaust outlet, the 3rd two-position five-way valve in the first working position, the 3rd air inlet with it is described
5th valve port is connected, and the 6th valve port is connected with the 5th exhaust outlet, and the 3rd two-position five-way valve is in the second working position
When, the 3rd air inlet is connected with the 6th valve port, and the 5th valve port is connected with the 6th exhaust outlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720098165.6U CN206514004U (en) | 2017-01-23 | 2017-01-23 | Pneumatic pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720098165.6U CN206514004U (en) | 2017-01-23 | 2017-01-23 | Pneumatic pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206514004U true CN206514004U (en) | 2017-09-22 |
Family
ID=59866092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720098165.6U Active CN206514004U (en) | 2017-01-23 | 2017-01-23 | Pneumatic pipe robot |
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| Country | Link |
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| CN (1) | CN206514004U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN109131623A (en) * | 2018-09-30 | 2019-01-04 | 北京史河科技有限公司 | robot |
| CN110877254A (en) * | 2019-12-09 | 2020-03-13 | 江苏亿豪塑业股份有限公司 | Polytetrafluoroethylene pipe coupler with inner leveling function |
| CN110960178A (en) * | 2019-12-02 | 2020-04-07 | 南京航空航天大学 | Capsule type robot |
| CN114001677A (en) * | 2021-11-05 | 2022-02-01 | 中建八局新型建造工程有限公司 | Device and method for measuring central shaft deviation of butt-jointed pipelines with different diameters |
| CN114378071A (en) * | 2022-01-19 | 2022-04-22 | 杨清哲 | Wisdom water utilities pipeline inner wall deposit cleaning device |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN117600186A (en) * | 2024-01-23 | 2024-02-27 | 成都理工大学 | Pipeline dredging robot |
| CN114001677B (en) * | 2021-11-05 | 2024-05-10 | 中建八局新型建造工程有限公司 | Central shaft deviation measuring device and measuring method for butt-joint pipelines with different diameters |
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2017
- 2017-01-23 CN CN201720098165.6U patent/CN206514004U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN109131623A (en) * | 2018-09-30 | 2019-01-04 | 北京史河科技有限公司 | robot |
| CN110960178A (en) * | 2019-12-02 | 2020-04-07 | 南京航空航天大学 | Capsule type robot |
| CN110877254A (en) * | 2019-12-09 | 2020-03-13 | 江苏亿豪塑业股份有限公司 | Polytetrafluoroethylene pipe coupler with inner leveling function |
| CN110877254B (en) * | 2019-12-09 | 2020-10-09 | 江苏亿豪塑业股份有限公司 | Polytetrafluoroethylene pipe coupler with inner leveling function |
| CN114001677A (en) * | 2021-11-05 | 2022-02-01 | 中建八局新型建造工程有限公司 | Device and method for measuring central shaft deviation of butt-jointed pipelines with different diameters |
| CN114001677B (en) * | 2021-11-05 | 2024-05-10 | 中建八局新型建造工程有限公司 | Central shaft deviation measuring device and measuring method for butt-joint pipelines with different diameters |
| CN114378071A (en) * | 2022-01-19 | 2022-04-22 | 杨清哲 | Wisdom water utilities pipeline inner wall deposit cleaning device |
| CN115056873A (en) * | 2022-05-31 | 2022-09-16 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN115056873B (en) * | 2022-05-31 | 2023-10-20 | 杭州电子科技大学 | Bionic earthworm robot and advancing method thereof |
| CN117600186A (en) * | 2024-01-23 | 2024-02-27 | 成都理工大学 | Pipeline dredging robot |
| CN117600186B (en) * | 2024-01-23 | 2024-05-03 | 成都理工大学 | Pipeline dredging robot |
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