CN207661304U - A kind of pipe robot housing unit - Google Patents
A kind of pipe robot housing unit Download PDFInfo
- Publication number
- CN207661304U CN207661304U CN201721257737.7U CN201721257737U CN207661304U CN 207661304 U CN207661304 U CN 207661304U CN 201721257737 U CN201721257737 U CN 201721257737U CN 207661304 U CN207661304 U CN 207661304U
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- motor
- connecting portion
- cylinder
- cross bar
- output shaft
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Abstract
The utility model discloses a kind of pipe robot housing units, include the cylinder for pipe laying robot controller, and cylinder both ends are tightly connected.Controller is loaded in shell, the bottom of shell connect with driving drum, is electrically connected between motor and controller in driving drum, then constitutes integrated piping robot.During pipe detection, two cameras send two images of the same person of shooting to control device for robot, and control device is presented on after handling two captured images on long-range display screen.For various sizes of pipeline, controller controls first motor, the second motor to move two cameras, distance between the two is set to change, ensure that situation can be clearly presented in the pipelines such as captured inner wall of the pipe, barrier, 3-D view three-dimensional sense is strong, various sizes of requirements for pipes can be met, it is adaptable.
Description
Technical field
The utility model is related to a kind of pipe robot housing units.
Background technology
Municipal pipeline environment very severe is easy to happen corrosion and fatigue and destroys or make latent inside pipeline after long-time service
Cause leakage accident etc., especially water class pipeline at breakage in development of defects, is also easy to the accidents such as blocking.Therefore the pipe of pipeline
Interior detection, dredging are a highly important practical engineerings, and detection in pipe at present is removed contamination mostly also using manually being operated,
It is limited by factors such as line size, bad environments, causes great work intensity, working efficiency low, be based on the problem, occur at present
Pipe robot.In the housing, the bottom of shell is connect with driving drum, pipe machine for the controller module setting of pipe robot
It is provided with video camera on device people, in order to which three-dimensional picture is presented, convenient for pipeline inner case is understood more intuitively, needs setting two
Camera needs to adjust the distance between two cameras, existing pipe robot does not have for various sizes of pipeline
The function causes the image definition of shooting poor, influences testing result.
Utility model content
The purpose of this utility model is to provide a kind of pipe robot housing units, solve pipeline machine in the prior art
The shell poor waterproof properties of people, and the distance between two cameras cannot automatically adjust, bad adaptability, lead to the image of shooting
Clarity is poor, the technical issues of influencing testing result.
In order to solve the above-mentioned technical problem the utility model, adopts the following technical scheme that：
A kind of pipe robot housing unit, includes the cylinder for pipe laying robot controller, and cylinder both ends are close
Envelope connection.Controller is loaded in shell, the bottom of shell is connect with driving drum, electric between motor and controller in driving drum
Connection, then constitute integrated piping robot.Because of the particularity of pipe robot working environment, waterproof is entire robot
Key point, shell is no exception, in cylinder once intake, then controller damage.Cylinder plays protection, support and control device
Effect.
It is further improved, the cylinder both ends are respectively arranged with drive end bearing bracket, rear end cap, and drive end bearing bracket, rear end cap are and cylinder
It is tightly connected, by the way that drive end bearing bracket is arranged, rear end cap is easily installed controller, and seperated design, reduces the processing cost of cylinder.
The drive end bearing bracket includes ante-chamber and transparent cover plate, and there are two camera, transparent cover plate sealed sets for setting in ante-chamber
In the front end of cavity, it is electrically connected between camera and controller.When robot advances in the duct, camera captured in real-time pipeline
In scene, and send the host computer on ground to and show, convenient for getting information about the actual conditions in pipeline, pipeline middle ring
Border is complicated.
Be further improved, described two cameras are arranged by three-dimensional image forming apparatus in the ante-chamber of drive end bearing bracket, it is three-dimensional at
As device includes holder, holder is fixed on ante-chamber bottom plate, and the front end of the holder is provided with first motor, first motor output
Axis is horizontally disposed, and cross bar is provided on output shaft, and cross bar and first motor output shaft are perpendicular, and first motor output shaft is located at cross
The center of bar, first motor are both provided with a leading screw along its length in the upright bar per both sides, both ends and the cross bar of lead screw turn
Dynamic connection, two leading screws are coaxially disposed, and sliding block are arranged on leading screw, sliding block is connect with threads of lead screw, and one is provided on each sliding block
A camera and first ultrasonic distance-measuring sensor, the spacing of two cameras to first motors is equal, the first ultrasonic wave
Distance measuring sensor for measure its arrive the distance between first motor output shaft and cross bar intersection point, leading screw far from first motor one
End is fixedly installed the second motor, and the second motor drives leading screw rotation, the rotation direction of two leading screws opposite always；
It is provided with the first rotary encoder on the first motor output shaft, automatic tracing camera is provided on holder,
The second rotary encoder and the second ultrasonic distance-measuring sensor are provided on automatic tracing camera；First motor, the second motor,
Automatic tracing camera, display screen and two cameras are electrically connected between controller；
Using first motor output shaft and cross bar intersection point as origin o, rectangular coordinate system is established；Y-axis indicates camera to first
The distance between motor output shaft and cross bar intersection point, x-axis indicate barrier to the distance at cross bar center, then
Wherein, the unit of y, x are rice；
Two camera movements are controlled by control module so that the image of the same object captured by two cameras passes through
It is rendered as 3-D view after crossing controller processing.
During pipe detection, two cameras send the image of shooting to control device, control device for robot
It is presented on the display screen of host computer after handling two captured images, three-dimensional picture is presented, convenient for intuitive, multi-party
Situation in the observation pipeline of position, it is easy to detect, accurate.For various sizes of pipeline, photographed scene, the first electricity of controller control
Machine makes cross bar drive two camera rotations, realizes to angle shot；Distance according to pipe robot apart from captured object,
Controller controls the second motor and moves two cameras, and distance between the two is made to change, ensure captured by inner wall of the pipe,
Situation can be clearly presented in the pipelines such as barrier, and 3-D view three-dimensional sense is strong, can meet various sizes of requirements for pipes, be adapted to
Property is strong.
It is further improved, cross bar supporting mechanism is provided on the holder, supporting mechanism includes three supporting rods and one
Support ring, three supporting rods are uniformly arranged on around holder, and one end and the holder of supporting rod are connected, the other end of three supporting rods
It is provided with annular brace circle, the output shaft coaxial arrangement of bracing ring and first motor, three supporting rods constitute taper with bracing ring
Frame, concave shape is embedded with ball, the bottom surface of cross bar is contacted with ball at groove to bracing ring upper table downwards in groove；The cross
Card slot is arranged in bar bottom, and the top of part idler wheel is fastened in card slot.
Because cross bar length is longer, in rotation process, stability is poor, provides supporting mechanism, ensures whole device
Stability, setting idler wheel reduce friction, reduce energy consumption.
It is further improved, the cylinder is provided at both ends with internal thread, and external screw thread, cylinder are provided on drive end bearing bracket, rear end cap
Body is threadedly coupled with drive end bearing bracket, rear end cap.It is threadedly coupled, it is easy to disassemble, and connection is firm.
It is further improved, further includes multiple connecting rods, connecting rod is provided at both ends with external screw thread, the edge of the rear end cap
Extend outwardly, forms first connecting portion, multiple through-holes are offered in first connecting portion；The edge of the drive end bearing bracket extends outwardly,
Second connecting portion is formed, multiple through-holes are offered in second connecting portion；In the connecting rod and first connecting portion, second connecting portion
Number of openings it is identical；Each connecting rod sequentially passes through first connecting portion, a corresponding through-hole in second connecting portion, connecting rod
Both ends by nut respectively with first connecting portion, second connecting portion fasten.By be arranged connecting rod, further by drive end bearing bracket,
Rear end cap is connected as entirety with cylinder, increases integral strength, prevents drive end bearing bracket, rear end cap and cylinder from unclamping and even falls off.
It is further improved, further includes at least one support ring, the support ring is set on cylinder, the end of each support ring
Offer multiple through-holes on face, each connecting rod sequentially passes through first connecting portion, support ring, corresponding one in second connecting portion
The both ends of through-hole, connecting rod are fastened with first connecting portion, second connecting portion respectively by nut.Barrel distortion in order to prevent,
Be arranged support ring on cylinder, be similar to anchor ear, improve cylinder strength, prevent from deforming, and by connecting rod by it with drive end bearing bracket, after
End cap is linked together.
It is further improved, the circumferential surface of the support ring offers multiple tapped through holes, by screw by support ring and cylinder
Fastening prevents it from sliding or rotating, improves support effect.
It is further improved, the cylinder, drive end bearing bracket, rear end cap and connecting rod are stainless steel, resin or carbon fiber material, antirust
Erosion, and high strength, service life is long.
It is further improved, handle is provided on the cylinder.Pipe robot total quality passes through compared with light, volume is little
Handle is set, carrying can be carried, conveniently, saved trouble.
It is further improved, the through-hole in the first connecting portion, second connecting portion is stepped hole, and nut is located at stepped hole
In.
Compared with prior art, the utility model has the beneficial effects that：
1, controller is loaded in shell, the bottom of shell is connect with driving drum, in driving drum motor and controller it
Between be electrically connected, then constitute integrated piping robot.Because of the particularity of pipe robot working environment, institute is so waterproof is entire
The key point of robot, shell is no exception, once intaking in cylinder, then controller damages.Cylinder plays protection, support control
The effect of device processed.
2, during pipe detection, two cameras send two images of the same person of shooting to control for robot
Device processed, control device are presented on after handling two captured images on long-range display screen.For different sizes
Pipeline, controller control first motor, the second motor move two cameras, so that distance between the two is changed, guarantee
Situation can be clearly presented in the pipelines such as captured inner wall of the pipe, barrier, and 3-D view three-dimensional sense is strong, can meet different rulers
Very little requirements for pipes, it is adaptable.
Description of the drawings
Fig. 1 is the stereogram of pipe robot housing unit described in the utility model.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the A-A sectional views of Fig. 2.
Fig. 4 is drive end bearing bracket structure chart.
Fig. 5 is rear end cover structure figure.
Fig. 6 is supporting ring structure figure.
Fig. 7 is dual camera three-dimensional image forming apparatus.
Fig. 8 is the left view of Fig. 7.
Fig. 9 is the portions the A enlarged view of Fig. 7.
Specific implementation mode
To keep the purpose of this utility model and technical solution clearer, below in conjunction with the utility model embodiment to this
The technical solution of utility model is clearly and completely described.
As shown in figs 1-9, a kind of pipe robot housing unit includes the cylinder for pipe laying robot controller
1,1 both ends of cylinder are tightly connected.Controller is loaded in shell 1, the bottom of shell 1 is connect with driving drum, electric in driving drum
It is electrically connected between machine and controller, then constitutes integrated piping robot.Because of the particularity of pipe robot working environment, institute of institute
It is the key point of entire robot with waterproof, shell is no exception, once intaking in cylinder, then controller damages.Cylinder rises
To protection, the effect of support and control device.
The cylinder both ends are respectively arranged with drive end bearing bracket 2, rear end cap 3, and drive end bearing bracket 2, rear end cap 3, which are sealed with cylinder 1, to be connected
It connects, by the way that drive end bearing bracket is arranged, rear end cap is easily installed controller, and seperated design, reduces the processing cost of cylinder.
The drive end bearing bracket 2 includes ante-chamber and transparent cover plate 21, is arranged in ante-chamber there are two camera 26, transparent cover plate seals
It is arranged and is electrically connected between the front end of cavity, camera 26 and controller.When robot advances in the duct, camera is clapped in real time
The scene in pipeline is taken the photograph, and sends the host computer on ground to and shows, convenient for getting information about the actual conditions in pipeline, pipe
Environment is complicated in road.
In the present embodiment, as shown in fig. 7, described two cameras 26 are arranged by three-dimensional image forming apparatus 22 in drive end bearing bracket
Ante-chamber in, three-dimensional image forming apparatus 22 includes holder 23, and holder 23 is fixed on ante-chamber bottom plate, the front end setting of the holder 23
There is first motor 32,32 output shaft of first motor is horizontally disposed, and cross bar 24, cross bar 24 and first motor 32 are provided on output shaft
Output shaft is perpendicular, and 32 output shaft of first motor is located at the center of cross bar 24, its length of cross bar 24 upper edge of the first motor per both sides
Degree direction is both provided with a leading screw 34, and both ends and the cross bar of lead screw 34 are rotatablely connected, and two leading screws 34 are coaxially disposed, and are set on leading screw
Sliding block 25 is set, sliding block 25 is threadedly coupled with leading screw 34, and there are one cameras 26 and one first ultrasound for setting on each sliding block 25
The spacing of wave distance measuring sensor 27, two cameras to first motors is equal, and the first ultrasonic distance-measuring sensor is for measuring it
To the distance between first motor output shaft and cross bar intersection point, the one end of leading screw far from first motor is fixedly installed the second motor
11, the second motor 11 drives leading screw 34 to rotate, and the rotation direction of two leading screws 34 is opposite always；
It is provided with the first rotary encoder on 32 output shaft of the first motor, automatic tracing camera shooting is provided on holder 23
First 12, the second rotary encoder and the second ultrasonic distance-measuring sensor 13 are provided on automatic tracing camera 12；First motor,
Second motor, automatic tracing camera, display screen and two cameras are electrically connected between controller；
Using first motor output shaft and cross bar intersection point as origin o, rectangular coordinate system is established；Y-axis indicates camera to first
The distance between motor output shaft and cross bar intersection point, x-axis indicate barrier to the distance at cross bar center, then
Wherein, the unit of y, x are rice；
Two camera movements are controlled by control module so that the image of the same object captured by two cameras passes through
It is rendered as 3-D view after crossing controller processing.
During pipe detection, two cameras send the image of shooting to control device, control device for robot
It is presented on the display screen of host computer after handling two captured images, three-dimensional picture is presented, convenient for intuitive, multi-party
Situation in the observation pipeline of position, it is easy to detect, accurate.For various sizes of pipeline, photographed scene, the first electricity of controller control
Machine makes cross bar drive two camera rotations, realizes to angle shot；Distance according to pipe robot apart from captured object,
Controller controls the second motor and moves two cameras, and distance between the two is made to change, ensure captured by inner wall of the pipe,
Situation can be clearly presented in the pipelines such as barrier, and 3-D view three-dimensional sense is strong, can meet various sizes of requirements for pipes, be adapted to
Property is strong.
In the present embodiment, cross bar supporting mechanism is provided on the holder, supporting mechanism includes three supporting rods 8 and one
Bracing ring 9, three supporting rods 8 are uniformly arranged on around holder 23, and one end and the holder 23 of supporting rod 8 are connected, three supports
The other end of bar is provided with annular brace circle 9, the output shaft coaxial arrangement of bracing ring and first motor, three supporting rods and support
Circle constitutes taper frame, and concave shape is embedded with ball 10, the bottom surface of cross bar and ball at groove to bracing ring upper table downwards in groove
Contact；Card slot is arranged in the cross bar bottom, and the top of part idler wheel is fastened in card slot.
Because cross bar length is longer, in rotation process, stability is poor, provides supporting mechanism, ensures whole device
Stability, setting idler wheel reduce friction, reduce energy consumption.
In the present embodiment, the cylinder 1 is provided at both ends with internal thread, and outer spiral shell is provided on drive end bearing bracket 2, rear end cap 3
Line, cylinder are threadedly coupled with drive end bearing bracket, rear end cap.It is threadedly coupled, it is easy to disassemble, and connection is firm.
In other embodiments, drive end bearing bracket, rear end cap can be flange, be bolted with the both ends of the surface of cylinder, method
It is provided with gasket between blue and body end surface.
In the present embodiment, further include six connecting rods 4, connecting rod 4 is provided at both ends with external screw thread, the rear end cap 3
Edge extend outwardly, form first connecting portion, open up that there are six through-holes in first connecting portion；The edge of the drive end bearing bracket 2 to
Outer extension, forms second connecting portion, opens up that there are six through-holes in second connecting portion；The connecting rod 4 and first connecting portion, second
Number of openings on interconnecting piece is identical；Each connecting rod sequentially pass through first connecting portion, in second connecting portion corresponding one it is logical
The both ends in hole, connecting rod are fastened with first connecting portion, second connecting portion respectively by nut.By the way that connecting rod is arranged, further
Drive end bearing bracket, rear end cap and cylinder are connected as entirety, increase integral strength, prevents drive end bearing bracket, rear end cap and cylinder from unclamping even
It falls off.
In the present embodiment, first connecting portion, second connecting portion edge contour be regular hexagon.In other embodiment
In, can be able to be other shapes with the edge contour of first connecting portion, second connecting portion, connecting rod, the quantity of through-hole can also
For one, two, three, four, five, seven or more.
In the present embodiment, further include two support rings 5, as shown in fig. 6, described two support rings 5 are uniformly set in cylinder
On body 1, multiple through-holes 51 are offered on the end face of each support ring, each connecting rod passes through first connecting portion, support according to 4 times
A corresponding through-hole on ring, second connecting portion, the both ends of connecting rod by nut respectively with first connecting portion, second connecting portion
Fastening.Barrel distortion in order to prevent is arranged support ring on cylinder, is similar to anchor ear, improves cylinder strength, prevents from deforming, and
Itself and drive end bearing bracket, rear end cap are linked together by connecting rod.
In other embodiments, support ring one, three or more.
In the present embodiment, the circumferential surface of the support ring 5 offers multiple tapped through holes 52, by screw by support ring with
Cylinder fastens, and prevents it from sliding or rotating, improves support effect.
In the present embodiment, the cylinder 1, drive end bearing bracket 2, rear end cap 3 and connecting rod 4 be stainless steel, anti-corrosion, and
High strength, service life is long.In other embodiments, it can be resin or carbon fiber.
In the present embodiment, it is provided with handle 6 on the cylinder.Pipe robot total quality leads to compared with light, volume is little
Setting handle is crossed, carrying can be carried, conveniently, saved trouble.
In the present embodiment, the first connecting portion, the through-hole in second connecting portion are stepped hole, and nut is located at stepped hole
In.
Do not done in the utility model illustrate be the prior art or can be realized by the prior art, Er Qieben
The preferable case study on implementation that case is only the utility model is embodied described in utility model, is not used for limiting this practicality
Novel practical range.Equivalent changes and modifications made by i.e. all contents according to present utility model application the scope of the claims, should all make
For the technology scope of the utility model.
Claims (10)
1. a kind of pipe robot housing unit, which is characterized in that include the cylinder for pipe laying robot controller, cylinder
Body both ends are tightly connected.
2. pipe robot housing unit according to claim 1, which is characterized in that the cylinder both ends are respectively arranged with
Drive end bearing bracket, rear end cap, drive end bearing bracket, rear end cap are tightly connected with cylinder；
The drive end bearing bracket includes ante-chamber and transparent cover plate, is arranged in ante-chamber there are two camera, transparent cover plate is sealingly disposed in chamber
The front end of body, is electrically connected between camera and controller.
3. pipe robot housing unit according to claim 2, which is characterized in that described two cameras pass through three-dimensional
Imaging device is arranged in the ante-chamber of drive end bearing bracket, and three-dimensional image forming apparatus includes holder, and holder is fixed on ante-chamber bottom plate, the branch
The front end of frame is provided with first motor, and first motor output shaft is horizontally disposed, and cross bar, cross bar and the first electricity are provided on output shaft
Machine output shaft is perpendicular, and first motor output shaft is located at the center of cross bar, and first motor is square along its length in the upright bar per both sides
To a leading screw is both provided with, both ends and the cross bar of lead screw are rotatablely connected, two leading screw coaxial arrangements, and sliding block is arranged on leading screw, sliding
Block is connect with threads of lead screw, and there are one camera and first ultrasonic distance-measuring sensors for setting on each sliding block, and two are taken the photograph
As the spacing of head to first motor is equal, the first ultrasonic distance-measuring sensor arrives first motor output shaft and cross bar for measuring it
The distance between intersection point, the one end of leading screw far from first motor are fixedly installed the second motor, and the second motor drives leading screw rotation,
The rotation direction of two leading screws is opposite always；
It is provided with the first rotary encoder on the first motor output shaft, automatic tracing camera is provided on holder, automatically
It is provided with the second rotary encoder and the second ultrasonic distance-measuring sensor on tracking camera；It is first motor, the second motor, automatic
Tracking camera, display screen and two cameras are electrically connected between controller；
Using first motor output shaft and cross bar intersection point as origin o, rectangular coordinate system is established；Y-axis indicates camera to first motor
The distance between output shaft and cross bar intersection point, x-axis indicate barrier to the distance at cross bar center, then
Wherein, the unit of y, x are rice；
Two camera movements are controlled by control module so that the image of the same object captured by two cameras is by control
It is rendered as 3-D view after device processing processed.
4. pipe robot housing unit according to claim 3, which is characterized in that be provided with cross bar branch on the holder
Support mechanism, supporting mechanism include three supporting rods and a bracing ring, and three supporting rods are uniformly arranged on around holder, supporting rod
One end and holder be connected, the other end of three supporting rods is provided with annular brace circle, the output shaft of bracing ring and first motor
Coaxial arrangement, three supporting rods and bracing ring constitute taper frame, and concave shape is embedding in groove at groove downwards for bracing ring upper table
There are ball, the bottom surface of cross bar to be contacted with ball；Card slot is arranged in the cross bar bottom, and the top of part idler wheel is fastened in card slot.
5. pipe robot housing unit according to claim 4, which is characterized in that being provided at both ends with for the cylinder is interior
Screw thread is provided with external screw thread on drive end bearing bracket, rear end cap, and cylinder is threadedly coupled with drive end bearing bracket, rear end cap.
6. pipe robot housing unit according to claim 5, which is characterized in that further include multiple connecting rods, connection
Bar is provided at both ends with external screw thread, and the edge of the rear end cap extends outwardly, and forms first connecting portion, is opened up in first connecting portion
There are multiple through-holes；
The edge of the drive end bearing bracket extends outwardly, and forms second connecting portion, multiple through-holes are offered in second connecting portion；
The connecting rod is identical as the number of openings in first connecting portion, second connecting portion；
Each connecting rod sequentially passes through first connecting portion, a corresponding through-hole in second connecting portion, and the both ends of connecting rod pass through
Nut is fastened with first connecting portion, second connecting portion respectively.
7. pipe robot housing unit according to claim 6, which is characterized in that further include at least one support ring,
The support ring is set on cylinder, and multiple through-holes are offered on the end face of each support ring, and each connecting rod sequentially passes through
One interconnecting piece, support ring, a corresponding through-hole in second connecting portion, the both ends of connecting rod are connect with first respectively by nut
Portion, second connecting portion fastening.
8. pipe robot housing unit according to claim 7, which is characterized in that the circumferential surface of the support ring offers
Multiple tapped through holes are fastened support ring and cylinder by screw.
9. pipe robot housing unit according to claim 7, which is characterized in that be provided with handle on the cylinder；
Through-hole in the first connecting portion, second connecting portion is stepped hole, and nut is located in stepped hole.
10. pipe robot housing unit according to claim 7, which is characterized in that the cylinder, drive end bearing bracket, rear end
Lid and connecting rod are stainless steel, resin or carbon fiber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721257737.7U CN207661304U (en) | 2017-09-27 | 2017-09-27 | A kind of pipe robot housing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721257737.7U CN207661304U (en) | 2017-09-27 | 2017-09-27 | A kind of pipe robot housing unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207661304U true CN207661304U (en) | 2018-07-27 |
Family
ID=62935998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721257737.7U Withdrawn - After Issue CN207661304U (en) | 2017-09-27 | 2017-09-27 | A kind of pipe robot housing unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207661304U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107642654A (en) * | 2017-09-27 | 2018-01-30 | 南京管科智能科技有限公司 | A kind of pipe robot housing unit |
| CN115076536A (en) * | 2022-06-08 | 2022-09-20 | 方程 | Identity verification device based on face recognition technology |
-
2017
- 2017-09-27 CN CN201721257737.7U patent/CN207661304U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107642654A (en) * | 2017-09-27 | 2018-01-30 | 南京管科智能科技有限公司 | A kind of pipe robot housing unit |
| CN107642654B (en) * | 2017-09-27 | 2023-07-28 | 南京管科智能科技有限公司 | Pipeline robot shell assembly |
| CN115076536A (en) * | 2022-06-08 | 2022-09-20 | 方程 | Identity verification device based on face recognition technology |
| CN115076536B (en) * | 2022-06-08 | 2023-12-19 | 深圳沃尔克智慧科技有限公司 | Identity verification device based on face recognition technology |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: Room 713-2, Building 2, Zhicheng Park, No. 6 Zhida Road, Jiangbei New District, Nanjing, Jiangsu Province, 211800 Patentee after: NANJING GUANKE INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 210043 Dongjiang Villagers'Committee Building A, Baguazhou Street, Qixia District, Nanjing City, Jiangsu Province, 5-017 Patentee before: NANJING GUANKE INTELLIGENT TECHNOLOGY CO.,LTD. |
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| CP02 | Change in the address of a patent holder | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180727 Effective date of abandoning: 20230728 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180727 Effective date of abandoning: 20230728 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |