Intelligent pipe inner wall walking robot

Intelligent pipe inner wall walking robot

  • CN 106,439,386 A
  • Filed: 10/09/2016
  • Published: 02/22/2017
  • Est. Priority Date: 10/09/2016
  • Status: Active Application
First Claim
Patent Images

1. a kind of intelligent pipeline inwall walking robot, including two bodies (3), it is characterised in that two described bodies (3)Between be attached by universal joint (4), two not connected ends of body (3) are separately installed with Retractive leg structure and vehicle with walking machineStructure;

  • Described Retractive leg structure includes the guide post (7) that installs in each body (3) end and three stand legs (5), describedStand leg (5) is divided into a main frame lower limb and two slave lower limbs, by rotatable side after being connected between two described slave lower limb topsFormula is connected to the end of body (3), and main frame lower limb is directly connected to the end of body (3) in a rotatable manner;

    On each stand leg (5)Spring (9) is provided with, spring (9) is connected to support bar (6) one end by sliding sleeve (8), support bar (6) other end passes through slip sideFormula is arranged on guide post (7);

    Described main frame lower limb bottom is provided with drivewheel (2);

    Slave lower limb bottom is provided with driven pulley (1);

    Control device is equipped with described body (3), described control device includes control module, the signal of control module is defeatedGo out to hold respectively and connect photographic head, velocity sensor, the signal input part of infra-red inspection instrument, control module passes through external electronic deviceRemotely control is carried out, the outfan of the described control module signal of telecommunication connects the motor of drivewheel (2).

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