US 11,708,933 B2
Pipeline radar and television inspection robot
Hongyuan Fang, Henan (CN); Peng Zhao, Henan (CN); Bin Li, Henan (CN); Jianwei Lei, Henan (CN); Chengchao Guo, Henan (CN); Yanhui Pan, Henan (CN); Haijun Li, Henan (CN); Wei Wu, Henan (CN); and Zongsheng Lu, Henan (CN)
Assigned to Zhengzhou University, Henan (CN); and WELEAD Infrastructure Engineering Technology (Zhengzhou), Ltd., Henan (CN)
Filed by Zhengzhou University, Henan (CN); and WELEAD Infrastructure Engineering Technology (Zhengzhou), Ltd., Henan (CN)
Filed on Sep. 24, 2020, as Appl. No. 17/30,404.
Claims priority of application No. 202010111474.9 (CN), filed on Feb. 24, 2020.
Prior Publication US 2021/0010628 A1, Jan. 14, 2021
Int. Cl. F16L 55/40 (2006.01); F16L 55/32 (2006.01); B25J 5/00 (2006.01); E21B 4/16 (2006.01); F17D 5/02 (2006.01); F17D 5/00 (2006.01); F16L 101/30 (2006.01)
CPC F16L 55/40 (2013.01) [B25J 5/007 (2013.01); E21B 4/16 (2013.01); F16L 55/32 (2013.01); F16L 2101/30 (2013.01)] 1 Claim
OG exemplary drawing
 
1. A pipeline radar and television inspection robot, comprising: a robot body, a directional lifting device, a directional rotary device, a directional swing device, a radar, a camera and a driving apparatus;
wherein the directional lifting device is on a front part of the robot body; the directional rotary device is on the directional lifting device; the directional swing device is on the directional rotary device; the radar and the camera are on the directional swing device; the driving apparatus is on a bottom of the robot body;
wherein the directional lifting device is plugged in the robot body by a first disconnect waterproof aviation female plug and male panel socket;
wherein the radar and the camera are plugged in the robot body by a second disconnect waterproof aviation female plug and male panel socket; the robot body electrically connects to cables which electrically connect to a control system;
wherein the directional lifting device further comprises a four-bar linkage connected in a loop, and a first motor; wherein one end of the four-bar linkage is connected to the robot body; the first motor is plugged in the robot body by the first disconnect waterproof aviation female plug and male panel socket;
wherein the directional rotary device further comprises a planetary gear which is mounted and revolves around a second motor; the second motor is set on the four-bar linkage; the second motor electrically connects to the robot body;
wherein the directional swing device further comprises a worm and worm wheel mechanism which is connected to a third motor to transmit force; the third motor is connected to a movable arm of the planetary gear; the third motor electrically connects to the robot body.