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申请号:CN201620541732.6公开号:CN205781690U申请日:2016.06.06公开日:2016.12.07申请(专利权)人:西安石油大学发明人:郑杰;郭稚薇;韩璐;杨胜康;薛云;蔡佳平;马梦帆;窦益华;一种便于收拢的自适应管径可转弯多功能式石油管道机器人,包括伸缩腿部件,机体以及导向轮结构,导向轮结构包括两套关于机体左右对称的机构,每套包括在周向均匀分布的万向轮、主动轮一和主动轮二,机体在其左右两侧分别通过三个伸缩腿部件连接万向轮、主动轮一和主动轮二,伸缩腿部件与套在机体的
Application Number 申请 号: CN201620541732 公开 号: CN205781690U Date 申请 日 2016.06.06 发布 日期: 2016.12.07 发布 日期: 2016.12.07 申请 (专利 人工): Xi’an Petroleum University Inventor: Zheng Jie; Guo Chiwei; Han Lu; Yang Shengkang; Xue Yun; Cai Jiaping; MA Meng-fan; DOU Yi-hua; An adaptive pipe diameter turning multifunctional oil pipeline robot which can be easily retracted comprises a telescopic leg part, a machine body and a guide wheel structure, wherein the guide wheel structure comprises two sets of mechanisms symmetrical with respect to the body and each comprises Evenly distributed in the circumferential direction of the universal wheel, the driving wheel and the driving wheel two, the body in its left and right sides through the three telescopic legs connected to the universal wheel, the driving wheel and the driving wheel two telescopic leg parts and Set in the body