CN109048948A - Multifunctional pipe gallery robot - Google Patents
Multifunctional pipe gallery robot Download PDFInfo
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- CN109048948A CN109048948A CN201811189002.4A CN201811189002A CN109048948A CN 109048948 A CN109048948 A CN 109048948A CN 201811189002 A CN201811189002 A CN 201811189002A CN 109048948 A CN109048948 A CN 109048948A
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- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 22
- 238000003466 welding Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 14
- 238000007689 inspection Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000002354 daily effect Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003203 everyday effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
本发明提供了一种多功能管廊机器人，与远程控制中心通信连接，包括：功能模块及行走底盘；功能模块固定于行走底盘上并与其通信连接，用于接收远程控制中心发送的指令信息，并根据指令信息向行走底盘发送移动指令；行走底盘，用于承载功能模块并根据移动指令进行移动；接料安装模块，用于根据指令信息对管廊管线进行接料、搬运、安装及管线更换；参观模块，用于根据指令信息执行管廊参观任务；焊接模块，用于根据指令信息对管廊管道进行焊接；探伤模块，用于根据指令信息对管廊或管线进行探伤检测；巡检模块，用于根据指令信息对管廊进行巡检；清洁模块，用于根据指令信息对管道及管廊进行清洁。本申请具有节约成本、全自动及安全的有益效果。
The invention provides a multi-functional pipe gallery robot, which is connected to a remote control center through communication, including: a functional module and a walking chassis; the functional module is fixed on the walking chassis and connected to it through communication, and is used to receive instruction information sent by the remote control center, And send movement instructions to the walking chassis according to the instruction information; the walking chassis is used to carry the functional modules and move according to the movement instructions; the material receiving and installation module is used to receive materials, transport, install and replace the pipelines of the pipeline according to the instruction information ;Visiting module, used to perform pipe gallery visit tasks according to instruction information; welding module, used to weld pipe gallery pipes according to instruction information; flaw detection module, used to perform flaw detection on pipe gallery or pipelines according to instruction information; inspection module , used to inspect the pipe gallery according to the instruction information; the cleaning module is used to clean the pipe and pipe gallery according to the instruction information. The application has the beneficial effects of cost saving, full automation and safety.
Description
Technical field
The present invention relates to Robot Design technical field more particularly to a kind of multi-functional piping lane robots.
Background technique
With the quickening of pipe gallery pace of construction, piping lane rapid construction, the requirement of safe and stable operation are also higher and higher,
The demand of human and material resources is also increasing, and the safety of underground utilities, normal operation are also more and more important.Due to underground integrated pipe
Corridor has the characteristics that mileage is long, space is long and narrow, closure is strong, structure is more, communication is inconvenient, once there is burst accident, causes
Loss it is inestimable.Therefore then particularly significant to work such as the inspection of piping lane, maintenance, installation, maintenance.
It is in the prior art to execute the work such as daily automatic detecting and detection in piping lane by robot, but function list
One, only have daily automatic inspection function or to the visual of piping lane environment and detection, it cannot be met in underground pipe gallery
The needs of work such as his maintenance, installation, maintenance, the robot of different task is intended to independent production, therefore input cost is high, Bu Nengshi
Existing modularization.
Therefore, how a kind of robot to be provided, support module to reduce the investment of cost, realize full process automatization,
Efficiently, quickly completing various work in pipe gallery is current technical problem urgently to be resolved.
Summary of the invention
In order to solve defect in the prior art, the present invention provides a kind of multi-functional piping lane robot, the application is supported
Modularization assembling reduces input cost, while can complete the routine work in a variety of piping lanes such as maintenance, installation, maintenance, tool
There are automation, beneficial effect efficiently, safe.
To achieve the goals above, a kind of multi-functional piping lane robot provided by the invention, communicates with remote control center
Connection, comprising: functional module and walking chassis；The functional module includes: splicing install module, visit module, welding module,
Flaw detection module, polling module or cleaning module；
The functional module is fixed in the walking chassis and communicates to connect with the walking chassis, described for receiving
The command information that remote control center is sent, and move is sent to the walking chassis according to described instruction information；
The walking chassis, for carry the functional module and based on the received the move moved；
Module is installed in splicing, carries out splicing, carrying, installation for pipeline of the described instruction information based on the received to piping lane
And pipeline replacement；
Module is visited, executes the visit task in piping lane for described instruction information based on the received；
Welding module welds the pipeline of piping lane for described instruction information based on the received；
Flaw detection module carries out carrying out flaw detection to piping lane or pipeline for described instruction information based on the received；
Polling module carries out Daily Round Check to piping lane for described instruction information based on the received；
Cleaning module cleans pipeline and piping lane for described instruction information based on the received.
In one embodiment, the walking chassis includes: general linkage interface, wheel, transmission system, control system and steering
System；
The general linkage interface, for carrying the functional module；
The received move is sent to the transmission system and the steering system by the control system, control
The wheel is moved.
In one embodiment, the splicing installation module includes: first control unit, splicing arm and pipeline fixed cell；
The first control unit sends first control signal and the movement for described instruction information based on the received
Instruction；
The splicing arm carries out material reception for the first control signal based on the received and by the material
Rise or drop to designated position；
The pipeline fixed cell fixes the material for the first control signal based on the received.
In one embodiment, the visit module includes: the second control unit, the first manned car body and automatic broadcast unit；
Second control unit sends second control signal and the movement for described instruction information based on the received
Instruction；
The first manned car body, for carrying visitor；
The automatic broadcast unit plays related audio and video for the second control signal based on the received automatically
Data.
In one embodiment, the welding module includes: third control unit, welding arm and protection location；
The third control unit sends third control signal and the movement for described instruction information based on the received
Instruction；
The welding arm is subjected to for the third control signal based on the received；
The protection location, for protecting multi-functional piping lane robot.
In one embodiment, the flaw detection module includes: the 4th control unit and flaw detection unit；
4th control unit sends the 4th control signal and the movement for described instruction information based on the received
Instruction；
The flaw detection unit carries out flaw detection operation to piping lane and pipeline for the 4th control signal based on the received.
In one embodiment, the polling module includes: the 5th control unit, the second manned car body, patrol record storage list
Member and voice communication units；
5th control unit sends the 5th control signal and the movement for described instruction information based on the received
Instruction；
The second manned car body, for carrying patrol officer；
The patrol record storage unit, for storing patrol record；
The voice communication units, for providing function of voice communication.
In one embodiment, the cleaning module includes: the 6th control unit and cleaning unit；
6th control unit sends the 6th control signal and the movement for described instruction information based on the received
Instruction；
The cleaning unit cleans piping lane and pipeline for the 6th control signal based on the received.
In one embodiment, the fixed form of the functional module and the walking chassis includes: grafting or splicing.
In one embodiment, the functional module includes: that wire communication is connect with the communication connection mode of the walking chassis
And/or wireless communication connection.
A kind of multi-functional piping lane robot provided by the invention communicates to connect, the multi-functional piping lane with remote control center
Robot includes: functional module and walking chassis；The functional module includes: splicing installs module, visits module, welding mould
Block, flaw detection module, polling module or cleaning module；The functional module be fixed in the walking chassis and with the walking bottom
Disk communication connection, the command information sent for receiving the remote control center, and according to described instruction information to the row
It walks chassis and sends move；The walking chassis, for carrying the functional module and the based on the received move
It is moved；Module is installed in splicing, carries out splicing, carrying, peace for pipeline of the described instruction information based on the received to piping lane
Dress and pipeline replacement；Module is visited, executes the visit task in piping lane for described instruction information based on the received；Weld mould
Block welds the pipeline of piping lane for described instruction information based on the received；Flaw detection module, for described based on the received
Command information carries out carrying out flaw detection to piping lane or pipeline；Polling module, for described instruction information based on the received to piping lane into
Row Daily Round Check；Cleaning module cleans pipeline and piping lane for described instruction information based on the received.The application passes through
Modular piping lane robot executes multinomial everyday tasks in piping lane, has save the cost, full-automatic and safe beneficial effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of multi-functional piping lane robot of the application；
Fig. 2 is the structural schematic diagram of walking chassis in one embodiment of the application；
Fig. 3 is the structural schematic diagram of the splicing installation module in one embodiment of the application；
Fig. 4 is the structural schematic diagram of the visit module in one embodiment of the application；
Fig. 5 is the structural schematic diagram of the welding module in one embodiment of the application；
Fig. 6 is the structural schematic diagram of the flaw detection module in one embodiment of the application；
Fig. 7 is the structural schematic diagram of the polling module in one embodiment of the application；
Fig. 8 is the structural schematic diagram of the cleaning module in one embodiment of the application；
Fig. 9 is the structural schematic diagram of the multi-functional piping lane robot of one of one embodiment of the application.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
About " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
Also non-to limit the present invention, only for distinguishing with the element of same technique term description or operation.
It is open term, i.e., about "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
About it is used herein " and/or ", including any of the things or all combination.
In view of the deficiencies in the prior art, the present invention provides a kind of multi-functional piping lane robots 1, with long-range control
Center 2 communicates to connect, and structure chart is as shown in Figure 1, the multi-functional piping lane robot 1 includes: functional module 11 and walking chassis
12.Remote control center 2 can obtain the location information and the communication information of multi-functional piping lane robot 1 in real time.
Wherein, functional module 11 includes: splicing installation module 111, visits module 112, welding module 113, flaw detection module
114, one in the modules such as polling module 115 and cleaning module 116.
As shown in Fig. 2, walking chassis 12 includes: general linkage interface 121, wheel 122, transmission system 123, control system
124 and steering system 125.General linkage interface 121 is used for bearing function module 11.
Functional module 11 is fixed on general linkage interface 121 and communicates to connect with walking chassis 12, long-range for receiving
The command information that control centre 2 sends, and sent and moved to walking chassis 102 according to the command information that remote control center 2 is sent
Dynamic instruction.
Walking chassis 12 is moved for bearing function module 11 and based on the received move.Specifically, control
The move that 124 receiving module 11 of system is sent, and move is sent to transmission system by control system 124
123 and steering system 125, wheel 122, which is controlled, finally by transmission system 123 and steering system 125 is moved.Wherein, vehicle
Wheel 122 can be rail wheel or ground wheel, and invention is not limited thereto.
Splicing installation module 111, visit module 112, welding module 113, flaw detection module 114, polling module in the application
115 and cleaning module 116 etc. share a walking chassis 12, no matter in mechanical structure or on data-interface, all using system
The connection type of one standard makes multi-functional 1 structural module of piping lane robot, function optionalization, control unification, thus may be used
To need to carry out structure carrying and functional module combination by real work, achieve the effect that plug and play.
Module 111 is installed in splicing, carries out splicing, carrying, installation for pipeline of the command information based on the received to piping lane
And pipeline replacement.
Specifically, as shown in figure 3, splicing installation module 111 include: first control unit 1111, splicing arm 1112 and
Pipeline fixed cell 1113.Wherein, first control unit 1111 send first control signal for command information based on the received
And move.Splicing arm 1112 carries out material reception for first control signal based on the received and rises material
Or drop to designated position.Pipeline fixed cell 1113 fixes material for first control signal based on the received.
Module 112 is visited, executes the visit task in piping lane for command information based on the received.
Specifically, as shown in figure 4, visit module 112 include: the second control unit 1121, the first manned car body 1122 and
Automatic broadcast unit 1123.Wherein, the second control unit 1121 sends second control signal for command information based on the received
And move.First manned car body 1122, for carrying visitor.Automatic broadcast unit 1123, for based on the received the
Two control signals play related audio and video data automatically.
Welding module 113 is welded for pipeline of the command information based on the received to piping lane.
Specifically, as shown in figure 5, welding module 113 includes: third control unit 1131, welding arm 1132 and protection
Unit 1133.Wherein, third control unit 1131 send third control signal for command information based on the received and movement refer to
It enables.Arm 1132 is welded, is subjected to for the control signal of third based on the received.Protection location 1133, for protecting
Multi-functional piping lane robot.
Flaw detection module 114 carries out carrying out flaw detection to piping lane or pipeline for command information based on the received.
Specifically, as shown in fig. 6, flaw detection module 114 includes: the 4th control unit 1141 and flaw detection unit 1142.Wherein,
4th control unit 1141 sends the 4th control signal and move for command information based on the received.Flaw detection unit
1142, flaw detection operation is carried out to piping lane and pipeline for the based on the received the 4th control signal.
Polling module 115 carries out Daily Round Check to piping lane for command information based on the received.
Specifically, as shown in fig. 7, polling module 115 includes: the 5th control unit 1151, the second manned car body 1152, patrols
Examine record storage unit 1153 and voice communication units 1154.5th control unit 1151, for command information based on the received
Send the 5th control signal and move.Second manned car body 1152, for carrying patrol officer.Patrol record storage unit
1153, for storing patrol record.Voice communication units 1154, for providing function of voice communication.
Cleaning module 116 cleans pipeline and piping lane for command information based on the received.
Specifically, as shown in figure 8, cleaning module 116 includes: the 6th control unit 1161 and cleaning unit 1162.Wherein
6th control unit 1161 sends the 6th control signal and move for command information based on the received.Cleaning unit
1162, piping lane and pipeline are cleaned for the based on the received the 6th control signal.
In one embodiment, the fixed form of functional module 11 and walking chassis 12 includes: grafting or splicing, the present invention
It is not limited.Specifically, as shown in Figure 1, functional module 11 is plugged on general linkage interface 121 by way of grafting sets
In several jacks 126 set, functional module 11 is fixedly connected with general linkage interface 121.
In one embodiment, functional module 11 and 12 communication connection mode of walking chassis include: wire communication connect and/
Or wireless communication connection, invention is not limited thereto.
Specifically, as shown in Figure 1, functional module 11 and walking chassis 12 by control bus 127 carry out wire communication or
Module carries out wireless communication person by wireless communication.
In order to make those skilled in the art be better understood by the present invention, a more detailed embodiment is set forth below, with
For functional module installs module for splicing, as shown in figure 9, the embodiment of the present invention provides a kind of multi-functional piping lane robot 1, with
Remote control center 2 communicates to connect, and functional module 11 is specially that module 111 is installed in splicing.
Splicing installation module 111 is fixed on several jacks 126 being arranged on general linkage interface 121 by way of grafting
In, first control unit 1111 is communicatively coupled by control bus 127 with control system 124.First control unit 1111
Mode receives the command information of the transmission of remote control center 2, and the instruction sent according to remote control center 2 by wireless communication
Information sends move to control system 124.First control unit 1111 is also used to be sent according to remote control center 2 simultaneously
Command information send first control signal to splicing arm 1112 and pipeline fixed cell 1113.Move includes: navigation
Information and mobile message.
Splicing arm 1112 receives the first control signal that first control unit 1111 is sent, and splicing arm 1112 is according to the
One control signal carries out material reception and rises or drop to designated position for material.
Pipeline fixed cell 1113 receives the first control signal that first control unit 1111 is sent, pipeline fixed cell
1113, which control splicing arm 1112 according to first control signal, fixes material.Material includes: pipeline, connecting component etc., this hair
It is bright to be not limited.The fixed mode of material is included: welding and grafting etc. by splicing arm 1112, and invention is not limited thereto.
When it is implemented, assuming that the command information that remote control center 2 is sent is to advance to A point to carry out splicing, and will connect
To material be transported to B point and assembled.
First control unit 1111 sends to control system 124 according to the command information that remote control center 2 is sent and advances
To the navigation information of A point.Control system 124 controls walking basal seat 12 according to navigation information and advances to A, at this time first control unit
1111 send the instruction for carrying out receiving material to splicing arm 1112, after received material, first control unit 1111 to
Control system 124 sends the navigation information that navigation information control walking basal seat 12 advances to B point, and after reaching B point, the first control is single
Member 1111 sends the instruction that material is fixed to pipeline fixed cell 1113.Pipeline fixed cell 1113 receives first control unit
1111 first control signals sent, are sequentially placed pipeline fixed cell 1113 for material for material by splicing arm 1112
It is fixed.
The operation being performed entirely automatically in piping lane is realized by the application, and there is save the cost, full-automatic and safe have
Beneficial effect.
A kind of multi-functional piping lane robot provided by the invention communicates to connect, the multi-functional piping lane with remote control center
Robot includes: functional module and walking chassis；The functional module includes: splicing installs module, visits module, welding mould
Block, flaw detection module, polling module or cleaning module；The functional module be fixed in the walking chassis and with the walking bottom
Disk communication connection, the command information sent for receiving the remote control center, and according to described instruction information to the row
It walks chassis and sends move；The walking chassis, for carrying the functional module and the based on the received move
It is moved；Module is installed in splicing, carries out splicing, carrying, peace for pipeline of the described instruction information based on the received to piping lane
Dress and pipeline replacement；Module is visited, executes the visit task in piping lane for described instruction information based on the received；Weld mould
Block welds the pipeline of piping lane for described instruction information based on the received；Flaw detection module, for described based on the received
Command information carries out carrying out flaw detection to piping lane or pipeline；Polling module, for described instruction information based on the received to piping lane into
Row Daily Round Check；Cleaning module cleans pipeline and piping lane for described instruction information based on the received.The application passes through
Modular piping lane robot executes multinomial everyday tasks in piping lane, has save the cost, full-automatic and safe beneficial effect.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
Specific embodiment is applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811189002.4A CN109048948A (en) | 2018-10-12 | 2018-10-12 | Multifunctional pipe gallery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811189002.4A CN109048948A (en) | 2018-10-12 | 2018-10-12 | Multifunctional pipe gallery robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048948A true CN109048948A (en) | 2018-12-21 |
Family
ID=64764765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811189002.4A Pending CN109048948A (en) | 2018-10-12 | 2018-10-12 | Multifunctional pipe gallery robot |
Country Status (1)
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| CN (1) | CN109048948A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080177421A1 (en) * | 2007-01-19 | 2008-07-24 | Ensky Technology (Shenzhen) Co., Ltd. | Robot and component control module of the same |
| CN106382433A (en) * | 2016-11-02 | 2017-02-08 | 浙江理工大学 | Underground comprehensive pipe gallery system based on autonomous maintenance of shape-shifting robot |
| CN107590876A (en) * | 2017-09-13 | 2018-01-16 | 四川君逸数码科技股份有限公司 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
| CN207123750U (en) * | 2017-07-24 | 2018-03-20 | 湖北南邦创电科技有限公司 | Transformer station's Multi-functional indoor trackless modularization patrols behaviour's system |
| CN108326868A (en) * | 2018-02-02 | 2018-07-27 | 南京纬力创新能源科技有限公司 | A kind of intelligent piping lane crusing robot with clearing function |
| CN209380748U (en) * | 2018-10-12 | 2019-09-13 | 中冶京诚工程技术有限公司 | Multifunctional pipe gallery robot |
-
2018
- 2018-10-12 CN CN201811189002.4A patent/CN109048948A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080177421A1 (en) * | 2007-01-19 | 2008-07-24 | Ensky Technology (Shenzhen) Co., Ltd. | Robot and component control module of the same |
| CN106382433A (en) * | 2016-11-02 | 2017-02-08 | 浙江理工大学 | Underground comprehensive pipe gallery system based on autonomous maintenance of shape-shifting robot |
| CN207123750U (en) * | 2017-07-24 | 2018-03-20 | 湖北南邦创电科技有限公司 | Transformer station's Multi-functional indoor trackless modularization patrols behaviour's system |
| CN107590876A (en) * | 2017-09-13 | 2018-01-16 | 四川君逸数码科技股份有限公司 | Pipe gallery crusing robot and pipe gallery cruising inspection system |
| CN108326868A (en) * | 2018-02-02 | 2018-07-27 | 南京纬力创新能源科技有限公司 | A kind of intelligent piping lane crusing robot with clearing function |
| CN209380748U (en) * | 2018-10-12 | 2019-09-13 | 中冶京诚工程技术有限公司 | Multifunctional pipe gallery robot |
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