CN101559595B - Large traction wriggling propulsion micro-pipeline robot - Google Patents
Large traction wriggling propulsion micro-pipeline robot Download PDFInfo
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- CN101559595B CN101559595B CN2009100434885A CN200910043488A CN101559595B CN 101559595 B CN101559595 B CN 101559595B CN 2009100434885 A CN2009100434885 A CN 2009100434885A CN 200910043488 A CN200910043488 A CN 200910043488A CN 101559595 B CN101559595 B CN 101559595B
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Abstract
The invention relates to a large traction wriggling propulsion micro-pipeline robot which comprises a first supporting mechanism, a second supporting mechanism and a telescopic driving device arrangedbetween the first supporting mechanism and the second supporting mechanism; wherein, the first supporting mechanism comprises a first tension rod, a first supporting seat and a first supporting wheel set; a first guide hole which is corresponding to the first supporting wheel set is arranged on the first supporting seat, the first supporting seat is sheathed outside the first tension rod which is formed by a first taper section, a first thread section and a first sliding bar section; the smaller diameter end of the first taper section is connected with the first thread section, and the bigger diameter end thereof is connected with the first sliding bar section; the first thread section is connected with the telescopic driving device, the first thread section is provided with a first tensi on nut, a first compression spring is arranged between the first tension nut and the first supporting seat, the first supporting wheel set is connected with a first supporting wheel set support pole, and the first supporting wheel set support pole passes through the first guide hole and is contacted with the first taper section. The robot has the advantages of high load capacity, strong adaptive capacity for the pipe diameter change and better passing through capacity of a bent pipe and a U-shaped pipe.
Description
Technical field
The present invention relates to microtubule robot, relate in particular to large traction wriggling propulsion micro-pipeline robot.
Background technology
In current society, various microtubules (diameter is less than 20mm) have obtained in fields such as metallurgy, oil, chemical industry, military weaponry, nuclear powers using widely.These microtubule overwhelming majority are applied in the system of working environment very severe, corrosion and fatigue destruction or potential development of defects take place easily become problems such as crackle, thereby cause leakage accident, even cause great personnel and property loss, so in these pipeline uses, just need detect, to ensure pipe-line system safety, unimpeded and efficient operation it.But the residing environment of microtubule, the people generally can not directly arrive, or does not allow direct intervention, and because internal diameter of the pipeline is less, internal structure is intricate, makes detection difficulty very big.About the detection of microtubule, adopt the very big sampling observation method of quantities usually at present, not only labour intensity is big, benefit is low, and because omission often appears in method of random sampling, thereby accuracy rate is low, effect is unsatisfactory.So usually pipeline important and that do not allow to leak is adopted regularly or the way of scrapping in advance, thereby has caused very big man power and material's waste.Therefore, research is applicable to the detection machine people's device under this particular surroundings of microtubule, to alleviate people's labour intensity, enhances productivity, and reduces unnecessary loss, and high learning value and practical value are arranged.
Flexible wriggling propulsion mode is present microtubule robot a kind of propulsion mode comparatively commonly used, and it is based on bionics, and with reference to biological motion mode such as earthworm, caterpillar, principle is simple.Microtubule robot is generally used for the testing of complicated pipeline, need carry many coherent detection sensors, power supply and communication device, wired robot also need carry cable weight, this just requires microtubule robot to have bigger load capacity, but in the present like product, because the frictional force of driven machine people motion is difficult for increasing, and causes load capacity limited, the robot driving power is poor; Simultaneously, there are a large amount of bend pipes, U-shaped pipe in the working environment of robot, and owing to there is the caliber situation that becomes in reasons such as corrosion and fatigue destruction, crackle, pipe joint, this just requires the radial dimension of microtubule robot little, and have bend pipe, U-shaped pipe place's trafficability characteristic and stronger change caliber adaptive capacity preferably, but at present like product ubiquity physical dimension is difficult for reducing, and adapts to the ability that caliber changes, in defectives such as the trafficability characteristic at bend pipe, U-shaped pipe place are bad.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, and a kind of load capacity height is provided, and it is strong that caliber changes adaptive capacity, and bend pipe, large traction wriggling propulsion micro-pipeline robot that U-shaped pipe handling capacity is strong.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of large traction wriggling propulsion micro-pipeline robot, comprise first supporting device, second supporting device and retractable driving device, described retractable driving device is located between first supporting device and second supporting device, described first supporting device comprises first nutted rod, be first supporting base that overlaps tubular and at least three groups first supporting wheels of circumferentially evenly arranging along first supporting base, radially be provided with on described first supporting base and the first corresponding pilot hole of each first supporting wheels, first supporting base is sheathed on outside first nutted rod, described first nutted rod is by first conical section, first thread segment and the first slide bar section constitute, the first conical section miner diameter end connects first thread segment, bigger diameter end connects the first slide bar section, the first slide bar section links to each other with retractable driving device, end away from retractable driving device on first thread segment is equiped with first tensioning nut, be provided with the first compression spring between first tensioning nut and first supporting base, be connected with the first supporting wheels pole on the first supporting wheels, the described first supporting wheels pole is passed first pilot hole and is contacted with first conical section.
The described first supporting wheels comprise first supporting wheel frame and two first bogie wheels, and described first supporting wheel frame middle part is hinged with the first supporting wheels pole, and two first bogie wheels are articulated in the two ends of first supporting wheel frame respectively.
Described first supporting base is arranged with outward the flexible first spacing protective jacket of the first supporting wheels pole.
The cross section of the described first supporting wheels pole is circular, the circular port of first pilot hole on first supporting base for matching with the first supporting wheels pole.
Described second supporting device comprises second nutted rod, be second supporting base that overlaps tubular and at least three groups second supporting wheels of circumferentially evenly arranging along second supporting base, radially be provided with on described second supporting base and the second corresponding pilot hole of each second supporting wheels, second supporting base is sheathed on outside second nutted rod, described second nutted rod is by second conical section, second thread segment and the second slide bar section constitute, the second conical section miner diameter end connects second thread segment, bigger diameter end connects the second slide bar section, second thread segment links to each other with retractable driving device, end near retractable driving device on second thread segment is equiped with second tensioning nut, be provided with the second compression spring between second tensioning nut and second supporting base, be connected with the second supporting wheels pole on the second supporting wheels, the described second supporting wheels pole is passed second pilot hole and is contacted with second conical section.
The described second supporting wheels comprise second supporting wheel frame and two second bogie wheels, and described second supporting wheel frame middle part is hinged with the second supporting wheels pole, and two second bogie wheels are articulated in the two ends of second supporting wheel frame respectively.
Described second supporting base is arranged with outward the flexible second spacing protective jacket of the second supporting wheels pole.
The cross section of the described second supporting wheels pole is circular, the circular port of second pilot hole on second supporting base for matching with the second supporting wheels pole.
Compared with prior art, the invention has the advantages that: the first supporting wheels pole contacts cooperation with first conical section of first nutted rod, under the elastic force effect of the first compression spring, first conical section can promote the first supporting wheels pole and stretch vertically, make the first supporting wheels obtain the one-movement-freedom-degree of relative first supporting base, first supporting device of robot is had become the caliber adaptive capacity preferably along the first supporting wheels pole axis direction; The first supporting wheels pole cooperates the formation wedge structure with contacting of first conical section, when there is the trend that retreats in robot, load force is delivered to first conical section, under the effect of wedge structure, the first supporting wheels are increased the normal pressure of tube wall, thereby increase the frictional force between the first supporting wheels and the tube wall, the frictional force that promptly realizes the first supporting wheels and pipeline enclosure increases with the increase of load, the obstruction robot retreats, and has solved the problem that robot retreats in motion process easily; First supporting wheel frame middle part is hinged with the first supporting wheels pole, make the bogie wheel group of winning obtain a rotational freedom around this pin joint, the cross section of the first supporting wheels pole is circular, the circular port of second pilot hole on first supporting base for matching with spiral wheels pole, make the first supporting wheels have rotational freedom around the first supporting wheels pole axis, the first supporting wheels are under the common support of an one-movement-freedom-degree and two rotational freedoms, satisfy microtubule robot easilier at bend pipe, the geometry at U-shaped pipe and change caliber place has improved microtubule robot at bend pipe by condition and kinematic constraint condition, the handling capacity at U-shaped pipe and change caliber place.Second supporting device is identical with the structure of first supporting device, therefore have the design feature identical with first supporting device, difference is that second supporting device links to each other with retractable driving device by second thread segment, when retractable driving device is extended, form self-locking between first supporting device and the inner-walls of duct, be in relaxed state between second supporting device and the inner-walls of duct, second supporting device stretches out forward; When retractable driving device is shunk, be in relaxed state between first supporting device and the inner-walls of duct, form self-locking between second supporting device and the inner-walls of duct, the retractable driving device that first supporting device is being shunk spurs forward, thereby the wriggling of realizing robot advances.First supporting device and second supporting device all do not need special-purpose drive unit, and the own wt of robot and radial dimension are reduced, and load capacity, pipeline adaptive capacity strengthen.The conical section structural design of multiple degrees of freedom design, first nutted rod and second nutted rod of the first supporting wheels and the second supporting wheels and the first compression spring and the second compression spring compresses design in advance in the large traction wriggling propulsion micro-pipeline robot of the present invention, make the first supporting wheels and the second supporting wheels can initiatively adapt to the caliber situation of change at bend pipe, U-shaped pipe and change caliber place, improved the handling capacity of microtubule robot to complicated pipeline, and the robot radial dimension is reduced, be more suitable in microtubule, working.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a perspective view of the present invention;
Fig. 3 is the A-A cross section view of Fig. 1;
Fig. 4 is the structure for amplifying schematic diagram of retractable driving device;
Fig. 5 is the perspective view of retractable driving device;
Fig. 6 is the structure for amplifying schematic diagram of first supporting device;
Fig. 7 is the B-B cross section view of Fig. 6;
Fig. 8 is the perspective view of first supporting device;
Fig. 9 is the structural representation after first supporting device is removed the first supporting wheels;
Figure 10 is the structure for amplifying schematic diagram of second supporting device.
Each label is represented among the figure:
1, first supporting device 2, second supporting device
3, retractable driving device 4, universal joint
100, first nutted rod 101, first conical section
102, first thread segment 103, the first slide bar section
110, first supporting base 111, first pilot hole
120, the first supporting wheels 121, first supporting wheel frame
122, first bogie wheel 130, first tensioning nut
140, the first compression spring 150, the first supporting wheels pole
160, first protective jacket 170, first spring shim
200, second nutted rod 201, second conical section
202, second thread segment 203, the second slide bar section
210, second supporting base 211, second pilot hole
220, the second supporting wheels 221, second supporting wheel frame
222, second bogie wheel 230, second tensioning nut
240, the second compression spring 250, the second supporting wheels pole
260, second protective jacket 270, second spring shim
300, pedestal 301, motor
302, retainer 303, nut frame
The specific embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, large traction wriggling propulsion micro-pipeline robot of the present invention, comprise first supporting device 1, second supporting device 2 and retractable driving device 3, retractable driving device 3 is located between first supporting device 1 and second supporting device 2, in the present embodiment, first supporting device 1 links to each other with retractable driving device 3 by a universal joint 4 respectively with second supporting device 2.As shown in Figure 4 and Figure 5, retractable driving device 3 is made up of pedestal 300, motor 301, retainer 302 and nut frame 303, motor 301 afterbodys are installed on the pedestal 300, retainer 302 is fixed in motor 301 front ends, and be placed on the output shaft of motor 301, also being provided with a cell body on the retainer 302, nut frame 303 is slidedly arranged in this cell body, the output shaft of motor 301 is provided with thread segment, and is connected with nut frame 303 by this thread segment.After motor 301 started, nut frame 303 was done the linear telescopic motion only under the constraint of cell body, can not rotate.
Extremely shown in Figure 9 as Fig. 6, first supporting device 1 comprises first nutted rod 100, is first supporting base 110 that overlaps tubular and at least three groups first supporting wheels of circumferentially evenly arranging along first supporting base 110 120, in the present embodiment, the first supporting wheels 120 are provided with three groups.Radially being provided with first pilot hole 111, the first supporting bases 110 corresponding with each first supporting wheels 120 on first supporting base 110 is sheathed on outside first nutted rod 100.First nutted rod 100 is by first conical section 101, first thread segment 102 and the first slide bar section 103 constitute, first conical section, 101 miner diameter ends connect first thread segment 102, bigger diameter end connects the first slide bar section 103, the first slide bar section, the 103 terminal universal joints 4 that pass through link to each other with the pedestal 300 of retractable driving device 3, end away from retractable driving device 3 on first thread segment 102 is equiped with first tensioning nut 130 and first spring shim 170, be provided with the first compression spring 140 between first tensioning nut 130 and first supporting base 110, the first compression spring, 140 1 ends are crossed first spring shim, 170 location, the other end is by first supporting base, 110 location, by regulating the position of first tensioning nut 130, can regulate the pre-pressing force size of the first compression spring 140.Be connected with the first supporting wheels pole 150 on the first supporting wheels 120, the first supporting wheels pole 150 is passed first pilot hole 111 and is contacted with first conical section 101, and the end that the first supporting wheels pole 150 contacts with first conical section 101 is the bulb shape, under the elastic force effect of the first compression spring 140, first conical section 101 can promote the first supporting wheels pole 150 and stretch vertically, change the external diameter of first supporting device 1, first supporting device 1 is stretched in the pipeline, simultaneously, the first supporting wheels 120 can obtain the one-movement-freedom-degree of relative first supporting base 110 along the first supporting wheels pole, 150 axis directions, first supporting device 1 of robot is had become the caliber adaptive capacity preferably, and the first supporting wheels pole 150 cooperates the formation wedge structure with contacting of first conical section 101, when there is the trend that retreats in robot, load force is delivered to first conical section 101, under the effect of wedge structure, the normal pressure of 120 pairs of tube walls of the first supporting wheels is increased, thereby increase the frictional force between the first supporting wheels 120 and the tube wall, the frictional force that promptly realizes the first supporting wheels 120 and pipeline enclosure increases with the increase of load, the obstruction robot retreats, and has solved the problem that robot retreats in motion process easily.First supporting base, 110 outer being arranged with the first supporting wheels pole, the 150 flexible first spacing protective jackets 160 can prevent that the first supporting wheels pole 150 breaks away from first supporting base 110.The first supporting wheels 120 comprise first supporting wheel frame 121 and two first bogie wheels 122, two first bogie wheels 122 are articulated in the two ends of first supporting wheel frame 121 respectively, first supporting wheel frame, 121 middle parts are hinged by the bearing pin and the first supporting wheels pole 150, first supporting wheel frame 121 can rotate flexibly around bearing pin, make the bogie wheel group 120 of winning obtain a rotational freedom around this pin joint, simultaneously, the cross section of the first supporting wheels pole 150 is circular, the circular port of first pilot hole 111 on first supporting base 110 for matching with the first supporting wheels pole 150, make the first supporting wheels 120 have rotational freedom around the first supporting wheels pole, 150 axis, the first supporting wheels 120 are under the common support of an one-movement-freedom-degree and two rotational freedoms, satisfy microtubule robot easilier at bend pipe, the geometry at U-shaped pipe and change caliber place has improved microtubule robot at bend pipe by condition and kinematic constraint condition, the handling capacity at U-shaped pipe and change caliber place.
As shown in figure 10, second supporting device 2 comprises second nutted rod 200, is second supporting base 210 that overlaps tubular and at least three groups second supporting wheels of circumferentially evenly arranging along second supporting base 210 220, and in the present embodiment, the second supporting wheels 220 are provided with three groups.Radially being provided with second pilot hole 211, the second supporting bases 210 corresponding with each second supporting wheels 220 on second supporting base 210 is sheathed on outside second nutted rod 200.Second nutted rod 200 is by second conical section 201, second thread segment 202 and the second slide bar section 203 constitute, second conical section, 201 miner diameter ends connect second thread segment 202, bigger diameter end connects the second slide bar section 203, second thread segment 202 links to each other with the nut frame 303 of retractable driving device 3 by a universal joint 4, end near retractable driving device 3 on second thread segment 202 is equiped with second tensioning nut 230 and second spring shim 270, be provided with the second compression spring 240 between second tensioning nut 230 and second supporting base 210, the second compression spring, 240 1 ends are crossed second spring shim, 270 location, the other end is by second supporting base, 210 location, by regulating the position of second tensioning nut 230, can regulate the pre-pressing force size of the second compression spring 240.Be connected with the second supporting wheels pole 250 on the second supporting wheels 220, the second supporting wheels pole 250 is passed second pilot hole 211 and is contacted with second conical section 201, and the end that the second supporting wheels pole 250 contacts with second conical section 201 is the bulb shape, under the elastic force effect of the second compression spring 240, second conical section 201 can promote the second supporting wheels pole 250 and stretch vertically, change the external diameter of second supporting device 2, second supporting device 2 is stretched in the pipeline, simultaneously, the second supporting wheels 220 can obtain the one-movement-freedom-degree of relative second supporting base 210 along the second supporting wheels pole, 250 axis directions, second supporting device 2 of robot is had become the caliber adaptive capacity preferably, and the second supporting wheels pole 250 cooperates the formation wedge structure with contacting of second conical section 201, when there is the trend that retreats in robot, load force is delivered to second conical section 201, under the effect of wedge structure, the normal pressure of 220 pairs of tube walls of the second supporting wheels is increased, thereby increase the frictional force between the second supporting wheels 220 and the tube wall, the frictional force that promptly realizes the second supporting wheels 220 and pipeline enclosure increases with the increase of load, the obstruction robot retreats, and has solved the problem that robot retreats in motion process easily.Second supporting base, 210 outer being arranged with the second supporting wheels pole, the 250 flexible second spacing protective jackets 260 can prevent that the second supporting wheels pole 250 breaks away from second supporting base 210.The second supporting wheels 220 comprise second supporting wheel frame 221 and two second bogie wheels 222, two second bogie wheels 222 are articulated in the two ends of second supporting wheel frame 221 respectively, second supporting wheel frame, 221 middle parts and the second supporting wheels pole 250 are hinged, second supporting wheel frame 221 can rotate flexibly around bearing pin, make the second supporting wheels 220 obtain a rotational freedom around this pin joint, simultaneously, the cross section of the second supporting wheels pole 250 is circular, the circular port of second pilot hole 211 on second supporting base 210 for matching with the second supporting wheels pole 250, make the second supporting wheels 220 have rotational freedom around the second supporting wheels pole, 250 axis, the second supporting wheels 220 are under the common support of an one-movement-freedom-degree and two rotational freedoms, satisfy microtubule robot easilier at bend pipe, the geometry at U-shaped pipe and change caliber place has improved microtubule robot at bend pipe by condition and kinematic constraint condition, the handling capacity at U-shaped pipe and change caliber place.
Large traction wriggling propulsion micro-pipeline robot of the present invention, when retractable driving device 3 elongations, form self-locking between first supporting device 1 and the inner-walls of duct, be in relaxed state between second supporting device 2 and the inner-walls of duct, second supporting device 2 stretches out forward; When retractable driving device 3 is shunk, be in relaxed state between first supporting device 1 and the inner-walls of duct, form self-locking between second supporting device 2 and the inner-walls of duct, the retractable driving device 3 that first supporting device 1 is being shunk spurs forward, thereby the wriggling of realizing robot advances.First supporting device 1 and second supporting device 2 all do not need special-purpose drive unit, and the own wt of robot and radial dimension are reduced, and load capacity, pipeline adaptive capacity strengthen.The conical section structural design of multiple degrees of freedom design, first nutted rod 100 and second nutted rod 200 of the first supporting wheels 1 and the second supporting wheels 2 and the first compression spring 140 and the second compression spring 240 compress design in advance, make the first supporting wheels 1 and the second supporting wheels 2 can initiatively adapt to the caliber situation of change at bend pipe, U-shaped pipe and change caliber place, improved the handling capacity of microtubule robot to complicated pipeline, and the robot radial dimension is reduced, be more suitable in microtubule, working.
Claims (7)
1. large traction wriggling propulsion micro-pipeline robot, comprise first supporting device (1), second supporting device (2) and retractable driving device (3), described retractable driving device (3) is located between first supporting device (1) and second supporting device (2), it is characterized in that: described first supporting device (1) comprises first nutted rod (100), be first supporting base (110) that overlaps tubular and at least three groups first supporting wheels of circumferentially evenly arranging along first supporting base (110) (120), radially be provided with on described first supporting base (110) and corresponding first pilot hole (111) of each first supporting wheels (120), first supporting base (110) is sheathed on outside first nutted rod (100), described first nutted rod (100) is by first conical section (101), first thread segment (102) and the first slide bar section (103) constitute, first conical section (101) miner diameter end connects first thread segment (102), bigger diameter end connects the first slide bar section (103), the first slide bar section (103) links to each other with retractable driving device (3), the end that first thread segment (102) is gone up away from retractable driving device (3) is equiped with first tensioning nut (130), be provided with the first compression spring (140) between first tensioning nut (130) and first supporting base (110), be connected with the first supporting wheels poles (150) on the first supporting wheels (120), the described first supporting wheels poles (150) are passed first pilot hole (111) and are contacted with first conical section (101), described second supporting device (2) comprises second nutted rod (200), be second supporting base (210) that overlaps tubular and at least three groups second supporting wheels of circumferentially evenly arranging along second supporting base (210) (220), radially be provided with on described second supporting base (210) and corresponding second pilot hole (211) of each second supporting wheels (220), second supporting base (210) is sheathed on outside second nutted rod (200), described second nutted rod (200) is by second conical section (201), second thread segment (202) and the second slide bar section (203) constitute, second conical section (201) miner diameter end connects second thread segment (202), bigger diameter end connects the second slide bar section (203), second thread segment (202) links to each other with retractable driving device (3), the end that second thread segment (202) is gone up near retractable driving device (3) is equiped with second tensioning nut (230), be provided with the second compression spring (240) between second tensioning nut (230) and second supporting base (210), be connected with the second supporting wheels poles (250) on the second supporting wheels (220), the described second supporting wheels poles (250) are passed second pilot hole (211) and are contacted with second conical section (201).
2. large traction screw propulsion micro-pipeline robot according to claim 1, it is characterized in that: the described first supporting wheels (120) comprise first supporting wheel frame (121) and two first bogie wheels (122), described first supporting wheel frame (121) middle part is hinged with the first supporting wheels poles (150), and two first bogie wheels (122) are articulated in the two ends of first supporting wheel frame (121) respectively.
3. large traction screw propulsion micro-pipeline robot according to claim 2 is characterized in that: described first supporting base (110) is outer to be arranged with flexible spacing first protective jacket (160) of the first supporting wheels poles (150).
4. according to each described large traction screw propulsion micro-pipeline robot in the claim 1 to 3, it is characterized in that: the cross section of the described first supporting wheels poles (150) is for circular, and first pilot hole (111) on first supporting base (110) is for supporting the circular port that wheels poles (150) are matched with first.
5. large traction wriggling propulsion micro-pipeline robot according to claim 4, it is characterized in that: the described second supporting wheels (220) comprise second supporting wheel frame (221) and two second bogie wheels (222), described second supporting wheel frame (221) middle part is hinged with the second supporting wheels poles (250), and two second bogie wheels (222) are articulated in the two ends of second supporting wheel frame (221) respectively.
6. large traction screw propulsion micro-pipeline robot according to claim 5 is characterized in that: described second supporting base (210) is outer to be arranged with flexible spacing second protective jacket (260) of the second supporting wheels poles (250).
7. large traction screw propulsion micro-pipeline robot according to claim 6, it is characterized in that: the cross section of the described second supporting wheels poles (250) is for circular, and second pilot hole (211) on second supporting base (210) is for supporting the circular port that wheels poles (250) are matched with second.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100434885A CN101559595B (en) | 2009-05-22 | 2009-05-22 | Large traction wriggling propulsion micro-pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100434885A CN101559595B (en) | 2009-05-22 | 2009-05-22 | Large traction wriggling propulsion micro-pipeline robot |
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| CN101559595A CN101559595A (en) | 2009-10-21 |
| CN101559595B true CN101559595B (en) | 2010-12-01 |
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| CN2009100434885A Expired - Fee Related CN101559595B (en) | 2009-05-22 | 2009-05-22 | Large traction wriggling propulsion micro-pipeline robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537844A (en) * | 2015-09-28 | 2016-05-04 | 成都焕越科技有限责任公司 | Pipeline interior opening abutment machine |
| CN108180348B (en) * | 2018-01-04 | 2020-04-10 | 中国人民解放军国防科技大学 | Electro-hydraulic drive pipeline robot, hydraulic drive system and control method thereof |
| CN108580460B (en) * | 2018-03-27 | 2020-12-15 | 昆明理工大学 | Pipeline cleaning robot |
| CN109760104B (en) * | 2019-03-26 | 2021-09-24 | 焦作大学 | Self-locking telescopic arm for intelligent pipeline detection robot |
| CN110118307B (en) * | 2019-04-16 | 2020-11-03 | 中广核工程有限公司 | Small-sized pipeline leakage detection device and detection method for nuclear power plant |
| CN110758594A (en) * | 2019-10-08 | 2020-02-07 | 中国矿业大学 | Robot walking device for narrow reducing pipeline in underwater missile launching shaft |
| CN114619184B (en) * | 2022-05-13 | 2022-07-29 | 苏州思萃熔接技术研究所有限公司 | Preheating welding device for welding workpiece |
| CN115056875B (en) * | 2022-07-27 | 2023-04-28 | 哈尔滨工业大学（深圳） | Earthworm bionic robot |
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