CN101915339B - Pipeline robot - Google Patents
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- CN101915339B CN101915339B CN2010102408708A CN201010240870A CN101915339B CN 101915339 B CN101915339 B CN 101915339B CN 2010102408708 A CN2010102408708 A CN 2010102408708A CN 201010240870 A CN201010240870 A CN 201010240870A CN 101915339 B CN101915339 B CN 101915339B
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Abstract
The invention relates to a pipeline robot, which comprises a main pipeline robot body. The main pipeline robot body comprises a moving carrier, and the moving carrier comprises a carriage body, wheels, flexible wheel shafts, a rocker and slider mechanism, and also comprises a robot base, a holder, a rod mechanism, a lighting lamp and a camera connected with the holder, wherein the flexible wheel shafts are used for connecting the carriage body and the wheels; the rocker and the slider mechanism is connected with the carriage body and the flexible wheel shafts and used for adjusting included angles between the wheels and the carriage body; the robot base is arranged on the moving carrier; the rod mechanism is used for connecting the holder and the robot base; and the lighting lamp is arranged on the holder. The included angles between the robot wheels and the carriage body are adjustable so as to ensure that when the robot works in pipelines with different diameters, the peripheries of the wheels are still in vertical contact with wall surfaces, therefore, a contact area between the peripheries and the pipeline wall surface is increased, the robot can operate more stably in the pipeline; and moreover, the structure can provide larger driving force. The flexible shafts are adopted for connecting the driving wheels and the carriage body so that the included angles between the wheels and the main pipeline robot body are adjustable and the sufficient driving force can be ensured.
Description
[technical field]
The present invention relates to the robot field, particularly relate to a kind of pipeline robot.
[background technique]
Pipeline is widely used as a kind of effective mass transport means.In order to improve pipeline life, to prevent the generation of accidents such as revealing, must effectively detect maintenance to pipeline.Exist in the manual detection mode under the situation of many shortcomings, detecting robot of pipe has obtained increasing application as a kind of effective pipe detection equipment.
Present existing detecting robot of pipe mainly adopts wheeled or the crawler moving carrier.Because it is simple in structure that wheeled driving has, advantage such as operate steadily, the detecting robot of pipe moving carrier adopts wheeled driving mode.
The layout of the detecting robot of pipe of Traditional use wheeled construction wheel is divided into two kinds in plane and space.All wheels of the detecting robot of pipe of wheel layout and ground point of contact are mainly used in ventilation duct, natural gas line etc. at grade.The detecting robot of pipe of the many wheel constructions in space normally three groups of support rollers along the circumferential direction, space 120 degree distributes.The detecting robot of pipe of early stage research is mainly used in the detection of petroleum pipeline, natural gas line, adopts the many wheel constructions in space more.Simple in structure, the flexible movements of the wheeled robot of wheel layout, but because its wheel rim is that line contacts with the pipeline wall, so rigidity, less stable.And the wheel plane of the wheeled robot wheel of the many wheel constructions in space contacts with wall is vertical, is the face contact, thus good stability, but this robot architecture is complicated, poor controllability and not good with the passing ability of a bifurcated pipe to bend pipe.
[summary of the invention]
For the wheeled robot that solves the conventional wheel layout is that line contacts with tube wall; Thereby the technical problem of less stable; Be necessary to provide a kind of pipeline that adapts to different tube diameters, promptly guarantee when the different tube diameters pipeline is worked, can to guarantee to take turns the pipeline robot that plane and pipeline wall vertical junction are touched.
A kind of pipeline robot; Comprise the pipeline robot body; Said pipeline robot body comprises the Working mechanism on moving carrier and the said moving carrier; Said moving carrier comprises the flexible axle of vehicle body, wheel, the said vehicle body of connection and wheel, and be connected with said vehicle body and flexible axle, be used to regulate said take turns and vehicle body between the rocker-slider mechanism of angle; Said rocker-slider mechanism comprise be positioned at said vehicle body middle part and with said vehicle body screw mandrel connected vertically; Place the wheel adjusting nut on the said screw mandrel; Be fixed in said nut fastener of taking turns on the adjusting nut; The wheel fixed plate that is connected with said flexible axle, and hinged said connecting rod of taking turns fixed plate and nut fastener.
Preferably, said nut fastener is between wheel adjusting nut and vehicle body.
Preferably, said flexible axle is a flexible axle, and said flexible axle comprises inner core and outer tube, and the said fixed plate of taking turns is fixedly connected with outer tube, and said inner core is used for moment of torsion is passed to wheel.
Preferably, said vehicle body comprises casing and the upper cover plate that is tightly connected with vehicle body, and said vehicle body also comprises the bearing that cooperates with flexible axle in the casing, and is close to cabinet wall and contacts and wale the wheel shaft sealed cover of flexible axle with bearing.
Preferably, adopt the silica gel sealing bar to carry out static seal between said casing and the upper cover plate; Said vehicle body also comprises the axle of being located between wheel shaft sealed cover and the flexible axle with this special envelope of waterproof combination, and is located in the said wheel shaft sealed cover and the O RunddichtringO that contacts with said casing; Said wheel shaft sealed cover and flexible axle are for being tightly connected.
Preferably, said moving carrier adopts rear wheel drive.
Preferably, said Working mechanism comprises the support on the said moving carrier, and The Cloud Terrace connects linkage, the lighting burner on the said The Cloud Terrace and the camera that is connected with The Cloud Terrace of said The Cloud Terrace and support.
Preferably, said camera is connected with said The Cloud Terrace through clamp forks, and said clamp forks is connected with The Cloud Terrace through the clamp forks rotating shaft perpendicular to The Cloud Terrace, and this rotating shaft can drive the clamp forks 360 deg and rotate; Be connected with the camera axle perpendicular to said clamp forks rotating shaft between two parallel jaws of clamp forks, said camera can rotate around camera axle 180 degree.
Preferably, said pipeline robot body also comprises control system, and said control system comprises the controller lower-position unit, sensing module, camera control module, motor control module and data acquisition module; Said controller lower-position unit receives the control signal to said pipeline robot body; And send said camera control module, motor control module and data acquisition module respectively to; Also be used to receive the heat transfer agent that sensing module produces, send data acquisition module to; Said sensing module comprises dip sensor and range sensor, and said dip sensor is used to measure the attitude of said moving carrier, topples in pipeline to prevent said moving carrier; Said range sensor is used for the obstacle of detecting tube pipeline robot body direction of advance, prevents in advancing, to produce collision with obstacle; Said sensing module sends the said heat transfer agent of dip sensor and range sensor generation to said controller lower-position unit; Said camera control module receives said control signal, is used to control the rotation of said camera, comprises through said clamp forks rotating shaft control clamp forks rotating around the clamp forks rotating shaft, and rotates around the camera axle through said camera axle control camera; Also be used to adjust the focal length of camera; Said motor control module receives said control signal, is used to control the motor of being located in the vehicle body, and said motor comprises the said motor and the motor of regulating said linkage of taking turns motion of driving.
Preferably, said control system comprises that also data acquisition module receives said control signal and said heat transfer agent and stores.
Preferably, said pipeline robot also comprises the telecontrol case, and said telecontrol case comprises the controller upper-position unit, the input device that is connected with said controller upper-position unit, and display device; Said controller upper-position unit receives the said control signal through said input device input, and carries out being transferred to said controller lower-position unit after the analysing and processing, and said controller upper-position unit also is used to receive the heat transfer agent of controller lower-position unit transmission; Said input device is used for input control signal, comprises that the control camera rotates and the signal of adjustment focal length, the signal of control motor; Said display device is connected with said pipeline robot body, receives the picture signal that said camera takes and shows.
Preferably, said telecontrol case also comprises digital video recorder, is used for said picture signal is recorded in memory device.
Preferably, adopt cable to connect between said telecontrol case and the pipeline robot body, said cable comprises power line, connection and video line; Said power line is used for working power to the pipeline robot body being provided, and said connection is used to transmit said control signal and heat transfer agent, and said video line is used to transmit said picture signal.
Adjustable included angle between aforementioned tube pipeline robot wheel and the vehicle body; Make robot when different tube diameters is worked; The outer rim of wheel contacts with wall is still vertical; Increased the area of contact of wheel outer rim and pipeline wall, it is more steady that robot is moved in pipeline, and this structure can provide bigger driving force.Adopt flexible shaft to be connected between driving wheel and the vehicle body, both made take turns and the pipeline robot body between adjustable included angle, can guarantee enough driving forces again.
[description of drawings]
Fig. 1 is the moving carrier schematic representation of pipeline robot body among the embodiment;
Fig. 2 is the local amplification profile of middle vehicle body embodiment illustrated in fig. 1 and flexible axle contacting point;
Fig. 3 is the schematic representation of pipeline robot body among the embodiment;
Fig. 4 is the structural representation of pipeline robot;
Fig. 5 is the structural representation of control system among the embodiment;
Fig. 6 is the structural representation of embodiment's medium-long range control box;
Fig. 7 is the structural representation of another embodiment's medium-long range control box.
[embodiment]
Detecting robot of pipe generally comprises two parts, and promptly ground long distance control system and ducted robot body, the communication modes between the two have wireless and wired two kinds.When adopting wireless telecommunications, owing to there is not cable, detection efficiency is higher, but the image laser propagation effect is relatively poor, receives interference effect bigger, and moving carrier need be from charged pool, and distance to go receives certain restriction.In addition,, then need the artificial pipeline recovery channel detection machine people that gets into, reclaim difficulty in case the moving carrier of robot body breaks down.When adopting wired mode, the signal of communication quality is good, and can pass through cable power supply, has increased distance to go; But, require the tractive force of moving carrier bigger because cable has increased resistance and gravity.Pipeline robot of the present invention is owing to can guarantee to take turns the plane and pipeline wall vertical junction is touched, and earth-grasping force is bigger, so tractive force is also bigger, so can adopt wired mode in a preferred embodiment.
Fig. 1 is the moving carrier schematic representation of pipeline robot body among the embodiment.Moving carrier 20 comprises vehicle body 210, and wheel 220 connects the flexible axle 230 of vehicle body 210 and wheel 220, and is connected, is used for the rocker-slider mechanism 240 of the angle between regulating wheel 220 and the vehicle body 210 with vehicle body 210 and flexible axle 230; Rocker-slider mechanism 240 comprise be positioned at vehicle body 210 middle parts and with vehicle body 210 screw mandrels 241 connected vertically; Place the wheel adjusting nut 242 on the screw mandrel 241; Be fixed in the nut fastener 243 on the wheel adjusting nut 242; The wheel fixed plate 244 that is connected with flexible axle 230, and hinged connecting rod 245 of taking turns fixed plate 244 and nut fastener 243.Wherein nut fastener 243 is hinged between connecting rod 245 and the nut fastener 243 between wheel adjusting nut 242 and vehicle body 210.
Before the pipeline robot work, can make the wheel plane perpendicular to tube wall, guarantee the area of contact maximum between wheel 220 and the tube wall according to the angle between four of the good moving carrier 20 of caliber size adjustment wheels 220 and the vehicle body 210.Specifically regulate through rocker-slider mechanism 240.Through regulating wheel adjusting nut 242 position on screw mandrel 241; Driving nut fastener 243 moves up and down along screw mandrel 241; And then drive is moved through connecting rod 245 and nut fastener 243 hinged wheel fixed plates 244; Thereby change the shape (degree of crook) of flexible axle 230, and flexible axle 230 connected vertically take turns 220 with vehicle body 210 between also change thereupon of angle.Specifically be wheel adjusting nut 242 upwards the time, wheel 220 diminishes with the angle of 210 of vehicle bodies, wheel adjusting nut 242 more up, the suitable caliber of pipeline robot is big more; Wheel adjusting nut 242 is downwards the time, and it is big that the angle between wheel 220 and vehicle body becomes, wheel adjusting nut 242 more down, the caliber that pipeline robot is suitable for is more little.
In the present embodiment, moving carrier 20 adopts differential steerings, and rear wheel drive through the motor driving flexible axle 230 in the vehicle body 210, and then passes to two trailing wheels in the wheel 220 with moment of torsion, drives its rotation.
In a preferred embodiment, flexible axle 230 adopts flexible axles, motor shaft with is fixedly connected with the metal inner core of flexible axle, motor passes through the metal inner core transmitting torque of flexible axle, takes turns 244 of fixed plates and is fixedly connected with the outer tube of flexible axle.Because the two ends of all flexible axles are fixed on two wheel fixed plates 244 (moving carrier 20 about respectively be provided with a wheel fixed plate 244) respectively, therefore take turns adjusting nut 242 when screw mandrel 241 moves up and down, the angle of all wheels 220 can be conditioned together.
Adopt the waterproofing design of above-mentioned sealing configuration, make that pipeline robot can work in injection has the pipeline (for example drainage pipe, oil transport pipeline etc.) of liquid environment, and can not make inner circuit malfunction because of immersion.
Fig. 3 is the schematic representation of pipeline robot body among the embodiment.Pipeline robot body 200 comprises the Working mechanism on moving carrier 20 and the moving carrier 20.Instrument that Working mechanism uses when being the pipeline robot operation and the structure that these instruments are connected comprise support 30, The Cloud Terrace 40, connect The Cloud Terrace 40 and the linkage 50 of support 30, the lighting burner 60 on the The Cloud Terrace 40 and the camera 70 that is connected with The Cloud Terrace 40.
The structure of linkage 50 for swinging through linkage 50 being put different positions, can realize the adjusting to The Cloud Terrace 40 positions.Linkage 50 can be by motor-driven.
Camera 70 is connected with The Cloud Terrace 40 through a clamp forks 72, and this clamp forks 72 is connected with The Cloud Terrace 40 through the clamp forks rotating shaft perpendicular to The Cloud Terrace 40, and this rotating shaft can drive clamp forks 72 360 degs and rotate.Be connected with the camera axle between two parallel jaws of clamp forks 72, camera 70 can rotate around camera axle 180 degree.Camera 70 is varifocal camera.
Be fixed with lighting burner 60 on the The Cloud Terrace 40, for camera 70 provides illumination.The adjustable brightness of lighting burner 60 is LED (light emitting diode) light source.
The static seal that clamp forks 72 and The Cloud Terrace are 40 adopts the sealing means of pressing O type circle.Be rotatably connected through the camera axle between camera 70 and the clamp forks 72, the movable sealing at this place adopts the sealing means of extruding rubber ring.Camera and The Cloud Terrace adopt above-mentioned sealing means, and can guarantee has work under the environment of liquid in injection.
As shown in Figure 4, pipeline robot of the present invention comprises pipeline robot body 200, telecontrol case 100 and the cable that connects them.Telecontrol case 100 is placed on the pipeline outside; The staff is through telecontrol case 100 telemonitorings and send pipeline robot body 200 work in the control signal controlling plumbing fixtures; The control system of pipeline robot body 200 receives control signal, and sends each concrete module respectively to.During pipeline robot work, put pipeline robot body 200 into pipe interior, connect cable then by the staff.Cable comprises power line, video line and connection, can realize folding and unfolding with winding roll.
The component that control circuit board, motor, dip sensor, range sensor, encoder etc. are used for robot control are installed in the vehicle body 210.
Fig. 5 is the structural representation of the control system of pipeline robot body among the embodiment.Control system 80 comprises controller lower-position unit 281, and the sensing module 282 that is connected with controller lower-position unit 281, camera control module 283, lighting burner control module 284, motor control module 285 and data acquisition module 286.
The control signal that controller lower-position unit 281 receiving remote control boxs 100 transmit through connection to pipeline robot body 200, and send camera control module 283, lighting burner control module 284, motor control module 285 and data acquisition module 286 respectively to; The heat transfer agent that also sensing module 282 is produced sends telecontrol case 100 and data acquisition module 286 to.
Sensing module 282 comprises dip sensor and range sensor.Dip sensor is used to measure the attitude of moving carrier 20, topples in pipeline to prevent moving carrier 20.Range sensor is used for the obstacle of detecting tube pipeline robot body 200 directions of advance, prevents in advancing, to produce collision with obstacle.Sensing module 282 sends the heat transfer agent that sensor produces to controller lower-position unit 281.
Camera control module 283 receives control signal; The rotation of control camera 70; Comprise through clamp forks rotating shaft control clamp forks 72 and rotating, and rotate around camera axle 180 degree through camera axle control camera 70 perpendicular to the clamp forks rotating shaft around clamp forks rotating shaft 360 deg; Also be used to adjust the focal length of camera 70.
Lighting burner control module 284 receives control signal, is used to regulate the brightness of lighting burner 60.In other embodiments, the control system 80 of pipeline robot body 280 can not have lighting burner control module 284 yet, and manually regulates through the button on the lighting burner 60, but just can't carry out remote adjustment like this.
Motor control module 285 receives control signal; Be used to control the motor in the vehicle body 210; The motor that comprises driving wheel 220 motion and the motor of adjustable lever mechanism 50 etc., with to the advancing of moving carrier 20, retreat, turning, gait of march etc. control, and the position of adjusting The Cloud Terrace 40.
Data acquisition module 286 receives control signal and heat transfer agent and stores.
Fig. 6 is the structural representation of embodiment's medium-long range control box.Telecontrol case 100 comprises controller upper-position unit 110, the input device 120 that is connected with controller upper-position unit 110, and display device 130.
The control signal that controller upper-position unit 110 receives through input device 120 inputs, and carry out being transferred to controller lower-position unit 281 through connection after the analysing and processing.Controller upper-position unit 110 also is used to receive the heat transfer agent of controller lower-position unit 281 through the connection transmission.
Fig. 7 is the structural representation of another embodiment's medium-long range control box; Its main distinction with the embodiment of Fig. 6 is to have increased digital video recorder (the Digital Video Recorder that is connected with display device 130; DVR) 140, be used for video signal is recorded in memory device (hard disk or CD) lining.
During work, put pipeline robot body 200 into need to detect pipeline opening, connect cable, opening power makes telecontrol case 100 and pipeline robot body 200 state of keeping in communication.The ducted image that display device 130 real-time display pipes detection machine human bodies 200 take through camera 70.The staff is according to images displayed, through the ducted pipeline robot body 200 of input device 120 remote operations advance, retreat, turning etc.Pipeline robot body 200 also can be regulated through input device 120 in ducted speed.Simultaneously, the image of camera 70 shootings is stored in the memory device through digital video recorder 140.
When in finding pipeline, suspicious fault or defective being arranged, can control the position of cameras 70 through input device 120, and the focal length of adjusting camera carries out careful observation to impact point.If run into the circumferential weld of pipeline, can also control the scanning that 70 pairs of tube walls of camera carry out a week, suspicious place is investigated more clearly.
Adjustable included angle between pipeline robot wheel of the present invention and the vehicle body; Make robot when different tube diameters is worked; The outer rim of wheel contacts with wall is still vertical; Increased the area of contact of wheel outer rim and pipeline wall, it is more steady that robot is moved in pipeline, and this structure can provide bigger driving force.Adopt flexible shaft to be connected between driving wheel and the vehicle body, both made take turns and the pipeline robot body between adjustable included angle, can guarantee enough driving forces again.
The above embodiment has only expressed several kinds of mode of executions of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (13)
1. pipeline robot; Comprise the pipeline robot body; Said pipeline robot body comprises the Working mechanism on moving carrier and the said moving carrier; It is characterized in that said moving carrier comprises the flexible axle of vehicle body, wheel, the said vehicle body of connection and wheel, and be connected with said vehicle body and flexible axle, be used to regulate said take turns and vehicle body between the rocker-slider mechanism of angle; Said rocker-slider mechanism comprise be positioned at said vehicle body middle part and with said vehicle body screw mandrel connected vertically; Place the wheel adjusting nut on the said screw mandrel; Be fixed in said nut fastener of taking turns on the adjusting nut; The wheel fixed plate that is connected with said flexible axle, and hinged said connecting rod of taking turns fixed plate and nut fastener.
2. pipeline robot according to claim 1 is characterized in that, said nut fastener is between wheel adjusting nut and vehicle body.
3. pipeline robot according to claim 1 is characterized in that, said flexible axle is a flexible axle, and said flexible axle comprises inner core and outer tube, and the said fixed plate of taking turns is fixedly connected with outer tube, and said inner core is used for moment of torsion is passed to wheel.
4. pipeline robot according to claim 1; It is characterized in that; Said vehicle body comprises casing and the upper cover plate that is tightly connected with vehicle body; Said vehicle body also comprises the bearing that cooperates with flexible axle in the casing, and is close to cabinet wall and contacts and wale the wheel shaft sealed cover of flexible axle with bearing.
5. pipeline robot according to claim 4 is characterized in that, adopts the silica gel sealing bar to carry out static seal between said casing and the upper cover plate; Said vehicle body also comprises the axle of being located between wheel shaft sealed cover and the flexible axle with this special envelope of waterproof combination, and is located in the said wheel shaft sealed cover and the O RunddichtringO that contacts with said casing; Said wheel shaft sealed cover and flexible axle are for being tightly connected.
6. pipeline robot according to claim 1 is characterized in that, said moving carrier adopts rear wheel drive.
7. pipeline robot according to claim 1 is characterized in that said Working mechanism comprises the support on the said moving carrier, and The Cloud Terrace connects linkage, the lighting burner on the said The Cloud Terrace and the camera that is connected with The Cloud Terrace of said The Cloud Terrace and support.
8. pipeline robot according to claim 7 is characterized in that, said camera is connected with said The Cloud Terrace through clamp forks, and said clamp forks is connected with The Cloud Terrace through the clamp forks rotating shaft perpendicular to The Cloud Terrace, and this rotating shaft can drive the clamp forks 360 deg and rotate; Be connected with the camera axle perpendicular to said clamp forks rotating shaft between two parallel jaws of clamp forks, said camera can rotate around camera axle 180 degree.
9. pipeline robot according to claim 8 is characterized in that, said pipeline robot body also comprises control system, and said control system comprises the controller lower-position unit, sensing module, camera control module, motor control module and data acquisition module;
Said controller lower-position unit receives the control signal to said pipeline robot body; And send said camera control module, motor control module and data acquisition module respectively to; Also be used to receive the heat transfer agent that sensing module produces, send data acquisition module to;
Said sensing module comprises dip sensor and range sensor, and said dip sensor is used to measure the attitude of said moving carrier, topples in pipeline to prevent said moving carrier; Said range sensor is used for the obstacle of detecting tube pipeline robot body direction of advance, prevents in advancing, to produce collision with obstacle; Said sensing module sends the said heat transfer agent of dip sensor and range sensor generation to said controller lower-position unit;
Said camera control module receives said control signal, is used to control the rotation of said camera, comprises through said clamp forks rotating shaft control clamp forks rotating around the clamp forks rotating shaft, and rotates around the camera axle through said camera axle control camera; Also be used to adjust the focal length of camera;
Said motor control module receives said control signal, is used to control the motor of being located in the vehicle body, and said motor comprises the said motor and the motor of regulating said linkage of taking turns motion of driving.
10. pipeline robot according to claim 9 is characterized in that, said control system comprises that also data acquisition module receives said control signal and said heat transfer agent and stores.
11. pipeline robot according to claim 9 is characterized in that, said pipeline robot also comprises the telecontrol case, and said telecontrol case comprises the controller upper-position unit, the input device that is connected with said controller upper-position unit, and display device;
Said controller upper-position unit receives the said control signal through said input device input, and carries out being transferred to said controller lower-position unit after the analysing and processing, and said controller upper-position unit also is used to receive the heat transfer agent of controller lower-position unit transmission;
Said input device is used for input control signal, comprises that the control camera rotates and the signal of adjustment focal length, the signal of control motor;
Said display device is connected with said pipeline robot body, receives the picture signal that said camera takes and shows.
12. pipeline robot according to claim 11 is characterized in that, said telecontrol case also comprises digital video recorder, is used for said picture signal is recorded in memory device.
13. pipeline robot according to claim 11 is characterized in that, adopts cable to connect between said telecontrol case and the pipeline robot body, said cable comprises power line, connection and video line; Said power line is used for working power to the pipeline robot body being provided, and said connection is used to transmit said control signal and heat transfer agent, and said video line is used to transmit said picture signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102408708A CN101915339B (en) | 2010-07-29 | 2010-07-29 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102408708A CN101915339B (en) | 2010-07-29 | 2010-07-29 | Pipeline robot |
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| CN101915339A CN101915339A (en) | 2010-12-15 |
| CN101915339B true CN101915339B (en) | 2012-09-12 |
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| CN2010102408708A Active CN101915339B (en) | 2010-07-29 | 2010-07-29 | Pipeline robot |
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| CN (1) | CN101915339B (en) |
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