CN106015832A - Pneumatic pipeline robot - Google Patents
Pneumatic pipeline robot Download PDFInfo
- Publication number
- CN106015832A CN106015832A CN201610425656.7A CN201610425656A CN106015832A CN 106015832 A CN106015832 A CN 106015832A CN 201610425656 A CN201610425656 A CN 201610425656A CN 106015832 A CN106015832 A CN 106015832A
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- China
- Prior art keywords
- module
- support
- robot
- oscillating bearing
- air cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pneumatic pipeline robot. The pneumatic pipeline robot comprises a telescoping module and a support module connected with the telescoping module, wherein the telescoping module is mainly composed of a drive air cylinder and a joint bearing connected with the drive air cylinder; peristaltic walking of the robot is realized by virtue of telescoping of the drive air cylinder; the support module generates a thrust by a support air cylinder, so that a support block of the robot is compressed with a pipe wall; the support module is capable of winding a space angle theta relative to the telescoping module through a spherical pair in the joint bearing; and a step speed regulation function is realized through control on a power-on time and a power-off time of an electromagnetic valve. The robot can carry out peristaltic free walking in a pipeline, has a bearing capacity to a certain extent, and can become a carrier for pipeline detection and cleaning equipment, so that detection, cleaning and other working for the pipeline is easy to realize.
Description
Technical field
The present invention relates to intelligent robot control technology, a kind of can creeping motion type is freely walked in pipeline pneumatic type pipe robot.
Background technology
At present, company of domestic robot is mainly engaged in the research in seven big fields, including service robot, toy robot, medical robot, military machine people, space robotics, industrial robot, underwater robot etc., develops and industrialization work.Now, the development blueprint of robot of China presents.In April, 2012, " intelligence manufacture development in science and technology " 12 " emphasis ad hoc planning " puts into effect, and industry and service robot are listed in following new industry significant development direction.Pipeline has been obtained for being widely applied at society, can be with transporting petroleum by pipeline, natural gas, domestic water etc.；Pipeline can rupture the most unavoidably, blocks, contamination etc., but the detection of pipeline, clears up, safeguards highly difficult, often spends substantial amounts of man power and material for a crackle finding on pipeline.
Summary of the invention
It is an object of the invention to for the deficiencies in the prior art, and a kind of pneumatic type pipe robot is provided, this robot is possible not only to creeping motion type in pipeline and freely walks, and there is certain bearing capacity, the carrier of pipe detection, cleaning equipment can be become so that the work such as the detection of pipeline, cleaning are easily achieved.
The technical scheme realizing the object of the invention is:
A kind of pneumatic type pipe robot, including flexible module and the support module that is connected with flexible module；Flexible module is mainly by driving cylinder and constituting with the oscillating bearing driving cylinder to be connected, utilize the flexible creeping motion type walking realizing robot driving cylinder, support module and produced thrust by supporting air cylinder group, the bracer making robot compresses with tube wall, support module and with one space angle θ of moving, and step speed regulation function can be realized by controlling the power on/off time of electromagnetic valve by the spherical pair in oscillating bearing relative to flexible module.
Described flexible module and support module circulate work in sequence.
Described support module is divided into the first support module and second to support module, wherein:
First supports module is arranged on flexible module front end, is connected by the oscillating bearing I of fixed plate with flexible module；
Second supports module is arranged on flexible module rear end, is connected by the oscillating bearing II of fixed plate with flexible module.
Described support module includes directive wheel, support bar I, embedded spring, fixed plate, a bracer, support bar II, aluminium sheet, support air cylinder group I and U-shaped contiguous block；Wherein: support bar I is 6, support bar II is 3, interval between every support bar is 120 °, aluminium sheet is separately fixed in two pieces of fixed plates by screw, support air cylinder group I and support bar I is fixedly installed on aluminium sheet, support bar II is threaded connection with supporting air cylinder group I, and embedded spring is arranged in hollow cylinder；Directive wheel is arranged in U-shaped contiguous block, and fixing with the studs of U-shaped contiguous block is connected.
Described support air cylinder group I is positioned at below aluminium sheet, and support bar I is arranged at above aluminium sheet.
Described flexible module includes oscillating bearing I, drives cylinder, aluminum plate, oscillating bearing II, pin, bolt；Cylinder one end is wherein driven to be coupled with oscillating bearing II by bolt by thread connection, the other end with oscillating bearing I；Oscillating bearing II left end bar is by aluminum plate centre bore and makes its rod end surface be adjacent to drive cylinder right side；Aluminum plate drives the nut on cylinder by regulation, coordinates oscillating bearing II and the nut in aluminum plate connecting rod, fixing aluminum plate.
Advantages of the present invention: pneumatic actuation, power is bigger so that robot has the ability undertaking a fixed load, can be realized the regulation of power size by regulation air pressure；Circuit board is external, and robot body's part can preferably adapt to the environment of humidity；Cylinder itself can realize reciprocal linear motion, simplifies mechanism；" foot " the most described support bar of robot can change the length of " foot " by adding " the lengthening foot " of different length, to adapt to the pipeline of different inner diameters；Main part uses three stage structure, oscillating bearing couple and form, wriggle and realized the function of curved pipe.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is flexible module diagram；
Fig. 3 is the first support module diagram；
Fig. 4 is the second support module diagram；
Fig. 5 is support barⅠStructural representation；
Fig. 6 is Pneumatic pipe robot mechanism schematic diagram；
Fig. 7 is Pneumatic pipe robot ambulation principle schematic；
Fig. 8 is Pneumatic pipe robot gas circuit design principle schematic diagram；
In figure: 100. first support module；200. stretch module；300. second support module；
1. oscillating bearing I；2. drive cylinder；3. aluminum plate；4. screw；5. oscillating bearing II；6. directive wheel；7. studs；8-1. support bar I；8-2.U shape contiguous block；The embedded spring of 8-3.；8-4. hollow cylinder；9. single-head screw；10. screw；11. fixed plates (atresia)；12. holding screws；13. bracers；14. support bars II；15. bolts；16. aluminium sheets；17-1. supports air cylinder group I；17-2. supports air cylinder group II；18. fixed plates (porose).
Detailed description of the invention
Combine accompanying drawing with specific embodiment below the present invention is further described.
See Fig. 1-5: a kind of Pneumatic pipe robot, support module 300 including the first support module 100, flexible module 200, second；Wherein the first oscillating bearing supporting the gripper shoe in module 100 and flexible module 200 matches, and another oscillating bearing and second gripper shoe supporting module 300 of flexible module 200 match；Before first support module 100 is positioned at flexible module 200, after the second support module 300 is positioned at flexible module 200.Flexible module 200, mainly by driving cylinder 2 and oscillating bearing to constitute, utilizes the flexible walking realizing robot driving cylinder, and walking manner is creeping motion type；Support module and produced thrust by supporting air cylinder group, make " foot " (bracer 13) of robot to compress with tube wall, thus the stiction needed for producing robot ambulation.Flexible module 200 and the first support module 100, second support module 300 and circulate work in sequence, thus realize robot walking in pipeline.Spherical pair in oscillating bearing makes the first support module 100 and second support module 300 can be with one space angle θ of moving relative to flexible module 200, and therefore robot has possessed the most curved ability.The power on/off time controlling electromagnetic valve realizes step speed regulation function (being designed as high, medium and low three gears).
Described first supports module 100 includes screw 4, directive wheel (6) 6, support bar I (6) 8-1, embedded spring (9) 8-3, fixed plate (atresia) 11, a bracer (3 pieces) 13, support bar II (3) 14, aluminium sheet (3 pieces) 16, supports air cylinder group I 17-1, fixed plate (porose) 18；Wherein between three groups " foot ", interval is 120 °, aluminium sheet 16 screw 4 is fixed in two fixed plates 11 and 18, support air cylinder group I 17-1 and support bar 8-1 and 14 setting to be fixed on aluminium sheet 16, support air cylinder group I 17-1 and be positioned at below aluminium sheet 16, support bar 8-1 and 14 is arranged at above aluminium sheet 16, support bar II 14 is threaded connection with supporting air cylinder group I 17-1, and embedded spring 8-3 is arranged in hollow cylinder 8-4；Directive wheel 6 is arranged in U-shaped contiguous block 8-2, and is installed on the studs 7 being fixed on U-shaped contiguous block 8-2.First supports module 100 mainly props up the function that bracer 13 is propped up and shunk by supporting air cylinder group I 17-1 control realization, and coordinates elongation and the contraction of the cylinder rod driving cylinder, thus realizes robot creeping motion type advance.
Described flexible module 200 includes oscillating bearing I 1, drives cylinder 2, aluminum plate 3, oscillating bearing II 5, pin 10, bolt 15；Wherein driving cylinder 2 one end to be threaded connection with oscillating bearing I, the other end is connected with oscillating bearing II 5 by bolt 15.This module is by driving the control of cylinder, promote support module one to be moved along one during cylinder rod elongation and drive cylinder stroke, described cylinder rod pulls support module two to be moved along one and drives cylinder stroke, such order cycle when shrinking, thus realizes robot creeping motion type and advance.
Described second supports module 300 includes screw 4, directive wheel (6) 6, support bar I (6) 8-1, embedded spring (9) 8-3, fixed plate (atresia) 11, a bracer (3 pieces) 13, support bar II (3) 14, aluminium sheet (3 pieces) 16, supports air cylinder group II 17-2, fixed plate (porose) 18；Wherein between three groups " foot ", interval is 120 °, aluminium sheet 16 screw 4 is fixed in two fixed plates 11 and 18, support air cylinder group II 17-2 and support bar 8-1 and 14 setting to be fixed on aluminium sheet 16, support air cylinder group II 17-2 and be positioned at below aluminium sheet 16, support bar 8-1 and 14 is arranged at above aluminium sheet 16, support bar II 14 is threaded connection with supporting air cylinder group II 17-2, and embedded spring 8-3 is arranged in hollow cylinder 8-4；Directive wheel 6 is arranged in U-shaped contiguous block 8-2, and is installed on the studs 7 being fixed on U-shaped contiguous block 8-2.Second supports module 300 mainly props up the function that bracer 13 is propped up and shunk by supporting air cylinder group II 17-2 control realization, and coordinates elongation and the contraction of the cylinder rod driving cylinder, thus realizes robot creeping motion type advance.
The walking principle of the present invention is as shown in Figure 7:
1) original state, supports air cylinder group I and support air cylinder group II all extends, and the bracer that the bracer and second in the first support module supports in module is in holding state；Driving cylinder shrinks, and the effect of robot frictionally stops in the duct；
2) supporting air cylinder group I to shrink, the first bracer supporting module shrinks；
3) driving the cylinder rod elongation of cylinder, first supports module moves forward a driving cylinder stroke；
4) supporting air cylinder group I to extend, first bracer supporting module struts；
5) driving air cylinder group II to shrink, the second bracer supporting module shrinks；
6) driving cylinder to shrink, second supports module moves forward a driving cylinder stroke；
The recovering state of robot is to original state 1 afterwards), repeat above action, robot constantly advances.
The gas circuit design principle of the present invention is as shown in Figure 8:
From air cleaner compressed air out, compressed air being divided into three tunnels respectively to three electromagnetic valves through a four-way, electromagnetic valve the most from top to down controls to support air cylinder group I, drive cylinder and support air cylinder group II successively.Realized the switching of gas circuit by the power on/off of circuit controling electromagnetic valve coil, i.e. control the flexible of cylinder.The speed of robot has 3 kinds, high, medium and low, the most corresponding time 0.5s, and 1s, 1.5s(correspondence electromagnetic valve becomes once the time used), respective tube pipeline robot speed is 0.4m/min, 0.2m/min, 0.13m/min.
Claims (6)
1. a pneumatic type pipe robot, is characterized in that: include flexible module and the support module being connected with flexible module；Flexible module is mainly by driving cylinder and constituting with the oscillating bearing driving cylinder to be connected, utilize the flexible creeping motion type walking realizing robot driving cylinder, support module and produced thrust by supporting air cylinder group, the bracer making robot compresses with tube wall, support module and with one space angle θ of moving, and step speed regulation function can be realized by controlling the power on/off time of electromagnetic valve by the spherical pair in oscillating bearing relative to flexible module.
Pneumatic type pipe robot the most according to claim 1, is characterized in that: described flexible module and support module circulate work in sequence.
Pneumatic type pipe robot the most according to claim 1, is characterized in that: described support module includes directive wheel, support bar I, embedded spring, fixed plate, a bracer, support bar II, aluminium sheet, support air cylinder group I and U-shaped contiguous block；Wherein: support bar I is 6, support bar II is 3, interval between every support bar is 120 °, aluminium sheet is separately fixed in two pieces of fixed plates by screw, support air cylinder group I and support bar I is fixedly installed on aluminium sheet, support bar II is threaded connection with supporting air cylinder group I, and embedded spring is arranged in hollow cylinder；Directive wheel is arranged in U-shaped contiguous block, and fixing with the studs of U-shaped contiguous block is connected.
Pneumatic type pipe robot the most according to claim 1, is characterized in that: described support module is divided into the first support module and second to support module, wherein:
First supports module is arranged on flexible module front end, is connected by the oscillating bearing I of fixed plate with flexible module；
Second supports module is arranged on flexible module rear end, is connected by the oscillating bearing II of fixed plate with flexible module.
Pneumatic type pipe robot the most according to claim 3, is characterized in that: described support air cylinder group I is positioned at below aluminium sheet, and support bar I is arranged at above aluminium sheet.
Pneumatic type pipe robot the most according to claim 1, is characterized in that: described flexible module includes oscillating bearing I, drives cylinder, aluminum plate, oscillating bearing II, pin, bolt；Cylinder one end is wherein driven to be coupled with oscillating bearing II by bolt by thread connection, the other end with oscillating bearing I；Oscillating bearing II left end bar is by aluminum plate centre bore and makes its rod end surface be adjacent to drive cylinder right side；Aluminum plate, by driving the bolt location and installation on cylinder, regulates the nut on two bolts, coordinates oscillating bearing II and the nut in aluminum plate connecting rod, with fixing aluminum plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610425656.7A CN106015832A (en) | 2016-06-16 | 2016-06-16 | Pneumatic pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610425656.7A CN106015832A (en) | 2016-06-16 | 2016-06-16 | Pneumatic pipeline robot |
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| CN106015832A true CN106015832A (en) | 2016-10-12 |
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| CN201610425656.7A Pending CN106015832A (en) | 2016-06-16 | 2016-06-16 | Pneumatic pipeline robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641575A (en) * | 2016-11-19 | 2017-05-10 | 西南石油大学 | Bypass valve type automatic speed-regulation pipe cleaner |
| CN106767774A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | Ball shape robot ectosphere exercise test device |
| CN107327656A (en) * | 2017-07-17 | 2017-11-07 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct maintenance all-in-one and its traveling method |
| CN107389702A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of bridge pipeline welded joint multi-section type flaw detection positioner |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN108443642A (en) * | 2018-05-15 | 2018-08-24 | 浙江工业大学 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
| CN108580460A (en) * | 2018-03-27 | 2018-09-28 | 昆明理工大学 | A kind of pipeline cleaning robot |
| CN109176274A (en) * | 2018-08-28 | 2019-01-11 | 周志富 | A kind of circle steel pipeline device for dedusting inner wall |
| CN109465260A (en) * | 2018-12-12 | 2019-03-15 | 河海大学常州校区 | A kind of pipeline cleaning robot |
| CN109578745A (en) * | 2017-08-03 | 2019-04-05 | 马鞍山福来伊环保科技有限公司 | A kind of method of creeping of diagonal lift pipe robot |
| CN109899622A (en) * | 2019-03-18 | 2019-06-18 | 厦门理工学院 | Crawl device and its method of creeping in a kind of biomimetic peristaltic type pipeline |
| CN110412031A (en) * | 2019-07-31 | 2019-11-05 | 艾迪机器(杭州)有限公司 | A kind of snake formula pipeline sludge detection robot |
| CN110762338A (en) * | 2019-10-26 | 2020-02-07 | 厦门大学嘉庚学院 | Pneumatic passing device of pipeline robot and using method |
| CN110773522A (en) * | 2019-07-16 | 2020-02-11 | 中国石油大学(华东) | Paraffin cleaning operation pipeline robot |
| CN111572665A (en) * | 2020-05-30 | 2020-08-25 | 日照亚创电子科技有限公司 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
| CN112815177A (en) * | 2021-01-13 | 2021-05-18 | 北京理工大学 | Robot structure capable of adapting to complex pipeline |
| CN113007492A (en) * | 2021-03-04 | 2021-06-22 | 天津科技大学 | Rigid-flexible combined continuous propulsion pipeline robot |
| CN114378071A (en) * | 2022-01-19 | 2022-04-22 | 杨清哲 | Wisdom water utilities pipeline inner wall deposit cleaning device |
| CN115234747A (en) * | 2022-07-14 | 2022-10-25 | 安徽工业大学 | Self-adaptive pipeline inspection robot and pipeline defect detection system |
| CN115780430A (en) * | 2023-02-06 | 2023-03-14 | 山西中煤东坡煤业有限公司 | Mine drainage pipe inner wall cleaning device |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641575B (en) * | 2016-11-19 | 2018-04-27 | 西南石油大学 | A kind of bypass valve type automatic speed regulation wiper |
| CN106641575A (en) * | 2016-11-19 | 2017-05-10 | 西南石油大学 | Bypass valve type automatic speed-regulation pipe cleaner |
| CN106767774A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | Ball shape robot ectosphere exercise test device |
| CN108343803A (en) * | 2017-01-23 | 2018-07-31 | 中国石油大学(北京) | Pneumatic pipe robot |
| CN107327656A (en) * | 2017-07-17 | 2017-11-07 | 浙江金马逊机械有限公司 | A kind of self-propelled inner-walls of duct maintenance all-in-one and its traveling method |
| CN109578745A (en) * | 2017-08-03 | 2019-04-05 | 马鞍山福来伊环保科技有限公司 | A kind of method of creeping of diagonal lift pipe robot |
| CN109578745B (en) * | 2017-08-03 | 2020-08-28 | 马鞍山福来伊环保科技有限公司 | Crawling method of diagonal lifting type pipeline robot |
| CN107389702A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of bridge pipeline welded joint multi-section type flaw detection positioner |
| CN108580460A (en) * | 2018-03-27 | 2018-09-28 | 昆明理工大学 | A kind of pipeline cleaning robot |
| CN108580460B (en) * | 2018-03-27 | 2020-12-15 | 昆明理工大学 | Pipeline cleaning robot |
| CN108443642A (en) * | 2018-05-15 | 2018-08-24 | 浙江工业大学 | A kind of thin stifled cleaning robot of creeping motion type pipeline |
| CN108443642B (en) * | 2018-05-15 | 2023-07-07 | 浙江工业大学 | Peristaltic pipeline dredging and cleaning robot |
| CN109176274A (en) * | 2018-08-28 | 2019-01-11 | 周志富 | A kind of circle steel pipeline device for dedusting inner wall |
| CN109465260A (en) * | 2018-12-12 | 2019-03-15 | 河海大学常州校区 | A kind of pipeline cleaning robot |
| CN109899622A (en) * | 2019-03-18 | 2019-06-18 | 厦门理工学院 | Crawl device and its method of creeping in a kind of biomimetic peristaltic type pipeline |
| WO2021008525A1 (en) * | 2019-07-16 | 2021-01-21 | 中国石油大学(华东) | Paraffin clearing operation pipeline robot |
| CN110773522A (en) * | 2019-07-16 | 2020-02-11 | 中国石油大学(华东) | Paraffin cleaning operation pipeline robot |
| CN110412031A (en) * | 2019-07-31 | 2019-11-05 | 艾迪机器(杭州)有限公司 | A kind of snake formula pipeline sludge detection robot |
| CN110412031B (en) * | 2019-07-31 | 2024-03-26 | 艾迪机器(杭州)有限公司 | Snake type pipeline sludge detection robot |
| CN110762338A (en) * | 2019-10-26 | 2020-02-07 | 厦门大学嘉庚学院 | Pneumatic passing device of pipeline robot and using method |
| CN111572665A (en) * | 2020-05-30 | 2020-08-25 | 日照亚创电子科技有限公司 | Wall climbing robot for detecting and maintaining water cooled wall of power plant boiler |
| CN112815177A (en) * | 2021-01-13 | 2021-05-18 | 北京理工大学 | Robot structure capable of adapting to complex pipeline |
| CN113007492A (en) * | 2021-03-04 | 2021-06-22 | 天津科技大学 | Rigid-flexible combined continuous propulsion pipeline robot |
| CN114378071A (en) * | 2022-01-19 | 2022-04-22 | 杨清哲 | Wisdom water utilities pipeline inner wall deposit cleaning device |
| CN114378071B (en) * | 2022-01-19 | 2024-07-05 | 杨清哲 | Intelligent water service pipeline inner wall sediment cleaning device |
| CN115234747A (en) * | 2022-07-14 | 2022-10-25 | 安徽工业大学 | Self-adaptive pipeline inspection robot and pipeline defect detection system |
| CN115780430A (en) * | 2023-02-06 | 2023-03-14 | 山西中煤东坡煤业有限公司 | Mine drainage pipe inner wall cleaning device |
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