CN106122677B - A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing - Google Patents
A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing Download PDFInfo
- Publication number
- CN106122677B CN106122677B CN201610560267.5A CN201610560267A CN106122677B CN 106122677 B CN106122677 B CN 106122677B CN 201610560267 A CN201610560267 A CN 201610560267A CN 106122677 B CN106122677 B CN 106122677B
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- Prior art keywords
- walking
- wall
- branch
- automatically walk
- pipe
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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
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
-
- 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
- F16L2101/16—Coating by application of fluent materials, e.g. painting
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Revetment (AREA)
Abstract
The present invention relates to a kind of Special Automatic walking arrangements of diesel pipeline inner wall processing, including two inner wall automatically walk branches, it is symmetrically connected with four dowel columns between two inner wall automatically walk branches, four dowel columns play the function of two inner wall automatically walk branches of connection and fixed support, and the lower end of each inner wall automatically walk branch is symmetrically installed that there are two flexible walking branches, by in two flexible walking branch automatically walks to inner wall of the pipe, it stretches outward when the present invention runs to inner wall of the pipe latter two flexible walking branch, two inner wall automatically walk branches are stretched outward until being tightly attached in inner wall of the pipe at this time, it can be in inner wall of the pipe from steady walking by two inner wall automatically walk branch present invention；The inner wall automatically walk branch includes square bearing piece.The automatically walk function of stablizing on diesel pipeline inner wall may be implemented in the present invention, eliminates the situation there may be rollover and up-down vibration in walking process of the present invention.
Description
Technical field
The present invention relates to petroleum pipeline field of mechanical technique, specifically a kind of diesel pipeline inner wall processing is Special Automatic
Walking arrangement.
Background technology
With the fast development of petroleum industry, the oil transportation that is used on oil field, waterflood-transmission line are more and more.In oil, water usually
All contain corrosive deposit, causes pipeline corrosion damage to happen occasionally, especially the petroleum pipeline of High water cut, produced-water reinjection pipeline
Service life greatly shortens, and more renews pipeline and faces huge cost, therefore generally to the new pipeline of laying or the old pipeline corroded
It needs to do preservative treatment, diesel pipeline corrosion-resistant major way is to spray corrosion-inhibiting coating in inner wall of the pipe, is set in existing automation
It needs to move to spraying equipment in inner wall of the pipe by existing automation pipe walking equipment before standby anticorrosion with painting coating, but
It is that existing automation pipe walking equipment has the following defects：Existing automation pipe walking equipment is essentially all using double
Point support walking principle carries out, and generally only there are support force in lower end or both sides to inner wall of the pipe, recessed when encountering inner wall of the pipe
When convex uneven or bulk attachment impurity, since existing automation pipe walking equipment does not have even support power to pipeline surrounding,
Even support poor performance, it is easy to lead to rollover or the phenomenon that up-down vibration, poor from steady walking performance, equipment work efficiency is low
Under.
Invention content
It to solve the above-mentioned problems, can the present invention provides a kind of Special Automatic walking arrangement of diesel pipeline inner wall processing
It is poor from steady walking performance to solve inner wall of the pipe even support poor performance and equipment existing for existing automation pipe walking equipment
Etc. problems, may be implemented on diesel pipeline inner wall of the present invention stablize automatically walk function, eliminate in walking process of the present invention
There may be the situations of rollover and up-down vibration, and good and equipment is good from steady walking performance with inner wall of the pipe even support performance
The advantages that.
To achieve the goals above, the present invention is realized using following technical scheme：A kind of diesel pipeline inner wall processing is special
With automatic running device, including two inner wall automatically walk branches, four are symmetrically connected between two inner wall automatically walk branches
Root dowel column, four dowel columns play the function of two inner wall automatically walk branches of connection and fixed support, and each interior
The lower end of wall automatically walk branch is symmetrically installed there are two flexible walking branch, passes through two flexible walking branch automatically walks
It to inner wall of the pipe, stretches outward when the present invention runs to inner wall of the pipe latter two flexible walking branch, at this time in two
Wall automatically walk branch is stretched outward until being tightly attached in inner wall of the pipe, and two inner wall automatically walk branch present invention are passed through
It can be in inner wall of the pipe from steady walking；The inner wall automatically walk branch includes square bearing piece, four side walls of square bearing piece
There are one automatic traveling mechanism, four automatic traveling mechanisms are carried out at the same time work from four direction for upper each installation, and there are four uniformly
The walking support force of arrangement, even support performance is good, good from steady walking performance, and automatic traveling mechanism includes being welded on square bearing piece
Walking bottom plate on corresponding side wall, there are two No.1 hydraulic cylinder, two No.1 hydraulic cylinders for the on both sides of the upper end installation for bottom plate of walking
Upper to be separately installed with two No.1 flanges by screw thread, the upper end of two No.1 flanges is equipped with walking erecting bed by screw,
Two No.1 flanges play the role of two No.1 hydraulic cylinders of connection and walking erecting bed, the upper center pair of the walking bottom plate
Title is provided with two positioning columns, is arranged respectively on two positioning columns there are two No.1 limit spring, two positioning columns play positioning
The effect of two No.1 limit spring positions, the upper end of two No.1 limit springs are both connected to the lower face of walking erecting bed,
And two No.1 limit springs are located between two No.1 hydraulic cylinders, No.1 limit spring plays the role of damping limit, due to
The effect of No.1 limit spring is so that walk the progress that erecting bed can slowly be stablized under the action of two No.1 hydraulic cylinders or more
The on both sides of the upper end of stretching motion, the walking bottom plate is symmetrically welded there are two longitudinal spacing frame, under the walking erecting bed
End face both sides are symmetrically welded there are two cross spacing frame, and two cross spacing frames are respectively sleeved on two longitudinal spacing frames, and two
A longitudinal spacing frame and two cross spacing frames are defined the distance of stretch out and draw back at walking erecting bed both ends, and longitudinal spacing frame exists
Maximal dilation distance on cross spacing frame is exactly the largest motion distance up and down of erecting bed of walking, the walking erecting bed it is upper
End is symmetrically arranged with two pairs of mounting ear, is respectively mounted between each pair of mounting ear there are one live-roller, and two biographies of two pairs of mounting ear
Walking belt is installed between dynamic roller, movable motor is equipped with by shaft coupling on the live-roller on the left of walking belt, row
It walks motor to be mounted on walking support plate by motor cabinet, walking support plate is welded on the side wall of corresponding mounting ear, the walking skin
Taper walking item is evenly arranged on band outer wall, taper walks item as pyramidal structure, increases taper walking item and inner wall of the pipe
Between walking frictional force and walking power, improve work efficiency, pass through movable motor drive two live-rollers on walking
Belt rotates, and walking belt drives the taper walking item stabilized walking in inner wall of the pipe being evenly arranged；The flexible walking branch
Chain includes two telescopic props being welded on square bearing piece side wall, and the bottom ends of two telescopic props is welded with flexible support plate, and two
Root telescopic prop plays the role of fixed support telescopic support plate, and the lower face of flexible support plate is symmetrically installed that there are two No. two hydraulic pressure
Cylinder is each attached in L-type fixed plate in the middle part of each No. two hydraulic cylinders, and L-type fixed plate, which plays, fixed supports No. two hydraulic cylinders
Effect, L-type fixed plate are welded on the lower end of flexible support plate, and the top of each No. two hydraulic cylinders is mounted on No. two methods by screw thread
Orchid, and traveling wheel is equipped with by screw on No. two flanges, walking crop rotation stretching motion is driven by No. two hydraulic cylinders, passes through row
It walks wheel present invention stabilization is moved in inner wall of the pipe.
The present invention is in use, four flexible walking branches on two inner wall automatically walk branches first stretch down simultaneously
Movement, two No. two hydraulic cylinders on flexible walking branch drive two traveling wheels to move down, when traveling wheel move to not by
The interference of inner wall automatically walk branch apart from when No. two hydraulic cylinders be stopped, then the present invention passes through four flexible walking branches
On traveling wheel automatically walk to inner wall of the pipe in, stop walking when moving to required processing position, at this time two inner walls from
Automatic traveling mechanism on dynamic walking branch is all started to work, and two No.1 hydraulic cylinders on automatic traveling mechanism are at two one
Start that walking erecting bed is driven to make slowly stretching motion outward under the action of number limit spring, the cones on all walking belts
No.1 hydraulic cylinder stops function when shape walking item is tightly attached in inner wall of the pipe, and four flexible walking branches pass through No. two hydraulic pressure at this time
Cylinder drives two walking crop rotations up to move, when traveling wheel does not interfere with No. two liquid when taper walking item moves in inner wall of the pipe
Cylinder pressure is stopped, and the movable motor on automatic traveling mechanism is started to work at this time, and two live-rollers are driven by movable motor
On walking belt rotation, walking belt drive be evenly arranged taper walking item stabilized walking in inner wall of the pipe, due to four
A automatic traveling mechanism is to be carried out at the same time work from four direction, and there are four the walking support forces that direction is evenly arranged, uniformly
Support performance is good, good from steady walking performance, eliminates the situation there may be rollover and up-down vibration in walking process of the present invention,
Realize the automatically walk function that the present invention stablizes on diesel pipeline inner wall.
The beneficial effects of the invention are as follows：The present invention compared with prior art, passes through flexible walking branch automatically walk to pipeline
On inner wall, latter two right automatically walk branch can be in inner wall of the pipe from steady walking from four direction, and there are four be evenly arranged tool
Walking support force, even support performance is good, good from steady walking performance, eliminates in walking process of the present invention that there may be rollovers
With the situation of up-down vibration, solve inner wall of the pipe even support poor performance existing for existing diesel pipeline inner wall cleaning equipment and
Equipment realizes the automatically walk function that the present invention stablizes on diesel pipeline inner wall from problems such as steady walking performance differences.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of automatic traveling mechanism of the present invention；
Fig. 3 is the full sectional view of automatic traveling mechanism of the present invention；
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figure 1 to Figure 3, the Special Automatic walking arrangement of a kind of diesel pipeline inner wall processing, including two inner walls are automatic
It walks branch 11, is symmetrically connected with four dowel columns 12, four dowel columns 12 between two inner wall automatically walk branches 11
Play the function of two inner wall automatically walk branches 11 of connection and fixed support, and the lower end of each inner wall automatically walk branch 11
It is symmetrically installed there are two flexible walking branch 13, is stretched in walking 13 automatically walks to inner wall of the pipe of branch by two, when
The present invention runs to inner wall of the pipe latter two flexible walking branch 13 and stretches outward, at this time two inner wall automatically walk branches
11 are stretched outward until being tightly attached in inner wall of the pipe, can be in pipeline by two 11 present invention of inner wall automatically walk branch
From steady walking on inner wall；The inner wall automatically walk branch 11 includes square bearing piece 111, on four side walls of square bearing piece 111
There are one automatic traveling mechanism 112, four automatic traveling mechanisms 112 are carried out at the same time work from four direction for each installation, there are four
The walking support force being evenly arranged, even support performance is good, good from steady walking performance, and automatic traveling mechanism 112 includes being welded on
Square bearing piece 111 corresponds to the walking bottom plate 1121 on side wall, and there are two No.1 liquid for the on both sides of the upper end installation of walking bottom plate 1121
Cylinder pressure 1122 is separately installed with two No.1 flanges 1123, two No.1 flanges on two No.1 hydraulic cylinders 1122 by screw thread
1123 upper end is equipped with walking erecting bed 1124 by screw, and two No.1 flanges 1123 play two No.1 hydraulic cylinders of connection
1122 and walking erecting bed 1124 effect, it is described walking bottom plate 1121 upper center be symmetrically arranged with two positioning columns
It is arranged respectively on 1121a, two positioning column 1121a there are two No.1 limit spring 1125, two positioning column 1121a play positioning
The upper end of the effect of two 1125 positions of No.1 limit spring, two No.1 limit springs 1125 is both connected to walking erecting bed
1124 lower face, and two No.1 limit springs 1125 are located between two No.1 hydraulic cylinders 1122, No.1 limit spring
1125 play the role of damping limit, since No.1 limit spring 1125 to walk erecting bed 1124 in two No.1 liquid
Stretching motion above and below the progress that can slowly stablize under the action of cylinder pressure 1122, the on both sides of the upper end pair of the walking bottom plate 1121
Title is welded with two longitudinal spacing frames 1126, and the lower face both sides of the walking erecting bed 1124 are symmetrically welded to be limited there are two lateral
Position frame 1127, two cross spacing frames 1127 are respectively sleeved on two longitudinal spacing frames 1126, two longitudinal spacing frames 1126
The distance of stretch out and draw back at 1124 both ends of walking erecting bed is defined with two cross spacing frames 1127, longitudinal spacing frame 1126 exists
Maximal dilation distance on cross spacing frame 1127 is exactly the largest motion distance up and down of erecting bed 1124 of walking, the walking peace
The upper end of dress platform 1124 is symmetrically arranged with two pairs of mounting ear 1128, is respectively mounted between each pair of mounting ear 1128 there are one live-roller
1129, and walking belt 1130 is installed between two live-rollers 1129 of two pairs of mounting ear 1128, it is located at walking belt 1130
Movable motor 1131 is equipped with by shaft coupling on the live-roller 1129 in left side, movable motor 1131 is expert at by motor cabinet installation
It walks on support plate 1132, walking support plate 1132 is welded on the side wall of corresponding mounting ear 1128, on 1130 outer wall of walking belt
It is evenly arranged with taper walking item 1133, taper walks item 1133 as pyramidal structure, increases taper walking item 1133 and pipeline
Walking frictional force between inner wall and walking power, improve work efficiency, and two live-rollers are driven by movable motor 1131
Walking belt 1130 on 1129 rotates, and walking belt 1130 drives the taper being evenly arranged to walk item 1133 in inner wall of the pipe
Stabilized walking；The flexible walking branch 13 includes being welded on two telescopic props 131 on 111 side wall of square bearing piece, two
The bottom end of telescopic prop 131 is welded with flexible support plate 132, and two telescopic props 131 play the work of fixed support telescopic support plate 132
With the lower face of flexible support plate 132 is symmetrically installed there are two No. two hydraulic cylinders 133, and the middle part of each No. two hydraulic cylinders 133 is solid
It is scheduled in L-type fixed plate 134, L-type fixed plate 134 plays the role of No. two hydraulic cylinders 133 of fixed support, and L-type fixed plate 134 is welded
It is connected on the lower end of flexible support plate 132, the top of each No. two hydraulic cylinders 133 is mounted on No. two flanges 135, and two by screw thread
Traveling wheel 136 is equipped with by screw on number flange 135, drives traveling wheels 136 to make stretching motion by No. two hydraulic cylinders 133,
Present invention stabilization is moved in inner wall of the pipe by traveling wheel 136.
The present invention is in use, four flexible walking branches 13 on two inner wall automatically walk branches 11 are first made down simultaneously
Stretching motion, flexible two No. two hydraulic cylinders 133 walked on branch 13 drive two traveling wheels 136 to move down, work as walking
Wheel 136 move to not by inner wall automatically walk branch 11 interfere apart from when No. two hydraulic cylinders 133 be stopped, then the present invention
By in 136 automatically walks to inner wall of the pipe of traveling wheel on four flexible walking branches 13, when moving to required processing position
When stop walking, the automatic traveling mechanism 112 on two inner wall automatically walk branches 11 is all started to work at this time, automatically walk
Two No.1 hydraulic cylinders 1122 in mechanism 112 start to drive walking erecting bed under the action of two No.1 limit springs 1125
1124 make slowly stretching motion outward, when the taper walking item 1133 on all walking belts 1130 is tightly attached in inner wall of the pipe
When No.1 hydraulic cylinder 1122 stop function, four flexible walking branches 13 pass through No. two hydraulic cylinders 133 and drive two walkings at this time
Wheel 136 up moves, when traveling wheel 136 does not interfere with No. two hydraulic cylinders when taper walking item 1133 moves in inner wall of the pipe
133 are stopped, and the movable motor 1131 on automatic traveling mechanism 112 is started to work at this time, is driven by movable motor 1131
Walking belt 1130 on two live-rollers 1129 rotates, and walking belt 1130 drives the taper being evenly arranged walking item 1133 to exist
Stabilized walking in inner wall of the pipe, since four automatic traveling mechanisms 112 are to be carried out at the same time work from four direction, there are four sides
To the walking support force being evenly arranged, even support performance is good, good from steady walking performance, and eliminating can in walking process of the present invention
The situation that can have rollover and up-down vibration realizes the automatically walk function that the present invention stablizes on diesel pipeline inner wall, solution
Inner wall of the pipe even support poor performance and the equipment existing for existing diesel pipeline inner wall cleaning equipment of having determined are poor from steady walking performance
Etc. problems, reached purpose.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of diesel pipeline inner wall handles Special Automatic walking arrangement, it is characterised in that：Including two inner wall automatically walk branch
Chain (11) is symmetrically connected with four dowel columns (12) between two inner wall automatically walk branches (11), and each inner wall is automatic
The lower end of walking branch (11) is symmetrically installed that there are two flexible walking branches (13)；Inner wall automatically walk branch (11) packet
Include square bearing piece (111), respectively there are one automatic traveling mechanism (112), automatic rows for installation on four side walls of square bearing piece (111)
It includes the walking bottom plate (1121) being welded on the corresponding side wall of square bearing piece (111) to walk mechanism (112), walking bottom plate (1121)
On both sides of the upper end installation is separately installed on two No.1 hydraulic cylinders (1122) by screw thread there are two No.1 hydraulic cylinder (1122)
The upper end of two No.1 flanges (1123), two No.1 flanges (1123) is equipped with walking erecting bed (1124), institute by screw
The upper center for stating walking bottom plate (1121) is symmetrically arranged with two positioning columns (1121a), distinguishes on two positioning columns (1121a)
No.1 limit spring (1125) there are two being arranged, the upper end of two No.1 limit springs (1125) is both connected to walking erecting bed
(1124) lower face, and two No.1 limit springs (1125) are located between two No.1 hydraulic cylinders (1122), the walking
The on both sides of the upper end of bottom plate (1121) is symmetrically welded there are two longitudinal spacing frame (1126), under the walking erecting bed (1124)
End face both sides are symmetrically welded there are two cross spacing frame (1127), and two cross spacing frames (1127) are respectively sleeved at two longitudinal directions
On limitting casing (1126), the upper end of the walking erecting bed (1124) is symmetrically arranged with two pairs of mounting ear (1128), each pair of installation
Live-roller (1129) there are one being respectively mounted between ear (1128), and between two live-rollers (1129) of two pairs of mounting ear (1128)
Walking belt (1130) is installed, is located on the live-roller (1129) on the left of walking belt (1130) and row is equipped with by shaft coupling
Motor (1131) is walked, movable motor (1131) is mounted on by motor cabinet on walking support plate (1132), and walking support plate (1132) welds
It is connected on the side wall of corresponding mounting ear (1128), taper walking item is evenly arranged on walking belt (1130) outer wall
(1133)；
The flexible walking branch (13) includes being welded on two telescopic props (131) on square bearing piece (111) side wall, two
The bottom end of telescopic prop (131) is welded with flexible support plate (132), and the lower face of flexible support plate (132) is symmetrically installed that there are two two
Number hydraulic cylinder (133) is each attached in L-type fixed plate (134) in the middle part of each No. two hydraulic cylinders (133), L-type fixed plate
(134) it is welded on the lower end of flexible support plate (132), the top of each No. two hydraulic cylinders (133) is mounted on No. two by screw thread
Flange (135), and traveling wheel (136) is equipped with by screw on No. two flanges (135).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560267.5A CN106122677B (en) | 2016-07-16 | 2016-07-16 | A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560267.5A CN106122677B (en) | 2016-07-16 | 2016-07-16 | A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing |
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| Publication Number | Publication Date |
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| CN106122677A CN106122677A (en) | 2016-11-16 |
| CN106122677B true CN106122677B (en) | 2018-10-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610560267.5A Active CN106122677B (en) | 2016-07-16 | 2016-07-16 | A kind of Special Automatic walking arrangement of diesel pipeline inner wall processing |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1548098A1 (en) * | 1988-06-15 | 1990-03-07 | Специальное конструкторско-технологическое бюро с экспериментальным производством Института ядерных исследований АН УССР | Device for moving in pipeline |
| US5018451A (en) * | 1990-01-05 | 1991-05-28 | The United States Of America As Represented By The United States Department Of Energy | Extendable pipe crawler |
| CN202220943U (en) * | 2011-08-31 | 2012-05-16 | 赵欣驰 | Carrying platform for pipeline repairing equipment |
| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving pipeline robot |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN204717232U (en) * | 2015-04-10 | 2015-10-21 | 浙江水利水电学院 | Pipeline robot drive unit and pipeline robot |
-
2016
- 2016-07-16 CN CN201610560267.5A patent/CN106122677B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1548098A1 (en) * | 1988-06-15 | 1990-03-07 | Специальное конструкторско-технологическое бюро с экспериментальным производством Института ядерных исследований АН УССР | Device for moving in pipeline |
| US5018451A (en) * | 1990-01-05 | 1991-05-28 | The United States Of America As Represented By The United States Department Of Energy | Extendable pipe crawler |
| CN202220943U (en) * | 2011-08-31 | 2012-05-16 | 赵欣驰 | Carrying platform for pipeline repairing equipment |
| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving pipeline robot |
| CN104500914A (en) * | 2014-12-11 | 2015-04-08 | 浙江理工大学 | Reservoir culvert detection robot |
| CN204717232U (en) * | 2015-04-10 | 2015-10-21 | 浙江水利水电学院 | Pipeline robot drive unit and pipeline robot |
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| Publication number | Publication date |
|---|---|
| CN106122677A (en) | 2016-11-16 |
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Effective date of registration: 20180820 Address after: 317000 No. 1-190, Xiang Li Cun, Baishui Yang Town, Linghai City, Zhejiang, Taizhou Applicant after: Hong Jiaojiao Address before: 246001 47 Xiangyang formation, Nan Mu village, Xinzhou Township, Yingjiang District, Anqing, Anhui Applicant before: Wu Si |
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Effective date of registration: 20191223 Address after: Room c506a-19, University Business Park, No. 99, University Road, Xuzhou hi tech Industrial Development Zone, 221000, Jiangsu Province Patentee after: Xuzhou Tiancheng Intelligent Technology Co., Ltd Address before: 317000 No. 1-190, Xiang Li Cun, Baishui Yang Town, Linghai City, Zhejiang, Taizhou Patentee before: Hong Jiaojiao |
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