CN106287106A - A kind of Mobyneb urban discharging pipeline measuring robots - Google Patents
A kind of Mobyneb urban discharging pipeline measuring robots Download PDFInfo
- Publication number
- CN106287106A CN106287106A CN201610868709.2A CN201610868709A CN106287106A CN 106287106 A CN106287106 A CN 106287106A CN 201610868709 A CN201610868709 A CN 201610868709A CN 106287106 A CN106287106 A CN 106287106A
- Authority
- CN
- China
- Prior art keywords
- fixing
- mobyneb
- discharging pipeline
- measuring robots
- crane
- 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.)
- Granted
Links
Classifications
-
- 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
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Disclosed by the invention is a kind of Mobyneb urban discharging pipeline measuring robots, including fixing bracket body and two Athey wheels, two Athey wheels are installed in the both sides of fixing bracket body respectively by an axisymmetry, rotary shaft is for regulating the angle of inclination of described Athey wheel, the first crane it is equiped with on fixing bracket body, the top of the first crane is fixing to be equiped with one and fixes cylinder, the fixing support frame mechanism that is equiped with in the top of fixing cylinder, two Athey wheels and this support frame mechanism form one makes measuring robots adaptive can be supported in the triangular support configurations of urban discharging pipeline inwall.The present invention not only has the highest obstacle detouring and bearing capacity, is adapted to the operating mode of various complexity, and it also has the overturning-preventing structure of exquisiteness, is prevented effectively from the problem that mechanism is toppled over.On the other hand, this pipe robot can also detect inspection in portion inside and outside to pipeline effectively, realizes cavity detection simultaneously and tube wall detects function, save the working time, improve work efficiency.
Description
Technical field
The present invention relates to urban discharging pipeline detection equipment and accessory field, more specifically a kind of Mobyneb
Urban discharging pipeline measuring robots.
Background technology
Urban discharging pipeline is to get rid of municipal sewage and the important channel of rainwater, is also the composition portion of urban public utilities
Point, even become the infrastructure of urban stability development.But, during long-term use, knot will be produced in pipeline
Dirt, the deposition of mud and other impurity, also due to current long-term wash away tube wall, the abrasion causing tube wall is thinning, produce
Crackle, even damaged situation, and the seepage of tube wall also can occur, the ground movement outside tube wall, along with current wash away, shape
Become cavitation, cause subsiding of road surface.Therefore a kind of Mobyneb urban discharging pipeline measuring robots of existing needs is used for
The detection of drainage pipeline, finds the problem inside and outside pipeline, cleaning in time and reparation, has solved appeal problem.
And detecting robot of pipe of the prior art typically uses the structure of wheeled crawl device, this structure obstacle climbing ability
Difference, bearing capacity is weak, is difficult to adapt to complex working condition, and most detecting robot of pipe itself be not prevented from toppling over
Support mechanism, is in use easy to topple over problem, affects the detection work of robot；On the other hand, most
Detecting robot of pipe detection function singleness, the most all can only gather picture or the view data of pipe interior, it is impossible to draining
Pipeline internal and external environment comprehensively detects, and finds pipeline external problem in time, there is the biggest use limitation.
Summary of the invention
Disclosed by the invention is a kind of Mobyneb urban discharging pipeline measuring robots, its main aiming to overcome that
Deficiencies of the prior art and shortcoming, it is provided that a kind of pipe robot, it not only has the highest obstacle detouring and carrying energy
Power, is adapted to the operating mode of various complexity, and it also has the overturning-preventing structure of exquisiteness, is prevented effectively from what mechanism was toppled over
Problem.On the other hand, this pipe robot can also detect inspection in portion inside and outside to pipeline effectively, realizes cavity simultaneously
Detection and tube wall detect function, save the working time, improve work efficiency.
The technical solution used in the present invention is as follows:
A kind of Mobyneb urban discharging pipeline measuring robots, including fixing bracket body and two Athey wheels, said two crawler belt
Wheel is installed in the both sides of described fixing bracket body respectively by an axisymmetry, and this rotary shaft is for regulating inclining of described Athey wheel
Rake angle, described fixing bracket body is equiped with the first crane, and the top of this first crane is fixing to be equiped with one and fix cylinder, institute
Stating the fixing support frame mechanism that is equiped with in top of fixing cylinder, described two Athey wheels and this support frame mechanism form one and make testing machine
Device people adaptive can be supported in the triangular support configurations of urban discharging pipeline inwall；The rear portion engagement sleeves of described fixing cylinder is provided with one can
360 ° rotate the rotating cylinder arranged, and this rotating cylinder are fixed being equiped with one for detecting the spy Rhizoma Anemones flaccidae of the cavitation around tube wall
Reach mechanism.
Further, support frame as described above mechanism includes that a supporting and mounting bracket, a support connect thick stick and and support regulation silk
Thick stick, one end of described supporting and mounting bracket activity rotationally is installed on described fixing cylinder, and the other end is fixing is equiped with a slip
Roller, described support connects one end rotation of thick stick and is installed in described supporting and mounting bracket, and the other end is installed in described support and regulates
On leading screw, described support adjusting screw level is installed in the top of described fixing cylinder.
Further, the angle between described supporting and mounting bracket and described support adjusting screw is 30 °～90 °.
Further, described GPR mechanism includes a GPR, a strainer, the second crane and a spy
Ground radar lid, described second crane is installed on described rotating cylinder, described strainer coordinate be installed on this
On two cranes, and described strainer is the most recessed, forms a placement groove, and described GPR coordinates fixed placement
In this placement groove；Described GPR lid coordinates lid to be located on this GPR.
Further, the horizontal level of the upper surface of described GPR lid and the level of support frame as described above mechanism upper surface
Position flush.
Further, the front end of described fixing cylinder is fixed and is equiped with one for gathering the photographic head of image or video information,
Fix on described first crane and be equiped with an illuminating lamp body.
Further, described photographic head can 360 ° of rotations and 180 ° of settings of flexion-extension.
Further, the front end center position of described fixing bracket body is fixing is equiped with an obliquity sensor, and this inclination angle senses
Device angle of inclination when monitoring robot is walked prevents robot from toppling over.
Further, described fixing bracket body being additionally provided with a driving motor, this driving motor is in transmission connection chain by one
It is in transmission connection setting with described rotating cylinder.
Further, the regulation at described first crane, the second crane and described Athey wheel angle of inclination makes this detection
Robot is adapted to different calibers.
By the above-mentioned description of this invention, compare with existing technology, it is an advantage of the current invention that:
The pipe robot of the present invention uses crawler type lower body, not only has the highest obstacle detouring and bearing capacity, is adapted to each
Plant complicated operating mode, and it also has the overturning-preventing structure of exquisiteness, is prevented effectively from the problem that mechanism is toppled over.The opposing party
Face, the present invention can realize carrying out pipeline internal and external environment disposably by arranging photographic head, rotating cylinder and GPR mechanism
Comprehensively detection, realizes cavity detection simultaneously and tube wall detects function, saves the working time, improves work efficiency.
Figure of description
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the plan structure schematic diagram of the present invention.
Fig. 3 is side-looking structural representation of the present invention.
Fig. 4 is the forward sight structural representation of the present invention.
Detailed description of the invention
Explanation illustrates the detailed description of the invention of the present invention further with reference to the accompanying drawings.
As shown in Figures 1 to 4, a kind of Mobyneb urban discharging pipeline measuring robots, including fixing bracket body 1 and two
Athey wheel 2, said two Athey wheel 2 is installed in the both sides of described fixing bracket body 1, this rotation respectively by rotary shaft 21 symmetry
Axle 21, for regulating the angle of inclination of described Athey wheel 2, described fixing bracket body 1 is equiped with the first crane 3, this first lifting
The top of frame 3 is fixing to be equiped with one and fixes cylinder 4, the fixing support frame mechanism 5 that is equiped with in the top of described fixing cylinder 4, and described two
Athey wheel 2 and this bracing frame machine 5 are configured to a triangle making measuring robots adaptive can be supported in urban discharging pipeline inwall and prop up
Support structure.Support frame as described above mechanism 5 includes that a supporting and mounting bracket 51, supports and connects thick stick 52 and a support adjusting screw 53,
One end activity rotationally of described supporting and mounting bracket 51 is installed on described fixing cylinder 4, and the other end is fixing is equiped with a slip
Roller 54, described one end supporting connection thick stick 52 rotates and is installed in described supporting and mounting bracket 51, and the other end is installed in described
On support adjusting screw 53, described support adjusting screw 53 level is installed in the top of described fixing cylinder 4.Described supporting and mounting bracket 51
And the angle between described support adjusting screw 53 is 30 °～90 °, is adaptable in the drainage pipeline of different tube diameters, this triangle
Supporting construction can play and prevent robot from toppling over function.
As shown in Figures 1 to 4, the rear portion engagement sleeves of described fixing cylinder 4 be provided with one can 360 ° rotate and pitch 180 ° of settings
Rotating cylinder 6, fixing on this rotating cylinder 6 be equiped with one for detecting the GPR mechanism 7 of the cavitation around tube wall.Institute
Stating and be additionally provided with a driving motor 11 on fixing bracket body 1, this driving motor 11 is passed with described rotating cylinder 6 by the chain that is in transmission connection
Be dynamically connected setting, and the chain that is in transmission connection can make rotating cylinder 6 drive GPR mechanism 7 to rotate together, it is achieved GPR machine
360 ° of rotation detection functions of structure 7.Described GPR mechanism 7 includes that GPR 71, strainer 72, second lifts
Frame 73 and a GPR lid 74, described second crane 73 is installed on described rotating cylinder 6, described strainer 72
Coordinate and be installed on this second crane 73, and described strainer 72 is the most recessed, form a placement groove, institute
Stating GPR 71 coordinates fixed placement in this placement groove, and described GPR lid 74 coordinates lid to be located at this GPR 71
On, GPR lid 74 is used for protecting GPR 71, prevents GPR 71 from wearing and tearing.Described GPR lid 74 upper
The horizontal level of end face and the horizontal level flush of support frame as described above mechanism 5 upper surface, make GPR lid 74 be close to pipeline
Inwall.The regulation at described first crane the 3, second crane 73 and described Athey wheel 2 angle of inclination makes this measuring robots can
To adapt to different calibers.
As shown in Figures 1 to 4, the front end of described fixing cylinder 4 is fixed and is equiped with one for gathering image or video information
Photographic head 8, this photographic head 8 typically uses CCTV photographic head, described first crane 3 is fixed being equiped with an illuminating lamp body 9, should
Illuminating lamp body 9 is LED, and this LED provides the illuminating ray of abundance for described photographic head 8.Described photographic head 8 can 360 ° of rotations
Arrange, can conveniently gather the data of drainage pipeline inwall surrounding.The front end center position of described fixing bracket body 1 is fixing is equiped with one
Obliquity sensor 10, this obliquity sensor 10 angle of inclination when monitoring robot is walked prevents robot from toppling over, and should
Obliquity sensor 10 can also measure the angle of inclination of drainage pipeline.
The pipe robot of the present invention uses crawler type lower body, not only has the highest obstacle detouring and bearing capacity, Ke Yishi
Answer the operating mode of various complexity, and it also has the overturning-preventing structure of exquisiteness, is prevented effectively from the problem that mechanism is toppled over.Another
Aspect, the present invention can realize carrying out pipeline internal and external environment once by arranging photographic head, rotating cylinder and GPR mechanism
Property comprehensively detect, simultaneously realize cavity detection and tube wall detect function, save the working time, improve work efficiency.
Above are only the detailed description of the invention of the present invention, but the design concept of the present invention is not limited merely to this, every profit
With this design, the present invention is improved with carrying out unsubstantiality, all should belong to the behavior invading scope.
Claims (10)
1. a Mobyneb urban discharging pipeline measuring robots, it is characterised in that: include fixing bracket body and two Athey wheels,
Said two Athey wheel is installed in the both sides of described fixing bracket body respectively by an axisymmetry, and this rotary shaft is used for regulating institute
State the angle of inclination of Athey wheel, described fixing bracket body is equiped with the first crane, the fixing installing in the top of this first crane
Fix cylinder, the fixing support frame mechanism that is equiped with in the top of described fixing cylinder, described two Athey wheels and this support frame mechanism
Forming one makes measuring robots adaptive can be supported in the triangular support configurations of urban discharging pipeline inwall；The rear portion of described fixing cylinder
Engagement sleeves be provided with one can 360 ° rotate the rotating cylinder arranged, fixing on this rotating cylinder being equiped with one for the sky detecting around tube wall
The GPR mechanism of hole phenomenon.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 1, it is characterised in that: described
Support mechanism includes that a supporting and mounting bracket, a support connect thick stick and and support adjusting screw, one end of described supporting and mounting bracket
Activity rotationally is installed on described fixing cylinder, and the other end is fixing is equiped with a slider roller, and described support connects the one of thick stick
End rotation is installed in described supporting and mounting bracket, and the other end is installed on described support adjusting screw, described support adjusting screw
Level is installed in the top of described fixing cylinder.
A kind of Mobyneb urban discharging pipeline measuring robots, it is characterised in that: described support
Angle between fixed mount and described support adjusting screw is 30 °～90 °.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 1, it is characterised in that: described spy
Ground radar mechanism includes a GPR, a strainer, the second crane and a GPR lid, described second crane
Being installed on described rotating cylinder, the cooperation of described strainer is installed on this second crane, and described tensioning device
Structure is the most recessed, forms a placement groove, and described GPR coordinates fixed placement in this placement groove；Described spy ground
Radar lid coordinates lid to be located on this GPR.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 4, it is characterised in that: described spy
The horizontal level of the upper surface of ground radar lid and the horizontal level flush of support frame as described above mechanism upper surface.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 1, it is characterised in that: described solid
The front end of safety barrel is fixed and is equiped with one for gathering the photographic head of image or video information, fixing installing on described first crane
There is an illuminating lamp body.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 6, it is characterised in that take the photograph described in:
As head can 360 ° of rotations and 180 ° of settings of flexion-extension.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 1, it is characterised in that: described solid
Determining that the front end center position of support body is fixing is equiped with an obliquity sensor, this obliquity sensor is when monitoring robot is walked
Angle of inclination prevents robot from toppling over.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 1, it is characterised in that: described solid
Determining to be additionally provided with a driving motor on support body, this driving motor is in transmission connection with described rotating cylinder is set by the chain that is in transmission connection
Put.
A kind of Mobyneb urban discharging pipeline measuring robots the most according to claim 4, it is characterised in that: described
The regulation at the first crane, the second crane and described Athey wheel angle of inclination makes this measuring robots be adapted to different pipes
Footpath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868709.2A CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868709.2A CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106287106A true CN106287106A (en) | 2017-01-04 |
| CN106287106B CN106287106B (en) | 2018-06-26 |
Family
ID=57715948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610868709.2A Active CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106287106B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423085A (en) * | 2018-02-10 | 2018-08-21 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | A kind of collapsible geologic radar detection trolley |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN109357105A (en) * | 2018-10-15 | 2019-02-19 | 西华大学 | A kind of wheel-track combined pipe robot |
| CN109386739A (en) * | 2018-11-01 | 2019-02-26 | 中国矿业大学(北京) | A kind of drainage pipeline rapid detection system |
| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN111156368A (en) * | 2020-01-22 | 2020-05-15 | 福建丽塔智能科技有限公司 | Crawler-type pipeline crawling robot |
| CN111561664A (en) * | 2020-06-08 | 2020-08-21 | 北京安运通科技有限公司 | Underground pipeline detection system |
| CN111998169A (en) * | 2020-09-08 | 2020-11-27 | 北京政平建设投资集团有限公司 | Double-body buoyancy tank crawler type pipeline CCTV detection robot |
| CN112483768A (en) * | 2020-11-13 | 2021-03-12 | 广东韶测检测有限公司 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
| CN112710542A (en) * | 2021-01-18 | 2021-04-27 | 苏州混凝土水泥制品研究院检测中心有限公司 | Equipment and method for detecting tensile strength of PE sheet |
| CN113883359A (en) * | 2021-08-23 | 2022-01-04 | 武汉工程大学 | Self-adaptive crawler pipeline robot climbing device and control method |
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201177141Y (en) * | 2008-02-04 | 2009-01-07 | 浙江工业大学 | Central air-conditioner pipeline cleaning and disinfection vehicle |
| CN103672293A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Multi-dimensional detection amphibious operation pipeline robot |
| WO2014204040A1 (en) * | 2013-06-19 | 2014-12-24 | 수자원기술 주식회사 | System for removing rust and coating from inside of pipe by using vehicle and induction principles |
| US20150285424A1 (en) * | 2014-04-02 | 2015-10-08 | Hsih-Hsiao HSU | Intraductal power vehicle |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| CN105840951A (en) * | 2016-05-05 | 2016-08-10 | 湖北三江航天红阳机电有限公司 | Internal expansion pipeline crawler |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
-
2016
- 2016-09-30 CN CN201610868709.2A patent/CN106287106B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201177141Y (en) * | 2008-02-04 | 2009-01-07 | 浙江工业大学 | Central air-conditioner pipeline cleaning and disinfection vehicle |
| WO2014204040A1 (en) * | 2013-06-19 | 2014-12-24 | 수자원기술 주식회사 | System for removing rust and coating from inside of pipe by using vehicle and induction principles |
| CN103672293A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Multi-dimensional detection amphibious operation pipeline robot |
| US20150285424A1 (en) * | 2014-04-02 | 2015-10-08 | Hsih-Hsiao HSU | Intraductal power vehicle |
| CN105003790A (en) * | 2015-07-08 | 2015-10-28 | 北京工业大学 | Multifunctional compound driving pipeline robot |
| CN105840951A (en) * | 2016-05-05 | 2016-08-10 | 湖北三江航天红阳机电有限公司 | Internal expansion pipeline crawler |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423085A (en) * | 2018-02-10 | 2018-08-21 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | A kind of collapsible geologic radar detection trolley |
| CN108423085B (en) * | 2018-02-10 | 2020-09-18 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | Foldable geological radar detection trolley |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN109357105B (en) * | 2018-10-15 | 2020-05-19 | 西华大学 | Wheel-track combined type pipeline robot |
| CN109357105A (en) * | 2018-10-15 | 2019-02-19 | 西华大学 | A kind of wheel-track combined pipe robot |
| CN109386739A (en) * | 2018-11-01 | 2019-02-26 | 中国矿业大学(北京) | A kind of drainage pipeline rapid detection system |
| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN111156368A (en) * | 2020-01-22 | 2020-05-15 | 福建丽塔智能科技有限公司 | Crawler-type pipeline crawling robot |
| CN111561664A (en) * | 2020-06-08 | 2020-08-21 | 北京安运通科技有限公司 | Underground pipeline detection system |
| CN111998169A (en) * | 2020-09-08 | 2020-11-27 | 北京政平建设投资集团有限公司 | Double-body buoyancy tank crawler type pipeline CCTV detection robot |
| CN112483768A (en) * | 2020-11-13 | 2021-03-12 | 广东韶测检测有限公司 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
| CN112710542A (en) * | 2021-01-18 | 2021-04-27 | 苏州混凝土水泥制品研究院检测中心有限公司 | Equipment and method for detecting tensile strength of PE sheet |
| CN113883359A (en) * | 2021-08-23 | 2022-01-04 | 武汉工程大学 | Self-adaptive crawler pipeline robot climbing device and control method |
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106287106B (en) | 2018-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106287106A (en) | A kind of Mobyneb urban discharging pipeline measuring robots | |
| CN206036519U (en) | Many functional type urban drainage pipeline inspection robot | |
| CN105568816A (en) | Street floor tile | |
| CN103981831B (en) | Sandy beach cleaning cart | |
| CN107178145A (en) | A kind of municipal sewage system dredger | |
| CN106439385B (en) | A kind of telescopic boom detecting robot of pipe suitable for different size calibers | |
| CN106320510B (en) | Blowdown apparatus and deep-well dredging grab bucket truck | |
| CN110017157A (en) | A kind of tunnel water proofing coiled material laying vehicle | |
| CN109577402A (en) | Crawler body front end, which swings, twists suction dredging robot | |
| CN207228203U (en) | A kind of remote control environment-protective desilting machine people | |
| CN109440913A (en) | A kind of sewer cleaning soft robot with camera shooting mechanism | |
| CN201651787U (en) | Image pick-up detection device for underground pipeline | |
| CN109577404A (en) | The propeller driving for having track correction function, which swings, twists suction dredging robot | |
| CN206592709U (en) | A kind of reservoir culvert detects robot | |
| CN102155627A (en) | Underground pipeline image pickup detection device | |
| CN203939005U (en) | Sandy beach cleaning cart | |
| CN111230895A (en) | Tailing storehouse drainage concrete culvert intellectual detection system robot | |
| CN217000116U (en) | Sewage pipeline underwater detection and dredging robot | |
| CN216201606U (en) | Novel CCTV check out test set is used in pipe network construction | |
| CN206055070U (en) | A kind of telescopic boom detecting robot of pipe suitable for different size caliber | |
| CN109577399A (en) | Have to swing from the crawler body of rescue function and twists suction dredging robot | |
| CN114622643A (en) | Pipeline dried sludge cleaning and dredging robot | |
| CN209669961U (en) | Dam flood-discharge hole underwater desilting system | |
| CN107421965A (en) | A kind of culvert pipe detection means of the hydraulic engineering with defencive function | |
| CN109882155B (en) | Underground surveying method and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |