CN106870872A - A kind of pipe endoscopic detects robot - Google Patents

A kind of pipe endoscopic detects robot Download PDF

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Publication number
CN106870872A
CN106870872A CN201710200300.8A CN201710200300A CN106870872A CN 106870872 A CN106870872 A CN 106870872A CN 201710200300 A CN201710200300 A CN 201710200300A CN 106870872 A CN106870872 A CN 106870872A
Authority
CN
China
Prior art keywords
car
support
control
screw
power
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.)
Pending
Application number
CN201710200300.8A
Other languages
Chinese (zh)
Inventor
张志浩
李时宣
林罡
王春生
孙芳萍
罗慧娟
成杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Changqing Technology Engineering Co Ltd
Original Assignee
Xian Changqing Technology Engineering Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Xian Changqing Technology Engineering Co Ltd filed Critical Xian Changqing Technology Engineering Co Ltd
Priority to CN201710200300.8A priority Critical patent/CN106870872A/en
Publication of CN106870872A publication Critical patent/CN106870872A/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28Constructional aspects
    • F16L55/30Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48Indicating the position of the pig or mole in the pipe or conduit
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00Uses or applications of pigs or moles
    • F16L2101/30Inspecting, measuring or testing
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04SSYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12Remote or cooperative charging

Abstract

The invention provides a kind of pipe endoscopic detection robot, including the first power car, the first control car, battery car, the second control car, the second power car, the bridge car that are sequentially connected, the first power car front end is provided with CCD camera, and the CCD camera is electrically connected with bridge car.This pipe endoscopic detection robot that the present invention is provided, is capable of achieving wireless far distance controlled, the collection of video image, and can vertically climb, and radius of turn is small(1.5 times of D, 114 elbows), can constantly determine the position of pipe robot buried pipeline.The pipe robot can be automatically adjusted with the trend of pipeline, to adapt to the change of different field landform.

Description

A kind of pipe endoscopic detects robot
Technical field
The invention belongs to pipeline inspection technology field, and in particular to a kind of pipe endoscopic detects robot, in pipeline The situations such as rusty scale, burn into perforation, crackle, coating are detected.
Background technology
CCTV pipe endoscopic detection techniques originate from nineteen sixties, are mainly used in the detection of pipe-line system, With the continuous progress of science and technology, the particularly high speed development of computer technology, this technology has obtained extensive development, CCTV pipe endoscopic detection techniques are still at the initial stage in China, recently as swashing for China's oil natural gas equal energy source demand Increase, petroleum gas is developed rapidly, and the construction of Oil-gas Long-distance Transportation Pipeline is also developed rapidly therewith, long distance pipeline Material is varied, and the long distance pipeline application of wherein Steel material is more extensive.
Anti-corrosion fails in steel long distance pipeline once occurring, and can bring pipeline leakage, and leakage will cause severe contamination to environment When antiseptic project is constructed, anticorrosive paint and the protection detection method being best suitable for only are selected, just can guarantee that ten thousand nothings of antiseptic project One loses.
Oneself has much the achievement in research of current straight tube pipeline robot both at home and abroad, but in microtubule, special pipeline (as become Footpath pipeline, the pipeline with bend pipe) in walking robot research it is few, ground zero is gone back for being detected, being repaired, due to such Pipe applications are extensive, therefore research and development adapt to such pipe robot and have engineering significance.
The content of the invention
It is an object of the invention to provide a kind of pipe endoscopic detection robot, to the rusty scale in pipeline, burn into perforation, split The situations such as line, coating are detected and imaged, and realize that pipeline inside is detected over long distances, Real Time Observation.
The technical scheme that the present invention is provided is as follows:
A kind of pipe endoscopic detects robot, including the first power car, the first control car, battery car, the second control being sequentially connected Car processed, the second power car, bridge car, the first power car front end are provided with CCD camera, the CCD camera and bridge car Electrical connection;
The first control car includes support car and located at the in-car control system of support, the second control car and the first control Bassinet structure is identical, and first power car and the first control car are electrically connected, and second power car and the second control car are electrically connected, The control system of the first control car and the second control car is electrically connected with bridge car, and the bridge car is electromechanical with ground PC even Connect, first power car, the first control car, the second control car, the second power car, bridge car are electrically connected with battery car.
Multiple sprocket wheels that first power car includes support, is circumferentially uniformly arranged along support, described support one end is provided with CCD Camera, the other end is connected with screw pair;
Stepper motor is provided with the support, the stepper motor is connected by shaft coupling with the screw mandrel of screw pair, described Backstand is cased with screw mandrel, the backstand is connected with the screw of screw pair, equipped with pressure between the backstand and screw Force snesor, the backstand is connected one end located at screw mandrel with support, and the sprocket wheel passes through sprocket wheel Auxiliary support, sprocket wheel master respectively Dynamic support is hinged with support and backstand, and the pressure sensor is electrically connected with the control system of the first control car.
The support car includes support vehicle frame and the support car strainer on support vehicle frame;
The support car strainer includes preceding wedge, support base, screw and wheel, and the preceding wedge, support base are arranged successively Near nut one end on screw, threaded portion is arranged with spring on screw, and the spring one end connects with support base, and the other end is solid It is scheduled on screw, the preceding wedge is circumferentially uniformly distributed multiple connecting rods, the end of each connecting rod connects a wheel, the connecting rod Middle part is hinged with support bar, the support bar other end and support seat hinge.
Also include electronic location car, the electronic location car between the first control car and battery car, determine by the electronics Position car is electrically connected with ground PC and battery car.
The screw mandrel other end is provided with proximity switch, and the proximity switch is electrically connected with the control system of the first control car.
First power car, the first control car, battery car, second control car, pass through between the second power car, bridge car Bellows is sequentially connected.
The beneficial effects of the invention are as follows:The present invention provide this pipe endoscopic detection robot, be capable of achieving radio remote away from From control, the collection of video image, and can vertically climb, radius of turn is small(1.5 times of D, 114 elbows), can constantly determine pipe The position of pipeline robot buried pipeline.The pipe robot can be automatically adjusted with the trend of pipeline, to adapt to different field landform Change.
It is described in further details below in conjunction with accompanying drawing.
Brief description of the drawings
Fig. 1 is structural representation of the invention;
Fig. 2 is power car sectional view;
Fig. 3 is power car front view;
Fig. 4 is support bassinet structure schematic diagram;
Fig. 5 is support car strainer front view;
Fig. 6 is support car strainer top view.
In figure:1st, the first power car 1;, first control car;3rd, electronic location car;4th, battery car;5th, bridge car;6th, second Control car;7th, the second power car;8th, sprocket wheel;9th, CCD camera;10th, proximity switch;11st, screw mandrel;12nd, screw;13rd, sprocket wheel is auxiliary Help support;14th, sprocket wheel is actively supported;15th, backstand;16th, support;17th, shaft coupling;18th, stepper motor;19th, pressure sensor; 20th, vehicle frame is supported;21st, car strainer is supported;22nd, connecting rod;23rd, support bar;24th, support base;25th, preceding wedge;26th, spring; 27th, screw;28th, wheel.
Specific embodiment
Embodiment 1:
A kind of pipe endoscopic detection robot is present embodiments provided, including the first power car 1, first being sequentially connected controls car 2nd, the control of battery car 4, second car 6, the second power car 7, bridge car 5, the front end of the first power car 1 are provided with CCD camera 9, The CCD camera 9 is electrically connected with bridge car 5;
The first control car 2 includes support car and located at the in-car control system of support, and the second control car 6 and first is controlled The structure of car processed 2 is identical, and the control car 2 of first power car 1 and first is electrically connected, the control car 6 of second power car 7 and second Electrical connection, it is described first control car 2 and second control car 6 control system electrically connected with bridge car 5, the bridge car 5 with Ground PC mechatronics, first power car 1, the first control control of car 2, second car 6, the second power car 7, bridge car 5 are equal Electrically connected with battery car 4.
Pipe endoscopic detection robot passes through CCD camera 9, to shapes such as the rusty scale in pipeline, burn into perforation, crackle, coatings Condition is imaged, the transmission of video images for being photographed CCD camera 9 by bridge car 5 afterwards to ground PC, by specialty Detection engineer carries out interpretation to all of image data, pipeline present situation is analyzed by professional knowledge and professional software, Assessment, effectively finds out pipeline inside anticorrosive quality, corrosion condition.
Wherein, control system belongs to prior art, and ground PC sends instructions to control system by bridge car 5, control System sends a signal to the first power car 1 and the second power car 7, by controlling the first power car 1 and the second power car 7 to advance, Retreat, stop, accelerating, slowing down and realize the control that robot is detected to pipe endoscopic;Battery car 4 is the first power car 1, the first control The control of car processed 2, second car 6, the second power car 7, bridge car 5 are powered.
Embodiment 2:
On the basis of embodiment 1, a kind of pipe endoscopic detection robot as shown in Figure 1 is present embodiments provided, also included Electronic location car 3, the electronic location car 3 between the first control car 2 and battery car 4, the electronic location car 3 and ground PC and battery car 4 are electrically connected.
Wherein, electronic location car 3 belongs to commercially available prod, can in real time determine position of the pipe robot in buried pipeline. According to demand, the settable multiple of battery car 4, battery car 4 is three in the present embodiment, maximum travel distance can reach 300 meters with On.
Embodiment 3:
On the basis of embodiment 1, a kind of pipe endoscopic detection robot is present embodiments provided, first power car 1 is wrapped Support 16, the multiple sprocket wheels 8 being circumferentially uniformly arranged along support 16 are included, the one end of the support 16 is provided with CCD camera 9, another End is connected with screw pair;
Stepper motor 18 is provided with the support 16, the stepper motor 18 is by shaft coupling 17 and the screw mandrel 11 of screw pair Connection, is cased with backstand 15 on the screw mandrel 11, the backstand 15 is connected with the screw 12 of screw pair, the backstand Pressure sensor 19 is housed, the backstand 15 is connected one end, the chain located at screw mandrel 11 with support 16 between 15 and screw 12 Wheel 8 actively supports 14 to be hinged with support 16 and backstand 15 by sprocket wheel Auxiliary support 13, sprocket wheel respectively, the pressure sensor 19 electrically connect with the control system of the first control car 2.
Pipe endoscopic detection robot has adaptivity, is automatically adjusted with the trend of pipeline.As shown in Fig. 2 sprocket wheel 8 It is forced through backstand 15 and reaches pressure sensor 19, when stress exceedes the higher limit for pre-setting of pressure sensor 19, The pressure sensor 19 for being arranged on the first power car 1 sends a signal to the control system of the first power car 1, is arranged on the second power The pressure sensor 19 of car 7 sends a signal to the control system of the second power car 7, and control system sends instructions to each corresponding step Stepper motor 18, stepper motor 18 is driven forward screw mandrel 11, drives screw 12 to be moved along a straight line along the both sides of screw mandrel 11, and screw 12 drives to be opened Tight seat 15, backstand 15 is actively supported by sprocket wheel and 14 shrinks sprocket wheel 8.
In the present embodiment, the other end of the screw mandrel 11 is provided with proximity switch 10, the proximity switch 10 and control system electricity Connection.As shown in figure 3, proximity switch 10 with limit sprocket wheel 8 shrink when extreme position.
Wherein, the second power car 7 is in addition to no CCD camera 9, and other structures are identical with the first power car 1.It is arranged on Proximity switch 10 on first power car 1 is electrically connected with the control system of the first power car 1, is arranged on the second power car 7 Proximity switch 10 is electrically connected with the control system of the second power car 7.
Embodiment 4:
On the basis of embodiment 1, a kind of pipe endoscopic detection robot is present embodiments provided, the support car includes support Vehicle frame 20 and the support car strainer 21 on support vehicle frame 20;
The support car strainer 21 includes preceding wedge 25, support base 24, screw 27 and wheel 28, the preceding wedge 25, branch Support seat 24 is sequentially sleeved on screw 27 near nut one end, and threaded portion is arranged with spring 26 on screw 27, the spring 26 1 End connects with support base 24, and the other end is fixed on screw 27, and the preceding wedge 25 is circumferential to be uniformly distributed multiple connecting rods 22, each The end of connecting rod 22 connects a wheel 28, and the middle part of the connecting rod 22 is hinged with support bar 23, the other end of support bar 23 and branch Support seat 24 is hinged.
Fig. 4 is support bassinet structure schematic diagram.As shown in Figure 5, Figure 6, three connecting rods 22 are uniformly housed on the circumference of preceding wedge 25, The one end of connecting rod 22 is equipped with wheel 28, and support bar 23 is housed in the middle of connecting rod 22, and the other end of support bar 23 is arranged on support base 24, branch Screw 27 is installed with the middle of support seat 24, spring 26 is housed between screw 27 and support base 24, spring 26 can be realized before and after screw 27 The regulation of displacement, such that it is able to adjust the size of the pretightning force of wheel 28, to realize adaptivity of the wheel 28 in pipeline.
In the present embodiment, the control of first power car 1, first car 2, the control of battery car 4, second car 6, the second power It is sequentially connected by bellows between car 7, bridge car 5.Bellows can facilitate pipe endoscopic robot to cross 1.5 times of D elbows.
In above example, electronic location car 3, battery car 4, bridge car 5 are commercially available prod, and embodiment is not chatted in detail The part and structure stated belong to the well-known components and common structure or conventional means of the industry, do not describe one by one here.
It is exemplified as above be only to of the invention for example, do not constitute the limitation to protection scope of the present invention, it is all It is that design same or analogous with the present invention is belonged within protection scope of the present invention.

Claims (6)

1. a kind of pipe endoscopic detects robot, it is characterised in that:Including the first power car being sequentially connected(1), first control Car(2), battery car(4), second control car(6), the second power car(7), bridge car(5), first power car(1)Front end sets There is CCD camera(9), the CCD camera(9)With bridge car(5)Electrical connection;
The first control car(2)Including support car and located at the in-car control system of support, the second control car(6)With One control car(2)Structure is identical, first power car(1)With the first control car(2)Electrical connection, second power car(7) With the second control car(6)Electrical connection, the first control car(2)With the second control car(6)Control system with bridge car(5) Electrical connection, the bridge car(5)With ground PC mechatronics, first power car(1), the first control car(2), second control Car(6), the second power car(7), bridge car(5)And battery car(4)Electrical connection.
2. a kind of pipe endoscopic according to claim 1 detects robot, it is characterised in that:First power car(1) Including support(16), along support(16)The multiple sprocket wheels being circumferentially uniformly arranged(8), the support(16)One end is provided with CCD and takes the photograph As head(9), the other end is connected with screw pair;
The support(16)Inside it is provided with stepper motor(18), the stepper motor(18)By shaft coupling(17)With screw pair Screw mandrel(11)Connection, the screw mandrel(11)On be cased with backstand(15), the backstand(15)With the screw of screw pair (12)Connection, the backstand(15)With screw(12)Between be equipped with pressure sensor(19), the backstand(15)Located at silk Bar(11)With support(16)Be connected one end, the sprocket wheel(8)Pass through sprocket wheel Auxiliary support respectively(13), sprocket wheel actively support(14) With support(16)And backstand(15)It is hinged, the pressure sensor(19)With the first control car(2)Control system electrical connection.
3. a kind of pipe endoscopic according to claim 1 detects robot, it is characterised in that:The support car includes support Vehicle frame(20)With located at support vehicle frame(20)On support car strainer(21);
The support car strainer(21)Including preceding wedge(25), support base(24), screw(27)And wheel(28), it is described before Wedge(25), support base(24)It is sequentially sleeved at screw(27)It is upper to be close to nut one end, screw(27)Upper threaded portion is arranged with Spring(26), the spring(26)One end and support base(24)Connect, the other end is fixed on screw(27)On, the preceding wedge(25) Circumferentially it is uniformly distributed multiple connecting rods(22), each connecting rod(22)End connect a wheel(28), the connecting rod(22)Middle part It is hinged with support bar(23), the support bar(23)The other end and support base(24)It is hinged.
4. a kind of pipe endoscopic according to claim 1 detects robot, it is characterised in that:Also include electronic location car (3), the electronic location car(3)Located at the first control car(2)With battery car(4)Between, the electronic location car(3)With ground PC and battery car(4)Electrical connection.
5. a kind of pipe endoscopic according to claim 2 detects robot, it is characterised in that:The screw mandrel(11)The other end It is provided with proximity switch(10), the proximity switch(10)With the first control car(2)Control system electrical connection.
6. a kind of pipe endoscopic according to claim 1 detects robot, it is characterised in that:First power car(1)、 First control car(2), battery car(4), second control car(6), the second power car(7), bridge car(5)Between by bellows according to Secondary connection.
CN201710200300.8A 2017-03-30 2017-03-30 A kind of pipe endoscopic detects robot Pending CN106870872A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710200300.8A CN106870872A (en) 2017-03-30 2017-03-30 A kind of pipe endoscopic detects robot

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Application Number Priority Date Filing Date Title
CN201710200300.8A CN106870872A (en) 2017-03-30 2017-03-30 A kind of pipe endoscopic detects robot

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Publication Number Publication Date
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107084297A (en) * 2017-06-23 2017-08-22 江苏科技大学 A kind of flexible self-driven helical pipe robot
CN107830308A (en) * 2017-12-16 2018-03-23 北京极图科技有限公司 Adaptive caliber pipe endoscopic climbing robot
CN108533882A (en) * 2018-06-20 2018-09-14 成都圭目机器人有限公司 A kind of detecting robot of pipe device
CN109541713A (en) * 2018-12-11 2019-03-29 国网新疆电力有限公司乌鲁木齐供电公司 Remote-controlled pipe endoscopic monitoring device
CN110529692A (en) * 2019-09-06 2019-12-03 泰安市诺润嘉环保有限公司 A kind of Multifunctional pipeline robot
CN112283498A (en) * 2020-12-16 2021-01-29 阳泉煤业(集团)股份有限公司 Pipe diameter adapting mechanism of variable-diameter pipeline robot

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FR2724453B1 (en) * 1994-09-12 1996-12-06 Intercontrole Sa WELDING DETECTOR DEVICE IN PARTICULAR FOR SELF-MOVING ENDO-TUBULAR VEHICLE FOR PIPE INSPECTION
US20020190682A1 (en) * 2001-03-07 2002-12-19 Hagen Schempf Gas main robotic inspection system
CN201407460Y (en) * 2009-05-22 2010-02-17 中国人民解放军国防科学技术大学 High-traction helical propelling micro-pipe robot
CN102661470A (en) * 2012-05-17 2012-09-12 北京邮电大学 Novel crawling pipeline robot
CN103697286A (en) * 2013-11-27 2014-04-02 北京机械设备研究所 Crawler type pipeline robot
CN105003790A (en) * 2015-07-08 2015-10-28 北京工业大学 Multifunctional compound driving pipeline robot
CN206647686U (en) * 2017-03-30 2017-11-17 西安长庆科技工程有限责任公司 A kind of pipe endoscopic detects robot

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Publication number Priority date Publication date Assignee Title
FR2724453B1 (en) * 1994-09-12 1996-12-06 Intercontrole Sa WELDING DETECTOR DEVICE IN PARTICULAR FOR SELF-MOVING ENDO-TUBULAR VEHICLE FOR PIPE INSPECTION
US20020190682A1 (en) * 2001-03-07 2002-12-19 Hagen Schempf Gas main robotic inspection system
CN201407460Y (en) * 2009-05-22 2010-02-17 中国人民解放军国防科学技术大学 High-traction helical propelling micro-pipe robot
CN102661470A (en) * 2012-05-17 2012-09-12 北京邮电大学 Novel crawling pipeline robot
CN103697286A (en) * 2013-11-27 2014-04-02 北京机械设备研究所 Crawler type pipeline robot
CN105003790A (en) * 2015-07-08 2015-10-28 北京工业大学 Multifunctional compound driving pipeline robot
CN206647686U (en) * 2017-03-30 2017-11-17 西安长庆科技工程有限责任公司 A kind of pipe endoscopic detects robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107084297A (en) * 2017-06-23 2017-08-22 江苏科技大学 A kind of flexible self-driven helical pipe robot
CN107830308A (en) * 2017-12-16 2018-03-23 北京极图科技有限公司 Adaptive caliber pipe endoscopic climbing robot
CN108533882A (en) * 2018-06-20 2018-09-14 成都圭目机器人有限公司 A kind of detecting robot of pipe device
CN109541713A (en) * 2018-12-11 2019-03-29 国网新疆电力有限公司乌鲁木齐供电公司 Remote-controlled pipe endoscopic monitoring device
CN110529692A (en) * 2019-09-06 2019-12-03 泰安市诺润嘉环保有限公司 A kind of Multifunctional pipeline robot
CN112283498A (en) * 2020-12-16 2021-01-29 阳泉煤业(集团)股份有限公司 Pipe diameter adapting mechanism of variable-diameter pipeline robot

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Application publication date: 20170620

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