CN107270027A - A kind of support wheel type pipeline detection robot of optimization - Google Patents
A kind of support wheel type pipeline detection robot of optimization Download PDFInfo
- Publication number
- CN107270027A CN107270027A CN201710343206.8A CN201710343206A CN107270027A CN 107270027 A CN107270027 A CN 107270027A CN 201710343206 A CN201710343206 A CN 201710343206A CN 107270027 A CN107270027 A CN 107270027A
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- support
- bearing
- spring
- organism frame
- wheel
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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
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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
- F16L2101/30—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)
- Manipulator (AREA)
Abstract
The present invention provides a kind of support wheel type pipeline detection robot of optimization, including preceding body, rear body, middle brace rod, motor, before motor is installed on body main body, pass through bearing, large bevel gear shaft, transmit power on bevel gear wheel, bevel gear wheel is engaged with bevel pinion, small coning gear shaft is docked by bearing with worm screw fork point, drive worm screw synchronous rotary, promote and rotated with the coaxial mounted turbine of two rollers, the whole power transmission of body, is adjusted between support wheel mounting seat and main body by spring, to adapt to different internal diameter of the pipeline before realizing；Body is primarily served between the effect of support and the operation of stable whole device, main body support wheel mounting seat using spring regulation afterwards；Connected between front and rear body by connecting rod, the length of connecting rod can be adjusted, to meet the lengthwise dimension of robot.The present invention have to internal diameter of the pipeline change it is adaptable, operate steadily reliable the features such as, be particularly suitable for use in detection operation in pipe.
Description
Technical field
The present invention relates to a kind of support wheel type pipeline detection robot of optimization, the pipe of operation in pipeline is that by
Road machine running gear.
Background technology
Pipeline is seen everywhere in daily life, particularly plays irreplaceable effect in the industry, such as in stone
The various aspects such as oil, natural gas, industrial chemicals and municipal water supply and sewage work play an important role.Pipeline is in long-term use
When, the various problems such as various defects such as burn into crack, alluvial occur unavoidably, the normal use of pipeline can be produced serious
Influence.Pipe robot is just widely used in pipe as a kind of efficiently and accurately fault diagnosis, defects detection, pipeline maintenance carrier
In the operations such as pipeline cleaning, the Measuring error of road operation early stage.
Pipe robot can carry detection means and enter inside pipeline, and pipeline is entered with various lossless detection methods
Row detection.In recent years, deepening continuously with research, pipe robot field enters the brand-new stage.Management of Pipeline Mechanical Equipment people is main
Apply in the fields such as oil, chemical industry, natural gas and nuclear industry, to complete detection flaw detection, cleaning and the work of service conduit.It is existing
Some pipe robots have wheeled, crawler type, creeping motion type, spiral etc..Support wheel type pipe robot because driving force is strong,
The features such as stable movement, adaptable caliber, just turns into state, the research emphasis of inside and outside association area.
In operation process is carried out, robot operation can run into many obstacles.Controlled in the middle of general wheeled pipe robot
Part uses threads of lead screw auxiliary structure, and not only fretting wear is big, and stroke is slow, and big, the inspection to pipeline is vibrated in motion process
Surveying precision has very big limitation, and " a kind of pipe robot " as described in patent No. CN 205534830U is, it is necessary to set road wheel
With righting wheel cooperation, stroke is slower.To ensure the normal operation in robot pipe, it is desirable to provide one kind is easy to driving, soft
Property, the mobile steady, speed of service is fast, the travelling device in pipe of stroke farther out.The research of pipeline internal operation device is in reality
There is important value and significance in the application of border.
The content of the invention
The invention aims to provide a kind of support wheel type pipeline detection robot of optimization, with internal diameter of the pipeline
Strong adaptability, tractive force are big, the reliable, stroke that operates steadily is remote, using scope it is wide etc. the characteristics of.
The object of the present invention is achieved like this：Including preceding body, rear body, for connecting in preceding body and rear body
Between connecting rod, the preceding body include section be square preceding organism frame, be arranged on before motor on organism frame end face, peace
Bevel gear wheel on motor output shaft, be arranged on before four power transmission shafts on four sides of organism frame, installed in each
Bevel pinion on power transmission shaft one end, before the bevel gear wheel is engaged with bevel pinion and bevel gear wheel and bevel pinion be respectively positioned on
In organism frame, front support wheel mechanism, each front support wheel mechanism bag are provided with four sides of the preceding organism frame
The preceding bearing on organism frame before being arranged on is included, the two ends of preceding bearing are symmetrically arranged with two front limited blocks, two front limited blocks
Between be provided with preceding slide trough support, and two relative sides of preceding slide trough support set chutes, and limited block passes through its upper end
Projection is arranged in chute, and the end face of preceding slide trough support is provided with boss with holes, the other end of the power transmission shaft by with worm screw
Axle is connected, and worm shaft passes through the boss with holes, and sliding preceding groove bearing upper end is provided with front wheel axle, the interposition of front wheel axle
Put and turbine, two ends are installed front wheel is installed, worm shaft is engaged with worm gear, between the preceding slide trough support lower end and preceding bearing
It is provided with preceding spring；
The rear body includes organism frame after cross sectional shape, the rear support wheel being arranged on rear four sides of organism frame
Mechanism, each rear support wheel mechanism include be arranged on rear organism frame rear support, be symmetricly set on the two of rear support two ends
Individual rear position limiting slide block, the rear slide trough support being arranged on after two between limited block, it is arranged on rear slide trough support lower end and rear support
Between rear spring, two rear rollers being arranged on the rear roller axle of rear slide trough support upper end, be arranged on rear roller axle two ends.
Present invention additionally comprises some such architectural features：
1. described in connecting rod have four, and be uniformly arranged between preceding body and rear body.
2. described in before be provided between slide trough support lower end and preceding bearing before spring refer to：The preceding slide trough support lower end is set
It is equipped with hole one, preceding bearing and is provided with front column, preceding spring is provided between front column and hole one.
3. the rear spring being arranged between rear slide trough support lower end and rear support refers to：The rear slide trough support lower end is set
Have and rear column is provided with hole two, rear support, preceding spring is provided between rear column and hole two.
Compared with prior art, the beneficial effects of the invention are as follows：Technical scheme proposes a kind of new support
Wheel type traveling mechanism, the design is rotated using motor belt motor dynamic bevel gear, and branch is controlled by bevel gear mechanism and worm-and-wheel gear
The operating of wheel, right angle setting between support wheel mechanism and organism frame are supportted, and acts on inner-walls of duct, is substantially increased reliable
Property；Support section is adjusted relative to the length that organism frame stretches out by spring assembly between support wheel mounting seat and organism frame
Degree, is adapted to the environment of different tube diameters, expands the use scope of robot so that mechanism more flexibility；Front and rear body
Be symmetrically installed by connecting rod, vibrated in running it is smaller, be conducive to extend organism life-span.The letter of apparatus of the present invention mechanical structure
Single compact, stroke is larger, internal diameter of the pipeline strong adaptability, speed is adjustable, stable, operating efficiency is high, safe and reliable, is pipeline
Machine man-based development provides a kind of new Design Thinking, gathers around and has broad application prospects.The present invention has to be become to internal diameter of the pipeline
Change it is adaptable, the features such as operate steadily reliable, be particularly suitable for use in detection operation in pipe.
Brief description of the drawings
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is preceding housing construction schematic diagram of the invention；
Fig. 3 a, Fig. 3 b are respectively the support wheel structural representation one and structural representation two of the present invention；
Fig. 4 is spring adjustment structure schematic diagram of the invention；
Fig. 5 docks schematic diagram for the small coning gear shaft of the present invention with worm screw；
Fig. 6 is rear housing construction schematic diagram of the invention；
Fig. 7 is rear body support wheel structural representation of the invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1 to Fig. 7, the present invention includes the parts such as preceding body, rear body, middle brace rod, motor.The present invention
The preceding body, motor is installed in motor cabinet, before being fixedly installed on organism frame, will be dynamic by bearing, large bevel gear shaft
Power is transferred on bevel gear wheel, and bevel gear wheel is engaged with bevel pinion, and small coning gear shaft is docked by bearing with worm screw fork point, band
Dynamic worm screw synchronous rotary, promotes and is rotated with the coaxial mounted turbine of two rollers, the whole power transmission of body, support before realizing
Adjusted between wheel mounting seat and organism frame by spring, to adapt to different internal diameter of the pipeline；Body primarily serves the work of support afterwards
With, and stablize same using spring regulation between the operation of whole device, rear organism frame support wheel mounting seat；Front and rear body
Between connected by connecting rod, the length of connecting rod can be adjusted, to meet the lengthwise dimension of robot.Middle brace rod
There are 4,4 connecting rods are mutually in 90 ° to be installed.Support wheel mechanism, the bevel gear mechanism of front and rear body have 4 groups, mutual distribution in 90 °
In the surrounding of main correspondence organism frame.Small coning gear shaft is fixed by the relative position of bearing and preceding organism frame；Worm and gear
Fixed with support wheel, support wheel mounting seat relative position.
The present invention operation principle be：Motor is installed in motor cabinet, before being fixedly installed on organism frame, passes through axle
Hold, large bevel gear shaft, transmit power on bevel gear wheel, bevel gear wheel is engaged with bevel pinion, small coning gear shaft passes through axle
Hold and docked with worm screw fork point, drive worm screw synchronous rotary, promote and rotated with the coaxial mounted turbine of two rollers, body before realizing
Whole power transmission, adjusted between support wheel mounting seat and organism frame by spring, to adapt to different internal diameter of the pipeline；Machine afterwards
Body primarily serves and equally uses bullet between the effect of support, and the stably operation of whole device, preceding body support wheel mounting seat
Spring is adjusted；Connected between front and rear body by connecting rod, the length of connecting rod can be adjusted, to meet the length direction of robot
Size.
With reference to Fig. 1, the present invention is a kind of support wheel type pipeline detection robot of optimization, can realize that pipeline internal is walked
Management of Pipeline Mechanical Equipment device.Specifically include：Preceding body 1, rear body 2, middle brace rod 3, motor 4, the motor are installed on preceding machine
Body, motor shaft is coaxially connected with bevel gear wheel, and power is input into bevel gear wheel, and worm and gear work is driven by gear engagement
Make, so as to drive roller to rotate.The length that support wheel mechanism stretches out is controlled by the adjustment effect of spring and limited block, to adapt to
Different internal diameter of the pipeline.And the motor speed is adjustable, the operation speed of whole device can be controlled by the rotating speed of regulation motor
Degree.
The preceding body 1, as shown in Fig. 2 bevel gear wheel 1-2 is engaged with bevel pinion 1-3, organism frame 1- before being installed on
In 1, power is input to support wheel mechanism by bevel pinion 1-3 band moving axis 1-4 rotations.
The support wheel mechanism, as shown in Figure 3 a and Figure 3 b shows, mainly by preceding slide trough support 1-5, bearing 1-6, preceding bearing 1-
12nd, bearing 1-7, worm gear 1-9, worm shaft 1-8, limited block 1-14, roller 1-10, spring 1-11, power transmission shaft 1-13 compositions.Bearing
Before 1-6 and bearing 1-12 is fixedly installed on organism frame 1-1, slide trough support 1- before worm shaft 1-8 is installed on by bearing 1-7
On 5, and turbine that can be coaxial with front wheel 1-10 is engaged, preceding spring 1-11 and chute before front limited block 1-14 co- controllings
Bearing 1-5 stretching size, turbine and worm rotation drives roller to rotate.Preceding slide trough support 1-5, bearing 1-7, worm gear 1-9, worm screw
Axle 1-8, front wheel 1-10, front wheel axle 1-13 outreach are identicals.
The spring adjustment mechanism, as shown in figure 4, spring 1-11 is installed on bearing 1-12 short column, with preceding chute branch
Seat 1-5 hole coordinates, and ensures that bearing 1-5 can have enough installing spaces；Front limited block 1-14 is fixed on body, one end
Boss is set to coordinate with the groove on preceding slide trough support 1-5, slide trough support 1-5 position and the extreme position stretched out before limitation,
Front limited block 1-14 has two, slide trough support 1-5 both sides before being distributed in.When robot works, preceding spring 1-11 begins
State eventually in compression, simply different according to the internal diameter of pipeline, the compression stress suffered by preceding spring 1-11 is different.
Described small coning gear shaft and worm screw docking mechanism, as shown in figure 5, worm screw 1-8 sets chute, axle 1-4 set with
Chute coordinate structure because power transmission shaft 1-4 and preceding organism frame 1-1 relative position are fixed, it is ensured that worm shaft 1-8 and
Bearing 1-5 is synchronized with the movement, can be along radially sliding.
The rear body 2, as shown in fig. 6, rear organism frame 2-1 is sealed by end cap 2-2, centre is sky, can be installed
Detect device.Rear support 2-3 is connected with rear slide trough support 2-5 by rear spring 2-4 with rear limited block 2-6, and sliding after limitation
Groove bearing 2-5 may only be along moving radially.Rear roller 2-7 is installed on rear slide trough support 2-5 by rear roller axle 2-8.
The flexible of body afterwards stretches out that principle is identical with preceding body, as shown in fig. 7, bearing 2-5 move radially distance by
Limited block 2-6 and spring 2-4 and rear support 2-3 collective effect afterwards.
In summary, the present invention can be realized in the pipe of robot and moved, and to the strong adaptability of tapered pipeline.Originally set
Meter is controlled using the cooperation of bevel gear mechanism, worm-and-wheel gear as power transmission, spring mechanism and using cooperatively for limited block
The outreach of support section processed, expands the scope of application of device；The simple compact, stroke of apparatus of the present invention mechanical structure compared with
Greatly, internal diameter of the pipeline strong adaptability, speed are adjustable, stable, operating efficiency is high, safe and reliable, are the development of pipe robot
There is provided a kind of new Design Thinking, it can be contributed for pipeline detection machine man-based development.
Claims (4)
1. a kind of support wheel type pipeline detection robot of optimization, it is characterised in that：Including preceding body, rear body, for even
The middle brace rod of preceding body and rear body is connect, the preceding body, which includes section, to be square preceding organism frame, be arranged on preceding machine
Motor on body framework end face, the bevel gear wheel on motor output shaft, be arranged on before on four sides of organism frame
Four power transmission shafts, the bevel pinions on each power transmission shaft one end, the bevel gear wheel are engaged and auger with bevel pinion
Before gear is respectively positioned on bevel pinion in organism frame, front support turbine is provided with four sides of the preceding organism frame
Structure, each front support wheel mechanism includes the preceding bearing on organism frame before being arranged on, and the two ends of preceding bearing are symmetrically arranged with two
Preceding slide trough support is provided between front limited block, two front limited blocks, and two relative sides of preceding slide trough support set cunning
Groove, limited block is arranged in chute by the projection of its upper end, and the end face of preceding slide trough support is provided with boss with holes, the transmission
The other end of axle with worm shaft by being connected, and worm shaft passes through the boss with holes, and sliding preceding groove bearing upper end is provided with preceding rolling
Wheel shaft, the centre position of front wheel axle is provided with turbine, two ends and is provided with front wheel, and worm shaft is engaged with worm gear, described advancing slip
Preceding spring is provided between groove bearing lower end and preceding bearing；
The rear body includes organism frame after cross sectional shape, the rear support turbine being arranged on rear four sides of organism frame
Structure, rear support that each rear support wheel mechanism includes being arranged on rear organism frame, is symmetricly set on two of rear support two ends
Afterwards position limiting slide block, be arranged on after two between limited block rear slide trough support, be arranged on rear slide trough support lower end and rear support it
Between rear spring, two rear rollers being arranged on the rear roller axle of rear slide trough support upper end, be arranged on rear roller axle two ends.
2. a kind of support wheel type pipeline detection robot of optimization according to claim 1, it is characterised in that：The company
Extension bar has four, and is uniformly arranged between preceding body and rear body.
3. a kind of support wheel type pipeline detection robot of optimization according to claim 1 or 2, it is characterised in that：Institute
Spring refers to before being provided with before stating between slide trough support lower end and preceding bearing：The preceding slide trough support lower end is provided with hole one, preceding
Front column is provided with bearing, preceding spring is provided between front column and hole one.
4. a kind of support wheel type pipeline detection robot of optimization according to claim 1 or 2, it is characterised in that：If
The rear spring put between rear slide trough support lower end and rear support refers to：The rear slide trough support lower end is provided with hole two, rear branch
Rear column is provided with seat, preceding spring is provided between rear column and hole two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343206.8A CN107270027A (en) | 2017-05-16 | 2017-05-16 | A kind of support wheel type pipeline detection robot of optimization |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343206.8A CN107270027A (en) | 2017-05-16 | 2017-05-16 | A kind of support wheel type pipeline detection robot of optimization |
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| CN107270027A true CN107270027A (en) | 2017-10-20 |
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| CN201710343206.8A Pending CN107270027A (en) | 2017-05-16 | 2017-05-16 | A kind of support wheel type pipeline detection robot of optimization |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN108278440A (en) * | 2017-12-18 | 2018-07-13 | 中国矿业大学 | The very big curvature steering mechanism of pipe robot and forward method |
| CN108489442A (en) * | 2018-03-20 | 2018-09-04 | 华北理工大学 | A kind of diameter-variable pipe rotation detection device |
| CN108612956A (en) * | 2018-07-06 | 2018-10-02 | 江南大学 | A kind of pipe robot |
| RU2683421C1 (en) * | 2018-05-30 | 2019-03-28 | Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" | Device for surveying the internal pipe surface |
| CN109738513A (en) * | 2019-01-30 | 2019-05-10 | 温州市长江标准件有限公司 | A kind of pipe fitting internal diameter eddy-current crack detector |
| RU2698224C1 (en) * | 2019-03-27 | 2019-08-23 | Владимир Станиславович ЯВОРСКИЙ | Device for solidification of polymer sleeve inserted into pipeline |
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
| CN110578853A (en) * | 2019-10-22 | 2019-12-17 | 浙江越新检测技术有限公司 | Ultrasonic signal detects crackle device in pipeline |
| CN111120775A (en) * | 2019-11-29 | 2020-05-08 | 沈阳工业大学 | Active rotation obstacle avoidance type pipeline robot |
| CN111365564A (en) * | 2020-05-06 | 2020-07-03 | 中自机器人技术(安庆)有限公司 | Pipeline inspection robot |
| RU2736042C1 (en) * | 2020-05-13 | 2020-11-11 | Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" (АО "НИПТБ "Онега") | Method of pipe inner surface recovery |
| CN112178355A (en) * | 2020-09-27 | 2021-01-05 | 中国地震局工程力学研究所 | Spiral advancing type pipeline detector |
| CN112467613A (en) * | 2020-11-19 | 2021-03-09 | 国网四川省电力公司检修公司 | Large-tonnage insulator mechanical labor-saving lead screw |
| CN112833275A (en) * | 2020-12-31 | 2021-05-25 | 茹国琼 | Artificial intelligence defectoscope with walking function |
| CN113154181A (en) * | 2021-05-08 | 2021-07-23 | 上海点拾科技有限公司 | Flexible robot for pipeline detection and maintenance |
| CN113494654A (en) * | 2021-06-30 | 2021-10-12 | 南京中智腾飞航空科技研究院有限公司 | Nondestructive testing device suitable for high temperature pipeline is detected a flaw |
| CN113944825A (en) * | 2021-09-08 | 2022-01-18 | 北京北燃环能工程科技有限公司 | Underground gas pipeline internal repair detection device |
| CN114658956A (en) * | 2022-03-09 | 2022-06-24 | 武汉工程大学 | Pipeline inspection robot |
| CN114923101A (en) * | 2022-05-09 | 2022-08-19 | 中国石油大学(华东) | Fixing device for butt joint pipe measuring and cutting equipment |
| CN115351018A (en) * | 2022-08-04 | 2022-11-18 | 芜湖中燃城市燃气发展有限公司 | Natural gas pipeline blockage clearing device and method |
| RU2805944C2 (en) * | 2019-05-08 | 2023-10-24 | Пеанта Инвеншенз Аб | Light head for use in pipe lining |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278440A (en) * | 2017-12-18 | 2018-07-13 | 中国矿业大学 | The very big curvature steering mechanism of pipe robot and forward method |
| CN108278440B (en) * | 2017-12-18 | 2020-07-24 | 中国矿业大学 | Pipeline robot maximum curvature steering mechanism and steering method |
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN108489442A (en) * | 2018-03-20 | 2018-09-04 | 华北理工大学 | A kind of diameter-variable pipe rotation detection device |
| CN108489442B (en) * | 2018-03-20 | 2023-10-20 | 华北理工大学 | Variable diameter pipeline rotation detection device |
| RU2683421C1 (en) * | 2018-05-30 | 2019-03-28 | Акционерное общество "Научно-исследовательское проектно-технологическое бюро "Онега" | Device for surveying the internal pipe surface |
| CN108612956A (en) * | 2018-07-06 | 2018-10-02 | 江南大学 | A kind of pipe robot |
| CN109738513A (en) * | 2019-01-30 | 2019-05-10 | 温州市长江标准件有限公司 | A kind of pipe fitting internal diameter eddy-current crack detector |
| CN109738513B (en) * | 2019-01-30 | 2023-01-06 | 温州市长江标准件有限公司 | Pipe fitting internal diameter eddy current inspection device |
| RU2698224C1 (en) * | 2019-03-27 | 2019-08-23 | Владимир Станиславович ЯВОРСКИЙ | Device for solidification of polymer sleeve inserted into pipeline |
| RU2805944C2 (en) * | 2019-05-08 | 2023-10-24 | Пеанта Инвеншенз Аб | Light head for use in pipe lining |
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
| CN110578853A (en) * | 2019-10-22 | 2019-12-17 | 浙江越新检测技术有限公司 | Ultrasonic signal detects crackle device in pipeline |
| CN111120775B (en) * | 2019-11-29 | 2024-05-14 | 沈阳工业大学 | Actively-rotating obstacle avoidance type pipeline robot |
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