CN107654791A - A kind of magnetic suck pipe robot - Google Patents
A kind of magnetic suck pipe robot Download PDFInfo
- Publication number
- CN107654791A CN107654791A CN201710864850.XA CN201710864850A CN107654791A CN 107654791 A CN107654791 A CN 107654791A CN 201710864850 A CN201710864850 A CN 201710864850A CN 107654791 A CN107654791 A CN 107654791A
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- wheel
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- 239000003795 chemical substances by application Substances 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 5
- 239000000523 sample Substances 0.000 claims description 8
- 238000005253 cladding Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000012946 outsourcing Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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
- F16L2101/30—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
The present invention discloses a kind of magnetic suck pipe robot, including agent structure and bottom control device, also include Liang Ge crawler-type mobiles mechanism and be arranged at the in-house magnetic adsorption device of the crawler-type mobile, described two crawler-type mobile mechanisms are connected to the agent structure both sides by connector 9, the crawler-type mobile mechanism circumferentially coats two pieces of side plate structure composeds by crawler belt, inside sets the reducing motor being fixed on side board edge, driving wheel, guide wheel, tensioning wheel and BOGEY WHEEL, the reducer output shaft of reducing motor of the live axle of the driving wheel with providing power is connected；The magnetic adsorption device includes the magnetic patch installing plate being fixed on the side plate and the magnetic patch being fixed on the magnetic patch installing plate, and for the magnetic patch towards the crawler belt side, the BOGEY WHEEL is arranged at the both sides of the magnetic patch installing plate.The present invention can make robot absorption inside pipeline, and that realizes robot is attached to walking and wall climbing function inside pipeline.
Description
Technical field
The present invention relates to a kind of pipe robot, more particularly relates to a kind of magnetic suck pipe robot, belongs to pipe machine
Device people's technical field.
Background technology
At present, the development of world nuclear robot has achieved larger progress, has the function that in practical application huge.
The development trend of future world nuclear power robot will put forth effort to solve the design of small intelligent atomic power robot system innovation, Non-Destructive Testing with
High stable under fault diagnosis technology, multi-sensor information fusion and intelligent early-warning strategy, nuclear radiation protection technology, adverse circumstances
The key technology difficulties such as teleoperation.From cost it is low, motion it is flexible, easy to operate angularly consider, will continue to miniaturization,
Intelligent, practical direction is developed.
For pipe robot, operation in horizontal pipe detection has solved, but for some vertical pipelines,
Ordinary pipe robot can not be realized and it is detected, and be led in general industry, nuclear facilities, petroleum gas, military equipment etc.
In domain, pipeline is widely used as a kind of effective material transportation means.To improve the life-span of pipeline, prevent leakage
Etc. the generation of accident, effective detection must be just carried out to pipeline to be safeguarded, is difficult to solve this problem at present.
The content of the invention
Goal of the invention：Present invention aims in view of the shortcomings of the prior art, there is provided one kind is realized and is attached to inside pipeline
Walking and the magnetic suck pipe robot of wall climbing function.
Technical scheme：A kind of magnetic suck pipe robot of the present invention, including agent structure and bottom control device,
Characterized in that, also include Liang Ge crawler-type mobiles mechanism and be arranged at the in-house magnetic attaching of the crawler-type mobile
To put, described two crawler-type mobile mechanisms are connected to the agent structure both sides by connector 9,
By crawler belt, circumferentially two pieces of side plate structure composeds of cladding, inside set and are fixed on side board edge for the crawler-type mobile mechanism
Reducing motor, driving wheel, guide wheel, tensioning wheel and BOGEY WHEEL, the live axle of the driving wheel and the deceleration that power is provided
The reducer output shaft connection of motor, the driving wheel are oppositely arranged with the guide wheel at the both ends of the side plate, described
Bearing up pulley is arranged on the side of the guide wheel, and the BOGEY WHEEL distribution is set；
The magnetic adsorption device includes the magnetic patch installing plate being fixed on the side plate and is fixed on the magnetic patch installing plate
Magnetic patch, for the magnetic patch towards the crawler belt side, the BOGEY WHEEL is arranged at the both sides of the magnetic patch installing plate.
The technical solution of the present invention is further defined as the spacing between the magnetic patch and the crawler belt is 1 ~ 1.5mm.
Further, in addition to the reducing motor H bridge control device for reversings being connected.
Further, the bottom control device includes mainboard and the measuring thickness device being fixed on the mainboard, the survey
Thick device includes calibrator, electric pushrod and pulling force sensor, and the calibrator is connected with and thickness meter probe, described electronic to push away
The push rod cup of bar is socketed on the thickness meter probe.
Further, the bottom control device also includes the ultrasonic wave detector being fixed on the mainboard.
Further, the agent structure includes being arranged at the preceding camera of the agent structure front end and is arranged at described
The rear camera of agent structure rear end, the preceding camera are arranged in front shroud, and the rear camera is arranged in back cover.
Further, it is additionally provided with head on the mainboard, the head includes head drain pan, horizontal stage electric machine, outside head
Parcel, head camera parcel, camera, head lamp, described head drain pan are fixed on the mainboard；Described head outer wrapping
It is fixed on by lower connector on the head drain pan；Described head camera wraps up is fixed on head outsourcing by upper connector
Wrap；It is internal that described camera is fixed on the head camera parcel；Described head lamp is fixed on by head light fixtures
The head camera superscribes.
Beneficial effect：A kind of magnetic suck pipe robot provided by the invention, using crawler type magnetic suck walking mechanism energy
Enough make robot absorption inside pipeline, that realizes robot is attached to walking and wall climbing function inside pipeline；Utilize camera
Inner case can be monitored in real time, detected a flaw；Enable measuring thickness device to measure pipeline wall thickness, understanding inside pipeline is
It is no to have crackle etc., longitudinal separation is held using ultrasonic probe, to realize the function such as the avoidance of pipe robot, turn.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the crawler type walking mechanism schematic diagram of the present invention；
Fig. 3 is the magnetic suck structural representation of the present invention；
Fig. 4 is the reducing motor schematic diagram of the present invention；
Fig. 5 is the bottom control device schematic diagram of the present invention；
Fig. 6 is the agent structure schematic diagram of the present invention；
Fig. 7 is the cradle head structure schematic diagram of the present invention.
Embodiment
Technical solution of the present invention is described in detail below by accompanying drawing, but protection scope of the present invention is not limited to
The embodiment.
Embodiment 1：The present embodiment provides a kind of magnetic suck pipe robot, its overall structural representation as shown in figure 1,
Including agent structure and bottom control device, it is characterised in that also including Liang Ge crawler-type mobiles mechanism and be arranged at the shoe
Magnetic adsorption device inside belt travel mechanism, described two crawler-type mobile mechanisms are connected to the main body by connector 9
Structure both sides.
The structural representation of the crawler-type mobile mechanism the two blocks of side plates 34 of circumferential cladding of crawler belt 1 as shown in Fig. 2 be made up of
Framework, inside set reducing motor 19, driving wheel 17, guide wheel 26, tensioning wheel 29 and the load-bearing being fixed on the edge of side plate 34
Wheel 20,24,31, the reducer output shaft 53 of reducing motor 19 of the live axle 18 of the driving wheel 17 with providing power connect
Connect, the structural representation of reducing motor 19 is as shown in figure 4, described reducing motor includes motor 19, speed reducer housing 52, slowed down
Device output shaft 53；Described motor is connected by screw with side plate 34.The driving wheel 17 is with the guide wheel 26 described
The both ends of side plate 34 are oppositely arranged, and the tensioning wheel 29 is arranged on the side of the guide wheel 26, the BOGEY WHEEL 20,24,31
Distribution is set.Also include the H bridges control device for reversing 30 being connected with the reducing motor 19.Specially：Described interior motor plate 8
It is fixed on by screw on side plate 34, plays protection motor effect；Described encoder shell 10 is arranged on interior by screw
On motor plate 8；The driving wheel 17 is fixed on side plate by live axle 18 by screw；Described motor 19 passes through spiral shell
Nail is fixed on side plate 34, and power is provided for walking mechanism；The BOGEY WHEEL 1, BOGEY WHEEL 2 24, BOGEY WHEEL 3 31
It is fixed on respectively by load-bearing wheel shaft 1, load-bearing wheel shaft 2 25, load-bearing wheel shaft 3 32 by screw on side plate 34；It is described to draw
Guide wheel 26 is fixed on side plate 34 by guiding wheel shaft 27 by screw；The tensioning wheel 29 passes through screw by tension wheel shaft 28
It is fixed on side plate 34；The H Biodge devices 30 are fixed on side plate 34 by screw.Described side plate 34 has two pieces
Centre passes through live axle 18, the axle 21 of BOGEY WHEEL one, the axle 25 of BOGEY WHEEL two, the axle 32 of BOGEY WHEEL three, guiding wheel shaft 27, tension wheel shaft
28 connections；Described crawler-type mobile mechanism has two, and agent structure both sides are connected to by connector 9.
The structure of the magnetic adsorption device is as shown in figure 3, the He of magnetic patch installing plate 23 including being fixed on the side plate 34
The magnetic patch 22 being fixed on the magnetic patch installing plate 23, the magnetic patch 22 is towards the side of crawler belt 1, the BOGEY WHEEL 20,24
It is arranged at the both sides of the magnetic patch installing plate 23.Spacing between the magnetic patch 22 and the crawler belt is 1 ~ 1.5mm.The magnetic patch
22 be rare-earth permanent magnet, and the size of magnet is 100*40*15mm, and the adsorption area of magnet is 4000mm^2.The magnetic patch 22 by
Screw is fixed on the magnet installing plate by taper counter sink.Described magnetic suck mechanism includes magnetic patch installing plate 23, magnetic
Block 22, described magnetic patch are fixed on magnet installing plate 23 by screw by screwed hole 55, and magnet installing plate passes through screw
It is fixed on side plate 34.
The bottom control device is used as shown in figure 5, including mainboard 15 and the measuring thickness device being fixed on the mainboard 15
In the thickness of detection tube wall.The measuring thickness device includes calibrator 40, electric pushrod 42 and pulling force sensor 44, the calibrator
40 are connected with and are socketed on thickness meter probe 46, the push rod cup 43 of the electric pushrod 42 on the thickness meter probe 46.It is described
Bottom control device also includes the ultrasonic wave detector 51 being fixed on the mainboard 15.Calibrator passes through caused by radiating circuit
High-pressure shocking wave incentive probe, produces ultrasonic wave transmitting impulse wave, and impulse wave is received by receiving circuit after tube wall is launched, passed through
Thickness value is calculated and be shown in inter-process, judges whether tube wall is damaged by the thickness measured.When pipe robot enters
During pipeline work, by sufficiently long safety rope and netting twine is fixed on by the corresponding interface on pulling force sensor and aviation plug
On, pulling force sensor can detect whether safety rope is in tension all the time, prevent safety rope from knotting or pine internally occurs
Collapse phenomenon, influences robot retrogressing and is pressed onto netting twine or staff is influenceed in something unexpected happened robot pull-out pipe
Road, influence normal work.Pulling force sensor mainly coordinates wire spool to be operated.
The agent structure is as shown in fig. 6, including being arranged at the preceding camera 13 of the agent structure front end and being arranged at
The rear camera 32 of the agent structure rear end, the preceding camera 13 are arranged in front shroud 12, and the rear camera 32 is set
In in back cover 2.The preceding camera 13 and rear camera 32 are used for the shooting for carrying out pipeline inner case, are easy to staff straight
The understanding pipeline inner case of sight, and judge.Specially：Described connector 9 is fixed on mainboard by screw
On 15；Described bottom 35 is fixed on mainboard 15 by screw；Described battery case 36 is fixed on by screw
On mainboard 15；Described switch 37 is arranged on battery case 36；Described rear camera 32 is arranged in back cover 2, and back cover 2 passes through
Screw is fixed on mainboard 15；Described preceding camera 13 is arranged in front shroud 12, and front shroud 12 is installed by screw and fixed
On mainboard 15；Described headlight 11 is arranged on front shroud 12 by screw.
Head is additionally provided with the mainboard 15, the structural representation of the head is as shown in fig. 7, comprises head drain pan
14th, horizontal stage electric machine 38, head outer wrapping 16, head camera parcel 3, camera 5, head lamp 7, described head drain pan 14 are fixed on
On the mainboard 15；Described head outer wrapping 16 is fixed on the head drain pan 14 by lower connector 39；Described cloud
Platform camera parcel 3 is fixed in head outer wrapping 16 by upper connector 4；Described camera 5 is fixed on the head camera bag
Wrap up in inside 3；Described head lamp 7 is fixed on the head camera parcel 3 by head light fixtures 6.Specially：Described
Head drain pan 14 is fixed on bottom plate 15 by screw；Described head outer wrapping 16 is installed by lower connector 39 and fixed
On head drain pan 14；Described head camera parcel 3 is fixed in head outer wrapping 16 by upper connector 4；It is described
Camera 5 be placed on head camera parcel 3 inside；Described head light fixtures 6 is fixed on head camera bag by screw
Wrap up on 3；Described head lamp 7 is fixed on head light fixtures 6 by screw.The working method of head is：By bottom
Horizontal stage electric machine rotates, and drives head camera level angle to rotate, rotational angle range is at 0 ° ~ 350 °；Side horizontal stage electric machine drives
0 ° ~ 70 ° of head camera pitch rotation scope, carried out by head light fixtures spacing.
When in use, robot is placed on inside core pipeline for a kind of magnetic suck pipe robot that the present embodiment provides, profit
Robot is adsorbed inside pipeline with magnetic adsorption device, starting switch 37, is powered by battery case 36 and starts reducing motor 19,
Then motor 19 drive driving wheel 17, driving wheel 17 drive guide wheel 26, BOGEY WHEEL 1, BOGEY WHEEL 2 24, BOGEY WHEEL 3 31,
The rotation of tensioning wheel 29 makes robot be walked inside pipeline, enables head outer wrapping in the control device control cradle head structure of bottom
16th, head camera parcel 3 is rotated to realize that the angle shot of camera 5 is changed；Enable bottom control device and enable ultrasonic listening
Instrument 51 is to realize the barrier avoiding function of robot；Bottom control device control measuring thickness device is enabled to measure pipeline wall thickness.
As described above, although the present invention has been represented and described with reference to specific preferred embodiment, but it must not be explained
For to the limitation of itself of the invention., can be right under the premise of the spirit and scope of the present invention that appended claims define are not departed from
Various changes can be made in the form and details for it.
Claims (7)
1. a kind of magnetic suck pipe robot, including agent structure and bottom control device, it is characterised in that also including two shoes
Belt travel mechanism and it is arranged at the in-house magnetic adsorption device of the crawler-type mobile, described two crawler-type mobile mechanisms
Pass through connector（9）The agent structure both sides are connected to,
The crawler-type mobile mechanism is by crawler belt（1）Two blocks of side plates of circumferential cladding（34）Structure composed, inside set and are fixed on side
Plate（34）Reducing motor on edge（19）, driving wheel（17）, guide wheel（26）, tensioning wheel（29）And BOGEY WHEEL（20,24,
31）, the driving wheel（17）Live axle（18）Reducing motor with providing power（19）Reducer output shaft（53）Even
Connect, the driving wheel（17）With the guide wheel（26）In the side plate（34）Both ends be oppositely arranged, the tensioning wheel（29）
It is arranged on the guide wheel（26）Side, the BOGEY WHEEL（20,24,31）Distribution is set；
The magnetic adsorption device includes being fixed on the side plate（34）On magnetic patch installing plate（23）Pacify with the magnetic patch is fixed on
Loading board（23）On magnetic patch（22）, the magnetic patch（22）Towards the crawler belt（1）Side, the BOGEY WHEEL（20,24）It is arranged at
The magnetic patch installing plate（23）Both sides.
A kind of 2. magnetic suck pipe robot according to claim 1, it is characterised in that the magnetic patch（22）With the shoe
Spacing between band is 1 ~ 1.5mm.
A kind of 3. pipe robot magnetic suck caterpillar belt structure according to claim 1, it is characterised in that also include with it is described
Reducing motor（19）The H bridge control device for reversings of connection（30）.
4. a kind of magnetic suck pipe robot according to claim 1, it is characterised in that the bottom control device includes
Mainboard（15）Be fixed on the mainboard（15）On measuring thickness device, the measuring thickness device includes calibrator（40）, electric pushrod
（42）And pulling force sensor（44）, the calibrator（40）It is connected with and thickness meter probe（46）, the electric pushrod（42）'s
Push rod cup（43）It is socketed on the thickness meter probe（46）On.
5. a kind of magnetic suck pipe robot according to claim 4, it is characterised in that the bottom control device also wraps
Include and be fixed on the mainboard（15）On ultrasonic wave detector（51）.
6. a kind of magnetic suck pipe robot according to claim 1, it is characterised in that the agent structure includes setting
Preceding camera in the agent structure front end（13）With the rear camera for being arranged at the agent structure rear end（32）, before described
Camera（13）It is arranged at front shroud（12）It is interior, the rear camera（32）It is arranged at back cover（2）It is interior.
A kind of 7. magnetic suck pipe robot according to claim 4, it is characterised in that the mainboard（15）On also set up
There is head, the head includes head drain pan（14）, horizontal stage electric machine（38）, head outer wrapping（16）, head camera parcel（3）、
Camera（5）, head lamp（7）, described head drain pan（14）It is fixed on the mainboard（15）On；Described head outer wrapping（16）
Pass through lower connector（39）It is fixed on the head drain pan（14）On；Described head camera parcel（3）Pass through upper connector（4）
It is fixed on head outer wrapping（16）On；Described camera（5）It is fixed on the head camera parcel（3）It is internal；Described head
Lamp（7）Pass through head light fixtures（6）It is fixed on the head camera parcel（3）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710864850.XA CN107654791A (en) | 2017-09-22 | 2017-09-22 | A kind of magnetic suck pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710864850.XA CN107654791A (en) | 2017-09-22 | 2017-09-22 | A kind of magnetic suck pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107654791A true CN107654791A (en) | 2018-02-02 |
Family
ID=61130040
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710864850.XA Pending CN107654791A (en) | 2017-09-22 | 2017-09-22 | A kind of magnetic suck pipe robot |
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| CN (1) | CN107654791A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108561674A (en) * | 2018-03-21 | 2018-09-21 | 欧阳克军 | A kind of pneumatic safety device |
| CN108679365A (en) * | 2018-07-08 | 2018-10-19 | 刘飞鸿 | A kind of detecting robot of pipe |
| CN110103212A (en) * | 2019-06-19 | 2019-08-09 | 嘉兴学院 | A kind of changeable humanoid robot of modularization based on trolley |
| CN110680225A (en) * | 2018-07-04 | 2020-01-14 | 科沃斯机器人股份有限公司 | Cleaning robot and anti-falling method thereof |
| CN110749913A (en) * | 2019-09-27 | 2020-02-04 | 中核四川环保工程有限责任公司 | Radiation measurement wall-climbing robot |
| CN111688836A (en) * | 2020-05-19 | 2020-09-22 | 北京中安吉泰科技有限公司 | Multifunctional magnetic adsorption wall-climbing robot device |
| CN112178357A (en) * | 2020-10-16 | 2021-01-05 | 重庆科技学院 | Postweld data acquisition device of high-strength long-distance pipeline steel |
| CN112660321A (en) * | 2020-12-10 | 2021-04-16 | 江苏科技大学 | Underwater cleaning device for marine equipment |
| CN115122361A (en) * | 2022-08-30 | 2022-09-30 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108561674A (en) * | 2018-03-21 | 2018-09-21 | 欧阳克军 | A kind of pneumatic safety device |
| CN110680225A (en) * | 2018-07-04 | 2020-01-14 | 科沃斯机器人股份有限公司 | Cleaning robot and anti-falling method thereof |
| CN108679365A (en) * | 2018-07-08 | 2018-10-19 | 刘飞鸿 | A kind of detecting robot of pipe |
| CN110103212A (en) * | 2019-06-19 | 2019-08-09 | 嘉兴学院 | A kind of changeable humanoid robot of modularization based on trolley |
| CN110749913A (en) * | 2019-09-27 | 2020-02-04 | 中核四川环保工程有限责任公司 | Radiation measurement wall-climbing robot |
| CN111688836A (en) * | 2020-05-19 | 2020-09-22 | 北京中安吉泰科技有限公司 | Multifunctional magnetic adsorption wall-climbing robot device |
| CN112178357A (en) * | 2020-10-16 | 2021-01-05 | 重庆科技学院 | Postweld data acquisition device of high-strength long-distance pipeline steel |
| CN112660321A (en) * | 2020-12-10 | 2021-04-16 | 江苏科技大学 | Underwater cleaning device for marine equipment |
| CN115122361A (en) * | 2022-08-30 | 2022-09-30 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank truck |
| CN115122361B (en) * | 2022-08-30 | 2022-11-04 | 天科泰瑞检测(天津)有限公司 | Endoscopic detection robot for chemical tank car |
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Application publication date: 20180202 |
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