CN108584749B - Method for entering pipeline in isolation mode - Google Patents
Method for entering pipeline in isolation mode Download PDFInfo
- Publication number
- CN108584749B CN108584749B CN201810589632.4A CN201810589632A CN108584749B CN 108584749 B CN108584749 B CN 108584749B CN 201810589632 A CN201810589632 A CN 201810589632A CN 108584749 B CN108584749 B CN 108584749B
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- Prior art keywords
- winch
- pipeline
- cabin
- isolation
- cable
- Prior art date
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- 238000002955 isolation Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 25
- 238000012423 maintenance Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 5
- 239000002775 capsule Substances 0.000 description 10
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 239000003345 natural gas Substances 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000004880 explosion Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
- B66D1/7484—Details concerning gearing arrangements, e.g. multi-speed
-
- 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
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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
-
- 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
- F16L2101/50—Pulling cables or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for entering a pipeline in an isolated mode. The invention also discloses a pipeline isolation cabin, which comprises the cable winch and a cabin body, wherein one end of the cabin body is opened, the cable winch is arranged in the cabin body, and the cable winch is connected in the cabin body through a winch rotating shaft. A pipe isolation pod for robot access, comprising: above-mentioned pipeline isolation cabin and maintenance robot, maintenance robot pass through the cable and are connected with the capstan winch body. A method for entering a pipeline in an isolated mode comprises the steps of closing a gate valve; an overhaul robot is placed in the isolation cabin; vacuumizing; opening the gate valve; the overhaul robot overhauls the inside of the pipeline to be overhauled; the maintenance robot is retracted into the cabin body of the isolation cabin; closing the gate valve; vacuumizing; filling air; and taking out the overhauling robot. The cable is received and released in the pipeline isolation cabin conveniently, the wired communication connection of the pipeline inside overhaul equipment is met, the smooth communication is ensured, and overhaul accidents are avoided.
Description
Technical Field
The invention relates to the structural design of an internal line detection device of a pipeline for petroleum, natural gas, water supply and the like in the process of entering the operation of an overhaul robot under pressure, in particular to a method for entering the pipeline in an isolated mode.
Background
With the development of society, the continuous operation of equipment is increasingly required, but the operation pipeline is maintained to be a very difficult problem in the working process.
Especially in the present age, natural gas has become one of the most important energy sources in the world, mainly by means of pipeline transportation. However, with the widespread demand for natural gas supplies, pipeline leak detection problems are increasingly prominent.
The pressure is difficult to enter and exit in the operation pipeline, and fluid in the pipeline is stopped, so that normal production and life can be influenced, and the situation of the pipeline is that a natural gas pipeline is adopted. And the air supply is recovered after the air is stopped, the air needs to be emptied, the mixed explosion is avoided, the difficulty is higher, and meanwhile, the pipelines lose repair for a long time, and the inside needs to be inspected and detected.
Therefore, in the existing overhaul equipment, overhaul under the working pressure of the operating pipeline cannot be met, the overhaul difficulty is increased, and explosion accidents are easy to occur.
Disclosure of Invention
Therefore, the main purpose of the invention is to provide a cable winch for a pipeline isolation cabin, a pipeline isolation cabin for a robot to enter, and a method for entering a pipeline in an isolation mode thereof, which are convenient to realize the winding and unwinding of the cable in the pipeline isolation cabin, meet the wired communication connection of the overhaul equipment in the pipeline, ensure smooth communication and avoid overhaul accidents.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
A cable winch for an access duct isolation capsule, comprising: winch body and winch supporting wall, two the winch supporting wall sets up respectively the winch body both sides, the winch body is connected with the winch supporting wall through the winch pivot.
The wire outlet end of the winch body is provided with a wire arranging device, and one end part of the winch rotating shaft is provided with a slip ring.
The wire outlet end of the winch body is fixedly connected with a reciprocating screw rod, the wire arranging device is connected to the upper side of the reciprocating screw rod, and two ends of the reciprocating screw rod are respectively connected with the winch supporting wall in a supporting manner; one side of the wire arranging device is provided with a meter counter.
The winch body is wound with a cable, and the cable is a steel wire rope or a cable or an optical fiber.
A pipe isolation pod comprising: above-mentioned business turn over pipeline keeps apart cabin and uses cable winch still includes: the cabin body, cabin body one end opening the cabin body is inside to be set up the cable capstan winch, the cable capstan winch passes through the capstan winch pivot to be connected the cabin body is inside.
The winch rotating shaft is a magnetic coupling isolation transmission winch rotating shaft, and one end of the magnetic coupling isolation transmission winch rotating shaft is connected with the rotating shaft driving device through an isolating device.
The rotating shaft driving device is a handle or an electric driving device.
Further comprises: the opening end of the cabin body is detachably and hermetically connected with the gate valve, the other end of the cabin body is detachably and hermetically connected with the gate valve through a cover plate, and one end part of the winch supporting wall is fixedly connected to one side, close to the interior of the cabin body, of the cover plate; and the outer surface of the cover plate is provided with a communication terminal which is in wired communication connection with the inside of the cabin.
A pipe isolation pod for robot access, comprising: above-mentioned pipeline isolation cabin still includes: the maintenance robot is connected with the winch body through a cable.
A method of isolating access to a pipeline comprising the steps of:
s1, closing a gate valve;
s2, placing an overhaul robot in the isolation cabin;
S3, vacuumizing the space inside the isolation cabin through an exhaust valve arranged on the outer wall of the isolation cabin;
S4, opening a gate valve;
S5, the overhauling robot enters a pipeline to be overhauled, which is connected with the lower side of the gate valve, and overhauls the interior of the pipeline to be overhauled;
S6, after the maintenance is finished, guiding the maintenance robot to be retracted into the cabin body of the isolation cabin through the cable winch;
S7, closing the gate valve;
s8, vacuumizing the space inside the isolation cabin through an exhaust valve;
S9, filling air into the space inside the isolation cabin through an exhaust valve;
S10, opening the isolation cabin, and taking out the overhauling robot.
The cable winch for the pipeline isolation cabin, the pipeline isolation cabin for the robot to enter and the method for entering the pipeline in an isolation mode have the following beneficial effects:
The cable winch for the pipeline isolation cabin, the pipeline isolation cabin for the robot to enter and the method for the robot to enter the pipeline in an isolation mode achieve sealing connection between the pipeline to be overhauled and the pipeline isolation cabin, and ensure the sealing effect of the pipeline to be overhauled. The defect that in the prior art, in the existing overhaul equipment, overhaul under the working pressure of an operation pipeline cannot be met, overhaul difficulty is increased, and explosion accidents are easy to occur is avoided. The cable winch for the pipeline isolation cabin, the pipeline isolation cabin for the robot to enter and the method for the robot to enter the pipeline in an isolation mode are convenient to achieve cable winding and unwinding in the pipeline isolation cabin, and can meet the requirement of wired communication connection of the overhaul equipment in the pipeline, ensure smooth communication and avoid overhaul accidents.
Drawings
FIG. 1 is a schematic diagram of a cable winch for an access duct isolation capsule according to one embodiment of the present disclosure;
FIG. 2 is a perspective view of a cable winch for an access duct isolation capsule according to one embodiment of the present disclosure;
FIG. 3 is another angled perspective view of a cable winch for an access duct isolation pod according to one embodiment of the present disclosure;
FIG. 4 is a schematic structural view of a pipe isolation pod according to one embodiment of the present disclosure;
FIG. 5 is a bottom view of a plumbing compartment according to one embodiment of the present disclosure;
FIG. 6 is a perspective view of a pipe isolation pod according to one embodiment of the present disclosure;
FIG. 7 is a schematic view of a piping isolation capsule in connection with a gate valve according to an embodiment of the present disclosure;
FIG. 8 is a perspective view of a piping isolation capsule in connection with a gate valve according to one embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a cable winch and service robot connection inside a pipe isolation cabin according to one embodiment of the present disclosure;
Fig. 10 is a perspective view of a connection structure of a cable winch and an inspection robot inside a pipe isolation cabin according to an embodiment of the present disclosure.
[ Main reference numerals Specification ]
1. The winch comprises a winch body 11, a winch supporting wall 12, a winch rotating shaft 13, a wire arranging device 14, a reciprocating screw rod 15, a meter 16, a cable 17 and a driving chain;
2. The cabin body, 21, the isolating device, 22, the driving device, 23, the cover plate, 24, the communication terminal, 25, the exhaust valve, 26, the communication pipe, 27, the access cover, 28 and the pressure gauge;
3. A gate valve;
4. and (5) overhauling the robot.
Detailed Description
The cable winch for the pipeline isolation cabin, the pipeline isolation cabin for the robot to enter and the method for entering the pipeline in an isolation mode are further described in detail below with reference to the accompanying drawings and the embodiment of the invention.
As shown in fig. 1,2 and 3, the cable winch for an access duct isolation cabin includes: winch body 1 and winch support wall 11, two winch support walls 11 set up respectively in winch body 1 both sides, and winch body 1 is connected with winch support wall 11 through winch pivot 12. The cable is conveniently wound and unwound in the pipeline isolation cabin, the wired communication connection of the overhaul equipment in the pipeline is met, the smooth communication is ensured, and the overhaul accident is reduced.
In order to ensure that the cables wound on the winch body 1 can be more orderly and uniformly arranged on the surface of the winch body, it is preferable that a wire arranging device 13 is arranged at the wire outlet end of the winch body 1. The wires 14 are aligned by the wire arranger 13 at the position where the wires 14 are aligned on the surface of the winch body 1.
A slip ring 29 is provided at one end of the winch shaft 12, and is connected to the cable 16 by communication through the slip ring 29.
In order to meet the better guiding of the wire arranging device 13 to the wire 14, the wire outlet end of the winch body 1 is fixedly connected with the reciprocating screw 14, the wire arranging device 13 is connected to the upper side of the reciprocating screw 14, and two ends of the reciprocating screw 14 are respectively in supporting connection with the winch supporting wall 11. In order to conveniently meet the requirement of driving the reciprocating screw 14, a driving chain wheel is arranged at the outer end of the reciprocating screw 14 extending out of the winch supporting wall 11, and is connected with the winch rotating shaft 12 through a driving chain 17, so that the reciprocating screw 14 is rotated, the wire arranging device 13 is driven to reciprocate, and the wire arranging device 13 is smoothly driven to integrally arrange and distribute the wires 14 on the surface of the winch body 1.
In order to meet the requirement of the length of the overhaul equipment extending into the pipeline to be overhauled, a meter 15 is preferably arranged on one side of the wire arranging device 13, and the length of the cable 14 sliding downwards is measured through the meter 15, so that the position of the overhaul equipment in the pipeline to be overhauled is pre-determined.
In order to meet the requirement of the multiple functions of the winch body 1, the winch body 1 is wound with a cable 16, and the cable 16 is a steel wire rope or a cable or an optical fiber. The steel wire rope can meet the requirement of high-strength traction, the cable and the optical fiber can realize communication, and timely return of overhaul data of overhaul equipment is ensured.
As shown in fig. 4, 5 and 6, a pipe isolation capsule comprises: above-mentioned business turn over pipeline keeps apart cabin and uses cable winch still includes: the cabin body 2, the opening of cabin body 2 one end sets up the cable winch in cabin body 2 inside, and the cable winch passes through capstan winch pivot 12 to be connected in cabin body 2 inside. The pipeline to be overhauled is conveniently and directly connected with the pipeline to be overhauled, and the condition that the pipeline to be overhauled is in a working state and is overhauled under pressure is met.
In order to further ensure the sealing effect of the isolation cabin, avoid the long-term rotation of the transmission structure position and influence the sealing effect, preferably, the capstan rotary shaft 12 is a magnetic coupling isolation transmission capstan rotary shaft, and one end of the magnetic coupling isolation transmission capstan rotary shaft is connected with the rotary shaft driving device 22 through the isolation device 21.
In order to meet the requirements of different working environments, the rotary shaft driving device 22 can be a handle or an electric driving device for being convenient for workers to use.
As shown in fig. 7 and 8, for convenience of better isolation effect of the isolation capsule, the isolation capsule further includes: and the gate valve 3 is detachably and hermetically connected with the open end of the cabin body 2. In order to facilitate the connection of the cable winch with the isolation cabin, the other end of the isolation cabin is detachably and hermetically connected through a cover plate 23, and one end part of the winch supporting wall 11 is fixedly connected to one side, close to the inside of the cabin body 2, of the cover plate 23. The cover plate 23 is of a flat plate structure, and the cover plate 23 can be connected with the winch supporting wall 11 of the cable winch by opening the cover plate 23, and then the cover plate 23 is installed, so that the cable winch is convenient to install.
In order to facilitate the communication connection between the isolation capsule and the outside, the outer surface of the cover plate 23 is provided with a communication terminal 24 which is in wired communication connection with the inside of the capsule body 2. Inside the nacelle 2, a communication device is preferably arranged at the end of the winch body 1, and the communication device is connected with the communication terminal 24 through a communication tube 26, so as to ensure stable communication. But also can avoid damaging the sealing effect of the isolation cabin.
Preferably, an access cover is arranged on the outer wall of the cabin body 2, so that the installation of an access robot and the overhaul of equipment inside the cabin body 2 are facilitated. Further preferably, the pressure gauge 28 is arranged on the outer wall of the cabin body 2, and the pressure inside the isolation cabin body is read through the pressure gauge 28, so that the use safety of users is ensured.
As shown in fig. 9 and 10, a pipe isolation cabin for a robot to enter, including the pipe isolation cabin, further includes: the maintenance robot 4, the maintenance robot 4 is connected with the winch body 1 through the cable 16. The overhauling robot 4 is a triangle crawler robot or a double crawler robot.
A method of isolating access to a pipeline comprising the steps of:
S1, closing a gate valve 3; isolated from the inner cavity of the pipeline to be overhauled, and the internal safety of the pipeline to be overhauled is prevented from being influenced by the external environment.
S2, placing an overhaul robot 4 in the isolation cabin; the maintenance robot 4 after maintenance is connected to the cable 16 of the cable winch by opening the access cover 27, and the maintenance robot 4 is required to operate.
S3, vacuumizing the space inside the isolation cabin through an exhaust valve 25 arranged on the outer wall of the isolation cabin; the air in the isolation cabin is prevented from being mixed into the pipeline to be overhauled, so that the safety of the pipeline to be overhauled, particularly the natural gas pipeline, is prevented from being influenced, and the safety of the pipeline to be overhauled is prevented from being influenced.
S4, opening the gate valve 3; the working medium in the pipeline to be overhauled enters the isolation cabin, so that the pressure between the isolation cabin and the pipeline to be overhauled is balanced, and the overhauling robot 4 conveniently enters the pipeline to be overhauled.
S5, the overhaul robot 4 enters a pipeline to be overhauled, which is connected with the lower side of the gate valve 3, and overhauls the interior of the pipeline to be overhauled; the maintenance robot 4 can be towed through a cable (a steel wire rope), and the power supply or communication of the maintenance robot can be realized through a cable or an optical fiber, so that the maintenance robot 4 is ensured to work stably.
S6, after the maintenance is finished, guiding the maintenance robot 4 to retract into the cabin body 2 of the isolation cabin through the cable winch;
S7, closing the gate valve 3;
S8, vacuumizing the inner space of the isolation cabin through an exhaust valve 25;
s9, filling air into the space inside the isolation cabin through an exhaust valve 25;
s10, opening the isolation cabin, and taking out the overhaul robot 4 for maintenance.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (6)
1. A method for entering a pipeline in an isolated mode is characterized in that,
The cable winch comprises a winch body (1) and a winch supporting wall (11);
The two winch support walls (11) are respectively arranged at two sides of the winch body (1), and the winch body (1) is connected with the winch support walls (11) through a winch rotating shaft (12);
One end of the opening of the cabin body (2) is detachably and hermetically connected with a gate valve (3), the other end of the opening is detachably and hermetically connected with the opening through a cover plate (23), and one end part of the winch supporting wall (11) is fixedly connected to one side, close to the interior of the cabin body (2), of the cover plate (23); the outer surface of the cover plate (23) is provided with a communication terminal (24) which is in wired communication connection with the interior of the cabin (2);
The method for entering the pipeline in the isolation mode further comprises the following steps: the overhaul robot (4) is connected with the winch body (1) through a cable (16);
The method comprises the following steps:
s1, closing a gate valve (3);
S2, placing an overhaul robot (4) in the isolation cabin;
s3, vacuumizing the space inside the isolation cabin through an exhaust valve (25) arranged on the outer wall of the isolation cabin;
s4, opening a gate valve (3);
S5, the overhauling robot (4) enters a pipeline to be overhauled, which is connected with the lower side of the gate valve (3), and overhauls the interior of the pipeline to be overhauled;
S6, after the maintenance is finished, guiding the maintenance robot (4) to retract into the cabin body (2) of the isolation cabin through the cable winch;
S7, closing the gate valve (3);
S8, vacuumizing the space inside the isolation cabin through an exhaust valve (25);
S9, filling air into the space inside the isolation cabin through an exhaust valve (25);
s10, opening the isolation cabin, and taking out the overhauling robot (4).
2. Method for accessing a pipeline in an isolated manner according to claim 1, characterized in that the outgoing end of the winch body (1) is provided with a wire arrangement device (13), and one end of the winch rotation shaft (12) is provided with a slip ring (29).
3. The method for entering the pipeline in the isolation mode according to claim 2, wherein the outlet end of the winch body (1) is fixedly connected with a reciprocating screw (14), the wire arranging device (13) is connected to the upper side of the reciprocating screw (14), and two ends of the reciprocating screw (14) are respectively connected with the winch supporting wall (11) in a supporting way; one side of the wire arranging device (13) is provided with a meter counter (15).
4. A method of isolating access to a pipeline according to claim 1, characterized in that a cable (16) is wound on the winch body (1), the cable (16) being a wire rope or a cable or an optical fiber.
5. The method for entering a pipeline in an isolated manner according to claim 1, wherein the winch rotating shaft (12) is a magnetic coupling isolated transmission winch rotating shaft, and one end of the magnetic coupling isolated transmission winch rotating shaft is connected with a rotating shaft driving device (22) through an isolating device (21).
6. A method of isolating access to a pipeline according to claim 5, wherein the spindle drive (22) is a handle or an electric drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810589632.4A CN108584749B (en) | 2018-06-08 | 2018-06-08 | Method for entering pipeline in isolation mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810589632.4A CN108584749B (en) | 2018-06-08 | 2018-06-08 | Method for entering pipeline in isolation mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108584749A CN108584749A (en) | 2018-09-28 |
| CN108584749B true CN108584749B (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810589632.4A Active CN108584749B (en) | 2018-06-08 | 2018-06-08 | Method for entering pipeline in isolation mode |
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| Country | Link |
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| CN (1) | CN108584749B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737268A (en) * | 2019-03-12 | 2019-05-10 | 韩金正 | Enclosed fluid pipeline repairing apparatus |
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| CN208747526U (en) * | 2018-06-08 | 2019-04-16 | 北京福瑶科技有限公司 | Pipeline isolation cabin cable capstan winch and the pipeline isolation cabin entered for robot |
| KR20190142055A (en) * | 2018-06-15 | 2019-12-26 | 전남대학교산학협력단 | Winch drum of a parallel cable robot for detecting tension of a cable |
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