CN108953840A - A kind of cable-free type pipeline robot suitable for different tube diameters - Google Patents
A kind of cable-free type pipeline robot suitable for different tube diameters Download PDFInfo
- Publication number
- CN108953840A CN108953840A CN201810998507.9A CN201810998507A CN108953840A CN 108953840 A CN108953840 A CN 108953840A CN 201810998507 A CN201810998507 A CN 201810998507A CN 108953840 A CN108953840 A CN 108953840A
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- gear unit
- wheel group
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- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 239000011248 coating agent Substances 0.000 claims abstract description 21
- 238000000576 coating method Methods 0.000 claims abstract description 21
- 239000003292 glue Substances 0.000 claims abstract description 21
- 230000007704 transition Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 2
- 238000012360 testing method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 4
- 238000009987 spinning Methods 0.000 description 4
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- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 210000000481 breast Anatomy 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- 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
Abstract
The invention discloses a kind of cable-free type pipeline robots suitable for different tube diameters, including electric-motor drive unit, spiral bevel gear gear unit, principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit, glue coating wheel group gear unit, holder lift unit, camera unit and secondary battery unit；Electric-motor drive unit includes two driving motors, respectively drives wheel group at left and right sides of pipe robot；The power that spiral bevel gear gear unit provides electric-motor drive unit amplifies by transmission ratio, again by principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit using Helical gear Transmission to glue coating wheel group gear unit, realize that entire pipe robot is creeped movement.The present invention can adapt to the outer cock wheel group of pipeline according to live different operating conditions, Fast Installation；Using pipe robot cable-free type, battery and wireless communication module are carried, work efficiency is high, is able to achieve continuous uninterrupted operation, and operating distance is long.
Description
Technical field
The present invention relates to prospecting, cleaning and repairing techniques inside pipeline, and in particular to a kind of nothing suitable for different tube diameters
Cable formula pipe robot.
Background technique
With the development of the city, pipeline is used as one kind on industry, petroleum, natural gas, water supply, draining and medical domain
Efficient transportation means are increasingly widely used, and pipeline has become " lifeline " in a city.Pipe technology it is wide
General application improves pipeline service life and to search dangerous hidden danger in time extremely urgent.The research and development of pipe robot not only replace people
Work industry, excludes the risk manually gone into the well, and can do some artificial impossible work.
A lot of to the research of pipe robot both at home and abroad, common pipe robot is all to have cable formula, cable currently on the market
Line had not only powered but also had been responsible for communication.But the most fatal defect of such pipe robot is that travel distance is limited.As cable is more dragging
Long, robot is short of power to draw the weight to cable to move forward.There is cable formula pipe robot working efficiency extremely low, each work
It accomplishes that the road certain distance Hou Xuyuan is retracted and is put into mouth, can not achieve continuous remote autonomous cruise.Pipe robot is carried
Different function module is removed contamination and is repaired, and there are no similar products in the market.
Summary of the invention
The purpose of the present invention is to provide a kind of cable-free type pipeline robots suitable for different tube diameters.
Realize the technical solution of the object of the invention are as follows: a kind of cable-free type pipeline robot suitable for different tube diameters, including
Electric-motor drive unit, spiral bevel gear gear unit, principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft
Gear unit, glue coating wheel group gear unit, holder lift unit, camera unit and secondary battery unit；
The electric-motor drive unit includes two driving motors, and two driving motors work independently, and respectively drives pipe machine
Wheel group at left and right sides of device people；The power that spiral bevel gear gear unit provides electric-motor drive unit amplifies by transmission ratio, then
Helical gear Transmission to glue coating wheel is utilized by principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit
Group gear unit realizes that entire pipe robot is creeped movement；The external different size wheel group list of glue coating wheel group gear unit
Member；
The holder lift unit goes up and down camera unit using motor driven four-bar mechanism；The camera unit is used
It is used to power for electric-motor drive unit in real-time acquisition, transmission and storage image, the secondary battery unit.
Further, the wheel group unit selects the outer cock wheel group of different size to adapt to different calibers, outer cock wheel group
Using pneumatic tire.
Further, the shape of the glue coating wheel group gear unit is using the design for adapting to pipeline cambered surface, wheel hub and main shaft
Between use Mohs 1 circular conical surface driven Design.
Further, camera unit includes front camera and rear camera, and front camera passes through double leval jib machine
Structure realizes ± 90 ° of pitching and 360 ° of spinning movements.
Further, front camera and rear camera are configured with LED light group.
Further, wireless communication module built in holder lift unit realizes the long range operation of pipe robot cable-free type.
Further, pipe robot further includes sensor unit and GPS positioning unit, and sensor unit tests and analyzes pipe
Road internal gas and liquid component, GPS positioning unit moment are recorded in present position in pipeline, generate layout of beam line figure.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) present invention can quickly pacify according to live different operating conditions
Dress adapts to the outer cock wheel group of pipeline, and outer cock wheel group selects pneumatic tire, and replaceability is strong, using modularization quick fixation structure, scene
It is installed when installation without professional；(2) present invention uses pipe robot cable-free type, carries battery and radio communication mold
Block, work efficiency is high, is able to achieve continuous uninterrupted operation, and operating distance is long；(3) inventive pipeline robot monnolithic case and packet
Rubber tire group unit matches with pipe shape, will not occur to skid and scene of toppling inside when portion's long working.
Detailed description of the invention
Fig. 1 is the cable-free type pipeline robot general structure schematic diagram that the present invention is suitable for different tube diameters.
Fig. 2 is the structural schematic diagram of electric-motor drive unit.
Fig. 3 is the structural schematic diagram of principal shaft helical tooth wheel gear unit.
Fig. 4 is the structural schematic diagram of idle gear transition gear unit.
Fig. 5 is the structural schematic diagram of driven shaft gear unit.
Fig. 6 is the structural schematic diagram of glue coating wheel group gear unit.
Fig. 7 (a) is front camera module schematic diagram in camera unit, and Fig. 7 (b) is that rear camera modular structure is shown
It is intended to.
Fig. 8 be pipeline machine not outer cock wheel group unit when general structure schematic diagram.
Specific embodiment
In conjunction with Fig. 1, a kind of cable-free type pipeline robot suitable for different tube diameters of the invention, including motor driven list
Member, spiral bevel gear gear unit, principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit, packet
Rubber tire group gear unit, external different size wheel group unit, holder lift unit, camera unit and secondary battery unit.
The torque that the spiral bevel gear gear unit is used to export in motor in electric-motor drive unit is through spiral bevel gear
Transmission ratio amplification after be output to principal shaft helical tooth wheel gear unit；Principal shaft helical tooth wheel gear unit will using one group of Helical gear Transmission
The torque that spiral bevel gear gear unit passes over is output to driven shaft gear unit, and idle gear transition gear unit is for leading
Torque is transmitted in transition between axis helical teeth wheel gear unit and driven shaft gear unit；The driven shaft gear unit is by principal shaft helical tooth
Wheel gear unit is transmitted through the torque come and is transmitted on each glue coating wheel group gear unit respectively.
The external different size wheel group unit be it is external be assemblied in glue coating wheel group gear unit, its role is to according to existing
The difference of field operating condition selects the outer cock wheel group of different size to adapt to different calibers, and this element is designed to modularization, scene peace
Dress is installed without professional, and mounting means is simple and convenient, outer cock wheel group using pneumatic tire general on the market, it is at low cost and
Replaceability is strong.
The holder lift unit steadily goes up and down camera unit using motor driven four-bar mechanism；The camera list
Member carries out image analysis processing after high definition is taken pictures, front camera for real-time Transmission and storage image, in pipeline key position
± 90 ° of pitching and 360 ° of spinning movements of having no limits can be achieved, the acquisition to pipeline internal image accomplishes no dead angle, wherein postposition
Camera unit is used for assisting car backing, and two groups of camera units are equipped with high-brightness LED lamp group, guarantee the picture that camera captures
Clarity.
Wireless communication module is housed in the secondary battery unit and lifting holder unit, realizes pipe robot cable-free type
Remote autonomous cruise function, high-capacity lithium battery group guarantee the prolonged cruising ability of pipe robot.
In conjunction with Fig. 2, the electric-motor drive unit drives dynamic design using double motor, and two driving motors work independently,
Wheel group at left and right sides of pipe robot is separately controlled, this designs the traveling posture of easily controllable end control pipe robot, can spirit
Living being realized in pipeline using motor output differential is turned round or is turned around.
The spiral bevel gear gear unit is used for the torque of motor output in electric-motor drive unit through spiral bevel gear
It is output to principal shaft helical tooth wheel gear unit after transmission ratio amplification, to guarantee that pipe robot there are enough output torques, is being had
Compared with possessing certain obstacle climbing ability in the environment of multi-obstacle avoidance.
In conjunction with Fig. 3, the principal shaft helical tooth wheel gear unit is using one group of Helical gear Transmission spiral bevel gear gear unit
The torque that passes over it is gentle be output to driven shaft gear unit, this unit is held using the angular contact ball bearing used in pairs
By the axial force being subject in transmission process, this design makes glue coating wheel group gear unit only be responsible for circumferentially rotating, to guarantee complete machine
The failure rate of running part is greatly lowered, and service life is more lasting.
In conjunction with Fig. 4, the idle gear transition gear unit is for principal shaft helical tooth wheel gear unit and driven shaft gear unit
Between transition transmit torque.
In conjunction with Fig. 5, principal shaft helical tooth wheel gear unit is transmitted through the torque come and is transmitted to respectively by the driven shaft gear unit
On each glue coating wheel group gear unit.
In conjunction with Fig. 6, the shape of the glue coating wheel group gear unit using the design for adapting to pipeline cambered surface, this design make its with
Phenomena such as fitting, more stable when working in pipeline inside pipeline, is less prone to skidding and rollover, and adopted between wheel hub and main shaft
With Mohs 1 circular conical surface driven Design, this design is not in the remote sideslip of straight line when pipe robot being made to advance, and is not necessarily to
The control terminal moment adjusts pipe robot traveling posture.
In conjunction with Fig. 7 (a), the front camera module can realize ± 90 ° of pitching and 360 ° of spinning movements of having no limits, and realize
Pipeline Intra pictures are acquired without dead angle.
In conjunction with Fig. 7 (b), the rear camera reversing module is used for assisting car backing.Camera unit is all equipped with highlighted LED
Lamp group, in the pipeline of no any light source, auxiliary camera carries out picture catching.
It is described in the lesser pipeline of caliber in conjunction with Fig. 8, it can not external various specifications wheel group.Such pipe robot can
It works in pipeline suitable for minimum diameter 400mm.
The present invention is further explained in the light of specific embodiments.
Embodiment
A kind of cable-free type pipeline robot suitable for different tube diameters, including the transmission of electric-motor drive unit, spiral bevel gear
Unit, principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit, glue coating wheel group gear unit, cloud
Platform lift unit, camera unit and secondary battery unit.
The secondary battery unit is entire pipe robot power source, supplies electricity to electric-motor drive unit.Driving motor is electricity
It can be converted into mechanical energy, two driving motors respectively drive two side wheel group of pipe robot.By spiral bevel gear gear unit handle
The driving force that electric-motor drive unit provides is amplified by transmission ratio, and spiral bevel gear transmission can bear bigger torque and transmission is flat
Surely.Glue coating wheel group breast wheel, driving breast wheel walking are connected by principal shaft helical tooth wheel gear unit again.It is born using Helical gear Transmission
Torque it is bigger and transmission process is steadily without noise.Idle gear transition gear unit transition connects principal shaft helical tooth wheel gear unit
With driven shaft gear unit, the driving force on principal shaft helical tooth wheel gear unit is transferred to driven shaft gear unit.Meanwhile lazy tooth
Wheel transition gear unit plays gear set commutation, turns to driving gear and driven gear consistent.Driven shaft gear unit
Idle gear transition gear unit is transmitted through the torque come to pass to again on glue coating wheel group gear unit, the wheel group of every side three is achieved
Unit walking.Pipe robot is to adapt to different tube diameters, on glue coating wheel group gear unit can external different size wheel group.Each
Wheel group all uses modularized design, carry with it is easy for installation, cock wheel outside different size can be directly selected according to live pipe diameter size
Group.The outer cock wheel group method of this ready-package is one of inventive pipeline robot innovative point.
The secondary battery unit need to equally supply electricity to drive lift motor in holder lift unit, pass through one group of gear drive
Output torque is amplified.The present invention is using front camera module in four-bar mechanism connection camera unit, four-bar mechanism
Guarantee lifting action steadily without impact.Front camera module can realize ± 90 ° of pitching and 360 ° of spinning movements of having no limits, and realize
Pipeline Intra pictures are acquired without dead angle.Rear camera moves backward module for assisting car backing.Camera unit is all equipped with highlighted
LED light group, in the pipeline of no any light source, auxiliary camera carries out picture catching.Meanwhile holder lift unit is built-in
Wireless communication module communicates with ground control terminal holding over long distances, realizes the long range operation of pipe robot cable-free type.
In the detection for town domestic sewage pipeline, cleaning in repair, can according to construction site pipe diameter size,
Suitable outer cock wheel group is selected to be attached on glue coating wheel group unit fastly.If live caliber is smaller, scheme shown in Fig. 8 is used,
It is directly placed into pipeline and works.Using scheme shown in Fig. 1 if caliber is larger, corresponding rule are selected according to live pipe diameter size
The outer cock wheel groups of lattice adapts to pipeline.
In the present embodiment after the completion of PC control terminated line is debugged, using downhole device, pipe robot is put into
Pipeline work mouth one end.The first step carries camera module, carries out image transmitting and storage, takes pictures processing in key position.It passes
The image at defeated PC control end will be analyzed by professional person, and take out assessment report.This step not only carries camera
Unit, also carrying GPS positioning module, provide accurate geographical location with reparation for subsequent remove contamination.Second step removes contamination carrying mould
Block.The barrier and attachment of main processing pipeline building up inside, are a kind of schemes from internal unclog the pipe.Third step, will
Carry repairing module.The problems such as handling pipeline internal flaw, such as crackle, deformation and leakage.From pipeline internal analysis with from
Manage the various problems of pipeline.The processing of this non-excavation type, cost and all greatly reduces on the period, and to peripheral facilities without any shadow
It rings.
It, can be in nearest well not by the constraint of cable without backtracking after pipe robot work of the invention
Mouth directly proposes.Compared with having cable formula, operating distance of the present invention is long, and work efficiency is high.
Claims (7)
1. a kind of cable-free type pipeline robot suitable for different tube diameters, which is characterized in that including electric-motor drive unit, spiral umbrella
Gear transmission unit, principal shaft helical tooth wheel gear unit, idle gear transition gear unit, driven shaft gear unit, glue coating wheel group pass
Moving cell, holder lift unit, camera unit and secondary battery unit；
The electric-motor drive unit includes two driving motors, and two driving motors work independently, and respectively drives pipe robot
Left and right sides wheel group；The power that spiral bevel gear gear unit provides electric-motor drive unit amplifies by transmission ratio, then by leading
Axis helical teeth wheel gear unit, idle gear transition gear unit, driven shaft gear unit are passed using Helical gear Transmission to glue coating wheel group
Moving cell realizes that entire pipe robot is creeped movement；The external different size wheel group unit of glue coating wheel group gear unit；
The holder lift unit goes up and down camera unit using motor driven four-bar mechanism；The camera unit is for real
When acquisition, transmission with storage image, the secondary battery unit be used for for electric-motor drive unit power.
2. the cable-free type pipeline robot according to claim 1 suitable for different tube diameters, which is characterized in that the wheel group
Unit selects the outer cock wheel group of different size to adapt to different calibers, and outer cock wheel group uses pneumatic tire.
3. the cable-free type pipeline robot according to claim 1 or 2 suitable for different tube diameters, which is characterized in that described
The shape and pipeline cambered surface of glue coating wheel group gear unit are adapted, and are set between wheel hub and main shaft using Mohs 1 circular conical surface transmission
Meter.
4. the cable-free type pipeline robot according to claim 1 suitable for different tube diameters, which is characterized in that camera list
Member includes front camera and rear camera, and front camera realizes ± 90 ° of pitching and 360 ° of rotations by four-bar mechanism
Movement.
5. the cable-free type pipeline robot according to claim 4 suitable for different tube diameters, which is characterized in that preposition camera shooting
Head and rear camera are configured with LED light group.
6. the cable-free type pipeline robot according to claim 1 suitable for different tube diameters, which is characterized in that holder lifting
Wireless communication module built in unit.
7. the cable-free type pipeline robot according to claim 1 suitable for different tube diameters, which is characterized in that pipeline machine
People further includes sensor unit and GPS positioning unit, and sensor unit tests and analyzes pipeline internal gas and liquid component, GPS
The positioning unit moment is recorded in present position in pipeline, generates layout of beam line figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998507.9A CN108953840A (en) | 2018-08-29 | 2018-08-29 | A kind of cable-free type pipeline robot suitable for different tube diameters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810998507.9A CN108953840A (en) | 2018-08-29 | 2018-08-29 | A kind of cable-free type pipeline robot suitable for different tube diameters |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108953840A true CN108953840A (en) | 2018-12-07 |
Family
ID=64474886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810998507.9A Pending CN108953840A (en) | 2018-08-29 | 2018-08-29 | A kind of cable-free type pipeline robot suitable for different tube diameters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108953840A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094600A (en) * | 2019-05-31 | 2019-08-06 | 吴庆林 | A kind of pipe pressure sensor mounting device |
| CN112128512A (en) * | 2020-09-30 | 2020-12-25 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
| CN114135740A (en) * | 2021-12-01 | 2022-03-04 | 国网江苏省电力有限公司连云港供电分公司 | Pipeline inspection robot |
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| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| KR101516208B1 (en) * | 2013-12-10 | 2015-05-04 | 삼성중공업 주식회사 | Robot for pipeline |
| CN107414783A (en) * | 2017-09-11 | 2017-12-01 | 中国安全生产科学研究院 | A kind of modularization wheeled pipe robot |
| CN208997559U (en) * | 2018-08-29 | 2019-06-18 | 江苏瀚智智能科技有限公司 | A kind of cable-free type pipeline robot suitable for different tube diameters |
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- 2018-08-29 CN CN201810998507.9A patent/CN108953840A/en active Pending
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| CN101890708A (en) * | 2010-06-08 | 2010-11-24 | 北京信息科技大学 | Wheeled-movement pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110094600A (en) * | 2019-05-31 | 2019-08-06 | 吴庆林 | A kind of pipe pressure sensor mounting device |
| CN112128512A (en) * | 2020-09-30 | 2020-12-25 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
| CN112128512B (en) * | 2020-09-30 | 2021-12-21 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
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