CN108980511A - A kind of new pipeline robot - Google Patents
A kind of new pipeline robot Download PDFInfo
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- CN108980511A CN108980511A CN201810981630.XA CN201810981630A CN108980511A CN 108980511 A CN108980511 A CN 108980511A CN 201810981630 A CN201810981630 A CN 201810981630A CN 108980511 A CN108980511 A CN 108980511A
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- Prior art keywords
- robot
- motor
- fixed connecting
- fuselage
- connecting rod
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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
- 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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of new pipeline robot, which includes identical by two structures and is made up of two robot bodies that Universal rotary module connecting piece mirror symmetry connects；Wherein robot body includes the robot fuselage of prism, three crawler type walking mechanisms being circumferentially uniformly arranged along robot fuselage, and the bindiny mechanism of connection robot fuselage and walking mechanism；Bindiny mechanism is further connect with stepper motor by feed screw nut and lead screw, and stepper motor rotates to control the opening degree of crawler belt foot.The invention has the benefit that the pipe robot can keep straight on and turn in pipeline；It can also move in horizontal turn of vertical pipeline；Adjustable bindiny mechanism can adjust the opening angle of crawler belt foot at any time, to meet the needs of different tube diameters are walked；Caterpillar walking mechanism road holding is strong, and multiple motors independently drive, and is suitable for various pipeline environments, and entire equipment has waterproof and etch-proof function.
Description
Technical field
The present invention relates to pipeline robot technique fields, can carry out exploration and clean pipeline in particular to one kind
Robot.
Background technique
As the tremendous improvement and national living standard of automatic technology significantly improve, the development of all trades and professions is more
Mostly conveyed dependent on material.Particularly, the advantages such as pipeline is big by feat of conveying capacity, convenient and efficient, inexpensive, in state
Occupy increasing specific gravity in people's economy, is widely used to petroleum, chemical industry, the energy, food processing, city water supply and sewage, agriculture
The fields such as industry irrigation, nuclear industry.But due to the natural calamity of the chemically burn into force majeure by pumped (conveying) medium and certainly
The influence of body defect, it is most likely that it is tight that such as environmental pollution, combustibles explosion, energy waste caused by conveying object leakage occurs
Weight accident.So needing periodically to be checked, safeguarded and cleaned maintenance to pipeline inside.However the ground in current most of areas
Lower pipeline level after transformation is more, and high and low fall is big, unevenly；It is difficult to when therefore encountering the pipeline faults such as blocking, leakage
Investigation.Conventional pipelines detection is implemented by related personnel, and positioning method is broadly divided into two kinds: artificial instrument detection and ground
Robot detection；Manual operation takes time and effort, and exact value to be obtained also needs to take multiple measurements, inefficiency, and pipeline
It is most of with manpower be difficult to it is enough and；Then precision is low for ground robot mapping, the splicing of the precision of Multiple-Scan data need using
GPS positioning has very strong requirement to GPS signal, and pipeline is embedded in underground 0.7m more hereinafter, and having metal covering, GPS letter more
It is number on the weak side.
In conclusion optimal detection mode is then to design a kind of robot that can enter inside pipeline, pipeline machine
People is that one kind can automatically walk, the one or more sensors of carrying and operation be mechanical inside or outside small sized pipeline, is being worked
Under the remote control operation or computer controlled automatic of personnel, mechanical, electrical, the instrument integral system of a series of pipeline operations are carried out, is had
The advantages that quick movement, active manipulation, accurate judgement and low cost.Conventional pipelines robot faces vertical pipe, bend pipe, branch
The problems such as pipe, variable diameter and microtubule, there are still considerable room for improvement.
Summary of the invention
To solve the above problems, the purpose of the present invention is to provide one kind can carry out exploration and clean pipe robot,
The pipe robot is bionical by squid, is designed as a kind of 3-foot robot, for existing pipe robot,
The pipe robot can choose steering and straight trip when encountering " fourth " word crossing；It can also move and turn vertical in level
Pipeline in；It is strong with road holding, it is suitable for various environment；It can be bonded pipeline, the advantages of to adapt to different-diameter pipeline.
To achieve the above object, the present invention provides a kind of new pipeline robots, comprising: two structures are identical and lead to
Cross two robot bodies of Universal rotary module connecting piece mirror symmetry connection；Wherein, the robot body includes:
Robot fuselage, inside the stepper motor that is equipped with controller, is connect with the controller output end, and
The battery pack of electric energy is provided for the controller and the stepper motor；
Walking mechanism comprising crawler belt foot, the motor being mounted on the crawler belt foot provide electric energy for the motor
Battery and the pressure sensor on the crawler belt foot is installed, the driving wheel of crawler belt foot described in the motor driven, the motor and
The controller output end connection, the pressure sensor are connect with the controller input terminal, and the robot fuselage is circumferential
On be uniformly arranged three walking mechanisms；
Bindiny mechanism comprising connect the first fixed connecting rod and of the robot fuselage and the walking mechanism
Two fixed connecting rods and push rod；First fixed connecting rod and second fixed connecting rod are along the robot fuselage
Be arranged in an axially parallel mode, described push rod one end is connect with first fixed connecting rod, the push rod other end be located at the machine
The feed screw nut of device people's fuselage interior connects, and the feed screw nut passes through the output axis connection of screw rod and the stepper motor.
As further improvement of the invention, one end of three first fixed connecting rods is both connected to the machine
People's waist, the other end are separately connected the walking mechanism；One end of three second fixed connecting rods is all connected with
In the robot fuselage close to one end of the Universal rotary module connecting piece, the other end is connected to and described first
In the walking mechanism of fixed connecting rod connection.
As further improvement of the invention, the Universal rotary module connecting piece includes: and a robot body connects
The trunnion axis rotating servo motor connect, the vertical axis rotating servo motor being connect with another robot body, and connection institute
State the servo motor connector of trunnion axis rotating servo motor and the vertical axis rotating servo motor.
As further improvement of the invention, the feed screw nut is located at the robot fuselage interior far from described ten thousand
To the side of rotary module connector.
As further improvement of the invention, first fixed connecting rod and second fixed connecting rod both ends point
It is not hinged in the walking mechanism and the robot fuselage.
As further improvement of the invention, the crawler belt foot is by two drive wheels.
As further improvement of the invention, the motor and battery are mounted on the fixinig plate of crawler belt foot side.
As further improvement of the invention, each motor is respectively mounted a battery.
As further improvement of the invention, the robot fuselage is prism.
As further improvement of the invention, camera and clearing apparatus are installed in robot fuselage, and according to reality
Demand installs other sensors, realizes exploration, detection and cleaning to pipeline.
The invention has the benefit that passing through Universal rotary module connecting piece for the identical tripodia crawler type of two structures
The function of keeping straight on and turn in pipeline may be implemented in robot connection；And it can use bindiny mechanism's adjustment walking mechanism
In addition to meet the needs of different tube diameters are walked pressure sensor is arranged in caterpillar walking mechanism in opening angle, and
Opening angle is adjusted at any time by adjustable bindiny mechanism, and pipe robot and inner wall of the pipe is made to have enough frictional force, it can
Realization is walked in vertical pipe；In addition, a kind of new pipeline robot component of the invention has waterproof and etch-proof function
Can, it is able to satisfy IPX8 grades of waterproof demand, while the chemical attack of C4 environment can be resisted.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of new pipeline robot described in the embodiment of the present invention；
Fig. 2 shows for a kind of Universal rotary module connecting piece structure of new pipeline robot described in the embodiment of the present invention
It is intended to；
Fig. 3 is a kind of bindiny mechanism's structural schematic diagram of new pipeline robot described in the embodiment of the present invention.
In figure,
1, robot fuselage；2, Universal rotary module connecting piece；3, walking mechanism；4, stepper motor；5, screw rod；6, silk
Thick stick nut；7, push rod；8, the first fixed connecting rod；9, the second fixed connecting rod；10, motor；11, fixinig plate；12, trunnion axis
Rotating servo motor；13, servo motor connector；14, vertical axis rotating servo motor.
Specific embodiment
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Embodiment, as shown in Figure 1-3, a kind of new pipeline robot described in the embodiment of the present invention, including two structures
Two robot bodies that are identical and being connected by 2 mirror symmetry of Universal rotary module connecting piece；Wherein, robot body packet
It includes:
Robot fuselage 1, inside controller, the stepper motor connecting with controller output end 4, Yi Jiwei are installed
Controller and stepper motor 4 provide the battery pack of electric energy；
Walking mechanism 3 comprising crawler belt foot, the motor 10 being mounted on crawler belt foot provide the battery of electric energy for motor 10
With the pressure sensor on the installation crawler belt foot, motor 10 drives the driving wheel of crawler belt foot, motor 10 and controller output end
Connection, pressure sensor are connect with controller input terminal, and three walking mechanisms 3 are uniformly arranged in 1 circumferential direction of robot fuselage；
Bindiny mechanism comprising connection robot fuselage 1 and the first fixed connecting rod 8 and second of walking mechanism 3 are fixed
Connecting rod 9 and push rod 7；First fixed connecting rod 8 and the second fixed connecting rod 9 are arranged in an axially parallel mode along robot fuselage,
7 one end of push rod is connect with the first fixed connecting rod 8, and 7 other end of push rod connects with the feed screw nut 6 being located inside robot fuselage 1
It connects, feed screw nut 6 passes through the output axis connection of screw rod 5 and stepper motor 4.
Walking mechanism 3 respectively has one group on two robot bodies, and every group of three crawler belt is all uniformly distributed circumferentially enough
, two groups be also it is axially symmetric, supporting point totally six, therefore meet Shape closed condition.When walking mechanism walking, three
A wheel is radially uniformly distributed, and 3 points determine a plane, and 3 points always on a cylindrical surface, therefore may be implemented
Centering, under the action of bindiny mechanism, crawler belt is pinched in inner wall of the pipe enough, has stronger adaptability.Whole device
Since symmetry is utilized, the interference of robot various aspects unbalanced couple during the motion is counteracted, to make all
Strength focuses on the perpendicular where go motor operating axis, meanwhile, and on the perpendicular by electrical axis
Guarantee appropriately distance between the center of gravity of robot and motor operating axle center, to ensure that in entire robot operational process
Stationarity.
Further, one end of three the first fixed connecting rods 8 is both connected to 1 middle part of robot fuselage, other end difference
Connect a walking mechanism 3；One end of three the second fixed connecting rods 9 is both connected to robot fuselage 1 close to Universal rotary revolving die
One end of block connector 2, the other end are connected in the walking mechanism 3 connecting with the first fixed connecting rod 8.First is consolidated
Determine connecting rod 8 and robot fuselage 1 is arranged in close to the position at middle part in the second fixed connecting rod 9, is shunk when bindiny mechanism is in
When state, the length of entire robot is relatively small, and the structure of whole device is more compact.
Further, Universal rotary module connecting piece 2 includes: that the trunnion axis rotation connecting with a robot body is watched
Motor 12 is taken, the vertical axis rotating servo motor 14 being connect with another robot body, and connection trunnion axis rotating servo
The servo motor connector 13 of motor 12 and vertical axis rotating servo motor 14.
Further, feed screw nut 6 is located at 1 side of the inside far from Universal rotary module connecting piece 2 of robot fuselage.
It is more advantageous to the opening angle that the push rod connecting with feed screw nut 6 adjusts the first fixed connecting rod 8.
Further, the first fixed connecting rod 8 and 9 both ends of the second fixed connecting rod are respectively hinged at walking mechanism 3 and machine
On the man-machine body 1 of device.The rotation of screw rod 5 can be controlled by stepper motor 4 and adjusts the movement of feed screw nut 6, and then is controlled and be fixedly connected
The opening angle of bar, so that crawler belt foot is more bonded tube wall.
Further, crawler belt foot is by two drive wheels, the case where guaranteeing pipe robot smooth ride
Under, rationally reduce the size of crawler belt foot, robot can be made to travel in pipeline more flexible.
Further, motor 10 and battery are mounted on the fixinig plate 11 of crawler belt foot side.Not only simplify transmission
Mechanism keeps mechanism more compact, is also convenient for installation, maintenance and replacement.
Further, each motor 10 is respectively mounted a battery.The independent driving of multiple motors 10, is acquired using sensor
Pipeline data is analyzed by control system and is calculated, then respectively drives multiple motors 10 to realize pipe robot to pipeline
The adaptation of environment, and enough power can be provided for pipe robot.
Further, robot fuselage 1 is prism, and bindiny mechanism is connected on the side of prism.
When specific works,
Under original state, push rod 7 and the first fixed connecting rod 8 are in folded state, at this time the circle of entire pipe robot
Radius is minimum, fits easily into pipeline and transport.After pipe robot enters pipeline, stepper motor 4 drives screw rod 5 to rotate, silk
Thick stick nut 6 is moved to the side close to stepper motor 4, and push rod 7 pushes the first fixed connecting rod 8 to open, and drives row at the same time
Mechanism opening is walked, so that the crawler belt of walking mechanism is adjacent to tube wall enough, is mounted on the pressure sensor monitoring on crawler belt foot accordingly
Pressure reaches preset value, and the diameter that crawler belt forms enough at this time is identical as internal diameter of the pipeline, and the motor 10 of walking mechanism is also opened
Beginning work, pipe robot are walked in pipeline, and when needing to turn to, three crawler belts of direction of advance first pass through connecting rod enough
Radius is tightened, the motor rotation of subsequent Universal rotary module connecting piece 2 turns to predetermined position, at the same time, pipe robot
Continue to move forward, when pipe robot first half (robot body) enter intended pipe after, before a machine
Stepper motor 4 in device human body works, and increases the opening radius of the three crawler belt foots in front and is adjacent to the crawler belt of front three enough
Then inner wall of the pipe reduces the opening radius of three crawler belts foot next, so that the first half of pipe robot is by latter half
Intended pipe is pulled in, realizes turning of the pipe robot in pipeline.When pipe robot is in vertical pipeline, front and back two
Group crawler belt foot is adjacent to tube wall simultaneously, pushes pipe robot to be moved upwardly or downwardly using the frictional force between crawler belt and tube wall.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of new pipeline robot, which is characterized in that it is identical including two structures and pass through Universal rotary module connecting piece
(2) two robot bodies of mirror symmetry connection；Wherein, the robot body includes:
Robot fuselage (1), inside controller, the stepper motor connecting with the controller output end (4) are installed, and
The battery pack of electric energy is provided for the controller and the stepper motor (4)；
Walking mechanism (3) comprising crawler belt foot, the motor (10) being mounted on the crawler belt foot provide for the motor (10)
Pressure sensor on the battery and the installation crawler belt foot of electric energy, the motor (10) drive the driving wheel of the crawler belt foot,
The motor (10) connect with the controller output end, and the pressure sensor is connect with the controller input terminal, described
Three walking mechanisms (3) are uniformly arranged in robot fuselage (1) circumferential direction；
Bindiny mechanism comprising connect the first fixed connecting rod (8) of the robot fuselage (1) and the walking mechanism (3)
With the second fixed connecting rod (9) and push rod (7)；First fixed connecting rod (8) and second fixed connecting rod (9)
It is arranged in an axially parallel mode along the robot fuselage, described push rod (7) one end is connect with first fixed connecting rod (8), described
Push rod (7) other end feed screw nut (6) internal with the robot fuselage (1) is located at is connect, and the feed screw nut (6) passes through
The output axis connection of screw rod (5) and the stepper motor (4).
2. a kind of new pipeline robot according to claim 1, which is characterized in that three first fixed connecting rods
(8) one end is both connected in the middle part of the robot fuselage (1), and the other end is separately connected the walking mechanism (3)；Three
One end of second fixed connecting rod (9) is both connected to the robot fuselage (1) and connects close to the Universal rotary module
One end of part (2), the other end are connected in the walking mechanism (3) connecting with first fixed connecting rod (8).
3. a kind of new pipeline robot according to claim 1, which is characterized in that the Universal rotary module connecting piece
(2) include: the trunnion axis rotating servo motor (12) being connect with a robot body, connect with another robot body
Vertical axis rotating servo motor (14), and connect the trunnion axis rotating servo motor (12) and the vertical axis rotating servo
The servo motor connector (13) of motor (14).
4. a kind of new pipeline robot according to claim 1, which is characterized in that the feed screw nut (6) is located at institute
State the internal side far from the Universal rotary module connecting piece (2) of robot fuselage (1).
5. a kind of new pipeline robot according to claim 1, which is characterized in that first fixed connecting rod (8)
It is respectively hinged in the walking mechanism (3) and the robot fuselage (1) with the second fixed connecting rod (9) both ends.
6. a kind of new pipeline robot according to claim 1, which is characterized in that the crawler belt foot is by two drives
Driving wheel driving.
7. a kind of new pipeline robot according to claim 1, which is characterized in that the motor (10) and battery installation
On the fixinig plate (11) of crawler belt foot side.
8. a kind of new pipeline robot according to claim 1, which is characterized in that each motor (10) is respectively mounted
One battery.
9. a kind of new pipeline robot according to claim 1, which is characterized in that the robot fuselage (1) is rib
Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810981630.XA CN108980511A (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810981630.XA CN108980511A (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
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| CN108980511A true CN108980511A (en) | 2018-12-11 |
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| CN201810981630.XA Pending CN108980511A (en) | 2018-08-27 | 2018-08-27 | A kind of new pipeline robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109578746A (en) * | 2019-01-28 | 2019-04-05 | 西南大学 | A kind of spliced elastic pipeline robot of monomer |
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
| CN109973756A (en) * | 2018-12-29 | 2019-07-05 | 北京工业大学 | A kind of pipe robot |
| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
| CN110762338A (en) * | 2019-10-26 | 2020-02-07 | 厦门大学嘉庚学院 | Pneumatic passing device of pipeline robot and using method |
| CN110962103A (en) * | 2019-11-14 | 2020-04-07 | 国网山西省电力公司大同供电公司 | Small-size calandria cable pipe robot |
| CN111119822A (en) * | 2019-12-04 | 2020-05-08 | 太原理工大学 | Coal bed heating and coal dust removing method |
| CN111119823A (en) * | 2019-12-04 | 2020-05-08 | 太原理工大学 | Pipeline robot for coal bed heating and coal powder removing |
| CN111140213A (en) * | 2019-12-03 | 2020-05-12 | 太原理工大学 | Heating method special for coal bed gas thermal recovery |
| CN111300452A (en) * | 2020-03-26 | 2020-06-19 | 大连理工大学 | Welding seam measuring-polishing robot in conical shell |
| CN111350903A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Multi-crawler-foot synchronous stretching structure for pipeline crawling |
| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
| CN113028200A (en) * | 2021-03-14 | 2021-06-25 | 郑州大学 | Pipeline positioning robot based on laser ranging |
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| CN114458868A (en) * | 2022-03-23 | 2022-05-10 | 东北大学 | Crawler-type pipeline robot and motion control method thereof |
| CN115350783A (en) * | 2022-08-23 | 2022-11-18 | 福建福大北斗通信科技有限公司 | Beidou positioning navigation urban pipe network intelligent surveying and mapping inspection device and inspection method thereof |
| US11965620B2 (en) | 2021-03-24 | 2024-04-23 | Southeast University | Pipeline patrol inspection robot having variable tracks and control method therefor |
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| CN109973756A (en) * | 2018-12-29 | 2019-07-05 | 北京工业大学 | A kind of pipe robot |
| CN109578746A (en) * | 2019-01-28 | 2019-04-05 | 西南大学 | A kind of spliced elastic pipeline robot of monomer |
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
| CN109630806B (en) * | 2019-02-21 | 2024-02-27 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
| CN110594526A (en) * | 2019-09-06 | 2019-12-20 | 山东科技大学 | Peristaltic pipeline detection robot |
| CN110762338A (en) * | 2019-10-26 | 2020-02-07 | 厦门大学嘉庚学院 | Pneumatic passing device of pipeline robot and using method |
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| CN112984276A (en) * | 2021-02-26 | 2021-06-18 | 机械工业第九设计研究院有限公司 | Mechanism capable of walking in rectangular air duct |
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