CN109027515A - K-shaped pipeline robot - Google Patents
K-shaped pipeline robot Download PDFInfo
- Publication number
- CN109027515A CN109027515A CN201810951890.2A CN201810951890A CN109027515A CN 109027515 A CN109027515 A CN 109027515A CN 201810951890 A CN201810951890 A CN 201810951890A CN 109027515 A CN109027515 A CN 109027515A
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- connecting plate
- shape pipe
- support arms
- pipe robot
- driving device
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- 238000012546 transfer Methods 0.000 claims description 24
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 2
- 238000005452 bending Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 230000009194 climbing Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 208000037656 Respiratory Sounds Diseases 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 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
- 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
-
- 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 K-shaped pipeline robot which comprises a driving device, a steering device, two telescopic devices, two supporting arms and two driven wheels, wherein the steering device is arranged on the driving device; a support bottom plate is fixed on the driving device, a steering device is installed on the support bottom plate, the rotary power output end of the steering device is connected with a rotary seat, and a connecting plate is fixed on the rotary seat; one end of each of the two support arms is rotatably arranged on the surface of the connecting plate, the other end of each of the two support arms is provided with two driven wheels, the two support arms are symmetrically arranged about the central axis of the rotating seat, and the angle of an included angle between the two support arms is adjustable; the two telescopic devices are respectively positioned at the outer sides of the two supporting arms, and the bottom ends of the two telescopic devices are fixed on the rotating seat or the connecting plate; the top ends of the two telescopic devices are respectively connected with the upper parts of the two supporting arms; the two driven wheels are attached to and separated from the inner wall surface of the pipeline under the action of the telescopic device. The pipeline robot provided by the invention has excellent over-bending capability and obstacle crossing capability.
Description
Technical field
The present invention relates to pipeline robot technique fields, and in particular to a kind of K shape pipe robot.
Background technique
Pipeline is widely used in the fields such as water supply, draining, petroleum, natural gas, chemical industry, wherein oil-gas pipeline is as a kind of
The means of delivery of important petroleum resources, due to the particularity of its pumped (conveying) medium and the complexity of pipeline environment, pipeline holds
Easily there is the failure such as burn into crackle, fatigue rupture, during oil-gas transportation once accident occurs, state and society will be given
Serious financial consequences are caused, brings and seriously threatens to people's lives, environment is caused seriously to pollute.Currently, China's Oil/Gas Pipe
Road connects the four corners of the world and at home and abroad, has greatly pushed China's expanding economy.With the continuous development of pipeline network construction and complete
Kind, security risk also generates therewith, especially after " 1122 " Qingdao oil pipeline explosive incident in 2013 occurs, even more causes
Everybody extensive concern and great attention to network security, it can be seen that, periodic detection and maintenance meaning weight are carried out to pipeline
Greatly.
Due to limited piping room, ambient enviroment is complicated, severe, frequently with the side of inefficient, high-cost hand excavation
Formula carries out pipe detection and maintenance, and this detection mode extremely easily causes the secondary impaired of pipeline.Therefore, have scientific research institution and
Company has developed pipelines detection robot and replaces the artificial detection for carrying out pipeline.Currently, the structure of pipeline is mainly by level
Pipe, L shape pipe, T shape pipe composition, the drive form of pipe robot mainly have pipeline pig, wheeled, crawler type, brace type, wriggling
Formula, spiral, snakelike, any pipe robot, excessively curved ability and obstacle climbing ability are all that robot carries out normally in pipe
The key and core of detection.When existing detecting robot of pipe is detected in pipe, often there is the problems such as tumbling, blocking influence
Detection of the robot to pipeline, this is caused by its excessively curved ability and obstacle climbing ability difference.
Summary of the invention
In order to solve excessively curved ability and obstacle climbing ability difference when pipe robot existing in the prior art is run in pipe
Problem, the present invention provides a kind of excessively curved abilities and the superior K shape pipe robot of obstacle climbing ability.
In order to realize these purposes of the invention, the present invention provides a kind of K shape pipe robot, which includes driving
Device, transfer, two telescopic devices, two support arms and two driven wheels.
Support baseboard is fixed in the driving device, and transfer is installed on support baseboard.The rotary power of transfer
Output end connects rotating seat, fixed connecting plate on rotating seat；The bottom end of two support arms can be rotatably set in connection plate surface,
Top is installed by one driven wheel respectively.Two support arms are arranged symmetrically about rotating seat central axis, between two support arms
The adjustable section of included angle.The transfer rotation drives support arm rotation, and then adjusts driven wheel relative in pipeline
The angle of mandrel line, adjustable angle range are -90 °≤θ≤90 °.Two telescopic devices are located on the outside of two support arms, and two
The bottom end of a telescopic device is fixed on rotating seat or connecting plate；The top of two telescopic devices passes through revolute pair and first respectively
The connection of the top of support arm and the second support arm；Two driven wheels are realized under telescopic device effect and are bonded with inner wall of the pipe face
And separation.
Preferably, the bottom end of two support arms is connect or the bottom end of two support arms by revolute pair with connecting plate
It is connect respectively by articulation piece with connecting plate.
Preferably, the driving device is wheeled or crawler type walking mechanism, and the support baseboard is that Open Side Down
U-board, Open Side Down is set in walking mechanism upper outside for U-board, and is connected by screw by U-board and walking mechanism are fixed
It connects.Transfer is motor or rotary cylinder.Two telescopic devices are the device that can do linear expansion movement, such as double
Action type linear motion cylinder.
Preferably, the rotating seat is cylinder, and connecting plate includes circular slab, and circular slab left and right sides edge is provided with
The convex block outwardly protruded, two convex blocks are symmetrical about the center of circle of circular slab, and fluted, convex block and circular slab one are opened up on convex block
Molding；Circular slab is fixed by screws in above rotating seat, and the bottom end of two telescopic devices is separately positioned on the recessed of two convex blocks
Slot, and can be rotated relative to connecting plate.Two support arm tops are provided with branch arm, branch arm top close to the position of driven wheel
It is hinged with telescopic device top.
Preferably, the structure composition of above-mentioned K shape pipe robot further includes external power supply and controller, and power supply is whole
A robot device's power supply.Controller is connect with driving device, telescopic device and transfer simultaneously.
The invention has the beneficial effects that:
(1) structure is simple: being mainly reflected in the robot using few part by fixed and simple turn of screw
Dynamic pair relationship connection composition, assembling is easy to maintain, and stable structure is reliable.
(2) excessively curved ability is strong: by control transfer and telescopic device, can change two support arms and driven at any time
The posture in pipeline is taken turns to realize that pipe robot operates normally in the pipeline being made of horizontal tube, T shape pipe and L shape pipe.
(3) obstacle climbing ability is strong: pipe robot may be implemented in the movement velocity by controlling transfer and driving device
In the combination that pipe inner-spiral type is moved and moved along a straight line, so that effective avoiding obstacles move ahead, while not influencing to pipeline
Detection.
Detailed description of the invention
Fig. 1 is K shape pipe robot structural schematic diagram in pipeline.
Fig. 2 is K shape pipe robot structural schematic diagram in pipeline in another embodiment.
Fig. 3 is status diagram when K shape pipe robot is ready to pass through T shape pipeline.
Fig. 4 is status diagram when K shape pipe robot passes through T shape pipeline.
Status diagram when Fig. 5 is K shape pipe robot obstacle detouring.
Figure label:
1- driving device, 2- support baseboard, 3- transfer, 4- rotating seat, the first telescopic device of 51-, 52- second are flexible
Device, 6- connecting plate, 61- circular slab, 62- convex block, 63- groove, the first support arm of 71-, the second support arm of 72-, 81- first
Driven wheel, the second driven wheel of 82-, 9- pipeline, 10- barrier, 11- revolute pair.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1, the robot includes driving device 1, turns to dress the present invention provides a kind of K shape pipe robot
Set 3, two telescopic devices (the first telescopic device 51 and the second telescopic device 52), two support arms (the first support arm 71 and
Two support arms 72), two driven wheels (the first driven wheel 81 and the second driven wheel 82).
The driving device is wheeled or crawler type walking mechanism.Support baseboard 2 is fixed in driving device.Support baseboard
For the U-board that Open Side Down, Open Side Down is set in walking mechanism upper outside for U-board, and by screw by the side wall of U-board
It is fixedly connected with walking mechanism.Transfer is fixed on horizontal platform at the top of U-board.Transfer is motor or rotary pneumatic
Cylinder.The rotary drive output on transfer top is fixedly connected with cylindrical rotating seat 4, fixed connecting plate 6 on rotating seat.Two
The bottom end of a support arm can be rotatably set in connection plate surface, and a driven wheel is installed on support arm top respectively.Two supports
The bottom end of arm is connect by revolute pair with connecting plate or the bottom end of two support arms passes through articulation piece respectively and connecting plate connects
It connects.Two support arms are arranged symmetrically about rotating seat central axis, the adjustable section of included angle between two support arms.Institute
It states transfer rotation and drives support arm rotation, and then adjust angle of the driven wheel relative to central axis, adjustable angle
Range is -90 °≤θ≤90 °.Two telescopic devices are double-acting type linear motion cylinder.Two telescopic devices are located at
On the outside of two support arms, the bottom end of two telescopic devices is separately fixed on the left and right sides wall surface of rotating seat 4.Two telescopic devices
Top pass through revolute pair respectively and connect with the top of the first support arm and the second support arm.Two driven wheels are made in telescopic device
With lower realization with the fitting in inner wall of the pipe face and separate.First support arm 71 and the first driven wheel 81, the second support arm 72 and
Two driven wheels 82 form supporting mechanism, which is arranged symmetrically before and after 4 central axis of rotating seat.
As shown in Fig. 2, in another embodiment, the bottom end of two support arms is connect by revolute pair 11 with connecting plate.Two
The bottom end of a telescopic device is fixed on 6 left and right ends of connecting plate.The specific structure of the connecting plate 6 are as follows: connecting plate 6 includes circle
The convex block 62 outwardly protruded is respectively set in plate 61, circular slab left and right sides edge, and two convex blocks are symmetrical about the circular slab center of circle.
Fluted 63 are opened up on convex block, convex block and circular slab are integrally formed.Circular slab is fixed by screws in rotating seat upper surface.Two
The bottom end of telescopic device is separately positioned in the groove of two convex blocks, and rotatably to connect relative to connecting plate.
Two support arm tops are provided with branch arm close to the position of driven wheel, and branch arm top and telescopic device top are hinged.The K shape
The structure composition of pipe robot further includes external power supply (not shown), controller (not shown).Power supply is entire robot dress
Set power supply.Controller is connect with driving device, telescopic device and transfer simultaneously.
The working principle of K shape pipe robot of the invention is as follows: K shape pipe robot being put into pipeline 9, by outer
Wiring cable is (not shown) to transmit power supply and control signal for driving device 1, drives entire K shape pipe by the movement of driving device 1
The movement of pipeline robot adjusts the rotation angle of supporting mechanism by control transfer 3, i.e., adjusting driven wheel 8 relative to
The angle of the central axis of pipeline 9, adjustable angle range are -90 °≤θ≤90 °, by the retracted position for controlling telescopic device 5
The angle state of support arm 7 is adjusted, so that adjust the driven wheel 8 that is mounted on support arm 7 and the inner wall of pipeline 9 is bonded shape
State.
As shown in Figure 3 and Figure 4, when robot passes through T shape pipeline 9, the course of work is as follows: connecting electricity to driving device 1
Source applies control signal, when driving device 1 is moved to close to T shape pipeline 9, passes through control transfer 3 and adjusts driven wheel 8
It is certain angle relative to central axis, K shape pipe robot can be made to be threadingly advanced, then according to driving device 1
The driving speed of attitude regulation driving device 1 in pipeline, when driving device 1 moves to the turning mouth side of T shape pipeline 9,
The steering angle of transfer 3 is adjusted to 0 °, pipe robot straight ahead can be made, 1/3 when 1 head of driving device is left
When the right side extends through turning mouth, start the stroke for controlling telescopic device, withdraws first telescopic device 51 in front, the second of rear stretches
Compression apparatus 52 ejects, and K shape pipe robot will begin through T shape pipeline 9, then the ejection of the first telescopic device 51 is made first driven
Wheel 81 is contacted with T shape pipe 9, when K shape pipe robot passes through T shape pipeline 9, the first telescopic device 51 and second is kept to stretch
Compression apparatus 52 ejects, and fits closely the first driven wheel 81 and the second driven wheel 82 with pipeline, to realize K shape pipeline machine
People passes through T shape pipeline 9.
As shown in figure 5, the course of work of robot is as follows there are when barrier 10 in pipeline: being connected to driving device 1
Power supply applies and controls signal, when K shape pipe robot detects that there are when barrier 10, pass through control transfer 3 in pipe
It is certain angle that two driven wheels, which are adjusted, relative to pipe centerline, is threadingly advanced the holding of K shape pipe robot, while basis
Posture of the K shape pipe robot in pipeline 9 adjusts the movement velocity of driving device 1, makes K shape pipe robot driving device 1
Obstacle is avoided with two driven wheels, is moved ahead so that entire K shape pipe robot realizes avoiding obstacles 10.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of K shape pipe robot, which is characterized in that including driving device, transfer, two telescopic devices, two branch
Brace, two driven wheels；
Support baseboard is fixed in the driving device, and transfer, the rotary power output of transfer are installed on support baseboard
End connects rotating seat, fixed connecting plate on rotating seat；The bottom end of two support arms can be rotatably set on connecting plate, top point
Not An Zhuan a driven wheel, two support arms are arranged symmetrically about rotating seat central axis, the angle angle between two support arms
Spend adjustable section；Two telescopic devices are located on the outside of two support arms, and the bottom end of two telescopic devices is fixed on rotation
On seat or connecting plate；The top of two telescopic devices is separately connected the top of two support arms；Two driven wheels are in telescopic device
Effect is lower to be realized and the fitting in inner wall of the pipe face and separates.
2. K shape pipe robot as described in claim 1, which is characterized in that the bottom end of two support arms by revolute pair with
The bottom end of connecting plate connection or two support arms passes through articulation piece respectively and connect with connecting plate.
3. K shape pipe robot as described in claim 1, which is characterized in that the top of two telescopic devices passes through respectively to be turned
Dynamic pair is connect with the first support arm and the second support arm.
4. K shape pipe robot as described in claim 1, which is characterized in that the driving device is wheeled or crawler type
Walking mechanism, screw connects between driving device and support baseboard.
5. K shape pipe robot as described in claim 1, which is characterized in that the transfer is motor or rotary pneumatic
Cylinder.
6. K shape pipe robot as claimed in claim 5, which is characterized in that the transfer rotation drives support arm rotation
Turn, and then adjust angle of the driven wheel relative to central axis, adjustable angle range is -90 °≤θ≤90 °.
7. K shape pipe robot as claimed in claim 6, which is characterized in that the rotating seat is cylinder, and connecting plate includes
Circular slab, circular slab left and right sides edge are provided with the convex block outwardly protruded, and two convex blocks are symmetrical about the center of circle of circular slab, convex
Fluted, convex block and circular slab integrated molding are opened up on block；Circular slab is fixed by screws in above rotating seat, two flexible dresses
The bottom end set is separately positioned in the groove of two convex blocks and can be rotated relative to connecting plate.
8. K shape pipe robot as claimed in claim 7, which is characterized in that two support arm tops are close to the position of driven wheel
It installs and is equipped with branch arm, branch arm top and telescopic device top are hinged.
9. the K shape pipe robot as described in claim 1-8 any one, which is characterized in that further include external power supply and control
Device processed, power supply are entire robot device power supply, and controller is connect with driving device, telescopic device and transfer simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951890.2A CN109027515B (en) | 2018-08-21 | 2018-08-21 | K-shaped pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810951890.2A CN109027515B (en) | 2018-08-21 | 2018-08-21 | K-shaped pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109027515A true CN109027515A (en) | 2018-12-18 |
| CN109027515B CN109027515B (en) | 2020-06-02 |
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ID=64626484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810951890.2A Active CN109027515B (en) | 2018-08-21 | 2018-08-21 | K-shaped pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109027515B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882680A (en) * | 2019-03-18 | 2019-06-14 | 厦门理工学院 | A kind of creeping motion type pipe robot and its control method |
| CN110657315A (en) * | 2019-08-21 | 2020-01-07 | 中国石油天然气股份有限公司 | Self-crawling device in pipeline |
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| EP0177112B1 (en) * | 1984-10-04 | 1989-07-05 | AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY | Self-traversing vehicle for pipe |
| DE4333690C1 (en) * | 1993-10-02 | 1995-02-09 | Gsp Ges Fuer Schwingungsunters | Mobile device for the analysis of reflected sound for the inspection of sewer pipes from the inside on-site |
| KR20040078564A (en) * | 2003-03-03 | 2004-09-10 | 무라타 기카이 가부시키가이샤 | Pipe inspecting device |
| US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
| CN106813047A (en) * | 2017-03-31 | 2017-06-09 | 王周滢 | A kind of pipe robot walking auxiliary body |
| CN107489855A (en) * | 2017-08-08 | 2017-12-19 | 浙江海洋大学 | A kind of mixed power plant for gas pipeline crusing robot |
| CN107975654A (en) * | 2016-10-24 | 2018-05-01 | 湘潭宏远电子科技有限公司 | Thing intelligent robot is taken in a kind of pipeline of camera easy to disassemble |
-
2018
- 2018-08-21 CN CN201810951890.2A patent/CN109027515B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0177112B1 (en) * | 1984-10-04 | 1989-07-05 | AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY | Self-traversing vehicle for pipe |
| DE4333690C1 (en) * | 1993-10-02 | 1995-02-09 | Gsp Ges Fuer Schwingungsunters | Mobile device for the analysis of reflected sound for the inspection of sewer pipes from the inside on-site |
| KR20040078564A (en) * | 2003-03-03 | 2004-09-10 | 무라타 기카이 가부시키가이샤 | Pipe inspecting device |
| US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
| CN107975654A (en) * | 2016-10-24 | 2018-05-01 | 湘潭宏远电子科技有限公司 | Thing intelligent robot is taken in a kind of pipeline of camera easy to disassemble |
| CN106813047A (en) * | 2017-03-31 | 2017-06-09 | 王周滢 | A kind of pipe robot walking auxiliary body |
| CN107489855A (en) * | 2017-08-08 | 2017-12-19 | 浙江海洋大学 | A kind of mixed power plant for gas pipeline crusing robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882680A (en) * | 2019-03-18 | 2019-06-14 | 厦门理工学院 | A kind of creeping motion type pipe robot and its control method |
| CN109882680B (en) * | 2019-03-18 | 2023-09-26 | 厦门理工学院 | Peristaltic pipeline robot and control method thereof |
| CN110657315A (en) * | 2019-08-21 | 2020-01-07 | 中国石油天然气股份有限公司 | Self-crawling device in pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109027515B (en) | 2020-06-02 |
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| CB03 | Change of inventor or designer information |
Inventor after: Ren Tao Inventor after: Chen Liangping Inventor after: Liu Qingyou Inventor after: Zhang Yin Inventor after: Li Yujia Inventor after: Tu Qing Inventor before: Ren Tao Inventor before: Zhang Yin Inventor before: Li Yujia Inventor before: Tu Qing Inventor before: Liu Qingyou |
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