CN109578746A - A kind of spliced elastic pipeline robot of monomer - Google Patents
A kind of spliced elastic pipeline robot of monomer Download PDFInfo
- Publication number
- CN109578746A CN109578746A CN201910080838.9A CN201910080838A CN109578746A CN 109578746 A CN109578746 A CN 109578746A CN 201910080838 A CN201910080838 A CN 201910080838A CN 109578746 A CN109578746 A CN 109578746A
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- robot
- spliced
- drive module
- monomer
- elastic
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- 239000000178 monomer Substances 0.000 title claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims abstract description 8
- 239000000203 mixture Substances 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 5
- 230000009184 walking Effects 0.000 description 5
- 238000009987 spinning Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to robot fields, are related to a kind of spliced elastic pipeline robot of monomer, are spliced by N number of single robot；The single robot includes the ontology in " V " type and the drive module that three endpoints of ontology are arranged in；The ontology is made of two elastic portions, and each drive module includes driving unit and road wheel interconnected, and the driving unit is for generating driving force and driving wheel being driven to rotate；Wherein, N is positive integer.The present invention is in order to overcome the shortcomings of prior art construction, crossing pipeline inner barrier and provide a kind of traveling method that property height, obstacle climbing ability simple for structure are strong at reliable, high-efficient, steady, designing a kind of can be used for detection inside the pipeline with supporting body structures such as Y types in pipeline.Passing through two kinds of forms of motion of robot --- spiralling and pure surround movement, the technical problems such as inner wall of the pipe any position can not be reached to the leap of complex barrier, traditional robot inside pipeline by solving robot.
Description
Technical field
The invention belongs to robot fields, are related to the spliced elastic pipeline robot of monomer.
Background technique
With the fast development of the various fields such as China's industry, agricultural, manufacturing industry, pipeline brought it is very big just
Benefit, since pipeline is likely to occur the Pipeline damages problems such as burn into deformation in use process, pipe robot is as pipe detection
Tool substantially increases the safety of pipeline.
Since the support construction inside pipeline is complicated, than if any the support constructions such as Y type, star-like, general traditional pipe machine
Device people can not normally pass through obstacle when encountering these obstacles, thus need it is a kind of walking can be both moved freely in pipeline,
It can also be with the pipe robot of leaping over obstacles.Existing pipe robot is classified by walking mechanism, mainly has piston mobile, compacted
Dynamic movable type, caterpillar band mobile, sufficient leg-type mobile and idler wheel movable type etc..Piston movable type principle is shifting of the piston in cylinder
Dynamic movement, this complicated in mechanical structure, control difficulty is big, and mechanical efficiency is low, can not obstacle detouring.Mobile design principle of wriggling is mould
Imitative insect, this complicated in mechanical structure, control difficulty is big, and can not be in pipeline top movements.Crawler type is to imitate vehicle to run.
Sufficient leg formula be sufficient leg pressing against pipe walls support main body, move it is more convenient flexibly, the disadvantage is that when having supporter inside pipeline,
It will be unable to pass through obstacle movement, can not walk at the top of pipeline, roller type walking structure is to drive motor driven by idler wheel, this
Walking manner control is simple, and mechanical structure is relatively easy, but obstacle climbing ability is limited, can not also reach the top of pipeline, Zhi Nengqian
Into retrogressing.
Summary of the invention
In view of this, designing one kind can the purpose of the present invention is to provide a kind of spliced elastic pipeline robot of monomer
For detection inside the pipeline with supporting body structures such as Y types in pipeline, a kind of reliable, high-efficient, steady point simple for structure is provided
Property traveling method high, that obstacle climbing ability is strong realized inside pipeline with overcoming the shortcomings of prior art construction across complicated barrier
Hinder, the functions such as 360 degree of insides of pipes walkings.
In order to achieve the above objectives, the invention provides the following technical scheme:
A kind of spliced elastic pipeline robot of monomer, is spliced by N number of single robot；The single robot packet
It includes the ontology in " V " type and the drive module of three endpoints of ontology is set；The ontology is made of two elastic portions, and two
One end of elastic portion is fixedly connected to form fixed part；The elastic portion is made of elastic material；Each drive module includes phase
The driving unit and road wheel to connect, the driving unit is for generating driving force and driving wheel being driven to rotate；Wherein, N is
Positive integer.
Optionally, as N >=2, the spliced elastic pipeline robot of the monomer is by several adjacent single robot phases
Mutually it is spliced；By one of elastic portion of single single robot far from one end of fixed part and adjacent thereto single
One of elastic portion of single robot is spliced far from one end of fixed part；Two elastic portions mutually spliced share same
One drive module.
Optionally, the drive module is arranged on the body by elastic device.
Optionally, the elastic module is the helical spring with casing, and described sleeve pipe is set on the outside of helical spring.
Optionally, the drive module includes a driving unit and sets up driving wheel in driving unit two sides separately.
It optionally, further include being arranged on vehicle body to drive mould for detecting the sensor of barrier, and for controlling
The master controller of block movement, the sensor are sent to master controller after acquiring obstacle information, and main controller controls drive mould
Block carries out original place flat turn or is threadingly advanced, with leaping over obstacles.
Optionally, each drive module is accordingly equipped with a sensor, and one or more sensors collect
When complaint message, it is sent to master controller, the original place flat turn of main controller controls drive module adjusts vehicle body to all the sensors
It collects accessible, is threadingly advanced leaping over obstacles.
Optionally, each road wheel is accordingly equipped with a sensor, and one or more sensors collect barrier
When hindering information, it is sent to master controller, main controller controls drive module original place flat turn adjustment vehicle body to all the sensors are adopted
Collect accessible, is threadingly advanced leaping over obstacles.
Optionally, N=2, the spliced elastic pipeline robot of the monomer are made of two single robot splicings, are integrally in
" M " type；Two single robot phase stitching portions share a drive module.
Optionally, the drive module includes a driving unit and sets up driving wheel in driving unit two sides separately；It should
The spliced elastic pipeline robot of monomer is made of 4 elastic portions, 5 driving units and 10 road wheels altogether.
The beneficial effects of the present invention are:
The present invention in order to overcome the shortcomings of prior art construction, crossing pipeline inner barrier and provide a kind of simple for structure
Reliably, the strong traveling method of high-efficient, steady property height, obstacle climbing ability, designing one kind can be used for having the supporters such as Y type in pipeline
Detection inside the pipeline of structure.Passing through two kinds of forms of motion of robot --- spiralling and pure surround movement solve
Robot can not reach the technologies such as inner wall of the pipe any position and ask inside pipeline to the leap of complex barrier, traditional robot
Topic.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target of the invention and other advantages can be realized by following specification and
It obtains.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made below in conjunction with attached drawing excellent
The detailed description of choosing, in which:
Fig. 1 is the overall structure diagram of embodiment one；
Fig. 2 is whole stress diagram of the embodiment one in pipeline；
Fig. 3 is schematic diagram of the embodiment one inside pipeline；
Fig. 4 is pipeline configuration side view；
Fig. 5 is first stage front view of the embodiment one in leaping over obstacles；
Fig. 6 is side view of the embodiment one in the first stage of leaping over obstacles；
Fig. 7 is front view of the embodiment one in the second stage of leaping over obstacles；
Fig. 8 is front view of the embodiment one in the phase III of leaping over obstacles；
Fig. 9 is side view of the embodiment one in the phase III of leaping over obstacles；
Figure 10 is front view of the embodiment one in the fourth stage of leaping over obstacles；
Figure 11 is the overall structure diagram of embodiment two.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that diagram provided in following embodiment is only to show
Meaning mode illustrates basic conception of the invention, and in the absence of conflict, the feature in following embodiment and embodiment can phase
Mutually combination.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams, rather than pictorial diagram, should not be understood as to this
The limitation of invention；Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product；It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is understood that.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention；It is retouched in of the invention
In stating, it is to be understood that if there is the orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right", "front", "rear"
To be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore is described in attached drawing
The term of positional relationship only for illustration, is not considered as limiting the invention, for the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Fig. 1-Figure 11 is please referred to, the element numbers in attached drawing respectively indicate: drive module 1, elastic portion 2.
Embodiment one
The invention discloses a kind of spliced elastic pipeline robot of monomer, can be spliced by multiple single robots and
At the spliced elastic pipeline robot of monomer that the description of the present embodiment one is only made of a single robot, to describe monomer
The motion state of robot.Mainly there is several groups drive module 1 in the spliced elastic pipeline robot of monomer in the present invention and connects
Connect the ontology composition of these drive modules 1.Drive module 1 provides driving force by motor or other power devices, elastic body's
Shape is similar to A or V, and three groups of drive modules 1 are respectively placed in three ends.
(1) when robot does not enter pipeline and the overall structure state in pipeline:
When not entering pipeline, elastic portion 2 is in nature relaxed state (such as Fig. 1), the nature or be straight configuration, or
It is greater than the state of pipe radius for bending radius, the half of the perimeter of the length m and pipeline of elastic portion 2 is similar.
After robot is integrally placed into pipeline, since ontology is crimped by compression, so being located at the driving mould on ontology top
Block 1 is pressed on the inner wall of pipeline, to generate enough frictional force, be attached to ontology on the inner wall of pipeline and complete to need
The movement wanted.
(2) force analysis is carried out when to robot in pipeline:
Three drive modules 1 are labeled as a, b, c, when drive module a, b, c are rotated to same direction, at this point, driving mould
Block b will generate driving force Fb to elastic body, and drive module c will generate driving force Fc to the elastic body connected, drive mould
Block a will generate a power Fa (direction and pipeline are tangent) to the elastic body that is connected, Fa, Fb and Fc power direction as shown in Fig. 2,
Because b, size is identical in the horizontal direction for the power that c is generated, contrary, generated in the power direction of vertical direction and drive module a
Power direction it is identical, so robot will do surround movement (clockwise or counterclockwise) in inner wall of the pipe at this time.When driving mould
When the direction of motion of block b and drive module c are opposite, drive module b, drive module c are generated at this time power direction in the horizontal direction
It is identical (leftward or rightward), to complete the swing (to the left or to the right) of ontology.
(3) two kind motion states of the robot in pipeline:
When the Bisector of angle of ontology and the parallel section of pipeline, such as Fig. 4, robot will inner wall of the pipe along
It cuts off line and does pure surround movement, i.e., the movement of robot is along the direction of conduit axis without velocity component.
After ontology, which generates an angle using the counter motion of drive module b and drive module c, suitably to be swung, driving
Module a, drive module b, drive module c drive in the same direction again, at this time since ontology Bisector of angle deviates from the section of pipeline, in
It is that ontology will be moved along inner wall of the pipe shape of spinning.
In conjunction with spiralling and pure surround movement can allow robot reach inner wall of the pipe any position.
(4) process of ontology leaping over obstacles:
When the present embodiment encounters Y type obstacle in pipeline, integrality is as shown in Figure 3.Utilize spiralling and pure ring
Ontology alignment can be allowed to suitable position around movement.
When drive module c needs leaping over obstacles, the counter motion of drive module b and drive module c is utilized to generate an angle
After suitable swing, direction (F) and ontology Integral swinging direction (D) such as Fig. 5 of the drive module 1 to the driving force of elastic portion 2
It is shown, so that drive module c is integrally reached the gap of Y type obstacle and pipeline, in conjunction with spiralling, realizes that drive module c is worn
Obstacle-overpass object, it is as shown in Figure 7 across rear state.
After drive module a needs leaping over obstacles, drive module c to cross over, continuing with spiralling, driving force (F) side
To the direction (D) with body oscillatory as shown in figure 8, drive module a is reached gap by swinging, at this point, recycling driving
Module b, drive module c counter motion are suitably swung ontology, since ontology Bisector of angle deviates from cutting for pipeline
Face, then ontology will be moved along inner wall of the pipe shape of spinning, and drive module a leaping over obstacles can be realized, across rear state
As shown in Figure 9.
After drive module b needs leaping over obstacles, drive module c, drive module a to cross over respectively, it need to only continue to control ontology
It moves the leap of drive module b can be realized along inner wall of the pipe shape of spinning.It is whole to cross over rear status diagram such as Figure 10 institute
Show.
Referring to Fig.1, the ontology of the present embodiment is in A font mechanism (or being V-type), by six round road wheels, a, b, c tri-
A drive module and two elastic portions 2 form.Road wheel uses coefficient of friction wheel appropriate, into after pipeline, wheel face and pipe
Road inner wall is tangent, and a, b, c drive module connect two road wheels, a driving by two connecting rods respectively respectively by a motor driven
Elastic portion 2 is driven through with b, c to be indirectly connected with, and is in three ends, is connected between two elastic portions 2 by a connecting rod, it is whole
Body structure is in A font.
The present embodiment can also seek connections with mobile and Internal Spherical Surface with scene, only need to be by the length of elastic portion 2 and half of circumference
It is similar to stablize, can also stablize and be applied to cylindrical surface Surface of Sphere etc..
Embodiment two
When the combination of multiple single robots, other structures body is become, there is same obstacle crossing function, such as Figure 11, M type
State of the structure (or W type, be made of two V-structures) in pipeline, by ten road wheels, five drive modules 1, four
Elastic portion 2 forms.Its motion principle is that obstacle detouring effect can be achieved using pure surround movement and spiral swing.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (10)
1. a kind of spliced elastic pipeline robot of monomer, it is characterised in that: be spliced by N number of single robot；The list
Body robot includes the ontology in " V " type and the drive module that three endpoints of ontology are arranged in；The ontology is by two elasticity
Portion's composition, one end of two elastic portions is fixedly connected to form fixed part；The elastic portion is made of elastic material；Each driving mould
Block all includes driving unit and road wheel interconnected, and the driving unit is for generating driving force and driving being driven to rotate
It is dynamic；Wherein, N is positive integer.
2. the spliced elastic pipeline robot of monomer as described in claim 1, it is characterised in that: as N >=2, the monomer
Spliced elastic pipeline robot is mutually spliced by several adjacent single robots；By single single robot
One of elastic portion of one of elastic portion one end and single single robot adjacent thereto far from fixed part is separate
One end of fixed part is spliced；Two elastic portions mutually spliced share the same drive module.
3. the spliced elastic pipeline robot of monomer as described in claim 1, it is characterised in that: the drive module passes through
Elastic device is arranged on the body.
4. the spliced elastic pipeline robot of monomer as described in claim 3, it is characterised in that: the elastic module is band
There is the helical spring of casing, described sleeve pipe is set on the outside of helical spring.
5. the spliced elastic pipeline robot of monomer as described in claim 1, it is characterised in that: the drive module includes
One driving unit and set up driving wheel in driving unit two sides separately.
6. the spliced elastic pipeline robot of monomer as described in claim 1, it is characterised in that: further include being arranged in vehicle body
On for detecting the sensor of barrier, and the master controller for controlling drive module movement, the sensor acquisition
Be sent to master controller after obstacle information, main controller controls drive module carries out original place flat turn or is threadingly advanced, with across
Obstacle-overpass.
7. the spliced elastic pipeline robot of monomer as described in claim 6, it is characterised in that: each drive module
It is all accordingly equipped with a sensor, when one or more sensors collect complaint message, is sent to master controller, master control
Device processed control drive module original place flat turn adjustment vehicle body to all the sensors collect accessible, are threadingly advanced leaping over obstacles.
8. the spliced elastic pipeline robot of monomer as described in claim 6, it is characterised in that: each road wheel
It is accordingly equipped with a sensor, when one or more sensors collect complaint message, is sent to master controller, main control
Device control drive module original place flat turn adjustment vehicle body to all the sensors collect accessible, are threadingly advanced leaping over obstacles.
9. the spliced elastic pipeline robot of monomer as described in claim 2, it is characterised in that: N=2, monomer splicing
Formula elastic pipeline robot is made of two single robot splicings, and whole is in " M " type；Two single robot phase stitching portions are total
With a drive module.
10. the spliced elastic pipeline robot of monomer as described in claim 9, it is characterised in that: the drive module packet
It includes a driving unit and sets up the driving wheel in driving unit two sides separately；The spliced elastic pipeline robot of the monomer is altogether by 4
A elastic portion, 5 driving units and 10 road wheel compositions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910080838.9A CN109578746A (en) | 2019-01-28 | 2019-01-28 | A kind of spliced elastic pipeline robot of monomer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910080838.9A CN109578746A (en) | 2019-01-28 | 2019-01-28 | A kind of spliced elastic pipeline robot of monomer |
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| Publication Number | Publication Date |
|---|---|
| CN109578746A true CN109578746A (en) | 2019-04-05 |
Family
ID=65917869
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910080838.9A Pending CN109578746A (en) | 2019-01-28 | 2019-01-28 | A kind of spliced elastic pipeline robot of monomer |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0177112A2 (en) * | 1984-10-04 | 1986-04-09 | AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY | Self-traversing vehicle for pipe |
| JPS63275473A (en) * | 1987-05-01 | 1988-11-14 | Agency Of Ind Science & Technol | Method and device for controlling intra-pipe running car |
| US5423230A (en) * | 1993-05-05 | 1995-06-13 | Foster-Miller, Inc. | Long range internal pipe inspection maintenance system |
| JPH08133073A (en) * | 1994-11-11 | 1996-05-28 | Olympus Optical Co Ltd | Pipe travel device |
| US6035786A (en) * | 1997-10-22 | 2000-03-14 | Bechtel Bwxt Idaho, Llc | Miniature pipe crawler tractor |
| CN101583820A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Serpentine robotic crawler |
| DE102011018214A1 (en) * | 2011-04-20 | 2012-10-25 | Ibak Helmut Hunger Gmbh & Co. Kg | Sewer pipe inspection device, has guide device guiding sensor in sewer pipe, and comprising three contact points, where sensor is firmly connected with contact points lying at tip of isosceles triangle |
| JP2016015804A (en) * | 2014-07-01 | 2016-01-28 | 関電プラント株式会社 | Pipeline internal inspection device |
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN209587486U (en) * | 2019-01-28 | 2019-11-05 | 西南大学 | A kind of spliced elastic pipeline robot of monomer |
-
2019
- 2019-01-28 CN CN201910080838.9A patent/CN109578746A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0177112A2 (en) * | 1984-10-04 | 1986-04-09 | AGENCY OF INDUSTRIAL SCIENCE & TECHNOLOGY MINISTRY OF INTERNATIONAL TRADE & INDUSTRY | Self-traversing vehicle for pipe |
| JPS63275473A (en) * | 1987-05-01 | 1988-11-14 | Agency Of Ind Science & Technol | Method and device for controlling intra-pipe running car |
| US5423230A (en) * | 1993-05-05 | 1995-06-13 | Foster-Miller, Inc. | Long range internal pipe inspection maintenance system |
| JPH08133073A (en) * | 1994-11-11 | 1996-05-28 | Olympus Optical Co Ltd | Pipe travel device |
| US6035786A (en) * | 1997-10-22 | 2000-03-14 | Bechtel Bwxt Idaho, Llc | Miniature pipe crawler tractor |
| CN101583820A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Serpentine robotic crawler |
| DE102011018214A1 (en) * | 2011-04-20 | 2012-10-25 | Ibak Helmut Hunger Gmbh & Co. Kg | Sewer pipe inspection device, has guide device guiding sensor in sewer pipe, and comprising three contact points, where sensor is firmly connected with contact points lying at tip of isosceles triangle |
| JP2016015804A (en) * | 2014-07-01 | 2016-01-28 | 関電プラント株式会社 | Pipeline internal inspection device |
| CN108980511A (en) * | 2018-08-27 | 2018-12-11 | 大唐环境产业集团股份有限公司 | A kind of new pipeline robot |
| CN209587486U (en) * | 2019-01-28 | 2019-11-05 | 西南大学 | A kind of spliced elastic pipeline robot of monomer |
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