CN109990167B - 一种利用磁性吸附的轮式管道检测机器人 - Google Patents
一种利用磁性吸附的轮式管道检测机器人 Download PDFInfo
- Publication number
- CN109990167B CN109990167B CN201910128584.3A CN201910128584A CN109990167B CN 109990167 B CN109990167 B CN 109990167B CN 201910128584 A CN201910128584 A CN 201910128584A CN 109990167 B CN109990167 B CN 109990167B
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- Prior art keywords
- magnetic
- pipeline
- magnet steel
- control mechanism
- adsorption
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 title abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 40
- 239000010959 steel Substances 0.000 claims abstract description 40
- 230000002441 reversible effect Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000005284 excitation Effects 0.000 claims abstract description 10
- 238000007689 inspection Methods 0.000 claims description 12
- 230000006978 adaptation Effects 0.000 claims 1
- 230000004907 flux Effects 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 6
- 230000005389 magnetism Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
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
- F16L55/40—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)
Abstract
Description
Claims (5)
Priority Applications (1)
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CN201910128584.3A CN109990167B (zh) | 2019-02-21 | 2019-02-21 | 一种利用磁性吸附的轮式管道检测机器人 |
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CN201910128584.3A CN109990167B (zh) | 2019-02-21 | 2019-02-21 | 一种利用磁性吸附的轮式管道检测机器人 |
Publications (2)
Publication Number | Publication Date |
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CN109990167A CN109990167A (zh) | 2019-07-09 |
CN109990167B true CN109990167B (zh) | 2020-10-30 |
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CN201910128584.3A Active CN109990167B (zh) | 2019-02-21 | 2019-02-21 | 一种利用磁性吸附的轮式管道检测机器人 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113945628B (zh) * | 2021-11-09 | 2024-05-03 | 中国特种设备检测研究院 | 用于大型储罐壁板漏磁检测机器人的磁场调整装置及方法 |
CN116698853B (zh) * | 2023-08-01 | 2023-09-29 | 广东晟惠检测科技有限公司 | 一种无损检测成像装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101292879B1 (ko) * | 2011-08-24 | 2013-08-02 | 한국원자력연구원 | 자력 조절이 가능한 배관 탐사용 이동 로봇 |
CN106608307A (zh) * | 2016-09-14 | 2017-05-03 | 中科新松有限公司 | 爬壁复合机器人 |
CN106828650A (zh) * | 2017-03-24 | 2017-06-13 | 洛阳圣瑞智能机器人有限公司 | 一种用于磁吸附爬壁机器人的磁吸附舵轮 |
CN106863257A (zh) * | 2015-12-14 | 2017-06-20 | 重庆丽友软件科技有限公司 | 一种石油管道用智能巡检机器人 |
CN206988692U (zh) * | 2017-05-16 | 2018-02-09 | 黑龙江广森国土勘测设计有限公司 | 一种新型管道探测设备 |
-
2019
- 2019-02-21 CN CN201910128584.3A patent/CN109990167B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101292879B1 (ko) * | 2011-08-24 | 2013-08-02 | 한국원자력연구원 | 자력 조절이 가능한 배관 탐사용 이동 로봇 |
CN106863257A (zh) * | 2015-12-14 | 2017-06-20 | 重庆丽友软件科技有限公司 | 一种石油管道用智能巡检机器人 |
CN106608307A (zh) * | 2016-09-14 | 2017-05-03 | 中科新松有限公司 | 爬壁复合机器人 |
CN106828650A (zh) * | 2017-03-24 | 2017-06-13 | 洛阳圣瑞智能机器人有限公司 | 一种用于磁吸附爬壁机器人的磁吸附舵轮 |
CN206988692U (zh) * | 2017-05-16 | 2018-02-09 | 黑龙江广森国土勘测设计有限公司 | 一种新型管道探测设备 |
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Effective date of registration: 20200929 Address after: 311800 2701-1 langzhen building, No.88, Dongyi Road, Huandong street, Zhuji City, Shaoxing City, Zhejiang Province Applicant after: Zhuji Xiuzhu building materials Co.,Ltd. Address before: 310023, Zhejiang University of Science and Technology, Xihu District, Zhejiang province 318 Hangzhou Road Applicant before: Jiao Yang |
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Effective date of registration: 20211213 Address after: 311800 No. 400, Xixin village, Datang Town, Zhuji City, Shaoxing City, Zhejiang Province Patentee after: Zhuji yashijie Knitting Co.,Ltd. Address before: 311800 2701-1 langzhen building, No.88, Dongyi Road, Huandong street, Zhuji City, Shaoxing City, Zhejiang Province Patentee before: Zhuji Xiuzhu building materials Co.,Ltd. |
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Denomination of invention: A wheeled pipeline inspection robot using magnetic adsorption Effective date of registration: 20211220 Granted publication date: 20201030 Pledgee: Datang sub branch of Zhejiang Zhuji Rural Commercial Bank Co.,Ltd. Pledgor: Zhuji yashijie Knitting Co.,Ltd. Registration number: Y2021980015358 |
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Date of cancellation: 20230104 Granted publication date: 20201030 Pledgee: Datang sub branch of Zhejiang Zhuji Rural Commercial Bank Co.,Ltd. Pledgor: Zhuji yashijie Knitting Co.,Ltd. Registration number: Y2021980015358 |
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