CN110296296A - Robot is used in a kind of detection of chemical industry small-bore pipeline - Google Patents
Robot is used in a kind of detection of chemical industry small-bore pipeline Download PDFInfo
- Publication number
- CN110296296A CN110296296A CN201910618471.1A CN201910618471A CN110296296A CN 110296296 A CN110296296 A CN 110296296A CN 201910618471 A CN201910618471 A CN 201910618471A CN 110296296 A CN110296296 A CN 110296296A
- Authority
- CN
- China
- Prior art keywords
- body portion
- support seat
- snorkel
- chemical industry
- solenoid valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- F16L55/40—Constructional aspects of the body
- F16L55/44—Constructional aspects of the body expandable
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a kind of chemical industry small-bore pipeline detection robots, are related to chemical industry small-bore pipeline detection technique field, comprising: third body portion, the second body portion, the first body portion, air pump and controller；Third body portion, second body portion and the first body portion are fixedly connected sequentially, and third body portion, second body portion and the first body portion are connect with air pump respectively, third body portion, second body portion and the first body portion are electrically connected with the controller respectively, and third body portion is able to carry out radial deformation under the action of air pump, axial deformation and turning deformation can occur under the action of air pump for the second body portion, under air pump effect radial deformation can occur for the first body portion, the driving motor volume for overcoming existing pipe robot larger can not move freely the technological deficiency detected in small-caliber pipeline, it can adapt to the inner diameter size of small-caliber pipeline, and it can move freely wherein and carry out pipe detection.
Description
Technical field
The present invention relates to chemical industry small-bore pipeline detection technique fields, detect more particularly to a kind of chemical industry small-bore pipeline
Use robot.
Background technique
Chemical industry pipe arrangement is criss-cross in current chemical plant, and pipe diameter size is many kinds of, and the pumped (conveying) medium in pipe is a variety of
Multiplicity, the case where causing chemical pipeline to rupture, happen occasionally, then the accidents such as fire explosion caused by being ruptured due to chemical pipeline
Commonplace, therefore, effectively to prevent or reducing since chemical pipeline rupture leads to the generation of blast accident, chemical plant needs fixed
Phase carries out nondestructive inspection (NDI) to chemical pipeline inside.But since some chemical industry small-bore pipelines inner space is narrow, existing pipe
The driving device of pipeline robot is larger, it is difficult in into chemical industry small-bore pipeline and chemical industry small-bore pipeline move freely into
Row detection is then easy to cause existing pipeline in addition, most chemical pipelines are used for transmission poisonous medium or radiating medium in this way
Robot is corroded by pipeline internal medium in the detection process.
Summary of the invention
The object of the present invention is to provide a kind of chemical industry small-bore pipeline detection robots, are deposited with solving the above-mentioned prior art
The problem of, have the advantages that structure is simple and flexibility is good, can be moved freely in chemical industry small-bore pipeline.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of chemical industry small-bore pipeline detection robot, including third body portion, the second body portion,
First body portion, air pump and controller；Third body portion, second body portion and first body portion are successively fixed
Connection, and third body portion, second body portion and first body portion are connect with the air pump respectively, the gas
Pump is third body portion, described for providing gas for third body portion, the second body portion and first body portion
Second body portion and first body portion are electrically connected with the controller respectively, and the controller is for controlling the third body
Body portion, second body portion and whether first body portion inflates and aeration quantity, and third body portion is described
It is able to carry out radial deformation under the action of air pump, third body portion is fixed on chemical industry small-bore pipeline inner wall, institute
Axial deformation and turning deformation can be occurred under the action of the air pump by stating the second body portion, to adjust the third body
The position of portion, second body portion and first body portion in the chemical industry small-bore pipeline, first body portion
Radial deformation can occur under air pump effect, first body portion is fixed in the chemical industry small-bore pipeline
On wall, and whether the pipeline for detecting specific location leaks.
Preferably, third body portion includes third snorkel, third radial direction brake and third solenoid valve；Described
One end of three snorkels is connect with the air pump, and the other end of the third snorkel is connect with the third radial direction brake,
And radial deformation can occur after the third brake inflation, the third solenoid valve is fixed at the third snorkel
On, and the controller is electrically connected with the third solenoid valve, whether for controlling the unlatching of the third solenoid valve and institute
State the aperture of third solenoid valve.
Preferably, third body portion further includes third left support seat and third right support seat, the third left support
Seat and the third right support seat are respectively fixedly connected in the left and right ends of the third radial direction brake, the third snorkel
It is tightly connected across the third left support seat, and with the third left support seat, the third right support seat and described second
Body portion is fixedly connected.
Preferably, second body portion includes the second line actuator, multiple second snorkels and multiple second electromagnetism
Valve；It is axial inside second line actuator to be set side by side with multiple independent seal cavities, and each seal cavity
It is fixedly connected with one end of second snorkel, the other end of each second snorkel connects with the air pump
It connecing, axial deformation can occur after ventilation for multiple seal cavities in second line actuator, and each described
The second solenoid valve is fixedly installed on two snorkels, each second solenoid valve is electrically connected with the controller
Connect, the controller be used for control the second solenoid valve open whether and the second solenoid valve aperture.
Preferably, second body portion further includes the second left support seat and the second right support seat, second left support
Seat and the second right support seat are respectively fixedly connected in the left and right ends of second line actuator, and second snorkel passes through
The third left support seat, the third right support seat and second left support seat, and with the third left support seat, described
Third right support seat and second left support seat are tightly connected.
Preferably, second body portion further includes reinforcing fiber, and the reinforcing fiber is along second line actuator
Length direction fixation be wrapped on second line actuator, be filled with air for limiting second line actuator
It deforms in the radial direction.
Preferably, first body portion includes the first radial brake, top mounted unit, the first snorkel and first
Solenoid valve；One end of described first radial brake is fixedly connected with the second right support seat, the described first radial brake
The other end be fixedly connected with the top mounted unit, cavity is equipped with inside the top mounted unit, for placing pipeline
One end of detecting element, first snorkel is connect with the air pump, the other end of first snorkel and described first
The connection of radial brake, first snorkel sequentially pass through the third left support seat, the third right support seat, described
Second left support seat and the second right support seat, and with the third left support seat, the third right support seat, described second
Left support seat and the second right support seat are tightly connected, and first solenoid valve is fixed on first snorkel,
First solenoid valve is electrically connected with the controller, the controller be used for control first solenoid valve unlatching whether with
And the aperture of first solenoid valve.
Preferably, the corresponding pipe in third body portion and first body portion on the first snorkel axial direction
Section is linear type pipeline section, and the corresponding pipeline section in second body portion is screw type pipeline section on the first snorkel axial direction,
The spiral shape pipeline section fixing sleeve is located at the periphery of second line actuator.
Preferably, the quantity of the seal cavity, second snorkel and the second solenoid valve is three.
The present invention achieves following technical effect compared with the existing technology:
The present invention provides a kind of chemical industry small-bore pipeline detection robots, are inflated using air pump to the second body portion,
Make the second body portion that axial deformation and turning deformation occur, whole device is delivered to certain bits in chemical industry small-bore pipeline
It sets, air pump is recycled to make third body portion and the first body portion that radial become occur in third body portion and the inflation of the first body portion
Whole device, is fixed on the specific location of inner wall of the pipe by shape, recycle the first body portion to the specific position of pipeline into
Row whether leak detection, due to the tolerance being inflated by air pump to the second body portion, third body portion and the first body portion
It can be adjusted according to internal diameter of the pipeline size to be detected, then can guarantee that chemical industry small-bore pipeline detection robot can be
It is moved freely inside detection pipeline, and detects whether chemical industry small-bore pipeline leaks.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 be chemical industry small-bore pipeline provided by the invention detection the first body portion of robot, the second body portion and
The structural schematic diagram in third body portion；
Fig. 2 be chemical industry small-bore pipeline provided by the invention detection the first body portion of robot, the second body portion and
Third body portion silica gel cellular construction schematic diagram；
Fig. 3 is the second line actuator structural representation that robot is used in chemical industry small-bore pipeline provided by the invention detection
Figure；
Fig. 4 is the first breather pipe structure schematic diagram that robot is used in chemical industry small-bore pipeline provided by the invention detection.
Wherein: the first body of 1- portion；The second body of 2- portion；3- third body portion；The second snorkel of 4-；5- first ventilates
Pipe；Mounted unit at the top of 6-；The radial brake of 7- first；8- third left support seat；The second line actuator of 9-；10- enhancing is fine
Dimension；11- third radial direction brake.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is of the existing technology to solve the object of the present invention is to provide a kind of chemical industry small-bore pipeline detection robot
Problem has the advantages that structure is simple and flexibility is good, and can move freely in chemical industry small-bore pipeline.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in figures 1-4: present embodiments providing a kind of chemical industry small-bore pipeline detection robot, including third body
Body portion 3, the second body portion 2, the first body portion 1, air pump and controller；Third body portion 3, the second body portion 2 and the first body
Portion 1 is fixedly connected sequentially, and third body portion 3, the second body portion 2 and the first body portion 1 include one by infusing in a mold
Enter the silica gel sealing cavity that silica gel is obtained by 3D printing, and silica gel gas-filled cavity has good flexibility and corrosion resistance,
Corroded so can be avoided device by the corrosive liquids in pipeline, and third body portion 3, the second body portion 2 and the first body
Body portion 1 is connect with air pump respectively, and air pump is for being fixedly installed on outside chemical industry small-bore pipeline, without entering chemical industry small-bore pipeline
Interior, air pump is used to provide gas, third body portion 3, the second body for third body portion 3, the second body portion 2 and the first body portion 1
Body portion 2 and the first body portion 1 are electrically connected with the controller respectively, and controller is for controlling third body portion 3,2 and of the second body portion
Whether the first body portion 1 inflates and aeration quantity, and third body portion 3 is able to carry out radial deformation under the action of air pump, with
Third body portion 3 is fixed on chemical industry small-bore pipeline inner wall, axial direction can occur under the action of air pump for the second body portion 2
Deformation and turning deformation, to adjust third body portion 3, the second body portion 2 and the first body portion 1 in chemical industry small-bore pipeline
Under air pump effect radial deformation can occur for position, the first body portion 1, and it is small-bore that chemical industry is fixed in the first body portion 1
In inner wall of the pipe, thus can be in chemical industry small-bore pipeline certainly by third body portion 3, the second body portion 2 and the first body portion 1
By moving, and it is fixed on the specific location of chemical industry small-bore pipeline inner wall as needed, recycles and set inside the first body portion 1
Whether the chemical industry small-bore pipeline for the detecting element detection specific location set leaks, to overcome existing pipe robot
It cannot be introduced into the defect detected inside chemical industry small-bore pipeline since driving device volume is larger.
Third body portion 3 includes third snorkel, third radial direction brake 11 and third solenoid valve；The one of third snorkel
End is connect with air pump, and the other end of third snorkel is connect with third radial direction brake 11, and can after the inflation of third brake
Radial deformation occurs, third solenoid valve is fixed on third snorkel, and controller is electrically connected with third solenoid valve, is used for
Control third solenoid valve open whether and third solenoid valve aperture, and then control third brake in aeration quantity.
Third body portion 3 further includes third left support seat 8 and third right support seat, third left support seat 8 and the right branch of third
Support seat is respectively fixedly connected in the left and right ends of third radial direction brake 11, and third snorkel passes through third left support seat 8, and with
Third left support seat 8 is tightly connected, and third right support seat is fixedly connected with the second body portion 2, third right support seat and the second body
The connection type in body portion 2 is preferably bonded.
Second body portion 2 includes the second line actuator 9, multiple second snorkels 4 and multiple second solenoid valves；Second axis
Multiple independent seal cavities are set side by side with to 9 inside of brake is axial, and each seal cavity is ventilated with one second
One end of pipe 4 is fixedly connected, and the other end of each second snorkel 4 is connect with air pump, multiple in the second line actuator 9
Axial deformation can occur after ventilation for seal cavity, and a second solenoid valve is fixedly installed on each second snorkel 4,
Each second solenoid valve is electrically connected with the controller, controller be used for control second solenoid valve unlatching whether and the second electromagnetism
The aperture of valve, and then the intracorporal aeration quantity of each seal chamber is controlled respectively, make the second line actuator 9 that turning deformation occur, from
And it can be moved freely in chemical industry small-bore pipeline convenient for the second line actuator 9 and the first radial brake 7.
Second body portion 2 further includes the second left support seat and the second right support seat, the second left support seat and the second right support
Seat is respectively fixedly connected in the left and right ends of the second line actuator 9, and it is right that the second snorkel 4 passes through third left support seat 8, third
Support base and the second left support seat, and be tightly connected with third left support seat 8, third right support seat and the second left support seat.
Third left support seat 8, third right support seat, the second left support seat and the second right support seat into mold by infusing
Enter silica gel and carries out the silica gel structure unit that 3D printing obtains.
Second body portion 2 further includes reinforcing fiber 10, and reinforcing fiber 10 is fixed along the length direction of the second line actuator 9
It is wrapped on the second line actuator 9, is filled with air for limiting the second line actuator 9 and deforms in radial directions, make
Axial deformation occurs to greatest extent after inflation for two line actuators 9.
First body portion 1 includes the first radial brake 7, top mounted unit 6, the first snorkel 5 and the first solenoid valve；
One end of first radial brake 7 is fixedly connected with the second right support seat, and the other end of the first radial brake 7 and top are carried
Unit 6 is fixedly connected, and cavity is equipped with inside top mounted unit 6, for placing pipe detection element, pipe detection element is used for
Whether detection pipeline leaks, and pipe detection element includes miniature webcam, through observation miniature webcam inside pipeline
Obtained picture is shot it can be seen that pipe side wall can determine whether pipeline leaks with the presence or absence of crack, first ventilates
One end of pipe 5 is connect with air pump, the connection of the other end of the first snorkel 5 and the first radial brake 7, the first snorkel 5 according to
It is secondary pass through third left support seat 8, third right support seat, the second left support seat and the second right support seat, and with third left support seat
8, third right support seat, the second left support seat and the second right support seat are tightly connected, and it is logical that the first solenoid valve is fixed at first
On tracheae 5, the first solenoid valve is electrically connected with the controller, and whether controller is for controlling the unlatching of the first solenoid valve and first is electric
The aperture of magnet valve, and then control the aeration quantity of the first radial brake 7.
Third body portion 3 and the corresponding pipeline section in the first body portion 1 are linear type pipeline section on first snorkel, 5 axial direction,
The corresponding pipeline section in the second body portion 2 is screw type pipeline section on first snorkel, 5 axial direction, and spiral shape pipeline section fixing sleeve is located at the
With the second line actuator 9 axial deformation can occur for the periphery of two line actuators 9, to guarantee 5 liang of the first snorkel
The air-tightness of the connecting portion at end.
The quantity of seal cavity, the second snorkel 4 and second solenoid valve is three, is divided according to specific pipeline environment
Multiple second solenoid valves are not controlled, to adjust the 9 three intracorporal air pressures of seal chamber of the second line actuator, utilize three seal chambers
Draught head between body makes the second line actuator 9 generate curved required deflection angle and elongation, completes turning deformation.
The course of work is as follows:
The first step, controller control third solenoid valve and open, and air pump inflates third radial direction brake 11, third radial system
Dynamic device 11 expands, and is fixed on third body portion 3 on inside pipe wall, and the first radial brake 77 is in unaerated shape at this time
State；
Second step, controller control second solenoid valve and open, and air pump inflates the second line actuator 9, make the second axial direction
Brake 9 occurs axial expansion and extends forward；
Third step, controller control the first solenoid valve and open, and air pump inflates the first radial brake 77, the first radial system
Dynamic device 7, which is radially expanded, makes the first body portion 1 be fixed on inside pipe wall；
4th step, controller control air pump while extracting the gas in the second line actuator 9 and third radial direction brake 11 out
Body makes the second line actuator 9 and third radial direction brake 11 while shrinking, and the first body portion 1 is still secured to inside pipe wall at this time
On, then third body portion 3 from inside pipe wall be detached from while and can with the axial shrinkage of the second line actuator 9 Xiang Qianyi
Dynamic, controller control air pump inflates third radial direction brake 11 after being moved to current location, brings it about and is radially expanded and incites somebody to action
Third body portion 3 is fixed on inside pipe wall, while controller absorbs the first radial brake 77 by reducing the air pressure of air pump
In gas, make the first body portion 1 from inside pipe wall be detached from, and by controller control air pump the second line actuator 9 is inflated,
Make the second line actuator 9 that axial expansion occur, so as to drive the first body portion 1 to move forward, to make the first body
Portion 1, the second body portion 2 and third body portion 3 advance forward；
Aforementioned four step forms a stride, and the first body portion 1, the second body can be realized in movement more than repetition
The continuous advance of body portion 2 and third body portion 3 in pipeline, when advancing to specific position, inside top mounted unit 6
Whether pipeline leaks at the pipe detection element testing position.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (9)
1. a kind of chemical industry small-bore pipeline detection robot, it is characterised in that: including third body portion, the second body portion, the
One body portion, air pump and controller；Third body portion, second body portion and first body portion are successively fixed to be connected
It connects, and third body portion, second body portion and first body portion are connect with the air pump respectively, the air pump
For providing gas, third body portion, described for third body portion, the second body portion and first body portion
Two body portions and first body portion are electrically connected with the controller respectively, and the controller is for controlling the third body
Portion, second body portion and whether first body portion inflates and aeration quantity, and third body portion is in the gas
It is able to carry out radial deformation under the action of pump, third body portion is fixed on chemical industry small-bore pipeline inner wall, it is described
Second body portion can occur under the action of the air pump axial deformation and turning deformation, with adjust third body portion,
The position of second body portion and first body portion in the chemical industry small-bore pipeline, first body portion is in institute
Radial deformation can be occurred under air pump effect by stating, and the chemical industry small-bore pipeline inner wall is fixed in first body portion
On, and whether the pipeline for detecting specific location leaks.
2. chemical industry small-bore pipeline detection according to claim 1 robot, it is characterised in that: third body portion
Including third snorkel, third radial direction brake and third solenoid valve；One end of the third snorkel is connect with the air pump,
The other end of the third snorkel is connect with the third radial direction brake, and can be occurred after third brake inflation
Radial deformation, the third solenoid valve are fixed on the third snorkel, and the controller and the third electromagnetism
Valve electrical connection, for control the third solenoid valve open whether and the third solenoid valve aperture.
3. chemical industry small-bore pipeline detection according to claim 2 robot, it is characterised in that: third body portion
It further include third left support seat and third right support seat, fixation connects respectively for the third left support seat and the third right support seat
Be connected to the left and right ends of the third radial direction brake, the third snorkel passes through the third left support seat, and with it is described
Third left support seat is tightly connected, and the third right support seat is fixedly connected with second body portion.
4. chemical industry small-bore pipeline detection according to claim 3 robot, it is characterised in that: second body portion
Including the second line actuator, multiple second snorkels and multiple second solenoid valves；It is axial inside second line actuator
Multiple independent seal cavities are set side by side with, and each seal cavity is solid with one end of second snorkel
Fixed connection, the other end of each second snorkel is connect with the air pump, multiple in second line actuator
Axial deformation can occur after ventilation for the seal cavity, be fixedly installed described in one on each second snorkel
Second solenoid valve, each second solenoid valve are electrically connected with the controller, and the controller is for controlling described second
Solenoid valve open whether and the second solenoid valve aperture.
5. chemical industry small-bore pipeline detection according to claim 4 robot, it is characterised in that: second body portion
Further include the second left support seat and the second right support seat, second left support seat and the second right support seat be respectively fixedly connected in
The left and right ends of second line actuator, second snorkel pass through the third left support seat, the right branch of the third
Support seat and second left support seat, and with the third left support seat, the third right support seat and second left support
Seat is tightly connected.
6. chemical industry small-bore pipeline detection according to claim 4 robot, it is characterised in that: second body portion
It further include reinforcing fiber, the reinforcing fiber is wrapped in second axis along the length direction fixation of second line actuator
To on brake, it is filled with air for limiting second line actuator and deforms in radial directions.
7. chemical industry small-bore pipeline detection according to claim 5 robot, it is characterised in that: first body portion
Including the first radial brake, top mounted unit, the first snorkel and the first solenoid valve；The one of described first radial brake
End is fixedly connected with the second right support seat, and the other end of the described first radial brake is fixed with the top mounted unit
Connection is equipped with cavity inside the top mounted unit, for placing pipe detection element, one end of first snorkel with
Air pump connection, the other end of first snorkel are connect with the first radial direction brake, first snorkel according to
It is secondary pass through the third left support seat, the third right support seat, second left support seat and the second right support seat, and
It seals and connects with the third left support seat, the third right support seat, second left support seat and the second right support seat
It connecing, first solenoid valve is fixed on first snorkel, and first solenoid valve is electrically connected with the controller,
The controller be used for control first solenoid valve open whether and first solenoid valve aperture.
8. chemical industry small-bore pipeline detection according to claim 7 robot, it is characterised in that: first snorkel
The corresponding pipeline section in third body portion and first body portion is linear type pipeline section, first snorkel on axial direction
The corresponding pipeline section in second body portion is screw type pipeline section on axial direction, and the spiral shape pipeline section fixing sleeve is located at described the
The periphery of two line actuators.
9. chemical industry small-bore pipeline detection according to claim 4 robot, it is characterised in that: the seal cavity,
The quantity of second snorkel and the second solenoid valve is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910618471.1A CN110296296B (en) | 2019-07-10 | 2019-07-10 | Robot for detecting small-caliber chemical pipelines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910618471.1A CN110296296B (en) | 2019-07-10 | 2019-07-10 | Robot for detecting small-caliber chemical pipelines |
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| Publication Number | Publication Date |
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| CN110296296A true CN110296296A (en) | 2019-10-01 |
| CN110296296B CN110296296B (en) | 2020-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910618471.1A Active CN110296296B (en) | 2019-07-10 | 2019-07-10 | Robot for detecting small-caliber chemical pipelines |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2609429A (en) * | 2021-07-30 | 2023-02-08 | Edwards Ltd | A self-propelling pipe maintenance device and method |
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|---|---|---|---|---|
| CN2359070Y (en) * | 1999-03-25 | 2000-01-19 | 上海大学 | Device for moving robot in thin pipeline |
| CN2486284Y (en) * | 2001-03-01 | 2002-04-17 | 上海大学 | Piezoelectric driving crawl device in tiny pipeline |
| US20160001444A1 (en) * | 2013-03-04 | 2016-01-07 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
| CN106114668A (en) * | 2016-08-04 | 2016-11-16 | 上海应用技术学院 | Pneumatic type software kinematic robot based on Lumbricus motion principle |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
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2019
- 2019-07-10 CN CN201910618471.1A patent/CN110296296B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2359070Y (en) * | 1999-03-25 | 2000-01-19 | 上海大学 | Device for moving robot in thin pipeline |
| CN2486284Y (en) * | 2001-03-01 | 2002-04-17 | 上海大学 | Piezoelectric driving crawl device in tiny pipeline |
| US20160001444A1 (en) * | 2013-03-04 | 2016-01-07 | President And Fellows Of Harvard College | Magnetic assembly of soft robots with hard components |
| CN106114668A (en) * | 2016-08-04 | 2016-11-16 | 上海应用技术学院 | Pneumatic type software kinematic robot based on Lumbricus motion principle |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2609429A (en) * | 2021-07-30 | 2023-02-08 | Edwards Ltd | A self-propelling pipe maintenance device and method |
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| Publication number | Publication date |
|---|---|
| CN110296296B (en) | 2020-07-28 |
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