CN110296296B - Robot for detecting small-caliber chemical pipelines - Google Patents
Robot for detecting small-caliber chemical pipelines Download PDFInfo
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- CN110296296B CN110296296B CN201910618471.1A CN201910618471A CN110296296B CN 110296296 B CN110296296 B CN 110296296B CN 201910618471 A CN201910618471 A CN 201910618471A CN 110296296 B CN110296296 B CN 110296296B
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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
- F16L55/44—Constructional aspects of the body expandable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for detecting a small-caliber chemical pipeline, which relates to the technical field of small-caliber chemical pipeline detection and comprises the following components: a third body part, a second body part, a first body part, an air pump and a controller; the third body part, the second body part and the first body part are fixedly connected in sequence, the third body part, the second body part and the first body part are respectively connected with the air pump, the third body part, the second body part and the first body part are respectively electrically connected with the controller, the third body part can radially deform under the action of the air pump, the second body part can axially deform and turn to deform under the action of the air pump, and the first body part can radially deform under the action of the air pump.
Description
Technical Field
The invention relates to the technical field of chemical small-caliber pipeline detection, in particular to a robot for chemical small-caliber pipeline detection.
Background
At present chemical plant internalization worker pipeline arranges criss-cross, and the pipe diameter size is various, and intraductal transport medium is various, leads to the chemical pipeline condition of breaking to take place occasionally, then because accidents such as the conflagration explosion that the chemical pipeline breaks and leads to also be rare frequently, consequently, for effectively stopping or reducing because the chemical pipeline breaks the emergence that leads to the explosion accident, chemical plant need regularly carry out nondestructive inspection to chemical pipeline inside. However, because some chemical industry small-bore pipeline inner space is narrow and small, current pipeline robot's drive arrangement is great, is difficult to get into in the chemical industry small-bore pipeline and freely removes at the chemical industry small-bore pipeline and detects, and in addition, most chemical industry pipelines are used for transmitting poisonous medium or radioactive medium, then leads to current pipeline robot to be corroded by the interior medium of pipeline in the testing process easily like this.
Disclosure of Invention
The invention aims to provide a robot for detecting a small-diameter chemical pipeline, which solves the problems in the prior art, has the advantages of simple structure and good flexibility, and can freely move in the small-diameter chemical pipeline.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a robot for detecting a small-caliber chemical pipeline, which comprises a third body part, a second body part, a first body part, an air pump and a controller, wherein the third body part is connected with the second body part; the third body part, the second body part and the first body part are sequentially and fixedly connected, the third body part, the second body part and the first body part are respectively connected with the air pump, the air pump is used for providing air for the third body part, the second body part and the first body part, the third body part, the second body part and the first body part are respectively electrically connected with the controller, the controller is used for controlling whether the third body part, the second body part and the first body part are inflated or not and the inflation quantity, the third body part can radially deform under the action of the air pump so as to fix the third body part on the inner wall of the small-caliber pipeline, and the second body part can axially deform and turn under the action of the air pump so as to adjust the third body part, The second body part and the first body part are located in the chemical small-caliber pipeline, and the first body part can radially deform under the action of the air pump so as to fix the first body part on the inner wall of the chemical small-caliber pipeline and detect whether the pipeline at a specific position leaks or not.
Preferably, the third trunk part comprises a third air passing pipe, a third radial brake and a third electromagnetic valve; one end of the third air through pipe is connected with the air pump, the other end of the third air through pipe is connected with the third radial brake, the third radial brake can deform radially after being inflated, the third electromagnetic valve is fixedly arranged on the third air through pipe, and the controller is electrically connected with the third electromagnetic valve and used for controlling whether the third electromagnetic valve is opened or not and the opening degree of the third electromagnetic valve.
Preferably, the third body part further comprises a third left support seat and a third right support seat, the third left support seat and the third right support seat are respectively and fixedly connected to the left end and the right end of the third radial brake, the third vent pipe penetrates through the third left support seat and is hermetically connected with the third left support seat, and the third right support seat is fixedly connected with the second body part.
Preferably, the second body part comprises a second axial brake, a plurality of second vent pipes and a plurality of second electromagnetic valves; the second axial brake is internally and axially provided with a plurality of independent sealed cavities in parallel, each sealed cavity is fixedly connected with one end of one second vent pipe, the other end of each second vent pipe is connected with the air pump, the plurality of sealed cavities in the second axial brake can axially deform after being ventilated, each second vent pipe is fixedly provided with one second electromagnetic valve, each second electromagnetic valve is electrically connected with the controller, and the controller is used for controlling the opening of the second electromagnetic valve and the opening degree of the second electromagnetic valve.
Preferably, the second body part further comprises a second left support seat and a second right support seat, the second left support seat and the second right support seat are respectively and fixedly connected to the left end and the right end of the second axial brake, and the second vent pipe penetrates through the third left support seat, the third right support seat and the second left support seat and is connected with the third left support seat, the third right support seat and the second left support seat in a sealing manner.
Preferably, the second torso part further comprises a reinforcing fiber, and the reinforcing fiber is fixedly wound on the second axial brake along the length direction of the second axial brake and is used for limiting the deformation of the second axial brake in the radial direction after the second axial brake is inflated.
Preferably, the first body part comprises a first radial brake, a top carrying unit, a first vent pipe and a first electromagnetic valve; one end of the first radial brake is fixedly connected with the second right supporting seat, the other end of the first radial brake is fixedly connected with the top carrying unit, a cavity is arranged in the top carrying unit, used for placing a pipeline detection element, one end of the first air pipe is connected with the air pump, the other end of the first air pipe is connected with the first radial brake, the first vent pipe sequentially passes through the third left supporting seat, the third right supporting seat, the second left supporting seat and the second right supporting seat, and is connected with the third left supporting seat, the third right supporting seat, the second left supporting seat and the second right supporting seat in a sealing way, the first electromagnetic valve is fixedly arranged on the first vent pipe and is electrically connected with the controller, the controller is used for controlling whether the first electromagnetic valve is opened or not and the opening degree of the first electromagnetic valve.
Preferably, the pipe section corresponding to the third body part and the first body part in the axial direction of the first vent pipe is a linear pipe section, the pipe section corresponding to the second body part in the axial direction of the first vent pipe is a spiral pipe section, and the spiral pipe section is fixedly sleeved on the periphery of the second axial brake.
Preferably, the number of the seal cavities, the second vent pipes and the second electromagnetic valves is three.
Compared with the prior art, the invention has the following technical effects:
the invention provides a robot for detecting a chemical small-caliber pipeline, which is characterized in that a second body part is inflated by an air pump to enable the second body part to generate axial deformation and turning deformation so as to convey the whole device to a specific position in the chemical small-caliber pipeline, then the third body part and the first body part are inflated by the air pump to enable the third body part and the first body part to generate radial deformation so as to fix the whole device at the specific position of the inner wall of the pipeline, and then the specific position of the pipeline is detected by the first body part to detect whether leakage exists.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a first body part, a second body part and a third body part of a robot for detecting a small-caliber chemical pipeline provided by the invention;
fig. 2 is a schematic structural diagram of a first body part, a second body part and a third body part of the robot for detecting the chemical small-caliber pipeline provided by the invention;
fig. 3 is a schematic structural view of a second axial brake of the robot for detecting the small-caliber chemical pipelines, provided by the invention;
fig. 4 is a schematic view of a first vent pipe structure of the robot for detecting a small-caliber chemical pipeline according to the present invention.
Wherein: 1-the first body; 2-a second torso; 3-third torso part; 4-a second vent pipe; 5-a first vent pipe; 6-carrying the unit on the top; 7-a first radial brake; 8-a third left support seat; 9-second axial brake; 10-reinforcing fibers; 11-third radial brake.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a robot for detecting a small-diameter chemical pipeline, which solves the problems in the prior art, has the advantages of simple structure and good flexibility, and can freely move in the small-diameter chemical pipeline.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIGS. 1-4: the embodiment provides a robot for detecting a small-caliber chemical pipeline, which comprises a third body part 3, a second body part 2, a first body part 1, an air pump and a controller; the third body part 3, the second body part 2 and the first body part 1 are fixedly connected in sequence, the third body part 3, the second body part 2 and the first body part 1 all comprise a silica gel sealed cavity obtained by injecting silica gel into a mould and performing 3D printing, and the silica gel inflated cavity has good flexibility and corrosion resistance, so that the device can be prevented from being corroded by corrosive liquid in a pipeline, the third body part 3, the second body part 2 and the first body part 1 are respectively connected with an air pump, the air pump is fixedly arranged outside a chemical small-caliber pipeline and does not need to enter the chemical small-caliber pipeline, the air pump is used for providing air for the third body part 3, the second body part 2 and the first body part 1, the third body part 3, the second body part 2 and the first body part 1 are respectively electrically connected with a controller, and the controller is used for controlling whether the third body part 3, the second body part 2 and the first body part 1 are inflated or not, the third body part 3 can radially deform under the action of the air pump to fix the third body part 3 on the inner wall of the chemical small-caliber pipeline, the second body part 2 can axially deform and turn under the action of the air pump to adjust the positions of the third body part 3, the second body part 2 and the first body part 1 in the chemical small-caliber pipeline, the first body part 1 can radially deform under the action of the air pump to fix the first body part 1 on the inner wall of the chemical small-caliber pipeline, so that the third body part 3, the second body part 2 and the first body part 1 can freely move in the chemical small-caliber pipeline and can be fixed at a specific position of the inner wall of the chemical small-caliber pipeline as required, and a detection element arranged in the first body part 1 is used for detecting whether the chemical small-caliber pipeline at the specific position leaks or not, so that the existing pipeline cannot enter the chemical small-caliber pipeline due to the large volume of the driving device And detecting the defects.
The third trunk part 3 comprises a third air passing pipe, a third radial brake 11 and a third electromagnetic valve; one end of a third air through pipe is connected with the air pump, the other end of the third air through pipe is connected with a third radial brake 11, the third radial brake 11 can deform radially after being inflated, a third electromagnetic valve is fixedly arranged on the third air through pipe, and a controller is electrically connected with the third electromagnetic valve and used for controlling the opening of the third electromagnetic valve and the opening degree of the third electromagnetic valve, so that the inflation quantity in the third radial brake 11 is controlled.
The second body 2 includes a second axial brake 9, a plurality of second vent pipes 4, and a plurality of second electromagnetic valves; a plurality of independent seal cavities are arranged in parallel in the axial direction inside the second axial brake 9, each seal cavity is fixedly connected with one end of one second vent pipe 4, the other end of each second vent pipe 4 is connected with an air pump, a plurality of seal cavities in the second axial brake 9 can deform in the axial direction after being ventilated, a second electromagnetic valve is fixedly arranged on each second vent pipe 4, each second electromagnetic valve is electrically connected with a controller, the controller is used for controlling whether the second electromagnetic valve is opened or not and the opening degree of the second electromagnetic valve, and further controlling the inflation amount in each seal cavity respectively, so that the second axial brake 9 deforms in a turning manner, and the second axial brake 9 and the first radial brake 7 can move freely in a chemical small-caliber pipeline conveniently.
The second body part 2 further comprises a second left support seat and a second right support seat which are respectively and fixedly connected to the left end and the right end of the second axial brake 9, and the second vent pipe 4 penetrates through the third left support seat 8, the third right support seat and the second left support seat and is hermetically connected with the third left support seat 8, the third right support seat and the second left support seat.
Third left branch seat 8, third right branch seat, second left branch seat and second right branch seat are all through pouring into silica gel into the mould and carry out the silica gel constitutional unit that 3D printed the obtaining.
The second body 2 further comprises a reinforcing fiber 10, and the reinforcing fiber 10 is fixedly wound on the second axial brake 9 along the length direction of the second axial brake 9 and used for limiting the deformation of the second axial brake 9 in the radial direction after being inflated, so that the second axial brake 9 is axially deformed to the maximum extent after being inflated.
The first body part 1 comprises a first radial brake 7, a top carrying unit 6, a first vent pipe 5 and a first electromagnetic valve; one end of a first radial brake 7 is fixedly connected with a second right supporting seat, the other end of the first radial brake 7 is fixedly connected with a top carrying unit 6, a cavity is arranged in the top carrying unit 6 and used for placing a pipeline detection element which is used for detecting whether a pipeline leaks or not, the pipeline detection element comprises a micro camera, whether a crack exists on the side wall of the pipeline or not can be detected by observing a picture shot by the micro camera in the pipeline, whether the pipeline leaks or not can be judged, one end of a first vent pipe 5 is connected with an air pump, the other end of the first vent pipe 5 is connected with the first radial brake 7, the first vent pipe 5 sequentially passes through a third left supporting seat 8, the third right supporting seat, the second left supporting seat and the second right supporting seat and is hermetically connected with the third left supporting seat 8, the third right supporting seat, the second left supporting seat and the second right supporting seat, the first electromagnetic valve is fixedly arranged on the first vent pipe 5 and is electrically connected with the controller, and the controller is used for controlling the opening of the first electromagnetic valve and the opening degree of the first electromagnetic valve so as to control the inflation quantity of the first radial brake 7.
The pipe sections corresponding to the third body part 3 and the first body part 1 in the axial direction of the first vent pipe 5 are linear pipe sections, the pipe sections corresponding to the second body part 2 in the axial direction of the first vent pipe 5 are spiral pipe sections, and the spiral pipe sections are fixedly sleeved on the periphery of the second axial brake 9 and can axially deform along with the second axial brake 9, so that the air tightness of the connecting parts at the two ends of the first vent pipe 5 is ensured.
The number of the sealed cavities, the number of the second vent pipes 4 and the number of the second electromagnetic valves are three, the second electromagnetic valves are respectively controlled according to specific pipeline environments so as to adjust air pressure in the three sealed cavities of the second axial brake 9, and the deflection angle and the elongation required by bending of the second axial brake 9 are generated by utilizing the air pressure difference among the three sealed cavities, so that the bending deformation is completed.
The working process is as follows:
firstly, the controller controls the third electromagnetic valve to open, the air pump charges the third radial brake 11, the third radial brake 11 expands, the third body part 3 is fixed on the inner wall of the pipe, and the first radial brake 7 is in an uninflated state;
secondly, the controller controls the second electromagnetic valve to be opened, the air pump charges air to the second axial brake 9, and the second axial brake 9 expands axially and extends forwards;
thirdly, the controller controls the first electromagnetic valve to be opened, the air pump inflates the first radial brake 7, and the first radial brake 7 expands radially to fix the first body part 1 on the inner wall of the pipe;
fourthly, the controller controls the air pump to simultaneously pump out air in the second axial brake 9 and the third radial brake 11, so that the second axial brake 9 and the third radial brake 11 are simultaneously contracted, at the moment, the first body part 1 is still fixed on the inner wall of the pipe, the third body part 3 is separated from the inner wall of the pipe and can move forwards along with the axial contraction of the second axial brake 9, the controller controls the air pump to inflate the third radial brake 11 after moving to the current position, so that the third body part 3 is radially expanded and fixed on the inner wall of the pipe, meanwhile, the controller reduces the air pressure of the air pump to absorb the air in the first radial brake 7, so that the first body part 1 is separated from the inner wall of the pipe, and controls the air pump to inflate the second axial brake 9 through the controller, so that the second axial brake 9 is axially expanded, and the first body part 1 can be driven to move forwards, thereby advancing the first body portion 1, the second body portion 2 and the third body portion 3;
the four steps form a stride, and the first body part 1, the second body part 2 and the third body part 3 can continuously move forwards in the pipeline by repeating the actions, and when the pipeline moves to a specific position, whether the pipeline at the position is leaked is detected by a pipeline detection element in the top loading unit 6.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a small-bore pipeline of chemical industry detects uses robot which characterized in that: comprises a third body part, a second body part, a first body part, an air pump and a controller; the third body part, the second body part and the first body part are sequentially and fixedly connected, the third body part, the second body part and the first body part are respectively connected with the air pump, the air pump is used for providing air for the third body part, the second body part and the first body part, the third body part, the second body part and the first body part are respectively electrically connected with the controller, the controller is used for controlling whether the third body part, the second body part and the first body part are inflated or not and the inflation quantity, the third body part can radially deform under the action of the air pump so as to fix the third body part on the inner wall of the small-caliber pipeline, and the second body part can axially deform and turn under the action of the air pump so as to adjust the third body part, The second body part and the first body part are positioned in the chemical small-caliber pipeline, and the first body part can radially deform under the action of the air pump so as to fix the first body part on the inner wall of the chemical small-caliber pipeline and detect whether the pipeline at a specific position leaks or not;
the third body part comprises a third air passing pipe, a third radial brake and a third electromagnetic valve; one end of the third air through pipe is connected with the air pump, the other end of the third air through pipe is connected with the third radial brake, the third radial brake can deform radially after being inflated, the third electromagnetic valve is fixedly arranged on the third air through pipe, and the controller is electrically connected with the third electromagnetic valve and used for controlling whether the third electromagnetic valve is opened or not and the opening degree of the third electromagnetic valve.
2. The small-caliber chemical pipeline inspection robot of claim 1, wherein: the third body part further comprises a third left supporting seat and a third right supporting seat, the third left supporting seat and the third right supporting seat are fixedly connected to the left end and the right end of the third radial brake respectively, the third air passing pipe penetrates through the third left supporting seat and is connected with the third left supporting seat in a sealing mode, and the third right supporting seat is fixedly connected with the second body part.
3. The small-caliber chemical pipeline inspection robot of claim 2, wherein: the second body part comprises a second axial brake, a plurality of second vent pipes and a plurality of second electromagnetic valves; the second axial brake is internally and axially provided with a plurality of independent sealed cavities in parallel, each sealed cavity is fixedly connected with one end of one second vent pipe, the other end of each second vent pipe is connected with the air pump, the plurality of sealed cavities in the second axial brake can axially deform after being ventilated, each second vent pipe is fixedly provided with one second electromagnetic valve, each second electromagnetic valve is electrically connected with the controller, and the controller is used for controlling the opening of the second electromagnetic valve and the opening degree of the second electromagnetic valve.
4. The small-caliber chemical pipeline inspection robot of claim 3, wherein: the second body part further comprises a second left supporting seat and a second right supporting seat, the second left supporting seat and the second right supporting seat are respectively and fixedly connected to the left end and the right end of the second axial brake, and the second vent pipe penetrates through the third left supporting seat, the third right supporting seat and the second left supporting seat and is connected with the third left supporting seat, the third right supporting seat and the second left supporting seat in a sealing mode.
5. The small-caliber chemical pipeline inspection robot of claim 3, wherein: the second body part further comprises reinforcing fibers, and the reinforcing fibers are fixedly wound on the second axial brake along the length direction of the second axial brake and used for limiting deformation of the second axial brake in the radial direction after being inflated.
6. The small-caliber chemical pipeline inspection robot of claim 4, wherein: the first body part comprises a first radial brake, a top carrying unit, a first vent pipe and a first electromagnetic valve; one end of the first radial brake is fixedly connected with the second right supporting seat, the other end of the first radial brake is fixedly connected with the top carrying unit, a cavity is arranged in the top carrying unit, used for placing a pipeline detection element, one end of the first vent pipe is connected with the air pump, the other end of the first vent pipe is connected with the first radial brake, the first vent pipe sequentially passes through the third left supporting seat, the third right supporting seat, the second left supporting seat and the second right supporting seat, and is connected with the third left supporting seat, the third right supporting seat, the second left supporting seat and the second right supporting seat in a sealing way, the first electromagnetic valve is fixedly arranged on the first vent pipe and is electrically connected with the controller, the controller is used for controlling whether the first electromagnetic valve is opened or not and the opening degree of the first electromagnetic valve.
7. The small-caliber chemical pipeline inspection robot of claim 6, wherein: the pipe section that third body portion corresponds with first body portion is the linear type pipe section in the first breather pipe axial direction, the pipe section that first breather pipe axial direction corresponds the pipe section that second body portion corresponds is the spiral type pipe section, the fixed cover of spiral pipe section is in the periphery of second axial brake.
8. The small-caliber chemical pipeline inspection robot of claim 3, wherein: the number of the seal cavities, the number of the second vent pipes and the number of the second electromagnetic valves are three.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910618471.1A CN110296296B (en) | 2019-07-10 | 2019-07-10 | Robot for detecting small-caliber chemical pipelines |
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| CN201910618471.1A CN110296296B (en) | 2019-07-10 | 2019-07-10 | Robot for detecting small-caliber chemical pipelines |
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| CN110296296B true CN110296296B (en) | 2020-07-28 |
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| GB2609429A (en) * | 2021-07-30 | 2023-02-08 | Edwards Ltd | A self-propelling pipe maintenance device and method |
Citations (4)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102052236B1 (en) * | 2013-03-04 | 2019-12-04 | 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 | Magnetic assembly of soft robots with hard components |
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2019
- 2019-07-10 CN CN201910618471.1A patent/CN110296296B/en active Active
Patent Citations (4)
| 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 |
| 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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