CN112013204A - Self-adaptive mobile robot for underground pipeline - Google Patents
Self-adaptive mobile robot for underground pipeline Download PDFInfo
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- CN112013204A CN112013204A CN202010890969.6A CN202010890969A CN112013204A CN 112013204 A CN112013204 A CN 112013204A CN 202010890969 A CN202010890969 A CN 202010890969A CN 112013204 A CN112013204 A CN 112013204A
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- omnidirectional wheel
- gear
- driving motor
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- mounting bracket
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- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000003044 adaptive effect Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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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)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
An adaptive mobile robot for downhole tubing, comprising: the device comprises a mounting bracket, a telescopic supporting leg, a gear b, a motor bracket, a driving motor, a panoramic camera and a gear a; the mounting bracket is a rectangular frame; the number of the four telescopic supporting legs is four, and the four telescopic supporting legs are respectively arranged on four side surfaces of the mounting bracket; the middle of the mounting bracket is provided with two motor brackets which are horizontally and symmetrically arranged, and the driving motor is arranged on the upper side surface of the motor bracket close to the upper part; a gear a is fixedly arranged on a driving motor transmission shaft of the driving motor; the camera can observe the image of the area and transmit information to the ground, so that the danger caused by environment uncertainty in detection is avoided. The presence of omni-wheels allows the machine to be free of terrain constraints within the pipeline and work to be done at deeper water.
Description
Technical Field
The invention relates to the field of processing machinery technology and robots, in particular to an underground pipeline self-adaptive mobile robot.
Background
The underground pipeline exploration is an indispensable process in the modern industrial field, the pipeline robots in the current market are generally designed to directly drive a wheel type or adsorption type mechanism by a motor to realize exploration and operate the robots according to acquired image information, although the purpose can be achieved, the traditional pipeline robots cannot adapt to complex conditions due to the fact that the moving mode of the traditional pipeline robots is determined, the use environment is limited, meanwhile, when turning or turning around is involved after the exploration is completed, the robots are required to be returned in a reverse mode like driving, once the conditions in the pipelines are complex, the robots are not smoothly moved in the reverse mode, and if the speed control is not good, the robots are bound to be 'casualty'; if the number of the curves of the pipeline is too many, the detection process is very slow because the robot is protected from touching the pipeline, and the robot cannot be effectively prevented from touching the wall by the reaction of a single person under the rapid condition;
therefore, the invention is urgently needed to solve the technical problem by inventing a downhole pipeline adaptive mobile robot which has strong capacity, high efficiency and adaptive function.
Disclosure of Invention
Aiming at the problems, the invention provides a self-adaptive mobile robot for an underground pipeline, which drives a gear a by controlling a driving motor through a signal of an infrared ranging module, drives a spiral lead screw fixedly connected with a bevel gear to rotate, so that the position of a nut connected with the spiral lead screw on an installation support is changed, further the position change of an omnidirectional wheel arm is realized, the omnidirectional wheel arm can be freely stretched and contracted to adapt to more complicated conditions, and meanwhile, a plant protection motor drives the omnidirectional wheel to rotate, so that the movement speed can be higher, the operation efficiency is improved, the omnidirectional wheel can enable the robot to freely rotate in the pipeline, and the limitation of terrain is eliminated; the robot transmits real-time image information through the panoramic camera.
The technical scheme adopted by the invention is as follows: an adaptive mobile robot for downhole tubing, comprising: the device comprises a mounting bracket, a telescopic supporting leg, a gear b, a motor bracket, a driving motor, a panoramic camera, a steering engine and a gear a;
the mounting bracket is a rectangular frame; the number of the four telescopic supporting legs is four, and the four telescopic supporting legs are respectively arranged on four side surfaces of the mounting bracket; the middle of the mounting bracket is provided with two motor brackets which are horizontally and symmetrically arranged, and the driving motor is arranged on the upper side surface of the motor bracket close to the upper part; a gear a is fixedly arranged on a driving motor transmission shaft of the driving motor; a gear b is fixedly arranged on the telescopic supporting leg on the upper side; the gear a is meshed with the gear b; the steering engine is arranged on the outer side surface above the mounting bracket, and a panoramic camera is arranged above the steering engine so as to realize panoramic shooting;
the telescopic leg comprises: the nut, the screw rod, the bevel gear, the omnidirectional wheel, the plant protection motor, the omnidirectional wheel arm, the spring and the screw rod are rotatably arranged on the motor bracket; one end of the screw rod is fixedly connected with a bevel gear; the other end of the screw rod is in threaded connection with the nut; the nut is slidably mounted on the mounting bracket; the omnidirectional wheel arm is fixedly connected with the nut; the omnidirectional wheel arm is in a tripod shape; the spring is sleeved on the nut; the spring is positioned between the omnidirectional wheel arm and the mounting bracket; an infrared distance measuring module is arranged in the middle of the right side surface of the omnidirectional wheel arm beam; the omnidirectional wheel is arranged on the omnidirectional wheel arm; a plant protection motor is arranged at the mounting position corresponding to the omnidirectional wheel and realizes connection transmission through a transmission shaft of the plant protection motor; two omnidirectional wheels are arranged on the omnidirectional wheel arm;
the driving motor is fixedly provided with a control switch, and bevel gears on the four telescopic supporting legs are correspondingly matched; after the infrared ranging module sends a signal, the driving motor drives the gear a to rotate, and the bevel gear on the upper telescopic supporting leg is driven to rotate through the gear b; the bevel gears on the four telescopic supporting legs are correspondingly matched, so that the bevel gears on the four telescopic supporting legs synchronously rotate to drive the screw rod to rotate, when the screw rod rotates, the nut matched with the screw rod can move up and down, and the end, far away from the screw rod, of the nut is fixedly connected with the bottom of the omnidirectional wheel arm, so that the nut drives the omnidirectional wheel arm to synchronously move up and down in the slotted position of the mounting bracket; the omnidirectional wheel arm can be freely stretched and contracted, so that the omnidirectional wheel arm is suitable for more complex conditions; after the pipeline is detected, the plant protection motor drives the omnidirectional wheel to rotate through the transmission shaft of the plant protection motor, so that the movement speed can be higher, and the omnidirectional wheel can enable the machine to freely rotate in the pipeline to get rid of the limitation of the terrain; and transmitting real-time image information to the ground through the panoramic camera.
Furthermore, an adjustable gearbox is arranged between the driving motor and the driving motor transmission shaft and used for adjusting the output rotating speed of the driving motor transmission shaft.
Further, a motor protection cover is mounted outside the driving motor.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) the invention adopts the omnidirectional wheel arm which realizes free extension by the matching of the screw rod and the nut to adapt to more complex conditions in the underground pipeline.
(2) According to the invention, the infrared distance measuring module is arranged in the middle of the right side surface of the omnidirectional wheel arm beam and is used for automatically adapting to the environment by controlling the driving motor according to the environment, so that the robot is prevented from frequently touching the inner wall of a pipeline due to manual control of a person, and the service life is prolonged.
(3) According to the invention, the spring is arranged between the mounting bracket and the tripod of the omnidirectional wheel arm, so that the nut which moves up and down along with the rotation of the screw rod cannot exceed the limit position, the function of protecting the robot is achieved, and meanwhile, the buffer effect is achieved for the process.
(4) The invention has the advantages that the movement speed can be faster and the operation efficiency can be improved by arranging the structure of the plant protection motor and the omnidirectional wheel, and the omnidirectional wheel can enable the machine to freely rotate in the pipeline to get rid of the limitation of the terrain. And because the structure and the movement mode of the machine are vertical movement, the machine can complete the operation in a deep place.
Drawings
FIG. 1 is an overall assembly view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a top view of the present invention.
Figure 5 is a schematic view of an omni wheel installation.
Fig. 6 is a schematic view of the installation of the rotary camera.
Fig. 7 is a schematic view of a steering mechanism.
Fig. 8 is a partially enlarged view of a portion a.
Reference numerals: the device comprises a mounting support 1, a nut 2, a screw rod 3, a gear b4, a bevel gear 5, a motor support 6, a driving motor 7, an omnidirectional wheel 8, a plant protection motor 9, an omnidirectional wheel arm 10, a spring 11, a panoramic camera 12, an infrared distance measuring module 13, a driving motor shaft 14, a plant protection motor shaft 15, a control switch 16, a steering engine 17 and a gear a 18.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In an embodiment, as shown in fig. 1 to 7, a downhole pipe adaptive mobile robot includes: the device comprises a mounting bracket 1, telescopic supporting legs, a gear b4, a motor bracket 6, a driving motor 7, a panoramic camera 12, a steering engine 17 and a gear a 18;
the mounting bracket 1 is a rectangular frame; the number of the four telescopic supporting legs is four, and the four telescopic supporting legs are respectively arranged on four side surfaces of the mounting bracket 1; the middle of the mounting bracket 1 is provided with two motor brackets 6 which are horizontally and symmetrically arranged, and the driving motor 7 is arranged on the upper side surface of the motor bracket 6 which is close to the upper part; a gear a18 is fixedly arranged on a driving motor transmission shaft 14 of the driving motor 7; a gear b4 is fixedly arranged on the upper telescopic leg; the gear a18 is meshed with the gear b 4; the steering engine 17 is arranged on the outer side surface above the mounting bracket 1, and the panoramic camera 12 is arranged above the steering engine 17, so that panoramic shooting is realized;
the telescopic leg comprises: the device comprises a nut 2, a spiral screw rod 3, a bevel gear 5, an omnidirectional wheel 8, a plant protection motor 9, an omnidirectional wheel arm 10, a spring 11 and the spiral screw rod 3, wherein the spiral screw rod 3 is rotatably arranged on a motor bracket 6; one end of the screw rod 3 is fixedly connected with a bevel gear 5; the other end of the screw rod 3 is in threaded connection with the nut 2; the nut 2 is slidably mounted on the mounting bracket 1; the omnidirectional wheel arm 10 is fixedly connected with the nut 2; the omni-wheel arm 10 is in the shape of a tripod; the spring 11 is sleeved on the nut 2; the spring 11 is positioned between the omni-wheel arm 10 and the mounting bracket 1; an infrared distance measuring module 13 is arranged in the middle of the upper right side of the beam of the omnidirectional wheel arm 10; the omnidirectional wheel 8 is arranged on an omnidirectional wheel arm 10; a plant protection motor 9 is arranged at the mounting position corresponding to the omnidirectional wheel 8 and realizes connection transmission through a plant protection motor transmission shaft 15; two omnidirectional wheels 8 are arranged on the omnidirectional wheel arm 10;
a control switch 16 is fixedly installed on the driving motor 7, and bevel gears 5 on the four telescopic supporting legs are correspondingly matched; after the infrared distance measuring module 13 sends a signal, the driving motor 7 drives the gear a18 to rotate, and the bevel gear 5 on the upper telescopic leg is driven to rotate through the gear b 4; the bevel gears 5 on the four telescopic supporting legs are correspondingly matched, so that the bevel gears 5 on the four telescopic supporting legs synchronously rotate, the screw rod 3 is driven to rotate, when the screw rod rotates, the nut 2 matched with the screw rod 2 can move up and down, and the nut 2 drives the omnidirectional wheel arm 10 to synchronously move up and down in the slotted position of the mounting bracket 1 because one end of the nut 2, which is far away from the screw rod 3, is fixedly connected with the bottom of the omnidirectional wheel arm 10; the omnidirectional wheel arm 10 can be freely stretched and contracted to adapt to more complex conditions; after the pipeline is detected, the plant protection motor 9 drives the omnidirectional wheel 8 to rotate through the plant protection motor transmission shaft 15, so that the movement speed can be faster, and the omnidirectional wheel 8 can enable the machine to freely rotate in the pipeline to get rid of the limitation of the terrain; real-time image information is transmitted to the ground through the panoramic camera 12.
In another implementation manner of the embodiment of the present invention, an adjustable gearbox is disposed between the driving motor 7 and the driving motor transmission shaft 14, and is used for adjusting the output rotation speed of the driving motor transmission shaft 14.
In another embodiment of the present invention, a motor protection cover is installed outside the driving motor 7.
The invention also has at least the following advantages:
the spring 11 is arranged between the omnidirectional wheel arm 10 and the outer side surface of the mounting bracket 1, and after the infrared ranging module 13 sends a signal, the driving motor 7 drives the gear a18 to rotate, and the bevel gear 5 on the upper telescopic supporting leg is driven to rotate through the gear b 4; the bevel gears 5 on the four telescopic supporting legs are correspondingly matched, so that the bevel gears 5 on the four telescopic supporting legs synchronously rotate and further drive the screw rod 3 to rotate, and as the screw rod 3 is fixed on the bevel gear set 5 and the position of the screw rod 3 is fixed, when the screw rod rotates, the nut 2 matched with the screw rod 2 can move up and down, and as one end of the nut 2 far away from the screw rod 3 and the bottom of the omnidirectional wheel arm 10 are in a fixedly connected connection relationship, the nut 2 drives the omnidirectional wheel arm 10 to synchronously move up and down in the groove of the mounting bracket 1, so that the omnidirectional wheel arm 10 can freely stretch and retract to move up and down along with the rotation of the screw rod 3; the nut 2 cannot exceed the limit position, so that the underground pipeline robot is protected, and meanwhile, the process is buffered; when the underground robot moves to a position to be in contact with the wall surface of the pipeline, the underground pipeline robot transmits real-time image information to the ground through the panoramic camera 12, and meanwhile, the infrared ranging module 13 sends a signal to the control switch 16, so that the underground pipeline robot automatically adapts to the environment by controlling the driving motor according to the environment, the robot is prevented from frequently touching the inner wall of the pipeline due to manual control of a human, and the service life is prolonged; after the signal comes, the control switch 16 on the driving motor 7 deals with the signal, the driving motor 7 is directly driven to drive the horizontally placed gear a18 to rotate, and the bevel gear 5 on the upper telescopic leg is driven to rotate through the gear b 4; the bevel gears 5 on the four telescopic supporting legs are correspondingly matched, so that the bevel gears 5 on the four telescopic supporting legs synchronously rotate, and further the spiral screw rod 3 is driven to rotate, and the spiral screw rod is fixed on the bevel gear set 5, so that the nut 2 drives the omnidirectional wheel arm 10 to synchronously move up and down in the groove of the mounting bracket 1, the omnidirectional wheel arm 10 can be freely stretched and contracted to adapt to more complicated conditions, the actions and the principles of the four groups of omnidirectional wheel arms 10 are consistent, and only the direction difference exists; after the pipeline is detected, the plant protection motor 9 drives the omnidirectional wheel 8 to rotate through the plant protection motor transmission shaft 15, so that the movement speed can be faster, the operation efficiency is improved, and the omnidirectional wheel 8 can enable the machine to freely rotate in the pipeline to get rid of the limitation of the terrain; in the pipeline with higher water depth, the structure and the movement mode of the machine are vertical movement, so the operation can be finished in the place with deeper water.
According to the invention, through the arrangement of an overall novel structure and a light-weight design, the structure is not complicated any more and has high symmetry, and the mobility of the underground pipeline robot is improved. Can be used for the survey of various pipelines in various environments.
Claims (3)
1. An adaptive mobile robot for downhole tubing, comprising: the device comprises a mounting bracket (1), telescopic supporting legs, a gear b (4), a motor bracket (6), a driving motor (7), a panoramic camera (12), a steering engine (17) and a gear a (18);
the mounting bracket (1) is a rectangular frame; the number of the four telescopic supporting legs is four, and the four telescopic supporting legs are respectively arranged on four side surfaces of the mounting bracket (1); the middle of the mounting bracket (1) is provided with two motor brackets (6) which are horizontally and symmetrically arranged, and the driving motor (7) is arranged on the upper side surface of the motor bracket (6) close to the upper part; a gear a (18) is fixedly arranged on a driving motor transmission shaft (14) of the driving motor (7); a gear b (4) is fixedly arranged on the upper telescopic supporting leg; the gear a (18) is meshed with the gear b (4); the steering engine (17) is arranged on the outer side surface above the mounting bracket (1), and the panoramic camera (12) is arranged above the steering engine (17) so as to realize panoramic shooting;
the telescopic leg comprises: the device comprises a nut (2), a spiral lead screw (3), a bevel gear (5), an omnidirectional wheel (8), a plant protection motor (9), an omnidirectional wheel arm (10), a spring (11) and the spiral lead screw (3), wherein the spiral lead screw is rotatably arranged on a motor support (6); one end of the screw rod (3) is fixedly connected with a bevel gear (5); the other end of the screw rod (3) is in threaded connection with the nut (2); the nut (2) is slidably mounted on the mounting bracket (1); the omnidirectional wheel arm (10) is fixedly connected with the nut (2); the omnidirectional wheel arm (10) is in a tripod shape; the spring (11) is sleeved on the nut (2); the spring (11) is positioned between the omni-wheel arm (10) and the mounting bracket (1); an infrared ranging module (13) is arranged in the middle of the upper right side surface of the beam of the omnidirectional wheel arm (10); the omnidirectional wheel (8) is arranged on an omnidirectional wheel arm (10); a plant protection motor (9) is arranged at the mounting position corresponding to the omnidirectional wheel (8) and realizes connection transmission through a plant protection motor transmission shaft (15); two omnidirectional wheels (8) are arranged on the omnidirectional wheel arm (10);
a control switch (16) is fixedly installed on the driving motor (7), and bevel gears (5) on the four telescopic supporting legs are correspondingly matched; after the infrared ranging module (13) sends a signal, the driving motor (7) drives the gear a (18) to rotate, and the bevel gear (5) on the upper telescopic supporting leg is driven to rotate through the gear b (4); the bevel gears (5) on the four telescopic supporting legs are correspondingly matched, so that the bevel gears (5) on the four telescopic supporting legs synchronously rotate, the screw rod (3) is driven to rotate, when the screw rod rotates, the nut (2) matched with the screw rod can move up and down, and the nut (2) drives the omnidirectional wheel arm (10) to synchronously move up and down in the grooving position of the mounting bracket (1) due to the fact that one end, far away from the screw rod (3), of the nut (2) is fixedly connected with the bottom of the omnidirectional wheel arm (10); the omnidirectional wheel arm (10) can be freely stretched and contracted, so that the omnidirectional wheel arm is suitable for more complex conditions; after the pipeline is detected, the plant protection motor (9) drives the omnidirectional wheel (8) to rotate through the plant protection motor transmission shaft (15), so that the movement speed can be higher, and the omnidirectional wheel (8) can enable the machine to freely rotate in the pipeline to get rid of the limitation of the terrain; real-time image information is transmitted to the ground through the panoramic camera (12).
2. A downhole tubular adaptive mobile robot according to claim 1, wherein an adjustable gearbox is arranged between the driving motor (7) and the driving motor transmission shaft (14) for adjusting the output rotation speed of the driving motor transmission shaft (14).
3. A downhole tubular adaptive mobile robot according to any of claims 1-2, wherein a motor protection cover is mounted on the outside of the driving motor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010890969.6A CN112013204A (en) | 2020-08-29 | 2020-08-29 | Self-adaptive mobile robot for underground pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010890969.6A CN112013204A (en) | 2020-08-29 | 2020-08-29 | Self-adaptive mobile robot for underground pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112013204A true CN112013204A (en) | 2020-12-01 |
Family
ID=73503902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010890969.6A Withdrawn CN112013204A (en) | 2020-08-29 | 2020-08-29 | Self-adaptive mobile robot for underground pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112013204A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104734A (en) * | 2021-04-26 | 2021-07-13 | 北京中海兴达建设有限公司 | Visual operation overhead hoist based on artificial intelligence |
| CN114962853A (en) * | 2022-05-10 | 2022-08-30 | 西南石油大学 | Gear-shifting adjusting type pipeline robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997014903A2 (en) * | 1995-10-16 | 1997-04-24 | Siemens Aktiengesellschaft | Inner manipulator for testing or processing the inner surface of a pipe |
| KR101581694B1 (en) * | 2014-11-13 | 2016-01-04 | 승리전력기술(주) | Device for measuring deformation of pipe route |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN207814754U (en) * | 2017-12-26 | 2018-09-04 | 天津市德施普科技有限公司 | A kind of pipe robot |
| CN110762336A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Intelligent pipeline inspection system |
-
2020
- 2020-08-29 CN CN202010890969.6A patent/CN112013204A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997014903A2 (en) * | 1995-10-16 | 1997-04-24 | Siemens Aktiengesellschaft | Inner manipulator for testing or processing the inner surface of a pipe |
| KR101581694B1 (en) * | 2014-11-13 | 2016-01-04 | 승리전력기술(주) | Device for measuring deformation of pipe route |
| CN106151770A (en) * | 2016-08-12 | 2016-11-23 | 广东工业大学 | A kind of pipeline mobile robot device |
| CN207814754U (en) * | 2017-12-26 | 2018-09-04 | 天津市德施普科技有限公司 | A kind of pipe robot |
| CN110762336A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Intelligent pipeline inspection system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104734A (en) * | 2021-04-26 | 2021-07-13 | 北京中海兴达建设有限公司 | Visual operation overhead hoist based on artificial intelligence |
| CN113104734B (en) * | 2021-04-26 | 2021-11-02 | 北京中海兴达建设有限公司 | Visual operation overhead hoist based on artificial intelligence |
| CN114962853A (en) * | 2022-05-10 | 2022-08-30 | 西南石油大学 | Gear-shifting adjusting type pipeline robot |
| CN114962853B (en) * | 2022-05-10 | 2023-05-23 | 西南石油大学 | Gear shifting adjusting type pipeline robot |
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Application publication date: 20201201 |