CN112976001A - Piping lane inspection robot - Google Patents
Piping lane inspection robot Download PDFInfo
- Publication number
- CN112976001A CN112976001A CN202110210837.9A CN202110210837A CN112976001A CN 112976001 A CN112976001 A CN 112976001A CN 202110210837 A CN202110210837 A CN 202110210837A CN 112976001 A CN112976001 A CN 112976001A
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- pipeline
- inspection robot
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- 238000007689 inspection Methods 0.000 title claims abstract description 74
- 238000007789 sealing Methods 0.000 claims abstract description 121
- 239000003566 sealing material Substances 0.000 claims abstract description 35
- 230000008439 repair process Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 239000011248 coating agent Substances 0.000 abstract 1
- 238000000576 coating method Methods 0.000 abstract 1
- 238000005485 electric heating Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000565 sealant Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012945 sealing adhesive Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots. The invention discloses a pipe gallery inspection robot which comprises an information acquisition unit, a control unit, a walking unit and a sealing unit, wherein the sealing unit comprises a roller sealing device and a clamping driving device, the roller sealing device comprises a sealing roller used for carrying sealing materials and coating the sealing materials on the surface of a damaged pipeline for repairing, a roller driving device used for driving the sealing roller to move around the surface of the damaged pipeline, and a shell used for protecting and bearing the roller and the driving device. The pipe rack inspection robot can detect the pipeline leakage condition in the pipe rack, and can automatically and continuously repair the damaged pipeline, so that the participation degree of workers is reduced, and the working efficiency is improved; the pipe gallery inspection robot can automatically perform subsequent pipeline detection and damaged pipeline repair work after completing a damaged pipeline sealing task, and does not need extra manual intervention.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a sealing mechanism of a pipe rack inspection robot and the pipe rack inspection robot.
Background
The existing pipe gallery inspection robot can detect the leakage condition of the gas pipeline in the pipe gallery, but the robot in the prior art can only give an alarm on the leakage condition generally, and then still needs a worker to treat the leakage condition, the robot cannot take measures such as sealing the leakage pipeline to treat the leakage condition, the leakage still occurs in the waiting time of the robot, the danger of the pipe gallery is still increased, and the danger can be increased.
Certainly, an inspection robot capable of simply repairing a damaged pipeline also appears in the prior art, for example, chinese patent publication No. CN108414153A discloses an intelligent pipe gallery inspection robot with an emergency function in 2018, 8, 17, which includes a main body, a moving wheel and a camera, and further includes an adjusting mechanism, a sealing mechanism and a detecting mechanism, the intelligent pipe gallery inspection robot with an emergency function first starts the adjusting mechanism to move the sealing mechanism to a position corresponding to a pipeline, then the moving wheel drives the main body to move, so that the sealing mechanism moves along the pipeline, and at the same time, the detecting mechanism starts to detect the gas concentration around the pipeline, when the gas concentration at a certain position exceeds a standard, the main body stops walking, the sealing mechanism starts to perform emergency sealing treatment on the corresponding pipeline section, so as to reduce the leakage amount of gas of a worker in the period of arriving at a scene, the danger of the operation of the pipe gallery is reduced, and the practicability of the inspection robot is enhanced; but this inspection robot can only seal a pipeline and reveal to can only wait to finish this sealed task after the staff arrives, reduced robot's availability factor.
Disclosure of Invention
In order to solve the problem that the pipe gallery inspection robot in the prior art cannot treat the leakage of the pipeline or independently treat the leakage of the pipeline, the invention provides a sealing mechanism of the pipe gallery inspection robot, which can enable the pipe gallery inspection robot to independently treat the leakage of the pipeline and continuously complete the sealing treatment of a plurality of damaged pipelines.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a piping lane inspection robot, comprising:
the information acquisition unit is used for acquiring routing inspection related information including pipeline damage information;
the control unit is used for receiving the instruction, controlling the corresponding mechanisms to finish walking, obstacle avoidance and sealing treatment on the damaged pipeline, and sending the position and the state of the pipe rack inspection robot and the information acquired by the information acquisition unit back to the remote control end in real time so as to ensure that the pipe rack inspection robot finishes inspection work and repair work on the damaged pipeline and acquires corresponding inspection information;
the walking unit is used for driving the pipe gallery inspection robot to complete the functions of walking, obstacle avoidance and sealing treatment of the damaged pipeline under the control of the control unit;
a sealing unit for continuously sealing the pipe;
the sealing unit is provided with a sealing unit which comprises,
roller sealing device for continuously sealing the damaged pipeline, comprising: a sealing roller for carrying sealing material and applying the sealing material to the surface of the damaged pipeline for repair; the roller driving device is used for driving the sealing roller to move around the surface of the damaged pipeline; the shell is used for protecting and bearing the roller and the driving device;
and the clamping driving device is used for driving the roller sealing device to perform opening and closing movement relative to the damaged pipeline under the control of the control unit.
Preferably, the clamping driving device comprises a driving wheel, a driving rod, a driving block and a push rod,
the driving block is connected with the driving wheel through the driving rod, the driving wheel rotates and drives the driving block to move through the driving rod, the driving block is connected with the roller sealing device through the push rod, and the driving block moves and drives the roller sealing device to perform separation and combination movement through the push rod.
Preferably, the seal roller comprises a roller and a support rod which passes through the roller and is fixedly connected with the roller.
Preferably, the roller driving device of the roller sealing device includes: a drive motor, a drive gear and a gear track;
the driving motor drives the driving gear to move along the gear track.
Preferably, the supporting rod in the seal roller is connected with the driving motor, and at least one end of the supporting rod, which is close to the driving motor, is fixedly provided with the driving gear.
Preferably, a limit baffle is further arranged on the shell or the gear track, so that the driving gear does not depart from the gear track in the movement process.
Preferably, the shell is a semicircular tubular shell capable of enabling the roller to be attached to the pipeline, and the gear track is attached to the inner wall of the shell.
Preferably, in the sealing mechanism, the roller sealing devices are arranged in pairs, and the roller sealing devices arranged in pairs form a complete round tubular structure after being closed relative to the damaged pipeline under the driving of the clamping driving device.
Preferably, at least one layer of sealing material capable of adhering to the surface of the damaged pipeline is wound on the surface of the sealing roller, so that the sealing material is contacted with the surface of the damaged pipeline and adhered to the surface of the damaged pipeline on the sealing roller; or, a cavity for containing sealing materials is arranged in the sealing roller, and the surface of the roller is provided with a hole structure connected with the cavity, so that the sealing materials are coated on the surface of the damaged pipeline through the hole structure by the cavity when the sealing roller is in contact with the surface of the damaged pipeline.
Preferably, at least one layer of strip-shaped sealing material for repairing the surface of the damaged pipeline is wound on the surface of the roller, so that the sealing material is contacted with the surface of the damaged pipeline and adhered to the surface of the damaged pipeline. In particular, the pipe sealing tape can be used.
Preferably, the roller is provided with a cavity for containing the liquid sealing material, and the surface of the roller forms a hole structure for allowing the liquid sealing material to pass through, so that the liquid sealing material flows out through the hole structure after the surface of the roller contacts with the surface of the damaged pipeline.
Preferably, the roller is provided with a cavity for accommodating a solid sealing material, the cavity can increase the fluidity of the sealing material when needed, and the surface of the roller is provided with a hole structure for allowing the sealing material with increased fluidity to pass through, so that the sealing material is coated on the surface of the damaged pipeline through the hole structure by the cavity when the sealing roller is in contact with the surface of the damaged pipeline.
Therefore, the invention has the following beneficial effects:
the pipe rack inspection robot can detect the pipeline leakage condition in the pipe rack, and can automatically and continuously repair the damaged pipeline, so that the participation degree of workers is reduced, and the working efficiency is improved;
after the pipeline corridor inspection robot finishes the task of sealing the damaged pipeline once, the pipeline corridor inspection robot can automatically perform subsequent pipeline detection and damaged pipeline repair work without extra manual intervention.
Drawings
FIG. 1 is a schematic view of a sealing mechanism according to the present invention;
FIG. 2 is a schematic view of the roller sealing device of the present invention;
FIG. 3 is a schematic bottom view of the roller seal assembly of the present invention;
FIG. 4 is a schematic sectional view of a seal roller according to embodiment 1 of the present invention;
FIG. 5 is a schematic sectional view of a seal roller according to embodiment 2 of the present invention;
FIG. 6 is a schematic diagram of a pipe gallery inspection robot according to the present invention;
in the figure: the sealing mechanism 100, the roller sealing device 110, the sealing roller 10, the roller 11, the support rod 12, the pipeline sealing tape 13, the cavity 14, the hole structure 15, the roller driving device 20, the driving motor 21, the driving gear 22, the gear track 23, the shell 30, the limit baffle 31, the clamping driving device 120, the driving wheel 41, the driving rod 42, the driving block 43 and the push rod 44; the system comprises an information acquisition system 200, a main control system 300, a driving system 400 and a damaged pipeline 500.
Detailed Description
The technical solution of the present invention will be further described with reference to the following embodiments.
It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, 2, 3, 4 and 6, a pipe gallery inspection robot includes a body,
as shown in fig. 6, the body includes thereon:
the information acquisition system 200 comprises a sensor and is used for acquiring routing inspection related information including pipeline information;
the main control system 300 is used for receiving instructions, controlling corresponding mechanisms to finish walking, obstacle avoidance and sealing treatment on the damaged pipeline 500, and sending the position and state of the pipe rack inspection robot and information acquired by the information acquisition system back to the remote control end in real time so as to ensure that the pipe rack inspection robot finishes inspection work, repairs the damaged pipeline 500 and acquires corresponding inspection information;
the driving system 400 is used for driving the pipe gallery inspection robot to complete the functions of walking, obstacle avoidance and sealing treatment of the damaged pipeline 500 under the control of the main control system;
further comprising a sealing mechanism 100 for continuously repairing a damaged pipe 500 in said pipe rack;
as shown in fig. 1, the sealing mechanism includes:
a roller sealing device 110 (shown in fig. 2 and 3), for sealing the damaged pipe 500,
the method comprises the following steps:
the sealing roller 10 is used for carrying sealing materials and applying the sealing materials to the surface of the damaged pipeline 500 for repair, the sealing roller comprises a roller 11 and a supporting rod 12 which penetrates through the roller 11 and is fixedly connected with the roller 11, the supporting rod 12 in the sealing roller 10 is connected with the driving motor 21, and two ends of the supporting rod 12 are fixedly provided with a driving gear 22 respectively;
a roll of pipeline sealing tape 13 capable of adhering to the surface of the damaged pipeline 500 is wound on the surface of the sealing roller 10, so that the sealing material is adhered to the surface of the damaged pipeline 500 in a contact manner on the surface of the sealing roller and the damaged pipeline 500, and the repair work of the damaged pipeline 500 is realized, as shown in fig. 4;
a roller driving device 20 for driving the sealing roller 10 to move around the surface of the damaged pipe, the roller driving device comprising: the driving device comprises a driving motor 21, a driving gear 22 and a gear track 23, wherein the driving motor 21 drives the driving gear 22 to move along the gear track 23;
the shell 30 is used for protecting and bearing the roller 11 and the driving device 20, the shell 30 is in a semicircular tube shape which can enable the roller 11 to be attached to a pipeline, and the gear track 23 is attached to the inner wall of the shell 30;
the shell 30 is further provided with a limit baffle 31, so that the driving gear 22 does not depart from the gear track 23 in the movement process; in the sealing mechanism 100, the roller sealing devices 110 are arranged in pairs, and the roller sealing devices 110 arranged in pairs form a complete circular tubular structure after being driven by the clamping driving device 120 to be closed relative to the damaged pipeline 500;
a clamping driving device 120 for driving the roller sealing device 20 to perform opening and closing movements with respect to the damaged pipe 500; the clamping driving device 120 comprises a driving wheel 41, a driving rod 42, a driving block 43 and a push rod 44, wherein the driving block 43 is connected with the driving wheel 41 through the driving rod 42, the driving wheel 41 rotates and drives the driving block 43 to move through the driving rod 42, the driving block 43 is connected with the roller sealing device 110 through the push rod 44, and the driving block 43 moves and drives the roller sealing device 110 to perform separation and combination movement through the push rod 44.
In the inspection robot in the embodiment, the main control system controls the driving system to autonomously perform inspection work in the pipe gallery, the information acquisition system acquires inspection information, particularly pipeline leakage information, through the sensor in the inspection process, and meanwhile, the information obtained by inspection is sent back to the remote control end; when the pipeline is found to be leaked by inspection, the inspection robot is close to the pipeline, the main control system controls the sealing mechanism to be adjusted to be aligned to the corresponding damaged position of the pipeline, after the height and the position of the sealing mechanism are adjusted, the clamping driving system drives the sealing rollers to be close to the damaged pipeline, so that the two roller sealing devices distributed at the upper and lower positions are positioned at the upper and lower rooms of the damaged pipeline, and then the clamping driving device drives the two roller sealing devices to be folded to clamp the damaged pipeline; then the roller driving device drives the driving gear to move, so that the sealing roller moves along the gear track in the shell, and meanwhile, the pipeline sealing adhesive tape wound on the sealing roller contacts the surface of the damaged pipeline and is adhered to the surface of the damaged pipeline to realize the repair work of the damaged pipeline; and after finishing the work, the inspection robot withdraws the sealing mechanism and restores the sealing mechanism to the original state, and continues the subsequent inspection work and the repair work of the damaged pipeline.
Example 2
As shown in fig. 1, 2, 3, 5 and 6, a pipe gallery inspection robot includes a body,
as shown in fig. 6, the body includes thereon:
the information acquisition system 200 comprises a sensor and is used for acquiring routing inspection related information including pipeline information;
the main control system 300 is used for receiving instructions, controlling corresponding mechanisms to finish walking, obstacle avoidance and sealing treatment on the damaged pipeline 500, and sending the position and state of the pipe rack inspection robot and information acquired by the information acquisition system back to the remote control end in real time so as to ensure that the pipe rack inspection robot finishes inspection work, repairs the damaged pipeline 500 and acquires corresponding inspection information;
the driving system 400 is used for driving the pipe gallery inspection robot to complete the functions of walking, obstacle avoidance and sealing treatment of the damaged pipeline 500 under the control of the main control system;
further comprising a sealing mechanism 100 for continuously repairing a damaged pipe 500 in said pipe rack;
as shown in fig. 1, the sealing mechanism includes:
a roller sealing device 110 (shown in fig. 2 and 3), for sealing the damaged pipe 500,
the method comprises the following steps:
the sealing roller 10 is used for carrying sealing materials and applying the sealing materials to the surface of the damaged pipeline 500 for repair, the sealing roller comprises a roller 11 and a supporting rod 12 which penetrates through the roller 11 and is fixedly connected with the roller 11, the supporting rod 12 in the sealing roller 10 is connected with the driving motor 21, and two ends of the supporting rod 12 are fixedly provided with a driving gear 22 respectively;
the roller 11 is provided with a cavity 14 for containing liquid sealing material, meanwhile, the surface of the roller 11 forms a hole structure 15 for allowing the sealing material to pass through, the support rod 12 has an electric heating function, and the sealing material is sealant which can flow out from the hole structure after being heated, as shown in fig. 5;
a roller driving device 20 for driving the sealing roller 10 to move around the surface of the damaged pipe 500, the roller driving device comprising: the driving device comprises a driving motor 21, a driving gear 22 and a gear track 23, wherein the driving motor 21 drives the driving gear 22 to move along the gear track 23;
the shell 30 is used for protecting and bearing the roller 11 and the driving device 20, the shell 30 is in a semicircular tube shape which can enable the roller 11 to be attached to a pipeline, and the gear track 23 is attached to the inner wall of the shell 30;
the shell 30 is further provided with a limit baffle 31, so that the driving gear 22 does not depart from the gear track 23 in the movement process; in the sealing mechanism 100, the roller sealing devices 110 are arranged in pairs, and the roller sealing devices 110 arranged in pairs form a complete circular tubular structure after being driven by the clamping driving device 120 to be closed relative to the damaged pipeline 500;
a clamping driving device 120 for driving the roller sealing device 20 to perform opening and closing movements with respect to the damaged pipe 500; the clamping driving device 120 comprises a driving wheel 41, a driving rod 42, a driving block 43 and a push rod 44, wherein the driving block 43 is connected with the driving wheel 41 through the driving rod 42, the driving wheel 41 rotates and drives the driving block 43 to move through the driving rod 42, the driving block 43 is connected with the roller sealing device 110 through the push rod 44, and the driving block 43 moves and drives the roller sealing device 110 to perform separation and combination movement through the push rod 44.
In the inspection robot in the embodiment, the main control system controls the driving system to autonomously perform inspection work in the pipe gallery, the information acquisition system acquires inspection information, particularly pipeline leakage information, through the sensor in the inspection process, and meanwhile, the information obtained by inspection is sent back to the remote control end; when the pipeline is found to be leaked by inspection, the inspection robot is close to the pipeline, the main control system controls the sealing mechanism to be adjusted to be aligned to the corresponding damaged position of the pipeline, after the height and the position of the sealing mechanism are adjusted, the clamping driving system drives the sealing rollers to be close to the damaged pipeline, so that the two roller sealing devices distributed at the upper and lower positions are positioned at the upper and lower rooms of the damaged pipeline, and then the clamping driving device drives the two roller sealing devices to be folded to clamp the damaged pipeline; then the roller driving device drives the driving gear to move, so that the sealing roller moves along the gear track in the shell, and meanwhile, the supporting rod with the electric heating function is started to heat, so that the sealant in the roller cavity is melted and flows out of the hole structure on the surface of the roller to be coated on the surface of the damaged pipeline, and the repair work of the damaged pipeline is realized; and after finishing the work, the inspection robot withdraws the sealing mechanism and restores the sealing mechanism to the original state, and continues the subsequent inspection work and the repair work of the damaged pipeline.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a robot is patrolled and examined to piping lane which characterized in that includes:
the information acquisition unit is used for acquiring routing inspection related information including pipeline damage information;
the control unit is used for receiving the instruction, controlling the corresponding mechanisms to finish walking, obstacle avoidance and sealing treatment on the damaged pipeline, and sending the position and the state of the pipe rack inspection robot and the information acquired by the information acquisition unit back to the remote control end in real time so as to ensure that the pipe rack inspection robot finishes inspection work and repair work on the damaged pipeline and acquires corresponding inspection information;
the walking unit is used for driving the pipe gallery inspection robot to complete the functions of walking, obstacle avoidance and sealing treatment of the damaged pipeline under the control of the control unit;
a sealing unit for continuously sealing the pipe;
the sealing unit is provided with a sealing unit which comprises,
roller sealing device for continuously sealing the damaged pipeline, comprising: a sealing roller for carrying sealing material and applying the sealing material to the surface of the damaged pipeline for repair; the roller driving device is used for driving the sealing roller to move around the surface of the damaged pipeline; the shell is used for protecting and bearing the roller and the driving device;
and the clamping driving device is used for driving the roller sealing device to perform opening and closing movement relative to the damaged pipeline under the control of the control unit.
2. The pipe gallery inspection robot according to claim 1, characterized in that:
the clamping driving device comprises a driving wheel, a driving rod, a driving block and a push rod,
the driving block is connected with the driving wheel through the driving rod, the driving wheel rotates and drives the driving block to move through the driving rod, the driving block is connected with the roller sealing device through the push rod, and the driving block moves and drives the roller sealing device to perform separation and combination movement through the push rod.
3. The pipe gallery inspection robot according to claim 1, characterized in that:
the sealing roller comprises a roller and a supporting rod which penetrates through the roller and is fixedly connected with the roller;
the roller driving device includes: a drive motor, a drive gear and a gear track;
the driving motor drives the driving gear to move along the gear track.
4. The pipe gallery inspection robot according to claim 3, characterized in that:
the supporting rod in the sealing roller is connected with the driving motor, so that the driving motor drives the sealing roller to move, and meanwhile, one end, close to the driving motor, of the supporting rod is fixedly provided with the driving gear.
5. The pipe gallery inspection robot according to claim 3, characterized in that:
and a limiting baffle is further arranged on the shell or the gear track, so that the driving gear does not depart from the gear track in the movement process.
6. The pipe gallery inspection robot according to claim 1, characterized in that:
the casing is for enabling the semi-circular tubular casing of gyro wheel laminating pipeline, the laminating of gear track is located on the inner wall of casing.
7. The pipe gallery inspection robot according to claim 1, characterized in that:
the roller sealing devices are arranged in pairs, and the roller sealing devices arranged in pairs form a complete circular tubular structure after being closed relative to the damaged pipeline under the driving of the clamping driving device.
8. The pipe gallery inspection robot according to claim 1, characterized in that:
at least one layer of strip-shaped sealing material which can be used for being adhered to the surface of the damaged pipeline is wound on the surface of the sealing roller, so that the sealing material is contacted with the surface of the damaged pipeline and adhered to the surface of the damaged pipeline.
9. The pipe gallery inspection robot according to claim 1, characterized in that:
the sealing roller is provided with a cavity for containing liquid sealing material, and the surface of the roller is provided with a hole structure connected with the cavity, so that the sealing material is coated on the surface of the damaged pipeline through the hole structure by the cavity when the sealing roller is in contact with the surface of the damaged pipeline.
10. The pipe gallery inspection robot according to claim 1, characterized in that:
the sealing roller is provided with a cavity for containing solid sealing material, the surface of the roller forms a hole structure for allowing the sealing material with increased fluidity to pass through, and the cavity can increase the fluidity of the sealing material when needed, so that the sealing material is coated on the surface of the damaged pipeline through the hole structure by the cavity when the sealing roller is in contact with the surface of the damaged pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110210837.9A CN112976001A (en) | 2021-02-25 | 2021-02-25 | Piping lane inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110210837.9A CN112976001A (en) | 2021-02-25 | 2021-02-25 | Piping lane inspection robot |
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| CN112976001A true CN112976001A (en) | 2021-06-18 |
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| CN202110210837.9A Pending CN112976001A (en) | 2021-02-25 | 2021-02-25 | Piping lane inspection robot |
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| CN (1) | CN112976001A (en) |
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| CN117182974A (en) * | 2023-11-03 | 2023-12-08 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
| CN117781196A (en) * | 2024-02-26 | 2024-03-29 | 华能酒泉发电有限公司 | Patrol car for centralized control operation of power plant and application method thereof |
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| CN117182974B (en) * | 2023-11-03 | 2024-01-05 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
| CN117781196A (en) * | 2024-02-26 | 2024-03-29 | 华能酒泉发电有限公司 | Patrol car for centralized control operation of power plant and application method thereof |
| CN117781196B (en) * | 2024-02-26 | 2024-05-07 | 华能酒泉发电有限公司 | Patrol car for centralized control operation of power plant and application method thereof |
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