CN113280210B - 蛇形管道检测机器人 - Google Patents
蛇形管道检测机器人 Download PDFInfo
- Publication number
- CN113280210B CN113280210B CN202110581181.1A CN202110581181A CN113280210B CN 113280210 B CN113280210 B CN 113280210B CN 202110581181 A CN202110581181 A CN 202110581181A CN 113280210 B CN113280210 B CN 113280210B
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- Prior art keywords
- annular
- robot
- pipeline
- mounting bracket
- robot main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 73
- 230000006835 compression Effects 0.000 claims abstract description 18
- 238000007906 compression Methods 0.000 claims abstract description 18
- 230000000903 blocking effect Effects 0.000 claims description 29
- 239000004744 fabric Substances 0.000 claims description 24
- 238000007689 inspection Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 8
- 239000000470 constituent Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D35/00—Filtering devices having features not specifically covered by groups B01D24/00 - B01D33/00, or for applications not specifically covered by groups B01D24/00 - B01D33/00; Auxiliary devices for filtration; Filter housing constructions
- B01D35/02—Filters adapted for location in special places, e.g. pipe-lines, pumps, stop-cocks
-
- 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
- F16L55/24—Preventing accumulation of dirt or other matter in the pipes, e.g. by traps, by strainers
-
- 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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- 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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Sewage (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110581181.1A CN113280210B (zh) | 2021-05-27 | 2021-05-27 | 蛇形管道检测机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110581181.1A CN113280210B (zh) | 2021-05-27 | 2021-05-27 | 蛇形管道检测机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113280210A CN113280210A (zh) | 2021-08-20 |
CN113280210B true CN113280210B (zh) | 2022-10-28 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110581181.1A Active CN113280210B (zh) | 2021-05-27 | 2021-05-27 | 蛇形管道检测机器人 |
Country Status (1)
Country | Link |
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CN (1) | CN113280210B (zh) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992017728A1 (en) * | 1991-03-26 | 1992-10-15 | Koninklijke Wegenbouw Stevin B.V. | Modular robot system for sewer renewal |
CN205669652U (zh) * | 2016-06-06 | 2016-11-02 | 于锡汉 | 水下涵洞、隧洞、管道检测机器人 |
CN110281251A (zh) * | 2019-07-24 | 2019-09-27 | 胡勇 | 一种高水流长距离涵道检测机器人系统 |
CN110842900A (zh) * | 2019-11-19 | 2020-02-28 | 国家电网有限公司 | 一种管道机器人巡检系统及方法 |
CN211344448U (zh) * | 2019-12-06 | 2020-08-25 | 中国科学院深圳先进技术研究院 | 一种管道机器人 |
CN212361254U (zh) * | 2018-11-05 | 2021-01-15 | 东莞唯度电子科技服务有限公司 | 一种视频检测机器人 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6446661B2 (en) * | 2000-06-05 | 2002-09-10 | John G. Armenia | Push-on safety hose |
CN105864569A (zh) * | 2016-06-06 | 2016-08-17 | 于锡汉 | 水下涵洞、隧洞、管道检测机器人 |
CN107191739A (zh) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | 一种优化的可发电变径式管道内检测机器人 |
CN109027513B (zh) * | 2018-08-14 | 2020-08-04 | 安徽盛美金属科技有限公司 | 一种管道检测机器人 |
CN109289153B (zh) * | 2018-11-12 | 2020-05-22 | 白益凡 | 一种防快速反弹的弹簧臂力器 |
CN109899622A (zh) * | 2019-03-18 | 2019-06-18 | 厦门理工学院 | 一种仿生蠕动型管道内爬行器及其爬行方法 |
CN209925866U (zh) * | 2019-04-15 | 2020-01-10 | 济南银河路桥试验检测有限公司 | 一种管道爬行机器人轮架结构 |
CN110864187A (zh) * | 2019-06-17 | 2020-03-06 | 北京建筑大学 | 一种管道探测蛇形机器人及其控制装置 |
CN110550156A (zh) * | 2019-08-28 | 2019-12-10 | 中船重工(青岛)海洋装备研究院有限责任公司 | 一种带导向结构的海洋管线管体下放控制设备 |
CN110579529A (zh) * | 2019-10-17 | 2019-12-17 | 浙江越新检测技术有限公司 | 一种管道漏磁检测探头用支撑装置 |
CN111306401A (zh) * | 2020-04-17 | 2020-06-19 | 上海海事大学 | 一种用于输水管道检测的可旋转帆船式自主水下机器人 |
CN212361260U (zh) * | 2020-06-17 | 2021-01-15 | 贵州环锦盛环保科技有限公司 | 一种地下管网堵塞检测装置 |
CN212776263U (zh) * | 2020-07-17 | 2021-03-23 | 福建煜雄科技有限公司 | 一种适用于不同尺寸管径的伸缩臂式管道检测机器人 |
-
2021
- 2021-05-27 CN CN202110581181.1A patent/CN113280210B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992017728A1 (en) * | 1991-03-26 | 1992-10-15 | Koninklijke Wegenbouw Stevin B.V. | Modular robot system for sewer renewal |
CN205669652U (zh) * | 2016-06-06 | 2016-11-02 | 于锡汉 | 水下涵洞、隧洞、管道检测机器人 |
CN212361254U (zh) * | 2018-11-05 | 2021-01-15 | 东莞唯度电子科技服务有限公司 | 一种视频检测机器人 |
CN110281251A (zh) * | 2019-07-24 | 2019-09-27 | 胡勇 | 一种高水流长距离涵道检测机器人系统 |
CN110842900A (zh) * | 2019-11-19 | 2020-02-28 | 国家电网有限公司 | 一种管道机器人巡检系统及方法 |
CN211344448U (zh) * | 2019-12-06 | 2020-08-25 | 中国科学院深圳先进技术研究院 | 一种管道机器人 |
Also Published As
Publication number | Publication date |
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CN113280210A (zh) | 2021-08-20 |
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20221010 Address after: 201-203, 205-207, 229, Floor 2, Building 3, Jiulong Binjiang Commercial Plaza, No. 9, Jiubin Road, Jiulongpo District, Chongqing 400000 Applicant after: Chongqing Aobo Intelligent Technology Research Institute Co.,Ltd. Address before: 404500 No. 20, Xinglong Street, Huangshi Town, Yunyang County, Chongqing Applicant before: Gong Yan |
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TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20210820 Assignee: Zhongguancun Robot Industry Innovation and Development Co.,Ltd. Assignor: Chongqing Aobo Intelligent Technology Research Institute Co.,Ltd. Contract record no.: X2023990000845 Denomination of invention: Snake shaped pipeline inspection robot Granted publication date: 20221028 License type: Common License Record date: 20231010 |
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EE01 | Entry into force of recordation of patent licensing contract |