CN113294625A - Robot and method for walking on bent pipeline - Google Patents
Robot and method for walking on bent pipeline Download PDFInfo
- Publication number
- CN113294625A CN113294625A CN202110582915.8A CN202110582915A CN113294625A CN 113294625 A CN113294625 A CN 113294625A CN 202110582915 A CN202110582915 A CN 202110582915A CN 113294625 A CN113294625 A CN 113294625A
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- driving
- carriage
- pipeline
- driven
- rotating shaft
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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
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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
- 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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- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
Abstract
The invention discloses a robot and a method for walking in a bent pipeline in the robot field, wherein the robot comprises a driving carriage and a driven carriage; the driving carriage is connected with the driven carriage through a universal joint; the driving carriage is provided with a driving wheel and a machine body adjusting mechanism; a plurality of damping mechanisms are arranged outside the driving carriage in a surrounding manner along the circumferential direction of the pipeline; a driving wheel is mounted on a rotating shaft of the damping mechanism; the hub motor drives the driving wheel to rotate; the machine body adjusting mechanism drives the rotating shaft of the damping mechanism to rotate and drives and controls the driving wheel to rotate; when the robot meets the concave-convex ground, the wheels stretch through the rotating shaft, and the wheels directly pass through the concave-convex ground; when the robot encounters an obstacle and cannot directly walk, the body adjusting mechanism drives the driving wheel to turn, the body of the detection robot rotates for a certain angle, so that the obstacle passes through a gap between the two wheels, the robot avoids the obstacle in the motion of the pipeline, and the robot is prevented from being clamped in the pipeline.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot and a method for walking in a bent pipeline.
Background
With the development of economy and the progress of science and technology, the pipeline transportation technology has been widely applied to the aspects of power transmission lines, petroleum, natural gas, chemical raw materials, domestic water and the like. The pipeline is frequently problematic due to the perennial use, and the low conveying efficiency is very easy to cause, so that the pipeline needs to be overhauled by workers all year round. Because the pipeline is buried underground mostly, the great pipeline of pipeline bore can get into through the staff and overhaul, but when the pipeline bore is less, the staff just is difficult to get into, and this brings very big degree of difficulty for the pipeline overhauls. In recent years, with the rapid development of computer technology and electromechanical technology, the pipeline robot technology at home and abroad has new technological breakthroughs continuously. Various research institutions have developed various pipeline robots, which mainly travel in a wheel type, a crawler type, a peristaltic type, and the like, and although the pipeline robots have excellent performance in straight pipelines, the robots are easily stuck when encountering obstacles in the pipelines.
Disclosure of Invention
The invention aims to provide a robot and a method for walking in a bent pipeline, which can avoid obstacles in the motion of the robot in the pipeline and avoid the robot from being clamped in the pipeline.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a bending pipeline walking robot comprises a driving carriage and a driven carriage; the driving carriage is connected with the driven carriage through a universal joint;
the driving carriage comprises a driving wheel and a machine body adjusting mechanism; a plurality of damping mechanisms are arranged outside the driving carriage in a surrounding manner along the circumferential direction of the pipeline; a driving wheel is mounted on a rotating shaft of the damping mechanism; the hub motor drives the driving wheel to rotate; the machine body adjusting mechanism drives the rotating shaft of the damping mechanism to rotate and drives and controls the driving wheel to rotate;
the machine body adjusting mechanism comprises a driving bevel gear and a driven bevel gear; the motor drives the driving bevel gear to rotate; the driving bevel gear is meshed with a plurality of driven bevel gears; each driven bevel gear is arranged at one end of the corresponding rotating shaft, and each driving wheel is arranged at the other end of the corresponding rotating shaft.
Preferably, the damping mechanism comprises a mounting body, a rotating shaft and a mounting frame; the rotating shaft comprises a connecting part and a telescopic part which slides along the axial direction; the connecting part is rotationally connected to the mounting body; the mounting body is fixedly arranged on the driving carriage or the driven carriage; the telescopic part is arranged in the axial hole of the connecting part; a spring for outwards extruding the sliding shaft is arranged in the axial hole of the connecting part; the telescopic part is provided with an installation frame used for installing a driving wheel or a driven wheel.
Preferably, the axial hole of the connecting part is an elliptical hole or a polygonal hole.
Preferably, one end of the connecting part is fixed in the mounting body through a first end cover; the first end cover is connected to the mounting body through a screw, and the other end of the connecting part is provided with a second end cover for limiting the telescopic part; the second end cap is connected to the connecting portion by a screw.
Preferably, the motor is arranged in the driving carriage through a motor bracket; the driving bevel gear is arranged on the transmission shaft; the transmission shaft is arranged in the driving carriage through a bearing seat; a first gear is arranged on the motor; a second gear is arranged on the transmission shaft; the first gear is engaged with the second gear.
Preferably, the motor is arranged in parallel with the transmission shaft.
Preferably, the driving carriage is connected with a plurality of driven carriages in sequence; the driven carriages are connected through universal joints.
Preferably, the driven compartment is provided with a plurality of damping mechanisms in a surrounding manner along the circumferential direction of the pipeline; and a driven wheel is arranged on a rotating shaft of the damping mechanism.
Preferably, the driven carriage is provided with two circles of driven wheels in a surrounding manner; the driven wheel is a rubber wheel.
Preferably, the driving carriage and the driven carriage are provided with cameras, position sensors and illuminating lamps.
Preferably, the mounting bracket is fixedly connected with the telescopic part through a bolt and is fastened through industrial glue.
A method of a curved-pipe walking robot, the method comprising:
putting the bent pipeline walking robot into the pipeline from the pipeline port, and attaching wheels of the driving carriage and the driven carriage to the pipe wall;
when a quarter turn is encountered, the driving wheels are subjected to differential control, so that the carriage is driven to turn;
when the pipeline bulges, the rotating shaft can contract under the action of pressure, so that wheels of the driving carriage and the driven carriage can pass through the bulges;
when the pipeline pit is met, the rotating shaft can extend under the action of the spring, so that wheels of the driving carriage and the driven carriage can smoothly pass through the pit;
when the robot body can not directly walk when encountering an obstacle, the body adjusting mechanism drives the driving wheel to turn, the walking direction of the driving wheel is perpendicular to the axis of the pipeline, the driving wheel walks, the body of the detection robot rotates, and the driving wheel avoids the obstacle; then the machine body adjusting mechanism drives and controls the driving wheels to turn, the walking direction of the driving wheels is parallel to the axis of the pipeline, the driving wheels walk, and the barrier passes through a gap between the two driving wheels and the two driven wheels.
Compared with the prior art, the invention has the following beneficial effects:
when the robot meets the concave-convex ground, the wheels stretch through the rotating shaft, and the wheels directly pass through the concave-convex ground; when the robot encounters an obstacle and cannot directly walk, the body adjusting mechanism drives the driving wheel to turn, the body of the detection robot rotates for a certain angle, so that the obstacle passes through a gap between the two wheels, the robot avoids the obstacle in the motion of the pipeline, and the robot is prevented from being clamped in the pipeline.
Drawings
Fig. 1 is a front view of a curved pipe walking robot provided by the present invention;
FIG. 2 is an isometric view of a fuselage adjustment mechanism provided by the present invention;
FIG. 3 is a front view of the fuselage adjustment mechanism provided by the present invention;
FIG. 4 is a schematic view of a driving wheel and a damping mechanism provided in the present invention;
FIG. 5 is a cross-sectional view of a drive wheel and a damping mechanism provided in the present invention;
FIG. 6 is a cross-sectional view of the driven wheel and dampening mechanism provided by the present invention;
FIG. 7 is a schematic illustration of a quarter turn of the robot provided by the present invention;
FIG. 8 is a schematic view of a robot passing bump provided by the present invention;
FIG. 9 is a schematic view of a robot provided by the present invention encountering an obstacle;
FIG. 10 is a schematic view of the rotation of the robot body provided by the present invention;
fig. 11 is a schematic diagram of a robot provided by the present invention passing through an obstacle.
In the figure: the universal joint 1, the driven carriage 2, the driven carriage 21, the driving carriage 3, the driving wheel 31, the motor 32, the first gear 33, the second gear 34, the transmission shaft 35, the bearing seat 36, the driven bevel gear 37, the driving bevel gear 38, the damping mechanism 4, the rotating shaft 41, the connecting part 41a, the telescopic part 41b, the first end cover 42, the spring 43, the mounting body 44, the mounting frame 45, the second end cover 46, the conical ball bearing 47, the pipeline 5, the obstacle 6 and the bulge 7.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Second embodiment
As shown in fig. 1 to 6, a curved pipe walking robot includes a driving carriage, a driven carriage; the driving carriage 3 is connected with the driven carriage 2 through a universal joint 1; and the driving carriage 3 and the driven carriage 2 are provided with cameras for recording the conditions in the pipeline, position sensors for detecting obstacles in the pipeline and illuminating lamps.
The driving carriage 3 comprises a driving wheel 31 and a machine body adjusting mechanism; four damping mechanisms 4 are arranged outside the driving carriage 3 in a surrounding manner along the circumferential direction of the pipeline; a driving wheel 31 is arranged on a rotating shaft of the damping mechanism 4; the driving carriage 3 consists of four groups of driving wheels which are distributed on four corners and can be completely attached to the pipe wall, so that the stability and the friction force are increased, and the detection robot can move forward in a pipeline with a larger gradient; the hub motor drives the driving wheel 31 to rotate so as to reduce the volume of the equipment; the machine body adjusting mechanism drives the rotating shaft 41 of the damping mechanism 4 to rotate and drives the driving wheel 31 to rotate;
the damping mechanism 4 comprises a mounting body 44, a rotating shaft 41 and a mounting rack 45; the rotating shaft 41 comprises a connecting part 41a and an expansion part 41b sliding along the axial direction; the connecting part 41a is rotatably connected to the mounting body 44 through a tapered ball bearing 47; the mounting body 44 is fixedly arranged on the driving carriage 3 or the driven carriage 2; the telescopic part 41b is arranged in an axial hole of the connecting part 41 a; the axial hole of the connecting part 41a is an elliptical hole or a polygonal hole to prevent the relative rotation between the connecting part 41a and the telescopic part 41 b; a spring 43 which extrudes the sliding shaft outwards is arranged in the axial hole of the connecting part 41 a; the telescopic part 41b is provided with a mounting rack 45 for mounting the driving wheel 31 or the driven wheel 21; the mounting frame 45 is fixedly connected with the telescopic part 41b through bolts and is fastened through industrial glue, so that the firmness of the mounting frame 45 is guaranteed;
the driving wheel 31 or the driven wheel 21 is arranged on the mounting rack 45; one end of the connecting part 41a is fixed in the mounting body 44 through the first end cover 42; the first end cap 42 is connected to the mounting body 44 through a screw, and the other end of the connecting part 41a is provided with a second end cap 46 for limiting the expansion part 42 b; the second end cap 46 is connected to the connecting portion 41a by a screw, one side of the expansion portion 42b connected to the connecting portion is larger than the other side, and the larger side of the expansion portion is limited in the axial hole of the connecting portion 41a by the second end cap 46.
The machine body adjusting mechanism comprises a driving bevel gear 38 and a driven bevel gear 37; the motor 32 drives the drive bevel gear 38 to rotate; the motor 32 is arranged in the driving compartment 3 through a motor bracket; the drive bevel gear 38 is disposed on the transmission shaft 35; the transmission shaft 35 is installed in the driving compartment 3 through a bearing seat 36; a first gear 33 is arranged on the motor 32; a second gear 34 is arranged on the transmission shaft 35; the first gear 33 is meshed with the second gear 34; the motor 32 and the transmission shaft 35 are arranged in parallel, so that the whole structure is more compact; the driving bevel gear 38 is engaged with a plurality of driven bevel gears 37 to form right-angle transmission; each driven bevel gear 37 is disposed at one end of a corresponding rotating shaft 41, and each driving wheel 31 is disposed at the other end of the corresponding rotating shaft 41; the rotating shaft 41 is arranged on the driving carriage 3;
the motor drives the first gear 33 to rotate, and the transmission shaft 35 is driven to rotate through the meshing of the first gear 33 and the second gear 34; the transmission shaft 35 is engaged with the driven bevel gear 37 through the driving bevel gear 38 to drive the rotating shaft 41 to rotate, so that the steering of the driving wheel 31 is realized.
The driving carriage 3 is sequentially connected with the driven carriages 2 in an end-to-end manner; the driven carriages 2 are connected through universal joints 1 and can be adjusted in direction randomly along with the previous carriage; a plurality of damping mechanisms 4 are arranged on the driven carriage 2 in a surrounding manner along the circumferential direction of the pipeline; a driven wheel 21 is arranged on a rotating shaft 41 of the damping mechanism 4; two circles of driven wheels 21 are uniformly arranged around the driven carriage 2, and each circle is provided with 4 driven wheels; the driven wheel 21 is a rubber wheel; eight follow driving wheel modules are installed on four angles of automobile body, realize the longitudinal symmetry and distribute for the robot has extremely strong stability and frictional force in the prototype pipeline, can provide the balancing force for each direction, makes the fuselage keep balance, can realize the removal of any direction moreover.
Second embodiment
As shown in fig. 6-11, a method of bending a pipeline walking robot, the method comprising:
putting the bent pipeline walking robot into the pipeline 5 from the port, and attaching the driving wheel 31 and the driven wheel 21 to the pipe wall; the driven wheel 21 and the driving wheel 31 are distributed up and down symmetrically, so that the robot has better stability.
When a quarter turn is encountered, the driving wheel 31 is subjected to differential control, so that the carriage is driven to turn; the following driven carriage 2 moves together;
when encountering the pipeline bulge, the rotating shaft 41 can contract under the action of pressure, and the telescopic part contracts into the axial hole of the connecting part 41a, so that the driving wheel 31 and the driven wheel 21 can pass through the upper part of the bulge 7;
when encountering a pipeline pit, the rotating shaft 41 can extend under the action of the spring, and the telescopic part extends outwards, so that the robot can stably pass through the pit;
when the robot body can not directly walk when encountering an obstacle 6, the body adjusting mechanism drives the driving wheel 31 to turn, the walking direction of the driving wheel 31 is perpendicular to the axis of the pipeline 5, the driving wheel 31 walks, the body of the detection robot rotates, and the driving wheel 31 and the driven wheel 21 avoid the obstacle; then the body adjusting mechanism drives the driving wheel 31 to rotate, the walking direction of the driving wheel 31 is parallel to the axis of the pipeline 5, the driving wheel 31 walks, and the barrier passes through a gap between the two driving wheels 31 or the two driven wheels 21.
When vertical pipelines or pipelines with larger gradient are encountered, the driven wheel and the driving wheel have certain extrusion force on the upper wall and the lower wall under the action of the spring; therefore, the stability and the friction force of the detection robot can be increased, the robot cannot slide down due to the action of gravity, and the robot can advance in a pipeline with a large gradient.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A walking robot with a bent pipeline is characterized by comprising a driving carriage (3) and a driven carriage (2); the driving carriage (3) is connected with the driven carriage (2) through a universal joint (1);
the driving carriage (3) comprises a driving wheel (31) and a machine body adjusting mechanism; a plurality of damping mechanisms (4) are arranged outside the driving carriage (3) in a surrounding manner along the circumferential direction of the pipeline; a driving wheel (31) is mounted on a rotating shaft of the damping mechanism (4); the hub motor drives the driving wheel (31) to rotate; the machine body adjusting mechanism drives a rotating shaft (41) of the damping mechanism to rotate and drives and controls the driving wheel to rotate;
the machine body adjusting mechanism comprises a driving bevel gear (38) and a driven bevel gear (37); the motor drives the driving bevel gear to rotate (38); the driving bevel gear (38) is meshed with a plurality of driven bevel gears (37); each driven bevel gear (37) is arranged at one end of a corresponding rotating shaft (41), and each driving gear (31) is arranged at the other end of the corresponding rotating shaft (41).
2. The curved pipeline walking robot according to claim 1, wherein the shock-absorbing mechanism comprises a mounting body (44), a rotating shaft (41), a mounting frame (45); the rotating shaft (41) comprises a connecting part (41 a) and an expansion part (41 b) which slides along the axial direction; the connecting part (41 a) is rotatably connected to the mounting body (44); the mounting body (44) is fixedly arranged on the driving carriage or the driven carriage; the telescopic part (41 b) is arranged in an axial hole of the connecting part (41 a); a spring (43) which extrudes the sliding shaft outwards is arranged in the axial hole of the connecting part (41 a); the telescopic part (41 b) is provided with a mounting rack (45) for mounting a driving wheel or a driven wheel.
3. The curved pipeline walking robot according to claim 2, wherein the axial hole of the connecting part (41 a) is an elliptical hole or a polygonal hole.
4. The curved pipeline walking robot as claimed in claim 2, wherein the connecting part (41 a) is fixed at one end in the mounting body by a first end cap (42); the first end cover (42) is connected to the mounting body through a screw, and a second end cover (46) for limiting the telescopic part is arranged at the other end of the connecting part (41 a); the second end cap (46) is attached to the connecting portion (41 a) by a screw.
5. The curved pipe walking robot according to claim 1, wherein the motor is mounted in the driving carriage (3) by a motor (32) bracket; the driving bevel gear (38) is arranged on the transmission shaft (35); the transmission shaft (35) is arranged in the driving carriage (3) through a bearing seat (36); a first gear (33) is arranged on the motor (32); a second gear (34) is arranged on the transmission shaft; the first gear (33) is meshed with the second gear (34).
6. The curved pipe walking robot according to claim 2, wherein the driving carriages (3) are connected to a plurality of driven carriages (2) in sequence; the driven carriages are connected through universal joints.
7. The curved pipeline walking robot according to claim 1 or 6, wherein the driven carriage (2) is provided with a plurality of damper mechanisms (4) circumferentially around the pipeline; and a driven wheel is arranged on a rotating shaft of the damping mechanism.
8. The bending pipeline walking robot according to claim 1, wherein the driving carriage (3) and the driven carriage (2) are provided with a camera, a position sensor and a lighting lamp.
9. A method of a curved-pipe walking robot, the method comprising:
putting the bent pipeline walking robot into the pipeline from the pipeline port, and attaching wheels of the driving carriage (3) and the driven carriage (2) to the pipe wall;
when a quarter turn is encountered, the driving wheels are subjected to differential control, so that the carriage is driven to turn;
when encountering the pipeline bulge, the rotating shaft (41) can contract under the action of pressure, so that wheels of the driving carriage (3) and the driven carriage (2) can pass through the upper part of the bulge (7);
when meeting the pipeline pit, the rotating shaft (41) can extend under the action of the spring, so that wheels of a driving carriage and a driven carriage can smoothly pass through the pit;
when the robot cannot directly walk when encountering an obstacle, the body adjusting mechanism drives the driving wheel to turn, the walking direction of the driving wheel (31) is perpendicular to the axis of the pipeline (5), the driving wheel (31) walks, the body of the detection robot rotates, and the driving wheel avoids the obstacle; then the machine body adjusting mechanism drives and controls the driving wheels to turn, the walking direction of the driving wheels (31) is parallel to the axis of the pipeline, the driving wheels walk, and the barrier (6) penetrates through a gap between the two driving wheels and the two driven wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110582915.8A CN113294625A (en) | 2021-05-27 | 2021-05-27 | Robot and method for walking on bent pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110582915.8A CN113294625A (en) | 2021-05-27 | 2021-05-27 | Robot and method for walking on bent pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113294625A true CN113294625A (en) | 2021-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110582915.8A Pending CN113294625A (en) | 2021-05-27 | 2021-05-27 | Robot and method for walking on bent pipeline |
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| Country | Link |
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| CN (1) | CN113294625A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114576463A (en) * | 2022-03-14 | 2022-06-03 | 东北大学 | Imitative tiger spot mantis shrimp pipeline robot |
| CN114964093A (en) * | 2022-05-12 | 2022-08-30 | 宁波睿威工程技术有限公司 | Deep horizontal displacement measuring device of deep foundation pit of subway station |
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| CN114576463A (en) * | 2022-03-14 | 2022-06-03 | 东北大学 | Imitative tiger spot mantis shrimp pipeline robot |
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Application publication date: 20210824 |
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