CN115781701A - Telescopic mobile power GIS cavity internal detection robot - Google Patents
Telescopic mobile power GIS cavity internal detection robot Download PDFInfo
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- CN115781701A CN115781701A CN202111059132.8A CN202111059132A CN115781701A CN 115781701 A CN115781701 A CN 115781701A CN 202111059132 A CN202111059132 A CN 202111059132A CN 115781701 A CN115781701 A CN 115781701A
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 129
- 238000006073 displacement reaction Methods 0.000 claims abstract description 85
- 210000000078 claw Anatomy 0.000 claims abstract description 38
- 239000004020 conductor Substances 0.000 claims description 19
- 238000009434 installation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention relates to a telescopic mobile power GIS cavity internal detection robot which comprises a first displacement mechanism, a second displacement mechanism and a telescopic mechanism, wherein the telescopic mechanism is provided with a fixed disc, the fixed disc is connected with one end of the first displacement mechanism, the fixed disc is provided with a plurality of slide bars, one end of the second displacement mechanism is provided with a plurality of guide pipes, the slide bars are inserted into the corresponding guide pipes in a sliding manner, opening and closing driving mechanisms are respectively arranged inside the first displacement mechanism and the second displacement mechanism, walking claws are respectively arranged outside the first displacement mechanism and the second displacement mechanism, the opening and closing driving mechanisms comprise opening and closing electric push rods, a central support and a connecting rod assembly, the central support is driven to move by the opening and closing electric push rods, a plurality of racks are arranged on the central support, a sector gear is arranged at one end of the connecting rod assembly and is meshed with the corresponding racks, and the other end of the connecting rod assembly is connected with the corresponding walking claws. The invention has small and compact integral structure and can be suitable for pipeline detection with complex internal environment and narrow space.
Description
Technical Field
The invention relates to the field of robots of electric power systems, in particular to a telescopic mobile robot for detecting in a GIS cavity.
Background
According to the statistics of equipment faults in 2006-2015 by the national grid company, a GIS (gas insulated switchgear) fault case 183 is generated altogether, when a GIS is in fault and power failure, the position of a fault point is often difficult to confirm, and the GIS needs to be disassembled and searched, but a GIS bus pipeline is usually long and heavy, for example, the total length of some GIS bus pipelines reaches 200 meters, some GIS buses weigh ton or even dozens of tons, and all the sections of the pipeline need to be sealed, so that the pipeline is long in disassembly and maintenance period, and particularly, when the fault point is unknown, some cases have maintenance time reaching more than 3 months, which can cause huge economic loss, and in addition, the GIS bus pipeline is narrow and long in cavity, and is likely to have toxic gas space, and great difficulty in detection is also existed.
Along with scientific and technological development, inspection robot has obtained the wide application, utilize the robot to detect the GIS generating line and need not dismantle the pipeline on a large scale, and it is also safer to detect, but as shown in fig. 1, there are a lot of GIS generating lines to be three-phase storehouse structure altogether, the three-phase conductor is the triangle-shaped and arranges, it mainly includes conductor (aluminum alloy), supporter (insulator) isotructure, the pipeline internal environment is complicated and the space is narrow and small, inspection robot among the prior art is mostly crawler-type structure, be difficult to satisfy the detection requirement.
Disclosure of Invention
The invention aims to provide a telescopic mobile electric power GIS cavity internal detection robot which is small and compact in overall structure and applicable to pipeline detection with complex internal environment and narrow space.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a telescopic removal electric power GIS cavity internal detection robot, includes first displacement mechanism, second displacement mechanism and telescopic machanism, wherein telescopic machanism is equipped with the fixed disk, just the fixed disk is connected with first displacement mechanism one end, is equipped with a plurality of slide bars on the fixed disk, and second displacement mechanism one end is equipped with a plurality of pipes, just slide bar slip cartridge in the pipe that corresponds, the inside actuating mechanism that opens and shuts that all is equipped with of first displacement mechanism and the inside actuating mechanism that opens and shuts of second displacement mechanism, the first displacement mechanism outside and the second displacement mechanism outside all are equipped with the walking jack catch, open and shut actuating mechanism including opening and shutting electric push rod, central support and link assembly, wherein the central support removes through opening and shutting electric push rod drive, just be equipped with a plurality of racks along the circumferencial direction on the central support, link assembly one end is equipped with sector gear and the rack toothing that corresponds, and the other end is connected with the walking jack catch that corresponds.
The first displacement mechanism comprises a first shell, a fixed disc of the telescopic mechanism is rotatably connected with one end of the first shell, the telescopic mechanism is provided with a rotary driving assembly, the rotary driving assembly comprises a rotary motor, a first gear and a second gear, the rotary motor is fixedly arranged on the fixed disc, the first gear is arranged on an output shaft of the rotary motor, and the second gear is meshed with the first gear and coaxially fixedly connected with the end part of the first shell.
A plurality of first sliding rails are arranged on the inner wall of the first shell along the circumferential direction, the opening and closing driving mechanism corresponding to the first displacement mechanism is arranged inside the first shell, a plurality of side sliding blocks are arranged on the central support along the circumferential direction, and the end parts of the side sliding blocks are embedded with the corresponding first sliding rails.
The central support is provided with a plurality of connecting blocks along the circumferential direction, the connecting blocks and the side sliding blocks are arranged in a staggered mode, and the racks are installed on the corresponding connecting blocks.
The first shell is far away from telescopic machanism one end is equipped with the mounting groove, just be equipped with the detector on the mounting groove.
Open and close link assembly among the actuating mechanism includes articulated arm and linking arm, and wherein the linking arm slope is located on the walking jack catch that corresponds, the sector gear rear side is equipped with the gear support arm, just gear support arm rear end with the linking arm upper end is articulated, articulated arm one end with the linking arm lower extreme is articulated, and the other end links firmly with the displacement mechanism downside that corresponds.
The walking claw comprises a claw block in the middle and claw bodies which are arranged on two sides of the claw block and are arc-shaped, the connecting arm is arranged on the claw block, and a rubber sleeve is sleeved at the outer side end of the claw body.
The telescopic mechanism comprises a telescopic electric push rod, and a connecting rod is arranged in the middle of the fixed disc and connected with the telescopic electric push rod.
The second displacement mechanism comprises a second shell, a plurality of second sliding rails are arranged on the inner wall of the second shell, the opening and closing driving mechanism corresponding to the second displacement mechanism is arranged inside the second shell, a plurality of side sliding blocks are arranged on the central support, and the side sliding blocks are embedded with the corresponding second sliding rails.
And the walking claws on the first displacement mechanism and the walking claws on the second displacement mechanism are alternately opened and closed, and the walking claws are tightly attached to and tensioned with corresponding conductors in the three-phase common-bin GIS equipment when opened, and are separated from the conductors when closed.
The invention has the advantages and positive effects that:
1. the telescopic mechanism between the two displacement mechanisms stretches and retracts simultaneously, so that the robot can stretch and retract along the axial direction of a pipeline, the whole structure is small and compact, and the telescopic mechanism is particularly suitable for three-phase common-cabin GIS bus detection with complex internal environment and narrow space.
2. The opening and closing driving mechanism drives the central support to move through the opening and closing electric push rod, the central support is provided with the side sliding blocks and the racks in a staggered mode along the circumferential direction, the side sliding blocks are connected with the displacement mechanism shell in a sliding mode, the racks are matched with the corresponding sector gears, the opening and closing actions of the walking clamping jaws are achieved through the corresponding connecting rod assemblies, all the parts are integrated in the shell of the corresponding displacement mechanism, too much installation space cannot be occupied, the integral structure is compact, and meanwhile the actions of the walking clamping jaws can be conveniently and accurately controlled.
3. The telescopic mechanism is provided with the rotary driving assembly to drive the first displacement mechanism to integrally rotate for a certain angle, so that the detector at one end of the first displacement mechanism can be driven to detect different conductors, and the switching effect is realized.
Drawings
FIG. 1 is a schematic view of the working state of the present invention,
figure 2 is a schematic structural view of the present invention,
figure 3 is a schematic view of the internal structure of the first displacement mechanism of figure 1,
figure 4 is a schematic structural view of the opening and closing driving mechanism in figure 3,
fig. 5 is a schematic diagram of an internal structure of the second displacement mechanism in fig. 1.
The three-phase compartment-sharing GIS equipment comprises a three-phase compartment-sharing GIS equipment 1, a pipeline 101, a conductor 102, a support 103, a first displacement mechanism 2, a first shell 201, a first slide rail 202, a detector 203, a mounting groove 204, an opening and closing driving mechanism 3, an opening and closing electric push rod 301, a central support 302, a side slide block 303, a rack 304, a sector gear 305, a gear support arm 306, a connecting arm 307, a walking claw 308, an articulated arm 309, a telescopic mechanism 4, a telescopic electric push rod 401, a connecting rod 4011, a rotating motor 402, a first gear 403, a second gear 404, a fixed disk 405, a slide bar 406, a second displacement mechanism 5, a second shell 501, a second slide rail 502, a guide pipe 503 and a slide hole 504.
Detailed Description
The present invention will be described in more detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention includes a first displacement mechanism 2, a second displacement mechanism 5 and a telescoping mechanism 4, wherein as shown in fig. 2 to 3, the telescoping mechanism 4 includes a telescoping electric push rod 401, a rotation driving assembly and a fixed disk 405, the fixed disk 405 is rotatably connected to one end of the first displacement mechanism 2, the rotation driving assembly is disposed on the fixed disk 405 and drives the first displacement mechanism 2 to rotate, a plurality of sliding rods 406 are uniformly distributed on the fixed disk 405 along a circumferential direction, as shown in fig. 5, one end of the second displacement mechanism 5 is uniformly distributed with a plurality of guide tubes 503 along a circumferential direction, and the sliding rods 406 are slidably inserted into the corresponding guide tubes 503, as shown in fig. 3 to 5, an opening and closing driving mechanism 3 is disposed inside the first displacement mechanism 2 and inside the second displacement mechanism 5, a traveling jaw 308 is disposed outside the first displacement mechanism 2 and outside the second displacement mechanism 5, the opening and closing driving mechanism 3 includes an opening and closing electric push rod 301, a central support 302 and a connecting rod assembly 304, wherein the central support 302 is driven to move by the opening and closing electric push rod 302, a plurality of the central support 302 is disposed on the central support 302 and a sector gear 304, and a plurality of the traveling rack 304 are engaged with the traveling rack 304, and a sector gear 304, and a corresponding to move, and the other end of the traveling rack 304 is connected to the sector gear assembly 304. The opening and closing electric push rod 301 is well known in the art and is a commercially available product.
As shown in fig. 2, the first displacement mechanism 2 includes a first housing 201, and a fixed disk 405 of the telescopic mechanism 4 is rotatably connected to one end of the first housing 201, as shown in fig. 3, a rotation driving component of the telescopic mechanism 4 includes a rotation motor 402, a first gear 403 and a second gear 404, wherein the rotation motor 402 is fixedly mounted on the fixed disk 405, the first gear 403 is mounted on an output shaft of the rotation motor 402, the second gear 404 is engaged with the first gear 403 and coaxially and fixedly connected to an end of the first housing 201, and the rotation motor 402 transmits torque through the first gear 403 and the second gear 404 to drive the first housing 201 to rotate, that is, drive the first displacement mechanism 2 to integrally rotate.
As shown in fig. 3, the middle portion of the fixed disk 405 is provided with a connecting rod 4011 to be fixedly connected with the telescopic electric push rod 401, and since one side of the fixed disk 405 is connected with the first displacement mechanism 2 and the other side is slidably connected with the plurality of guide tubes 503 on the second displacement mechanism 5 through the plurality of sliding rods 406, the telescopic electric push rod 401 can change the distance between the first displacement mechanism 2 and the second displacement mechanism 5 by telescoping. As shown in fig. 5, a slide hole 504 is formed in the conduit 503 to match with the corresponding slide rod 406, and the telescopic electric push rod 401 is well known in the art and is commercially available.
As shown in fig. 2 to 3, an opening and closing driving mechanism 3 is arranged inside the first housing 201, a plurality of first slide rails 202 are uniformly distributed on the inner wall of the first housing 201 along the circumferential direction, a plurality of side slide blocks 303 are uniformly distributed on a central support 302 of the opening and closing driving mechanism 3 along the circumferential direction, the end portions of the side slide blocks 303 are embedded in the corresponding first slide rails 202, so that the sliding connection between the central support 302 and the first housing 201 is realized, a plurality of connecting blocks are uniformly distributed on the central support 302 along the circumferential direction, the connecting blocks and the side slide blocks 303 are arranged in a staggered manner, the racks 304 are installed on the corresponding connecting blocks, and the opening and closing electric push rods 301 are fixedly installed on the inner wall of the first housing 201.
As shown in fig. 2 to 3, an installation groove 204 is provided at one end of the first housing 201 away from the telescopic mechanism 4, a detector 203 is provided on the installation groove 204, the detector 203 is a detector or a camera capable of detecting a fault point or an appearance defect of the conductor 102 of the three-phase common compartment GIS device 1, and a specific use function of the detector 203 needs to be selected according to an actual detection item, which is a commercially available product and is a known technology in the art.
As shown in fig. 4, the connecting rod assembly in the opening and closing driving mechanism 3 includes an articulated arm 309 and a connecting arm 307, wherein the connecting arm 307 is obliquely arranged on the walking claw 308, a gear supporting arm 306 is arranged at the rear side of the sector gear 305, the rear end of the gear supporting arm 306 is articulated with the upper end of the connecting arm 307, one end of the articulated arm 309 is articulated with the lower end of the connecting arm 307, and the other end of the articulated arm is fixedly connected with the first housing 201 by welding.
As shown in fig. 4, the walking claws 308 include a claw block at the middle part and claw bodies which are arranged at two sides of the claw block and are arc-shaped, the connecting arm 307 is arranged on the claw block, as shown in fig. 1, the walking claws 308 respectively correspond to one conductor 102 of a three-phase common-cabin GIS device, when the walking claws 308 are opened, the walking claws are tightly attached to the conductors 102 to realize the fixation of corresponding displacement mechanisms, the outer side ends of the claws of the walking claws 308 are sleeved with anti-slip and anti-scratch rubber sleeves, and in addition, the designed length of the arc-shaped rod structures of the claw bodies does not influence the rotation of the first displacement mechanisms 2 between the conductors 102 in the retraction state of the walking claws 308.
As shown in fig. 5, the second displacement mechanism 5 includes a second casing 501, one end of the second casing 501 is provided with a conduit 503, the second casing 501 is internally provided with an opening and closing driving mechanism 3, second sliding rails 502 are uniformly distributed on the inner wall of the second casing 501 along the circumferential direction, and the side sliding blocks 303 on the central support 302 of the opening and closing driving mechanism 3 are respectively embedded with the corresponding second sliding rails 502, so as to realize the sliding connection between the opening and closing driving mechanism and the second casing 501.
The working principle of the invention is as follows:
as shown in fig. 1, the invention is used for detecting a three-phase compartment-shared GIS device 1, and the three-phase compartment-shared GIS device 1 comprises a pipeline 101, a conductor 102 and a support body 103.
When the invention is used, the opening and closing electric push rod 301 in the first displacement mechanism 2 and the second displacement mechanism 5 alternately extends and retracts, so that the walking claws 308 at the outer side of the first displacement mechanism 2 and the walking claws 308 at the outer side of the second displacement mechanism 5 alternately extend and retract, wherein the walking claws 308 are tightly attached to and tensioned with the corresponding conductor 102 when being opened, so that the corresponding displacement mechanism is locked, the walking claws 308 of the other displacement mechanism are separated from the conductor 102 when being retracted, and meanwhile, the telescopic mechanism 4 is matched with telescopic action to realize walking control, specifically:
when the vehicle travels, the first displacement mechanism 2 opposite to the traveling direction firstly extends and expands the corresponding traveling claws 308 and contacts with the conductor 102 to realize tensioning and positioning, while the traveling claws 308 corresponding to the second displacement mechanism 5 at the front end in the traveling direction retract and release, and the telescopic electric push rod 401 in the telescopic mechanism 4 synchronously extends to drive the second displacement mechanism 5 to move forward, when the telescopic mechanism 4 extends to the maximum position, the second displacement mechanism 5 displaces to the maximum distance, and the two sets of displacement mechanisms are in an exchange state, namely the second displacement mechanism 5 expands and tensions the conductor 102 to realize fixing, while the traveling claws 308 of the first displacement mechanism 2 retract to separate from the conductor 102, then the telescopic electric push rod 401 in the telescopic mechanism 4 retracts to drive the first displacement mechanism 2 with the loosened rear end to move forward by the same distance, when the telescopic mechanism 4 retracts to the maximum position, the traveling claws 308 of the two sets of displacement mechanisms exchange working states again, and repeat the above steps, thereby realizing forward traveling. When retracting, the first displacement mechanism 2 and the second displacement mechanism 5 act in the opposite direction.
The telescopic mechanism 4 is provided with a rotation driving assembly, and under the condition that the walking claws 308 corresponding to the first displacement mechanism 2 retract and loosen, a rotation motor 402 in the rotation driving assembly transmits torque through a first gear 403 and a second gear 404 to drive the first displacement mechanism 2 to integrally rotate for a certain angle (generally, a rotation unit is 120 °), so that the detector 203 at one end of the first displacement mechanism 2 can be driven to detect different conductors 102, and a switching effect is realized.
Claims (10)
1. The utility model provides a detection robot in telescopic removal electric power GIS cavity which characterized in that: including first displacement mechanism (2), second displacement mechanism (5) and telescopic machanism (4), wherein telescopic machanism (4) are equipped with fixed disk (405), just fixed disk (405) are connected with first displacement mechanism (2) one end, are equipped with a plurality of slide bars (406) on fixed disk (405), and second displacement mechanism (5) one end is equipped with a plurality of pipes (503), just slide bar (406) slip cartridge in corresponding pipe (503), and first displacement mechanism (2) inside and second displacement mechanism (5) inside all are equipped with opens and shuts actuating mechanism (3), and the first displacement mechanism (2) outside and second displacement mechanism (5) outside all are equipped with walking jack catch (308), open and shut actuating mechanism (3) including opening and shutting electric push rod (301), central support (302) and link assembly, wherein central support (302) are through opening and shutting electric push rod (301) drive and move, and be equipped with a plurality of rack (304) along the circumferencial direction on central support (302), link assembly one end is equipped with fan-shaped gear (305) and the meshing with the other end that corresponds rack (304), the jack catch is connected with the walking jack catch (308).
2. The telescopic mobile electric power GIS cavity inner detection robot of claim 1, characterized in that: first displacement mechanism (2) include first shell (201), just fixed disk (405) of telescopic machanism (4) with first shell (201) one end is rotated and is connected, telescopic machanism (4) are equipped with the rotation driving subassembly, just the rotation driving subassembly includes rotating motor (402), first gear (403) and second gear (404), wherein rotate motor (402) admittedly in on fixed disk (405), first gear (403) install in on the output shaft of rotating motor (402), second gear (404) with first gear (403) meshing and with first shell (201) tip is coaxial to be linked firmly.
3. The telescopic mobile power GIS cavity internal detection robot of claim 2, characterized in that: a plurality of first sliding rails (202) are arranged on the inner wall of the first shell (201) along the circumferential direction, the opening and closing driving mechanism (3) corresponding to the first displacement mechanism (2) is arranged inside the first shell (201) and on the central support (302) along the circumferential direction, a plurality of side sliding blocks (303) are arranged, and the end parts of the side sliding blocks (303) are embedded with the corresponding first sliding rails (202).
4. The telescopic mobile power GIS cavity internal detection robot of claim 3, characterized in that: a plurality of connecting blocks are arranged on the central support (302) along the circumferential direction, the connecting blocks and the side sliding blocks (303) are arranged in a staggered mode, and the racks (304) are installed on the corresponding connecting blocks.
5. The telescopic mobile electric power GIS cavity inner detection robot of claim 2, characterized in that: first shell (201) is kept away from telescopic machanism (4) one end is equipped with mounting groove (204), just be equipped with detector (203) on mounting groove (204).
6. The telescopic mobile power GIS cavity internal detection robot of claim 1, characterized in that: open and close link assembly in actuating mechanism (3) and include articulated arm (309) and linking arm (307), wherein on corresponding walking jack catch (308) is located in linking arm (307) slope, sector gear (305) rear side is equipped with gear support arm (306), just gear support arm (306) rear end with linking arm (307) upper end is articulated, articulated arm (309) one end with linking arm (307) lower extreme is articulated, and the other end links firmly with the displacement mechanism downside that corresponds.
7. The telescopic mobile power GIS cavity internal detection robot of claim 6, characterized in that: the walking jaw (308) comprises a jaw block in the middle and arc-shaped jaw bodies arranged on two sides of the jaw block, the connecting arm (307) is arranged on the jaw block, and a rubber sleeve is sleeved at the outer side end of the jaw body.
8. The telescopic mobile electric power GIS cavity inner detection robot of claim 1, characterized in that: telescopic machanism (4) are including flexible electric putter (401), just fixed disk (405) middle part be equipped with connecting rod (4011) with flexible electric putter (401) are connected.
9. The telescopic mobile electric power GIS cavity inner detection robot of claim 1, characterized in that: the second displacement mechanism (5) comprises a second shell (501), a plurality of second sliding rails (502) are arranged on the inner wall of the second shell (501), the opening and closing driving mechanism (3) corresponding to the second displacement mechanism (5) is arranged inside the second shell (501) and on the central support (302) is provided with a plurality of side sliding blocks (303), and the side sliding blocks (303) are embedded with the corresponding second sliding rails (502).
10. The telescopic mobile electric power GIS cavity inner detection robot of claim 1, characterized in that: the walking claws (308) on the first displacement mechanism (2) and the walking claws (308) on the second displacement mechanism (5) are alternately opened and closed, the walking claws (308) are tightly attached to and tensioned with the corresponding conductors (102) in the three-phase common-bin GIS equipment (1) when opened, and the walking claws (308) are separated from the conductors (102) when closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111059132.8A CN115781701B (en) | 2021-09-10 | 2021-09-10 | Telescopic mobile power GIS cavity internal detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111059132.8A CN115781701B (en) | 2021-09-10 | 2021-09-10 | Telescopic mobile power GIS cavity internal detection robot |
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| Publication Number | Publication Date |
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| CN115781701A true CN115781701A (en) | 2023-03-14 |
| CN115781701B CN115781701B (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111059132.8A Active CN115781701B (en) | 2021-09-10 | 2021-09-10 | Telescopic mobile power GIS cavity internal detection robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CA1114856A (en) * | 1977-09-20 | 1981-12-22 | Hans T. Grisebach | Manipulator |
| RU2244865C2 (en) * | 2001-09-27 | 2005-01-20 | Шацкий Алексей Степанович | Method and device for stripping pipeline |
| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN105953028A (en) * | 2016-07-07 | 2016-09-21 | 西南石油大学 | Pipeline robot suitable for detection of multi-branch pipeline networks |
| CN108869947A (en) * | 2018-08-23 | 2018-11-23 | 国家电网有限公司 | A kind of cable preheating embedding line expansion robot |
| CN208997560U (en) * | 2018-10-20 | 2019-06-18 | 沈阳理工大学 | A kind of adaptive crusing robot of caliber |
| CN110645444A (en) * | 2019-09-10 | 2020-01-03 | 华南理工大学 | Modular pipeline crawling software robot of tandem type |
| CN112923162A (en) * | 2021-03-03 | 2021-06-08 | 西南石油大学 | Intelligent plugging robot and method for long-distance pipeline rerouting and maintenance and first-aid repair construction |
-
2021
- 2021-09-10 CN CN202111059132.8A patent/CN115781701B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1114856A (en) * | 1977-09-20 | 1981-12-22 | Hans T. Grisebach | Manipulator |
| RU2244865C2 (en) * | 2001-09-27 | 2005-01-20 | Шацкий Алексей Степанович | Method and device for stripping pipeline |
| CN102608473A (en) * | 2012-04-01 | 2012-07-25 | 山东鲁能智能技术有限公司 | Robot for electrified detection of double strain insulator strings |
| CN105953028A (en) * | 2016-07-07 | 2016-09-21 | 西南石油大学 | Pipeline robot suitable for detection of multi-branch pipeline networks |
| CN108869947A (en) * | 2018-08-23 | 2018-11-23 | 国家电网有限公司 | A kind of cable preheating embedding line expansion robot |
| CN208997560U (en) * | 2018-10-20 | 2019-06-18 | 沈阳理工大学 | A kind of adaptive crusing robot of caliber |
| CN110645444A (en) * | 2019-09-10 | 2020-01-03 | 华南理工大学 | Modular pipeline crawling software robot of tandem type |
| CN112923162A (en) * | 2021-03-03 | 2021-06-08 | 西南石油大学 | Intelligent plugging robot and method for long-distance pipeline rerouting and maintenance and first-aid repair construction |
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| CN115781701B (en) | 2024-06-18 |
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