CN116061201A - Intelligent robot inspection equipment for natural gas pipe network with hidden inside pipe - Google Patents
Intelligent robot inspection equipment for natural gas pipe network with hidden inside pipe Download PDFInfo
- Publication number
- CN116061201A CN116061201A CN202211304036.XA CN202211304036A CN116061201A CN 116061201 A CN116061201 A CN 116061201A CN 202211304036 A CN202211304036 A CN 202211304036A CN 116061201 A CN116061201 A CN 116061201A
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- Prior art keywords
- bin
- natural gas
- installation
- intelligent robot
- gas pipe
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 239000003345 natural gas Substances 0.000 title claims abstract description 21
- 238000007689 inspection Methods 0.000 title claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 229920000742 Cotton Polymers 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 23
- 244000309464 bull Species 0.000 description 6
- 239000007789 gas Substances 0.000 description 5
- 239000000523 sample Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/30—Use of alternative fuels, e.g. biofuels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent robot inspection device for a natural gas pipe network, which comprises an installation bin, wherein a connecting shaft is rotatably connected to the top dead axle in the installation bin, the top of the connecting shaft is provided with an installation head, the bottom of the connecting shaft is provided with a driving component, the bottom of the installation bin is provided with a connecting bin, the inside of the connecting bin is provided with a fixed bin, the inside of the fixed bin is provided with an electric push rod, and the output end of the electric push rod is provided with a mounting plate; according to the invention, under the cooperation of the hinging rod D, the roller and the spring, in the process of putting the robot into the pipeline for movement detection, the robot can be enabled to closely cling to the pipeline for movement, so that the robot is prevented from skidding in the moving process, and can also move in pipelines with different widths, so that the robot can adaptively move the pipelines with different widths, and the moving difficulty of the robot is further reduced.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an intelligent inspection device for an in-pipe-receiving hidden natural gas pipe network robot.
Background
The natural gas pipeline is a pipeline for conveying natural gas from a mining place or a treatment plant to a city gas distribution center or an industrial enterprise user, is also called a gas pipeline, and is a mode for conveying a large amount of natural gas on land, and the gas pipeline is required to be detected in order to detect whether the gas pipeline is damaged or has other potential safety hazards when being planted in construction, and the detection mode is generally that a robot is adopted to observe the interior of the gas pipeline;
the existing robot inspection equipment has the following inconveniences;
in the process of detecting the robots in pipelines, some pipelines are wider and some pipelines are narrower, so that the robots are influenced in the process of inspection, the robots are inconvenient to move, the difficulty of pipeline detection is improved, pipeline networks generally have turning places, and the common robots are also inconvenient to move at the turning places of the pipelines, so that the pipeline detection efficiency is seriously influenced;
the detection in the pipeline is generally carried out by using laser, and when the detection is carried out by using laser, a certain dead angle is sometimes generated by a general robot, so that the positions are missed, if the missed positions are just damaged or have other potential safety hazards, the subsequent natural gas transportation is seriously influenced, and the serious loss is possibly generated.
Disclosure of Invention
The invention aims to provide intelligent robot inspection equipment for a natural gas pipe network, which is used for solving the problems that in the prior art, when robots are put into pipelines for detection, the pipelines are wider and narrower, so that the robots are influenced in the inspection process, the robots are inconvenient to move, the detection difficulty of the pipelines is improved, the pipeline network is generally provided with a turning place, the common robots are also inconvenient to move at the turning place of the pipelines, the detection efficiency of the pipeline is seriously influenced, the detection of the interior of the common pipelines is carried out by utilizing laser, certain dead angles are sometimes generated when the common robots detect the pipeline by utilizing the laser, the positions are missed, the transportation of the subsequent natural gas is seriously influenced if the missed positions are just broken or have other potential safety hazards, and the serious loss is possibly generated.
In order to achieve the above purpose, the present invention provides the following technical solutions: including the installation storehouse, the inside top dead axle rotation of installation storehouse is connected with the connecting axle, the top of connecting axle is equipped with the installation head, the bottom of connecting axle is equipped with drive assembly, the bottom of installation storehouse is equipped with the connection storehouse, the inside of connection storehouse is equipped with fixed storehouse, the inside of fixed storehouse is equipped with electric putter, electric putter's output is equipped with the mounting panel, the bottom of mounting panel is equipped with pressure sensor, the inside sliding connection of installation storehouse has the slide bar, the top of slide bar is equipped with the clamp plate, the bottom of slide bar is equipped with the articulated joint, the bottom outside the connection storehouse evenly articulates there is multiunit articulated rod B, articulated between articulated rod B and the articulated joint has articulated rod A, the outside of installation storehouse evenly articulates there is multiunit articulated rod D, one side of articulated rod D bottom is equipped with the spring, the spring links to each other with the connection storehouse, the opposite side of articulated rod D bottom is equipped with articulated rod C, one side of articulated rod D is equipped with the gyro wheel, the one end of articulated rod D is equipped with driving motor B.
Preferably, the drive assembly comprises wind spring, bull stick, gear, driving motor A, incomplete gear and bottom plate, the inside of installation storehouse is equipped with driving motor A, driving motor A's output is equipped with the incomplete gear, the outside of connecting axle is equipped with the wind spring, the wind spring links to each other with the installation storehouse, the bottom of connecting axle is equipped with the bottom plate, the bottom of bottom plate is equipped with the bull stick, the bottom in the bull stick outside is equipped with the gear, gear and incomplete gear intermeshing.
Preferably, one end of the connecting shaft is provided with a connecting hole, and one end of the coil spring is installed inside the connecting hole.
Preferably, a plurality of groups of mounting holes are formed in the mounting head, and a detection head is arranged in the mounting hole.
Preferably, the outside of the connecting bin and the bottom of the hinging rod D are both provided with mounting grooves, and two ends of the spring are positioned in the mounting grooves.
Preferably, the outside of driving motor B is equipped with the motor storehouse, and the inside in motor storehouse is equipped with amortization cotton.
Preferably, a sliding groove is formed in the bottom of the connecting bin, a limiting plate is arranged on the outer side of the sliding rod, and the diameter of the limiting plate is larger than that of the sliding groove.
Preferably, a mounting frame is arranged on one side of the hinging rod D, and the roller fixed shaft is connected to the inside of the mounting frame.
Preferably, a fixing groove is formed in the installation bin, and the driving motor A is located in the fixing groove.
Compared with the prior art, the invention provides the intelligent robot inspection equipment for the natural gas pipe network, which is hidden in the pipe, and has the following beneficial effects:
1. according to the invention, under the cooperation of the hinging rod D, the roller and the spring, the robot can be tightly attached to the pipeline to move in the process of moving and detecting the robot in the pipeline, so that the robot is prevented from skidding in the moving process, and can also move in pipelines with different widths, so that the robot can adaptively move pipelines with different widths, the moving difficulty of the robot is further reduced, and under the cooperation of the hinging rod A, the sliding rod, the hinging head, the hinging rod B, the hinging rod C, the electric push rod, the fixed bin, the pressing plate and the mounting plate, the robot can have a certain locking effect on the position of the roller when moving in the pipeline from wide to narrow or from narrow to wide, and after the position adjustment of the roller is completed, the stability in the moving process of the robot can be ensured, so that the robot can move normally.
2. According to the invention, under the cooperation of the driving motor A, the incomplete gear, the bottom plate, the connecting shaft, the mounting head, the coil spring, the rotating rod and the gear, the mounting head moving by the robot can reciprocate to rotate, multiple groups of detection heads on the mounting head can detect one position for multiple times in the rotating process, if one detection head is damaged, the detection heads at other positions can be replaced, so that the situation of detection errors is prevented, in the detecting process, the detecting range can be increased, and the occurrence of dead angles in the detecting process is prevented from being missed.
Drawings
FIG. 1 is a front cross-sectional view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention at an incomplete gear;
FIG. 4 is an enlarged view of FIG. 1 at A in accordance with the present invention;
fig. 5 is a top view of the joint of the present invention.
In the figure: 1. mounting bin the method comprises the steps of carrying out a first treatment on the surface of the; 2. a connecting bin; 3. a hinge rod A; 4. a slide bar; 5. a hinge joint; 6. a hinge rod B; 7. a hinge lever C; 8. a roller; 9. a hinge lever D; 10. a driving motor A; 11. an incomplete gear; 12. a bottom plate; 13. a connecting shaft; 14. a mounting head; 15. a coil spring; 16. a rotating rod; 17. a gear; 18. an electric push rod; 19. a fixed bin; 20. a pressing plate; 21. a mounting plate; 22. a pressure sensor; 23. a spring; 24. and driving the motor B.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a hidden natural gas pipe network intelligent robot inspection equipment is received in pipe, including installation storehouse 1, the inside top dead axle rotation of installation storehouse 1 is connected with connecting axle 13, the top of connecting axle 13 is equipped with installation head 14, the bottom of connecting axle 13 is equipped with drive assembly, the bottom of installation storehouse 1 is equipped with connection storehouse 2, the inside of connection storehouse 2 is equipped with fixed storehouse 19, the inside of fixed storehouse 19 is equipped with electric putter 18, electric putter 18's output is equipped with mounting panel 21, the bottom of mounting panel 21 is equipped with pressure sensor 22, the inside sliding connection of installation storehouse 1 has slide bar 4, the top of slide bar 4 is equipped with clamp plate 20, the bottom of slide bar 4 is equipped with articulated joint 5, the bottom outside of connection storehouse 2 evenly articulates there is multiunit articulated rod B6, it has articulated rod A3 to articulate between articulated rod B6 and the articulated joint 5, the outside of installation storehouse 1 evenly articulates there is multiunit articulated rod D9, one side of articulated rod D9 bottom is equipped with spring 23, spring 23 links to each other with connection storehouse 2, the opposite side of fixed storehouse 19 bottom is equipped with articulated rod C7, articulated rod C7 is articulated rod B6 is articulated with articulated rod B6, one side is equipped with articulated rod D9.
As a preferable scheme of the present embodiment: the drive assembly comprises wind spring 15, bull stick 16, gear 17, driving motor A10, incomplete gear 11 and bottom plate 12, the inside of installation storehouse 1 is equipped with driving motor A10, driving motor A10's output is equipped with incomplete gear 11, the outside of connecting axle 13 is equipped with wind spring 15, wind spring 15 links to each other with installation storehouse 1, the bottom of connecting axle 13 is equipped with bottom plate 12, the bottom of bottom plate 12 is equipped with bull stick 16, the bottom in the outside of bull stick 16 is equipped with gear 17, gear 17 and incomplete gear 11 intermesh, can reciprocate and rotate at the installation head 14 of robot motion, the multiunit detection head on installation head 14 can all carry out a lot of detection to a position at rotatory in-process, if one position detects the head damage, the detection head of other positions can also replace.
As a preferable scheme of the present embodiment: one end of the connecting shaft 13 is provided with a connecting hole, and one end of the coil spring 15 is arranged in the connecting hole, so that the coil spring 15 can be fixed with the connecting shaft 13, and the coil spring 15 can be conveniently pulled to extend and retract subsequently.
As a preferable scheme of the present embodiment: the inside of installation head 14 is equipped with multiunit mounting hole, and the inside of mounting hole is equipped with the detection head, conveniently detects each position inside the pipeline in the follow-up.
As a preferable scheme of the present embodiment: the outside of connecting bin 2 and the bottom of articulated rod D9 all are equipped with the mounting groove, and the both ends of spring 23 are located the inside of mounting groove, and the position to spring 23 is fixed for can stimulate articulated rod D9 subsequently and reset.
As a preferable scheme of the present embodiment: the outside of driving motor B24 is equipped with the motor storehouse, and the inside in motor storehouse is equipped with amortization cotton, protects driving motor B24.
As a preferable scheme of the present embodiment: the bottom of connecting bin 2 is equipped with the spout, and the outside of slide bar 4 is equipped with the limiting plate, and the diameter of limiting plate is greater than the diameter of spout, carries out spacingly to slide bar 4, prevents to drop.
As a preferable scheme of the present embodiment: one side of articulated pole D9 is equipped with the mounting bracket, and gyro wheel 8 dead axle connect in the inside of mounting bracket, make things convenient for gyro wheel 8 to dismantle.
As a preferable scheme of the present embodiment: the inside of the installation bin 1 is provided with a fixed groove, and the driving motor A10 is positioned in the fixed groove, so that the mechanical energy at the position of the driving motor A10 is fixed, and the driving motor A10 is prevented from rotating.
1, as shown in fig. 1-5, when detecting the interior of a pipeline, a robot is prevented from moving to the interior of the pipeline, a roller 8 and a hinging rod D9 are tightly attached to the inner wall of the pipeline under the action of a spring 23, at the moment, a driving motor B24 starts a control roller 8 to rotate so as to drive the robot to move in the interior of the pipeline, a plurality of groups of detection heads on a mounting head 14 detect the inner wall of the pipeline in the moving process, at the moment, a driving motor a10 restarts, so that an incomplete gear 11 rotates, in the rotating process, to drive a gear 17, a rotating rod 16, a bottom plate 12, a connecting shaft 13 and the mounting head 14 to rotate, a plurality of groups of probes on the mounting head 14 can detect the same position in the pipeline, and the connecting shaft 13 also drives a coil spring 15 to shrink in the rotating process, after the incomplete gear 11 does not mesh with the gear 17 any more, and then the coil spring 15 resets to drive the connecting shaft 13 and the mounting head 14 to rotate and reset, so that a plurality of groups of probes on the mounting head 14 can rapidly scan the inner wall of the pipeline;
in embodiment 2, as shown in fig. 1-5, after the robot moves into the pipelines with different widths, the spring 23 resets to a certain extent so as to drive the roller 8 and the hinge rod D9 to displace, and in the displacement process, the hinge rod D9 pulls the hinge rod C7 and the hinge rod B6, then the hinge rod B6 pulls the hinge rod A3 and the hinge joint 5, so that the slide bar 4 drives the pressing plate 20 to slide along the track of the fixed bin 19, then the pressing plate 20 changes the pressure applied by the pressure sensor 22, then the pressure sensor 22 detects the pressure signal change and then controls the electric push rod 18 to stretch and retract through the controller, so that the pressure sensor 22 continuously contacts the pressing plate 20, at this time, the pressure sensor 22 controls the electric push rod 18 to stop moving again, and supports the pressing plate 20, thereby ensuring the stability in the subsequent moving process of the robot.
Working principle: when the inside of a pipeline is detected, the robot is prevented from being in the pipeline, the roller 8 and the hinging rod D9 are tightly attached to the inner wall of the pipeline under the action of the spring 23, the driving motor B24 starts the control roller 8 to rotate at the moment, the robot is further driven to move in the pipeline, a plurality of groups of detection heads on the mounting head 14 detect the inner wall of the pipeline in the moving process, at the moment, the driving motor A10 is restarted, the incomplete gear 11 rotates, the incomplete gear 11 drives the gear 17, the rotating rod 16, the bottom plate 12, the connecting shaft 13 and the mounting head 14 to rotate in the rotating process, a plurality of groups of probes on the mounting head 14 can detect the same position in the pipeline, the connecting shaft 13 also drives the coil spring 15 to shrink in the rotating process, the incomplete gear 11 is not meshed with the gear 17 any more after the incomplete gear 11 rotates to the designated position, and then the coil spring 15 is reset to drive the connecting shaft 13 and the mounting head 14 to rotate for resetting, so that a plurality of groups of probes on the mounting head 14 can rapidly scan the inner wall of the pipeline;
after the robot moves into pipelines with different widths, the springs 23 reset to a certain extent to drive the rollers 8 and the hinging rods D9 to displace, the hinging rods C7 and B6 are pulled by the hinging rods D9 in the displacement process, the hinging rods A3 and the hinging heads 5 are pulled by the hinging rods B6, the sliding rods 4 drive the pressing plates 20 to slide along the tracks of the fixed bins 19, the pressing plates 20 change the applied pressure at the positions of the pressure sensors 22, the pressure sensors 22 detect the pressure signals to change, the electric push rods 18 are controlled by the controller to stretch and retract, the pressure sensors 22 continuously cling to the pressing plates 20, the pressure sensors 22 control the electric push rods 18 to stop moving at the moment, the pressing plates 20 are supported, and therefore stability in the moving process of the subsequent robot is guaranteed.
Finally, it should be noted that the above description is only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and that the simple modification and equivalent substitution of the technical solution of the present invention can be made by those skilled in the art without departing from the spirit and scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides a hidden natural gas pipe network intelligent robot inspection equipment is received to intraductal, includes installation storehouse (1), its characterized in that: the utility model discloses a device for fixing a plurality of hinge rods, including installation bin (1), connecting axle (13) are connected with in the rotation of the inside top dead axle of installation bin (1), the top of connecting axle (13) is equipped with installation head (14), the bottom of connecting axle (13) is equipped with actuating assembly, the bottom of installation bin (1) is equipped with connection bin (2), the inside of connection bin (2) is equipped with fixed bin (19), the inside of fixed bin (19) is equipped with electric putter (18), the output of electric putter (18) is equipped with mounting panel (21), the bottom of mounting panel (21) is equipped with pressure sensor (22), the inside sliding connection of installation bin (1) has slide bar (4), the top of slide bar (4) is equipped with clamp plate (20), the bottom of slide bar (4) is equipped with articulated joint (5), the bottom in the outside of connection bin (2) evenly articulates there is multiunit hinge rod B (6), the outside of installation bin (1) evenly articulates there is multiunit hinge rod D (9) between hinge rod B (6) and articulated joint (5), the outside of installation bin (1) evenly articulates, the outside of being equipped with mounting panel (21) is equipped with mounting panel (22), the inside sliding bar (1) has, slide bar (4) inside sliding bar (4), slide bar (4) is equipped with connecting bar (2) and the bottom (2) C) is 1), the hinge rod C (7) is hinged with the hinge rod B (6), a roller (8) is arranged on one side of the hinge rod D (9), and a driving motor B (24) is arranged at one end of the hinge rod D (9).
2. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the driving assembly comprises a coil spring (15), a rotating rod (16), a gear (17), a driving motor A (10), an incomplete gear (11) and a bottom plate (12), wherein the driving motor A (10) is arranged in the installation bin (1), the incomplete gear (11) is arranged at the output end of the driving motor A (10), the coil spring (15) is arranged on the outer side of the connecting shaft (13), the coil spring (15) is connected with the installation bin (1), the bottom of the connecting shaft (13) is provided with the bottom plate (12), the rotating rod (16) is arranged at the bottom of the bottom plate (12), the gear (17) is arranged at the bottom of the outer side of the rotating rod (16), and the gear (17) and the incomplete gear (11) are meshed with each other.
3. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: one end of the connecting shaft (13) is provided with a connecting hole, and one end of the coil spring (15) is arranged in the connecting hole.
4. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the inside of installation head (14) is equipped with multiunit mounting hole, and the inside of mounting hole is equipped with the detection head.
5. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the outside of connecting bin (2) and the bottom of articulated pole D (9) all are equipped with the mounting groove, the both ends of spring (23) are located the inside of mounting groove.
6. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the outside of driving motor B (24) is equipped with the motor storehouse, and the inside in motor storehouse is equipped with amortization cotton.
7. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the bottom of connecting bin (2) is equipped with the spout, the outside of slide bar (4) is equipped with the limiting plate, and the diameter of limiting plate is greater than the diameter of spout.
8. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: one side of articulated pole D (9) is equipped with the mounting bracket, and gyro wheel (8) dead axle is connected in the inside of mounting bracket.
9. The in-pipe-receiving hidden intelligent robot inspection device for a natural gas pipe network according to claim 1, wherein: the inside of installation storehouse (1) is equipped with the fixed slot, and driving motor A (10) are located the inside of fixed slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211304036.XA CN116061201B (en) | 2022-10-24 | 2022-10-24 | Intelligent robot inspection equipment for natural gas pipe network with hidden inside pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211304036.XA CN116061201B (en) | 2022-10-24 | 2022-10-24 | Intelligent robot inspection equipment for natural gas pipe network with hidden inside pipe |
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| CN116061201A true CN116061201A (en) | 2023-05-05 |
| CN116061201B CN116061201B (en) | 2024-09-24 |
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| CN213576236U (en) * | 2020-09-10 | 2021-06-29 | 中国大唐集团新能源科学技术研究院有限公司 | Pipeline type cabin inspection robot |
| CN214093576U (en) * | 2020-11-02 | 2021-08-31 | 中国能源建设集团山西电力建设第三有限公司 | Pipeline leakage inspection robot for thermal power plant |
| CN112413284A (en) * | 2020-11-16 | 2021-02-26 | 湖北三江航天险峰电子信息有限公司 | Pipeline robot pre-tightening mechanism with pressure self-adaptive adjustment function |
| CN215862341U (en) * | 2021-08-17 | 2022-02-18 | 海南核电有限公司 | Pipeline inspection robot with antiskid function |
| CN216923671U (en) * | 2022-01-20 | 2022-07-08 | 博克力节能环保设备（大连）有限公司 | Crawler for pipeline robot detection |
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| CN116061201B (en) | 2024-09-24 |
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