CN116518314A - Underwater outer pipeline combined reducing inspection robot - Google Patents
Underwater outer pipeline combined reducing inspection robot Download PDFInfo
- Publication number
- CN116518314A CN116518314A CN202310578153.3A CN202310578153A CN116518314A CN 116518314 A CN116518314 A CN 116518314A CN 202310578153 A CN202310578153 A CN 202310578153A CN 116518314 A CN116518314 A CN 116518314A
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- Prior art keywords
- inspection
- fixedly connected
- shell
- electric telescopic
- pipeline
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- 238000007689 inspection Methods 0.000 title claims abstract description 139
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000007789 sealing Methods 0.000 claims abstract description 15
- 238000004806 packaging method and process Methods 0.000 claims description 20
- 230000004297 night vision Effects 0.000 claims description 16
- 238000001914 filtration Methods 0.000 claims description 14
- 230000001502 supplementing effect Effects 0.000 claims description 11
- 240000007651 Rubus glaucus Species 0.000 claims description 9
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 9
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 9
- 230000003238 somatosensory effect Effects 0.000 claims description 5
- 239000003208 petroleum Substances 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000008602 contraction Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 8
- 230000007547 defect Effects 0.000 description 7
- 238000005538 encapsulation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000010813 municipal solid waste Substances 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
-
- 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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to the technical field of intelligent robots, in particular to an underwater outer pipeline combined variable-diameter inspection robot, which comprises four inspection devices and eight electric telescopic mechanisms, wherein the inspection devices comprise an inspection shell, a transparent sealing cover, a control mechanism, two power parts, sensing equipment and two propelling mechanisms, the four inspection devices realize expansion and contraction through the eight electric telescopic mechanisms, the four inspection devices realize the effect of changing the radius of the whole device through magnetic positioning and matching with the electric telescopic mechanisms, two groups of electric telescopic mechanisms are arranged at each joint in a mirror image manner to realize stable expansion and contraction, and the problems of time and labor waste and low efficiency are solved by adopting a pipeline robot camera to detect after shutting down a petroleum pipeline and cleaning the attached inner cavity when the pipeline is detected by adopting the pipeline inspection robot in a pipeline outer side detection mode.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an underwater outer pipeline combined variable-diameter inspection robot.
Background
With the maturity of pipeline robot technique, can use pipeline robot to the defect detection of petroleum pipeline or urban drainage pipeline, use pipeline robot to patrol and examine in the pipeline hole.
However, when the pipeline is subjected to defect detection by adopting the pipeline inspection robot, after the petroleum pipeline is shut down and the oil stains attached to the inner cavity are cleaned, the pipeline inspection robot is adopted for detection, so that time and labor are wasted and the efficiency is low.
Disclosure of Invention
The invention aims to provide an underwater outer pipeline combined variable-diameter inspection robot, and aims to solve the problems that when an inner pipeline inspection robot is adopted to detect defects of pipelines, a petroleum pipeline is required to be shut down, oil stains attached to an inner cavity are cleaned, and then the pipeline inspection robot is adopted to detect the oil stains, so that time and labor are wasted and the efficiency is low.
In order to achieve the aim, the invention provides an underwater outer pipeline combined variable-diameter inspection robot which comprises four inspection devices and eight electric telescopic mechanisms,
two electric telescopic mechanisms are arranged between every two adjacent inspection devices in a mirror image mode; the inspection device comprises an inspection shell, a transparent sealing cover, a control mechanism, two power supply pieces, sensing equipment and two propelling mechanisms, wherein the transparent sealing cover is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the control mechanism is arranged in the inspection shell; the two power supply pieces are respectively arranged in the inspection shell; the sensing equipment is arranged at one side of the inspection shell; the two propelling mechanisms are respectively arranged at two sides of the inspection machine shell.
The control mechanism comprises a super-magnetic mounting plate and a raspberry group main control board, wherein the super-magnetic mounting plate is fixedly connected with the inspection shell and is positioned in the inspection shell; the raspberry group main control board is fixedly arranged on one side of the super magnetic mounting plate.
The power supply piece comprises a battery placing box and a battery, wherein the battery placing box is fixedly connected with the inspection shell and is positioned in the inspection shell; the battery is arranged inside the battery placing box.
The sensing equipment comprises a night vision camera, two light supplementing lamps and a somatosensory depth camera, wherein the night vision camera is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the two light supplementing lamps are respectively and fixedly connected with the night vision camera and are respectively positioned at two sides of the night vision camera; the somatosensory depth camera is fixedly connected with the transparent sealing cover and is positioned on one side of the transparent sealing cover.
The propelling mechanism comprises a mounting frame and a packaging propeller, wherein the mounting frame is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the packaging propeller is fixedly connected with the mounting frame and is positioned on one side of the mounting frame.
The electric telescopic mechanism comprises a fixed rod super magnet, an electric telescopic fixed rod and an electric telescopic movable rod, wherein the fixed rod super magnet is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the electric telescopic fixed rod is fixedly connected with the fixed rod super magnet and is positioned at one side of the fixed rod super magnet; the electric telescopic moving rod is arranged on one side of the output end of the electric telescopic fixed rod.
The propelling mechanism further comprises a filter piece, and the filter piece is arranged on one side of the packaging propeller.
The filter piece comprises a fixed ring, a filter cover, a filter baffle and a filter screen, wherein the fixed ring is fixedly connected with the packaging propeller and is positioned at one side of the packaging propeller; the filter cover is fixedly connected with the fixed ring, fixedly connected with the packaging propeller and positioned at one side of the fixed ring; the filtering baffle is fixedly connected with the filtering cover and is positioned at one side of the filtering cover; the filter screen is fixedly connected with the filter cover and is positioned at the inner side of the filter cover.
According to the underwater outer pipeline combined variable-diameter inspection robot, the four inspection devices are expanded and contracted through the eight electric telescopic mechanisms, the inspection machine shell is matched with the transparent sealing cover to form a general shape, the inspection machine shell is flat and arc-shaped, water flow resistance is reduced, underwater operation is facilitated, the control mechanism is used for driving the operation of the whole device and receiving remote instructions to control appointed electric elements, the power supply piece is used for providing electric energy for all the electric elements, the sensing equipment is used for transmitting pipeline inspection conditions to appointed receiving equipment through cloud end under the control of the control mechanism, the propelling mechanism is used for driving the whole device to move, the four inspection devices are matched with the electric telescopic mechanisms through magnetic positioning to change the radius of the whole device to achieve the variable-diameter effect, two groups of electric telescopic mechanisms are arranged through mirror images at each connecting position to achieve the expansion and expansion stability, and the problem that inspection of the outer side of a pipeline is time and labor are wasted when the pipeline inspection robot is used for inspecting defects and inspecting the pipeline is required to be shut down and the inner cavity is cleaned after the pipeline inspection robot is used for cleaning, the pipeline inspection camera is used for inspecting and the efficiency is low.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is an overall front view of a first embodiment of the present invention.
Fig. 2 is a side view of the entirety of the first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an inspection device according to a first embodiment of the present invention.
Fig. 4 is a schematic view of the internal structure of the inspection apparatus according to the first embodiment of the present invention.
Fig. 5 is a schematic side view of a patrol apparatus according to a first embodiment of the invention.
Fig. 6 is a schematic side view of a patrol apparatus according to a second embodiment of the invention.
The device comprises a 101-inspection device, a 102-electric telescopic mechanism, a 103-inspection shell, a 104-transparent sealing cover, a 105-control mechanism, a 106-power supply piece, 107-sensing equipment, 108-propelling mechanism, 109-super magnetic mounting plates, 110-raspberry group main control boards, 111-battery placing boxes, 112-batteries, 113-night vision cameras, 114-light supplementing lamps, 115-depth of body sensing cameras, 116-mounting frames, 117-packaging propellers, 118-fixed rod super magnets, 119-electric telescopic fixed rods, 120-electric telescopic movable rods, 201-filtering pieces, 202-fixed rings, 203-filtering covers, 204-filtering baffles and 205-filtering screens.
Detailed Description
The first embodiment of the application is as follows:
referring to fig. 1-5, fig. 1 is an overall front view of a first embodiment of the present invention, fig. 2 is an overall side view of the first embodiment of the present invention, fig. 3 is a schematic structural diagram of a inspection apparatus according to the first embodiment of the present invention, fig. 4 is a schematic internal structural diagram of the inspection apparatus according to the first embodiment of the present invention, and fig. 5 is a schematic side view of the inspection apparatus according to the first embodiment of the present invention.
The invention discloses an underwater outer pipeline combined reducing inspection robot, which comprises four inspection devices 101 and eight electric telescopic mechanisms 102, wherein the inspection devices 101 comprise an inspection shell 103, a transparent sealing cover 104, a control mechanism 105, two power supply pieces 106, sensing equipment 107 and two pushing mechanisms 108, the control mechanism 105 comprises a super magnetic mounting plate 109 and a raspberry-shaped main control board 110, the power supply pieces 106 comprise a battery placing box 111 and a battery 112, the sensing equipment 107 comprises a night vision camera 113, two light supplementing lamps 114 and a body sensing depth camera 115, the pushing mechanisms comprise a mounting frame 116 and a packaging propeller 117, the electric telescopic mechanisms 102 comprise fixed rod super magnets 118, electric telescopic fixed rods 119 and electric telescopic movable rods 120, and the problems that when the pipeline inspection robot is used for defect inspection of the existing pipeline inspection robot, the pipeline inspection robot is required to be shut down, the oil adhered to an inner cavity is required to be cleaned, and then the pipeline robot camera is used for inspection, which is time-consuming and labor-consuming and has low efficiency are solved.
Wherein, two electric telescopic mechanisms 102 are arranged between every two adjacent inspection devices 101 in a mirror image mode; the transparent sealing cover 104 is fixedly connected with the inspection machine shell 103 and is positioned at one side of the inspection machine shell 103; the control mechanism 105 is arranged inside the inspection machine shell 103; the two power components 106 are respectively disposed inside the inspection machine shell 103; the sensing device 107 is arranged at one side of the inspection machine shell 103; the two propulsion mechanisms 108 are respectively arranged on two sides of the inspection machine shell 103, the four inspection devices 101 realize expansion and contraction through the eight electric telescopic mechanisms 102, the inspection machine shell 103 is matched with the transparent sealing cover 104 to form a general shape, the inspection machine shell 103 is flat and arc-shaped, water flow resistance is reduced, underwater operation is facilitated, the control mechanism 105 is used for driving the operation of the whole device and receiving remote instruction control appointed electric elements, the power supply piece 106 is used for providing electric energy for each electric element, the sensing equipment 107 transmits pipeline inspection conditions to the appointed receiving equipment through the control of the control mechanism 105, the propulsion mechanisms 108 are used for driving the whole device to move, the four inspection devices 101 are matched with the electric telescopic mechanisms 102 through magnetic positioning, the radius of the whole device is changed, the diameter is changed, the two groups of electric telescopic mechanisms 102 are arranged stably through mirror images at each joint, when the inspection machine is used for detecting defects of pipeline inspection machines, petroleum pipelines are required to be stopped, the pipelines are attached to the specified by the inspection machines, the pipeline inspection machines are required to be cleaned after the pipeline inspection machines are used, and the pipeline inspection machines are required to be cleaned, and the problems of low in time and labor are wasted are solved.
Secondly, the super magnetic mounting plate 109 is fixedly connected with the inspection machine shell 103 and is positioned inside the inspection machine shell 103; the raspberry group main control board 110 is fixedly arranged on one side of the super magnetic mounting board 109, the super magnetic mounting board 109 is magnetically positioned and mounted inside the inspection machine shell 103, and the raspberry group main control board 110 is fixedly arranged on the super magnetic mounting board 109 through screws and is used for receiving instructions transmitted by remote equipment to control all electric elements in the whole device.
Again, the battery placing box 111 is fixedly connected with the inspection machine housing 103 and is located inside the inspection machine housing 103; the battery 112 is arranged inside the battery placing box 111, the battery placing box 111 is installed inside the inspection machine shell 103 through strong magnetic positioning, the battery placing box 111 is of a sealed waterproof structure and used for placing the battery 112, and the battery 112 is used for supplying energy to the whole device.
In addition, the night vision camera 113 is fixedly connected with the inspection machine shell 103 and is positioned at one side of the inspection machine shell 103; the two light supplementing lamps 114 are respectively fixedly connected with the night vision camera 113 and are respectively positioned at two sides of the night vision camera 113; the motion sensing depth camera 115 is fixedly connected with the transparent cover 104 and is located at one side of the transparent cover 104, the night vision camera 113 is used for transmitting an external pipeline inspection image to the raspberry group main control board 110 for image processing, the light supplementing lamp 114 is used for performing visual light supplementing effect to increase the video recording effect of the night vision camera 113, and the motion sensing depth camera 115 is used for judging the road condition of the front road.
Furthermore, the mounting rack 116 is fixedly connected with the inspection machine 103 and is located at one side of the inspection machine 103; the package pusher 117 is fixedly connected with the mounting frame 116, and is located at one side of the mounting frame 116, the mounting frame 116 is disposed on the inspection machine housing 103 and is used for supporting the installation of the package pusher 117, and the package pusher 117 is used for pushing the whole device to move.
Finally, the fixed-rod super magnet 118 is fixedly connected with the inspection machine shell 103 and is positioned at one side of the inspection machine shell 103; the electric telescopic fixed rod 119 is fixedly connected with the fixed rod super magnet 118 and is positioned on one side of the fixed rod super magnet 118; the electric telescopic moving rod 120 is disposed on one side of an output end of the electric telescopic fixed rod 119, and the fixed rod super magnet 118 is used for magnetically mounting the electric telescopic fixed rod 119 onto the inspection machine shell 103, and is matched with the electric telescopic moving rod 120 to control the inspection machine shells 103 on two sides to be close to or far away from each other.
In the combined variable-diameter inspection robot for the underwater outer pipelines, the four inspection devices 101 are expanded and contracted through eight electric telescopic mechanisms 102, the inspection machine shell 103 is matched with the transparent sealing cover 104 to form a general shape, the inspection machine shell 103 is flat arc-shaped, the water flow resistance is reduced, the super magnetic mounting plate 109 is magnetically positioned and mounted in the inspection machine shell 103, the raspberry group main control board 110 is fixed on the super magnetic mounting plate 109 through screws and is used for receiving instructions transmitted by remote equipment to control all electric elements in the whole device, the battery placement box 111 is mounted in the inspection machine shell 103 through strong magnetic positioning, the battery placement box 111 is of a sealed waterproof structure and is used for placing the battery 112, the battery 112 is used for supplying energy to the whole device, the night vision camera 113 is used for transmitting an external pipeline inspection image to the raspberry group main control board 110 for image processing, the light supplementing lamp 114 is used for performing visual light supplementing effect to increase video effect of the night vision camera 113, the somatosensory depth camera 115 is used for judging front road conditions, the mounting frame 116 is arranged on the inspection machine shell 103 and used for supporting installation of the packaging propeller 117, the packaging propeller 117 is used for pushing the whole device to move, the fixed rod super magnet 118 is used for magnetically mounting the electric telescopic fixed rod 119 on the inspection machine shell 103, the inspection machine shells 103 on two sides are controlled to be close to or far away from each other by matching with the electric telescopic movable rod 120, the four inspection devices 101 are matched with the electric telescopic mechanism 102 through magnetic positioning to change the radius of the whole device to achieve the effect of reducing, the two groups of electric telescopic mechanisms 102 are arranged at each joint in a mirror image mode, so that the electric telescopic mechanisms are stable in expansion and expansion, the problems that when an inner pipeline inspection robot is adopted to detect defects of the pipeline, a petroleum pipeline is required to be shut down and oil stains attached to the inner cavity are cleaned, the pipeline robot camera is adopted to detect the oil stains, and time and labor are wasted and the efficiency is low are solved.
The second embodiment of the present application is:
referring to fig. 6, fig. 6 is a schematic side view of an inspection apparatus according to a second embodiment of the invention.
On the basis of the first embodiment, the invention provides the underwater outer pipeline combined variable-diameter inspection robot, the propelling mechanism further comprises a filter 201, and the filter 201 comprises a fixed ring 202, a filter cover 203, a filter baffle 204 and a filter screen 205.
Wherein, filter 201 set up in encapsulation propeller 117 one side, filter 201 set up in encapsulation propeller 117's water inlet department prevents aquatic weed, fishing net, stone, floating rubbish and other debris from inhaling encapsulation propeller 117 inside damages inside screw to increase encapsulation propeller 117's life.
Secondly, the fixing ring 202 is fixedly connected with the package pusher 117 and is positioned at one side of the package pusher 117; the filter cover 203 is fixedly connected with the fixing ring 202, is fixedly connected with the packaging propeller 117, and is positioned at one side of the fixing ring 202; the filtering baffle 204 is fixedly connected with the filtering cover 203 and is positioned at one side of the filtering cover 203; the filter screen 205 with filter housing 203 fixed connection, and be located filter housing 203 is inboard, solid fixed ring 202 is used for supporting the installation of filter housing 203, filter housing 203 covers encapsulation propeller 117 water inlet department is passed through filtering baffle 204 isolated great debris, then cooperate filter screen 205 filters tiny debris, prevents pasture and water, the fishing net, the stone, debris such as floating rubbish are inhaled encapsulation propeller 117 inside damages inside screw, thereby increases encapsulation propeller 117's life.
According to the underwater outer pipeline combined variable-diameter inspection robot, the fixing ring 202 is used for supporting the filter cover 203, the filter cover 203 covers the water inlet of the packaging propeller 117, larger sundries are isolated through the filter baffle 204, then fine sundries are filtered through the filter screen 205, water plants, fishing nets, stones, floating garbage and other sundries are prevented from being sucked into the packaging propeller 117, the internal propeller is damaged, and accordingly the service life of the packaging propeller 117 is prolonged.
The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.
Claims (8)
1. An underwater outer pipeline combined variable-diameter inspection robot is characterized in that,
comprises four inspection devices and eight electric telescopic mechanisms,
two electric telescopic mechanisms are arranged between every two adjacent inspection devices in a mirror image mode; the inspection device comprises an inspection shell, a transparent sealing cover, a control mechanism, two power supply pieces, sensing equipment and two propelling mechanisms, wherein the transparent sealing cover is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the control mechanism is arranged in the inspection shell; the two power supply pieces are respectively arranged in the inspection shell; the sensing equipment is arranged at one side of the inspection shell; the two propelling mechanisms are respectively arranged at two sides of the inspection machine shell.
2. The underwater outer pipeline combined reducing inspection robot of claim 1, wherein,
the control mechanism comprises a super-magnetic mounting plate and a raspberry group main control board, wherein the super-magnetic mounting plate is fixedly connected with the inspection machine shell and is positioned in the inspection machine shell; the raspberry group main control board is fixedly arranged on one side of the super magnetic mounting plate.
3. The underwater outer pipeline combined reducing inspection robot of claim 2, wherein,
the power supply piece comprises a battery placing box and a battery, wherein the battery placing box is fixedly connected with the inspection shell and is positioned in the inspection shell; the battery is arranged inside the battery placing box.
4. The underwater outer pipeline combined reducing inspection robot as claimed in claim 3, wherein,
the sensing equipment comprises a night vision camera, two light supplementing lamps and a somatosensory depth camera, wherein the night vision camera is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the two light supplementing lamps are respectively and fixedly connected with the night vision camera and are respectively positioned at two sides of the night vision camera; the somatosensory depth camera is fixedly connected with the transparent sealing cover and is positioned on one side of the transparent sealing cover.
5. The underwater outer pipeline combined reducing inspection robot of claim 4, wherein,
the propelling mechanism comprises a mounting frame and a packaging propeller, wherein the mounting frame is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the packaging propeller is fixedly connected with the mounting frame and is positioned on one side of the mounting frame.
6. The underwater outer pipeline combined reducing inspection robot of claim 1, wherein,
the electric telescopic mechanism comprises a fixed rod super magnet, an electric telescopic fixed rod and an electric telescopic movable rod, wherein the fixed rod super magnet is fixedly connected with the inspection shell and is positioned at one side of the inspection shell; the electric telescopic fixed rod is fixedly connected with the fixed rod super magnet and is positioned at one side of the fixed rod super magnet; the electric telescopic moving rod is arranged on one side of the output end of the electric telescopic fixed rod.
7. The underwater outer pipeline combined reducing inspection robot of claim 5, wherein,
the propelling mechanism further comprises a filter piece, and the filter piece is arranged on one side of the packaging propeller.
8. The underwater outer pipeline combined variable-diameter inspection robot of claim 7, wherein the filter piece comprises a fixed ring, a filter cover, a filter baffle and a filter screen, wherein the fixed ring is fixedly connected with the packaging propeller and is positioned at one side of the packaging propeller; the filter cover is fixedly connected with the fixed ring, fixedly connected with the packaging propeller and positioned at one side of the fixed ring; the filtering baffle is fixedly connected with the filtering cover and is positioned at one side of the filtering cover; the filter screen is fixedly connected with the filter cover and is positioned at the inner side of the filter cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310578153.3A CN116518314A (en) | 2023-05-22 | 2023-05-22 | Underwater outer pipeline combined reducing inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310578153.3A CN116518314A (en) | 2023-05-22 | 2023-05-22 | Underwater outer pipeline combined reducing inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116518314A true CN116518314A (en) | 2023-08-01 |
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ID=87395892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310578153.3A Pending CN116518314A (en) | 2023-05-22 | 2023-05-22 | Underwater outer pipeline combined reducing inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN116518314A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116787467A (en) * | 2023-08-23 | 2023-09-22 | 徐州市检验检测中心 | Tower body safety inspection robot of tower crane and application method thereof |
-
2023
- 2023-05-22 CN CN202310578153.3A patent/CN116518314A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116787467A (en) * | 2023-08-23 | 2023-09-22 | 徐州市检验检测中心 | Tower body safety inspection robot of tower crane and application method thereof |
| CN116787467B (en) * | 2023-08-23 | 2023-11-10 | 徐州市检验检测中心 | Tower body safety inspection method of tower crane |
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