CN117823752A - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
- Publication number
- CN117823752A CN117823752A CN202410246224.4A CN202410246224A CN117823752A CN 117823752 A CN117823752 A CN 117823752A CN 202410246224 A CN202410246224 A CN 202410246224A CN 117823752 A CN117823752 A CN 117823752A
- Authority
- CN
- China
- Prior art keywords
- driving
- main body
- inspection
- movable
- pipeline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 96
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000011161 development Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 8
- 238000012423 maintenance Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a pipeline inspection robot, which relates to the field of pipeline inspection, and comprises an inspection mechanism main body, wherein a plurality of driving mechanisms are arranged on the outer wall of the inspection mechanism main body; the driving mechanism comprises a driving main body, the driving main body is connected with a driving crawler belt through driving wheel transmission, a micro driving motor is installed in the driving main body and used for driving the driving wheel to rotate, the driving main body is hinged on a sliding guide beam through two hinged supports, and the sliding guide beam is installed and connected on the outer wall of the inspection mechanism main body; two sides of one end of the driving main body are respectively connected with a movable mechanism, and the two movable mechanisms are movably deformed through a pushing mechanism and are arranged with the driving main body. The inspection robot is small, exquisite, convenient and efficient in inspection, not only can ensure the inspection efficiency through the inspection robot, but also has strong operability, can adapt to the pipeline inspection effect of multiple environments, and has good development and use values.
Description
Technical Field
The invention relates to the field of pipeline inspection, in particular to a pipeline inspection robot.
Background
The pipeline transportation is one of five transportation modes in China, and is rapidly developed due to the advantages of large transportation capacity, low cost, high environmental benefit, safety, reliability and the like, the total mileage of the Chinese oil and gas pipeline reaches 15.0 ten thousand kilometers by the end of 2021, and the construction of the oil and gas pipeline keeps a growing situation for a long time. However, along with development of underground space and growth of service life, corrosion, cracks and even fracture of the pipeline can occur, and if the pipeline is not repaired in time, serious safety accidents such as explosion and the like can be generated; the manual maintenance pipeline has high cost, low efficiency and high inspection labor intensity, so that the development of the pipeline robot to replace manual maintenance has great practical significance. With the development of robot technology and the importance of pipeline safety, the popularization of the pipeline inspection robot is promoted; the pipeline inspection robot is a new pipeline inspection mode, improves the accuracy and convenience of inspection of the drainage pipeline, enables staff to better conduct pipeline maintenance, saves maintenance time and reduces maintenance cost. So that the research of the inspection robot of the urban drainage pipeline is very necessary, the research of the pipeline robot is very important in all countries in the world, and the research of the pipeline robot is taken as a key industrial engineering in most developed countries. Moreover, the pipeline inspection robot can replace people to enter complex and changeable pipeline environments to finish the pipeline inspection and maintenance work, so that the labor intensity is reduced, the safety requirement of pipeline inspection is ensured, the oil gas pipeline inspection robot is greatly developed, and the application prospect and economic benefit are higher, and the national social safety and technological safety are ensured.
Disclosure of Invention
The invention aims to provide a pipeline inspection robot which is small, convenient and efficient in inspection, can ensure the inspection efficiency, is high in operability, can adapt to the pipeline inspection effect of multiple environments, and has good development and use values.
The aim of the invention is realized by the following technical scheme:
the pipeline inspection robot comprises an inspection mechanism main body, wherein the outer wall of the inspection mechanism main body is provided with a plurality of driving mechanisms which are used for contacting with the inner wall of a pipeline and driving the inspection mechanism main body to move along the inner wall of the pipeline;
the driving mechanism comprises a driving main body, the driving main body is connected with a driving crawler belt through driving wheel transmission, a micro driving motor is installed in the driving main body and used for driving the driving wheel to rotate, the driving main body is hinged on a sliding guide beam through two hinged supports, and the sliding guide beam is installed and connected on the outer wall of the inspection mechanism main body;
two sides of one end of the driving main body are respectively connected with a movable mechanism for driving the driving crawler belt arranged on the driving main body to contact with the inner wall of the pipeline, and the two movable mechanisms are movably deformed through a pushing mechanism and are arranged with the driving main body.
Preferably, the movable mechanism comprises movable hydraulic rods, one ends of the movable hydraulic rods are hinged with the outer wall of the driving main body through hinge bases, the other ends of the movable hydraulic rods are connected with the pushing mechanism through sliding supports, the sliding supports can slide relatively along the sliding guide beams, and the pushing mechanism drives the sliding supports to move, so that the driving main body hinged with the sliding supports through the movable hydraulic rods is driven to move and deform.
Preferably, the movable hydraulic rod is respectively penetrated with a movable SMA spring, one end of the movable SMA spring is connected with the hinge seat at one end of the movable hydraulic rod, and the other end of the movable SMA spring is connected with the hinge seat at the other end of the movable hydraulic rod.
Preferably, the pushing mechanism comprises a pushing hydraulic rod, one end of the pushing hydraulic rod is hinged with the sliding support through a hinging seat, and the other end of the pushing hydraulic rod is hinged with the sliding guide beam through the hinging seat.
Preferably, the rod body outer wall of the pushing hydraulic rod is penetrated with a pushing SMA spring, the pushing SMA spring is connected with a hinge seat close to one end of the sliding support, and the other end of the pushing SMA spring is connected with the cylinder body outer wall of the pushing hydraulic rod.
Preferably, one end of the inspection mechanism main body is provided with a plurality of sensing cameras for shooting, the sensing cameras are arranged in the transparent protective cover, and the transparent protective cover is detachably connected with one end of the inspection mechanism main body through bolts.
The beneficial effects of the invention are as follows: the inspection robot is used for overhauling or inspecting pipelines, and replaces manual inspection to the pipelines needing inspection, so that the inspection efficiency is improved, and the quality and safety of the inspection process are guaranteed. The inspection robot comprises an inspection mechanism main body, wherein the outer wall of the inspection mechanism main body is provided with a plurality of driving mechanisms which are used for contacting with the inner wall of a pipeline and driving the inspection mechanism main body to move along the inner wall of the pipeline; the inspection device is suitable for different pipe diameters by controlling the deformation of the driving mechanism, and drives the inspection mechanism main body to move along the pipeline; the driving mechanism comprises a driving main body, wherein the driving main body is connected with a driving crawler belt through driving wheel transmission, a micro driving motor is installed in the driving main body and used for driving the driving wheel to rotate, the driving main body is hinged on a sliding guide beam through two hinged supports, and the sliding guide beam is installed and connected on the outer wall of the inspection mechanism main body; the two sides of one end of the driving main body are respectively connected with movable mechanisms for driving the driving crawler belt arranged on the driving main body to contact with the inner wall of the pipeline, and the two movable mechanisms are movably deformed by the pushing mechanism and are arranged with the driving main body; in the implementation, the movable mechanism is driven to move by the control pushing mechanism, so that the movable mechanism is controlled to drive the driving main body to move and deform in a proper degree, different pipe diameters and environments are met, the driving wheel is driven to rotate by the control micro driving motor, the driving main body is driven to move along the pipeline, and the pipeline is inspected. From the overall design structure, this inspection robot is small and exquisite convenient, inspection is high-efficient, through this inspection robot not only can guarantee the efficiency of inspection, and this inspection robot maneuverability is strong moreover, can adapt to among the pipeline inspection effect of many environments, has fine development use value.
Drawings
FIG. 1 is a schematic structural view of a pipeline inspection robot according to the present invention;
FIG. 2 is a schematic diagram of a driving mechanism connection structure of a pipeline inspection robot according to the present invention;
in the figure, the mechanism body is patrolled and examined to 1-, 2-drive main part, 3-drive track, 4-slip nose girder, 5-activity hydraulic stem, 6-sliding support, 7-promotion hydraulic stem, 11-transparent safety cover, 21-hinged support, 51-activity SMA spring, 71-promotion SMA spring.
Detailed Description
For the purpose of making the technical solution and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention. It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
As shown in fig. 1 to 2, a pipeline inspection robot is used for inspecting or inspecting pipelines, and the inspection robot replaces manual inspection for inspecting pipelines to be inspected, so that the inspection efficiency is improved, and the quality and safety of the inspection process are ensured. The inspection robot comprises an inspection mechanism main body 1, wherein the outer wall of the inspection mechanism main body 1 is provided with a plurality of driving mechanisms which are used for contacting with the inner wall of a pipeline and driving the inspection mechanism main body 1 to move along the inner wall of the pipeline; the inspection device is suitable for different pipe diameters by controlling the deformation of the driving mechanism, and drives the inspection mechanism main body to move along the pipeline; the driving mechanism comprises a driving main body 2, the driving main body 2 is connected with a driving crawler belt 3 through driving wheel transmission, a micro driving motor is installed in the driving main body 2 and used for driving the driving wheel to rotate, the driving main body 2 is hinged on a sliding guide beam 4 through two hinged supports 21, and the sliding guide beam 4 is installed and connected to the outer wall of the inspection mechanism main body 1; the two sides of one end of the driving main body 2 are respectively connected with a movable mechanism for driving the driving crawler belt 3 arranged on the driving main body 2 to contact with the inner wall of the pipeline, and the two movable mechanisms are movably deformed through a pushing mechanism and are arranged with the driving main body 2; in the implementation, the movable mechanism is driven to move by controlling the pushing mechanism, so that the movable mechanism is controlled to drive the driving main body 2 to move and deform in a proper degree, different pipe diameters and environments are met, the driving wheel is driven to rotate by controlling the micro driving motor, the driving main body 2 is driven to move along a pipeline by the driving track 3, and the inspection mechanism main body 1 is driven to move along the pipeline, so that the purpose of inspecting the pipeline is achieved.
Furthermore, in the implementation process, in order to adapt to different pipe diameters under different environments, the inspection robot can realize deformation in the design process, so that the inspection robot meets the requirements. The inspection robot comprises an inspection mechanism main body 1, wherein the outer wall of the inspection mechanism main body 1 is provided with a plurality of driving mechanisms which are used for contacting with the inner wall of a pipeline and driving the inspection mechanism main body 1 to move along the inner wall of the pipeline; meanwhile, the driving mechanism comprises a driving main body 2, the driving main body 2 is hinged on a sliding guide beam 4 through two hinged supports 21, and the sliding guide beam 4 is installed and connected to the outer wall of the inspection mechanism main body 1; two sides of one end of the driving main body 2 are respectively connected with movable mechanisms for driving the driving main body 2 to deform and adapt to different pipe diameters, and the two movable mechanisms are movably deformed and arranged with the driving main body 2 through a pushing mechanism; the movable mechanism is driven to move through the arranged pushing mechanism, then the movable mechanism is matched for adjusting and controlling, the driving main body 2 is driven to generate movable deformation, each driving mechanism is enabled to be in adaptive contact with the inner walls of different pipe diameters, and the inspection mechanism main body 1 is driven to move in different pipelines under different environments through controlling the coordinated control of each driving mechanism. In the implementation, the movable mechanisms comprise movable hydraulic rods 5, one ends of the movable hydraulic rods 5 are hinged with the outer wall of the driving main body 2 through hinging seats, the other ends of the movable hydraulic rods 5 are connected with a pushing mechanism through sliding supports 6, the sliding supports 6 can slide relatively along the sliding guide beams 4, and the pushing mechanism drives the sliding supports 6 to move, so that the driving main body 2 hinged with the sliding supports 6 through the movable hydraulic rods 5 is driven to deform actively; meanwhile, the movable hydraulic rod 5 is respectively penetrated with a movable SMA spring 51, one end of the movable SMA spring 51 is connected with a hinge seat at one end of the movable hydraulic rod 5, and the other end of the movable SMA spring 51 is connected with a hinge seat at the other end of the movable hydraulic rod 5. The pushing mechanism comprises a pushing hydraulic rod 7, one end of the pushing hydraulic rod 7 is hinged with the sliding support 6 through a hinging seat, and the other end of the pushing hydraulic rod 7 is hinged with one end, far away from the sliding support 6, of the sliding guide beam 4 through the hinging seat; and, wear to be equipped with in the body of rod outer wall that promotes hydraulic stem 7 and promote SMA spring 71, promote SMA spring 71 and be connected with the articulated seat that is close to sliding support 6 one end, promote the other end of SMA spring 71 and promote hydraulic stem 7's cylinder body outer wall connection.
Through foretell structural design, when implementing to control this inspection robot to remove in the different pipe diameters under the different environment, first according to the size of pipe diameter adjust this inspection robot's gesture shape to this let this inspection robot enter into the pipeline. Therefore, according to the pipe diameter, the sliding support 6 is driven to translate along the sliding guide beam 4 by controlling the expansion and contraction of the pushing hydraulic rod 7 (in the description, the mechanism that is connected with one of the driving mechanisms is used for description), so that the sliding support 6 translates to drive the movable hydraulic rod 5 hinged on the sliding support 6 to drive the driving main body 2 hinged at the other end of the movable hydraulic rod 5 to generate relative deformation with the hinged supports 21 hinged at the two ends of the driving main body 2, at the moment, the driving main body 2 is driven to be in fine adjustment by controlling the movable hydraulic rod 5, so that the driving main body 2 is connected with the driving crawler 3 through the driving wheel transmission to be in contact with the inner wall of the pipe in a adapting way, and a micro driving motor is arranged in the driving main body 2 and is used for driving the driving wheel to rotate, and the driving crawler 3 is driven to move along the inner wall of the pipe through the arranged micro driving motor, and the other driving mechanisms are matched to drive the driving main body 1 to move along the inner wall of the pipe.
Further, in the implementation, it needs to be emphasized that: the movable SMA spring 51 is respectively penetrated on the designed movable hydraulic rod 5, and the push SMA spring 71 is penetrated on the outer wall of the rod body of the push hydraulic rod 7, so that the SMA spring is selected because the spring is greatly different from a common general spring, the SMA spring has a memory function, and the SMA spring can generate a certain memory purpose along with the frequency and the times of use when in use, namely, when the inspection robot is in different environments and different pipe diameters, the performance of the SMA spring is different, and the specific accurate position of the inspection robot is not easy to obtain because the SMA spring is in a pipeline, so the SMA spring plays a huge role at the moment: according to the characteristic that an SMA spring is different in memory under different environments and different pipe diameters, when the inspection robot is in different environments and different pipe diameters, the SMA spring can generate memory for the same environments along with the frequency of use, when the inspection robot is used next time, the shape of the attitude of the inspection robot is not required to be regulated in a great amount of time, so that the inspection robot is suitable for a pipeline same with the previous environments, a plurality of sensors are installed and connected on the movable hydraulic rod 5, a plurality of sensors are also installed and connected on the pushing hydraulic rod 7, when the inspection robot is used, the SMA spring is placed at the pipeline opening, deformation occurs according to the memory characteristic, the sensing SMA spring is changed, sensed data is transmitted to an external controller, the controller receives data feedback for analysis and judgment, the movable hydraulic rod 5 and the pushing hydraulic rod 7 are controlled to move according to the design or the data of the main body 2 before the automatic control, the position of the inspection robot is required to be regulated in the pipeline position of the same way, the inspection robot is required to be driven by the position of the pipeline, and the inspection robot is required to be regulated according to the position of the deformation of the pipeline, and the position of the inspection robot is required to be regulated. One end of a patrol mechanism main body 1 of the patrol robot is provided with a plurality of sensing cameras for shooting, the sensing cameras are arranged in a transparent protective cover 11, and the transparent protective cover 11 is detachably connected with one end of the patrol mechanism main body 1 through bolts; the transparent protection cover 11 is used for protecting the sensing cameras, and the plurality of sensing cameras can be adjusted and controlled in an all-round mode, namely, the purpose of carrying out overall shooting and photographing in the pipeline is achieved, and the shooting and photographing data are fed back to the controller according to the sensing cameras, so that the condition of the pipeline which is inspected is judged, analyzed and inspected is carried out, and the pipeline is inspected and overhauled according to the data. It should be noted that, according to the purpose of actual inspection, different inspection and maintenance devices are installed on the inspection mechanism main body 1 of the inspection robot, for example, the inspection mechanism main body 1 of the inspection robot is provided with a cleaning pipeline, so that the cleaning can be performed on the place to be cleaned through feedback analysis data; for example, when the inspection mechanism main body 1 of the inspection robot is provided with the dredging device, the places to be dredged can be dredged by feeding back the analyzed data. The inspection robot is used for various purposes of inspection of pipelines, and is not described one by one. From this inspection robot overall design structure, this inspection robot is small and exquisite convenient, inspection is high-efficient, through this inspection robot not only can guarantee the efficiency of inspection, and this inspection robot maneuverability is strong moreover, can adapt to among the pipeline inspection effect of multiple environment, has fine development use value.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the embodiments in the above description, and various simple modifications can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention. In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further. Furthermore, the foregoing description of the preferred embodiment of the invention is provided for the purpose of limiting the invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention; meanwhile, any combination of various embodiments of the present invention can be made without departing from the spirit of the present invention, which should also be regarded as the disclosure of the present invention.
Claims (6)
1. The pipeline inspection robot is characterized by comprising an inspection mechanism main body, wherein the outer wall of the inspection mechanism main body is provided with a plurality of driving mechanisms which are used for being in contact with the inner wall of a pipeline and driving the inspection mechanism main body to move along the inner wall of the pipeline;
the driving mechanism comprises a driving main body, the driving main body is connected with a driving crawler belt through driving wheel transmission, a micro driving motor is installed in the driving main body and used for driving the driving wheel to rotate, the driving main body is hinged on a sliding guide beam through two hinged supports, and the sliding guide beam is installed and connected on the outer wall of the inspection mechanism main body;
two sides of one end of the driving main body are respectively connected with a movable mechanism for driving the driving crawler belt arranged on the driving main body to contact with the inner wall of the pipeline, and the two movable mechanisms are movably deformed through a pushing mechanism and are arranged with the driving main body.
2. The robot as claimed in claim 1, wherein the movable mechanisms each comprise a movable hydraulic rod, one end of the movable hydraulic rod is hinged to the outer wall of the driving body through a hinge seat, the other end of the movable hydraulic rod is connected to the pushing mechanism through a sliding support, the sliding support can slide relatively along the sliding guide beam, and the pushing mechanism drives the sliding support to move, so that the driving body hinged to the sliding support through the movable hydraulic rod is driven to move and deform.
3. The pipeline inspection robot according to claim 2, wherein the movable hydraulic rods are respectively provided with movable SMA springs in a penetrating manner, one ends of the movable SMA springs are connected with the hinge seat at one end of the movable hydraulic rods, and the other ends of the movable SMA springs are connected with the hinge seat at the other end of the movable hydraulic rods.
4. A pipeline inspection robot according to claim 3, wherein the pushing mechanism comprises a pushing hydraulic rod, one end of the pushing hydraulic rod is hinged to the sliding support through a hinge seat, and the other end of the pushing hydraulic rod is hinged to the sliding guide beam through a hinge seat.
5. The pipeline inspection robot according to claim 4, wherein the outer wall of the rod body of the pushing hydraulic rod is penetrated with a pushing SMA spring, the pushing SMA spring is connected with a hinge seat near one end of the sliding support, and the other end of the pushing SMA spring is connected with the outer wall of the cylinder body of the pushing hydraulic rod.
6. The pipeline inspection robot according to claim 1, wherein one end of the inspection mechanism main body is provided with a plurality of sensing cameras for photographing, the plurality of sensing cameras are arranged in a transparent protective cover, and the transparent protective cover is detachably connected with one end of the inspection mechanism main body through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410246224.4A CN117823752A (en) | 2024-03-05 | 2024-03-05 | Pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410246224.4A CN117823752A (en) | 2024-03-05 | 2024-03-05 | Pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117823752A true CN117823752A (en) | 2024-04-05 |
Family
ID=90508161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410246224.4A Pending CN117823752A (en) | 2024-03-05 | 2024-03-05 | Pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117823752A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111350903A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Multi-crawler-foot synchronous stretching structure for pipeline crawling |
| CN112319641A (en) * | 2020-10-16 | 2021-02-05 | 安徽鑫洋机电有限公司 | Variable-diameter petroleum pipeline inner wall inspection robot |
| CN214618507U (en) * | 2021-04-30 | 2021-11-05 | 青岛黄海学院 | Pipeline inspection robot |
| CN215000207U (en) * | 2021-01-15 | 2021-12-03 | 江西华航检测有限公司 | Pipeline crack detection robot |
| CN215000210U (en) * | 2021-04-21 | 2021-12-03 | 天津油立方科技有限公司 | Pipeline maintenance inspection robot |
| CN216843691U (en) * | 2022-02-11 | 2022-06-28 | 宜都高投卓信建设工程有限公司 | Detection robot for municipal underground pipeline repairing construction |
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN219367143U (en) * | 2023-01-14 | 2023-07-18 | 中国石油大学(华东) | Wheel type reducing underwater pipeline interior inspection robot |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
| CN117267517A (en) * | 2023-03-20 | 2023-12-22 | 伊荣德滚塑管业（深圳）有限公司 | Multifunctional pipeline detection device |
-
2024
- 2024-03-05 CN CN202410246224.4A patent/CN117823752A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111350903A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Multi-crawler-foot synchronous stretching structure for pipeline crawling |
| CN112319641A (en) * | 2020-10-16 | 2021-02-05 | 安徽鑫洋机电有限公司 | Variable-diameter petroleum pipeline inner wall inspection robot |
| CN215000207U (en) * | 2021-01-15 | 2021-12-03 | 江西华航检测有限公司 | Pipeline crack detection robot |
| CN215000210U (en) * | 2021-04-21 | 2021-12-03 | 天津油立方科技有限公司 | Pipeline maintenance inspection robot |
| CN214618507U (en) * | 2021-04-30 | 2021-11-05 | 青岛黄海学院 | Pipeline inspection robot |
| CN216843691U (en) * | 2022-02-11 | 2022-06-28 | 宜都高投卓信建设工程有限公司 | Detection robot for municipal underground pipeline repairing construction |
| CN114923062A (en) * | 2022-05-31 | 2022-08-19 | 太仓阿尔法数字科技有限公司 | Self-adaptive pipeline climbing inspection robot |
| CN219367143U (en) * | 2023-01-14 | 2023-07-18 | 中国石油大学(华东) | Wheel type reducing underwater pipeline interior inspection robot |
| CN117267517A (en) * | 2023-03-20 | 2023-12-22 | 伊荣德滚塑管业（深圳）有限公司 | Multifunctional pipeline detection device |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
Non-Patent Citations (1)
| Title |
|---|
| 李妙玲: "《机械工程材料》", 30 June 2022, 西安电子科技大学出版社, pages: 311 - 313 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103913346B (en) | A kind of abyssal sediment repeatedly pressurize transfer equipment | |
| CN102913715B (en) | Detecting robot of pipe | |
| CN107270027A (en) | A kind of support wheel type pipeline detection robot of optimization | |
| CN103395064B (en) | A kind of Rack pipe detection robot based on supersonic guide-wave technology | |
| CN110625626B (en) | Full-face tunnel boring machine tool changing robot test bed and tool changing simulation method | |
| CN111889458B (en) | Self-adaptive laser cleaning robot | |
| CN102384939B (en) | Apparatus for examining eddy current of control rod driving mechanism of CEPR nuclear power station | |
| CN111043445B (en) | Detection vehicle in pipeline | |
| CN117823752A (en) | Pipeline inspection robot | |
| CN111664363A (en) | Flexible sonar detection device and desilting robot | |
| CN110625357A (en) | Novel slide rail type tool changing system for shield | |
| CN108397639B (en) | Pipeline self-adaptive robot walking system | |
| CN110667721A (en) | Oil derrick climbing robot | |
| CN107940167B (en) | Stepping type pipeline inner wall defect image obtains robot | |
| CN110505536A (en) | It is a kind of dismounting easily can anti-hail outdoor 5G communication system | |
| CN213089455U (en) | Petroleum pipeline detection device | |
| CN214845009U (en) | Be used for natural gas line to maintain and use fault point positioner | |
| CN100432616C (en) | Pneumatic path drifting machine and drifting method | |
| CN112859068B (en) | Tunnel vault detects dolly | |
| CN113484334A (en) | Flexible defect detection device for inner wall of pipeline and working method thereof | |
| CN102887186A (en) | Wind turbine pole climbing robot | |
| CN112197799B (en) | Wheel tread adjustable piping lane detection device | |
| CN204924814U (en) | Can realize that three dimensions is respectively to removing large -scale staight scissors appearance | |
| CN210908815U (en) | Novel slide rail type tool changing system for shield | |
| CN102062715B (en) | Wear-resistance test device for multi-station retractor mesh belt in automobile safety mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |