CN119187148A - Cable conduit dredging robot suitable for small pipe diameter - Google Patents
Cable conduit dredging robot suitable for small pipe diameter Download PDFInfo
- Publication number
- CN119187148A CN119187148A CN202411697171.4A CN202411697171A CN119187148A CN 119187148 A CN119187148 A CN 119187148A CN 202411697171 A CN202411697171 A CN 202411697171A CN 119187148 A CN119187148 A CN 119187148A
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- China
- Prior art keywords
- spherical joint
- airbag
- pneumatic
- rotating motor
- cable
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of cable pipeline robots, and particularly relates to a cable pipeline dredging robot suitable for small pipe diameters, which comprises a connected working system and a traveling system, wherein the traveling system comprises a first air bag, a second air bag, a first spherical joint, a second spherical joint and a pneumatic telescopic mechanism, the first air bag is connected with one end of the pneumatic telescopic mechanism through the first spherical joint, and the other end of the pneumatic telescopic mechanism is connected with the second air bag through the second spherical joint. The robot disclosed by the invention is contacted with the pipeline through the air bag, so that the damage to the pipeline is avoided, the service life of the pipeline is prolonged, and meanwhile, the robot disclosed by the invention is simple in structure, small in size and low in manufacturing cost.
Description
Technical Field
The invention belongs to the field of cable pipeline robots, and particularly relates to a cable pipeline dredging robot suitable for small pipe diameters.
Background
The running system of the existing cable duct dredging robot generally adopts a mode that a wheel type mechanism drives the robot to run inside a pipeline, and a front end cleaning mechanism of the robot cannot generally clean a fixed obstacle, but the cable duct with a relatively small diameter (175-225 mm) is usually insufficient in power, and cannot run in the cable duct with a small diameter for a long distance.
Chinese patent application CN110296294A discloses a combined type pipeline cleaning and spraying robot, CN110541999a hollow shaft pneumatic pipeline robot, CN112413285A pipeline obstacle clearing robot, and chinese patent CN110508572B discloses a multi-support wheel type peristaltic pipeline cleaning robot.
Although the above-mentioned technique solves the problem of insufficient power of the running system, the above-mentioned technique still has the following problems:
(1) The robot has the advantages of complex structure, large structure volume and high manufacturing cost;
(2) When the robot walks in the pipeline, the pipeline is easy to damage, so that the service life of the pipeline is short;
(3) The obstacle cannot be cleaned in place, and the cleaning effect is poor.
In view of this, the present invention has been made.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides the cable pipeline dredging robot suitable for small pipe diameters, the robot is contacted with a pipeline through an air bag, the damage to the pipeline is avoided, the service life of the pipeline is prolonged, and meanwhile, the robot is simple in structure, small in size and low in manufacturing cost.
The invention comprises the following technical scheme:
The invention provides a cable pipeline dredging robot suitable for small pipe diameters, which comprises a connected working system and a traveling system, wherein the traveling system comprises a first air bag, a second air bag, a first spherical joint, a second spherical joint and a pneumatic telescopic mechanism, the first air bag is connected with one end of the pneumatic telescopic mechanism through the first spherical joint, and the other end of the pneumatic telescopic mechanism is connected with the second air bag through the second spherical joint;
the pneumatic telescopic mechanism comprises a first pneumatic structure, a second pneumatic structure, a first telescopic rod and a second telescopic rod, one end of the first telescopic rod is connected with the first spherical joint, a first boss is arranged at the other end of the first telescopic rod, the first boss is arranged in a first inner cavity of the first pneumatic structure in a sliding mode to enable the first inner cavity to form a first air chamber and a second air chamber, one end of the second telescopic rod is connected with the second spherical joint, a second boss is arranged at the other end of the second telescopic rod, the second boss is arranged in a second inner cavity of the second pneumatic structure in a sliding mode to enable the second inner cavity to form a third air chamber and a fourth air chamber, and the first pneumatic structure is connected with the second pneumatic structure.
Further, the pneumatic telescopic mechanism further comprises a connecting structure, the connecting structure is provided with a third inner cavity, and two ends of the third inner cavity are respectively connected with the first pneumatic structure and the second pneumatic structure.
The first air bag and the second air bag are annular air bags, and air paths for connecting the first air bag, the second air bag, the first pneumatic structure and the second pneumatic structure are arranged in an inner annular cavity of the second air bag, a second spherical joint, a connecting structure, a first spherical joint and an inner annular cavity of the first air bag.
Further, the working system is a milling cutter mechanism, and the milling cutter mechanism is connected with the first air bag through a third spherical joint.
Further, a plurality of servo electric cylinders are arranged between the milling cutter mechanism and the first air bag.
Further, the servo electric cylinders are arranged in three, and the three servo electric cylinders are uniformly and circumferentially arranged on the outer side of the third spherical joint.
Further, the working system is a cutting mechanism, the cutting mechanism is connected with the first air bag through a third spherical joint, and the cutting mechanism is used for cutting cables in the small-diameter cable pipeline.
Further, the cutting mechanism comprises a main rotating motor, a magnetic push rod, an end face grinding wheel, a first round table grinding wheel, a second round table grinding wheel, a first self-rotating motor and a second self-rotating motor, wherein the third spherical joint is connected with the main rotating motor, an output shaft of the main rotating motor is connected with the magnetic push rod, one end of the magnetic push rod, far away from the main rotating motor, is connected with the end face grinding wheel, two push rods which are oppositely arranged are respectively connected with the first self-rotating motor and the second self-rotating motor, the first self-rotating motor is connected with the first round table grinding wheel, and the second self-rotating motor is connected with the second round table grinding wheel.
Further, the working system is a repair mechanism for repairing an outer sheath of the cable.
By adopting the technical scheme, the invention has the following advantages:
1. The robot disclosed by the invention is contacted with the pipeline through the air bag, so that the damage to the pipeline is avoided, the service life of the pipeline is prolonged, and meanwhile, the robot disclosed by the invention is simple in structure, small in size and low in manufacturing cost.
2. According to the invention, the servo electric cylinder is arranged between the milling cutter mechanism and the first air bag, so that the robot can adjust the direction of the milling cutter mechanism according to the position of a hard object when the robot cleans the hard object and other obstacles in a cable pipeline, and has a better cleaning effect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a cable duct dredging robot suitable for small pipe diameters according to an embodiment of the invention;
FIG. 2 is a cross-sectional view taken along the direction of FIG. 1 A-A;
FIG. 3 is a schematic view of the partial structure of FIG. 1;
FIG. 4 is a schematic view of a cutting mechanism for cutting a cable according to an embodiment of the present invention;
In the figure, 10-working system, 11-milling cutter mechanism, 111-milling cutter, 112-motor, 12-cutting mechanism, 121-main rotating motor, 122-magnetic push rod, 123-end face grinding wheel, 124-first round table grinding wheel, 125-second round table grinding wheel, 126-first self-rotating motor, 127-second self-rotating motor, 20-walking system, 21-first air bag, 22-second air bag, 23-first spherical joint, 24-second spherical joint, 25-pneumatic telescopic mechanism, 251-first pneumatic structure, 2511-first air chamber, 2512-second air chamber, 252-second pneumatic structure, 2521-third air chamber, 2522-fourth air chamber, 253-first telescopic link, 2531-first boss, 254-second telescopic link, 2541-second boss, 255-connecting structure, 2551-third inner chamber, 30-third spherical joint, 40-servo electric cylinder, 50-cable.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The elements and arrangements described in the following specific examples are presented for purposes of brevity and are provided only as examples and are not intended to limit the invention.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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.
The embodiment provides a cable pipeline dredging robot suitable for small pipe diameters, which comprises a connected working system 10 and a walking system 20 as shown in fig. 1, wherein the walking system 20 comprises a first air bag 21, a second air bag 22, a first spherical joint 23, a second spherical joint 24 and a pneumatic telescopic mechanism 25, the first air bag 21 is connected with one end of the pneumatic telescopic mechanism 25 through the first spherical joint 23, and the other end of the pneumatic telescopic mechanism 25 is connected with the second air bag 22 through the second spherical joint 24.
The robot of this embodiment realizes peristaltic walking through the cooperation of first gasbag 21, second gasbag 22 and pneumatic extending structure. Specifically, as shown in fig. 1, the second air bag 22 is inflated to be tightly fixed on the pipe wall of the small-pipe-diameter cable duct, the pneumatic telescopic mechanism 25 is controlled to extend in an inflation and deflation mode to push other structures except the second air bag 22to move to the left side in the drawing, then the first air bag 21 is inflated to be tightly fixed on the pipe wall of the small-pipe-diameter cable duct, the second air bag 22 is deflated and released, the pneumatic telescopic mechanism 25 is controlled to be shortened in an inflation and deflation mode to enable the second air bag 22to move to the left side in the drawing, and peristaltic walking is repeatedly realized.
In the peristaltic walking process, the first air bag 21 and the second air bag 22 are used for being fixed on the pipe wall in a tensioning mode and are in flexible contact with the pipe wall, damage to the pipe wall can be avoided, and the service life of the pipeline is prolonged.
The pneumatic telescopic mechanism 25 is a structure which can realize telescopic operation through inflation and deflation, so as to further reduce the complexity and the manufacturing cost of the traveling system 20, meanwhile, in order to increase the distance of one peristaltic travel and improve the peristaltic travel efficiency, as shown in fig. 2, the pneumatic telescopic mechanism 25 comprises a first pneumatic structure 251, a second pneumatic structure 252, a first telescopic rod 253 and a second telescopic rod 254, one end of the first telescopic rod 253 is connected with the first spherical joint 23, the other end of the first telescopic rod 253 is provided with a first boss 2531, the first boss 2531 is slidably arranged in a first inner cavity of the first pneumatic structure 251 to enable the first inner cavity to form a first air chamber 2511 and a second air chamber 2512, one end of the second telescopic rod 254 is connected with the second spherical joint 24, the other end of the second telescopic rod 254 is provided with a second boss 2541, the second boss 2541 is slidably arranged in a second inner cavity of the second pneumatic structure 252 to enable the second inner cavity to form a third air chamber 2521 and a fourth air chamber 2522, and the first pneumatic structure 251 is connected with the second pneumatic structure 252.
In a specific peristaltic manner, as shown in fig. 2, the second air bag 22 is stretched over the wall of the tube, and the second air bag 2512 and the third air bag 2521 are inflated to allow other structures except the second air bag 22 to creep to the left, then the first air bag 21 is inflated to stretch the wall of the tube, the second air bag 22 is deflated and released, the first air bag 2511 and the fourth air bag 2522 are inflated, and the second air bag 22 is allowed to creep to the left. This approach has higher peristaltic walking efficiency.
It should be noted that, the pneumatic telescopic mechanism 25 may also be capable of realizing peristaltic walking only through the first pneumatic structure 251 and the first telescopic rod 253, or capable of realizing peristaltic walking only through the second pneumatic structure 252 and the second telescopic rod 254, and the pneumatic telescopic mechanism 25 is capable of realizing peristaltic walking through the first pneumatic structure 251, the second pneumatic structure 252, the first telescopic rod 253 and the second telescopic rod 254, so that the peristaltic walking has higher walking efficiency.
In some embodiments, as shown in fig. 1, the pneumatic telescopic mechanism 25 further includes a connection structure 255, the connection structure 255 is provided with a third inner cavity 2551, and the first pneumatic structure 251 and the second pneumatic structure 252 are disposed in the third inner cavity 2551.
The inflation and deflation modes of the first air bag 21, the second air bag 22 and the pneumatic telescopic mechanism 25 can be direct external connection air paths. But when the dredging robot is used in a cable 50 pipeline with a small pipe diameter, the air passage arranged outside can form resistance to the walking of the dredging robot, so that the walking efficiency is reduced, and the air passage arranged outside is easy to rub with the pipe wall of the cable pipeline with the small pipe diameter in the walking process of the dredging robot, so that the air passage is easy to damage, and the service life of the dredging robot is reduced.
Therefore, in some embodiments, the first and second air bags 21 and 22 are annular air bags, so that the first and second air bags 21 and 22 can ensure the sealing performance of themselves and can also ensure that air passages can be arranged in the air bags, and the air passages for connecting the first and second air bags 21 and 22 with the first and second air structures 251 and 252 are arranged in the inner annular cavity of the second air bag 22, the second spherical joint 24, the third inner cavity 2551 of the connecting structure 255, the first spherical joint 23 and the inner annular cavity of the first air bag 21.
The illustrated portions provided in the present invention do not show the gas path structures disposed in the inner annular chamber of the second balloon 22, the second spherical joint 24, the third inner chamber 2551 of the connecting structure 255, the first spherical joint 23, and the inner annular chamber of the first balloon 21, but in fig. 3, the inner structures of the second balloon 22, the second spherical joint 24, the connecting structure 255, the first spherical joint 23, and the first balloon 21 are all shown with a space in which a gas path is disposed.
Preferably, the air circuit comprises a first air circuit, a second air circuit, a third air circuit, a fourth air circuit, a fifth air circuit and a sixth air circuit, one end of the air circuit is arranged in the dredging robot in the manner described above, and the other end extends to the outside of the dredging robot and is used for being connected with an air source device. Wherein the first air path is used for inflating and deflating the first air bag 21, the second air path is used for inflating and deflating the second air bag 22, the third air path is used for inflating and deflating the first air chamber 2511, the fourth air path is used for inflating and deflating the second air chamber 2512, the fifth air path is used for inflating and deflating the third air chamber 2521, and the sixth air path is used for inflating and deflating the fourth air chamber 2522. Thus being more beneficial to the control and adjustment of the inflation and deflation and reducing the difficulty of the control of the inflation and deflation.
In order to further reduce the difficulty in controlling the inflation and deflation, preferably, valves are arranged on the first air passage, the second air passage, the third air passage, the fourth air passage, the fifth air passage and the sixth air passage, and the valves are preferably electromagnetic valves.
In this embodiment, the working system 10 may be a milling cutter mechanism 11, a cutting mechanism 12 or a repairing mechanism, and specifically, a dredging robot with a working system 10 with different mechanisms may be selected according to different use conditions, where the milling cutter mechanism 11 can be used for cleaning obstacles such as hard objects in a pipeline, the cutting mechanism 12 can be used for cutting a cable 50 in a cable pipe with a small pipe diameter, and the repairing mechanism is used for repairing an outer sheath of the cable 50.
Specifically, in some embodiments, the working system 10 is a milling cutter mechanism 11, and the milling cutter mechanism 11 is connected to the first air bag 21 through a third spherical joint 30. As shown in fig. 3, the milling cutter mechanism 11 includes a milling cutter 111 and a motor 112, the milling cutter 111 is connected to a power output end of the motor 112, and an end of the motor 112 opposite to the power output end thereof is connected to the third spherical joint 30. Wherein the motor 112 may be a hollow dc brushless motor 112.
In order to improve the obstacle clearing effect and efficiency of the milling cutter 111 when the obstacle position of hard objects and the like on the pipe wall of the small-pipe-diameter cable pipe is not fixed or the obstacle is small, a plurality of servo electric cylinders 40 are arranged between the milling cutter mechanism 11 and the first air bag 21 in some embodiments, and the position of the milling cutter 111 can be adjusted through the expansion and contraction of the servo electric cylinders 40.
It should be noted that, the control of the servo cylinder 40 may be implemented by a controller, where the servo cylinder 40 is connected to the controller, and the controller controls the servo cylinder 40 to operate so as to control the rotation direction and the rotation angle of the milling cutter mechanism 11. The connecting cable 50 between the servo cylinder 40 and the controller is also preferably arranged in the dredging robot, and the arrangement is the same as that of the air path, so that the advantages of improving the walking efficiency of the dredging robot and prolonging the service life of the dredging robot are also achieved.
Similarly, the motor 112 is also connected to the controller.
It should be noted that, the controller may obtain the position of the obstacle in the small-diameter cable 50 by other methods, and then control the servo cylinder 40 according to the position of the obstacle, for example, the controller may obtain the position of the obstacle in the small-diameter cable 50 by detecting a robot provided with a probe, which is a prior art for those skilled in the art, and will not be described in detail herein.
Meanwhile, the small-pipe-diameter robot can obtain the obstacle condition by arranging the probe.
The adjustment of the position of the milling cutter 111 can be achieved by one servo cylinder 40 or by a plurality of servo cylinders 40, but one way has the problem of poor adjustment accuracy, while too many servo cylinders 40 increase the cost, so in some embodiments, three servo cylinders 40 are provided, and three servo cylinders 40 are uniformly arranged around the outer side of the third spherical joint 30.
When cleaning and maintaining the small-diameter cable 50 pipe, the cable 50 in the small-diameter cable 50 pipe needs to be pulled out, but the cable 50 pipe is adhered, so that the cable 50 adhering part is difficult to pull out, and the cutting mechanism 12 can cut and crush the cable 50 adhering part.
As shown in fig. 4, in the illustration, for the schematic view of the cutting mechanism 12 when the cable 50 is cut, the cutting mechanism 12 is connected to the cutting mechanism 12 through a third spherical joint 30, the cutting mechanism 12 includes a main rotating motor 121, a magnetic push rod 122, an end surface grinding wheel 123, a first round table grinding wheel 124, a second round table grinding wheel 125, a first self-rotating motor 126 and a second self-rotating motor 127, the third spherical joint 30 is connected to the main rotating motor 121, an output shaft of the main rotating motor 121 is connected to the magnetic push rod 122, one end of the magnetic push rod 122 far away from the main rotating motor 121 is connected to the end surface grinding wheel 123, two push rods oppositely arranged on the magnetic push rod 122 are respectively connected to the first self-rotating motor 126 and the second self-rotating motor 127, the first self-rotating motor 126 is connected to the first round table grinding wheel 124, and the second self-rotating motor 127 is connected to the second round table grinding wheel 125.
The magnetic push rod 122 is an existing product and can be directly purchased and used, the distance between the first round table grinding wheel 124 and the second round table grinding wheel 125 connected to the two push rods can be adjusted by arranging the magnetic push rod 122, the distance between the first round table grinding wheel 124 and the second round table grinding wheel 125 is determined according to the bonding size of the cable 50 and the size of the obstacle, and therefore cutting and crushing efficiency can be improved.
The working principle of the cutting mechanism 12 is that a main rotating motor 121 drives a magnetic push rod 122 to rotate, so that an end face grinding wheel 123, a first round table grinding wheel 124 and a second round table grinding wheel 125 which are connected to the magnetic push rod 122 rotate around the magnetic push rod 122, and meanwhile, a first self-rotating motor 126 drives the first round table grinding wheel 124 to rotate around the push rod, and a second character rotating motor 112 drives the second round table grinding wheel 125 to rotate around the push rod.
It should be noted that the cutting mechanism 12 of the present invention may be oriented in the axial direction of the small-diameter cable duct, or may be oriented toward the wall surface of the small-diameter cable duct, and may be specifically selected and designed according to use, and has higher efficiency when oriented toward the wall surface of the small-diameter cable duct for cutting the cable 50.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected via an intermediary, or in communication with each other within a plurality of elements, or in an interaction relationship with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications may be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention in essence of the corresponding technical solutions.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411697171.4A CN119187148A (en) | 2024-11-26 | 2024-11-26 | Cable conduit dredging robot suitable for small pipe diameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411697171.4A CN119187148A (en) | 2024-11-26 | 2024-11-26 | Cable conduit dredging robot suitable for small pipe diameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119187148A true CN119187148A (en) | 2024-12-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411697171.4A Pending CN119187148A (en) | 2024-11-26 | 2024-11-26 | Cable conduit dredging robot suitable for small pipe diameter |
Country Status (1)
| Country | Link |
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| CN (1) | CN119187148A (en) |
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| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
| CN110201953A (en) * | 2019-06-20 | 2019-09-06 | 郑州工程技术学院 | A kind of pipeline processing cleaning equipment of efficient environment protection field |
| CN210661905U (en) * | 2019-10-29 | 2020-06-02 | 莆田学院 | Pipeline dirt removal robot |
| CN111765325A (en) * | 2020-07-16 | 2020-10-13 | 温州市搭德智能科技有限公司 | Pipeline inner wall cleaning and crack detecting and repairing robot through spiral propulsion |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | A pneumatic soft robot for pipes |
| CN113546933A (en) * | 2021-06-23 | 2021-10-26 | 杭州益比丰精密技术有限公司 | Alternate walking type long straight tubular structural member inner cavity operation robot |
| CN116220553A (en) * | 2023-03-31 | 2023-06-06 | 辽宁石油化工大学 | A fully automatic peristaltic tractor driven by downhole hydraulic pressure |
| CN118635220A (en) * | 2024-06-25 | 2024-09-13 | 六安中财管道科技有限公司 | A pipeline point-shaped in-situ curing repair machine |
-
2024
- 2024-11-26 CN CN202411697171.4A patent/CN119187148A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
| CN110201953A (en) * | 2019-06-20 | 2019-09-06 | 郑州工程技术学院 | A kind of pipeline processing cleaning equipment of efficient environment protection field |
| CN210661905U (en) * | 2019-10-29 | 2020-06-02 | 莆田学院 | Pipeline dirt removal robot |
| CN111765325A (en) * | 2020-07-16 | 2020-10-13 | 温州市搭德智能科技有限公司 | Pipeline inner wall cleaning and crack detecting and repairing robot through spiral propulsion |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | A pneumatic soft robot for pipes |
| CN113546933A (en) * | 2021-06-23 | 2021-10-26 | 杭州益比丰精密技术有限公司 | Alternate walking type long straight tubular structural member inner cavity operation robot |
| CN116220553A (en) * | 2023-03-31 | 2023-06-06 | 辽宁石油化工大学 | A fully automatic peristaltic tractor driven by downhole hydraulic pressure |
| CN118635220A (en) * | 2024-06-25 | 2024-09-13 | 六安中财管道科技有限公司 | A pipeline point-shaped in-situ curing repair machine |
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