CN204672645U - Can the long-range oil pipeline cleaning robot of self adaptation continuous operation - Google Patents
Can the long-range oil pipeline cleaning robot of self adaptation continuous operation Download PDFInfo
- Publication number
- CN204672645U CN204672645U CN201520268981.8U CN201520268981U CN204672645U CN 204672645 U CN204672645 U CN 204672645U CN 201520268981 U CN201520268981 U CN 201520268981U CN 204672645 U CN204672645 U CN 204672645U
- Authority
- CN
- China
- Prior art keywords
- feeder wheel
- oil pipeline
- afterbody
- long
- cleaning robot
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of can the long-range oil pipeline cleaning robot of self adaptation continuous operation, comprise head feeder wheel, afterbody feeder wheel, head feeder wheel and afterbody feeder wheel are coaxially arranged, and are connected by universal joint between them, arrange interior turbine in afterbody feeder wheel; Outer wall circumference along head feeder wheel arranges some wall scrapers, at the fixing clean pin of the outer wall of afterbody feeder wheel.The utility model long-range oil pipeline cleaning robot can realize clearing up in oil transportation process simultaneously, and makes full use of fluid dynamic energy and drive, economize energy and ensured job security by self adaptation, improved cleaning efficiency.Realize, to the monitoring of long-range oil pipeline cleaning robot real time position, being convenient to malfunction monitoring and maintenance by magnetic sensing technology simultaneously.
Description
Technical field
The utility model belongs to oil pipeline cleaning plant field, particularly relate to a kind of can the long-range oil pipeline cleaning robot of self adaptation continuous operation.
Background technology
Domestic and international existing oil pipeline descaling machine mainly contains three kinds of type of drive, is respectively self-driven, the additional thrust of elastic rod drives and fluid dynamic drives.First two method needs to consume electric energy and the cleaning being only applicable to short distance pipeline path, and simple fluid dynamic drives poor to the adaptability of pipeline.In addition, the motion morphology of existing pipeline cleaning machine people mainly contains wheeled, pin formula, creeping-type, creeping motion type etc., and robot does not have good traveling-capability in elbow.
Meanwhile, because oil flow is large, the factors such as pressure is large, current petroleum pipeline descaling machine mainly relies on fluid dynamic to promote to advance, by clearing up greasy dirt to the scraping of tube wall in its traveling process.This manner of cleaning up affects comparatively large by rate of flow of fluid, cleaning efficiency is not high and easily cause damage to tube wall.
Utility model content
The utility model for the problems of the prior art, provide a kind of can the long-range oil pipeline cleaning robot of self adaptation continuous operation, have good traveling-capability in elbow when moving in oil pipeline, cleaning efficiency is high and security is higher simultaneously.
The utility model solves the technical scheme that its technical problem adopts: provide a kind of can the long-range oil pipeline cleaning robot of self adaptation continuous operation, comprise head feeder wheel, afterbody feeder wheel, head feeder wheel and afterbody feeder wheel are coaxially arranged, and connected by universal joint between them, in afterbody feeder wheel, interior turbine is set; Outer wall circumference along head feeder wheel arranges some wall scrapers, at the fixing clean pin of the outer wall of afterbody feeder wheel.Along with the rotation of interior turbine, clean pin rotates along the tangential direction of afterbody feeder wheel.
By technique scheme, the quantity of clean pin is 3, and the outer wall circumference along afterbody feeder wheel is uniformly distributed.
By technique scheme, also comprise generator, battery, the rotor-end of generator is connected with interior turbine, and the output of generator is connected with battery.Generator drives generating by interior turbine, and is stored in battery by electricity.
By technique scheme, also comprise controller, temperature sensor, displacement transducer, head feeder wheel, afterbody feeder wheel fix some speed limited wheels respectively; Temperature sensor, displacement transducer are fixed on the inside of head feeder wheel, temperature sensor, displacement transducer are connected with controller respectively, the displacement data that controller is surveyed for temperature data, the displacement transducer collected temperature sensor and survey, after distinguishing comparison with preset temperature value, shift value, the deflection angle of speed limited wheel is controlled.And then control the pace of long-range oil pipeline cleaning robot.Controller, temperature sensor, displacement transducer can by storage battery power supplies.
By technique scheme, temperature sensor is DS18B20 temperature sensor.
By technique scheme, on head feeder wheel, afterbody feeder wheel, the quantity of speed limited wheel is 3, is fixed on head feeder wheel, afterbody feeder wheel respectively by speed limited wheel holder.
By technique scheme, also comprise annular magnet, annular magnet is fixed on head feeder wheel, simultaneously outside oil pipeline, along on oil pipeline length direction, a magnetic induction sensor is set every same distance, each magnetic induction sensor arranges wireless communication module, and magnetic induction sensor is communicated with host computer by wireless communication module.
The beneficial effect that the utility model produces is: this long-range oil pipeline cleaning robot can realize clearing up in oil transportation process simultaneously, and makes full use of fluid dynamic energy and drive, economize energy and ensured job security by self adaptation, improved cleaning efficiency.Realize, to the monitoring of long-range oil pipeline cleaning robot real time position, being convenient to malfunction monitoring and maintenance by magnetic sensing technology simultaneously.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the structural representation of the utility model embodiment long-range oil pipeline cleaning robot;
Fig. 2 is gimbal structure schematic diagram in the utility model embodiment;
Fig. 3 is the control system schematic diagram of the utility model embodiment long-range oil pipeline cleaning robot;
Fig. 4 is magnetoelectricity location technology frame diagram in the utility model embodiment;
Fig. 5 is power-supply system frame diagram in the utility model embodiment.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
In the utility model embodiment, there is provided a kind of can the long-range oil pipeline cleaning robot of self adaptation continuous operation, comprise head feeder wheel, afterbody feeder wheel, head feeder wheel and afterbody feeder wheel are coaxially arranged, and connected by universal joint between them, in afterbody feeder wheel, interior turbine is set; Outer wall circumference along head feeder wheel arranges some wall scrapers, at the fixing clean pin of the outer wall of afterbody feeder wheel.Along with the rotation of interior turbine, clean pin rotates along the tangential direction of afterbody feeder wheel.
Wherein, the quantity of clean pin is 3, and the outer wall circumference along afterbody feeder wheel is uniformly distributed.Make the cleaning efficiency of robot higher.
Further, this long-range oil pipeline cleaning robot also comprises generator, battery, and the rotor-end of generator is connected with interior turbine, and the output of generator is connected with battery.Generator drives generating by interior turbine, and is stored in battery by electricity.
Further, this long-range oil pipeline cleaning robot also comprises controller, temperature sensor, displacement transducer, and head feeder wheel, afterbody feeder wheel fix some speed limited wheels respectively; Temperature sensor, displacement transducer are fixed on the inside of head feeder wheel, temperature sensor, displacement transducer are connected with controller respectively, the displacement data that controller is surveyed for temperature data, the displacement transducer collected temperature sensor and survey, after distinguishing comparison with preset temperature value, shift value, the deflection angle of speed limited wheel is controlled.And then control the pace of long-range oil pipeline cleaning robot.Controller, temperature sensor, displacement transducer can by storage battery power supplies.
Wherein, temperature sensor is DS18B20 temperature sensor.Its inside employs in plate (ON-B0ARD) patented technology.Whole sensing element and change-over circuit are integrated in shape as in the integrated circuit of a triode.The feature that " one-wire bus " is unique and economic, makes user can set up sensor network like a cork, for novel concept introduced by the structure of measuring system.DS18B20 measuring tempeature scope is-55 ° of C ~+125 ° C, and within the scope of-10 ~+85 ° of C, precision is ± 0.5 ° of C.Scene temperature directly with the digital form of " one-wire bus " transmission, substantially increases the anti-interference of system.The scene temperature being suitable for adverse circumstances is measured, as: environmental Kuznets Curves, equipment or process control, thermometric class consumption electronic product etc.Different from last generation product, the voltage range of new product support 3V ~ 5.5V, make system more flexibly, convenient.And new generation product is more cheap, volume is less.
Wherein, on head feeder wheel, afterbody feeder wheel, the quantity of speed limited wheel is 3, is fixed on head feeder wheel, afterbody feeder wheel respectively by speed limited wheel holder.Speed limited wheel is used for movement velocity and the direction of control.
Further, this long-range oil pipeline cleaning robot also comprises annular magnet, annular magnet is fixed on head feeder wheel, simultaneously outside oil pipeline, along on oil pipeline length direction, a magnetic induction sensor is set every same distance, each magnetic induction sensor arranges wireless communication module, and magnetic induction sensor is communicated with host computer by wireless communication module.
In preferred embodiment of the present utility model, long-range oil pipeline cleaning robot comprises head feeder wheel, afterbody feeder wheel, wall scraper, clean pin, interior turbine, generator, battery, motor, temperature sensor, displacement transducer, controller, locating module.Relying on fluid dynamic to promote interior turbine makes robot advance, and wall scraper scraping tube wall, makes clean pin rotate by gear drive, realizes degree of depth cleaning.Generator, battery, motor match, in particular cases robot advance provides driving force.Controlling functions to be matched with speed limited wheel by temperature sensor, displacement transducer and realizes.Consider particular job environment of oil pipeline cleaning robot, without the need to adopting complicated hierarchical block embedded Control, the controller of robot adopts STC 89C52 single-chip microcomputer.STC89C52 is a kind of low-power consumption, high-performance CMOS 8 8-digit microcontroller of STC Corporation's production, there is 8K in-system programmable components flash storage, 512 byte RAM, 32 I/O mouth lines, WatchDog Timer, built-in 4KB EEPROM, MAX810 reset circuit, 3 16 bit timing device/counters, 4 external interrupt, one 7 vector, 4 grades of interrupt structures (5 vectors, 2 grades of interrupt structures of compatible tradition 51), full duplex serial port.STC89C52 can be down to the operation of 0Hz static logic in addition, supports that 2 kinds of software-selectable select energy-saving mode.Under idle pulley, CPU quits work, and permission RAM, timer/counter, serial ports, interruption work on.Under power down protection mode, RAM content is saved, and oscillator is frozen, and all work of single-chip microcomputer stop, and interrupt or hardware reset until next.The highest operation frequency 35MHz, 6T/12T are optional.STC89C52 uses classical MCS-51 kernel, but has done the function that a lot of improvement makes chip have traditional 51 single-chip microcomputers not possess.On a single chip, have 8 dexterous bit CPUs and in-system programmable components Flash, height is flexible, the solution of super efficient for numerous embedded Control application system provides to make STC89C52.
Long-range oil pipeline cleaning robot works in the oil pipeline of ferrous materials for the robot of particular job environment, and its location technology must be different from traditional technology.Traditional robot localization technology generally has video image analysis, ultrasonic technology, laser positioning etc., and combining wireless wireless communication technology says that the host computer that the positional information of robot transmits carries out analysis and decision.Long-range oil pipeline cleaning robot is in crude oil environment, and due to crude oil thickness, impure many, the features such as look black, adopt the location in crude oil to be infeasible, ferrous materials makes positional information to spread out of pipeline to shielding electromagnetic waves effect.Because the attitude information of long-range oil pipeline cleaning robot in oil pipeline is not focal point, the positional information of robot on whole oil pipeline is only of paramount importance.Therefore adopt device annular magnet in robot, place magnetic induction sensor at a certain distance outward at oil pipeline, and by wireless communication technology, sensor information is reached host computer, information integration is drawn the position at its place.
As shown in Figure 1, be long-range oil pipeline cleaning robot overall schematic.Be engraved structure in the middle part of robot, turbine rotation in promoting while the oil that flow velocity is higher flows through in the middle part of robot.Robot advances, and wall scraper and clean pin are responsible for cleaning works.The direction of speed limited wheel control and speed.
As shown in Figure 2, be gimbal structure schematic diagram.The motion principle of squirmy robot has been used in the design of gimbal structure.The present embodiment robot can realize the swing of necessarily changing angle, is intended to solve the walk problem of robot at bend place.
If Fig. 3 is long-range oil pipeline cleaning robot control system schematic diagram.The control object of oil pipeline inner wall cleaning machine people is: Power Supply Monitoring and fill power-off response, speed limited wheel and Motor Control, the identification of displacement and temperature information and process etc.Particular job environmental requirement of robot is little for the demand of information and treating capacity.Motor drives and adopts the mode that motor drive ic drives and relay combines.
If Fig. 4 is magnetoelectricity system, be made up of the host computer of annular magnet, magnetic induction sensor, controller and analytical integration positional information.The internal diameter of annular magnet is identical with the internal diameter of the head feeder wheel of robot, and external diameter is less than the external diameter of robot head feeder wheel, prevents from scratching damage magnet ring; Magnetic induction sensor the amount of various magnetic field and change thereof to be transformed into the device that the signal of telecommunication exports, Magnetic Sensor adopts compass Magnetic Sensor, cost performance is high, controller adopts the controller Arduino uno that increases income, and in conjunction with GPS location technology location, host computer in information being transmitted by wireless communication technology.Host computer is computer interface, according to the information transmitted, in conjunction with the circuit of oil pipeline, integrates and demonstrates the real-time positional information of robot.
The power-supply system of the pipeline cleaning machine people shown in Fig. 5 by lithium battery group, power-supply management system and electrical equipment three part form.Power-supply management system plays intermediate coordination effect between battery pack and electrical equipment: one is make it to export the voltage that can mate electrical equipment by buck/boost; Two is switch the flow direction of turbine rotating energy and the mode of operation of robot by relay: in normal speed ranges, turbine drives the cleaning of cleaning pin, and under low speed or inactive state, turbine rotarily drives generator and charges to battery pack; Three is improve entire system energy consumption level by rationally arranging.
In this specific embodiment, the workflow of long-range oil pipeline cleaning robot is as follows:
(1) long-range oil pipeline cleaning robot is put into from pipeline lock at oil pipeline top by staff, and robot adjusts self attitude.
(2) the interior turbine clearing up robot rotates under oil shock, and pipeline cleaning machine people advances simultaneously, and clean pin rotates and generator starts generating.First scratched by the greasy dirt that oil pipeline inwall comparatively loosens under the wall scraper effect of front end, under oil shock effect, drive turbine to rotate, gear driven cleans pin and moves in a circle and cut inner-walls of duct grease.Accumulator electric-quantity is full of rear generator and stops generating.The model of generator can be selected not to be with encoder, diameter 36MM epicyclic gearbox reducing motor.The rated voltage of motor is 12V/24V, and its major advantage of output speed 20 ~ 100RPM. has: save space, reliability and durability, and it is high to bear overload capacity; Energy consumption is low, superior performance, and reductor efficiency is up to more than 95%; Vibrate little, noise is low, energy-conservation height; Through Precision Machining, guarantee positioning precision etc., everything toothed gearing electric motor constituting gear drive assembly is configured with all kinds of motor, defines electromechanical integration.
(3) when clear up robot detect in the duct pipe in temperature too high or cause pace excessive because oil flow is excessive time, the information collected is sent to controller by velocity sensor, controller will regulate the deflection angle of speed limit steering wheel, speed limited wheel is deflected and regulates descaling machine pace.The DS18B20 temperature sensor that temperature sensor adopts American Dallas semiconductor company to produce, its inside employs in plate (ON-B0ARD) patented technology.Whole sensing element and change-over circuit are integrated in shape as in the integrated circuit of a triode.The feature that " one-wire bus " is unique and economic, makes user can set up sensor network like a cork, for novel concept introduced by the structure of measuring system.DS18B20 measuring tempeature scope is-55 ° of C ~+125 ° C, and within the scope of-10 ~+85 ° of C, precision is ± 0.5 ° of C.Scene temperature directly with the digital form of " one-wire bus " transmission, substantially increases the anti-interference of system.The scene temperature being suitable for adverse circumstances is measured, as: environmental Kuznets Curves, equipment or process control, thermometric class consumption electronic product etc.Different from last generation product, the voltage range of new product support 3V ~ 5.5V, make system more flexibly, convenient.And new generation product is more cheap, volume is less.
(4) when the displacement transducer of robot detects that robot does not advance in the duct or speed is too small, robot is in " climbing " or among " being absorbed in " greasy dirt, controller will control feeder wheel machine operation, under the acting in conjunction of oil pressure and motor, after cleaning robot normally works, controller again cuts out advance motor after its speed reaches operating rate.Motor drives and adopts the mode that motor drive ic drives and relay combines: driving chip adopts L298N motor drive ic to drive; Relay drives and adopts PNP type triode to amplify the electric current that single-chip microcomputer pin exports, thus realizes the work of the direct control relay of single-chip microcomputer.
(5) in adjustment process, cleaning process is still in continuation.
Self-driven to drive with fluid dynamic combines by the utility model, in adaptation pipeline, have very large advantage in complicated situation (as bend, upward slope etc.).The utility model adopts the wheeled motion morphology combined with creeping motion type, advances, combines through bend by wheeled with the creeping motion type mode of advancing, make robot have good traveling-capability in elbow in straight pipeline based on wheeled.
Advantage of the present utility model is certain adaptive ability.Velocity sensor detects robot speed, automatically opens motor for head feeder wheel and provide driving force during low speed.Temperature sensor DS18B20 monitors tube wall temperature, starts speed limit steering wheel when temperature is too high, cooling of slowing down, and improves the security that environment manually made by pipeline cleaning machine.Utilize magnetic induction sensor (Magnetic Sensor) to respond to robot and carry annular magnet determination robot real time position.In addition, the adaptive ability such as robot power-supply system Energy Saving Control.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to the utility model claims.
Claims (7)
1. one kind can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, comprise head feeder wheel, afterbody feeder wheel, head feeder wheel and afterbody feeder wheel are coaxially arranged, and connected by universal joint between them, in afterbody feeder wheel, interior turbine is set; Outer wall circumference along head feeder wheel arranges some wall scrapers, at the fixing clean pin of the outer wall of afterbody feeder wheel.
2. according to claim 1 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, the quantity of clean pin is 3, and the outer wall circumference along afterbody feeder wheel is uniformly distributed.
3. according to claim 1 and 2 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, also comprise generator, battery, the rotor-end of generator is connected with interior turbine, and the output of generator is connected with battery.
4. according to claim 1 and 2 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, also comprise controller, temperature sensor, displacement transducer, head feeder wheel, afterbody feeder wheel fix some speed limited wheels respectively; Temperature sensor, displacement transducer are fixed on the inside of head feeder wheel, temperature sensor, displacement transducer are connected with controller respectively, the displacement data that controller is surveyed for temperature data, the displacement transducer collected temperature sensor and survey, after distinguishing comparison with preset temperature value, shift value, the deflection angle of speed limited wheel is controlled.
5. according to claim 4 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, temperature sensor is DS18B20 temperature sensor.
6. according to claim 4 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, on head feeder wheel, afterbody feeder wheel, the quantity of speed limited wheel is 3, is fixed on head feeder wheel, afterbody feeder wheel respectively by speed limited wheel holder.
7. according to claim 4 can the long-range oil pipeline cleaning robot of self adaptation continuous operation, it is characterized in that, also comprise annular magnet, annular magnet is fixed on head feeder wheel, simultaneously outside oil pipeline, arrange a magnetic induction sensor along on oil pipeline length direction every same distance, each magnetic induction sensor arranges wireless communication module, and magnetic induction sensor is communicated with host computer by wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520268981.8U CN204672645U (en) | 2015-04-28 | 2015-04-28 | Can the long-range oil pipeline cleaning robot of self adaptation continuous operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520268981.8U CN204672645U (en) | 2015-04-28 | 2015-04-28 | Can the long-range oil pipeline cleaning robot of self adaptation continuous operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204672645U true CN204672645U (en) | 2015-09-30 |
Family
ID=54172368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520268981.8U Expired - Fee Related CN204672645U (en) | 2015-04-28 | 2015-04-28 | Can the long-range oil pipeline cleaning robot of self adaptation continuous operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204672645U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256448A (en) * | 2016-07-21 | 2016-12-28 | 陕西理工大学 | A kind of construction is with sending slurry pump pipeline stay-furring tool |
| CN106269721A (en) * | 2016-08-31 | 2017-01-04 | 张家港市华扬冶金机械有限公司 | A kind of metal tube outer wall rust cleaning cleaning equipment |
| CN106269730A (en) * | 2016-10-31 | 2017-01-04 | 西南石油大学 | A kind of from power-assisted ultrasonic scale removal wiper |
| CN106813707A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of parameter measurement system of external force powered motion body |
| CN107448730A (en) * | 2017-08-08 | 2017-12-08 | 浙江海洋大学 | A kind of crusing robot for gas pipeline |
| CN108212886A (en) * | 2018-01-02 | 2018-06-29 | 山东大学 | The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries |
| CN108554957A (en) * | 2018-01-16 | 2018-09-21 | 赵晓磊 | A kind of energy-saving petroleum pipeline cleaning plant |
| CN110887471A (en) * | 2019-11-29 | 2020-03-17 | 中国水利水电科学研究院 | Positioning system, method and controller applied to detection equipment in diversion tunnel |
| CN111085514A (en) * | 2019-12-02 | 2020-05-01 | 河海大学 | Underground drip irrigation pipe vibration cleaning device and operation process thereof |
| CN113399387A (en) * | 2021-04-02 | 2021-09-17 | 德阳兴民机械厂 | Shield constructs screw conveyer pipeline refabrication all-in-one |
| CN113798233A (en) * | 2021-10-19 | 2021-12-17 | 阿姆特(上海)新能源科技有限公司 | Automatic gearbox oil duct belt cleaning device |
| CN116174419A (en) * | 2023-03-10 | 2023-05-30 | 南京林业大学 | Robot for removing sediment in dust removing pipeline in wood-bamboo processing |
-
2015
- 2015-04-28 CN CN201520268981.8U patent/CN204672645U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813707A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of parameter measurement system of external force powered motion body |
| CN106256448B (en) * | 2016-07-21 | 2018-11-27 | 陕西理工大学 | A kind of construction is with sending slurry pump pipeline stay-furring tool |
| CN106256448A (en) * | 2016-07-21 | 2016-12-28 | 陕西理工大学 | A kind of construction is with sending slurry pump pipeline stay-furring tool |
| CN106269721A (en) * | 2016-08-31 | 2017-01-04 | 张家港市华扬冶金机械有限公司 | A kind of metal tube outer wall rust cleaning cleaning equipment |
| CN106269730A (en) * | 2016-10-31 | 2017-01-04 | 西南石油大学 | A kind of from power-assisted ultrasonic scale removal wiper |
| CN107448730A (en) * | 2017-08-08 | 2017-12-08 | 浙江海洋大学 | A kind of crusing robot for gas pipeline |
| CN108212886A (en) * | 2018-01-02 | 2018-06-29 | 山东大学 | The high-pressure water nozzle pose adjustment mechanism that a kind of underwater cleaning robot carries |
| CN108554957A (en) * | 2018-01-16 | 2018-09-21 | 赵晓磊 | A kind of energy-saving petroleum pipeline cleaning plant |
| CN110887471A (en) * | 2019-11-29 | 2020-03-17 | 中国水利水电科学研究院 | Positioning system, method and controller applied to detection equipment in diversion tunnel |
| CN111085514A (en) * | 2019-12-02 | 2020-05-01 | 河海大学 | Underground drip irrigation pipe vibration cleaning device and operation process thereof |
| CN111085514B (en) * | 2019-12-02 | 2021-12-14 | 河海大学 | Underground drip irrigation pipe vibration cleaning device and operation process thereof |
| CN113399387A (en) * | 2021-04-02 | 2021-09-17 | 德阳兴民机械厂 | Shield constructs screw conveyer pipeline refabrication all-in-one |
| CN113798233A (en) * | 2021-10-19 | 2021-12-17 | 阿姆特(上海)新能源科技有限公司 | Automatic gearbox oil duct belt cleaning device |
| CN116174419A (en) * | 2023-03-10 | 2023-05-30 | 南京林业大学 | Robot for removing sediment in dust removing pipeline in wood-bamboo processing |
| CN116174419B (en) * | 2023-03-10 | 2023-10-27 | 南京林业大学 | Robot for removing sediment in dust removing pipeline in wood-bamboo processing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204672645U (en) | Can the long-range oil pipeline cleaning robot of self adaptation continuous operation | |
| CN201497522U (en) | Pipeline fluid monitoring system for generating electricity by utilizing fluid per se | |
| CN101661276A (en) | Universal data acquisition unit and data acquisition method thereof | |
| CN103318381A (en) | Automatically-movable monitoring buoy and monitoring method thereof | |
| CN106437581B (en) | A kind of large traction crawl device of hydraulic-driven mode | |
| CN206627639U (en) | A kind of fully-automatic intelligent metal pipeline detector | |
| CN103498760A (en) | Device and use method for replenishing energy to flywheel battery by wind power generated when bicycle runs | |
| CN107734270A (en) | A kind of solar photovoltaic powered new rural village security monitoring device | |
| CN203785705U (en) | Rubber dam vibration deformation and dynamic flood level monitoring device | |
| CN203037309U (en) | Electronic water gauge | |
| CN205172568U (en) | Carrier frequency is self -adjusting from generating electricity positive impulse generator of formula continuous wave | |
| CN107819414A (en) | A kind of voltage-controlled system of deep sea environment simulation device | |
| CN202298513U (en) | Solar energy power supply low-power dissipation horizontal movement remote-control railing machine | |
| CN205980194U (en) | Runner cleaning device | |
| CN102536203A (en) | Handheld type condition monitoring and fault diagnosing system orienting to oil field injection-production equipment | |
| CN204214481U (en) | Self-powered intellectual water meter | |
| CN202012104U (en) | Solar intelligent water pump system | |
| CN206960960U (en) | A kind of Mobile Robot Control System based on AVR single chip | |
| CN202761193U (en) | Intelligent dust collector control system | |
| CN202001176U (en) | Magnetic coupling generating device for supplying power for intelligent water meter | |
| CN207994962U (en) | A kind of voltage-controlled system of deep sea environment simulation device | |
| CN204603961U (en) | Intelligent cooling device on Digit Control Machine Tool | |
| CN107448364B (en) | Truss structure-based wind power boosting rotor system | |
| CN106640057A (en) | Electricity self-generating type continuous wave positive pulse generator achieving automatic adjustment of carrier frequency | |
| CN206061008U (en) | A kind of radio communication long distance control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20160428 |