CN205655034U - Video detection device in pipeline - Google Patents
Video detection device in pipeline Download PDFInfo
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- CN205655034U CN205655034U CN201620200196.3U CN201620200196U CN205655034U CN 205655034 U CN205655034 U CN 205655034U CN 201620200196 U CN201620200196 U CN 201620200196U CN 205655034 U CN205655034 U CN 205655034U
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Abstract
The utility model belongs to machinery automation engineering field, specifically speaking is a video detection device in pipeline, video acquisition mechanism and the signal output mechanism of both sides including moving mechanism and around being located this moving mechanism respectively, wherein moving mechanism is including dividing an organism, straining device and actuating mechanism, the terminal surface that divides the face organism is triangle -shaped, has three datum plane, all passes through on every datum plane straining device is connected with actuating mechanism, flexible butt that this actuating mechanism passes through straining device on the inner wall of different internal diameter pipelines, the pipeline of the different internal diameters of self -adaptation, each the actuating mechanism drive detection device remove in the pipeline of different internal diameters, the both ends of dividing the face organism respectively with video acquisition mechanism and the sealing connection of signal output mechanism. The utility model discloses simple structure, reliable can carry out real -time monitoring to the intraductal environment of straight tube, return bend and U -shaped and measure.
Description
Technical field
This utility model belongs to mechanical automation engineering field, video detecting device in specifically a kind of pipeline.
Background technology
Urban pipe network, industrial pipeline, pipeline, as the main conveying facility of people's daily life raw material, is widely used because of its convenience, economy.In the decades in past, China has built substantial amounts of Buried Pipeline Network Systems, is used for carrying natural gas, oil and various civilian liquid, ensures that the energy security of the safety of these tubings and our country of Usefulness Pair is most important.But being as the increase of service life, pipeline inevitably there will be aging, crack, corrosion or destroyed by external construction, there is also the rosin joint of weld seam, solder skip etc. problem with the pipeline of stylish laying；If processing not in time, once having an accident and country, environment all can be brought huge loss, therefore periodically various pipelines are reconnoitred and safeguarded and just seem the most necessary.
Pipe robot, as the effective detecting devices of one, performs prospecting task in can going deep into the small space that the mankind cannot arrive.All pipe robot is carried out correlational study both at home and abroad.Tokyo Institute of Technology Sohichi professor Hirose etc. is developed for the Thes wheeled pipe robot of series of middle pipe with small pipe diameter.The wheeled pipe robot of the pipe robots wheeled to multi-joint such as Korea S CHOI and Differential Driving conducts in-depth research, and develops MRINSPECT series of ducts robot.Domestic Harbin Institute of Technology ancestor congruence people Deng develops the wheeled pipe robot of six wheel drive for submarine pipeline system.Shanghai University's Qian Jinwu et al. also develops the robot that helical wheel drives for microtubule.
There is the features such as physical dimension is big, radius of turn is big in existing wheeled pipe robot, it is adaptable to the maintenance of large-diameter pipeline and maintenance mostly.At present, domestic and international various pipe robot exist radius of turn big, cannot the problem such as self adaptation various different-diameter pipeline.
Utility model content
The problem that cannot carry out detecting operation in order to solve existing pipe robot in hydraulically full small diameter pipeline, the purpose of this utility model is to provide video detecting device in a kind of pipeline.This in-pipeline detection device is capable of in hydraulically full pipeline environment more steadily, moves swimmingly, and gathers the video signal in pipeline.
The purpose of this utility model is achieved through the following technical solutions:
This utility model include travel mechanism and lay respectively at this travel mechanism before and after the video acquisition mechanism of both sides and signal output mechanism, wherein travel mechanism includes facet body, strainer and drive mechanism, the end face of described facet body is triangle, has three datum planes, all connected by described strainer on each datum plane and have drive mechanism, this drive mechanism is passed through on the flexible inwall being connected to different inner diameters pipeline of strainer, the pipeline of self adaptation different inner diameters, and each described drive mechanism is driven motion detection device and moved in the pipeline of different inner diameters；The two ends of described facet body are tightly connected with video acquisition mechanism and signal output mechanism respectively.
Wherein: described strainer includes fixed rack, guide runner and lifting arm group, this fixed rack is arranged on described datum plane, the lifting arm group being connected with two ends before and after described drive mechanism it is respectively arranged at two ends with before and after described fixed rack, the described lifting arm group often held is respectively connected with guide runner, it is slidably connected with described fixed rack by this guide runner, described drive mechanism passes through the swing of lifting arm group along pipeline radial expansion, the pipeline of self adaptation different inner diameters, and be connected to all the time on the inner-walls of duct of different inner diameters, described guide runner moves back and forth along described fixed rack in the swing process of lifting arm group；The described lifting arm group structure at two ends is identical, it is symmetrical arranged, described lifting arm group includes back-moving spring, depression bar, lifting arm, auxiliary rod and axostylus axostyle, the left and right sides of each described guide runner is equipped with one group of back-moving spring, lifting arm and auxiliary rod, the two ends of described fixed rack are arranged on described datum plane by the depression bar in the lifting arm group of two ends respectively, the two ends of each described depression bar are hinged with one end of auxiliary rod described in both sides respectively, the other end of auxiliary rod described in both sides is all articulated with on the lifting arm of homonymy, described in every side, one end of lifting arm is all connected with the side of guide runner by axostylus axostyle, the other end is connected with described drive mechanism；The two ends of the described back-moving spring of every side are connected on depression bar and axostylus axostyle；The left and right sides of described fixed rack is respectively symmetrically and is provided with pressing plate, and the described pressing plate of both sides is paralleled with this fixed rack, and the two ends of each described depression bar are connected on datum plane by the described pressing plate of both sides respectively；
Described facet body includes urceolus and insulating bushing, this urceolus is the tubular structure that end face is triangular in shape, it is respectively arranged at two ends with the flange being tightly connected with described video acquisition mechanism and signal output mechanism, described urceolus has three datum planes, and each datum plane is equipped with the groove for installing described fixed rack；Described insulating bushing is placed in the inner core of urceolus, for triangle tubular liner, fits with the inwall of described urceolus；
Described drive mechanism includes installing cavity, driving motor, drive mechanism, driving wheel, driven pulley and crawler belt, this driving motor is arranged in described installation cavity body, outfan is protruded through described drive mechanism by this installation cavity and is connected with the driving wheel being rotatably installed in described installation cavity one end, described driven pulley is rotatably installed in the other end installing cavity, and is connected with described driving wheel by described crawler belt；Before and after the described every side of installation cavity, two ends are all connected with the described strainer on datum plane；Described installation cavity includes that mounting box, fixed side and upper cover, described driving motor are arranged in this mounting box, and the left and right sides of described mounting box is all connected with fixed side, and described upper cover is fixing on the mounting box, and it is external that described crawler belt is looped around described installation cavity；Described drive mechanism is bevel gear transmission, including output bevel gear wheel and input bevel gear, this output bevel gear wheel is connected with the outfan of described driving motor, described driving wheel is coaxial two, it is coaxially mounted on gear shaft, the two ends of this gear shaft are all rotatably installed in one end of described installation cavity, and described input bevel gear is arranged on gear shaft and this gear shaft interlocks, and are meshed with described output bevel gear wheel；
Described video acquisition mechanism includes photographic head and mounting seat A, and this photographic head is fixed in described mounting seat A, and is tightly connected with facet body by described mounting seat A；Described signal output mechanism includes mounting seat B, waterproof gasket, wiring harness connector and waterproof plug, the inner side of this mounting seat B is provided with waterproof gasket, described mounting seat B and waterproof gasket are the most triangular in shape, mounting seat B is tightly connected by the other end of waterproof gasket with described facet body, multiple wiring harness connector is installed in described mounting seat B, each described wiring harness connector is sealingly mounted in mounting seat B by waterproof plug, and the two ends of each described wiring harness connector lay respectively at inside and outside urceolus.
Advantage of the present utility model with good effect is:
1. this utility model simple in construction, compact, corollary equipment is few and simple to operate, it is possible to the pipeline of self adaptation different inner diameters, it is achieved advance in the duct, retreats and can turn to the bending of pipeline, and the angle turned to is between 0～180 degree.
Strainer the most of the present utility model is realized by fixed rack, guide runner, it is possible to make the process of detection device-adaptive pipe diameter more steadily, reliably.
3. this utility model has water resistance, it is possible to real time job in the pipeline have hydraulic pressure.
4. this utility model controls simple and convenient, it is possible to quickly arrive at the problem pipeline section in pipeline, it is achieved to the exploration of pipeline, drill through, the task such as remove obstacles.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of this utility model video acquisition mechanism；
Fig. 3 is the structural representation of this utility model signal output mechanism；
Fig. 4 is the structural representation of this utility model facet body；
Fig. 5 is one of structural representation of this utility model drive mechanism；
Fig. 6 is the two of the structural representation of this utility model drive mechanism；
Fig. 7 is the structural representation of this utility model lifting arm group；
Fig. 8 is the structural representation of this utility model strainer；
Wherein: 1 is photographic head, 2 is travel mechanism, 3 is signal output mechanism, 4 is flange, 5 is groove, 6 is axostylus axostyle, 7 is gear shaft, 8 is mounting seat A, 9 is facet body, 10 is strainer, 11 is drive mechanism, 12 is fixed rack, 13 is guide runner, 14 is back-moving spring, 15 is lifting arm group, 16 is depression bar, 17 is pressing plate, 18 is lifting arm, 19 is auxiliary rod, 20 is upper cover, 21 is urceolus, 22 is insulating bushing, 23 is mounting box, 24 is fixed side, 25 for driving motor, 26 take turns for output bevel gear, 27 is input bevel gear, 28 is driving wheel, 29 is driven pulley, 30 is crawler belt, 31 is waterproof plug, 32 is mounting seat B, 33 is waterproof gasket, 34 is wiring harness connector.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, this utility model includes travel mechanism 2 and the video acquisition mechanism laying respectively at these travel mechanism 2 both sides front and back and signal output mechanism 3, wherein travel mechanism 2 includes facet body 9, strainer 10 and drive mechanism 11, the end face of facet body 9 is triangle, there are three datum planes, all connected by strainer 10 on each datum plane and have drive mechanism 11, this drive mechanism 11 is by the flexible inwall being connected to different inner diameters pipeline of strainer 10, the pipeline of self adaptation different inner diameters, each drive mechanism 11 is driven motion detection device entirety and is moved in the pipeline of different inner diameters；The two ends of facet body 9 are tightly connected with video acquisition mechanism and signal output mechanism 3 respectively.
As shown in Figure 4, facet body 9 includes urceolus 21 and insulating bushing 22, this urceolus 21 is the tubular structure of end face (any one angle of triangle can not be more than 120 °) triangular in shape, it is respectively arranged at two ends with the flange 4 of the triangle being tightly connected with video acquisition mechanism 1 and signal output mechanism 3, the inside of urceolus 21 is used for the electronic device of installation detecting device, for receiving the video image that video acquisition mechanism 1 collects, and exported by signal output mechanism 3；Urceolus 21 has three datum planes, and each datum plane is equipped with groove 5.Insulating bushing 22 is placed in the inner core of urceolus 21, for triangle tubular liner, is made up of insulant (such as plastics or rubber)；The inwall laminating of the outer wall of insulating bushing 22 and urceolus 21, insulating bushing 22 is clipped between urceolus 21 and electronic device.Urceolus 21 end face, flange 4 and the insulating bushing 22 of the present embodiment are equilateral triangle.
As shown in Figure 2, video acquisition mechanism includes photographic head 1 and mounting seat A8, this mounting seat A8 is triangle (the present embodiment is equilateral triangle), photographic head 1 is fixed in mounting seat A8 and electrically connects with the electronic device in facet body 9, and is tightly connected by one end of mounting seat A8 with facet body 9.
As shown in Figure 3, signal output mechanism 3 includes mounting seat B32, waterproof gasket 33, wiring harness connector 34 and waterproof plug 31, the inner side of this mounting seat B32 is provided with waterproof gasket 33, mounting seat B32 and waterproof gasket 33 (mounting seat B32 of the present embodiment and waterproof gasket 33 are all in equilateral triangle) the most triangular in shape, size is identical with the flange 35 of urceolus 21 end face, and mounting seat B32 is tightly connected by the other end of waterproof gasket 33 with facet body 9.Being provided with multiple wiring harness connector 34 in mounting seat B32, each wiring harness connector 34 is sealingly mounted in mounting seat B32 by waterproof plug 31, and the two ends of each wiring harness connector 34 lay respectively at inside and outside urceolus 21；One end of each wiring harness connector 34 is electrically connected with the electronic device in facet body 9 by cable, the other end can pass through cable with pipeline outside supervision equipment be connected.
Such as Fig. 7, shown in Fig. 8, strainer 10 includes fixed rack 12, guide runner 13 and lifting arm group 15, this fixed rack 12 is fixed in the groove 5 on each datum plane, the lifting arm group 15 being connected with two ends before and after drive mechanism 11 it is respectively arranged at two ends with before and after fixed rack 12, the lifting arm group 15 often held is respectively connected with a guide runner 13, it is slidably connected with fixed rack 12 by guide runner 13, drive mechanism 11 passes through the swing of lifting arm group 15 along pipeline radial expansion, the pipeline of self adaptation different inner diameters, and be connected to all the time on the inner-walls of duct of different inner diameters, guide runner 13 moves back and forth along fixed rack 12 in the swing process of lifting arm group 15.
Lifting arm group 15 structure at two ends is identical, is symmetrical arranged.Lifting arm group 15 includes back-moving spring 14, depression bar 16, pressing plate 17, lifting arm 18, auxiliary rod 19 and axostylus axostyle 6, the left and right sides of each guide runner 13 is equipped with one group of back-moving spring 14, lifting arm 18 and auxiliary rod 19, i.e. back-moving spring 14, lifting arm 18 and auxiliary rod 19 and is respectively arranged with four；The two ends of fixed rack 12 are respectively by the groove 5 in the depression bar 16 fixed reference plane in two ends lifting arm group 15, it is respectively symmetrically in the left and right sides of fixed rack 12 and is provided with pressing plate 17, the pressing plate 17 of both sides is paralleled with this fixed rack 12, and the two ends of each depression bar 16 are connected on datum plane by the pressing plate 17 of both sides respectively.Being respectively mounted a guide runner 13 on each fixed rack 12, the both sides of each guide runner 13 are all machined with axostylus axostyle 6.The two ends of each depression bar 16 are hinged with one end of both sides auxiliary rod 19 respectively, the other end of both sides auxiliary rod 19 is all articulated with the centre position of the lifting arm 18 of homonymy, one end of every side lifting arm 18 is all connected by the side of axostylus axostyle 6 with guide runner 13, and the other end is connected with the fixed side 24 of drive mechanism 11 homonymy.The two ends of the back-moving spring 14 of every side are connected with one end of homonymy depression bar 16 and the axostylus axostyle 6 of homonymy respectively.
As shown in Figure 5, Figure 6, drive mechanism 11 includes installing cavity, driving motor 25, drive mechanism, driving wheel 28, driven pulley 29 and crawler belt 30, this installation cavity is surrounded by mounting box 23, fixed side 24 and upper cover 20, the left and right sides of mounting box 23 is all connected with fixed side 24, and upper cover 20 is fixed on this mounting box 23.Motor 25 is driven to be arranged in mounting box 23, outfan is protruded through drive mechanism by mounting box 23 and is connected with the driving wheel 28 of 23 one end that are rotatably installed in mounting box, driven pulley 29 is rotatably installed in the other end of mounting box 23, and be connected with driving wheel 28 by crawler belt 30, it is external that crawler belt 30 is looped around installation cavity.Before and after the fixed side 24 of the every side of mounting box 23, two ends all other ends with the lifting arm 18 in lifting arm group 15 are connected.
Drive mechanism of the present utility model can be bevel gear transmission, and including output bevel gear wheel 26 and input bevel gear 27, this output bevel gear wheel 26 is connected with the outfan driving motor 25；Driving wheel 28 is coaxial two, it is coaxially mounted on gear shaft 7, the two ends of this gear shaft 7 are all rotatably installed in one end of mounting box 23, bevel gear 27 is arranged on gear shaft 7, between two driving wheels 28 in input, bevel gear 27 interlocks with gear shaft 7 in input, and is meshed with output bevel gear wheel 26.
Operation principle of the present utility model is:
Three drive mechanisms 11 of detection device are compressed to facet body 9 internal direction, makes the lifting arm 18 in lifting arm group 15 swing；During pendulum, two guide runners 13 slide along fixed rack 12 respectively inwards, and then make three drive mechanisms 11 shrink；Back-moving spring 14 is stretched.Then, putting in pipeline by detection device along duct orientation, photographic head 1 is forward.After relieving, the elastic force effect of back-moving spring 14 makes guide runner 13 opposite direction slide, lifting arm 18 backswing, until after the crawler belt 30 in drive mechanism 11 touches inner-walls of duct, back-moving spring 14 stops deformation, and inner-walls of duct produces normal pressure and frictional force to crawler belt 30.Now, driving motor 25 in three drive mechanisms 11 is energized work, move through output bevel gear wheel 26 and input bevel gear 27 is delivered on driving wheel 28 and driven pulley 29, then driven crawler belt 30 by driving wheel 28 and driven pulley 29, it is achieved detection device advance in pipeline.When changing being passed through the sense of current driving motor 25, drive motor 25 to realize reversion, then band motion detection device retreats.Photographic head 1 is responsible for signals collecting, and signal output mechanism 3 is responsible on the supervision equipment that is input to outside pipeline by cable by the signal collected.
When detecting the pipeline that device runs into the pipeline of different inner diameters or bending, all can realize the flexible of drive mechanism 11 by the swing of lifting arm 18, the crawler belt 30 being always ensured that in three drive mechanisms 11 all abuts with inner-walls of duct.
This utility model simple in construction, reliable, it is possible to the environment in straight tube, bend pipe and U-tube is carried out real-time control survey.
Claims (10)
1. video detecting device in a pipeline, it is characterized in that: include travel mechanism (2) and lay respectively at video acquisition mechanism and the signal output mechanism (3) of this travel mechanism (2) both sides front and back, wherein travel mechanism (2) includes facet body (9), strainer (10) and drive mechanism (11), the end face of described facet body (9) is triangle, there are three datum planes, all connected by described strainer (10) on each datum plane and have drive mechanism (11), this drive mechanism (11) is by the flexible inwall being connected to different inner diameters pipeline of strainer (10), the pipeline of self adaptation different inner diameters, each described drive mechanism (11) is driven motion detection device and is moved in the pipeline of different inner diameters；The two ends of described facet body (9) are tightly connected with video acquisition mechanism and signal output mechanism (3) respectively.
null2. video detecting device in the pipeline as described in claim 1，It is characterized in that: described strainer (10) includes fixed rack (12)、Guide runner (13) and lifting arm group (15)，This fixed rack (12) is arranged on described datum plane，The lifting arm group (15) being connected with two ends before and after described drive mechanism (11) it is respectively arranged at two ends with before and after described fixed rack (12)，The described lifting arm group (15) often held is respectively connected with guide runner (13)，It is slidably connected with described fixed rack (12) by this guide runner (13)，Described drive mechanism (11) passes through the swing of lifting arm group (15) along pipeline radial expansion、The pipeline of self adaptation different inner diameters，And be connected to all the time on the inner-walls of duct of different inner diameters，Described guide runner (13) moves back and forth along described fixed rack (12) in the swing process of lifting arm group (15).
null3. video detecting device in the pipeline as described in claim 2，It is characterized in that: described lifting arm group (15) structure at two ends is identical、It is symmetrical arranged，Described lifting arm group (15) includes back-moving spring (14)、Depression bar (16)、Lifting arm (18)、Auxiliary rod (19) and axostylus axostyle (6)，The left and right sides of each described guide runner (13) is equipped with one group of back-moving spring (14)、Lifting arm (18) and auxiliary rod (19)，The two ends of described fixed rack (12) are arranged on described datum plane by the depression bar (16) in two ends lifting arm group (15) respectively，The two ends of each described depression bar (16) are hinged with one end of auxiliary rod described in both sides (19) respectively，The other end of auxiliary rod described in both sides (19) is all articulated with on the lifting arm (18) of homonymy，Described in every side, one end of lifting arm (18) is all connected by the side of axostylus axostyle (6) with guide runner (13)，The other end is connected with described drive mechanism (11)；The two ends of the described back-moving spring (14) of every side are connected on depression bar (16) and axostylus axostyle (6).
4. video detecting device in the pipeline as described in claim 3, it is characterized in that: the left and right sides of described fixed rack (12) is respectively symmetrically and is provided with pressing plate (17), the described pressing plate (17) of both sides is paralleled with this fixed rack (12), and the two ends of each described depression bar (16) are connected on datum plane by the described pressing plate (17) of both sides respectively.
5. video detecting device in the pipeline as described in claim 2, it is characterized in that: described facet body (9) includes urceolus (21) and insulating bushing (22), this urceolus (21) is the tubular structure that end face is triangular in shape, it is respectively arranged at two ends with the flange (4) being tightly connected with described video acquisition mechanism and signal output mechanism (3), described urceolus (21) has three datum planes, and each datum plane is equipped with the groove (5) for installing described fixed rack (12)；Described insulating bushing (22) is placed in the inner core of urceolus (21), for triangle tubular liner, fits with the inwall of described urceolus (21).
6. video detecting device in the pipeline as described in claim 1, it is characterized in that: described drive mechanism (11) includes installing cavity, drive motor (25), drive mechanism, driving wheel (28), driven pulley (29) and crawler belt (30), this driving motor (25) is arranged in described installation cavity body, outfan is protruded through described drive mechanism by this installation cavity and is connected with the driving wheel (28) being rotatably installed in described installation cavity one end, described driven pulley (29) is rotatably installed in the other end installing cavity, and be connected with described driving wheel (28) by described crawler belt (30)；Before and after the described every side of installation cavity, two ends are all connected with the described strainer (10) on datum plane.
7. video detecting device in the pipeline as described in claim 6, it is characterized in that: described installation cavity includes mounting box (23), fixed side (24) and upper cover (20), described driving motor (25) is arranged in this mounting box (23), the left and right sides of described mounting box (23) is all connected with fixed side (24), described upper cover (20) is fixed on this mounting box (23), and it is external that described crawler belt (30) is looped around described installation cavity.
8. video detecting device in the pipeline as described in claim 6, it is characterized in that: described drive mechanism is bevel gear transmission, including output bevel gear wheel (26) and input bevel gear (27), this output bevel gear wheel (26) is connected with the outfan of described driving motor (25), described driving wheel (28) is coaxial two, it is coaxially mounted on gear shaft (38), the two ends of this gear shaft (7) are all rotatably installed in one end of described installation cavity, described input bevel gear (27) is arranged on gear shaft (7), interlock with this gear shaft (7), and be meshed with described output bevel gear wheel (26).
9. video detecting device in the pipeline as described in claim 1, it is characterized in that: described video acquisition mechanism includes photographic head (1) and mounting seat A (8), this photographic head (1) is fixed in described mounting seat A (8), and is tightly connected with facet body (9) by described mounting seat A (8).
10. video detecting device in the pipeline as described in claim 1, it is characterized in that: described signal output mechanism (3) includes mounting seat B (32), waterproof gasket (33), wiring harness connector (34) and waterproof plug (31), the inner side of this mounting seat B (32) is provided with waterproof gasket (33), described mounting seat B (32) and waterproof gasket (33) are the most triangular in shape, mounting seat (32) B is tightly connected by the other end of waterproof gasket (33) with described facet body (9), multiple wiring harness connector (34) is installed in described mounting seat B (32), each described wiring harness connector (34) is sealingly mounted in mounting seat B (32) by waterproof plug (31), the two ends of each described wiring harness connector (34) lay respectively at inside and outside urceolus (21).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620200196.3U CN205655034U (en) | 2016-03-15 | 2016-03-15 | Video detection device in pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620200196.3U CN205655034U (en) | 2016-03-15 | 2016-03-15 | Video detection device in pipeline |
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| CN205655034U true CN205655034U (en) | 2016-10-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191738A (en) * | 2016-03-15 | 2017-09-22 | 中国科学院沈阳自动化研究所 | Video detecting device in a kind of pipeline |
| CN107289230A (en) * | 2017-07-19 | 2017-10-24 | 西安交通大学 | A kind of pipe robot for detecting and clearing up for station boiler header |
-
2016
- 2016-03-15 CN CN201620200196.3U patent/CN205655034U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107191738A (en) * | 2016-03-15 | 2017-09-22 | 中国科学院沈阳自动化研究所 | Video detecting device in a kind of pipeline |
| CN107289230A (en) * | 2017-07-19 | 2017-10-24 | 西安交通大学 | A kind of pipe robot for detecting and clearing up for station boiler header |
| CN107289230B (en) * | 2017-07-19 | 2020-01-17 | 西安交通大学 | Pipeline robot for detecting and cleaning power station boiler header |
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