CN206361332U - A kind of crawler belt type pipeline robot - Google Patents
A kind of crawler belt type pipeline robot Download PDFInfo
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- CN206361332U CN206361332U CN201720033930.6U CN201720033930U CN206361332U CN 206361332 U CN206361332 U CN 206361332U CN 201720033930 U CN201720033930 U CN 201720033930U CN 206361332 U CN206361332 U CN 206361332U
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- crawler belt
- vehicle body
- belt type
- pipeline robot
- type pipeline
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Abstract
The utility model discloses a kind of crawler belt type pipeline robot, including vehicle body main body, walking mechanism, cleaning mechanism and electronic control system, the walking mechanism includes two caterpillar type tavelling wheels, two crawler type contact rollers and two races, the caterpillar type tavelling wheel is arranged at both sides below vehicle body main body, the crawler type contact roller is arranged in race, described two races are connected on vehicle body body top both sides, the expansion link by an expansion link are arranged with a spring respectively.Crawler belt type pipeline robot of the present utility model can stably carry out long range walking in pipeline, effectively carry out pipeline exploration and cleaning work.
Description
Technical field
The utility model is related to robot field, more particularly to a kind of small crawler pipe robot.
Background technology
Pipeline is after long-term use, and inwall is smooth no longer as the pipeline newly laid, it may appear that different degrees of
Fouling and impurity adhesion, so as to cause the uneven of inner-walls of duct.The inwall of such as water-supply-pipe can produce incrustation scale, rust staining precipitation
Thing, situations such as internal diameter blocking occurs in oil pipeline so considerably increases the resistance in fluid delivery process so that pipeline it is defeated
Send ability to be greatly lowered, but also pipeline material can be caused to corrode and injured, pipeline breaking can be made when serious, traffic flow is caused
Body leaks, in addition explosion dangerous situation.Therefore, pipe robot has huge answer in modern pipe detection, maintenance
With value, it is even more to play irreplaceable work to have particularly pipe diameter is smaller, in pipeline under the environment such as poisonous gas
With.
Current pipe robot function is more single, is mainly used for the exploration detection of pipeline, in cleaning obstacle object space
Face has problems.As Chinese patent 201511022673.8 discloses wheeled detecting robot of pipe；Chinese patent
201310609302.4 disclose a kind of crawler belt type pipeline robot；Chinese patent 201210343246.X discloses small pipeline inspection
Survey robot；Chinese patent 200710072408.X discloses small pipeline detection closed caterpillar differential driving urban discharging pipeline
Robot.These schemes are disadvantageous in that efficient mechanism not for cleaning barrier, can not complete twin conduit
Cleaning dredging.
In view of the above-mentioned problems, Chinese patent 201610047373.3 discloses a kind of crawler belt for being suitable for different tube diameters change
Wheeled pipeline cleaning robot, but the utility model is exposed outside by direct geared, this holds very much during cleaning barrier
It is easily stuck.
In addition in context of detection, current scheme is only that image, such as Chinese patent are gathered using camera
Pipe robot disclosed in 201010240870.8, wherein being passed data using camera collection head picture and using dedicated data line
Return, not only function is single, and the travel distance of heavy data wire Ye Huishi robots is restricted.
Utility model content
Technical problem to be solved in the utility model is：The purpose of this utility model is that offer one kind can be in pipeline
Inside stably long range walking, the small crawler pipe robot for effectively carrying out pipeline exploration and cleaning work.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of crawler belt type pipeline robot,
Including vehicle body main body and walking mechanism, the walking mechanism includes two caterpillar type tavelling wheels, two crawler type contact rollers and two
Individual race, described two caterpillar type tavelling wheels are arranged at both sides below vehicle body main body, and the crawler type contact roller is arranged at race
Interior, described two races are connected on vehicle body body top both sides, the expansion link by an expansion link are arranged with one respectively
Spring.
Further, the caterpillar type tavelling wheel is sloped downwardly setting to outside vehicle body main body；The race and expansion link
Be inclined upwardly setting on the outside of to vehicle body main body.
Further, in addition to cleaning mechanism, the cleaning mechanism is made up of multiple files and cutterhead, and multiple files are fixed
In on cutterhead, the cutterhead is arranged at vehicle body body front end.
Further, in addition to electronic control mechanism, the electronic control mechanism is arranged at vehicle body body interior, including one
Single-chip microcomputer and the cutter motor driver being connected with single-chip microcomputer, wheel electrical machine driver, gyro sensor, supersonic sensing
Device and infrared sensor.
Further, in addition to flusher, preceding camera, preceding searchlight, rear camera and rear searchlight, the sprinkling
Device, preceding camera, preceding searchlight are arranged at vehicle body body front end, and above cutterhead；The rear camera and rear searchlighting
Lamp is arranged at vehicle body body tail section.
Further, the electronic control mechanism also includes pump motor driver, the preceding searchlight being connected with single-chip microcomputer
Driver, rear searchlighting lamp driver, the preceding camera and rear camera are connected with the single-chip microcomputer.
Further, the electronic control mechanism also includes the Homeplug being connected with single-chip microcomputer, and the Homeplug connection is high
Voltage source draught line.
Further, the electronic control mechanism also includes the gas sensor and temperature and humidity sensing being connected with single-chip microcomputer
Device.
Further, the afterbody of the vehicle body main body is provided with hook.
Further, the electronic control mechanism also includes cutter motor, pump motor and wheel electrical machine
The beneficial effects of the utility model are：The robot compresses conduit upper using contact roller, and road wheel is then compressed
Duct bottom, caterpillar type tavelling wheel and tube wall can be increased in the presence of spring and expansion link in pipeline inner close fitting tube wall
Frictional force, lifts driving force, while reducing the influence that the recoil produced during robot cleaning barrier is brought, can also fit
Different size of pipeline is answered, bodywork height is automatically adjusted.
Brief description of the drawings
Fig. 1 is the overall structure axonometric drawing of the utility model embodiment；
Fig. 2 is the front view of the utility model embodiment；
Fig. 3 is the schematic internal view of the utility model embodiment；
Fig. 4 is the schematic diagram of the utility model embodiment electronic control mechanism；
Label declaration：
1st, walking mechanism；1-1, crawler type contact roller；1-2, race；1-3, expansion link；1-4, spring；1-5, crawler type row
Walk wheel；1-51, gear train；1-52, wheel；1-53, crawler belt；2nd, cleaning mechanism；2-1, cutterhead；2-2, file；3rd, flusher；
4th, vehicle body main body；5th, link up with；6th, ultrasonic sensor；7th, infrared sensor；8th, preceding searchlight；9th, preceding camera；10th, high-tension electricity
Source draught line；11st, right wheel electrical machine；12nd, left wheel motor；
Embodiment
To describe technology contents of the present utility model, the objects and the effects in detail, below in conjunction with embodiment and match somebody with somebody
Accompanying drawing is closed to be explained.
The design of the utility model most critical is:The walking mechanism 1 of crawler belt type pipeline robot includes crawler-type traveling
1-5 and crawler type contact roller 1-1 is taken turns, is compressed using contact roller above inner-walls of duct, road wheel is then compressed below inner-walls of duct, is made
The robot can be close to the frictional force of tube wall, increase road wheel and tube wall in pipeline, lift driving force, be carried out while reducing
Belt pipe robot clears up the influence that the recoil produced during barrier is brought, and may also adapt to different size of pipeline, from
Dynamic regulation bodywork height.
It refer to Fig. 1 and Fig. 2, a kind of crawler belt type pipeline robot, including vehicle body main body 4 and walking mechanism 1, the row
Walking mechanism 1 includes two caterpillar type tavelling wheel 1-5, two crawler type contact roller 1-1 and two race 1-2, described two crawler belts
Formula road wheel 1-5 is arranged at the lower section both sides of vehicle body main body 4, and the crawler type contact roller 1-1 is arranged in race 1-2, and described two
Individual race 1-2 is connected on the top both sides of vehicle body main body 4, the expansion link 1-3 by an expansion link 1-3 is arranged with one respectively
Spring 1-4.
It was found from foregoing description, the beneficial effects of the utility model are：The setting of crawler type contact roller, makes robot exist
The frictional force of the lifting surface area of pipeline inner close fitting tube wall, increase crawler belt type pipeline robot and tube wall, increase road wheel and tube wall,
Driving force is lifted, it is good across performance, it can also reduce the influence that recoil is brought when cleaning mechanism carries out cleaning work, make
Vehicle body main body will not be fallen back backward；The setting of expansion link, makes crawler belt type pipeline robot be adapted to different calibers, automatic to adjust
Save the height of vehicle body；The setting of spring, elastic force is provided for the regulation of expansion link, while making crawler type contact roller compress tube wall.
Further, the caterpillar type tavelling wheel 1-5 is sloped downwardly setting to outside vehicle body main body 4；The race 1-2 and
Expansion link 1-3 is inclined upwardly setting to the outside of vehicle body main body 4.
Seen from the above description, the caterpillar type tavelling wheel of walking mechanism and crawler type contact roller be respectively facing four it is different
Direction is set, and further increases walking mechanism and the contact area of tube wall, additionally it is possible to lift the height of vehicle body, reduces vehicle body main body
Resistance between bottom and duct bottom mud.
Further, crawler belt type pipeline robot also includes cleaning mechanism 2, the cleaning mechanism 2 by multiple file 2-2 and
Cutterhead 2-1 is constituted, and multiple file 2-2 are fixed on cutterhead 2-1, and the cutterhead 2-1 is arranged at the front end of vehicle body main body 4.
Seen from the above description, cleaning mechanism is arranged on the front end of vehicle body main body, when crawler belt type pipeline robot runs into barrier
When hindering thing, barrier is crushed, can effectively cleaned out hard by the file on rotatable cutterhead by the way of drilling cleaning
Barrier.
Further, crawler belt type pipeline robot also includes electronic control mechanism, and the electronic control mechanism is arranged at car
Inside body main body 4, including a single-chip microcomputer and the cutter motor driver, wheel electrical machine driver, the gyro that are connected with single-chip microcomputer
Instrument sensor, ultrasonic sensor 6 and infrared sensor 7.
Seen from the above description, electronic control mechanism is arranged at vehicle body body interior, and structure is compacter；Cutter motor drives
Dynamic device is directly connected with wheel electrical machine driver with single-chip microcomputer, can directly efficiently control crawler belt type pipeline robot and enter every trade
The work walked and cleared up；Gyro sensor can gather the motion state of crawler belt type pipeline robot in real time, help to extrapolate
The movement locus of crawler belt type pipeline robot, is conducive to determining the overall track of pipeline, this pipe-line system for lacking drawing
For be significant；Ultrasonic sensor can be used for detecting the distance of front obstacle, help operating personnel's control to carry out
Belt pipe robot carries out position during cleaning work；Infrared sensor can detect whether vehicle body main body is in pipeline opening, if
Then no longer travelled forward in pipeline opening, prevent operating personnel's careless manipulation and cause vehicle body main body to be fallen.
Further, crawler belt type pipeline robot also includes flusher 3, preceding camera 9, preceding searchlight 8, rear camera
With rear searchlight, the flusher 3, preceding camera 9, preceding searchlight 8 are arranged at the front end of vehicle body main body 4, and positioned at cutterhead 2-1
Top；The rear camera and rear searchlight are arranged at the afterbody of vehicle body main body 4.
Seen from the above description, crawler belt type pipeline robot can open flusher to cool down when carrying out cleaning work
File melts the barriers such as dry soil block；Set while preceding camera and rear camera, track type pipeline machine can be made
People carries out wide-angle tour, the image of working site can in real time be gathered, field condition is reflected into bottom surface operating personnel；
The setting of preceding searchlight and rear searchlight, can help front camera and rear camera to collect apparent picture, be more beneficial for operating personnel
Control.
Further, the electronic control mechanism also includes pump motor controller, the preceding searchlight 8 being connected with single-chip microcomputer
Driver, rear searchlighting lamp driver, the preceding camera 9 and rear camera are connected with the single-chip microcomputer.
Further, the electronic control mechanism also includes the Homeplug being connected with single-chip microcomputer, and the Homeplug connection is high
Voltage source draught line 10.
Seen from the above description, power line and data wire can be merged and used by Homeplug, reduced number of cables, increased
The operating distance of crawler belt type pipeline robot.
Further, the electronic control mechanism also includes the gas sensor and temperature and humidity sensing being connected with single-chip microcomputer
Device.
Seen from the above description, gas sensor and Temperature Humidity Sensor can obtain the gas concentration and temperature under current environment
Humidity data, and these data and current location are integrated, and then the GIS-Geographic Information System model of pipeline is obtained, it is ground
The concrete operations of operating personnel provide foundation.
Further, the afterbody of the vehicle body main body 4 is provided with hook 5.
Seen from the above description, the hook can be used to tie up a rope, if crawler belt type pipeline robot enters pipeline one
After segment distance, failure can not continue forward, directly can now be pulled out robot by fastening the rope on hook
Pipeline is repaired, convenient and swift.
Further, the electronic control mechanism also includes also including cutter motor, pump motor and wheel electrical machine.
Fig. 1 and Fig. 2 is refer to, embodiment one of the present utility model is：A kind of crawler belt type pipeline robot, mainly by clearing up
Mechanism 2, walking mechanism 1, electronic control mechanism and vehicle body main body 4 are constituted.Described walking mechanism 1 includes two groups of crawler type rows
Walk to take turns 1-5 and two group of crawler type contact roller 1-1, crawler type contact roller 1-1 is separately mounted in two race 1-2 described in two groups,
Two race 1-2 bottom is connected to the both sides on the top of vehicle body main body 4, two by an expansion link 1-3 respectively
The expansion link 1-3 overcoats cover then spring 1-4；Caterpillar type tavelling wheel 1-5 described in two groups is arranged at the vehicle body main body 4
Lower section both sides, drive per side by a motor.The caterpillar type tavelling wheel 1-5 is sloped downwardly setting to outside vehicle body main body 4；
The crawler type contact roller 1-1 is inclined upwardly setting, the caterpillar type tavelling wheel 1-5 and crawler type pressure to the outside of vehicle body main body 4
Bearing up pulley 1-1 is respectively symmetrically placed in the both sides of vehicle body main body 4, it is preferred that the angle between adjacent road wheel and contact roller is
90 °, the height of vehicle body main body 4 is improved, reduces the resistance between the bottom of vehicle body main body 4 and duct bottom mud.The vehicle with walking machine
The setting of structure 1, can make crawler belt type pipeline robot adapt to different size of caliber.Fig. 2 is refer to, works as crawler belt type pipeline robot
Into after pipeline, the expansion link 1-3 and the spring 1-4 can automatically adjust expansion link 1-3 length according to the size of pipeline
Degree, and then the height of crawler belt type pipeline robot is adjusted, the caterpillar type tavelling wheel 1-5 is close to the inwall of pipeline, effectively increase
The frictional force between crawler belt type pipeline robot and pipeline is added, has lifted the driving force of crawler belt type pipeline robot, subtract simultaneously
The influence of the recoil produced during the small cleaning of the cleaning mechanism 2 barrier.And the crawler type row of the crawler belt type pipeline robot
Walk to take turns 1-5 and several wheels 1-52 connected by a gear train 1-51 by left wheel motor 12 and right wheel electrical machine 11 respectively,
The utility model preferably one gear train 1-51 connection wheel 1-52, wheel 1-52 and crawler belt 1-53 coordinate, gear train 1-
51 include worm screw, worm gear, first bevel gear, second bevel gear, power by motor sequentially pass through worm screw, worm gear, first bevel gear,
Second bevel gear and drive shaft are delivered to caterpillar type tavelling wheel 1-5, so as to drive machine movement.It refer to Fig. 3, the utility model
Gear train 1-51 be arranged inside vehicle body main body 4, clear up barrier during do not result in the stuck feelings of wheel 1-52
Condition.
As shown in figure 1, the cleaning mechanism 2 is arranged on the front end of vehicle body main body 4, mainly by cutterhead 2-1 and file 2-2 groups
Into the file 2-2 is fixed on a cutterhead 2-1, and the cutterhead 2-1 is driven by cutter motor to be rotated.The file 2-2 is
More than 1, preferred embodiment file 2-2 quantity is 9.It can start when crawler belt type pipeline robot is running into barrier
Cutter motor, the cutter motor drives file 2-2 rotations, is crushed barrier using the file 2-2 of rotation.The file 2-
2 can be fixed in side by side on cutterhead 2-1 with multiple, can also be rectangular, circular etc. arrangement mode be fixed on cutterhead 2-1, preferably
Embodiment using it is multiple side by side by the way of, multiple file 2-2 length can be different, and preferably as shown in fig. 1, middle is most long,
Both sides shorten successively, when running into barrier, first can only be bored with middle most long file 2-2 and open an aperture, with vehicle body
Main body 4 is advanced forward, gradually increases file 2-2 working quantity, and this mode is more beneficial for clearing up harder barrier.
The crawler belt type pipeline robot also includes flusher 3, and preceding camera 9, preceding searchlight 8, rear camera and rear searchlight are described
Flusher 3, preceding camera 9, preceding searchlight 8 are arranged at the front end of vehicle body main body 4, and positioned at cutterhead 2-1 top；After described
Camera and rear searchlight are arranged at the afterbody of vehicle body main body 4.The common setting of the preceding camera 9 and the rear camera,
Can greater angle make an inspection tour pipeline in environment, the image of working site is gathered in real time, and field condition is reflected to behaviour
Make personnel.When crawler belt type pipeline robot runs into the barriers such as hard soil block, ground handling operator is first according to preceding camera 9
The image passed back is judged, adjusts the distance between robot and barrier, and then opens flusher 3, water is spilt
On barrier, the file 2-2 on cutter motor driving cutterhead 2-1 is then controlled to smash barrier.Flusher 3 herein may be used
Play a part of melting and dry the barriers such as soil block and cooling file 2-2.
The electronic control mechanism is arranged at the inside of vehicle body main body 4, including a single-chip microcomputer, as shown in figure 4, single-chip microcomputer
Periphery electrically connected gas sensor, Temperature Humidity Sensor, gyro sensor, supersonic sensing in parallel successively
Device 6, infrared sensor 7, preceding searchlighting lamp driver, preceding camera 9, Homeplug, rear camera, rear searchlighting lamp driver, right car
Turbin generator driver, left wheel motor driver, pump motor driver, cutter motor driver and voltage-stablizer；The voltage stabilizing
The other end electrical connection low-tension supply of device；Searchlight 8 before the preceding searchlighting lamp driver other end electrical connection；The Homeplug is another
One end electrical connection high voltage power supply draught line 10；Searchlight after the rear searchlighting lamp driver other end electrical connection；The water pump electricity
The machine driver other end electrically connects pump motor；The right wheel electrical machine driver other end electrically connects right wheel electrical machine 11；Institute
State left wheel motor driver other end electrical connection left wheel motor 12；The cutter motor driver other end electrically connects cutterhead
Motor.The gas that described gas sensor and Temperature Humidity Sensor can be sensed under crawler belt type pipeline robot local environment is dense
Degree and warm and humid degrees of data, and these data are integrated with the geographical position residing for robot, and then obtain the geography of pipeline
Information model；Described gyro sensor can gather the motion state of robot in real time, and crawler type pipe is extrapolated in help
The movement locus of pipeline robot, the final deposition path for determining pipeline, this is for having weight for the pipe-line system for lacking drawing
Big meaning；Described ultrasonic sensor 6 can detect the distance of front obstacle, help crawler belt type pipeline robot manually grasping
Autonomous positioning and traveling are carried out in the case of interrupting；Described infrared sensor 7 is arranged on the bottom of the front end of vehicle body main body 4,
Whether detectable robot is in pipeline opening, if in pipeline opening, being automatically stopped and moving forward, and prevents operating personnel's operation not
It is careful and cause robot to fall；Described Homeplug, which can merge power line and data wire, to be used, and simplifies the communications cable, increase is carried out
The operating distance of belt pipe robot；The afterbody of vehicle body main body is provided with hook 5, if robot enters the segment distance of pipeline one
Afterwards, robot break down can not walk when, using be connected to hook 5 on rope directly by robot pull out pipeline outside
Repaired, it is convenient and swift.
In summary, the crawler belt type pipeline robot that the utility model is provided can be recognized effectively, across obstacle, or be adopted
Coordinate flusher 3 with the mode of drilling, melt and clear up hard barrier；Different calibers are adapted to, are automatically adjusted
The height of vehicle body, the stable traveling in pipeline, with preferable driveability；Can realize the mouth of pipe detect automatically, robot master
The function such as wide-angle tour, the three-dimensional mapping of pipeline track in dynamic positioning, gas in pipelines concentration and Temperature and Humidity, pipeline；Line
Cable quantity simplifies, robot operating distance increase；Also using the hook 5 of the afterbody of vehicle body main body 4, the machine of failure conveniently will appear from
Device people fetches from pipeline.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is every
The equivalents made using the utility model specification and accompanying drawing content, or directly or indirectly it is used in the technology neck of correlation
Domain, is similarly included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of crawler belt type pipeline robot, including vehicle body main body and walking mechanism, it is characterised in that：The walking mechanism includes
Two caterpillar type tavelling wheels, two crawler type contact rollers and two races, described two caterpillar type tavelling wheels are arranged at vehicle body master
Both sides below body, the crawler type contact roller is arranged in race, and described two races are connected to car by an expansion link respectively
A spring is arranged with body body top both sides, the expansion link.
2. crawler belt type pipeline robot as claimed in claim 1, it is characterised in that：The caterpillar type tavelling wheel is to vehicle body main body
It is sloped downwardly setting outside；The race and expansion link are to the setting that is inclined upwardly on the outside of vehicle body main body.
3. crawler belt type pipeline robot as claimed in claim 1 or 2, it is characterised in that：Also include cleaning mechanism, the cleaning
Mechanism is made up of multiple files and cutterhead, and multiple files are fixed on cutterhead, and the cutterhead is arranged at vehicle body body front end.
4. crawler belt type pipeline robot as claimed in claim 3, it is characterised in that：Also include electronic control mechanism, the electricity
Sub- controlling organization is arranged at vehicle body body interior, including a single-chip microcomputer and the cutter motor driver, the car that are connected with single-chip microcomputer
Turbin generator driver, gyro sensor, ultrasonic sensor and infrared sensor.
5. crawler belt type pipeline robot as claimed in claim 4, it is characterised in that：Also include flusher, it is preceding camera, preceding
Searchlight, rear camera and rear searchlight, the flusher, preceding camera, preceding searchlight are arranged at vehicle body body front end, and
Above cutterhead；The rear camera and rear searchlight are arranged at vehicle body body tail section.
6. crawler belt type pipeline robot as claimed in claim 5, it is characterised in that：The electronic control mechanism also includes and list
The connected pump motor driver of piece machine, preceding searchlighting lamp driver, rear searchlighting lamp driver, the preceding camera and rear camera
It is connected with the single-chip microcomputer.
7. the crawler belt type pipeline robot as described in claim any one of 4-6, it is characterised in that：The electronic control mechanism is also
Including the Homeplug being connected with single-chip microcomputer, the Homeplug connects high voltage power supply draught line.
8. the crawler belt type pipeline robot as described in claim any one of 4-6, it is characterised in that：The electronic control mechanism is also
Including the gas sensor and Temperature Humidity Sensor being connected with single-chip microcomputer.
9. the crawler belt type pipeline robot as described in any one of claim 1-2,4-5, it is characterised in that：The vehicle body main body
Afterbody is provided with hook.
10. crawler belt type pipeline robot as claimed in claim 6, it is characterised in that：The electronic control mechanism is also included also
Including cutter motor, pump motor and wheel electrical machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720033930.6U CN206361332U (en) | 2017-01-11 | 2017-01-11 | A kind of crawler belt type pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720033930.6U CN206361332U (en) | 2017-01-11 | 2017-01-11 | A kind of crawler belt type pipeline robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106764245A (en) * | 2017-01-11 | 2017-05-31 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN113954979A (en) * | 2021-11-22 | 2022-01-21 | 龙邦杰 | Multifunctional pipeline threading trolley |
| CN114135740A (en) * | 2021-12-01 | 2022-03-04 | 国网江苏省电力有限公司连云港供电分公司 | Pipeline inspection robot |
-
2017
- 2017-01-11 CN CN201720033930.6U patent/CN206361332U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106764245A (en) * | 2017-01-11 | 2017-05-31 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN106764245B (en) * | 2017-01-11 | 2019-08-27 | 福州川大软件科技有限公司 | A kind of crawler belt type pipeline robot |
| CN113954979A (en) * | 2021-11-22 | 2022-01-21 | 龙邦杰 | Multifunctional pipeline threading trolley |
| CN113954979B (en) * | 2021-11-22 | 2024-05-10 | 嘉辉达电子(惠州)有限公司 | Multifunctional pipeline threading trolley |
| CN114135740A (en) * | 2021-12-01 | 2022-03-04 | 国网江苏省电力有限公司连云港供电分公司 | Pipeline inspection robot |
| CN114135740B (en) * | 2021-12-01 | 2024-03-05 | 国网江苏省电力有限公司连云港供电分公司 | Pipeline detection robot |
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