CN207005570U - Creeping motion type travel mechanism in a kind of pipeline - Google Patents
Creeping motion type travel mechanism in a kind of pipeline Download PDFInfo
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- CN207005570U CN207005570U CN201720947498.1U CN201720947498U CN207005570U CN 207005570 U CN207005570 U CN 207005570U CN 201720947498 U CN201720947498 U CN 201720947498U CN 207005570 U CN207005570 U CN 207005570U
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Abstract
It the utility model is related to creeping motion type travel mechanism in a kind of pipeline, including propulsion die, walking module；The both ends of propulsion die are equipped with walking module；Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on the head nut of reverse-flighted screw one end, is spun on the tail nut of the reverse-flighted screw other end, the multigroup scissor brace component being circumferentially evenly arranged；Scissor brace component includes the first brace and the second brace being hinged, one end of first brace is hinged on head nut, the other end of first brace is in contact by elastic ball with inner-walls of duct, one end of second brace is hinged on tail nut, and the other end of the second brace is in contact by elastic ball with inner-walls of duct.The creeping motion type travel mechanism can walk in pipeline internal, belong to the technical field that pipeline internal is walked.
Description
Technical field
It the utility model is related to creeping motion type travel mechanism in the technical field that pipeline internal is walked, more particularly to a kind of pipeline.
Background technology
Pipeline in life, industrial is seen everywhere, such as ventilation shaft, blow-off line, gas piping, natural gas tube
Road, oil pipeline etc., people such as are frequently necessary to clean these pipelines, detect, overhaul at the work, and pipeline typically has
The characteristics of caliber is small, and pipeline is long, be not suitable for being gone to carry out these work by people.Can be in pipeline easily it is therefore desirable to design one kind
In mobile mechanism, miscellaneous part is then loaded in the mechanism completing to clean, detecting, the work such as overhauling.
Utility model content
For technical problem present in prior art, the purpose of this utility model is：Creeping motion type in a kind of pipeline is provided
Travel mechanism, the creeping motion type travel mechanism can walk in pipeline internal.
In order to achieve the above object, the utility model adopts the following technical scheme that：
Creeping motion type travel mechanism in a kind of pipeline, including propulsion die, walking module；The both ends of propulsion die are equipped with row
Walk module；Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on the head spiral shell of reverse-flighted screw one end
Mother, the tail nut of the reverse-flighted screw other end is spun on, the multigroup scissor brace component being circumferentially evenly arranged；Scissor brace
Component includes the first brace and the second brace being hinged, and one end of the first brace is hinged on head nut, the first brace
The other end is in contact by elastic ball with inner-walls of duct, and one end of the second brace is hinged on tail nut, the second brace it is another
End is in contact by elastic ball with inner-walls of duct.
It is further：Propulsion die includes the first motor, unidirectional screw rod, link, the drive being arranged on inside link
Dynamic nut, the first universal joint, the second universal joint；Drive nut is spun on unidirectional screw rod, and one end of the first universal joint is connected to it
In a walking module support body on, the other end of the first universal joint is connected on link, and the first motor is arranged on another
On the support body of walking module, one end of the second universal joint is connected on unidirectional screw rod, the other end of the second universal joint and the first electricity
The output end of machine connects.Propulsion die can drive the walking module of upper end and the walking module of lower end to be sequentially advanced.
It is further：Support body includes head plate, afterbody flat board, connects the connection frame of head plate and afterbody flat board；
Connection inframe, which is provided with, to be used to scissor brace component and does open with the strip notch of closed action, the first brace being hinged and the
Two braces pass through strip notch.The overall structure of support body is simple, and strip notch can prevent the first brace and the second brace from rocking, and make
Obtaining the first brace and the second brace can only rotate upwardly and downwardly.
It is further：Walking module also includes being used for the second motor for driving reverse-flighted screw to rotate, the installation of the second motor
On support body.
It is further：Walking module also includes multigroup haptic feedback component, the end of the first brace and the second brace
End is mounted on one group of haptic feedback component；Haptic feedback component includes receiver, elastic ball, pressure sensor, lid；Pressure
Force snesor includes the stripes and annular portion to link together, and pressure sensor is connected with the second motor signal, and receiver is set
There is cavity, the annular portion of pressure sensor is placed in the cavity of receiver, the elastic ball for squeeze pressure sensor annular portion
The cavity of receiver is placed on, lid is fixed on the end of receiver, and a part for elastic ball exposes lid；Each group of contact is anti-
The stripes for presenting the pressure sensor of component are arranged in the first brace or the second brace, the storage of each group of haptic feedback component
Box is hinged in the first brace or the second brace.Pressure sensor can feed back corresponding signal, and the feedback signal is ultimately used to
The second motor is controlled, then the second motor finally drives scissor brace component to continue locking or lasting opening.Elastic ball and pipe
The inwall in road is in contact, meanwhile, receiver is hinged in brace, and receiver can rotate within the specific limits, it is easier to
Adapt to the situation in pipeline.
It is further：Creeping motion type travel mechanism also includes the multigroup Auxiliary support group being circumferentially evenly arranged
Part, auxiliary support assemblies include matrix, sleeve, boom, directive wheel, guiding wheel seat, spring；Matrix is fixed on the frame of walking module
On body, the end of sleeve is provided with end plate, and end plate is fixed on matrix, and the end of boom is provided with end block, is oriented to wheel seat and is fixed on end
On block, directive wheel is pivotally arranged on and is oriented on wheel seat, and spring housing is on sleeve, the inside of boom insertion sleeve, sleeve
End plate be located at the side of spring, the end block of boom is located at the opposite side of spring.Auxiliary support assemblies ensure creeping motion type moving machine
Structure axle center is stable, keeps whole creeping motion type travel mechanism not rocked in pipeline.
It is further：The circumference side of boom is provided with strip projected parts, is provided with sleeve and is mutually fitted with boom and strip projected parts
The groove answered.Strip projected parts prevent the relative rotation of boom and sleeve so that boom can only straight line be back and forth in the groove of sleeve
It is mobile.
It is further：Support body also includes accessory plate, and accessory plate is bolted on support body by strip, Auxiliary support group
The matrix of part is fixed on the auxiliary board.Accessory plate can be used for install corresponding motor, auxiliary support assemblies and other electrically set
It is standby.
It is further：The sidepiece of receiver is provided with bit-avoiding slot mouth, pressure sensor annular portion and pressure sensor strip
The joint in portion is located at bit-avoiding slot mouth.Bit-avoiding slot mouth can avoid pressure sensor, so as to protect pressure sensor.
Generally speaking, the utility model has the following advantages that：
This creeping motion type travel mechanism can walk in pipeline internal, can be horizontal straight tube, side bend, horizontal variable diameter straight tube,
The pipelines such as non-horizontal straight tube, non-horizontal bend pipe, non-horizontal variable diameter straight tube, adapt to the situation of pipe radius change.It can stablize
Ground with circular pipe of the ground into any angle in move, while the change of caliber can also be adapted within the specific limits,
There is stronger adaptability for working environment.
Brief description of the drawings
Fig. 1 is the structural representation of creeping motion type travel mechanism.
Fig. 2 is the structural representation at walking module.
Fig. 3 is haptic feedback component and the structural representation of the first brace or the second brace.
Fig. 4 is the structural representation of auxiliary support assemblies.
Fig. 5 is the structural representation of sleeve and end plate.
Fig. 6 is the structural representation of boom and end block.
Fig. 7 is the structural representation of propulsion die.
Wherein, 1 is walking module, and 2 be propulsion die, and 3 be auxiliary support assemblies, and 1-1 is haptic feedback component, and 1-2 is
Second brace, 1-3 are the first brace, and 1-4 is the head plate of support body, and 1-5 is the afterbody flat board of support body, and 1-6 is the company of support body
Frame is connect, 1-7 is strip notch, and 1-8 is head nut, and 1-9 is tail nut, and 1-10 is reverse-flighted screw, and 1-11 is accessory plate, and 1-12 is
Strip bolt, 1-1-1 are receiver, and 1-1-2 is elastic ball, and 1-1-3 is lid, and 1-1-4 is the annular portion of pressure sensor, 1-
1-5 is the stripes of pressure sensor, and 1-1-6 is bit-avoiding slot mouth, and 1-1-7 is the cavity of receiver, and 2-1 is the second universal joint,
2-2 is unidirectional screw rod, and 2-3 is drive nut, and 2-4 is drive nut, and 2-5 is the first universal joint, and 3-1 is matrix, and 3-2 is set
Cylinder, 3-3 are end plate, and 3-4 is spring, and 3-5 is boom, and 3-6 is end block, and 3-7 is is oriented to wheel seat, and 3-8 is directive wheel, and 3-9 is set
Groove in cylinder, 3-10 is strip projected parts.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in more detail.
With reference to shown in Fig. 1 to Fig. 7, creeping motion type travel mechanism in a kind of pipeline, including propulsion die, walking module；Promote
The both ends of module are equipped with walking module, i.e. a walking module is arranged on one end of propulsion die, another walking module peace
Mounted in the other end of propulsion die.Walking module includes support body, reverse-flighted screw, head nut, tail nut, multigroup scissor brace group
Part.Reverse-flighted screw is pivotally mounted at the inside of support body, and reverse-flighted screw is located at the center inside support body, head nut and tail spiral shell
Female to coordinate with reverse-flighted screw screw thread, head nut is spun on one end (upper end of reverse-flighted screw in Fig. 1) of reverse-flighted screw, the rotation of tail nut
In the other end (lower end of reverse-flighted screw in Fig. 1) of reverse-flighted screw, multigroup scissor brace component is circumferentially evenly arranged,
In the utility model, scissor brace component has 3 groups, 3 groups of scissor brace components using reverse-flighted screw as axis circumferentially
It is evenly arranged.Scissor brace component includes the first brace and the second brace being hinged, and one end of the first brace is hinged on head
On nut, the other end of the first brace is in contact by elastic ball with inner-walls of duct, and one end of the second brace is hinged on tail nut
On, the other end of the second brace is in contact by elastic ball with inner-walls of duct；With reference to shown in Fig. 2, the first brace and the second brace
Hinged as scissors, the upper end of the first brace is hinged on head nut, and the lower end of the second brace is hinged on tail nut
On, the upper end of the lower end of the first brace and the second brace is equipped with haptic feedback component, is included in haptic feedback component flexible
The upper end of ball, the lower end of the first brace and the second brace is in contact by elastic ball with inner-walls of duct.
With reference to shown in Fig. 7, propulsion die includes the first motor, unidirectional screw rod, link, the drive being arranged on inside link
Dynamic nut, the first universal joint, the second universal joint.Drive nut is spun on unidirectional screw rod, and drive nut and unidirectional screw flight are matched somebody with somebody
Close, during the rotation of unidirectional screw rod, drive nut can move along the axial direction of unidirectional screw rod, i.e. in Fig. 7, drive nut can be with
Move up and down.One end of first universal joint is connected on the support body of one of walking module, and the other end of the first universal joint connects
It is connected on link, the first motor is arranged on the support body of another walking module, and one end of the second universal joint is connected to unidirectionally
On screw rod, the other end of the second universal joint connects with the output end of the first motor；With reference to shown in Fig. 7, the lower end of the first universal joint
It is connected on the support body of the walking module of lower end, the upper end of the first universal joint is connected on link, and the first motor is arranged on upper
On the support body of the walking module at end, the lower end of the second universal joint is connected on unidirectional screw rod, the upper end of the second universal joint and first
The output end of motor connects.First motor selects stepper motor, and the technology of the unidirectional screw rod rotation of the first motor control belongs to existing
Technology, unidirectional screw rod are multithreading screw thread, on the premise of ensureing to meet output torque, from the electricity that rotational speed regulation scope is larger
Machine, such drive nut are moved in larger distance on unidirectional screw rod, reduce the working time of propulsion die.
Walking module also includes being used for the second motor for driving reverse-flighted screw to rotate, and the second motor is arranged on support body.The
During two motor forward or reverse, it can drive head nut and tail nut is located remotely from each other or close to each other.Second motor control is two-way
The technology of screw rod rotation belongs to prior art.
With reference to shown in Fig. 2 and Fig. 3, walking module also includes multigroup haptic feedback component, the end (lower end) of the first brace
One group of haptic feedback component is mounted on the end (upper end) of the second brace.Haptic feedback component include receiver, elastic ball,
Pressure sensor, lid.Pressure sensor includes the stripes and annular portion to link together, pressure sensor and the second motor
Signal connects.Receiver generally cube shape, receiver are provided with cavity, and the annular portion of pressure sensor is placed in the cavity of receiver
Interior, the elastic ball for squeeze pressure sensor annular portion is placed on the cavity of receiver, i.e., first by the annulus of pressure sensor
Portion is placed in the cavity of receiver, and then elastic ball press against the annular portion of pressure sensor, and both are placed on receiver together
Cavity in, lid is fixed on the end of receiver, and lid is provided with circular hole, and a part for elastic ball exposes lid.Each group
The stripes of the pressure sensor of haptic feedback component are arranged in the first brace or the second brace, each group of haptic feedback component
Receiver be hinged in the first brace or the second brace；First brace and the second brace are referred to as brace, i.e. pressure sensor
Stripes be arranged in brace, receiver is hinged on the end of brace, so as to which receiver can be around brace in certain limit
Interior rotation, the size of brace is smaller, and the scope that receiver rotates is bigger.
The sidepiece of receiver is provided with bit-avoiding slot mouth, and bit-avoiding slot mouth and cavity can be connected to logical, pressure sensor annulus
Portion and the joint of pressure sensor stripes are located at bit-avoiding slot mouth, during the annular portion of elastic ball squeeze pressure sensor, annulus
Portion and the joint of stripes, stripes will not touch the outline of receiver, so as to protect pressure sensor.
With reference to shown in Fig. 1 and Fig. 4, creeping motion type travel mechanism also includes multigroup auxiliary support assemblies, auxiliary support assemblies peace
On support body, multigroup auxiliary support assemblies are circumferentially evenly arranged on support body.Auxiliary support assemblies include matrix,
Sleeve, boom, directive wheel, guiding wheel seat, spring.Matrix is a L-type steel, and matrix is fixed on the support body of walking module, set
The end of cylinder is provided with end plate, and end plate and sleeve are fixed relationships, and end plate is fixed on matrix, and the end of boom is provided with end block, end
Block and boom are fixed relationships, are oriented to wheel seat and are fixed on end block, directive wheel is pivotally arranged on and is oriented on wheel seat, spring housing
On sleeve, the inside of boom insertion sleeve, the end plate of sleeve is located at the side of spring, and the end block of boom is located at the another of spring
Side, one end of spring can be connected on end plate, and the other end of spring can be connected on end block.
With reference to shown in Fig. 5 and Fig. 6, the circumference side of boom is provided with strip projected parts, axial direction side of the strip projected parts along boom
To extension, the groove adaptable with boom and strip projected parts is provided with sleeve.Boom and strip projected parts are together inside insertion sleeve
Groove in, when boom moves back and forth in the groove of sleeve inner, strip projected parts can play a part of preventing rotating, and prevent from stretching
The relative rotation of bar and sleeve so that boom straight line can only move back and forth in the groove of sleeve.
Support body includes head plate, afterbody flat board, connects the connection frame of head plate and afterbody flat board.Connect the upper end of frame
Fixed with head plate, the lower end and afterbody flat board for connecting frame are fixed, and connection inframe, which is provided with to do for scissor brace component, opens
With the strip notch of closed action, the first brace and the second brace being hinged pass through strip notch.Strip notch is rectangular
Shape, strip notch can also play spacing effect, when the first brace and the second brace are opened or closed, can prevent the first support
Arm or the second brace are rocked, while the first brace, the second brace and connection frame can be hinged together, the first brace and the
Two braces can only rotate upwardly and downwardly.
With reference to shown in Fig. 1, support body also includes accessory plate, and accessory plate is bolted on support body by strip, and accessory plate leads to
Crossing strip bolt can be connected on head plate or afterbody flat board, if also needing to greater number of accessory plate, second piece
Accessory plate is bolted on first piece of accessory plate by strip again, and the matrix of auxiliary support assemblies is fixed on the auxiliary board.It is auxiliary
Support component, the first motor and the second motor is helped to may be mounted on suitable accessory plate, head plate or afterbody flat board, the
Do not marked in one motor and the second motor figure.The both ends of propulsion die can also be connected on corresponding accessory plate.
The principle of creeping motion type travel mechanism：Walking working condition of the creeping motion type travel mechanism in pipeline is, with upper and lower two
The structure of individual walking module is all loosened as original state, first controls the second motor of upper end walking module to rotate forward, drives two-way
Screw rod rotates so that and head nut and tail nut are located remotely from each other, and then the scissor brace component of upper end walking module is persistently opened,
The inwall of elastic ball then continuous extrusion pipeline, the feedback signal until receiving pressure sensor, the second motor stalls, this
When elastic ball press the inwall of pipeline, the whole walking module of upper end is fixed, i.e. the whole walking module of upper end is in
Tensioning state.Then the first motor is rotated forward, and the first motor is rotated forward by the unidirectional screw rod of the second universal joint drive, and then is promoted
Drive nut is advanced and (moved toward the walking module direction of upper end) together with link, then drives the whole walking module of lower end forward
Motion, when the first motor reaches design number of turns threshold values, stop operating.Then, the second motor of lower end walking module is being controlled just
Turn, drive reverse-flighted screw rotation so that head nut and tail nut are located remotely from each other, and then make the scissor brace group of lower end walking module
Part persistently opens, the inwall of elastic ball then continuous extrusion pipeline, the feedback signal until receiving pressure sensor, the second motor
Stop operating, now elastic ball presses the inwall of pipeline, and the whole walking module of lower end is fixed, i.e. the whole row of lower end
Walk module and be in tensioning state.Then, the second motor reversal of upper end walking module is controlled, then scissor brace component is persistently prevented
Loose (doing closed action), until pressure sensor feedback pressure signal is 0 (is considered as and loosens completely).Subsequently, the first electricity
Machine is inverted, and the first motor is rotated backward by the unidirectional screw rod of the second universal joint drive, and then is praised upper end walking module and advanced.Such as
This is reciprocal, completes walking task of the creeping motion type travel mechanism in pipeline.
Auxiliary support assemblies play a part of Auxiliary support when scissor brace component loosens and (loses main support),
Ensure that creeping motion type travel mechanism axle center is stable.When directive wheel is not in contact with the inwall of pipeline, spring promotes boom so that
End block makes directive wheel be in contact again with the inwall of pipeline away from end plate, keeps whole creeping motion type travel mechanism in pipeline
It is interior to rock.
This creeping motion type travel mechanism is walked in pipeline internal, can be horizontal straight tube, side bend, horizontal variable diameter straight tube, non-
The pipelines such as horizontal straight tube, non-horizontal bend pipe, non-horizontal variable diameter straight tube.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (9)
- A kind of 1. creeping motion type travel mechanism in pipeline, it is characterised in that：Including propulsion die, walking module；The two of propulsion die End is equipped with walking module；Walking module includes support body, the reverse-flighted screw being pivotally mounted inside support body, is spun on reverse-flighted screw The head nut of one end, the tail nut of the reverse-flighted screw other end is spun on, the multigroup scissor brace group being circumferentially evenly arranged Part；Scissor brace component includes the first brace and the second brace being hinged, and one end of the first brace is hinged on head nut, The other end of first brace is in contact by elastic ball with inner-walls of duct, and one end of the second brace is hinged on tail nut, and second The other end of brace is in contact by elastic ball with inner-walls of duct.
- 2. according to creeping motion type travel mechanism in a kind of pipeline described in claim 1, it is characterised in that：Propulsion die includes first Motor, unidirectional screw rod, link, the drive nut being arranged on inside link, the first universal joint, the second universal joint；Drive spiral shell Mother is spun on unidirectional screw rod, and one end of the first universal joint is connected on the support body of one of walking module, the first universal joint The other end is connected on link, and the first motor is arranged on the support body of another walking module, and one end of the second universal joint connects It is connected on unidirectional screw rod, the other end of the second universal joint connects with the output end of the first motor.
- 3. according to creeping motion type travel mechanism in a kind of pipeline described in claim 1, it is characterised in that：Support body is put down including head The connection frame of plate, afterbody flat board, connection head plate and afterbody flat board；Connection inframe, which is provided with to do for scissor brace component, opens With the strip notch of closed action, the first brace and the second brace being hinged pass through strip notch.
- 4. according to creeping motion type travel mechanism in a kind of pipeline described in claim 1, it is characterised in that：Walking module also includes using In the second motor of driving reverse-flighted screw rotation, the second motor is arranged on support body.
- 5. according to creeping motion type travel mechanism in a kind of pipeline described in claim 4, it is characterised in that：Walking module also includes more The end of group haptic feedback component, the end of the first brace and the second brace is mounted on one group of haptic feedback component；Contact is anti- Presenting component includes receiver, elastic ball, pressure sensor, lid；Pressure sensor includes stripes and the circle to link together Ring portion, pressure sensor are connected with the second motor signal, and receiver is provided with cavity, and the annular portion of pressure sensor is placed in receiver Cavity in, the elastic ball for squeeze pressure sensor annular portion is placed on the cavity of receiver, and lid is fixed on receiver End, a part for elastic ball exposes lid；The stripes of the pressure sensor of each group of haptic feedback component are arranged on the In one brace or the second brace, the receiver of each group of haptic feedback component is hinged in the first brace or the second brace.
- 6. according to creeping motion type travel mechanism in a kind of pipeline described in claim 1, it is characterised in that：Creeping motion type travel mechanism is also Including the multigroup auxiliary support assemblies being circumferentially evenly arranged, auxiliary support assemblies include matrix, sleeve, boom, led To wheel, it is oriented to wheel seat, spring；Matrix is fixed on the support body of walking module, and the end of sleeve is provided with end plate, and end plate is fixed on base On block, the end of boom is provided with end block, is oriented to wheel seat and is fixed on end block, and directive wheel is pivotally arranged on and is oriented on wheel seat, Spring housing is on sleeve, and the inside of boom insertion sleeve, the end plate of sleeve is located at the side of spring, and the end block of boom is located at bullet The opposite side of spring.
- 7. according to creeping motion type travel mechanism in a kind of pipeline described in claim 6, it is characterised in that：The circumference side of boom is set There are strip projected parts, the groove adaptable with boom and strip projected parts is provided with sleeve.
- 8. according to creeping motion type travel mechanism in a kind of pipeline described in claim 6, it is characterised in that：Support body also includes auxiliary Plate, accessory plate are bolted on support body by strip, and the matrix of auxiliary support assemblies is fixed on the auxiliary board.
- 9. according to creeping motion type travel mechanism in a kind of pipeline described in claim 5, it is characterised in that：The sidepiece of receiver is provided with The joint of bit-avoiding slot mouth, pressure sensor annular portion and pressure sensor stripes is located at bit-avoiding slot mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947498.1U CN207005570U (en) | 2017-07-31 | 2017-07-31 | Creeping motion type travel mechanism in a kind of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720947498.1U CN207005570U (en) | 2017-07-31 | 2017-07-31 | Creeping motion type travel mechanism in a kind of pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207005570U true CN207005570U (en) | 2018-02-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720947498.1U Expired - Fee Related CN207005570U (en) | 2017-07-31 | 2017-07-31 | Creeping motion type travel mechanism in a kind of pipeline |
Country Status (1)
| Country | Link |
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| CN (1) | CN207005570U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882680A (en) * | 2019-03-18 | 2019-06-14 | 厦门理工学院 | A kind of creeping motion type pipe robot and its control method |
| CN114992425A (en) * | 2022-06-14 | 2022-09-02 | 江苏精益智控科技有限公司 | Internal support device keeping concentricity with steel pipe |
| CN117091026A (en) * | 2023-10-18 | 2023-11-21 | 南通金茂防爆电气有限公司 | Pipeline inner wall crack detection device based on circumferential radiation |
| US12078280B2 (en) | 2019-09-16 | 2024-09-03 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit exploration robot comprising a positioning system |
-
2017
- 2017-07-31 CN CN201720947498.1U patent/CN207005570U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109882680A (en) * | 2019-03-18 | 2019-06-14 | 厦门理工学院 | A kind of creeping motion type pipe robot and its control method |
| US12078280B2 (en) | 2019-09-16 | 2024-09-03 | Autonomous Clean Water Appliance (Acwa) Robotics | Conduit exploration robot comprising a positioning system |
| CN114992425A (en) * | 2022-06-14 | 2022-09-02 | 江苏精益智控科技有限公司 | Internal support device keeping concentricity with steel pipe |
| CN114992425B (en) * | 2022-06-14 | 2024-01-05 | 江苏精益智控科技有限公司 | Inner support device keeping concentricity with steel pipe |
| CN117091026A (en) * | 2023-10-18 | 2023-11-21 | 南通金茂防爆电气有限公司 | Pipeline inner wall crack detection device based on circumferential radiation |
| CN117091026B (en) * | 2023-10-18 | 2023-12-15 | 南通金茂防爆电气有限公司 | Pipeline inner wall crack detection device based on circumferential radiation |
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Granted publication date: 20180213 |