CN208025018U - A kind of stable type pipe robot walking mechanism - Google Patents
A kind of stable type pipe robot walking mechanism Download PDFInfo
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- CN208025018U CN208025018U CN201820097102.3U CN201820097102U CN208025018U CN 208025018 U CN208025018 U CN 208025018U CN 201820097102 U CN201820097102 U CN 201820097102U CN 208025018 U CN208025018 U CN 208025018U
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- 238000007689 inspection Methods 0.000 description 5
- 230000004323 axial length Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
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- 230000005611 electricity Effects 0.000 description 2
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Abstract
The utility model is related to pipeline robot technique fields, disclose a kind of stable type pipe robot walking mechanism, including procapsid, back casing, the inner end rear end of procapsid is equipped with drive end bearing bracket, the front end of back casing is equipped with rear end cap, it is connected by main electric cylinders between drive end bearing bracket and rear end cap, there are two main electric cylinders, the outside of two main electric cylinders is equipped with electric cylinders positioning sleeve, the side of procapsid is set there are three front support foot component, the side of back casing is set there are three rear support foot component, the front driving mechanism for driving front support foot component expanding-contracting action is equipped in procapsid, the rear drive mechanism for driving rear support foot component expanding-contracting action is equipped in back casing；The front end of procapsid is equipped with spherical surface kuppe, and the top center of spherical surface kuppe is equipped with flexible link, and the front end of flexible link is equipped with reflective sensor, and the rear end of back casing is connected with transparent storage tube.The advantageous effect that the utility model has overall structure simple, small, stability is good, adaptable.
Description
Technical field
The utility model is related to pipeline robot technique field more particularly to a kind of stable type pipe robot vehicle with walking machine
Structure.
Background technology
Oil, natural gas are indispensable important energy sources in human being's production life, and oil-gas pipeline is as transporting this kind of energy
The significant transportation channel in source is the energy artery for pushing human economic development and benefiting the people's livelihood, in China's Land petroleum pipeline is total
Journey reaches 12 × 104km, safeguards that the security implications of oil-gas pipeline are great, is usually all to use to be welded to connect between pipeline, in order to
Ensure the stability of pipeline, it usually needs carrying out flaw detection is carried out to pipeline, whether detect has crackle, detects in pipeline at plumb joint
Whether wall has longitudinal crack etc., and usually tube wall has certain thickness, is difficult accurate detection crackle from outside, therefore need
To enter and carry out carrying out flaw detection inside pipeline.But since pipeline is very long, and internal environment is severe, remains in some pipelines
Poison gas etc. can not manually be directly entered pipeline and carry out carrying out flaw detection to pipeline, therefore be typically used for pipe robot detection, at present
Common pipe robot has fluid drive-type, wheeled, crawler type, walking etc., and pipe robot is placed in one end of pipeline,
Various detection probes, sensor are installed, pipe robot itself passes through very long cable and extraneous machine on pipe robot
It stands, the connections such as engineering truck, on the one hand cable is that pipe robot is powered, be on the other hand used for data transmission, pipe robot inspection
The data measured are transmitted to machine station by cable, and detection information is obtained by that can implement on the display screen at machine station.
However the bottom of many pipelines remains various rubbish incidentals, wheeled, crawler type, walking robot move after entering
Dynamic inconvenience, the mobile inadequate maneuverability in pipeline, and there are the slope tilted upward, many pipe robots in pipeline
Climbing capacity is poor, and some Management of Pipeline Mechanical Equipment people can only move forward, and can not move backward, into closed pipeline in usually can not
It retreats, inadequate maneuverability.
Utility model content
The utility model provides a kind of structure to solve the above problem existing for pipe robot in the prior art
The good pipe robot walking mechanism of simple small, mobile maneuverability, stability.
To achieve the goals above, the utility model adopts the following technical solution：
The inner end rear end of a kind of stable type pipe robot walking mechanism, including procapsid, back casing, the procapsid is set
There is drive end bearing bracket, the front end of the back casing is equipped with rear end cap, is connected by main electric cylinders between the drive end bearing bracket and rear end cap, described
Main electric cylinders there are two, the electric cylinders axis of two main electric cylinders is mutually parallel, direction is on the contrary, the outside of two main electric cylinders is fixed equipped with electric cylinders
Position set, the side of the procapsid are set there are three front support foot component, and the side of the back casing sets that there are three rear support feet
Component, the interior front driving mechanism being equipped with for driving front support foot component expanding-contracting action of the procapsid, the back casing
The interior rear drive mechanism being equipped with for driving rear support foot component expanding-contracting action；The front end of the procapsid is equipped with spherical surface water conservancy diversion
The top center of cover, the spherical surface kuppe is equipped with flexible link, and the front end of the flexible link is equipped with reflective sensor, the rear shell
The rear end of body is connected with transparent storage tube.
The detection components such as CCD camera assembly, ultrasonic-wave flaw-detecting probe component are mounted in storage tube, pipe robot is set
In in pipeline, it is connect with extraneous machine station by cable, cable provides power supply and data transfer for pipe robot；Walking
When, front driving mechanism action so that three front support foot component stretchings contact support, rear drive mechanism action with tube wall so that
Three rear support foot component retractions are detached with tube wall, two main electric cylinders shaft end retractions, to pull back casing to move forward one section
Distance, then rear drive mechanism action so that three rear support foot components stretchings contact support with tube wall, and front driving mechanism is dynamic
Make so that three front support foot component retractions are detached with tube wall, and the shaft end of two main electric cylinders is stretched out, to push procapsid forward
Mobile a distance；Front driving mechanism, rear drive mechanism, main electric cylinders repeat above-mentioned action, to realize pipe robot in pipe
It is moved in road；When pipeline turning, the reflective sensor of flexible boom end can detect barrier, at this time one of them main electric cylinders
Shaft end keep retraction state, only there are one main electric cylinders to act when subsequent movement, so as to shorten the axial length of pipe robot,
It can prevent from interfering when turning；When encountering pipeline and tilting upward, due to this kind of robot whatsoever state, at least one group of support
Foot component contacts support with tube wall, very strong to the adaptability of pipeline so as to stable climbing, and overall structure letter
It is single, small, stability is good.
Preferably, the front support foot component is identical as the structure of rear support foot component, front support foot component includes cylinder
Set, side piston, supporting rod, the inner end of the supporting rod is stretched into cylinder sleeve to be fixedly connected with side piston, and supporting rod is slided with cylinder sleeve
The outer end of connection, the supporting rod is equipped with support base；The front driving mechanism includes preceding separation sleeve, preceding electric cylinders, it is described before every
Rear end from set is connect with drive end bearing bracket, and the front end of the preceding separation sleeve is connected to the cavity in procapsid, and the preceding electric cylinders are solid
Before being scheduled in separation sleeve, the shaft end of the preceding electric cylinders is equipped with secondary piston；The rear drive mechanism includes rear separation sleeve, rear electricity
Cylinder, the front and rear end lid connection of the rear separation sleeve, the rear end of the rear separation sleeve is connected to the cavity in back casing, described
Rear electric cylinders be fixed on before in separation sleeve, it is described after the shaft ends of electric cylinders be equipped with rear piston；The procapsid, the side of back casing are equal
If there are three connector sleeve, the connector sleeve on cylinder sleeve and procapsid on the front support foot component connects one to one, after described
The connector sleeve on cylinder sleeve and back casing on support leg component connects one to one, and oil is each filled in the procapsid, back casing
Liquid, the bottom of connector sleeve are equipped with the oilhole being connected to cylinder sleeve.When preceding electric cylinders shaft end is stretched out, secondary piston movement, thus by preceding isolation
Fluid in set squeezes out, and fluid, which is entered by oilhole in cylinder sleeve, pushes corresponding supporting rod to stretch out, conversely, the retraction of preceding electric cylinders shaft end
When, the fluid in cylinder sleeve enters in preceding separation sleeve, corresponding supporting rod will retraction, so as to stable control front support foot
Component, the action of rear support foot component, and preceding electric cylinders are placed in procapsid, and rear electric cylinders are placed in back casing so that overall structure
Compact, axial length significantly shortens, and improves the adaptability to bend pipe, can be detected to the pipeline with certain radian.
Preferably, being uniformly provided with three elastic telescopicing rods on the support base, the outer end of the elastic telescopicing rod is set
There is anti-skidding briquetting.Since inner wall of the pipe is curved surface, support is contacted with tube wall by elastic telescopicing rod, elastic telescopicing rod can be automatic
The radian of tube wall is adapted to, stability of strutting system is good, and when especially climbing vertical pipeline, stability is very good.
Preferably, being equipped with centre bore in the supporting rod, the inner end of centre bore is closed, and locating rod is equipped in centre bore,
The locating rod is slidably connected with centre bore, and the outer end of locating rod is stretched out outside supporting rod and is equipped with idler wheel in end；It is described fixed
The interior end side surface of position bar is equipped with axially distributed elongated slot through-hole, and the side of the supporting rod is equipped with limit corresponding with long slot bore
The outer end of slot, the cylinder sleeve is equipped with spacer pin, and the spacer pin is also cross spacing slotted eye, elongated slot through-hole, the support
Compression spring is equipped between the inner end of bar and the bottom of centre bore.Locating rod plays positioning action, the branch on procapsid (back casing)
When strut whole retraction, procapsid (back casing) can lose support, and entire robot front end is caused to receive radial gravity
And lead to whole generation torque, it is easy to cause robot damage；Locating rod can then share gravity, keep at whole position
At the center of pipeline, the moving stability and service life of pipe robot are improved, while having to the pipeline of different inner diameters
There is certain adaptability.
Preferably, the rear end of the procapsid is equipped with forward flange, the front end of the back casing is equipped with rear flange, before described
Slide opening there are three being all provided on flange, rear flange passes through three parallel slide bars and connects between the forward flange, rear flange, slide bar
It corresponds and is slidably connected between slide opening；The both ends of the slide bar are equipped with position limiting convex ring.Slide bar is for undertaking main electric cylinders axis
Torque, prevent main electric cylinders bearing in pipe robot moving process from being damaged main electric cylinders by larger torque, to main electric cylinders rise
To protective effect.
Preferably, being equipped with connecting rod, the outer end of the connecting rod and slide bar at the center side of the electric cylinders positioning sleeve
Center be fixedly connected.
Preferably, being equipped with the elastic bellows being set on the outside of main electric cylinders between drive end bearing bracket and rear end cap.Due to pipeline
Interior bad environments, elastic bellows play a protective role to main electric cylinders.
Therefore, the utility model has the advantages that：(1) simple in structure, small, walking, turning maneuverability；
(2) it can climb, vertical pipeline can be climbed, can freely advance, retreat, it is adaptable；(3) it can be suitably used for the pipe of different-diameter
Road, it is versatile.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of the utility model.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the sectional view of Fig. 1.
Fig. 4 is the status diagram of procapsid positioning, the pulling back casing advance of main electric cylinders.
Fig. 5 is the status diagram of back casing positioning, the promotion procapsid advance of main electric cylinders.
Fig. 6 is displacement state schematic diagram of the utility model in pipeline after mobile a distance.
Fig. 7 is front support foot component retraction status diagram.
Fig. 8 is that front support foot component stretches out status diagram.
Fig. 9 is close-up schematic view at A in Fig. 8.
In figure：Procapsid 1, back casing 2, drive end bearing bracket 3, rear end cap 4, main electric cylinders 5, electric cylinders positioning sleeve 6, slide bar 7, limit convex
Ring 8, connecting rod 9, elastic bellows 10, front support foot component 11, rear support foot component 12, front driving mechanism 13, rear driving machine
Structure 14, spherical surface kuppe 15, flexible link 16, reflective sensor 17, pipeline 18, storage tube 19, forward flange 100, rear flange 200,
Cylinder sleeve 110, side piston 111, supporting rod 112, spacing slotted eye 1120, support base 113, elastic telescopicing rod 114, anti-skidding briquetting 115,
Centre bore 116, locating rod 117, elongated slot through-hole 1170, idler wheel 118, spacer pin 119, compression spring 120, connector sleeve 121, oilhole 122,
Preceding separation sleeve 130, preceding electric cylinders 131, secondary piston 132, rear separation sleeve 140, rear electric cylinders 141, rear piston 142.
Specific implementation mode
The utility model is further described with reference to the accompanying drawings and detailed description：
A kind of stable type pipe robot walking mechanism as shown in Figure 1, Figure 2 and Figure 3, including procapsid 1, back casing 2, it is preceding
The inner end rear end of shell is equipped with drive end bearing bracket 3, and the front end of back casing is equipped with rear end cap 4, passes through main electricity between drive end bearing bracket and rear end cap
Cylinder 5 connects, and there are two main electric cylinders, the electric cylinders axis of two main electric cylinders is mutually parallel, direction on the contrary, one of them main electric cylinders electric cylinders
Axis is connect with drive end bearing bracket, and the electric cylinders axis of another main electric cylinders is connect with rear end cap, and the outside of two main electric cylinders is positioned equipped with electric cylinders
Set 6；The rear end of procapsid 1 is equipped with forward flange 100, and the front end of back casing 2 is equipped with rear flange 200, is all provided on forward flange, rear flange
There are three slide openings, are connected by three parallel slide bars 7 between forward flange, rear flange, correspond and slide between slide bar and slide opening
The both ends of dynamic connection, slide bar are equipped with position limiting convex ring 8, and connecting rod 9 is equipped at the center side of electric cylinders positioning sleeve 6, connecting rod
Outer end is fixedly connected with the center of slide bar, and the elastic bellows being set on the outside of main electric cylinders are equipped between drive end bearing bracket and rear end cap
10。
The side of procapsid 1 is set there are three front support foot component 11, and the side of back casing sets that there are three rear support foot groups
Part 12, three front support foot components are distributed uniformly and circumferentially, and the angle between two neighboring front support foot component is 120 °,
Three rear support foot components are distributed uniformly and circumferentially, and the angle between two neighboring rear support foot component is 120 °, front housing
It is equipped with the front driving mechanism 13 for driving front support foot component expanding-contracting action in vivo, is equipped in back casing for driving rear support
The rear drive mechanism 14 of foot component expanding-contracting action；The front end of procapsid is equipped with spherical surface kuppe 15, in the top of spherical surface kuppe
The heart is equipped with flexible link 16, and the front end of flexible link is equipped with reflective sensor 17, and the rear end of back casing is connected with transparent storage tube 19.
As shown in Fig. 3, Fig. 7 and Fig. 8, front support foot component 11 is identical as the structure of rear support foot component 12, front support foot
Component 11 includes cylinder sleeve 110, side piston 111, supporting rod 112, and the inner end of supporting rod is stretched into cylinder sleeve to be fixedly connected with side piston,
Supporting rod is slidably connected with cylinder sleeve, and the outer end of supporting rod is equipped with support base 113；As shown in figure 9, being uniformly provided with three on support base
The outer end of elastic telescopicing rod 114, elastic telescopicing rod is equipped with anti-skidding briquetting 115；
Centre bore 116 is equipped in supporting rod 112, the inner end of centre bore is closed, and locating rod 117, positioning are equipped in centre bore
Bar is slidably connected with centre bore, and the outer end of locating rod is stretched out outside supporting rod and is equipped with idler wheel 118 in end；Locating rod 117 it is interior
End side surface is equipped with axially distributed elongated slot through-hole 1170, and the side of supporting rod 112 is equipped with spacing slotted eye corresponding with long slot bore
1120, the outer end of cylinder sleeve is equipped with spacer pin 119, and spacer pin is also cross spacing slotted eye, elongated slot through-hole, and the inner end of supporting rod is in
Compression spring 120 is equipped between the bottom in heart hole.
Front driving mechanism 13 includes preceding separation sleeve 130, preceding electric cylinders 131, and the rear end of preceding separation sleeve connect with drive end bearing bracket, it is preceding every
Front end from set is connected to the cavity in procapsid, and before preceding electric cylinders are fixed in separation sleeve, the shaft end of preceding electric cylinders is equipped with secondary piston
132；Rear drive mechanism 14 includes rear separation sleeve 140, rear electric cylinders 141, the front and rear end lid connection of rear separation sleeve, rear separation sleeve
Rear end be connected to the cavity in back casing, rear electric cylinders be fixed on before in separation sleeve, the shaft end of rear electric cylinders is equipped with rear piston 142；
Procapsid 1, back casing 2 side be all provided with there are three connector sleeve 121, the connection on cylinder sleeve and procapsid on front support foot component
Set connects one to one, and the connector sleeve on cylinder sleeve and back casing on rear support foot component connects one to one, procapsid, rear shell
It is each filled with fluid in vivo, the bottom of connector sleeve is equipped with the oilhole 122 being connected to cylinder sleeve.
In conjunction with attached drawing, the principles of the present invention are as follows：By detections groups such as CCD camera assembly, ultrasonic-wave flaw-detecting probe components
Part is packed into storage tube, and pipeline inspection robot is placed in pipeline 18, is connect with extraneous machine station by cable, cable is pipeline
Robot provides power supply and data transfer；State when pipeline inspection robot is put into pipeline is as shown in Figure 1, locating rod outer end
Idler wheel contact support with tube wall, the shaft end of preceding electric cylinders is stretched out, secondary piston movement, and the fluid in procapsid is pressed on procapsid
Cylinder sleeve in so that the stretching of three front support foot components contacts support with tube wall, and the axis of rear electric cylinders is in retraction state, after three
Support leg component retraction is detached with tube wall, the electric cylinders axis retraction simultaneously of two main electric cylinders axis, to pull back casing to move forward
A distance, the state after movement are as shown in Figure 4；Then the retraction of preceding electric cylinders shaft end, rear electric cylinders shaft end are stretched out, two main electric cylinders
Shaft end is stretched out, to push procapsid to move a distance, it is mobile after state as shown in figure 5, before then electric cylinders shaft end stretch out,
The retraction of electric cylinders shaft end, the shaft end retraction of two main electric cylinders afterwards, to pull back casing to move forward a distance, it is mobile after shape
State is as shown in fig. 6, the state of pipeline inspection robot is identical as Fig. 4 at this time；Above-mentioned action is recycled, so that pipeline inspection machine
Device people moves forward in pipeline, can be moved when pipeline is obliquely or vertically upward；When pipeline turning, flexible link
The reflective sensor of end can detect barrier, and the shaft end of one of them main electric cylinders keeps retraction state, subsequent movement at this time
When only there are one main electric cylinders to act, so as to shorten the axial length of pipe robot, when turning, can prevent from interfering.The utility model
In pipe robot walking mechanism it is very strong to the adaptability of pipeline, moreover it is possible to adapt to the pipeline of different tube diameters, and whole knot
Structure is simple, small, stability is good.
Claims (7)
1. a kind of stable type pipe robot walking mechanism, characterized in that including procapsid, back casing, the procapsid it is interior
Rear end is held to be equipped with drive end bearing bracket, the front end of the back casing is equipped with rear end cap, passes through main electric cylinders between the drive end bearing bracket and rear end cap
Connection, there are two the main electric cylinders, the electric cylinders axis of two main electric cylinders is mutually parallel, direction on the contrary, two main electric cylinders outside
Equipped with electric cylinders positioning sleeve, the side of the procapsid is set there are three front support foot component, there are three the side of the back casing is set
Rear support foot component, the interior front driving mechanism being equipped with for driving front support foot component expanding-contracting action of the procapsid are described
Back casing in be equipped with rear drive mechanism for driving rear support foot component expanding-contracting action；The front end of the procapsid is equipped with ball
The top center of face kuppe, the spherical surface kuppe is equipped with flexible link, and the front end of the flexible link is equipped with reflective sensor, institute
The rear end for stating back casing is connected with transparent storage tube.
2. a kind of stable type pipe robot walking mechanism according to claim 1, characterized in that the front support foot group
Part is identical as the structure of rear support foot component, and front support foot component includes cylinder sleeve, side piston, supporting rod, the supporting rod it is interior
End is stretched into cylinder sleeve and is fixedly connected with side piston, and supporting rod is slidably connected with cylinder sleeve, and the outer end of the supporting rod is equipped with support base；
The front driving mechanism includes preceding separation sleeve, preceding electric cylinders, and the rear end of the preceding separation sleeve is connect with drive end bearing bracket, before described
The front end of separation sleeve is connected to the cavity in procapsid, before the preceding electric cylinders are fixed in separation sleeve, the axis of the preceding electric cylinders
End is equipped with secondary piston；
The rear drive mechanism includes rear separation sleeve, rear electric cylinders, the front and rear end lid connection of the rear separation sleeve, after described
The rear end of separation sleeve is connected to the cavity in back casing, before the rear electric cylinders are fixed in separation sleeve, the axis of the rear electric cylinders
End is equipped with rear piston；
The procapsid, back casing side be all provided with there are three connector sleeve, cylinder sleeve and procapsid on the front support foot component
On connector sleeve connect one to one, connector sleeve on the cylinder sleeve and back casing on the rear support foot component, which corresponds, to be connected
It connects, fluid is each filled in the procapsid, back casing, the bottom of connector sleeve is equipped with the oilhole being connected to cylinder sleeve.
3. a kind of stable type pipe robot walking mechanism according to claim 2, characterized in that on the support base
Three elastic telescopicing rods are uniformly provided with, the outer end of the elastic telescopicing rod is equipped with anti-skidding briquetting.
4. a kind of stable type pipe robot walking mechanism according to claim 2 or 3, characterized in that the supporting rod
Interior to be equipped with centre bore, the inner end of centre bore is closed, and locating rod is equipped in centre bore, and the locating rod connects with centre bore sliding
It connects, the outer end of locating rod is stretched out outside supporting rod and is equipped with idler wheel in end；The interior end side surface of the locating rod is equipped with divides in an axial direction
The side of the elongated slot through-hole of cloth, the supporting rod is equipped with spacing slotted eye corresponding with long slot bore, and the outer end of the cylinder sleeve is equipped with limit
Position pin, the spacer pin is also cross spacing slotted eye, elongated slot through-hole, between the inner end of the supporting rod and the bottom of centre bore
Equipped with compression spring.
5. a kind of stable type pipe robot walking mechanism according to claim 1, characterized in that after the procapsid
End is equipped with forward flange, and the front end of the back casing is equipped with rear flange, is all provided with that there are three slide opening, institutes on the forward flange, rear flange
It states and is connected by three parallel slide bars between forward flange, rear flange, correspond and be slidably connected between slide bar and slide opening；It is described
The both ends of slide bar are equipped with position limiting convex ring.
6. a kind of stable type pipe robot walking mechanism according to claim 1, characterized in that the electric cylinders positioning sleeve
Center side at be equipped with connecting rod, the outer end of the connecting rod is fixedly connected with the center of slide bar.
7. a kind of stable type pipe robot walking mechanism according to claim 1 or 6, characterized in that drive end bearing bracket is with after
The elastic bellows being set on the outside of main electric cylinders are equipped between end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820097102.3U CN208025018U (en) | 2018-01-19 | 2018-01-19 | A kind of stable type pipe robot walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820097102.3U CN208025018U (en) | 2018-01-19 | 2018-01-19 | A kind of stable type pipe robot walking mechanism |
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| Publication Number | Publication Date |
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| CN208025018U true CN208025018U (en) | 2018-10-30 |
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ID=63901947
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820097102.3U Active CN208025018U (en) | 2018-01-19 | 2018-01-19 | A kind of stable type pipe robot walking mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019586A (en) * | 2018-01-19 | 2018-05-11 | 浙江省天然气开发有限公司 | A kind of stable type pipe robot walking mechanism |
| CN109333407A (en) * | 2018-11-22 | 2019-02-15 | 中国化学工程第三建设有限公司 | Pipeline support tool |
| CN112432029A (en) * | 2020-10-14 | 2021-03-02 | 马宁 | Electronic information acquisition device based on image communication |
-
2018
- 2018-01-19 CN CN201820097102.3U patent/CN208025018U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019586A (en) * | 2018-01-19 | 2018-05-11 | 浙江省天然气开发有限公司 | A kind of stable type pipe robot walking mechanism |
| CN108019586B (en) * | 2018-01-19 | 2024-03-01 | 国家管网集团浙江省天然气管网有限公司 | Stable pipeline robot running gear |
| CN109333407A (en) * | 2018-11-22 | 2019-02-15 | 中国化学工程第三建设有限公司 | Pipeline support tool |
| CN112432029A (en) * | 2020-10-14 | 2021-03-02 | 马宁 | Electronic information acquisition device based on image communication |
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Address after: No.1751, Binsheng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang Provincial Natural Gas Development Co.,Ltd. Patentee after: China Jiliang University Address before: 310052 zheneng second building, 1751 Binsheng Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG GAS DEVELOPMENT CO.,LTD. Patentee before: China Jiliang University |
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