CN209054248U - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
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- CN209054248U CN209054248U CN201821136389.2U CN201821136389U CN209054248U CN 209054248 U CN209054248 U CN 209054248U CN 201821136389 U CN201821136389 U CN 201821136389U CN 209054248 U CN209054248 U CN 209054248U
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- pipe robot
- flexible axle
- rack
- fixing seat
- driven wheel
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Abstract
The utility model belongs to robotic technology field more particularly to a kind of pipe robot, comprising: two driving mould groups, two air bags, air pump assembly and at least two flexible axles.At least two flexible axles are installed between two driving mould groups, and the both ends of flexible axle are separately positioned in corresponding driving mould group, and driving mould group can be moved along the axial direction of flexible axle.Air bag has inflatable and deflatable two states, and when two air bags are in inflated condition simultaneously, pipe robot can be fixed in the duct；When two air bags are in a deflated state simultaneously, pipe robot can be moved in the duct by running assembly；Two air bags replace inflation/deflation, cooperate flexible axle pumping in wire feed component, and pipe robot can wriggle in the duct.Change the state of air bag, the state and motor pattern of pipe robot can be changed, pipe robot can be enable to better adapt to complex environment in pipeline.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of pipe robot.
Background technique
Pipeline is as a part essential in the modern life, since long-term environmental corrosion, external force etc. are inevitable
Understand some damages.Pipeline in use, can generate various pipeline faults, blocking and damage the problems such as, if not
Pipeline is detected in time, repairs and will generate major accident.Traditional artificial detection, random sampling and periodic replacement etc. are answered
To method there are project amounts it is big, at high cost, danger coefficient is high the disadvantages of.In order to guarantee pipeline using safe, timing detection with
Repair critically important, but pipeline is embedded in underground mostly, it is difficult to artificial detection.
The maintenance needs of 1970s, pipeline and container under the adverse circumstances such as petroleum, natural gas, nuclear industry stimulate
The research of pipe robot, the European countries such as the U.S., Japan and France, Germany develop the pipe machine of diversified forms in succession
Device people.Domestic some scientific research institutions and unit, which start to have carried out a large amount of pipelines to creep, detects the research work of robot, at present
Some commercial applications are realized in the big path length straight pipeline such as oil gas, municipal administration.However, existing pipe robot passes through mostly
Wheel moves in the duct, which can not adapt to complex environment in pipeline, and make when pipe robot needs to position
When industry, since wheel and inner wall of the pipe contact area are small, it is easy to appear skidding, the problem that positioning is not allowed.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of pipe robots, it is intended to solve existing pipeline
Robot is moved in the duct by wheel, and complex environment in pipeline can not be adapted to, and it is inaccurate to be easy to appear skidding, positioning
Problem.
In order to solve the above technical problems, the utility model is realized in this way, a kind of pipe robot, which is characterized in that
It include: two driving mould groups and at least two flexible axles；
At least two flexible axles are installed between two driving mould groups, the both ends difference of at least two flexible axles
Setting is in the corresponding driving mould group；
The driving mould group includes running assembly, wire feed component and fixing seat, the wire feed component and the running assembly
It is respectively mounted on the fixing seat, the wire feed component and the flexible axle correspond, and the end of each flexible axle passes through corresponding
The wire feed component, the wire feed component that flexible axle described in same root passes through pumped along the axis of this root flexible axle, the traveling
Component for moving in the duct；
The pipe robot further includes air pump assembly and two air bags, and two air bags are respectively sleeved at described in two
In fixing seat, two air bags connect air pump assembly, when the air bag is filled with gas, the air bag external energy and inner wall of the pipe
It offsets.
Further, the wire feed component includes rack, first motor, driving wheel and the first driven wheel；
The first motor is fixed on the rack, the output axis connection of the driving wheel and the first motor, institute
The first driven wheel is stated to be installed in rotation on the rack；
The flexible axle is plugged between the driving wheel and first driven wheel, and the driving wheel rotation is along described soft
The axial direction of axis pumps the flexible axle.
Further, the wire feed component further includes adjustment seat, the second driven wheel；
The first end of the adjustment seat is installed in rotation on the rack, the second end of the adjustment seat with described
Frame elastic connection, first driven wheel are installed in rotation in the adjustment seat, and second driven wheel is rotationally pacified
On the rack；
The flexible axle is plugged between the driving wheel, first driven wheel and second driven wheel, and described
Driving wheel and second driven wheel are located at the same side of the flexible axle, and first driven wheel is located at the driving wheel and institute
It states between the second driven wheel.
Further, the wire feed component further includes adjusting nut, T-type axis and spring；
The second end of the adjustment seat offers through hole, and the stub end of the T-type axis is connect with the rack, the T
The spring is set on the T-type axis after the small head end of profile shaft passes through the through hole, and the adjusting nut is mounted on the T
The small head end of profile shaft simultaneously compresses the spring.
Further, the pipe robot further includes at least one mold plate；
The periphery of the mold plate is equipped with the first through slot, and each flexible axle passes through first perforation correspondingly
Slot.
Further, the pipe robot further includes limit rope；
The center of the mold plate is equipped with the second through slot, and the limit rope passes through the second through slot of the mold plate,
And it knots at the second through slot of the corresponding mold plate, and the both ends of the limit rope are connected to corresponding fixation
On seat.
Further, the running assembly includes decelerating motor, running assembly rack, shaft and wheel；
Running assembly rack is arranged on the fixing seat, and the decelerating motor is fixed on the running assembly rack,
The wheel is connected on the output shaft of the decelerating motor by the shaft.
Further, the running assembly includes decelerating motor, running assembly rack, two hexagonal shafts and two vehicles
Wheel；
The decelerating motor is fixed on the running assembly rack, one end of two hexagonal shafts and the deceleration
Motor connection, the other end is output end, and two wheels are mounted on correspondingly on the output end of the hexagonal shaft.
Further, the driving mould group further includes tensioner component, and the tensioner component includes support rod and tensioner driving
Mechanism, the tensioner driving mechanism installation is on the fixing seat；The first end of the support rod is connect with the running assembly,
The second end of the support rod is connect with the tensioner driving mechanism, and the tensioner driving mechanism drives institute by the support rod
Running assembly is stated to be connected in inner wall of the pipe.
Further, the tensioner driving mechanism includes the second motor, screw rod and nut, and second motor is fixed on institute
It states in fixing seat, the operating of screw rod described in second motor driven, the nut thread is connected on the screw rod, the support
The second end of bar is connected on the nut；Alternatively,
The tensioner driving mechanism includes helical spring, guide post and moving member, and the guide post is fixed on the fixation
On seat, which is sheathed on the guide post, and one end of the helical spring is connected and fixed with the fixing seat, the other end
It is connected and fixed with moving member, when the helical spring is stretched by the moving member, the helical spring provides the moving member
Close to the pulling force of the fixing seat, or when helical spring is compressed by moving member, helical spring provides far from fixing seat moving member
Thrust.
Compared with prior art, beneficial effect is the utility model: a kind of pipe robot of the utility model, packet
It includes: two driving mould groups, two air bags, air pump assembly and at least two flexible axles.At least two flexible axles are installed on two driving moulds
Between group, the both ends of flexible axle are separately positioned in corresponding driving mould group, and driving mould group can be moved along the axial direction of flexible axle.Gas
Capsule has inflatable and deflatable two states, and when two air bags are in inflated condition simultaneously, pipe robot can be fixed in the duct；
When two air bags are in a deflated state simultaneously, pipe robot can be moved in the duct by running assembly；Two air bag alternatings
Inflation/deflation, cooperates flexible axle pumping in wire feed component, and pipe robot can wriggle in the duct.The state for changing air bag, can
The state and motor pattern for changing pipe robot, can enable pipe robot better adapt to ring complicated in pipeline
Border.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the pipe robot of the utility model embodiment；
Fig. 2 is the decomposition chart of Fig. 1；
Fig. 3 is the structural schematic diagram of the driving mould group in Fig. 2；
Fig. 4 is the decomposition chart of Fig. 3；
Fig. 5 is the structural schematic diagram of the wire feed component in Fig. 4；
Fig. 6 is the cross-sectional view in flexible axle insertion wire feed component；
Fig. 7 is the decomposition chart of Fig. 5；
Fig. 8 is the decomposition chart of the running assembly in Fig. 4；
Fig. 9 is the structural schematic diagram of the mold plate in Fig. 2；
Figure 10 is the structural schematic diagram of the tensioner component in Fig. 4；
Figure 11 is the structural schematic diagram of the another embodiment of the tensioner component in Fig. 4.
In the accompanying drawings, each appended drawing reference indicates: 1, driving mould group；11, running assembly；111, decelerating motor；112, it travels
Component rack；113, hexagonal shaft；114, wheel；12, wire feed component；121, rack；122, adjustment seat；123, first motor；
124, driving wheel；125, the first driven wheel；126, the second driven wheel；127, adjusting nut；128, T-type axis；129, spring；13,
Fixing seat；14, tensioner component；141, support rod；142, the second motor；143, screw rod；144, nut；145, helical spring；
146, guide post；147, moving member；2, flexible axle；3, mold plate；31, the first through slot；32, the second through slot；4, limit rope；5,
Air bag.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It is a kind of preferred embodiment of pipe robot provided by the utility model, the pipe robot packet referring to Fig. 1-4
It includes: two driving mould groups 1 and at least two flexible axles 2.Wherein, at least two flexible axles 2 are installed on two driving mould groups 1
Between, the both ends of at least two flexible axles 2 are separately positioned in the corresponding driving mould group 1.The driving mould group 1 includes
Running assembly 11, wire feed component 12 and fixing seat 13, the wire feed component 12 and the running assembly 11 are installed in described solid
In reservation 13, the wire feed component and the flexible axle are corresponded, and the end of each flexible axle 2 passes through the corresponding wire feed group
Part 12, the wire feed component 12 that flexible axle 2 described in same root passes through are pumped along the axis of this root flexible axle 2, the running assembly 11
For moving in the duct.
The pipe robot further includes air pump assembly and two air bags 5, and two air bags 5 are respectively sleeved at two fixing seats 13
On, two air bags 5 connect air pump assembly, and when air bag 5 is filled with gas, 5 external energy of air bag offsets with inner wall of the pipe.Outside air bag 5
The wall material strong using frictional force.
Air bag 5 has inflatable and deflatable two states, when two air bags 5 are in a deflated state simultaneously, two driving mould groups 1
In the wheel of running assembly 11 contacted with inner wall of the pipe, running assembly 11 drives pipe robot to move in the duct；Two
A air bag 5 is in inflated condition simultaneously, the vehicle of the running assembly 11 when two air bags 5 are filled with gas in two driving mould groups 1
Wheel is separated with inner wall of the pipe, and at this time since the outer wall of air bag 5 has very strong frictional force, pipe robot can be fixed on pipe
The operations such as detected, detected in road；Two air bags 5 replace inflation/deflation, cooperate flexible axle pumping in wire feed component 12, pipeline
Robot can wriggle in the duct, which mostly uses when pipe robot climbs vertical pipeline.Detailed process is as follows,
The air bag 5 on pipe robot head is inflated, and the air bag 5 of tail portion is deflated, and pipe robot head is fixed in the duct at this time, is passed through
The pumping in wire feed component 12 of flexible axle 2 moves the driving mould group 1 of tail portion to close to the direction of head driving mould group 1, works as tail
It after the driving mould group 1 in portion moves to certain position, is inflated to the air bag 5 of tail portion, the air bag 5 on head is deflated, at this time pipeline machine
People tail portion is fixed in the duct, by the pumping in wire feed component 12 of flexible axle 2, makes the driving mould group 1 on head to far from tail portion
Drive the direction movement of mould group 1.So circulation carries out, and so that pipe robot is climbed in vertical pipeline, can make
Pipe robot can better adapt to complex environment in pipeline.
In addition, the pipe robot in the utility model, needs to turn to side when pipe robot encounters T-type bend
When, the wire feed component in the driving mould group of bend starts to pump the side flexible axle, makes the driving mould group close to bend along the side
Flexible axle is moved to the direction of another driving mould group, and the length of flexible axle is less than other sides two driving mould between the mould group of the side two driving at this time
The length of flexible axle between group, makes the head of pipe robot deflect, pipe robot is enable to pass through bend.Due to this
The angle of turn of pipe robot is determined by the length of each flexible axle between two driving mould groups, therefore can according to need pipeline machine
The angle of turn of people is adjusted, and to adapt to the bend of various complexity in pipeline, solves existing pipe robot in pipeline
In encounter problem in stays when complicated bend, improve the performance of product.
Referring to Fig. 5-7, specifically, wire feed component 12 includes rack 121, adjustment seat 122, first motor 123, driving wheel
124, the first driven wheel 125, the second driven wheel 126, adjusting nut 127, T-type axis 128 and spring 129.
The first motor 123 is fixed on the rack 121, and the driving wheel 124 is defeated with the first motor 123
Axis connection out, the first end of the adjustment seat 122 are installed in rotation on the rack 121, and the second of the adjustment seat 122
End and 121 elastic connection of rack.The second end of the adjustment seat 122 offers through hole, the major part of the T-type axis 128
End is connect with the rack 121, and the small head end of the T-type axis 128 is set in described across the spring 129 after the through hole
On T-type axis 128, the adjusting nut 127 is mounted on the small head end of the T-type axis 128 and compresses the spring 129.Described
One driven wheel 125 is installed in rotation in the adjustment seat 122, and second driven wheel 126 is installed in rotation on described
On rack 121.The flexible axle 2 is plugged on the driving wheel 124, first driven wheel 125 and second driven wheel 126
Between, and the driving wheel 124 and second driven wheel 126 are located at the same side of the flexible axle, and first driven wheel
125 between the driving wheel 124 and second driven wheel 126.The rotation of driving wheel 124 is so that 12 edge of wire feed component
The axial direction of the flexible axle 2 pumps the flexible axle.
Referring to Fig. 1,2,9, further, pipe robot further includes at least one mold plate 3.The week of the mold plate 3
Edge is equipped with the first through slot 31, and each flexible axle 2 passes through first through slot 31 correspondingly.Due to the rigidity of flexible axle 2
Deficiency is easily deformed pipe robot during the motion, so that pipe robot is deviateed predetermined direction, uses 3 energy of mold plate
It is enough unlikely to deform pipe robot during the motion, prevents pipe robot from deviateing predetermined direction.
Referring to Fig. 1,2,9, further, pipe robot further includes limit rope 4.The center of the mold plate 3 is equipped with the
Two through slots 32, the limit rope 4 pass through the second through slot 32 of the mold plate 3, and the of the corresponding mold plate 3
It knots at two through slots 32, and the both ends of the limit rope 4 are connected in corresponding fixing seat 13.4 pairs of limit rope sizings
Plate 3 plays position-limiting action, and after avoiding pipe robot multiple mold plates 3 stacking during the motion, it is right to reduce mold plate 3
The fixed effect of flexible axle.
Referring to Fig. 8, specifically, the running assembly 11 includes 112, two decelerating motor 111, running assembly rack hexagonals
Shaft 113 and two wheels 114.The decelerating motor 111 is fixed on the running assembly rack 112, and two described six
One end of angle shaft 113 is connect with the decelerating motor 111, and the other end is output end, and two wheels 114 are correspondingly
It is mounted on the output end of the hexagonal shaft 113.
Further, the driving mould group 1 further includes tensioner component 14, and the tensioner component 14 includes 141 He of support rod
Tensioner driving mechanism, the tensioner driving mechanism are mounted in the fixing seat 13；The first end of the support rod 141 with it is described
Running assembly 11 connects, and the second end of the support rod 141 is connect with the tensioner driving mechanism, and the tensioner driving mechanism is logical
Crossing the support rod 141 drives the running assembly 11 to be connected in inner wall of the pipe.
Referring to Figure 10, specifically, the tensioner driving mechanism includes the second motor 142, screw rod 143 and nut 144, it is described
Second motor 142 is fixed in the fixing seat 13, and second motor 142 drives the screw rod 143 to operate, the nut
144 are threadedly connected on the screw rod 143, and the second end of the support rod 141 is connected on the nut 144.
The both ends of support rod 141 are hinged with running assembly 11 and nut 144 respectively, when nut 144 is past solid on screw rod 143
When 13 direction of reservation is mobile, running assembly 11 and the hinged one end of support rod 141 are past far from tensioner centered on tensioner component 14
14 direction of component is mobile, it may be assumed that running assembly 11 and the hinged one end of support rod 141 are close toward inner wall of the pipe, in turn, are set to traveling
Wheel 114 on component 11 is close toward inner wall of the pipe；When nut 144 screw rod 143 toward it is mobile far from 13 direction of fixing seat when, row
Component 11 and the hinged one end of support rod 141 are sailed centered on tensioner component 14 toward mobile close to 14 direction of tensioner component, that is, row
Component 11 and the hinged one end of support rod 141 are sailed far from inner wall of the pipe, in turn, the wheel 114 set on running assembly 11 is far from pipe
Road inner wall, above, the diameter for realizing the 114 place circumference of wheel of at least two running assemblies 11 is adjusted, and then is realized
Robot is adjusted according to the pipeline of different inner diameters, to adapt to walk in the pipeline of different inner diameters.
In the present embodiment, it is united by controller to decelerating motor 111, first motor 123, second motor 142 etc.
One control.During robot walks in pipeline, decelerating motor 111 is controlled by controller to control walking speed
Degree；When being turned, corresponding first motor 123 in wire feed component 12 is controlled by controller thus to corresponding soft
Axis 2 is pumped, to realize turning function；When needing robot stabilized some position stopped in the duct, at this point, logical
Controller control decelerating motor 111, the stopping output power of first motor 123 are crossed, and defeated by controller the second motor 142 of control
Power struts tensioner component 14 to stretching in the duct relative to tube wall out.
Referring to Figure 11, in addition to above-described embodiment, the tensioner driving mechanism may also include helical spring 145, guide post 146
With moving member 147, the guide post 146 is fixed in the fixing seat 13, which is sheathed on the guide post
146, one end of the helical spring 145 is connected and fixed with the fixing seat 13, and the other end is connected and fixed with moving member 147, when
The helical spring 145 when being stretched by the moving member 147 helical spring 145 moving member 147 is provided close to institute
The pulling force of fixing seat 13 is stated, or helical spring 145 provides far moving member 147 when helical spring 145 is compressed by moving member 147
Thrust from fixing seat 13.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of pipe robot characterized by comprising two driving mould groups (1) and at least two flexible axles (2)；
At least two flexible axles (2) are installed between two driving mould groups (1), and the two of at least two flexible axles (2)
End is separately positioned in the corresponding driving mould group (1)；
The driving mould group (1) includes running assembly (11), wire feed component (12) and fixing seat (13), the wire feed component (12)
And the running assembly (11) is installed on the fixing seat (13), the wire feed component and the flexible axle correspond, respectively
The end of the flexible axle (2) passes through the corresponding wire feed component (12), the wire feed component that flexible axle (2) described in same root passes through
(12) axis along this root flexible axle (2) is pumped, and the running assembly (11) for moving in the duct；
The pipe robot further includes air pump assembly and two air bags (5), and two air bags (5) are respectively sleeved at two institutes
It states on fixing seat (13), two air bags (5) connect air pump assembly, when the air bag (5) is filled with gas, the air bag (5)
External energy offsets with inner wall of the pipe.
2. pipe robot as described in claim 1, which is characterized in that the wire feed component (12) includes rack (121),
One motor (123), driving wheel (124) and the first driven wheel (125)；
The first motor (123) is fixed on the rack (121), the driving wheel (124) and the first motor (123)
Output axis connection, first driven wheel (125) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged between the driving wheel (124) and first driven wheel (125), the driving wheel (124)
Rotation pumps the flexible axle (2) with the axial direction along the flexible axle (2).
3. pipe robot as claimed in claim 2, which is characterized in that the wire feed component (12) further includes adjustment seat
(122), the second driven wheel (126)；
The first end of the adjustment seat (122) is installed in rotation on the rack (121), and the of the adjustment seat (122)
Two ends and the rack (121) elastic connection, first driven wheel (125) are installed in rotation on the adjustment seat (122)
On, second driven wheel (126) is installed in rotation on the rack (121)；
The flexible axle (2) is plugged on the driving wheel (124), first driven wheel (125) and second driven wheel
(126) between, and the driving wheel (124) and second driven wheel (126) are located at the same side of the flexible axle, and described the
One driven wheel (125) is between the driving wheel (124) and second driven wheel (126).
4. pipe robot as claimed in claim 3, which is characterized in that the wire feed component (12) further includes adjusting nut
(127), T-type axis (128) and spring (129)；
The second end of the adjustment seat (122) offers through hole, stub end and the rack (121) of the T-type axis (128)
Connection, the spring (129) is set in the T-type axis (128) after the small head end of the T-type axis (128) passes through the through hole
On, the adjusting nut (127) is mounted on the small head end of the T-type axis (128) and compresses the spring (129).
5. pipe robot according to any one of claims 1 to 4, which is characterized in that the pipe robot further includes
At least one mold plate (3)；
The periphery of the mold plate (3) is equipped with the first through slot (31), and each flexible axle (2) passes through described first correspondingly
Through slot (31).
6. pipe robot as claimed in claim 5, which is characterized in that the pipe robot further includes limit rope (4)；
The center of the mold plate (3) is equipped with the second through slot (32), and the limit rope (4) passes through the of the mold plate (3)
Two through slots (32), and knot at the second through slot (32) of the corresponding mold plate (3), and the limit rope (4)
Both ends are connected on corresponding fixing seat (13).
7. pipe robot as described in claim 1, which is characterized in that the running assembly (11) includes decelerating motor
(111), running assembly rack (112), shaft and wheel (114)；
Running assembly rack (112) is arranged on the fixing seat (13), and the decelerating motor (111) is fixed on the traveling group
On part rack (112), the wheel (114) is connected on the output shaft of the decelerating motor (111) by the shaft.
8. pipe robot as described in claim 1, which is characterized in that the running assembly (11) includes decelerating motor
(111), running assembly rack (112), two hexagonal shafts (113) and two wheels (114)；
The decelerating motor (111) is fixed on the running assembly rack (112), and the one of two hexagonal shafts (113)
End is connect with the decelerating motor (111), and the other end is output end, and two wheels (114) are mounted on institute correspondingly
On the output end for stating hexagonal shaft (113).
9. pipe robot as claimed in claim 7 or 8, which is characterized in that the driving mould group (1) further includes tensioner component
(14), the tensioner component (14) includes support rod (141) and tensioner driving mechanism, and the tensioner driving mechanism is mounted on described
In fixing seat (13)；The first end of the support rod (141) is connect with the running assembly (11), the support rod (141)
Second end is connect with the tensioner driving mechanism, and the tensioner driving mechanism drives the traveling by the support rod (141)
Component (11) is connected in inner wall of the pipe.
10. pipe robot as claimed in claim 9, which is characterized in that the tensioner driving mechanism includes the second motor
(142), screw rod (143) and nut (144), second motor (142) are fixed on the fixing seat (13), second electricity
Machine (142) drives screw rod (143) operating, and the nut (144) is threadedly connected on the screw rod (143), the support
The second end of bar (141) is connected on the nut (144)；Alternatively,
The tensioner driving mechanism includes helical spring (145), guide post (146) and moving member (147), the guide post
(146) it is fixed on the fixing seat (13), which is sheathed on the guide post (146), the helical spring
(145) one end is connected and fixed with the fixing seat (13), and the other end is connected and fixed with moving member (147), when the spiral bullet
The helical spring (145) provides close to described the moving member (147) when spring (145) is by the moving member (147) stretching
The pulling force of fixing seat (13), or when helical spring (145) by moving member (147) compress when helical spring (145) to moving member
(147) thrust far from fixing seat (13) is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821136389.2U CN209054248U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821136389.2U CN209054248U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209054248U true CN209054248U (en) | 2019-07-02 |
Family
ID=67046644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821136389.2U Active CN209054248U (en) | 2018-07-16 | 2018-07-16 | A kind of pipe robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209054248U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108799693A (en) * | 2018-07-16 | 2018-11-13 | 香港中文大学（深圳） | A kind of pipe robot |
| CN113328410A (en) * | 2021-06-02 | 2021-08-31 | 昆山德斯源机电设备有限公司 | Cable pipeline plugging device |
-
2018
- 2018-07-16 CN CN201821136389.2U patent/CN209054248U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108799693A (en) * | 2018-07-16 | 2018-11-13 | 香港中文大学（深圳） | A kind of pipe robot |
| CN108799693B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Pipeline robot |
| CN113328410A (en) * | 2021-06-02 | 2021-08-31 | 昆山德斯源机电设备有限公司 | Cable pipeline plugging device |
| CN113328410B (en) * | 2021-06-02 | 2022-09-23 | 国网上海市电力公司 | Cable pipeline plugging device |
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