CN213776827U - Pipeline robot measuring system - Google Patents
Pipeline robot measuring system Download PDFInfo
- Publication number
- CN213776827U CN213776827U CN202022983037.4U CN202022983037U CN213776827U CN 213776827 U CN213776827 U CN 213776827U CN 202022983037 U CN202022983037 U CN 202022983037U CN 213776827 U CN213776827 U CN 213776827U
- Authority
- CN
- China
- Prior art keywords
- pipeline
- guide wheel
- machine body
- inertial navigation
- positioning instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a pipeline robot measurement system drives inertial navigation locater through pipeline robot and measures in the pipeline, include: the lower part of the machine body is connected with a guide wheel; the inertial navigation positioning instrument is arranged on the machine body, and a damping component for flexibly mounting the inertial navigation positioning instrument is arranged on the machine body; the two sides of the machine body in the advancing direction are respectively provided with a swing arm component for adjusting the inward-inclining angle of the guide wheel, a bus tracking component capable of enabling the machine body to walk along the axis of the pipeline, and a picture transmission remote control component capable of transmitting video images in the pipeline outwards in real time; and the power device is arranged at the bottom of the machine body and connected with the guide wheel and used for driving the guide wheel to move in the pipeline.
Description
Technical Field
The utility model relates to a remote control measurement technical field especially relates to a pipeline robot measurement system.
Background
The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control of workers or the automatic control of a computer.
The three-dimensional positioning technology of the inertial navigation positioning instrument is a new technology applied to pipeline measurement in recent years, combines the technologies of gyroscope orientation, inertial navigation, computer three-dimensional calculation and the like, and can automatically track and record the motion track of the inertial navigation positioning instrument in a pipeline by dragging the inertial navigation positioning instrument to pass through the pipeline to be measured so as to generate a three-dimensional coordinate and a position map of the central axis of the pipeline.
The walking train of current pipeline robot adopts tricycle self-adaptation train mechanism, though can the internal diameter size of self-adaptation pipeline when measuring, nevertheless because there is the uncertain factor of adaptation size in the self-adaptation train, if when meeting foreign matter or pipeline bending surface in the pipeline, great deformation can take place for the train, causes inertial navigation locater gesture to change, and the skew takes place for locater and pipeline the central axis promptly, seriously influences the measurement accuracy.
SUMMERY OF THE UTILITY MODEL
Problem to prior art existence, the utility model aims to provide a pipeline robot measurement system can make inertial navigation locater remain stable gesture when walking in the pipeline, and the measurement demand of adaptable various specification pipelines.
In order to realize the above purpose of the utility model, adopt the following technical scheme:
the utility model provides a pipeline robot measurement system drives inertial navigation locater through pipeline robot and measures in the pipeline, include: the lower part of the machine body is connected with a guide wheel;
the inertial navigation positioning instrument is arranged on the machine body, and a damping component for flexibly mounting the inertial navigation positioning instrument is arranged on the machine body;
the two sides of the machine body in the advancing direction are respectively provided with a swing arm component for adjusting the inward-inclining angle of the guide wheel, a bus tracking component capable of enabling the machine body to walk along the axis of the pipeline, and a picture transmission remote control component capable of transmitting video images in the pipeline outwards in real time;
and the power device is arranged at the bottom of the machine body and connected with the guide wheel and used for driving the guide wheel to move in the pipeline.
Further, the organism includes the skeleton, the skeleton comprises three lacing wire poles that are the triangle of falling and arrange, the shrouding is installed to both sides around the skeleton, damper, swing arm subassembly and generating line tracking subassembly are installed on the shrouding.
Further, the both ends of inertial navigation locater are connected with the locater passenger cabin, the locater passenger cabin with the shrouding is connected, shock-absorbing component is including setting up the shock insulation rubber ring that is used for buffering inertial navigation locater rigidity vibration on the locater passenger cabin to and make the rubber spring pad of inertial navigation locater and the flexible isolation of shrouding.
Further, the swing arm assembly comprises a control panel connected to the sealing plate, and a guide wheel swing arm wedge plate and a guide wheel swing arm plate are mounted on the control panel.
Further, generating line tracking subassembly is including being located briquetting under the swallow-shaped of leading wheel top, the below symmetry of briquetting is provided with the train support arm under the swallow-shaped, train support arm and below be connected with extension spring between the lacing wire pole.
Furthermore, the two ends of the inertial navigation positioning instrument are connected with fixing caps, the shock insulation rubber ring is connected to the fixing caps, and the rubber spring pad is arranged between the fixing caps and the sealing plates.
Furthermore, an adjusting screw is connected above the swallow-shaped lower pressing block, and the bottom end of the adjusting screw is abutted against the swallow-shaped lower pressing block.
Further, install full polarity hall switch meter rice sensor on the train support arm.
Further, the leading wheel includes the wheel hub of aluminium material, the tread of being made by vulcanized rubber is installed to the outside of wheel hub, the tread with wheel hub passes through mortise-tenon joint structural connection.
Further, the map transmission remote control assembly includes a relay station for improving transmission capability.
The utility model provides a pipeline robot measurement system has changed current inertial navigation locater's tricycle self-adaptation train mechanism, through the mode with inertial navigation locater flexible mounting at pipeline robot, has effectively reduced the influence that causes the walking orbit because of rigid vibration when pipeline robot walks.
Through the swing arm subassembly of adjustment leading wheel introversion angle, combine the organism along the generating line tracking subassembly of pipeline axis walking, can let the pipeline robot along generating line tracking operation all the time, and when the skew appears in the walking wheel, the direction of advance that the swing arm subassembly can real-time adjustment leading wheel keeps the stability of pipeline robot operation.
Install the power device in bottom of the body, can the walking wheel of driven wheel walk in the pipeline, realized pipeline robot from taking power operation, broken through current pipeline robot still need set up draw gear's restriction at the pipeline both ends.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic diagram of the overall structure of the pipeline robot measuring system of the present invention;
FIG. 2 is a schematic view of an installation structure of an inertial navigation positioning instrument on a machine body;
FIG. 3 is a schematic structural view of a guide wheel swing arm assembly;
FIG. 4 is a schematic view of a bus tracking assembly;
fig. 5 is a schematic structural view of the guide wheel.
Description of the drawings:
1-machine body, 11-tension bar, 12-sealing plate, 13-locator cabin, 21-vibration isolation rubber ring, 22-rubber spring pad, 23-fixing cap, 31-control plate, 32-guide wheel swing arm wedge plate, 33-guide wheel swing arm plate, 41-swallow type lower pressing block, 42-wheel train supporting arm, 43-extension spring, 44-adjusting screw rod, 5-guide wheel, 51-wheel hub, 52-tire tread, 53-mortise and tenon joint structure, 6-meter sensor, 7-inertial navigation locator, 8-picture transmission remote control assembly, 9-battery pack lithium, 91-direct current motor and 92-speed reducer.
Detailed Description
In the following description of the present invention, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In order to clarify the technical solution of the present invention, the following description is made in the form of specific embodiments.
As shown in fig. 1, the utility model provides a pipeline robot measurement system drives inertial navigation locater 7 through pipeline robot and measures in the pipeline, include: the lower part of the machine body 1 is connected with a guide wheel 5, the inertial navigation positioning instrument 7 is installed on the machine body 1, and a damping assembly for flexibly installing the inertial navigation positioning instrument is arranged on the machine body 1; the two sides of the machine body 1 in the traveling direction are respectively provided with a swing arm component for adjusting the inward inclination angle of the guide wheel 5, a bus tracking component which can enable the machine body 1 to travel along the axis of the pipeline, and a picture transmission remote control component 8 which can transmit video images in the pipeline outwards in real time; and a power device is arranged at the bottom of the machine body 1 and connected with the guide wheel 5 for driving the guide wheel 5 to move in the pipeline.
Organism 1 includes the skeleton, and the skeleton comprises three brace rods 11 that are the triangle of falling and arrange, and shrouding 12 is installed to both sides around the skeleton, damper, swing arm subassembly and generating line tracking subassembly are installed on shrouding 12. The guide wheel 5 is specifically connected to the lower portion of the sealing plate 12, the inertial navigation positioning instrument 7 is horizontally installed, positioning instrument cabins 13 are connected to two ends of the inertial navigation positioning instrument 7, and the positioning instrument cabins 13 are connected with the sealing plate 12.
The shock absorption assembly comprises a shock insulation rubber ring 21 which is arranged on the positioning instrument cabin 13 and used for buffering the rigid vibration of the inertial navigation positioning instrument 7, and a rubber spring cushion 22 which enables the inertial navigation positioning instrument and the sealing plate to be flexibly isolated.
The swing arm assembly comprises a control plate 31 connected to the closing plate 11, a guide wheel swing arm wedge plate 32 and a guide wheel swing arm plate 33 are installed on the control plate 31, and the guide wheel swing arm wedge plate 32 is combined with the guide wheel swing arm plate 33 and used for adjusting the inward-inclining angle of the guide wheel 5.
The bus tracking assembly comprises a swallow-shaped lower pressing block 41 positioned above the guide wheel 5, gear train supporting arms 42 are symmetrically arranged below the swallow-shaped lower pressing block 41, and an extension spring 43 is connected between the gear train supporting arms 42 and the pull rib rod 11 at the lowest part.
The utility model provides a pipeline robot measurement system can overcome the defect of prior art product, has solved inertial navigation locater and has moved the unstable, problem through the performance difference of gesture in the pipeline, can make inertial navigation locater follow pipeline generating line tracking walking in the pipeline.
The front side and the rear side of the machine body are provided with the guide wheels, each side comprises two guide wheels in mirror symmetry, and through the damping assembly, the measurement error of the inertial navigation positioning instrument caused by abnormal vibration of the guide wheels can be effectively reduced, and the measurement precision is improved; through the combination of the guide wheel swing arm assembly and the bus tracking assembly, the inward inclination angle of the guide wheel of the toe-in (positioned at the front end in the walking direction) can be adjusted at any time, and the machine body of the walking device can always run along the tracking of the pipeline bus.
Referring to fig. 2, in one embodiment, three tie bar rods 11 are circumferentially fixed on the sealing plate 12 through nuts to form a rigid connection of the machine body 1, an included angle between adjacent tie bar rods 11 is 120 °, and by this arrangement, a relatively stable steel frame of the machine body 11 is formed, which can ensure the reliability of the installation of the inertial navigation positioning instrument 7 on the machine body 1, and the damping component forms a flexible connection of the inertial navigation positioning instrument 7 on the machine body 1. Specifically, fixing caps 23 are sleeved at two ends of the inertial navigation positioning instrument 7, the fixing caps 23 are installed in the positioning instrument cabin 13, a shock insulation rubber ring 21 is arranged between the fixing caps 23 and the positioning instrument cabin 13, and the inertial navigation positioning instrument 7 is located in the positioning instrument cabin 13 through close fit of the fixing caps 23 and the shock insulation rubber ring 21; in addition, in locater passenger cabin 13, still be provided with rubber spring pad 22 between locking cap 23 and shrouding 12, make inertial navigation locater 7 and shrouding 12 keep apart through rubber spring pad 22, further strengthened flexible connection's degree, through the cooperation between shock insulation rubber ring 21 and the rubber spring pad 22, can play dual shock attenuation effect for make inertial navigation locater 7 carry out steady motion along the generating line in the pipeline.
Referring to fig. 3, in one embodiment, the swing arm assembly comprises a control plate 31 connected to the closing plate 12, and a guide wheel swing arm wedge 32 and a guide wheel swing arm plate 33 are mounted on the control plate 31 for adjusting the internal inclination angle between the two guide wheels 5 in the pipes with different pipe diameters. The guide wheel swing arm wedge plate 32 comprises a toe-in guide wheel swing arm wedge plate 32 arranged on the toe-in guide wheel 5 and is used for controlling the inward inclination angle of the toe-in guide wheel 5, a certain deformation space is reserved, the toe-in inclination angle has certain adaptive capacity when the inertial navigation positioning instrument 7 passes through a special road section, and the inertial navigation positioning instrument 7 is always kept to advance along a bus of a pipeline.
Referring to fig. 4, in one embodiment, the generatrix tracking assembly includes a swallow-shaped lower pressing block 41 located above the guide wheel 5, gear train supporting arms 42 are symmetrically arranged below the swallow-shaped lower pressing block 41, and an extension spring 43 is connected between the gear train supporting arms 42 and the lowermost tie bar 11 for realizing deformation of the guide wheel 5 and the gear train supporting arms 42 within a controllable range so as to maintain the operation posture of the inertial navigation positioner 7 during operation. Specifically, the traveling wheel is connected to the lower part of the wheel train supporting arm 42, the swallow-shaped lower pressing block 41 is arranged above the wheel train supporting arm 42 and the guide wheel 5, and when the guide wheel 5 advances, the toe-in angle of the toe-in guide wheel 5 is adjusted through the toe-in guide wheel swing arm assembly, so that the machine body 1 always advances along the track of the pipeline bus; through the combined action of the swallow-shaped lower pressing block 41 connected to the gear train supporting arm 42 and the extension spring 43, the walking wheel generates a downward pressure on the inner wall of the pipeline, the downward pressure can be converted into the adhesive force of the gear train on the pipe wall in the advancing process, and the friction force of the tire tread 52 on the pipe wall when the gear train advances ensures that the walking wheel of the position finder does not slip and lose rotation, thereby ensuring the measurement accuracy of the inertial navigation position finder 7. An adjusting screw 44 for controlling the pressing depth of the swallow-shaped lower pressing block 41 is connected above the swallow-shaped lower pressing block 41, the bottom end of the adjusting screw 44 abuts against the swallow-shaped lower pressing block 41, and the toe-in angle between the two traveling wheels can be indirectly controlled through the swallow-shaped lower pressing block 41 and the guide wheel swing arm assembly by adjusting the extending length of the adjusting screw 44, so that the traveling wheels can adapt to pipelines with different pipe diameters.
Install full polarity hall switch meter rice sensor 6 on train support arm 42 in this embodiment, this type meter rice ware has changed current magnetism hall meter rice mechanism, can effectively avoid the phenomenon of the inside rust of absorption pipeline and welding slag that magnetism hall meter rice mechanism appears, keeps the cleanliness of walking wheel, prevents to appear piling up of metal residue, and then the walking wheel card that causes can not move on train support arm 42.
Referring to fig. 5, in another preferred embodiment, the guide wheel 5 includes a hub 51 made of aluminum, a tread 52 made of vulcanized rubber is mounted on the outer side of the hub 51, and the vulcanized rubber tread 52 is connected with the hub 51 by a mortise and tenon structure 53. The utility model provides a leading wheel 5 is the full-adaptation aluminium wheel of interchangeable rim rubber duplex bearing broad body, can effectively increase train tread 52 area of contact, reduces the pressure of tread 52 to the pipe wall, very big reduction train tread 52's wearing and tearing, and vulcanized rubber tread 52 and wheel hub 51 use tenon fourth of the twelve earthly branches structure 53 installation, fundamentally has solved tread 52 and wheel hub 51's the problem of skidding to tread 52 is for dismantling the change structure. Stability has been strengthened to the double bearing structure, has solved original single bearing and has caused the train swing, the measuring error that the train unstability brought.
Referring to fig. 1, the power device of the present invention specifically includes a lithium battery pack 9 connected to the bottom of the machine body 1 as a power source, and a dc motor 91 electrically connected to the lithium battery pack 9 as a driving device, wherein the dc motor 91 is provided with a speed reducer 92 connected to the guide wheel 5 for controlling the normal operation of the walking wheel 5.
In one embodiment, the image-transmitting remote control module 8 connected to the body is electrically connected to the lithium battery pack 9, and includes a video camera and a video/photo memory. Most of the existing pipeline robots in the market are devices with independent functions, namely, the pipeline robots only have independent functions of shooting, detecting flaws, detecting and the like, and only can independently observe simple conditions in the pipeline robots in terms of a vision system. The utility model provides a pipeline robot possess independent CCTV camera system, and can freely 180 rotatory fisheye systems, can the automatic storage video recording, but real-time playback shoots to can real-time wireless picture pass man-machine dialogue and look over, through the hand-held type controller, the angle of control camera, function such as focus. In addition, the camera is provided with an independent lighting system, and the setting of the camera aperture can be automatically adjusted according to light.
Remote control subassembly 8 is passed to picture in this embodiment has the picture of extra long distance and passes the function, and current picture passes the system and receives the length of pipeline, the material, the degree of depth of laying, factor limitations such as the crookedness of laying, and wireless picture passes the function and only can realize the non-interfering transmission about 500 meters, the utility model provides a remote control subassembly is passed to picture has improved the transmission ability that the picture passed transmitting antenna through the mode that uses small-size model power relay station, realizes the video purpose of super long distance transmission.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a pipeline robot measurement system, drives inertial navigation locater through pipeline robot and measures in the pipeline, a serial communication port, includes: the lower part of the machine body is connected with a guide wheel;
the inertial navigation positioning instrument is arranged on the machine body, and a damping component for flexibly mounting the inertial navigation positioning instrument is arranged on the machine body;
the two sides of the machine body in the advancing direction are respectively provided with a swing arm component for adjusting the inward-inclining angle of the guide wheel, a bus tracking component capable of enabling the machine body to walk along the axis of the pipeline, and a picture transmission remote control component capable of transmitting video images in the pipeline outwards in real time;
and the power device is arranged at the bottom of the machine body and connected with the guide wheel and used for driving the guide wheel to move in the pipeline.
2. The robotic pipe measurement system of claim 1, wherein the body includes a skeleton, the skeleton is formed by three tie bars arranged in an inverted triangle, sealing plates are mounted on the front and rear sides of the skeleton, and the damping assembly, the swing arm assembly and the bus tracking assembly are mounted on the sealing plates.
3. The pipeline robot measuring system of claim 2, wherein the inertial navigation positioning instrument is connected with positioning instrument cabins at two ends, the positioning instrument cabins are connected with the sealing plate, and the damping component comprises a shock insulation rubber ring which is arranged on the positioning instrument cabin and used for buffering rigid vibration of the inertial navigation positioning instrument and a rubber spring pad which enables the inertial navigation positioning instrument and the sealing plate to be isolated flexibly.
4. The robotic pipeline measurement system according to claim 3, wherein fixing caps are connected to both ends of the inertial navigation positioner, the vibration isolating rubber ring is connected to the fixing caps, and the rubber spring pad is disposed between the fixing caps and the sealing plate.
5. The robotic pipe measurement system of claim 2, wherein the swing arm assembly includes a control panel attached to the sealing panel, the control panel having a guide wheel swing arm wedge and a guide wheel swing arm plate mounted thereon.
6. The pipeline robot measuring system of claim 2, wherein the busbar tracking assembly comprises a swallow-shaped lower pressing block located above the guide wheel, gear train supporting arms are symmetrically arranged below the swallow-shaped lower pressing block, and a tension spring is connected between the gear train supporting arms and the lowest tension bar rod.
7. The robotic pipe measuring system of claim 6, wherein an adjusting screw is connected to the top of the swallow-shaped lower pressing block, and the bottom end of the adjusting screw abuts against the swallow-shaped lower pressing block.
8. The robotic pipe measurement system of claim 6, wherein the train wheel support arm has an all-polar Hall switch meter sensor mounted thereon.
9. The robotic pipe measurement system of claim 1, wherein the guide wheel comprises a hub made of aluminum, a tread made of vulcanized rubber is mounted on the outer side of the hub, and the tread and the hub are connected through a mortise and tenon joint structure.
10. The robotic pipe measurement system of any one of claims 1-9, wherein the map-based remote control assembly includes a relay station for increased transmission capabilities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022983037.4U CN213776827U (en) | 2020-12-14 | 2020-12-14 | Pipeline robot measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022983037.4U CN213776827U (en) | 2020-12-14 | 2020-12-14 | Pipeline robot measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213776827U true CN213776827U (en) | 2021-07-23 |
Family
ID=76898385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022983037.4U Active CN213776827U (en) | 2020-12-14 | 2020-12-14 | Pipeline robot measuring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213776827U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115825657A (en) * | 2023-02-23 | 2023-03-21 | 国网辽宁省电力有限公司 | Power distribution network line fault positioning instrument |
| CN117189995A (en) * | 2023-08-28 | 2023-12-08 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
-
2020
- 2020-12-14 CN CN202022983037.4U patent/CN213776827U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115825657A (en) * | 2023-02-23 | 2023-03-21 | 国网辽宁省电力有限公司 | Power distribution network line fault positioning instrument |
| CN115825657B (en) * | 2023-02-23 | 2023-05-02 | 国网辽宁省电力有限公司 | Power distribution network line fault positioning instrument |
| CN117189995A (en) * | 2023-08-28 | 2023-12-08 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
| CN117189995B (en) * | 2023-08-28 | 2024-03-05 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN213776827U (en) | Pipeline robot measuring system | |
| CN213745528U (en) | Inertial navigation locator running gear | |
| CN208746112U (en) | Hang the full landform peddrail mobile robot of tactful adjust automatically | |
| CN106625569B (en) | Self-balancing detection robot with two-axis self-stabilizing cradle head | |
| CN203186345U (en) | Electric power tunnel wireless mobile video routing inspection robot structure | |
| CN102673671A (en) | Composite magnetic adsorption visual detection climbing robot | |
| CN104881027A (en) | Autonomic barrier-crossing system for wheel-track transformer station inspection robot and control method thereof | |
| CN206067659U (en) | A kind of foldable pilotless automobile of photographic head | |
| CN101915339A (en) | Pipeline robot | |
| CN203142835U (en) | Mobile detecting cart | |
| CN204557216U (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system | |
| JP2014092948A (en) | Self-propelled robot using cable rack as track | |
| CN111017020A (en) | Moving platform cross-country chassis and mobile robot | |
| CN108705980B (en) | Vehicle front wheel and camera synchronous steering system | |
| CN108356829B (en) | Two-wheeled self-balancing guiding robot | |
| CN113932090A (en) | Surveying and mapping robot | |
| CN216467831U (en) | Car coupler structure and suspension type monorail train | |
| CN106885097B (en) | Underground pipe network detection vehicle | |
| CN106078672A (en) | Mono-track intelligent inspection robot | |
| CN109193457B (en) | Line inspection robot for power transmission line along ground line | |
| CN107628134B (en) | Compound drive type spring coupling type active hinged towing robot | |
| CN216479631U (en) | Surveying and mapping robot suitable for crossing pipe | |
| CN203084552U (en) | Reconnaissance robot based on wireless communication | |
| CN115370930A (en) | Automatic station-moving leveling device of total station instrument matched with mining heading face | |
| CN114260876B (en) | Special sea ice detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |