CN220118916U - Multisection type extensible pipeline overhauling and maintaining robot - Google Patents
Multisection type extensible pipeline overhauling and maintaining robot Download PDFInfo
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- CN220118916U CN220118916U CN202320598161.XU CN202320598161U CN220118916U CN 220118916 U CN220118916 U CN 220118916U CN 202320598161 U CN202320598161 U CN 202320598161U CN 220118916 U CN220118916 U CN 220118916U
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- 238000007689 inspection Methods 0.000 claims abstract description 41
- 230000008439 repair process Effects 0.000 claims abstract description 29
- 238000012423 maintenance Methods 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 23
- 238000003466 welding Methods 0.000 claims description 13
- HSFWRNGVRCDJHI-UHFFFAOYSA-N alpha-acetylene Natural products C#C HSFWRNGVRCDJHI-UHFFFAOYSA-N 0.000 claims description 8
- 125000002534 ethynyl group Chemical group [H]C#C* 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 7
- 239000011324 bead Substances 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 6
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 238000005507 spraying Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims 2
- 238000005452 bending Methods 0.000 abstract description 3
- 239000007921 spray Substances 0.000 description 10
- 238000005476 soldering Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 241000270295 Serpentes Species 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Abstract
The utility model discloses a multisection type expandable pipeline overhauling and maintaining robot, which comprises the following components: the device comprises a driving traction section for traction vehicle movement, a shooting inspection section for inspection, a repairing section for simple maintenance and a storage section for storing materials, wherein the driving traction section, the shooting inspection section, the repairing section and the storage section can be freely combined, four groups of row wheels are arranged on the outer side of the driving traction section, and a shooting device for recording images in a pipeline is arranged on the shooting inspection section. This multisection type extensible pipeline overhauls maintenance robot can freely splice maintenance robot according to the task demand, satisfies multiple task demand, and the device can adapt to the size of pipeline, and through the movable connection of multisection, can freely be crooked to can be in the biggest bending pipe of camber unobstructed, and this maintenance robot, except can fix a position the damage position, also can simply repair the pipeline, thereby satisfies pipeline overhauls maintenance demand.
Description
Technical Field
The utility model relates to the technical field of sewage pipeline repair, in particular to a multi-section type extensible pipeline overhauling and maintaining robot.
Background
Along with the living standard of urban residents is gradually improved, the demands for sewage treatment are also gradually increased, and an early-stage built urban drainage mechanism is also gradually aged, so that the repair and transformation of inspection sums of urban drainage systems are used as main tasks, and in general, in order to position damage and fault points in pipelines, pipeline detection robots are put in to position the fault points, so that the later-stage excavation is facilitated, and the accurate repair is performed.
The application number is as follows: the utility model discloses a pipeline maintenance robot which structurally comprises a high-definition camera, a camera rotating frame, a light supplementing lamp support, an LED light supplementing lamp, a controller main body, a product nameplate, a lifting table, a moving wheel, a supporting base, a sludge cleaner and a PCB (printed circuit board), wherein the sludge cleaner consists of a burr connecting pipe, flexible burrs, a motor protection cover, a driving motor, a power wire, a connecting flange plate, a fixing bolt and a sealing ring, the burr connecting pipe is mechanically connected to the left side of the driving motor in the motor protection cover, the flexible burrs are uniformly nested on the side surface of the burr connecting pipe at equal intervals, and the sealing ring is nested between the burr connecting pipe and the motor protection cover.
The pipe inspection robot similar to the above application has the following disadvantages:
sewer pipe is produced in general and is provided with various specifications, a concrete sewer pipe built by adopting concrete pipes is also provided with a narrow pipeline formed by connecting steel pipes, and the tortuosity of the pipeline also has certain change according to topography reasons, so that the maintenance robot is difficult to pass through some smaller pipelines and cannot pass through the pipeline with larger bending angle.
Accordingly, in view of the above, studies and improvements have been made on the conventional structure and the conventional drawbacks, and a patient garment capable of fixing a catheter has been proposed to achieve the purpose of having a higher practical value.
Disclosure of Invention
The utility model aims to provide a multi-section type expandable pipeline overhauling and maintaining robot so as to solve the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: a multi-section expandable pipe inspection maintenance robot, comprising:
the device comprises a driving traction section for traction vehicle movement, a shooting inspection section for inspection, a repairing section for simple maintenance and a storage section for storing materials, wherein the driving traction section, the shooting inspection section, the repairing section and the storage section can be freely combined, four groups of row wheels are arranged on the outer side of the driving section, a shooting device for recording images in a pipeline is arranged on the shooting inspection section, two groups of shooting devices are arranged at the upper end and the lower end of the shooting inspection section, and a remote control mechanical arm for repairing is arranged at the upper end of the repairing section.
Preferably, the repair section is adjacent to the storage section in connection, so that the remote control mechanical arm of the repair section can utilize the supply of the storage section to repair, the drive traction section is always arranged at the left end and the right end of the whole section of equipment and driven by the two ends, and stronger driving performance is obtained.
Preferably, the outside of drive traction section is equipped with four groups slip tables, the left and right sides of drive traction section rotates and is provided with the quick connect drive dish, just the left and right sides of slip table is equipped with the sealing cap, slidable mounting has the cross connection frame that is used for connecting the row wheel on the slip table, just be equipped with tension spring on the cross connection frame, just the cross connection frame with the connected mode between the row wheel is sliding connection, the upper end of traction drive section is equipped with the walking drive battery that is used for the drive.
Preferably, the roller blade includes: the wheel carrier is used for transmission and connecting a plurality of pulleys, a connecting chute used for connecting the cross connecting frame is formed in the outer side of the wheel carrier, a traveling driving motor used for driving is arranged on the inner side of the wheel carrier, the traveling driving motor is connected to the driving traction section through a wire, and a plurality of groups of driving wheels are arranged on the front side and the rear side of the wheel carrier.
Preferably, the camera shooting inspection section is provided with a communication device for transmitting images and remote control data, the outer side of the communication device is connected with a communication antenna, the outer side of the camera shooting inspection section is provided with led lamp beads for supplementing light, and the inner side of the camera shooting inspection section is provided with a power supply battery.
Preferably, the camera device is connected with the communication device through a wire, the camera device can rotate by 360 degrees, a round glass cover for protection is arranged on the outer side of the camera device, and an anti-fog coating is coated on the surface of the round glass cover.
Preferably, the upper end of restoration section is equipped with the circular revolving stage that is used for carrying on remote control arm, restoration section upper end is equipped with the rack that is used for carrying on multiple instrument, the rack has two sets of vacancies, just be equipped with on the rack and be used for carrying out welded welder to and fill the gum rifle of sizing material, remote control arm pass through the wire with connect through the wire between the communication device.
Preferably, the remote control mechanical arm has two degrees of freedom, and the remote control mechanical arm end is equipped with the quick connect flange of the quick replacement instrument of being convenient for, still install the camera on the remote control mechanical arm.
Preferably, the storage section is provided with an acetylene fuel tank and a spraying storage tank for welding repair, the upper end of the storage section is also provided with a repair control device, the repair control device is connected with the acetylene fuel tank and the spraying storage tank through pipelines, and the repair control device is connected with the remote control mechanical arm through pipelines.
Compared with the prior art, the utility model has the beneficial effects that:
1. this multisection type extensible pipeline overhauls maintenance robot can freely splice maintenance robot according to the task demand, satisfies multiple task demand, and the device can adapt to the size of pipeline, and through the movable connection of multisection, can freely be crooked to can be in the biggest bending pipe of camber unobstructed, and this maintenance robot, except can fix a position the damage position, also can simply repair the pipeline, thereby satisfies pipeline overhauls maintenance demand.
2. Through the free connection of a plurality of groups of modules, when a simple survey task is carried out, the inspection work of the inside of the pipeline can be completed only by using the driving traction section and the camera shooting inspection section, and when the simple repair is needed, the repair section and the storage section are additionally installed, and the plurality of sections are connected to form a snake shape, so that the snake shape can pass through various snake-shaped pipelines, multiple functions are realized, and the pipeline passability is stronger;
3. through the cross connection frame, there is the spring traction in the cross connection frame inboard, is connected by slip table and connection spout, can make the row's wheel hug closely at the pipe wall, and great compression range, makes the drive traction segment can adapt to the pipeline of multiple diameter to obtain good drive capability.
4. Through the remote control arm, utilize circular revolving stage to and the rotation of drive traction segment quick connect drive disk, can make the remote control arm operate arbitrary angle in to the pipe wall, utilize welder and spray gun, weld to the pipe inside, and fill, thereby realize simple and easy prosthetic purpose.
Drawings
FIG. 1 is a schematic view of the overall three-dimensional structure of the present utility model;
FIG. 2 is a schematic diagram of the drive traction section of the present utility model;
FIG. 3 is a schematic diagram of a repair section structure of the present utility model;
FIG. 4 is a schematic diagram of a repair section according to the present utility model
Fig. 5 is a schematic structural diagram of a storage section according to the present utility model.
In the figure: 1. driving the traction section; 2. a camera shooting inspection section; 3. repairing the section; 4. a storage section; 5. a row wheel; 6. an image pickup device; 7. a remote control mechanical arm; 8. a sliding table; 9. a cross-connect rack; 10. a walking driving battery; 11. a wheel carrier; 12. the connecting chute; 13. a walking driving motor; 14. a driving wheel; 15. a communication device; 16. a communication antenna; 17. led lamp beads; 18. a power supply battery; 19. a circular rotary table; 20. a placing rack; 21. a welding gun; 22. a quick connection flange; 23. a camera; 24. acetylene fuel tank; 25. a spray material storage tank; 26. a repair control device; 27. the driving disc is connected quickly; 28. a spray gun.
Description of the embodiments
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-5, a multi-section expandable pipe inspection maintenance robot, comprising: the device comprises a driving traction section 1 for traction vehicle movement, a shooting inspection section 2 for inspection, a repairing section 3 for simple maintenance and a storage section 4 for storing materials, wherein the driving traction section 1, the shooting inspection section 2, the repairing section 3 and the storage section 4 can be freely combined, four groups of row wheels 5 are arranged on the outer side of the driving traction section 1, a shooting device 6 for recording images in a pipeline is arranged on the shooting inspection section 2, two groups of shooting devices 6 are arranged at the upper end and the lower end of the shooting inspection section 2, and a remote control mechanical arm 7 for repairing is arranged at the upper end of the repairing section 3. Repair section 3 and storing section 4 are adjacent in the connection, and drive traction section 1 always sets up in the left and right sides both ends of whole section equipment, when carrying out simple survey task, only need use drive traction section 1 and check section 2 makes a video recording, can accomplish the inside inspection work of pipeline, when need carry out simple and easy restoration, then additional installation repair section 3 and storing section 4 can, and multisection is connected, constitutes the snakelike, can pass various crooked pipelines, realizes multiple functions, has stronger pipeline trafficability characteristic. The outside of drive traction section 1 is equipped with four group's slip table 8, the left and right sides rotation of drive traction section 1 is provided with quick connect drive dish 27, after advancing in the pipeline long distance, because this robot is laminating pipe wall drive, consequently the angle of restoring section 3 will take place the skew, through quick connect drive dish 27, not only can realize the quick connect between the section and the section, can also make restoring section 3 remain the level throughout through rotating, simultaneously through the connection of a plurality of equipment, make the left and right sides both ends of equipment and slip table 8 be equipped with the sealing cap, slidable mounting has the cross connection frame 9 that is used for connecting row wheel 5 on the slip table 8, and be equipped with tension spring on the cross connection frame 9, and the connected mode between cross connection frame 9 and the row wheel 5 is sliding connection, the upper end of drive traction section 1 is equipped with the walking drive battery 10 that is used for the drive. The roller blade 5 includes: the wheel frame 11 is used for transmission and connection with a plurality of pulleys, the outer side of the wheel frame 11 is provided with a connecting chute 12 used for connection with the cross connecting frame 9, the inner side of the wheel frame 11 is provided with a traveling driving motor 13 used for driving, the traveling driving motor 13 is connected with the driving traction section 1 through a wire, and the front side and the rear side of the wheel frame 11 are provided with a plurality of groups of driving wheels 14. The inner side of the cross connecting frame 9 is provided with a spring for traction, and the spring is connected with the sliding table 8 and the connecting sliding groove 12, so that the row wheel 5 can be tightly attached to the pipe wall, and the compression range is large, and the driving traction section 1 can adapt to pipelines with various diameters, thereby obtaining good driving capability. The camera inspection section 2 is provided with the communication device 15 for transmitting images and remote control data, the outside of the communication device 15 is connected with the communication antenna 16, the outside of the camera inspection section 2 is provided with the led lamp beads 17 for supplementing light, the inside of the camera inspection section 2 is provided with the power supply battery 18, the camera device 6 can obtain clearer images under the supplementing light of the led lamp beads 17, the communication device 15 can transmit the image data through the communication antenna 16 and can also receive the remote control data, the whole robot is connected between the remote control camera device 6 and the communication device 15 through wires, the camera device 6 can rotate by 360 degrees, the outside is provided with the round glass cover for protection, the surface of the round glass cover is coated with the anti-fog coating, and the influence on the image definition due to fog of the glass cover caused by the moisture in a pipeline is avoided.
A multi-section expandable pipe inspection maintenance robot, comprising: the upper end of restoration section 3 is equipped with the circular revolving stage 19 that is used for carrying on remote control arm 7, restoration section 3 upper end fixed mounting has the rack 20 that is used for carrying multiple instrument, rack 20 is equipped with two sets of vacancies, and be equipped with on the rack 20 and be used for carrying out welded welder 21, and fill the gluey rifle 21 of sizing material, remote control arm 7 is through wire and communication device 15 between carry out the connection through the wire and utilize circular revolving stage 19, and the rotation of the quick connect driving disk 27 of drive traction section 1, can make remote control arm 7 operate arbitrary angle in the pipe wall, utilize welder 21 and spray gun 28, weld the pipeline inside, and fill, thereby realize simple and easy prosthetic purpose. The remote control mechanical arm 7 has two degrees of freedom, and the end of the remote control mechanical arm 7 is provided with a quick connecting flange 22 which is convenient for quickly replacing tools, so that two tools of a welding gun 21 or a spray gun 28 can be quickly replaced, two repairing functions are realized, the remote control mechanical arm 7 is also provided with a camera 23, image data of the remote control mechanical arm 7 are directly obtained, and an operator can conveniently operate. Be equipped with on the storing section 4 and be used for welding prosthetic acetylene fuel jar 24 and spout material holding vessel 25, the upper end of storing section 4 still is equipped with repair controlling means 26, and repair controlling means 26 is connected with acetylene fuel jar 24 and spouts material holding vessel 25 through the pipeline, when repairing the metal pipeline, can fill the soldering paste in spouting material holding vessel 25, be convenient for use the welding gun to repair, when repairing the concrete pipeline, then can directly spout repair cream, fill the crack, repair controlling means 26 is connected with remote control arm 7 through the pipeline.
To sum up: the driving traction section 1 is used for traction and driving the whole robot to operate, the driving traction section 1 is connected with the cross connection frame 9 by the aid of the sliding table 8, the other end of the cross connection frame 9 is connected with the row wheel 5, the row wheel 5 takes the wheel frame 11 as a main body, the cross connection frame 9 is connected through the connecting sliding groove 12, and springs are arranged in the cross connection frame 9 to draw, so that the cross connection frame 9 has certain elasticity, can compress according to the diameter of a pipeline, and enables the row wheel 5 to be clung to the pipe wall. The walking driving motor 13 drives the driving wheel 14 to continuously rotate under the driving of the walking driving battery 10, so as to drive the whole driving traction section 1 to move.
The camera inspection section 2 records and probes the conditions inside the pipeline under the illumination and light supplement of the led lamp beads 17 through the two groups of camera devices 6 at upper and lower angles, and simultaneously sends video information outwards through the communication device 15, the communication antenna 16 greatly improves the signal transmission speed of the communication device 15, and the communication device 15 is also used for receiving external control signals to control the whole robot.
The repairing section 3 is operated by adopting a remote control mechanical arm 7, multiple groups of degrees of freedom are realized under the driving of the circular rotating table 19, the front and rear traction of the traction section 1 is driven, the position is adjusted, the quick connection driving disc 27 is utilized, the arrangement angle of the whole repairing section 3 is adjusted, meanwhile, the remote control mechanical arm 7 can be operated by the image data of the camera 23, a welding gun 21 for welding repair or a spray gun 28 is arranged on the placing frame 20, the pipeline is repaired, if a metal pipeline is the pipeline, metal soldering paste is stored in the spray material storage tank 25 in advance, the remote control mechanical arm 7 firstly uses the spray gun 28 to smear the soldering paste through the quick connection flange 22, then the welding gun 21 is replaced, the soldering paste is coagulated, repairing work of a broken part is completed, when a concrete broken part is repaired, the spray material storage tank 25 for storing the soldering paste or repairing paste is directly used, the acetylene fuel tank 24 for driving the welding gun 21 is arranged on the other section 4, and the repairing control device 26 for controlling the welding gun 21 and the driving the spray gun 28 is used for meeting the simple and easy requirement of a metal pipe.
The device is driven through driving traction section 1 and is pulled, simultaneously the inspection section 2 of making a video recording shoots and traces the record, and restoration section 3 and storing section 4 carry out the simple and easy restoration of pipeline, and multistage equipment connection can freely move to the downcomer is passed in the snakelike, consequently can accomplish the whole use flow of the device through various pipeline that meanders.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A multi-section expandable pipeline inspection and maintenance robot, comprising:
the device comprises a driving traction section (1) for traction vehicle movement, a shooting inspection section (2) for inspection, a repairing section (3) for simple maintenance and a storage section (4) for storing materials, wherein the driving traction section (1) can be freely combined with the shooting inspection section (2), the repairing section (3) and the storage section (4), four groups of wheels (5) are arranged on the outer side of the traction driving section (1), a shooting device (6) for recording images in a pipeline is arranged on the shooting inspection section (2), two groups of the shooting device (6) are arranged on the upper end and the lower end of the shooting inspection section (2), and a remote control mechanical arm (7) for repairing is arranged at the upper end of the repairing section (3).
2. The multi-section type expandable pipeline overhauling maintenance robot according to claim 1, wherein the repairing section (3) is adjacent to the storing section (4) in connection, and the driving traction section (1) is always arranged at the left end and the right end of the whole section of equipment.
3. The multi-section type expandable pipeline overhauling and maintaining robot disclosed by claim 1 is characterized in that four groups of sliding tables (8) are arranged on the outer side of the driving traction section (1), a quick connection driving disc (27) is rotatably arranged on the left side and the right side of the driving traction section (1), sealing caps are arranged at the left end and the right end of the sliding tables (8), a cross connection frame (9) for connecting a row wheel (5) is slidably arranged on the sliding tables (8), a tension spring is arranged on the cross connection frame (9), the cross connection frame (9) is in sliding connection with the row wheel (5), and a walking driving battery (10) for driving is arranged at the upper end of the driving section (1).
4. A multi-section expandable pipe inspection maintenance robot according to claim 3, characterized in that the row wheel (5) comprises: the wheel carrier (11) is used for transmission and connection of a plurality of pulleys, a connecting chute (12) used for connecting the cross connecting frame (9) is formed in the outer side of the wheel carrier (11), a traveling driving motor (13) used for driving is arranged on the inner side of the wheel carrier (11), the traveling driving motor (13) is connected to the driving traction section (1) through a wire, and a plurality of groups of driving wheels (14) are arranged on the front side and the rear side of the wheel carrier (11).
5. The multi-section type expandable pipeline overhauling and maintaining robot according to claim 1, wherein a communication device (15) for transmitting images and remote control data is arranged on the shooting inspection section (2), a communication antenna (16) is connected to the outer side of the communication device (15), led lamp beads (17) for supplementing light are arranged on the outer side of the shooting inspection section (2), and a power supply battery (18) is arranged on the inner side of the shooting inspection section (2).
6. The multi-section type expandable pipeline overhauling and maintaining robot disclosed by claim 5, wherein the camera device (6) is connected with the communication device (15) through a wire, the camera device (6) can rotate by 360 degrees, a round glass cover for protection is arranged on the outer side, and an anti-fog coating is coated on the surface of the round glass cover.
7. The multi-section type expandable pipeline overhauling and maintaining robot disclosed by claim 6, wherein a round rotary table (19) for carrying a remote control mechanical arm (7) is arranged at the upper end of the repairing section (3), a placing frame (20) for carrying various tools is fixedly arranged at the upper end of the repairing section (3), two groups of vacancies are arranged on the placing frame (20), a welding gun (21) for welding and a glue gun (21) for filling glue are arranged on the placing frame (20), and the remote control mechanical arm (7) is connected with the communication device (15) through a lead.
8. The multi-section type expandable pipeline overhauling and maintaining robot disclosed by claim 7, wherein the remote control mechanical arm (7) has two degrees of freedom, a quick connecting flange (22) which is convenient for quickly replacing tools is arranged at the tail end of the remote control mechanical arm (7), and a camera (23) is further arranged on the remote control mechanical arm (7).
9. The multi-section type expandable pipeline overhauling and maintaining robot according to claim 1, wherein an acetylene fuel tank (24) and a spraying storage tank (25) for welding repair are arranged on the storage section (4), a repair control device (26) is further arranged at the upper end of the storage section (4), the repair control device (26) is connected with the acetylene fuel tank (24) and the spraying storage tank (25) through pipelines, and the repair control device (26) is connected with the remote control mechanical arm (7) through pipelines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320598161.XU CN220118916U (en) | 2023-03-24 | 2023-03-24 | Multisection type extensible pipeline overhauling and maintaining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320598161.XU CN220118916U (en) | 2023-03-24 | 2023-03-24 | Multisection type extensible pipeline overhauling and maintaining robot |
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| Publication Number | Publication Date |
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| CN220118916U true CN220118916U (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320598161.XU Active CN220118916U (en) | 2023-03-24 | 2023-03-24 | Multisection type extensible pipeline overhauling and maintaining robot |
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| CN (1) | CN220118916U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697278A (en) * | 2024-02-05 | 2024-03-15 | 安徽建筑大学 | Robot for welding in pipe |
-
2023
- 2023-03-24 CN CN202320598161.XU patent/CN220118916U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117697278A (en) * | 2024-02-05 | 2024-03-15 | 安徽建筑大学 | Robot for welding in pipe |
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Denomination of utility model: A Multi Section Scalable Pipeline Inspection and Maintenance Robot Granted publication date: 20231201 Pledgee: Industrial Bank Co.,Ltd. Shanghai Hongkou sub branch Pledgor: Shanghai wanlang Water Technology Group Co.,Ltd. Registration number: Y2024310000226 |