CN105465549A - Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters - Google Patents
Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters Download PDFInfo
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- CN105465549A CN105465549A CN201610047373.3A CN201610047373A CN105465549A CN 105465549 A CN105465549 A CN 105465549A CN 201610047373 A CN201610047373 A CN 201610047373A CN 105465549 A CN105465549 A CN 105465549A
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- cleaning
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- wheel
- pipeline
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters and belongs to the field of pipeline robots. The pipeline cleaning robot is characterized by comprising a rack, a crawler wheel type walking mechanism, a pipe diameter self-adaptive adjusting mechanism, a pipeline cleaning mechanism, a camera lifter and an infrared detecting device. Four crawler wheels are distributed at the four corners of the rack to drive the whole robot to walk. A telescopic electric push rod controls angles between the crawler wheels and the rack to be changed, so that the crawler wheels are closely attached to the pipe wall. One end of the camera lifter is arranged on the rack, and a camera unit and an auxiliary light source are installed at the other end. The infrared detecting device is installed at the proper height and transmits different control signals to control the robot to walk, cross obstacles and steer. The pipeline cleaning robot has the advantages of being capable of adapting to the changes of the pipe diameters, high in obstacle-crossing ability, high in load capacity and good in curve passing ability, wear to pipelines and the crawler wheels is small, the robot can be adjusted automatically and keep walking stably and vertically, and cleaning dead angles are avoided.
Description
Technical field
Patent of the present invention relates to a kind of industrial field and uses pipeline inner machine people, especially relates to a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change.
Background technique
Pipeline is as power station pipeline, oil transport pipeline, the gas pipeline such as rock gas, coal gas, defeated, drainage pipe, Central Air Conditioner Used in Buildings pipeline etc., through prolonged application, inner-walls of duct is smooth and regular shape as the new pipeline laid no longer, there will be the adhesion of fouling in various degree and impurity, thus cause the uneven of inner-walls of duct.As aqueduct inwall can produce the various informative sludge such as incrustation scale, rust staining, oil transport pipeline occurs that internal diameter blocks, so greatly increase the resistance in fluid delivery process, the conveying capacity of pipeline is greatly reduced, but also corrosion and injury can be caused to pipeline material, can pipeline breaking be made time serious, cause leaking of transporting fluid, the dangerous situation even burst.Therefore economically consider with security standpoint, need research and development pipeline robot to solve above situation.
Pipeline robot is as crawling equipment in the pipe of a kind of high intelligence, high automation because needs progressively grow up, and this novel equipment plays a part to deliver various working tool in pipeline operations.Pipeline robot is a kind of mechanical device can walked along pipeline internal, can enter in non-structural pipeline environment less than people, complicated and changeable, by carrying one or more sensors and operation equipment as ultrasonic sensor, vortex sensor, pipe cleaning device, pipeline crack and pipe joint soldering installation, anti-corrosion spray device etc., complete the operations such as pipe detection, cleaning and welding under remote control, to ensure pipe safety and unblocked to work.The pipeline inner machine people that current industrial field uses is varied, is broadly divided into: pipeline cleaning robot, detecting robot of pipe and joint coating on pipeline robot by function difference.
Major part pipeline robot can only at the conduit running of specific caliber, and actual conditions to be pipeline robot need the caliber of creeping not to be single constant.Such as, first time needs the pipeline of cleaning to be 400mm, and the pipeline of second time cleaning is 500mm or 600mm.Pipeline due to Long-Time Service there will be concavo-convex, therefore need shrink in the pipeline of different calibers and open traveller, pipeline robot can be walked in different calibers, can pass through smoothly when running into obstacle.For making in-pipe robot for steady in pipe, start and stop reliably, walking, traveller needs to be pressed on tube wall with suitable positive pressure, for creeping of pipeline robot provides enough frictional force; When caliber changes, the impacting force between traveller and tube wall keeps stable.For realizing the function adapting to caliber change, main employing spring closed force mechanism, when caliber excursion is larger, easily lose the characteristic of normal seal force, the tractive force of pipeline robot will be no longer stable, and the functional reliability of robot will be very restricted; Substantially or experimental prototype, load is low, and obstacle climbing ability is poor for the pipeline robot developed at present, can only be engaged in pipeline dedusting, single homework that detection even load ability is lower.
More to the research of pipeline cleaning robot at present, if application number is the Chinese utility model patent of CN201320854277.1, the day for announcing is 2014-07-30, describes a kind of by main frame
,the composite crawler pipeline robot device of adsorbing mechanism and conduit composition, main frame drives the composite crawler mechanism of both sides by transmission shaft, adsorbing mechanism simultaneously on main frame is communicated with catheter interface, ensure that it is adsorbed in tube wall, without the need to producing negative pressure by sucker, by means of only the magnetic force of strong magnets on crawler belt, operation of advancing can be realized.But this robot can not adapt to caliber change, load capacity and obstacle climbing ability are not strong, can not effectively adsorb for vertical or that angle of inclination is larger nonmagnetic substance.For another example application number is the Chinese invention patent of CN105135151A, the day for announcing is 2015-12-09, describe a kind of by screw mechanism, slider-rocker mechanism, the crawler belt type pipeline robot with Initial adaption and adaptation function of parallel-crank mechanism composition, can the different pipe diameter of Initial adaption change and keep between crawler belt and inner-walls of duct, there is certain pressure, can pass over the rough local disturbance of pipe surface, but this robot profile is long, traveling-capability in elbow is poor, and employing slider-rocker mechanism, parallel-crank mechanism realizes adapting to caliber change, mechanism is in course of adjustment and easily occurs movement dead, i.e. stuck phenomenon, more difficult in the duct, and the load capacity of robot is not strong, more detection or washing unit etc. cannot be carried.
Summary of the invention
In order to solve the problems mentioned in background technique, patent of the present invention provides one can adapt to different tube diameters change, and load capacity is strong, and obstacle climbing ability is strong, can adapt to the bend of pipeline and the Track-wheel type pipeline cleaning robot of any gradient.
To achieve these goals, patent of the present invention is a kind of Track-wheel type robot cleaning pipeline with irregular corner and any gradient scope.Comprise: Athey wheel traveller is 4 Athey wheels, form by central gear, the engagement of 3 uniform secondary gear, 3 tertiary gears and crawler belt correspondences, drive whole robot ambulation; Caliber adaptive regulating mechanism, telescopic electric pushrod controls the variable-angle between frame and Athey wheel, to adapt to different tube diameters change; Cleaning device, both sides jib coordinates telescopic spring bar, avoids the effect of tube wall small obstacle when playing clean; Infrared detecting device, is arranged on suitable height, sends different control signals, control walking, obstacle detouring and turning to.
Described Athey wheel traveller, active force is provided by 4 stepper motors, driving stepper motor central gear moves, central gear engages with 3 uniform secondary gears, 3 secondary gears engage with 3 tertiary gears again respectively, form the transmission of double reduction reinforcement, tertiary gear engages with Athey wheel, drives Athey wheel walking.Gear is fixed on can, on the connecting plate of central axis, is had Regulation spring to connect between connecting plate by rotating shaft, makes the tertiary gear engaged with crawler belt have small activity space, ensures the prerequisite lower gear and the crawler belt correct engagement that there is machining error, and can prevent latch.Athey wheel itself ensures that there is good obstacle climbing ability in robot, and 4 driving stepper motor can provide enough tractive force, makes the load capacity of this robot strong.
Described caliber adaptive regulating mechanism, regulated the angle of Athey wheel and frame by two flexible electric pushrods, push rod is connected with two symmetrical lifting linking members, lifting linking member can rotate around the thin axle through stepper motor frame, when pipe diameter becomes large, electric pushrod extrusion declines, and push rod stretches out most short status, Athey wheel is to lower swing, fit tightly with pipeline, when pipe diameter becomes large, electric pushrod is elongated to maximum, Athey wheel upwards swings, and fits tightly with pipeline.
Described cleaning device, by servos control mechanical arm, template mechanical arm 1 and template mechanical arm 2 connect to form joint 1 by mechanical arm supporting frame, and square mechanical arm is mechanical arm 2, square mechanical arm is connected with side cleaning brushes by keeping away barrier telescopic spring bar, realizes the clean of both sides tube wall.Rear portion steering wheel is arranged in support platform, is connected with bottom surface cleaning brush by a word steering wheel dish, controls cleaning brush rising by rotating and declines, to complete the clean of the pipeline of different-diameter.
Described infrared detecting device, when not having obstacle within the scope of Sensor monitoring, level is low level, and when having monitored obstacle, level becomes high level.This Track-wheel type pipeline robot has installed three infrared senors in front left and right respectively.Master controller can arrange three ports and be used for detecting level change, and then control step motor speed, realizes keeping away barrier.Utilize three-axis gyroscope and three axis accelerometer, angle is checked in inspection, data are read by port, when robot is in heeling condition, true dip direction is judged by the real-time offsets value of MPU6050 three-axis gyroscope, and control cleaning arm to both sides horizontal sliding, make robot original place adjustment horizontal position, after a horizontal sliding, gyroscope checks and deviate during horizontal position again.
Track-wheel type pipeline robot adopts the mode of motorized motions to drive, and driver adopts direct current angular displacement servomotor steering wheel and stepper motor.
When Track-wheel type pipeline machine is advanced in the duct, if burst power system collapse, can provide three kinds of modes that pipeline robot is shifted out pipeline, the first starts standby power system, continue to support robot and complete cleaning, the second makes full use of the strong characteristic of load capacity, robot is made to carry dolly Abseiling device, control dolly during dead electricity and drive robot ambulation, the third makes full use of the feature closed in the middle of pipe ends opening, utilize the power of external fluid, make robot be washed out.
In cleaning device, both sides mechanical arm is dismountable mechanical arm, replaceable with the cleaning adapting to different-diameter pipeline.Meanwhile, this cleaning apparatus for pipes can be replaced pipe detection device, joint coating on pipeline device and soldering installation etc.
A kind of Advantageous Effects adapting to the Track-wheel type pipeline cleaning robot of different tube diameters change of the present invention is: novel, practical, efficient, effectively can solve existing pipeline robot load capacity low, obstacle climbing ability is poor, the shortcoming adapting to pipe change can not be stablized, can be mass, there is good promotion and use value.
Accompanying drawing explanation
Fig. 1 is a kind of overall construction drawing adapting to the Track-wheel type pipeline cleaning robot of different tube diameters change.
Fig. 2 is Athey wheel traveller detonation configuration figure.
Fig. 3 is cleaning machine composition ((a) left and right cleaning arm, (b) bottom cleaning device).
Tu4Shi robot adapts to minimum pipe phase diagram.
Tu5Shi robot adapts to maximum caliber phase diagram.
Tu6Shi robot turning schematic diagram.
Fig. 7 is the overview flow chart that robot control system runs.
Tu8Shi robot obstacle detouring detection control flow chart.
Tu9Shi robot turns to detection control flow chart.
Figure 10 is robot balance detection control flow chart.
Figure 11 is the actual connection diagram of robot control system.
Claims (9)
1. one kind can adapt to the Track-wheel type pipeline cleaning robot of different tube diameters change, basic machine is by frame and Athey wheel traveller fixed thereon, caliber adapts to controlling mechanism, duct cleaning mechanism forms, Athey wheel traveller, power is provided by the stepper motor (9) be fixed on stepper motor frame (28), wherein stepper motor frame can rotate around the corresponding swing axis (24) be fixed in frame (10), wherein motor is connected with central shaft (21) by coupling (22), central shaft is connected with central gear (16) by key, wherein evenly run through 3 connecting plates (29) between central shaft and central gear, connected by Regulation spring (30) between connecting plate, each connecting plate is centrally axially outer is followed successively by No. 2 axles (20) and No. 3 axles (19) and the secondary gear (17) be fixed in corresponding shaft and tertiary gear (18), wherein tertiary gear engages with crawler belt (1), caliber adapts to controlling mechanism, the angle of Athey wheel and frame is regulated mainly through two electric pushrods (12), push rod (11) is symmetrically connected with two lifting linking members (8), lifting linking member can rotate around the thin axle (15) through stepper motor frame, wherein the lifting of push rod can make the tube wall of Athey wheel laminating different-diameter, duct cleaning mechanism, swing primarily of two steering wheel (6) controller mechanical arm be fixed on multi-functional steering wheel frame (13), one of them steering wheel frame is fixed in frame, joint 1 is connected to form by circular steering wheel dish (14) and bearing pin and template mechanical arm 1 (5) and template mechanical arm 2 (7), mechanical arm supporting frame (23) is wherein had to fix between joint 1, square mechanical arm (3) is fixed on another steering wheel frame, with hang keeping away and hinder the side cleaning brushes (2) that spring (4) and the spring the other end be connected and form joint 2 thereon, steering wheel frame and the circular steering wheel dish in joint 1 end and joint 2 are connected to form whole mechanism, realize cleaning tube wall side, rear portion steering wheel is arranged in the support platform (27) that is fixed in frame, be connected with bottom surface cleaning brush (25) by a word steering wheel dish (26), control cleaning brush rising by rotating and decline, to complete the clean of the pipeline of different-diameter, 90 ° are rotated clockwise during obstacle detouring.
2. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: comprise by 1 central gear, the Athey wheel traveller of 3 uniform secondary gears and 3 tertiary gears and crawler belt composition, the caliber adaptive regulating mechanism be made up of retractable electric push rod and lifting linking member and the cleaning device be made up of jib and the cleaning brush of end belt telescopic spring bar, be separately implemented at pipeline internal to walk, adjustment Athey wheel is close to the function of tube wall obstacle detouring and cleanser conduit.
3. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: for single Athey wheel, driving stepper motor central gear moves, central gear engages with 3 uniform secondary gears, 3 secondary gears engage with 3 tertiary gears again respectively, form the transmission of double reduction reinforcement, tertiary gear engages with Athey wheel, drive Athey wheel is walked, gear is fixed on by rotating shaft can on the connecting plate of central axis, Regulation spring is had to connect between connecting plate, the tertiary gear engaged with crawler belt is made to have small activity space, ensure the prerequisite lower gear and the crawler belt correct engagement that there is machining error, and can latch be prevented.
4. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: the Athey wheel traveller of 4 crawler belts and train of gearings composition, ensure that pipeline robot has on the basis of stronger obstacle climbing ability, also ensure that stronger load capacity, more cleaning tool and non-firm power drive system etc. can be carried.
5. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: the angle being regulated Athey wheel and frame by two flexible electric pushrods, ensure crawler belt and frame variable pitch, not only can adapt to the tube wall of different-diameter, larger tractive force can also be obtained, increase the frictional force between Athey wheel and tube wall, reduce pressure, reduce the wearing and tearing to crawler belt or tube wall.
6. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: the supporting arm frame upper end of side cleaning brushes devises telescopic spring bar, without the need to regulating cleaning arm when ensureing clean, only utilize the expansion performance of spring rod just can the small obstacle of crossing pipeline sidewall.
7. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: cleaning device comprises the cleaning brush of the cleaning brush of cleaning arm end, both sides and the cleaning arm end in front, both sides cleaning arm does the reciprocally swinging of rule along with the motion of traveller, afterbody steering wheel makes bottom surface cleaning brush compress tube wall toward lower swing, because cleaning brush is spherical configuration, for face contact increases pressure, and ensure clean without dead angle.
8. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: adopt balance control device, ensure that the robot moment is in upright statokinetic, walk stably in the duct, enhance the adaptive capacity of pipeline robot.
9. a kind of Track-wheel type pipeline cleaning robot adapting to different tube diameters change according to claim 1, it is characterized in that: its boundary dimension is checked by bend, ensure good traveling-capability in elbow, tractive force is checked by force analysis, can ensure the conduit slope scope of adaptation 0 degree to 90 degree, gradient adaptability is good.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610047373.3A CN105465549A (en) | 2016-01-25 | 2016-01-25 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
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| CN201610047373.3A CN105465549A (en) | 2016-01-25 | 2016-01-25 | Crawler wheel type pipeline cleaning robot capable of adapting to changes of different pipe diameters |
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| CN105465549A true CN105465549A (en) | 2016-04-06 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805485A (en) * | 2016-05-27 | 2016-07-27 | 西南石油大学 | Urban gas pipe robot adapting to pipe shape change |
| CN106311691A (en) * | 2016-11-14 | 2017-01-11 | 郑州科技学院 | Pipeline-cleaning robot |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN108480331A (en) * | 2018-03-16 | 2018-09-04 | 中国安全生产科学研究院 | A kind of walking mechanism of pipe detection sweeping robot |
| CN109357105A (en) * | 2018-10-15 | 2019-02-19 | 西华大学 | Wheel-track combined type pipeline robot |
| CN108405505B (en) * | 2018-03-16 | 2019-08-20 | 中国安全生产科学研究院 | A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot |
| CN110195807A (en) * | 2019-04-22 | 2019-09-03 | 安徽信睦信息科技有限公司 | A kind of municipal underground piping maintenance working auxiliary device with carrying function |
| CN110375810A (en) * | 2019-08-09 | 2019-10-25 | 中国石油天然气股份有限公司 | Method and device for detecting deformation defects inside pipeline and readable storage medium |
| CN111760729A (en) * | 2020-06-29 | 2020-10-13 | 湖北省工业建筑集团安装工程有限公司 | Pipeline inner wall rust cleaning robot |
| CN112228697A (en) * | 2020-11-04 | 2021-01-15 | 杭州申昊科技股份有限公司 | Crawler-type pipeline robot |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN113154181A (en) * | 2021-05-08 | 2021-07-23 | 上海点拾科技有限公司 | Flexible robot for pipeline detection and maintenance |
| CN113933015A (en) * | 2021-11-29 | 2022-01-14 | 中国航天空气动力技术研究院 | Cleaning robot for high-energy pulse shock tunnel |
| CN115264237A (en) * | 2022-07-19 | 2022-11-01 | 安徽工程大学 | Peristaltic pipeline mobile robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805485A (en) * | 2016-05-27 | 2016-07-27 | 西南石油大学 | Urban gas pipe robot adapting to pipe shape change |
| CN106311691A (en) * | 2016-11-14 | 2017-01-11 | 郑州科技学院 | Pipeline-cleaning robot |
| CN107600199A (en) * | 2017-10-18 | 2018-01-19 | 西安科技大学 | A kind of wheel-track combined drilling rescue and detection robot of leg |
| CN108480331A (en) * | 2018-03-16 | 2018-09-04 | 中国安全生产科学研究院 | A kind of walking mechanism of pipe detection sweeping robot |
| CN108405505B (en) * | 2018-03-16 | 2019-08-20 | 中国安全生产科学研究院 | A kind of subway ventilation and fire control smoke exhausting pipe detection sweeping robot |
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN109357105B (en) * | 2018-10-15 | 2020-05-19 | 西华大学 | Wheel-track combined type pipeline robot |
| CN109357105A (en) * | 2018-10-15 | 2019-02-19 | 西华大学 | Wheel-track combined type pipeline robot |
| CN110195807A (en) * | 2019-04-22 | 2019-09-03 | 安徽信睦信息科技有限公司 | A kind of municipal underground piping maintenance working auxiliary device with carrying function |
| CN110375810A (en) * | 2019-08-09 | 2019-10-25 | 中国石油天然气股份有限公司 | Method and device for detecting deformation defects inside pipeline and readable storage medium |
| CN111760729A (en) * | 2020-06-29 | 2020-10-13 | 湖北省工业建筑集团安装工程有限公司 | Pipeline inner wall rust cleaning robot |
| CN112228697A (en) * | 2020-11-04 | 2021-01-15 | 杭州申昊科技股份有限公司 | Crawler-type pipeline robot |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN112630229B (en) * | 2021-03-09 | 2021-06-18 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN113154181A (en) * | 2021-05-08 | 2021-07-23 | 上海点拾科技有限公司 | Flexible robot for pipeline detection and maintenance |
| CN113933015A (en) * | 2021-11-29 | 2022-01-14 | 中国航天空气动力技术研究院 | Cleaning robot for high-energy pulse shock tunnel |
| CN115264237A (en) * | 2022-07-19 | 2022-11-01 | 安徽工程大学 | Peristaltic pipeline mobile robot |
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Application publication date: 20160406 |