CN106625700A - 一种大型取水隧洞爬行监测机器人 - Google Patents
一种大型取水隧洞爬行监测机器人 Download PDFInfo
- Publication number
- CN106625700A CN106625700A CN201611087237.3A CN201611087237A CN106625700A CN 106625700 A CN106625700 A CN 106625700A CN 201611087237 A CN201611087237 A CN 201611087237A CN 106625700 A CN106625700 A CN 106625700A
- Authority
- CN
- China
- Prior art keywords
- module
- intake tunnel
- monitoring robot
- scale
- scale intake
- 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.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 73
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims abstract description 16
- 230000006978 adaptation Effects 0.000 claims abstract description 11
- 235000012489 doughnuts Nutrition 0.000 claims description 30
- 239000003795 chemical substances by application Substances 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000008447 perception Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000013307 optical fiber Substances 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 229910052719 titanium Inorganic materials 0.000 claims 1
- 239000010936 titanium Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000009193 crawling Effects 0.000 abstract 1
- 239000004576 sand Substances 0.000 abstract 1
- 239000013049 sediment Substances 0.000 abstract 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 5
- 239000000956 alloy Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Underground Structures, Protecting, Testing And Restoring Foundations (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087237.3A CN106625700B (zh) | 2016-12-01 | 2016-12-01 | 一种大型取水隧洞爬行监测机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611087237.3A CN106625700B (zh) | 2016-12-01 | 2016-12-01 | 一种大型取水隧洞爬行监测机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106625700A true CN106625700A (zh) | 2017-05-10 |
CN106625700B CN106625700B (zh) | 2023-11-14 |
Family
ID=58813550
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611087237.3A Active CN106625700B (zh) | 2016-12-01 | 2016-12-01 | 一种大型取水隧洞爬行监测机器人 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106625700B (zh) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109436255A (zh) * | 2018-12-14 | 2019-03-08 | 杭州爱易特智能技术有限公司 | 一种水下长距离隧洞检测机器人 |
CN110094230A (zh) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | 隧洞贴壁穿梭平台及隧洞监测装置 |
CN110094235A (zh) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | 浮筒式隧洞穿梭平台及监测装置和异物监测的方法 |
CN110281251A (zh) * | 2019-07-24 | 2019-09-27 | 胡勇 | 一种高水流长距离涵道检测机器人*** |
CN112345536A (zh) * | 2020-11-02 | 2021-02-09 | 上海交大海科检测技术有限公司 | 抽水蓄能电站斜井隧洞外观检查测量装置及布置方法 |
CN112762275A (zh) * | 2021-01-28 | 2021-05-07 | 深圳市水务工程检测有限公司 | 一种大型液体输送管道在线检测*** |
CN112775990A (zh) * | 2021-01-26 | 2021-05-11 | 河北工业大学 | 一种球形变胞机器人和基于该机器人的环境信息监测*** |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19744006A1 (de) * | 1997-09-26 | 1999-04-01 | Berliner Wasser Betriebe | Verfahren und Vorrichtung zum Einbringen, Positionieren und Befestigen von Bauteilen in Hohlräumen unterschiedlicher Querschnitte |
JP2001096246A (ja) * | 1999-10-01 | 2001-04-10 | Toa Harbor Works Co Ltd | 管路内の清掃方法及び装置 |
CN101435522A (zh) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | 一种管道行走机器人及其控制方法 |
KR20090117307A (ko) * | 2008-05-09 | 2009-11-12 | 창원대학교 산학협력단 | 파이프 청소용 로봇의 케이블 부하경감 보조장치 |
DE102010022608A1 (de) * | 2010-06-02 | 2011-12-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren und Robotersystem zur innenseitigen Inspektion eines rohrförmigen Objekts |
US20140356529A1 (en) * | 2012-02-17 | 2014-12-04 | Fyfe Co. Llc | Systems and methods for reinforcing a pipe using fiber bundles and fiber bundle ribbon |
DE202015006625U1 (de) * | 2015-09-18 | 2015-10-29 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Meeresboden-Sensoreinrichtung |
WO2016131646A1 (en) * | 2015-02-19 | 2016-08-25 | Adrian Tomoiaga | Autonomous robot for the inspection and maintenance of large-sized pipes and method of its exploitation |
CN206357244U (zh) * | 2016-12-01 | 2017-07-28 | 台山核电合营有限公司 | 一种大型取水隧洞爬行监测机器人 |
-
2016
- 2016-12-01 CN CN201611087237.3A patent/CN106625700B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19744006A1 (de) * | 1997-09-26 | 1999-04-01 | Berliner Wasser Betriebe | Verfahren und Vorrichtung zum Einbringen, Positionieren und Befestigen von Bauteilen in Hohlräumen unterschiedlicher Querschnitte |
JP2001096246A (ja) * | 1999-10-01 | 2001-04-10 | Toa Harbor Works Co Ltd | 管路内の清掃方法及び装置 |
KR20090117307A (ko) * | 2008-05-09 | 2009-11-12 | 창원대학교 산학협력단 | 파이프 청소용 로봇의 케이블 부하경감 보조장치 |
CN101435522A (zh) * | 2008-12-16 | 2009-05-20 | 安徽工程科技学院 | 一种管道行走机器人及其控制方法 |
DE102010022608A1 (de) * | 2010-06-02 | 2011-12-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren und Robotersystem zur innenseitigen Inspektion eines rohrförmigen Objekts |
US20140356529A1 (en) * | 2012-02-17 | 2014-12-04 | Fyfe Co. Llc | Systems and methods for reinforcing a pipe using fiber bundles and fiber bundle ribbon |
WO2016131646A1 (en) * | 2015-02-19 | 2016-08-25 | Adrian Tomoiaga | Autonomous robot for the inspection and maintenance of large-sized pipes and method of its exploitation |
DE202015006625U1 (de) * | 2015-09-18 | 2015-10-29 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | Meeresboden-Sensoreinrichtung |
CN206357244U (zh) * | 2016-12-01 | 2017-07-28 | 台山核电合营有限公司 | 一种大型取水隧洞爬行监测机器人 |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110094230A (zh) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | 隧洞贴壁穿梭平台及隧洞监测装置 |
CN110094235A (zh) * | 2018-01-30 | 2019-08-06 | 岭东核电有限公司 | 浮筒式隧洞穿梭平台及监测装置和异物监测的方法 |
EP3748123A4 (en) * | 2018-01-30 | 2021-11-10 | Ling Dong Nuclear Power Co., Ltd | SHUTTLE PLATFORM ADHERED TO A TUNNEL WALL AND TUNNEL MONITORING DEVICE |
EP3748124A4 (en) * | 2018-01-30 | 2021-11-17 | Ling Dong Nuclear Power Co., Ltd | PONTOON-TYPE TUNNEL SHUTTLE PLATFORM, SURVEILLANCE DEVICE AND FOREIGN MATERIALS SURVEILLANCE PROCESS |
CN109436255A (zh) * | 2018-12-14 | 2019-03-08 | 杭州爱易特智能技术有限公司 | 一种水下长距离隧洞检测机器人 |
CN109436255B (zh) * | 2018-12-14 | 2023-11-21 | 杭州爱易特智能技术有限公司 | 一种水下长距离隧洞检测机器人 |
CN110281251A (zh) * | 2019-07-24 | 2019-09-27 | 胡勇 | 一种高水流长距离涵道检测机器人*** |
CN112345536A (zh) * | 2020-11-02 | 2021-02-09 | 上海交大海科检测技术有限公司 | 抽水蓄能电站斜井隧洞外观检查测量装置及布置方法 |
CN112345536B (zh) * | 2020-11-02 | 2024-02-20 | 上海交大海科检测技术有限公司 | 抽水蓄能电站斜井隧洞外观检查测量装置及布置方法 |
CN112775990A (zh) * | 2021-01-26 | 2021-05-11 | 河北工业大学 | 一种球形变胞机器人和基于该机器人的环境信息监测*** |
CN112762275A (zh) * | 2021-01-28 | 2021-05-07 | 深圳市水务工程检测有限公司 | 一种大型液体输送管道在线检测*** |
CN112762275B (zh) * | 2021-01-28 | 2023-08-25 | 深圳市水务工程检测有限公司 | 一种大型液体输送管道在线检测*** |
Also Published As
Publication number | Publication date |
---|---|
CN106625700B (zh) | 2023-11-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106625700A (zh) | 一种大型取水隧洞爬行监测机器人 | |
CN104613275B (zh) | 一种管道水下机器人检测装置 | |
US10495583B2 (en) | Video camera inspection system | |
CN201215225Y (zh) | 一种水下机器人*** | |
CN113427491B (zh) | 爬壁式管道外表面环抱检查/清理机器人及管道表面清理方法 | |
CN212074377U (zh) | 水下除污机器人 | |
CN106226770A (zh) | 核电站取水口水下环境监测*** | |
CN104374802A (zh) | 一种海底管道检测装置及检测方法 | |
CN106772395A (zh) | 一种核电站取水隧洞水下成像检测装置 | |
CN105864644A (zh) | 深海海底管道智能检测器及检测方法 | |
CN107337134A (zh) | 一种船载牵引***及船载可旋转全方位立体剖面观测*** | |
CN110588925A (zh) | 大直径长引水隧洞水下检测机器人*** | |
CN206357244U (zh) | 一种大型取水隧洞爬行监测机器人 | |
GB2249391A (en) | Method and apparatus for underwater scanning | |
CN109868847B (zh) | 一种海上风电单桩基础潮差区腐蚀在线检测设备 | |
CN109050837A (zh) | 一种水下机器人用具有减震功能的外壳 | |
CN109868848B (zh) | 一种海上风电单桩基础浪溅区腐蚀在线检测设备 | |
CN207298394U (zh) | 水下管道检测机器人 | |
CN105628744A (zh) | 一种可对现役高桩码头桩基外表面完整性检测的装置 | |
CN105197206A (zh) | 一种索驱动水下检测机器人 | |
CN104671015A (zh) | 自驱动式水下绕缆器 | |
CN206292394U (zh) | 核电站取水口水下环境监测*** | |
CN205076017U (zh) | 一种索驱动水下检测机器人 | |
CN102953366B (zh) | 浅海区域沉浮式水工建筑物地基监测装置 | |
CN116695794A (zh) | 一种用于海上风机单桩基础的水下抱桩检测装置及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20170818 Address after: 529200, Guangdong, Jiangmen province Taishan city town of red drum village committee nuclear power living area No. 6 (Taishan nuclear power field headquarters office building) 4 layers Applicant after: TAISHAN NUCLEAR POWER JOINT VENTURE Co.,Ltd. Applicant after: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Applicant after: LINGDONG NUCLEAR POWER Co.,Ltd. Applicant after: CHINA GENERAL NUCLEAR POWER Corp. Applicant after: CGN POWER Co.,Ltd. Address before: 529200, Guangdong, Jiangmen province Taishan city town of red drum village committee nuclear power living area No. 6 (Taishan nuclear power field headquarters office building) 4 layers Applicant before: TAISHAN NUCLEAR POWER JOINT VENTURE Co.,Ltd. Applicant before: CHINA NUCLEAR POWER TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Applicant before: CHINA GENERAL NUCLEAR POWER Corp. Applicant before: CGN POWER Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |