CN107831117A - Adaptive caliber pipeline climbing robot - Google Patents
Adaptive caliber pipeline climbing robot Download PDFInfo
- Publication number
- CN107831117A CN107831117A CN201711357056.2A CN201711357056A CN107831117A CN 107831117 A CN107831117 A CN 107831117A CN 201711357056 A CN201711357056 A CN 201711357056A CN 107831117 A CN107831117 A CN 107831117A
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- frame
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- control cabinet
- hinged
- bogie
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- 230000009194 climbing Effects 0.000 title claims abstract description 30
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000009434 installation Methods 0.000 claims abstract description 8
- 241000256247 Spodoptera exigua Species 0.000 claims abstract description 6
- 230000003287 optical effect Effects 0.000 claims description 25
- 239000000203 mixture Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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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
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
-
- 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
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to adaptive caliber pipeline climbing robot, the body of this adaptive caliber pipeline climbing robot installs shooting frame by control cabinet one end, other end installation bogie is formed, and control cabinet forms driving body with bogie, and the circumference of driving body is uniformly arranged three climbing mechanisms；Driving frame is arranged between fixed frame and bottom plate, and leading screw is threadedly coupled with driving frame, and one end connection motor of leading screw, the other end of leading screw is connected with bottom plate by bearing, and driving frame is circumferentially uniformly arranged three Spring driving arms；Driving wheel, the driven pulley of climbing mechanism are arranged on forward and backward both ends in wheel frame, inchworm motor connects driving wheel by travelling gear, the front end of wheel frame is hinged by a pair of links and control cabinet, and this is hinged to connecting rod with corresponding Spring driving arm, and the rear end for taking turns frame is hinged by a pair of links and fixed frame；Installation controller, radio transmitting device in control cabinet, radio transmitting device connection computer.The present invention is trishores form, good mechanical stability.
Description
First, technical field：
The present invention relates to pipeline internal inspection device, and in particular to be adaptive caliber pipeline climbing robot.
2nd, background technology：
Pipeline internal inspection device is used for the detection of situations such as industrial pipeline internal weld seams, burn into blocking, difference, foreign matter, can be
Do not dismantle or destroy assembling and equipment it is out of service in the case of realize Non-Destructive Testing.Existing pipe detection crawl device generally comprises
Base, wheel, camera, wheel are arranged under base, and camera is arranged on base, but this pipe detection crawl device is in car
Wheel is when pass through barrier, can produce and lean forward or hypsokinesis phenomenon, influence the camera that crawl device carries and continually and steadily work.
3rd, the content of the invention：
It is an object of the invention to provide a kind of adaptive caliber pipeline climbing robot, this adaptive caliber pipeline crawling machine
People is used for solving the problems, such as that existing pipe detection crawl device can not continually and steadily work.
The technical solution adopted for the present invention to solve the technical problems is：This adaptive caliber pipeline climbing robot bag
Body is included, body is by one end installation shooting frame of control cabinet, the other end installation bogie composition of control cabinet, control cabinet and driving
Frame forms driving body, and the circumference of driving body is uniformly arranged three climbing mechanisms；Bogie is arranged on bottom by support light the tip of the axis
Formed on plate, support the head end of optical axis to be fixed on control cabinet, fixed frame is fixedly mounted on support optical axis, and driving frame is arranged on
Between fixed frame and bottom plate, leading screw is threadedly coupled with the thread barrel at driving frame center, one end connection motor of leading screw, leading screw
The other end be connected with bottom plate by bearing, driving frame be circumferentially uniformly arranged three Spring driving arms；Climbing mechanism is included actively
Wheel, driven pulley, inchworm motor, driving wheel, driven pulley are arranged on forward and backward both ends in wheel frame, and inchworm motor is connected by travelling gear
Driving wheel is connect, the front end for taking turns frame is hinged by a pair of links and control cabinet, and this is hinged to connecting rod with corresponding Spring driving arm, wheel
The rear end of frame is hinged by a pair of links and fixed frame；Controller, radio transmitting device are installed in control cabinet, are wirelessly transferred dress
Put connection computer.
Shooting frame is fixed on top plate by the front ends of three shooting optical axises and formed in such scheme, and three shoot the another of optical axis
One end is arranged on control cabinet, and the line of three shooting optical axises forms equilateral triangle, and shooting electric rotating machine is arranged on control cabinet
Front end, rotation axis connection shooting electric rotating machine；Support optical axis has three, and the line of three support optical axises forms equilateral triangle
Shape, fixed frame, driving frame respectively have while corresponding with a climbing mechanism, and shooting frame, control cabinet, bogie collectively form three pin
The body of brace type.
Each Spring driving arm is rotatablely connected by a sleeve and driving frame in such scheme, and the sleeve set is driving
On dynamic frame, Spring driving arm is fixedly connected with the sleeve；The Spring driving arm other end passes through T-shaped connector and the wheel frame front end
A pair of links connection, T-shaped connector by small axle be hinged on this to connecting rod among, Spring driving arm has external screw thread, T-shaped connection
Part is threadedly coupled with Spring driving arm；Bogie top sets tensioning limiting device, and bogie bottom, which is set, shrinks limiter.Driving
Frame, Spring driving arm, driving frame, T-shaped connector, tensioning limiting device, contraction limiter collectively form tensioning contracting mechanism.
A pair of links that frame front end is taken turns in such scheme is hinged by engaging lug and control cabinet, and engaging lug is arranged on control cabinet
On outer wall；A pair of links of wheel back end of frame is hinged also by engaging lug and fixed frame, and engaging lug is arranged on the outside of fixed frame.
Beneficial effect：
1st, body of the invention is trishores form, carries all robot body's parts, is provided simultaneously with tensioning regulation, to protect
Card robot is fixed in inner-walls of duct, using similar crawler travel mode, is actively walked, good mechanical stability；The present invention is used for
During detection, by rotary taking mechanism be installed on shooting frame on, when by barrier when, the driving wheel of corresponding climbing mechanism or from
Driving wheel and connecting rod can produce adaptations, and the camera in rotary taking mechanism remains in that former working condition, does not influence to shine
The work of camera, it can ensure that continual and steady work.
2nd, the present invention can axially advance and radial rotary, during for detecting, can carry out distance between camera and caliber and adjusting
Section.
4th, illustrate：
Fig. 1 is the front view of the present invention；
Fig. 2 is the rearview of the present invention；
Fig. 3 is the left view of the present invention；
Fig. 4 is the right view of the present invention；
Fig. 5 is the top view of the present invention；
Fig. 6 is the stereogram of the present invention.
The bogie 4 of 12 control cabinet of shooting frame 3 supports the fixed frame 7 of 5 bottom plate of optical axis 6 to drive the leading screw 9 of frame 8 to drive electricity
The tensioning limiting device 12 of 10 Spring driving arm of machine 11 shrinks limiter 13 and shoots the shooting driving wheel of optical axis 15 of electric rotating machine 14
The camera of 16 driven pulleys 17 wheel frame 18 connecting rod, 19 sleeve, 20 22 rotary shaft of T-shaped 21 rotary taking mechanism of connector 23.
5th, embodiment：
The present invention is described further below in conjunction with the accompanying drawings：
With reference to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, this adaptive caliber pipeline climbing robot includes body, body
By one end installation shooting frame 1 of control cabinet 2, the other end installation bogie 3 of control cabinet 2 is formed, control cabinet 2 and the structure of bogie 3
Into driving body, the circumference of driving body is uniformly arranged three climbing mechanisms；Bogie 3 is arranged on bottom plate 5 by the end of support optical axis 4
Upper composition, the head end of support optical axis 4 are fixed on control cabinet 2, and fixed frame 6 is fixedly mounted on support optical axis 4, and driving frame 7 is set
Put between fixed frame 6 and bottom plate 5, leading screw 8 is threadedly coupled with the thread barrel at driving frame 7 center, one end connection driving of leading screw 8
Motor 9, the other end of leading screw 8 are connected with bottom plate 5 by bearing, and driving frame 7 is circumferential to be uniformly arranged three Spring driving arms 10；Control
Controller, radio transmitting device, radio transmitting device connection computer are installed, the order that computer is sent passes through in case 2 processed
Radio transmitting device, is transferred to controller, and controller controls the operating of above-mentioned each motor.To ensure accessible transmission, long-range control
Processing system processed embeds realtime graphic transport services function, data receiver（Remote control processing system）In real-time letter
Number state is intercepted, whether the scene of can intercepting automatically has new data transmission, and automatic start receives program.
Controller uses single-chip microcomputer as processor.Control process includes the drive control of stepping movable motor, inwall fitting
The function such as feedback of status.
Shooting frame 1 is fixed on top plate by the front end of three shooting optical axises 14 and formed, the other end of three shooting optical axises 14
On control cabinet 2, the line of three shooting optical axises 14 forms equilateral triangle, and shooting electric rotating machine 13 is arranged on control cabinet
2 front end, the connection shooting electric rotating machine 13 of rotary shaft 22；Support optical axis 4 has three, line formation of three support optical axises 4 etc.
Side triangle, fixed frame 6, driving frame 7 respectively have while, shooting frame 1, control cabinet 2, bogie 3 corresponding with a climbing mechanism
Collectively form the body of trishores formula, with meet robot effectively, stable enter walking in pipeline.
Climbing mechanism includes driving wheel 15, driven pulley 16, inchworm motor, and driving wheel 15, driven pulley 16 are arranged on wheel frame 17
In forward and backward both ends, inchworm motor by travelling gear connect driving wheel 15, take turns frame 17 front end pass through a pair of links 18 with control
Case 2 is be hinged, and this is be hinged with corresponding Spring driving arm 10 to connecting rod 18, and the rear end of wheel frame 17 passes through a pair of links 18 and fixed frame
6 is be hinged, when connecting rod 18 moves, reduces the influence to control cabinet 2, fixed frame 6, the stability of body is more preferable；Before taking turns frame 17
The a pair of links 18 at end is be hinged by engaging lug and control cabinet 2, and engaging lug is arranged on the outer wall of control cabinet 2, wheel frame 17 front end warp
When crossing barrier, adaptable inclination can be carried out, but do not influence the state of body of the present invention；Take turns a pair of links 18 of the rear end of frame 17
Be hinged also by engaging lug and fixed frame 6, engaging lug is arranged on the outside of fixed frame 6, when barrier is passed through in wheel frame 17 rear end, can enter
The adaptable inclination of row, the state of body of the present invention is not influenceed equally.
To improve the Stability and dependability that the present invention moves, using three driving stepper motor climbing mechanisms, in target
Three summits of pipeline decile are bonded, and set up fitting detection switch in climbing mechanism (is set in driving wheel 15 or driven pulley 16
Sensor, sensor are connected with computer by radio transmitting device).After robot enters pipeline, pass through computer remote control
Processing system processed carries out manual tension regulation, and when three climbing mechanisms are close to tube wall completely, tensioning regulation terminates automatically.Do industry
When end robot leaves pipeline, it is controlled remotely by a computer processing system and unclamps robot Spring driving arm 10 manually.
Each Spring driving arm 10 is rotatablely connected by a sleeve 19 and driving frame 7 in the present invention, 19 sets of the sleeve
On driving frame 7, Spring driving arm 10 is fixedly connected with the sleeve 19, when Spring driving arm 10 moves, passes through the phase of sleeve 19
For freely rotating for driving frame 7, reduce the influence to driving frame 7, be further ensured that the stability of body；Spring driving arm
10 other ends are connected by T-shaped connector 20 with a pair of links 18 of the wheel frame front end, and T-shaped connector 20 is hinged by small axle
Among this is to connecting rod 18, Spring driving arm 10 has external screw thread, and T-shaped connector 20 is threadedly coupled with Spring driving arm 10.Driving
The top of frame 3 sets tensioning limiting device 11, and the bottom of bogie 3, which is set, shrinks limiter 12.Bogie 3, Spring driving arm 10, driving
Frame 7, T-shaped connector 20, tensioning limiting device 11, contraction limiter 12 collectively form tensioning contracting mechanism.
Portability and movement during to meet that the present invention can adapt to do industry, while consider the reduction to overall energy consumption, it is right
Material is studied, and is chosen material of the aluminium alloy as integral mechanical structure, be the advantage is that aluminium alloy density is low, but intensity ratio
It is higher, it is good near or above high-quality steel, plasticity.
During present invention work, climbing robot provided by the invention is put into inside pipeline first, with flexible connector handle
Robot is connected to the end of line-up clamp, the action then to switch on power by computer-controlled robot.
The present invention be used for when detecting, it is necessary to by with the use of rotary taking mechanism 21 be installed on shooting frame 1, rotation is clapped
Take the photograph mechanism 21 and connect rotary shaft 22, the camera 23 of rotary taking mechanism 21 connects computer；During weld seam detection, operating personnel are led to
Cross the climbing mechanism of computer-controlled robot and open contracting mechanism and pipe robot is moved to position while welding to be detected,
The automatic camera of control rotary taking mechanism 21 simultaneously preserves picture, and the picture signal of shooting is transferred to computer remote by camera 23
Handle in control system, weld image is directly displayed in computer remote handles control system, according to the weld seam photo of preservation
Detect the welding quality of weld seam.Can realize while collection, while transmit, image information transmitting procedure can realize the compression/decompression of data
The functions such as contracting, breakpoint transmission；Wireless transmission method is provided, is wirelessly transferred and supports more than 100 meters of transmission range, bandwidth 150Mbps
More than.
Claims (4)
- A kind of 1. adaptive caliber pipeline climbing robot, it is characterised in that：This adaptive caliber pipeline climbing robot bag Body is included, body is by control cabinet（2）One end installation shooting frame（1）, control cabinet（2）The other end installation bogie（3）Form, Control cabinet（2）With bogie（3）Driving body is formed, the circumference of driving body is uniformly arranged three climbing mechanisms；Bogie（3）By propping up Support optical axis（4）End be arranged on bottom plate（5）Upper composition, support optical axis（4）Head end be fixed on control cabinet（2）On, fixed frame （6）It is fixedly mounted on support optical axis（4）On, drive frame（7）It is arranged on fixed frame（6）With bottom plate（5）Between, leading screw（8）With drive Dynamic frame（7）The thread barrel threaded connection at center, leading screw（8）One end connection motor（9）, leading screw（8）The other end and bottom Plate（5）Connected by bearing, drive frame（7）Circumferentially it is uniformly arranged three Spring driving arms（10）；Climbing mechanism includes driving wheel （15）, driven pulley（16）, inchworm motor, driving wheel（15）, driven pulley（16）Installed in wheel frame（17）In forward and backward both ends, creep Motor connects driving wheel by travelling gear（15）, take turns frame（17）Front end pass through a pair of links（18）With control cabinet（2）It is be hinged, This is to connecting rod（18）With corresponding Spring driving arm（10）It is be hinged, take turns frame（17）Rear end pass through a pair of links（18）With fixed frame （6）It is be hinged；Control cabinet（2）Controller, radio transmitting device, radio transmitting device connection computer are inside installed.
- 2. adaptive caliber pipeline climbing robot according to claim 1, it is characterised in that：Described shooting frame（1） By three shooting optical axises（14）Front end be fixed on top plate and form, three shooting optical axises（14）The other end be arranged on control cabinet （2）On, three shooting optical axises（14）Line formed equilateral triangle, shoot electric rotating machine（13）Installed in control cabinet（2）'s Front end, rotary shaft（22）Connection shooting electric rotating machine（13）；Support optical axis（4）There are three, three support optical axises（4）Line shape Into equilateral triangle, fixed frame（6）, driving frame（7）Respectively have while, shooting frame corresponding with a climbing mechanism（1）, control cabinet （2）, bogie（3）Collectively form the body of trishores formula.
- 3. adaptive caliber pipeline climbing robot according to claim 2, it is characterised in that：Described each spring drives Swing arm（10）Pass through a sleeve（19）With driving frame（7）Rotation connection, the sleeve（19）It is sleeved on driving frame（7）On, bullet Spring actuating arm（10）With the sleeve（19）It is fixedly connected；Spring driving arm（10）The other end passes through T-shaped connector（20）With it is described Take turns frame（17）A pair of links of front end（18）Connection, T-shaped connector（20）This is hinged on to connecting rod by small axle（18）Centre, bullet Spring actuating arm（10）There are external screw thread, T-shaped connector（20）With Spring driving arm（10）Threaded connection；Bogie（3）Top is set Tensioning limiting device（11）, bogie（3）Bottom, which is set, shrinks limiter（12）；Bogie（3）, Spring driving arm（10）, driving Frame（7）, T-shaped connector（20）, tensioning limiting device（11）, shrink limiter（12）Collectively form tensioning contracting mechanism.
- 4. the adaptive caliber pipeline climbing robot according to Claims 2 or 3, it is characterised in that：Described wheel frame （17）A pair of links of front end（18）Pass through engaging lug and control cabinet（2）Be hinged, engaging lug is arranged on control cabinet（2）On outer wall； Take turns frame（17）A pair of links of rear end（18）Also by engaging lug and fixed frame（6）Be hinged, engaging lug is arranged on fixed frame（6）Outside Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711357056.2A CN107831117A (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipeline climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711357056.2A CN107831117A (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipeline climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107831117A true CN107831117A (en) | 2018-03-23 |
Family
ID=61644769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711357056.2A Pending CN107831117A (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipeline climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107831117A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469413A (en) * | 2018-05-18 | 2018-08-31 | 浙江树人学院 | A kind of food nutrient composition detection device |
| CN108535187A (en) * | 2018-05-18 | 2018-09-14 | 广州俊天科技有限公司 | A kind of energy-efficient optical transport or imaging glass processing device |
| CN108548048A (en) * | 2018-06-27 | 2018-09-18 | 中国石油大学(北京) | Reducing automatic creeping marine riser internal detector |
| CN108760748A (en) * | 2018-05-18 | 2018-11-06 | 广州正辉科技有限公司 | A kind of efficient food nutrient composition detection device |
| CN108760763A (en) * | 2018-05-18 | 2018-11-06 | 广州轻舟科技有限公司 | A kind of integrated disk process equipment of the semiconductor based on industrialization |
| CN108802045A (en) * | 2018-05-18 | 2018-11-13 | 广州正辉科技有限公司 | A kind of safe food nutrient composition detection device |
| CN108827980A (en) * | 2018-05-18 | 2018-11-16 | 广州轻舟科技有限公司 | A kind of integrated disk process equipment of efficient semiconductor |
| CN108844968A (en) * | 2018-05-18 | 2018-11-20 | 广州俊天科技有限公司 | A kind of high-end optical transport or imaging glass processing device |
| CN109001226A (en) * | 2018-05-18 | 2018-12-14 | 赵咏梅 | A kind of integrated disk process equipment of semiconductor |
| CN109027512A (en) * | 2018-09-30 | 2018-12-18 | 宁波史河机器人科技有限公司 | A kind of pipeline climbing robot |
| CN109572847A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | A kind of climbing device, climbing equipment and climbing system |
| CN110542693A (en) * | 2019-08-12 | 2019-12-06 | 衢州光明电力投资集团有限公司 | damaged point detection device for cable protection circular tube |
| CN111412343A (en) * | 2020-04-23 | 2020-07-14 | 国网吉林省电力有限公司电力科学研究院 | Pipeline crawling robot |
| CN113357481A (en) * | 2021-06-30 | 2021-09-07 | 天津大学 | Pipe diameter self-adaptive pipeline detection robot |
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| CN205824484U (en) * | 2016-07-29 | 2016-12-21 | 郭嘉川 | A kind of photographic head installing mechanism of circular pipe measuring robots |
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| CN107191738A (en) * | 2016-03-15 | 2017-09-22 | 中国科学院沈阳自动化研究所 | Video detecting device in a kind of pipeline |
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| CN108535187A (en) * | 2018-05-18 | 2018-09-14 | 广州俊天科技有限公司 | A kind of energy-efficient optical transport or imaging glass processing device |
| CN108469413A (en) * | 2018-05-18 | 2018-08-31 | 浙江树人学院 | A kind of food nutrient composition detection device |
| CN108760748A (en) * | 2018-05-18 | 2018-11-06 | 广州正辉科技有限公司 | A kind of efficient food nutrient composition detection device |
| CN108760763A (en) * | 2018-05-18 | 2018-11-06 | 广州轻舟科技有限公司 | A kind of integrated disk process equipment of the semiconductor based on industrialization |
| CN108802045A (en) * | 2018-05-18 | 2018-11-13 | 广州正辉科技有限公司 | A kind of safe food nutrient composition detection device |
| CN108827980A (en) * | 2018-05-18 | 2018-11-16 | 广州轻舟科技有限公司 | A kind of integrated disk process equipment of efficient semiconductor |
| CN108844968A (en) * | 2018-05-18 | 2018-11-20 | 广州俊天科技有限公司 | A kind of high-end optical transport or imaging glass processing device |
| CN108548048A (en) * | 2018-06-27 | 2018-09-18 | 中国石油大学(北京) | Reducing automatic creeping marine riser internal detector |
| CN108548048B (en) * | 2018-06-27 | 2024-05-14 | 中国石油大学(北京) | Variable-diameter automatic crawling marine riser inner detector |
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| CN109572847A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | A kind of climbing device, climbing equipment and climbing system |
| CN109572847B (en) * | 2019-01-15 | 2023-07-28 | 北京史河科技有限公司 | Climbing device, climbing equipment and climbing system |
| CN110542693A (en) * | 2019-08-12 | 2019-12-06 | 衢州光明电力投资集团有限公司 | damaged point detection device for cable protection circular tube |
| CN110542693B (en) * | 2019-08-12 | 2021-12-14 | 衢州光明电力投资集团有限公司 | Damaged point detection device for cable protection circular tube |
| CN111412343A (en) * | 2020-04-23 | 2020-07-14 | 国网吉林省电力有限公司电力科学研究院 | Pipeline crawling robot |
| CN111412343B (en) * | 2020-04-23 | 2024-04-05 | 国网吉林省电力有限公司电力科学研究院 | Pipeline crawling robot |
| CN113357481A (en) * | 2021-06-30 | 2021-09-07 | 天津大学 | Pipe diameter self-adaptive pipeline detection robot |
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