CN116279883A - Pipeline climbing detecting system - Google Patents
Pipeline climbing detecting system Download PDFInfo
- Publication number
- CN116279883A CN116279883A CN202310259367.4A CN202310259367A CN116279883A CN 116279883 A CN116279883 A CN 116279883A CN 202310259367 A CN202310259367 A CN 202310259367A CN 116279883 A CN116279883 A CN 116279883A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- clamping
- clamping plate
- clamping mechanism
- double
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline climbing detection system, which comprises a pipeline clamping running device and an operation detection control system arranged on the pipeline clamping running device, wherein the operation detection control system comprises a processor, and a magnetic flux leakage detector, a first double-shaft motor, a second double-shaft motor and a displacement motor which are electrically connected with the processor; the processor is used for controlling the first double-shaft motor, the second double-shaft motor and the displacement motor to rotate forwards or reversely and is used for clamping, releasing and moving the pipeline clamping travelling device along the pipeline; the processor applies direct current excitation or alternating current excitation to the magnetic leakage detector, and acquires pipeline detection data for defect detection of the inner wall and the outer wall of the pipeline. The system also supports near-end handheld terminal and remote cloud platform control and data acquisition. Can realize independently climbing and detecting, can carry out remote control, use manpower sparingly cost.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a pipeline climbing detection system.
Background
With the construction of infrastructures such as wind power generators, 5G iron towers and street lamps, pipeline supporting bodies are commonly used, so that pipelines refer to various cylindrical, polygonal prismatic, square and other supporting bodies such as telegraph poles, antenna poles and supporting rods of wind power generators which are fixedly and vertically arranged, and the materials of the pipeline supporting bodies are usually metal materials such as steel.
These pipelines themselves need to be serviced, so that a corresponding climbing device is required to be able to climb along the pipeline. In the prior art, climbing robots often need the manual work to approach to control and go on, and every climbing robot needs personnel to operate control in pipeline supporter below, lacks independently scramble and independently detect, also can not carry out remote control, and intelligent degree is not high to the human cost of using is higher.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a pipeline climbing detection system, which solves the problems of low intelligent level, need of approaching control, limited detection range and the like of a pipeline climbing robot in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the pipeline climbing detection system comprises a pipeline clamping travelling device, an operation detection control system and a handheld control terminal, wherein the operation detection control system and the handheld control terminal are arranged on the pipeline clamping travelling device;
the operation detection control system controls the pipeline clamping travelling device to move up and down along the pipeline, and detects defects of the pipeline;
the handheld control terminal is in communication connection with the operation detection control system, and is used for controlling one or more adjacent operation detection control systems and receiving operation data from the operation detection control system and detection data of the pipeline by the operation detection control system.
In order to optimize the technical scheme, the specific measures adopted further comprise:
further, the pipeline clamping travelling device comprises a first clamping mechanism, a second clamping mechanism and a connecting driving mechanism, wherein the first clamping mechanism is located on the upper side of the second clamping mechanism, the connecting driving mechanism is connected with the first clamping mechanism and the second clamping mechanism, the first clamping mechanism and the second clamping mechanism can extend and shrink along the horizontal direction, the pipeline is clamped when the first clamping mechanism or the second clamping mechanism contracts, and the first clamping mechanism or the second clamping mechanism breaks away from the pipeline when extending.
Further, the operation detection control system comprises a processor, and a first double-shaft motor and a second double-shaft motor which are electrically connected with the processor;
the first clamping mechanism comprises a first left clamping plate and a first right clamping plate which are oppositely arranged; the first double-shaft motor is positioned between the two first extension guide rails, the first double-shaft motor is provided with a first left output shaft and a first right output shaft which are oppositely arranged, the first left output shaft is connected with a first left screw rod, the first right output shaft is connected with a first right screw rod, the first left screw rod is in threaded connection with the first left clamp plate, and the first right screw rod is in threaded connection with the first right clamp plate; two ends of the two first extension guide rails are provided with limiting structures; the inner side of the first left clamping plate is provided with a first left clamping jaw, the inner side of the first right clamping plate is provided with a first right clamping jaw, the first left clamping plate and the first right clamping plate both extend inwards to form a first extension part, and the first extension part is hinged with the first left clamping jaw and the first right clamping jaw;
the second clamping mechanism comprises a second left clamping plate and a second right clamping plate which are oppositely arranged, two second extension guide rails are connected between the second left clamping plate and the second right clamping plate in a sliding manner, a second double-shaft motor is positioned between the two second extension guide rails, the second double-shaft motor is provided with a second left output shaft and a second right output shaft which are oppositely arranged, the second left output shaft is connected with a second left screw rod, the second right output shaft is connected with a second right screw rod, the second left screw rod is in threaded connection with the second left clamping plate, the second right screw rod is in threaded connection with the second right clamping plate, and limiting structures are arranged at two ends of the two second extension guide rails; the inner side of the second left clamping plate is provided with a second left clamping jaw, the inner side of the second right clamping plate is provided with a second right clamping jaw, the second left clamping plate and the second right clamping plate both extend inwards to form a second extension part, and the second extension part is hinged with the second left clamping jaw and the second right clamping jaw;
the connecting driving mechanism comprises a first connecting seat, a second connecting seat and two lifting guide rails, wherein both ends of the first connecting seat and both ends of the second connecting seat are sleeved on the lifting guide rails, the first connecting seat is positioned above the second connecting seat, the first double-shaft motor is fixed on the first connecting seat, and the second double-shaft motor is fixed on the second connecting seat;
the processor drives the first double-shaft motor to rotate, and when the first double-shaft motor rotates positively, the first left clamping plate moves rightwards along the first left screw rod, the first right clamping plate moves leftwards along the first right screw rod, and the first left clamping plate and the first right clamping plate are mutually close to each other and clamp a pipeline at the same time; when the first double-shaft motor is reversed, the first left clamping plate moves leftwards along the first left screw rod, the first right clamping plate moves rightwards along the first right screw rod, and the first left clamping plate and the first right clamping plate are simultaneously far away from each other and separate from the pipeline;
the processor drives the second double-shaft motor to rotate, and when the second double-shaft motor rotates positively, the second left clamping plate moves rightwards along the second left screw rod, the second right clamping plate moves leftwards along the second right screw rod, and the second left clamping plate and the second right clamping plate are mutually close to each other and clamp a pipeline at the same time; when the second double-shaft motor is reversed, the second left clamping plate moves leftwards along the second left screw rod, the second right clamping plate moves rightwards along the second right screw rod, and the second left clamping plate and the second right clamping plate are simultaneously far away from each other and separate from the pipeline.
Further, the connection driving mechanism further comprises a first fixing seat and a second fixing seat, the operation detection control system further comprises a displacement motor, the displacement motor is electrically connected with the processor, the first fixing seat is fixedly connected with the top ends of the two lifting guide rails, the second fixing seat is fixedly connected with the bottom ends of the two lifting guide rails, the displacement motor is fixed on the first fixing seat, an output shaft of the displacement motor downwards penetrates through the first fixing seat and is connected with a lifting screw rod, and the lifting screw rod penetrates through the first connecting seat and is in threaded connection with the first connecting seat; the processor controls forward rotation and reverse rotation of the displacement motor, and when the first clamping mechanism clamps the pipeline and the second clamping mechanism is separated from the pipeline, the displacement motor forward rotates to drive the lifting guide rail to move upwards relative to the first clamping mechanism so as to drive the second clamping mechanism to ascend; when the first clamping mechanism clamps the pipeline and the second clamping mechanism is separated from the pipeline, the displacement motor is reversed to drive the lifting guide rail to move downwards relative to the first clamping mechanism, so as to drive the second clamping mechanism to descend; when the first clamping mechanism is separated from the pipeline and the second clamping mechanism clamps the pipeline, the displacement motor rotates positively to drive the first clamping mechanism to move downwards along the lifting guide rail, and when the first clamping mechanism is separated from the pipeline and the second clamping mechanism clamps the pipeline, the displacement motor rotates reversely to drive the first clamping mechanism to move upwards along the lifting guide rail.
Further, the operation detection control system further comprises an obstacle detector and an encoder, wherein the obstacle detector and the encoder are electrically connected with the processor, the obstacle detector is arranged at the upper part of the first clamping mechanism and the lower part of the second clamping mechanism, when the obstacle detector detects an obstacle on the pipeline, a signal is sent to the processor, and the processor controls the first clamping mechanism and the second clamping mechanism to be unfolded to cross the obstacle; the encoder counts the walking distance of the pipeline clamping walking device on the pipeline, and then the position of the pipeline clamping walking device on the pipeline is obtained; the encoder can be combined with the obstacle detector, and when the obstacle detector detects the distance from the obstacle, the travelling distance measured by the encoder is combined, so that the pipeline is controlled to clamp the travelling device to cross the obstacle; the obstacle detector adopts one or more of a distance sensor, an infrared detector and a camera.
Further, flaw detection mechanisms are arranged on the first clamping mechanisms and/or the second clamping mechanisms, and each flaw detection mechanism comprises a semicircular left bracket and a semicircular right bracket; the operation detection control system further comprises magnetic leakage detectors electrically connected with the processor, a plurality of magnetic leakage detectors are arranged on the inner sides of the left bracket and the right bracket, the magnetic leakage detectors are uniformly distributed in circumference, and the processor applies direct current excitation or alternating current excitation to the magnetic leakage detectors and acquires pipeline detection data.
Further, the inner sides of the first left clamping jaw, the first right clamping jaw, the second left clamping jaw and the second right clamping jaw are respectively provided with an electromagnetic piece, when the electromagnetic pieces are electrified, the electromagnetic pieces have magnetism and are adsorbed on the outer surfaces of the pipelines, and when the electromagnetic pieces are in power failure, the magnetism of the electromagnetic pieces is lost.
Further, the operation detection control system further comprises a communication module electrically connected with the processor, the communication module is used for communicating with a handheld control terminal and is used for performing near-end control and data acquisition on the pipeline clamping running device, and the handheld control terminal and/or the operation detection control system is/are connected with the cloud platform through network communication and is used for performing remote control and data acquisition on the pipeline clamping running device.
The beneficial effects of the invention are as follows: the invention discloses a pipeline climbing detection system, which comprises a pipeline clamping running device and an operation detection control system arranged on the pipeline clamping running device, wherein the operation detection control system comprises a processor, and a magnetic flux leakage detector, a first double-shaft motor, a second double-shaft motor and a displacement motor which are electrically connected with the processor; the processor is used for controlling the first double-shaft motor, the second double-shaft motor and the displacement motor to rotate forwards or reversely and is used for clamping, releasing and moving the pipeline clamping travelling device along the pipeline; the processor applies direct current excitation or alternating current excitation to the magnetic leakage detector, and acquires pipeline detection data for defect detection of the inner wall and the outer wall of the pipeline. The system also supports near-end handheld terminal and remote cloud platform control and data acquisition. Can realize independently climbing and detecting, greatly improve intelligent level, can carry out remote control, use manpower sparingly cost.
Drawings
FIG. 1 is a schematic diagram of the components of an operation detection control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure in use according to an embodiment of the invention;
FIG. 3 is a schematic view of a pipe clamping running gear according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a connection driving mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first clamping mechanism according to an embodiment of the invention;
FIG. 6 is a schematic view showing the structure of a first right clamping plate according to an embodiment of the present invention;
FIG. 7 is a schematic view of the structure of an electromagnetic member according to an embodiment of the present invention;
FIG. 8 is a schematic view of a flaw detection mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of detection range and climbing dwell position in accordance with one embodiment of the invention;
FIG. 10 is a schematic diagram of a near-end handheld terminal application according to one embodiment of the invention;
fig. 11 is a schematic diagram of remote cloud platform networking according to an embodiment of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings.
In one embodiment, the invention discloses a pipeline climbing detection system, which comprises a pipeline clamping running device and an operation detection control system A1 arranged on the pipeline clamping running device, wherein the operation detection control system A1 is shown in FIG. 1, and the operation detection control system A1 comprises a processor A11, a magnetic flux leakage detector A12, a first double-shaft motor A13, a second double-shaft motor A14 and a displacement motor A15 which are electrically connected with the processor A11; the processor A11 is used for controlling the first double-shaft motor A13, the second double-shaft motor A14 and the displacement motor A15 to rotate forwards or reversely and is used for fixing, releasing and moving the pipeline clamping travelling device along a pipeline; the processor A11 controls the magnetic leakage detector A12 to apply direct current excitation or alternating current excitation, and acquires pipeline detection data for defect detection of the inner wall and the outer wall of the pipeline.
It can be seen that the pipe climbing detection system is an electromechanically integrated intelligent operation system, wherein the pipe gripping running gear is primarily concerned with the mechanical construction thereof, and the operation detection control system A1 is primarily concerned with electrically controlling the associated electromechanical components. The operation detection control system A1 will be further described below in connection with the pipe gripping traveling device.
Fig. 2-8 show an embodiment of a pipe clamping travelling device, comprising a first clamping mechanism 1, a second clamping mechanism 2 and a connecting driving mechanism 3, wherein the first clamping mechanism 1 is positioned on the upper side of the second clamping mechanism 2, the connecting driving mechanism 3 is connected between the first clamping mechanism 1 and the second clamping mechanism 2, the first clamping mechanism 1 and the second clamping mechanism 2 can be expanded and contracted (along the left-right direction shown in fig. 2), the first clamping mechanism 1 or the second clamping mechanism 2 is contracted for clamping a pipe 10, and the first clamping mechanism 1 or the second clamping mechanism 2 is expanded for separating from the pipe 10. The clamping and extending control of the first clamping mechanism 1 and the second clamping mechanism 2 is realized by forward rotation and reverse rotation control of the first double-shaft motor A13 and the second double-shaft motor A14 based on the processor A11.
The specific principle of the clamping and expansion control of the first clamping mechanism 1 and the second clamping mechanism 2 is as follows:
the first clamping mechanism 1 comprises a first left clamping plate 11 and a first right clamping plate 12 which are oppositely arranged; the two first extension guide rails 14 are slidably connected between the first left clamping plate 11 and the first right clamping plate 12, the first double-shaft motor A13 is positioned between the two first extension guide rails 14, the first double-shaft motor A13 is provided with a first left output shaft and a first right output shaft which are oppositely arranged, the first left output shaft is connected with a first left screw rod 15, the first right output shaft is connected with a first right screw rod 16, the first left screw rod 15 is in threaded connection with the first left clamping plate 11, and the first right screw rod 16 is in threaded connection with the first right clamping plate 12; two ends of the two first extension guide rails 14 are provided with limiting structures; the inner side of the first left clamping plate 11 is provided with a first left clamping jaw 111, the inner side of the first right clamping plate 12 is provided with a first right clamping jaw 121, the first left clamping plate 11 and the first right clamping plate 12 are respectively extended inwards to form a first extension part, and the first extension parts are hinged with the first left clamping jaw 111 and the first right clamping jaw 121;
the second clamping mechanism 2 comprises a second left clamping plate 21 and a second right clamping plate 22 which are oppositely arranged, two second extension guide rails 24 are connected between the second left clamping plate 21 and the second right clamping plate 22 in a sliding manner, the second double-shaft motor A14 is positioned between the two second extension guide rails 24, the second double-shaft motor A14 is provided with a second left output shaft and a second right output shaft which are oppositely arranged, the second left output shaft is connected with a second left screw rod 25, the second right output shaft is connected with a second right screw rod 26, the second left screw rod 25 is in threaded connection with the second left clamping plate 21, the second right screw rod 26 is in threaded connection with the second right clamping plate 22, and two ends of the two second extension guide rails 24 are provided with limiting structures; the inner side of the second left clamping plate 21 is provided with a second left clamping jaw 211, the inner side of the second right clamping plate 22 is provided with a second right clamping jaw 221, the second left clamping plate 21 and the second right clamping plate 22 are respectively extended inwards to form a second extension part, and the second extension parts are hinged with the second left clamping jaw 211 and the second right clamping jaw 221;
the connection driving mechanism 3 comprises a first connection seat 33, a second connection seat 34 and two lifting guide rails 35, wherein both ends of the first connection seat 33 and both ends of the second connection seat 34 are sleeved on the lifting guide rails 35, the first connection seat 33 is positioned above the second connection seat 34, the first double-shaft motor A13 is fixed on the first connection seat 33, and the second double-shaft motor A14 is fixed on the second connection seat 34;
the processor A11 drives the first double-shaft motor A13 to rotate, when the first double-shaft motor A13 rotates positively, the first left clamping plate 11 moves rightwards along the first left screw rod 15, the first right clamping plate 12 moves leftwards along the first right screw rod 16, and the first left clamping plate 11 and the first right clamping plate 12 are close to each other and clamp the pipeline 10 at the same time; when the first double-shaft motor A13 is reversed, the first left clamping plate 11 moves leftwards along the first left screw rod 15, the first right clamping plate 12 moves rightwards along the first right screw rod 16, and the first left clamping plate 11 and the first right clamping plate 12 are simultaneously away from each other and separated from the pipeline 10;
the processor a11 drives the second dual-axis motor a14 to rotate, when the second dual-axis motor a14 rotates forward, the second left clamping plate 21 moves rightward along the second left screw 25, the second right clamping plate 22 moves leftward along the second right screw 26, and the second left clamping plate 21 and the second right clamping plate 22 are close to each other and clamp the pipeline 10 at the same time; when the second dual-axis motor a14 is reversed, the second left clamping plate 21 moves leftwards along the second left screw 25, the second right clamping plate 22 moves rightwards along the second right screw 26, and the second left clamping plate 21 and the second right clamping plate 22 are simultaneously away from each other and separated from the pipe 10.
The connecting driving mechanism 3 correspondingly drives the extended first clamping mechanism 1 or the extended second clamping mechanism 2 to move up and down (along the up-down direction shown in fig. 2).
The principle of the first clamping mechanism 1 and the second clamping mechanism 2 moving up and down is as follows:
the connection driving mechanism 3 further comprises a first fixing seat 31 and a second fixing seat 32, the operation detection control system A1 further comprises a displacement motor A15, the displacement motor A15 is electrically connected with the processor A11, the first fixing seat 31 is fixedly connected with the top ends of the two lifting guide rails 35, the second fixing seat 32 is fixedly connected with the bottom ends of the two lifting guide rails 35, the displacement motor A15 is fixed on the first fixing seat 31, an output shaft of the displacement motor A15 downwards penetrates through the first fixing seat 31 and is connected with a lifting screw 36, and the lifting screw 36 penetrates through the first connecting seat 33 and is in threaded connection with the first connecting seat 33; the processor A11 controls forward rotation and reverse rotation of the displacement motor A15, and when the first clamping mechanism 1 clamps the pipeline 10 and the second clamping mechanism 2 is separated from the pipeline 10, the displacement motor A15 forward rotation drives the lifting guide rail 35 to move upwards relative to the first clamping mechanism 1 so as to drive the second clamping mechanism 2 to ascend; when the first clamping mechanism 1 clamps the pipeline 10 and the second clamping mechanism 2 is separated from the pipeline 10, the displacement motor A15 is reversed to drive the lifting guide rail 35 to move downwards relative to the first clamping mechanism 1, so as to drive the second clamping mechanism 2 to descend; when the first clamping mechanism 1 is separated from the pipeline 10 and the second clamping mechanism 2 clamps the pipeline 10, the displacement motor A15 rotates positively to drive the first clamping mechanism 1 to move downwards along the lifting guide rail 35, and when the first clamping mechanism 1 is separated from the pipeline 10 and the second clamping mechanism 2 clamps the pipeline 10, the displacement motor A15 rotates reversely to drive the first clamping mechanism 1 to move upwards along the lifting guide rail 35.
It can be seen that the pipeline clamping travelling device takes the connecting driving mechanism 3 as a center to drive the first clamping mechanism 1 and the second clamping mechanism 2 to move up and down respectively, and only one clamping mechanism moves at the same time when moving up and down, so that the load to the connecting driving mechanism 3 is small and the load force is mainly borne by the driving mechanism 3 when moving up and down, and the load of the pipeline clamping travelling device is reduced.
Because the distance between the first left clamping plate 11 and the first right clamping plate 12 which are close to or far from each other can be regulated and controlled, the distance between the second left clamping plate 21 and the second right clamping plate 22 which are close to or far from each other can also be regulated and controlled, the applicable distance range is wider (70 mm-300 mm), the size of the obstacle which can pass through is larger, and the obstacle crossing capability of the pipeline clamping travelling device is obviously improved.
Preferably, the processor a11 controls the rotation of the biaxial motor so that when the first clamping mechanism 1 and the second clamping mechanism 2 are separated from the pipeline, the separation distance is set according to the caliber of the pipeline, and is not too small, otherwise, the processor a11 is easy to touch the outer surface of the pipeline when moving up and down, and is not too large, so that the power cost of separation control is increased. Preferably, when the pipeline has an obstacle along the pipeline, the separation distance is larger than the maximum distance length of the obstacle on the horizontal plane so as to smoothly pass through the obstacle.
Preferably, before the pipeline clamping travelling device climbs along the pipeline for detection, model data of the pipeline can be input in advance, wherein the model data comprise length, caliber, obstacle position, size and the like, and therefore the running detection control system can accurately control the number of turns or the duration of forward rotation or reverse rotation of the double-shaft motor according to the model data, so that the distance between the first clamping mechanism 1 and the second clamping mechanism 2, which are separated from the pipeline, is the optimal position, and the influence on up-and-down movement or obstacle crossing difficulty is avoided. Meanwhile, after model data of the pipeline are provided, the processor A1 can also control the rotation of the double-shaft motor, so that the first clamping mechanism 1 and the second clamping mechanism 2 can just clamp the pipeline, and excessive power consumption and even loss of the motor due to excessive clamping are avoided. In use, the first left clamp plate 11 and the first right clamp plate 12 may be shaped to fit the pipe 10, so that the first left clamp plate 11 and the first right clamp plate 12 are tightly attached to the periphery of the pipe 10 to facilitate clamping of the pipe 10. This requires a large volume and a heavy weight of the first left clamping plate 11 and the first right clamping plate 12. In order to increase the clamping force of the first clamping mechanism 1, it is preferred that the inner side of the first left clamping plate 11 is provided with a first left clamping jaw 111, the inner side of the first right clamping plate 12 is provided with a first right clamping jaw 121, and the first left clamping jaw 111 and the first right clamping jaw 121 are used for clamping the pipe 10. The first left clamping jaw 111 and the first right clamping jaw 121 can reduce the volume of the first left clamping plate 11 and the first right clamping plate 12, and are lighter in weight, so that the running gear can conveniently run on the pipeline 10.
Preferably, the second left clamping jaw 211 is provided on the inner side of the second left clamping plate 21, the second right clamping jaw 221 is provided on the inner side of the second right clamping plate 22, and the second left clamping jaw 211 and the second right clamping jaw 221 are used for clamping the pipe 10. The second left clamping jaw 211 and the second right clamping jaw 221 can reduce the volume of the second left clamping plate 21 and the second right clamping plate 22, and are lighter in weight, so that the pipe clamping travelling device can conveniently travel on the pipe 10.
Preferably, the first left clamping plate 11 and the first right clamping plate 12 are respectively extended inwards to form a first extension part, and the first extension part is hinged with the first left clamping jaw 111 or the first right clamping jaw 121. Thereby enabling the first left grip jaw 111 and the first right grip jaw 121 to have a certain rotation angle, and to be adapted to circular pipes 10 of different diameters. The same second left clamping jaw 211 or second right clamping jaw 221 is also hinged to the second left clamping plate 21 and the second right clamping plate 22, respectively.
Preferably, the first left clamping jaw 111, the first right clamping jaw 121, the second left clamping jaw 211 and the second right clamping jaw 221 are all provided with 4, and are distributed on the inner sides of the first left clamping plate 11, the first right clamping plate 12, the second left clamping plate 21 and the second right clamping plate 22 in a square shape. This can increase the contact area between the first clamping mechanism 1 and the second clamping mechanism 2 and the pipe 10, and can be used for traveling of the pipe 10 in a circular shape, a square shape, or the like. Ensuring that the running gear is able to grip the pipe 10. Referring to fig. 1, the operation detection control system further includes an obstacle detector a16 electrically connected to the processor a11, and configured to detect and identify an obstacle on the pipeline, where the processor a11 controls the obstacle detector a16 to identify the obstacle on the pipeline, and further controls the pipeline clamping travelling device to climb over the obstacle.
The upper part of the first clamping mechanism 1 and the lower part of the second clamping mechanism 2 are provided with an obstacle detector (not shown in the figure), and the obstacle detector a16 is used for detecting the distance between an obstacle (such as a flange, a protrusion, etc.) on the pipeline 10 and the first clamping mechanism 1 or the second clamping mechanism 2. Therefore, the first clamping mechanism 1 and the second clamping mechanism 2 are provided with the obstacle detectors, so that obstacles such as flanges on the pipeline can be effectively identified, the obstacles can be automatically crossed through a preset movement program, and the pipeline can be automatically stopped when the pipeline is crawled to the end.
The obstacle detector a16 may be one or more of a distance sensor, an infrared detector, and a camera, and the detection signal of the obstacle detector a16 is flush with the inner end surface of the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221, that is, when the obstacle detector detects that an obstacle is located above or below the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221, it is indicated that the obstacle is located directly above or below the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221, and if the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221 continues to move upward or downward, the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221 collides with the obstacle. This requires that first left jaw 111, first right jaw 121, second left jaw 211, or second right jaw 221 continue to extend outwardly, avoiding first left jaw 111, first right jaw 121, second left jaw 211, or second right jaw 221 from hitting an obstacle.
When the obstacle detector detects that there is no obstacle above or below the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221, it indicates that there is no obstacle directly above or below the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221, or that the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221 extends a distance greater than the extended length of the obstacle, at which time the first left jaw 111, the first right jaw 121, the second left jaw 211, or the second right jaw 221 can continue to move upward or downward.
Through foretell pipeline centre gripping running gear, can walk on the pipeline 10 of different shapes, different materials, can set up equipment of other function effects such as camera on pipeline centre gripping running gear, accomplish different work demands.
Preferably, before the pipeline clamping running device climbs along the pipeline for detection, model data of the pipeline can be input in advance, wherein the model data also comprise position, size data and the like of the obstacle, so that the processor can detect in the field through the obstacle detector A16 at one side in the climbing operation process, can verify according to the obstacle data in the model data, and can be prepared in advance. In addition, after the obstacle data is provided in advance, the obstacle detector A16 is not needed, and according to the obstacle data input in advance, after the pipeline clamping travelling device moves to the obstacle accessory, the extending sizes of the first clamping mechanism 1 and the second clamping mechanism 2 can be automatically controlled according to the size data, so that the function of automatically avoiding the obstacle is realized. And when the obstacle detector A16 is arranged, the device has flexibility in use, and the real-time running state and parameters of the pipeline clamping running device can be automatically adjusted according to the results of different identified obstacles, so that the obstacle crossing purpose is realized.
In order to further improve the clamping force of the first clamping mechanism 1 and the second clamping mechanism 2, the pipe 10 is made of iron, steel or the like and can be magnetically attracted. Preferably, the inner sides of the first left clamping jaw 111, the first right clamping jaw 121, the second left clamping jaw 211 and the second right clamping jaw 221 are respectively provided with an electromagnetic member 17, and the inner surface of the electromagnetic member 17 is in contact with the outer surface of the pipeline 10. When the electromagnetic member 17 is electrified, the electromagnetic member has magnetism and can be adsorbed on the outer surface of the pipeline 10, so that the acting force of the clamping device and the pipeline 10 is increased. When the electromagnetic member 17 loses electricity, magnetism is lost, and the displacement motor 37 drives the first clamping mechanism 1 or the second clamping mechanism 2 to move. Therefore, the running gear can adapt to steel pipes with different diameters or steel pipes with variable diameters; providing a strong clamping force and improving the loading capacity (25 kg or more) of the equipment.
When the pipeline 10 is made of iron, steel and the like and capable of being magnetically attracted, for example, when a transformer substation lightning rod, a structural support and the like are used for a steel pipe structure, the corrosion degree of the steel pipe, the internal defects of a welding line and the like are required to be detected so as to avoid collapse accidents.
In order to detect the corrosion degree of the steel pipe, the internal defect of the welding seam, etc., further, the first clamping mechanism 1 and/or the second clamping mechanism 2 are provided with a flaw detection mechanism 4, and the flaw detection mechanism 4 is used for detecting the internal defect of the metal pipe 10.
The flaw detection mechanism 4 comprises a semicircular left bracket 41 and a semicircular right bracket 42, and a plurality of magnetic leakage detectors A12 which are respectively arranged on the inner sides of the left bracket 41 and the right bracket 42, wherein the magnetic leakage detectors A12 are uniformly distributed circumferentially, and the flaw detection mechanism is suitable for carrying out 360-degree circumferential detection on a steel pipe structure at one time, so that the detection efficiency and the detection coverage range are obviously improved. The left support 41 is arranged on the second left clamping plate 21, the right support 42 is arranged on the second right clamping plate 22, the second clamping mechanism 2 contracts and clamps the pipeline 10, and the left magnetic flux leakage detection piece 43 and the right magnetic flux leakage detection piece 44 are enclosed on the periphery of the pipeline 10 to detect internal defects of the pipeline 10 made of metal materials.
Preferably, the defect detection principle adopted by the magnetic flux leakage detector A12 is based on that magnetic force lines are generated on the shallow surface layer of the steel pipe when a magnetic field acts on the surface of the steel pipe, and when the shallow surface layer of the steel pipe has no defect, the magnetic force lines pass through the inside of the steel pipe. When the shallow surface layer of the steel pipe has defects, a part of magnetic force lines can 'leak' to the outside of the steel pipe through the defect part to form a leakage magnetic field, and the leakage magnetic field is detected by the magnetic sensor to judge whether the shallow surface layer of the steel pipe has defects or not.
As shown in fig. 9, the magnetic flux leakage detector a12 performs circumferential detection of the pipe in the height range areas such as the 1 st detection area, the 2 nd detection area, the 3 rd detection area to the n th detection area which can be detected at a time in the up-down direction, each area range being determined by the detection characteristics of the magnetic flux leakage detector. Therefore, the initial position of the second clamping mechanism 2 of the pipeline clamping travelling device is the middle position of the 1 st detection zone, namely corresponds to the 1 st stay position, and the magnetic flux leakage detector A12 can detect the 1 st detection zone of the pipeline in a full coverage mode, then moves up to the 2 nd stay position, detects the 2 nd detection zone, and so on.
Therefore, before the pipeline climbing detection system performs climbing detection on the pipeline, the pipeline clamping travelling device can be subjected to pre-planning design according to the known model data of the pipeline and the detection range of the magnetic leakage detector A12, and is injected into the processor A11 in advance, and the processor A11 controls the working time sequences of the magnetic leakage detector A12, the first double-shaft motor A13, the second double-shaft motor A14 and the displacement motor A15 according to the residence position, so that the pipeline climbing detection system can autonomously detect the pipeline without human intervention.
Preferably, as shown in fig. 1, the operation detection control system further includes an encoder a18 electrically connected to the processor a11, for measuring a running position of the pipe gripping running device on the pipe, and transmitting measurement data to the processor a11, thereby controlling climbing steps of the pipe gripping running device along the pipe.
The walking of the pipeline clamping walking device on the pipeline can be counted through the encoder A18, so that the climbing position on the pipeline is obtained, and the stopping position in fig. 9 can be accurately obtained through the encoder. Preferably, the encoder A18 can also be combined with the obstacle detector A16, and when the obstacle detector A16 detects the distance from an obstacle, the climbing distance can be measured through the encoder A18, so that the pipeline clamping travelling device can be accurately controlled to reach the obstacle, and the obstacle crossing can be regulated and controlled.
Preferably, as shown in fig. 1, the operation detection control system further includes a communication module a17 electrically connected to the processor a11, and is in communication connection with the handheld control terminal B1 through the communication module a17, so as to perform proximal control and data acquisition on the pipe clamping running device.
As shown in fig. 10, a communication connection is established between the operation detection control system A1 and the hand-held control terminal B1, with which the hand-held control terminal B1 can operate and control one or more operation detection control systems A1 in the vicinity, and can receive operation data from the operation detection control system A1 and detection data for a pipe.
Preferably, in connection with fig. 10, as shown in fig. 11, the handheld control terminal B1 and/or the operation detection control system A1 are connected with the cloud platform C1 through network communication, and are used for performing remote control and data acquisition on the pipe clamping running device.
The invention discloses a pipeline climbing detection system, which comprises a pipeline clamping travelling device and an operation detection control system A1 arranged on the pipeline clamping travelling device, wherein the operation detection control system comprises a processor A11, and a magnetic flux leakage detector A12, a first double-shaft motor A13, a second double-shaft motor A14 and a displacement motor A15 which are electrically connected with the processor A11; the processor A11 is used for controlling the first double-shaft motor A13, the second double-shaft motor A14 and the displacement motor A15 to rotate forwards or reversely and is used for clamping, releasing and moving the pipeline clamping travelling device along the pipeline; the processor A11 controls the magnetic leakage detector A12 to apply direct current excitation or alternating current excitation, and acquires pipeline detection data for defect detection of the inner wall and the outer wall of the pipeline. The system also supports the control and data acquisition of the near-end handheld control terminal B1 and the remote cloud platform C1. Can realize independently climbing and detecting, can carry out remote control, use manpower sparingly cost.
It should be noted that the terms like "upper", "lower", "left", "right", "front", "rear", and the like are also used for descriptive purposes only and are not intended to limit the scope of the invention in which the invention may be practiced, but rather the relative relationship of the terms may be altered or modified without materially altering the teachings of the invention.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (8)
1. The pipeline climbing detection system is characterized by comprising a pipeline clamping running device, an operation detection control system (A1) and a handheld control terminal (B1), wherein the operation detection control system (A1) and the handheld control terminal (B1) are arranged on the pipeline clamping running device;
the operation detection control system (A1) controls the pipeline clamping travelling device to move up and down along the pipeline (10), and the operation detection control system (A1) detects defects of the pipeline (10);
the handheld control terminal (B1) is in communication connection with the operation detection control system (A1), the handheld control terminal (B1) controls one or more adjacent operation detection control systems (A1), and receives operation data from the operation detection control system (A1) and detection data of the pipeline (10) by the operation detection control system (A1).
2. The pipe climbing detection system according to claim 1, wherein the pipe clamping travelling device comprises a first clamping mechanism (1), a second clamping mechanism (2) and a connection driving mechanism (3), the first clamping mechanism (1) is located on the upper side of the second clamping mechanism (2), the connection driving mechanism (3) is connected with the first clamping mechanism (1) and the second clamping mechanism (2), the first clamping mechanism (1) and the second clamping mechanism (2) can be expanded and contracted along the horizontal direction, the pipe (10) is clamped when the first clamping mechanism (1) or the second clamping mechanism (2) is contracted, and the pipe (10) is separated when the first clamping mechanism (1) or the second clamping mechanism (2) is expanded.
3. The pipe climbing detection system according to claim 2, wherein the operation detection control system (A1) includes a processor (a 11), and a first biaxial motor (a 13) and a second biaxial motor (a 14) electrically connected to the processor (a 11);
the first clamping mechanism (1) comprises a first left clamping plate (11) and a first right clamping plate (12) which are oppositely arranged; two first extension guide rails (14) are slidably connected between the first left clamping plate (11) and the first right clamping plate (12), the first double-shaft motor (A13) is positioned between the two first extension guide rails (14), the first double-shaft motor (A13) is provided with a first left output shaft and a first right output shaft which are oppositely arranged, the first left output shaft is connected with a first left screw rod (15), the first right output shaft is connected with a first right screw rod (16), the first left screw rod (15) is in threaded connection with the first left clamping plate (11), and the first right screw rod (16) is in threaded connection with the first right clamping plate (12); two ends of the two first extension guide rails (14) are provided with limiting structures; the inner side of the first left clamping plate (11) is provided with a first left clamping jaw (111), the inner side of the first right clamping plate (12) is provided with a first right clamping jaw (121), the first left clamping plate (11) and the first right clamping plate (12) both extend inwards to form a first extension part, and the first extension part is hinged with the first left clamping jaw (111) and the first right clamping jaw (121);
the second clamping mechanism (2) comprises a second left clamping plate (21) and a second right clamping plate (22) which are oppositely arranged, two second extension guide rails (24) are connected between the second left clamping plate (21) and the second right clamping plate (22) in a sliding manner, a second double-shaft motor (A14) is positioned between the two second extension guide rails (24), the second double-shaft motor (A14) is provided with a second left output shaft and a second right output shaft which are oppositely arranged, the second left output shaft is connected with a second left screw rod (25), the second right output shaft is connected with a second right screw rod (26), the second left screw rod (25) is in threaded connection with the second left clamping plate (21), and two ends of the two second extension guide rails (24) are provided with limiting structures; the inner side of the second left clamping plate (21) is provided with a second left clamping jaw (211), the inner side of the second right clamping plate (22) is provided with a second right clamping jaw (221), the second left clamping plate (21) and the second right clamping plate (22) are extended inwards to form a second extension part, and the second extension part is hinged with the second left clamping jaw (211) and the second right clamping jaw (221);
the connecting driving mechanism (3) comprises a first connecting seat (33), a second connecting seat (34) and two lifting guide rails (35), wherein both ends of the first connecting seat (33) and both ends of the second connecting seat (34) are sleeved on the lifting guide rails (35), the first connecting seat (33) is positioned above relative to the second connecting seat (34), the first double-shaft motor (A13) is fixed on the first connecting seat (33), and the second double-shaft motor (A14) is fixed on the second connecting seat (34);
the processor (A11) drives the first double-shaft motor (A13) to rotate, when the first double-shaft motor (A13) rotates positively, the first left clamping plate (11) moves rightwards along the first left screw (15), the first right clamping plate (12) moves leftwards along the first right screw (16), and the first left clamping plate (11) and the first right clamping plate (12) are close to each other and clamp the pipeline (10) at the same time; when the first double-shaft motor (A13) is reversed, the first left clamping plate (11) moves leftwards along the first left screw (15), the first right clamping plate (12) moves rightwards along the first right screw (16), and the first left clamping plate (11) and the first right clamping plate (12) are simultaneously far away from each other and separated from the pipeline (10);
the processor (A11) drives the second double-shaft motor (A14) to rotate, when the second double-shaft motor (A14) rotates positively, the second left clamping plate (21) moves rightwards along the second left screw (25), the second right clamping plate (22) moves leftwards along the second right screw (26), and the second left clamping plate (21) and the second right clamping plate (22) are close to each other and clamp the pipeline (10) at the same time; when the second double-shaft motor (A14) is reversed, the second left clamping plate (21) moves leftwards along the second left screw (25), the second right clamping plate (22) moves rightwards along the second right screw (26), and the second left clamping plate (21) and the second right clamping plate (22) are simultaneously far away from each other and separated from the pipeline (10).
4. A pipeline climbing detection system according to claim 3, wherein the connection driving mechanism (3) further comprises a first fixing seat (31) and a second fixing seat (32), the operation detection control system (A1) further comprises a displacement motor (a 15), the displacement motor (a 15) is electrically connected with the processor (a 11), the first fixing seat (31) is fixedly connected with the top ends of the two lifting guide rails (35), the second fixing seat (32) is fixedly connected with the bottom ends of the two lifting guide rails (35), the displacement motor (a 15) is fixed on the first fixing seat (31), an output shaft of the displacement motor (a 15) downwards penetrates through the first fixing seat (31) and is connected with a lifting screw (36), and the lifting screw (36) penetrates through the first connecting seat (33) and is in threaded connection with the first connecting seat (33); the processor (A11) controls forward rotation and reverse rotation of the displacement motor (A15), and when the first clamping mechanism (1) clamps the pipeline (10) and the second clamping mechanism (2) is separated from the pipeline (10), the displacement motor (A15) forward rotates to drive the lifting guide rail (35) to move upwards relative to the first clamping mechanism (1) so as to drive the second clamping mechanism (2) to ascend; when the first clamping mechanism (1) clamps the pipeline (10) and the second clamping mechanism (2) is separated from the pipeline (10), the displacement motor (A15) is reversed to drive the lifting guide rail (35) to move downwards relative to the first clamping mechanism (1), so as to drive the second clamping mechanism (2) to descend; when the first clamping mechanism (1) is separated from the pipeline (10) and the second clamping mechanism (2) clamps the pipeline (10), the displacement motor (A15) rotates positively to drive the first clamping mechanism (1) to move downwards along the lifting guide rail (35), and when the first clamping mechanism (1) is separated from the pipeline (10) and the second clamping mechanism (2) clamps the pipeline (10), the displacement motor (A15) rotates reversely to drive the first clamping mechanism (1) to move upwards along the lifting guide rail (35).
5. A pipe climbing detection system according to claim 3, wherein the operation detection control system (A1) further comprises an obstacle detector (a 16) and an encoder (a 18) electrically connected to the processor (a 11), the obstacle detector (a 16) being provided at an upper part of the first gripping means (1) and at a lower part of the second gripping means (2), the obstacle detector (a 16) sending a signal to the processor (a 11) when detecting an obstacle on the pipe (10), the processor (a 11) controlling the first gripping means (1) and the second gripping means (2) to spread out over the obstacle; the encoder (A18) counts the walking distance of the pipeline clamping walking device on the pipeline (10), so as to obtain the position of the pipeline clamping walking device on the pipeline (10); the encoder (A18) can be combined with the obstacle detector (A16), and when the obstacle detector (A16) detects the distance from the obstacle, the traveling distance measured by the encoder (A18) is combined, so that the pipeline clamping traveling device is controlled to cross the obstacle; the obstacle detector (A16) adopts one or more of a distance sensor, an infrared detector and a camera.
6. A pipeline climbing detection system according to claim 3, characterized in that flaw detection mechanisms (4) are arranged on the first clamping mechanism (1) and/or the second clamping mechanism (2), and the flaw detection mechanisms (4) comprise semicircular left brackets (41) and right brackets (42); the operation detection control system (A1) further comprises a magnetic leakage detector (A12) electrically connected with the processor (A11), a plurality of magnetic leakage detectors (A12) are arranged on the inner sides of the left bracket (41) and the right bracket (42), the magnetic leakage detectors (A12) are uniformly distributed in the circumference, and the processor (A11) applies direct current excitation or alternating current excitation to the magnetic leakage detectors (A12) and acquires pipeline detection data.
7. A pipeline climbing detection system according to claim 3, wherein the first left clamping jaw (111), the first right clamping jaw (121), the second left clamping jaw (211) and the second right clamping jaw (221) are provided with electromagnetic members (17) on the inner sides, the electromagnetic members (17) are magnetic when powered, the electromagnetic members (17) are adsorbed on the outer surface of the pipeline (10), and the electromagnetic members (17) lose magnetism when powered off.
8. The pipeline climbing detection system according to claim 1, wherein the operation detection control system (A1) further comprises a communication module (a 17) electrically connected with the processor (a 11), the communication module (a 17) is in communication with a handheld control terminal (B1) for performing proximal manipulation and data acquisition on the pipeline gripping walking device, and the handheld control terminal (B1) and/or the operation detection control system (A1) are in communication connection with the cloud platform (C1) via a network for performing remote manipulation and data acquisition on the pipeline gripping walking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259367.4A CN116279883A (en) | 2023-03-17 | 2023-03-17 | Pipeline climbing detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310259367.4A CN116279883A (en) | 2023-03-17 | 2023-03-17 | Pipeline climbing detecting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116279883A true CN116279883A (en) | 2023-06-23 |
Family
ID=86788287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310259367.4A Pending CN116279883A (en) | 2023-03-17 | 2023-03-17 | Pipeline climbing detecting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116279883A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117842228A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Pipe climbing operation robot for superheater |
-
2023
- 2023-03-17 CN CN202310259367.4A patent/CN116279883A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117842228A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Pipe climbing operation robot for superheater |
| CN117842228B (en) * | 2024-03-08 | 2024-06-25 | 西安热工研究院有限公司 | Pipe climbing operation robot for superheater |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106142049B (en) | Hot line robot | |
| CN116279883A (en) | Pipeline climbing detecting system | |
| CN104259830B (en) | A kind of high-tension battery assembly equipment | |
| CN104993422A (en) | Line inspection robot on-line and off-line device and line inspection robot on-line and off-line system provided with same | |
| CN112012113B (en) | Multifunctional bridge detection robot and working method | |
| CN110936076A (en) | Manifold welding system | |
| CN108724158B (en) | Pole climbing robot | |
| CN105951594A (en) | Bridge detection device and bridge detection method | |
| EP2709772A1 (en) | Method and vehicle for inspecting and/or treating a surface of a wind turbine or building, and wind turbine provided therewith | |
| CN107499460B (en) | Automatic laying and recycling system for unmanned surface vehicle | |
| CN111673720A (en) | Structure and motion planning method for downpipe three-dimensional crossing pipeline climbing robot | |
| CN213320132U (en) | Climbing robot structure for pipe in water stereo crossing pipeline | |
| CN105846348B (en) | Walking mechanism, inspection robot mechanical structure and its obstacle-detouring method | |
| CN102039508A (en) | H-shape steel fitting up machine | |
| CN112982154A (en) | Stay cable detection robot | |
| CN111562309A (en) | Ultrasonic phased array weld joint detection magnetic adsorption wall climbing robot and working method thereof | |
| CN105239504A (en) | Cable inspection robot | |
| CN110539817A (en) | creeping type pipeline external detection robot | |
| CN110539316A (en) | Ground potential operation method, live working robot for distribution network overhead line and manipulator | |
| CN116399939A (en) | Pipeline climbing detection method | |
| CN109434342A (en) | A kind of anode steel claw welding system | |
| CN117028741A (en) | Inspection robot and inspection method suitable for main branch pipe with large height difference | |
| CN215525596U (en) | High-rise welding seam X ray detection auxiliary device of storage tank | |
| CN216917307U (en) | Pipe belt machine and inspection mechanism thereof | |
| CN116118891A (en) | Pipeline clamping running gear |
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 |