CN117182974B - Positioning fastener of underwater pipeline detection robot - Google Patents
Positioning fastener of underwater pipeline detection robot Download PDFInfo
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- CN117182974B CN117182974B CN202311453023.3A CN202311453023A CN117182974B CN 117182974 B CN117182974 B CN 117182974B CN 202311453023 A CN202311453023 A CN 202311453023A CN 117182974 B CN117182974 B CN 117182974B
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 238000005452 bending Methods 0.000 claims abstract description 26
- 239000000523 sample Substances 0.000 claims abstract description 6
- 238000007689 inspection Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 11
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention relates to the technical field of robots, in particular to a positioning fastener of an underwater pipeline detection robot, which comprises the following components: the mounting frame comprises two guide rods which are arranged in parallel, a robot body is slidably arranged between the two guide rods, and a detection probe is fixedly arranged at the bottom of the robot body; the fastening clamp comprises two movable arms which are mutually intersected and in an X shape, the lower end of the bending part is rotatably provided with a claw, and a traction rod is arranged between the two claws; the beneficial effects are as follows: through all being provided with fastening jig at the both ends of mounting bracket, fastening jig includes that two intercrosses are the expansion arm of "X" form, and the lower extreme rotation of bending is installed the jack catch, is connected with the traction lever between the upper end of two jack catch, just to the pipeline with robot body bottom, then is close to the pipeline, and the pipeline outer wall can extrude the traction lever and drive two jack catch automatic rotation and be close to each other, until the pipeline presss from both sides tightly, compares in traditional structure, and positioning work is simpler.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a positioning fastener of an underwater pipeline detection robot.
Background
Underwater pipelines are important equipment for petroleum transportation, and pipeline detection work is particularly important, and because underwater, particularly submarine, environments are severe, the detection of underwater pipelines is generally carried out by an underwater robot on which detection equipment is mounted.
The invention in China with the publication number of CN111038669B discloses a submarine pipeline detection type underwater robot, wherein a clamp device of the submarine pipeline detection type underwater robot converts rotation of a left bracket and a right bracket through a linear guide rail sliding block mechanism, so that a claw on the bracket is driven to rotate, the clamp device is finally converted into a clamping force on a pipeline, shaking and swinging of an ROV body are prevented, and the working reliability of the clamp is ensured.
But the angle that opens of the claw of the device is less, and the robot itself needs to be located the assigned position, guarantees that two claws are located the pipeline both sides respectively, then just can fix self in the pipeline outside through rotating the claw, and under water, because the flow of water, the robot position is difficult to keep stable, the dislocation easily takes place for the in-process that the claw pressed from both sides the pipeline, leads to the location work of robot comparatively difficulty. Therefore, the invention provides a positioning fastener of an underwater pipeline detection robot, which is used for solving the problems.
Disclosure of Invention
The invention aims to provide a positioning fastener of an underwater pipeline detection robot, which is used for solving the problem that the positioning work of the robot in the background technology is difficult.
In order to achieve the above purpose, the present invention provides the following technical solutions: an underwater pipeline inspection robot positioning fastener, comprising:
the device comprises a mounting frame, wherein the mounting frame comprises two guide rods which are arranged in parallel, a robot body is slidably arranged between the two guide rods, and a detection probe is fixedly arranged at the bottom of the robot body;
the fastening anchor clamps, the fastening anchor clamps are provided with two and are located the both ends of mounting bracket respectively, the fastening anchor clamps include two intercrossing is the expansion arm of "X" form, two the upper end of expansion arm rotates with the tip of two guide bars respectively and is connected, the lower extreme of expansion arm is buckled and is formed the portion of bending, the lower extreme of the portion of bending rotates installs the jack catch, and the portion of bending is located the jack catch middle part with the rotation junction of jack catch, two be provided with the traction lever between the jack catch, the both ends of traction lever rotate with the upper end of two jack catches respectively and be connected.
Preferably, the bending part and the clamping jaw are both arranged in a shape of a letter <, the inner side of the clamping jaw is pressed on the surface of the pipeline, a connecting seat is fixedly arranged at the corner of the outer side of the clamping jaw, a pin shaft is fixedly arranged at the lower end of the bending part, and the bending part is rotationally connected with the connecting seat through the pin shaft.
Preferably, the upper and lower both sides of jack catch inner wall have seted up vertical friction line and horizontal friction line respectively, the rotary groove has been seted up to the upper end of jack catch, the tip of traction lever is located the rotary groove inner chamber and rotates with it and be connected.
Preferably, the middle part of the traction rod is fixedly provided with a rubber sleeve, two ends of the traction rod are movably penetrated and provided with shaft rods perpendicular to the traction rod, and the shaft rods are positioned in the inner cavity of the rotating groove and the end parts of the shaft rods are fixedly connected with the inner wall of the rotating groove.
Preferably, the middle part of the movable arm is provided with a avoiding groove, the upper end of the movable arm is fixedly connected with a rope guide block, the middle part of the rope guide block is movably penetrated with a traction rope, and the lower end of the traction rope is tightly tightened and fixedly connected with the lower end of the other movable arm.
Preferably, one side of the fastening clamp is provided with a mounting plate, the two ends of the mounting plate are respectively fixed with the end parts of two guide rods, the surface of the mounting plate is fixedly provided with a winding motor, the output end of the winding motor is fixedly connected with a winding roller, two traction ropes are wound on the outer side of the winding roller, and a waterproof cover is arranged on the outer side of the winding motor.
Preferably, the lower extreme surface of the movable arm is provided with a groove, the groove bottom is fixedly provided with a rope sleeve, the lower end of the traction rope is fixedly connected with the rope sleeve, the outer side of the rope sleeve is sleeved with a compression spring, the compression spring is sleeved on the outer side of the lower end of the traction rope, and the upper end of the compression spring abuts against the lower surface of the rope guide block.
Preferably, the outside of robot body is fixed and is provided with outer frame, the both sides of outer frame are all fixed and are provided with foraminiferous lug, foraminiferous lug movable sleeve establishes the outside at the guide bar that corresponds with it, flexible push rod is all installed at the both ends of robot body, flexible push rod's one end is fixed at the mounting panel middle part.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the fastening clamps are arranged at the two ends of the mounting frame, the fastening clamps comprise the two movable arms which are mutually crossed and are in an X shape, the upper ends of the two movable arms are respectively connected with the ends of the two guide rods in a rotating way, the lower ends of the movable arms are downwards bent to form the bending parts, the lower ends of the bending parts are rotatably provided with the clamping jaws, the traction rods are connected between the upper ends of the two clamping jaws, the rotation center of the movable arms in the device is positioned at the upper end of the device, the rotation angle is larger, after the clamping jaws are opened by rotation of the movable arms, the two clamping jaws are pulled by the traction rods to be opened to a larger angle, then the bottom of the robot body is opposite to the pipeline and then is close to the pipeline, the outer wall of the pipeline can squeeze the traction rods and drive the two clamping jaws to automatically rotate and mutually close to each other until the pipeline is clamped.
Drawings
FIG. 1 is a schematic diagram of the overall structure installation of the present invention;
FIG. 2 is a perspective view of the whole structure of the present invention;
FIG. 3 is a schematic side view of the structure of FIG. 1 in accordance with the present invention;
FIG. 4 is a schematic perspective view of the structure of the fastening clamp of the present invention;
FIG. 5 is a schematic view of the installation of the robot body structure of the present invention;
FIG. 6 is a schematic perspective view of the pawl structure of the present invention;
fig. 7 is a schematic view showing the opening of the jaw structure according to the present invention.
In the figure: 1. a guide rod; 2. a robot body; 21. an outer frame; 22. a tape Kong Tukuai; 23. a telescopic push rod; 3. a fastening clamp; 31. a movable arm; 32. a bending part; 33. a pin shaft; 34. an avoidance groove; 35. a rope guide; 4. a claw; 41. vertical friction lines; 42. transverse rubbing lines; 43. a rotating groove; 44. a connecting seat; 5. a traction rod; 6. a mounting plate; 61. a winding motor; 62. a wind-up roll; 63. a traction rope; 7. a groove; 71. a rope sleeve; 73. and (5) compressing the spring.
Detailed Description
In order to make the objects, technical solutions, and advantages of the present invention more apparent, the embodiments of the present invention will be further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some, but not all, embodiments of the present invention, are intended to be illustrative only and not limiting of the embodiments of the present invention, and that all other embodiments obtained by persons of ordinary skill in the art without making any inventive effort are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," "horizontal," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "a," an, "" the first, "" the second, "" the third, "" the fourth, "" the fifth, "and the sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
For purposes of brevity and description, the principles of the embodiments are described primarily by reference to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one of ordinary skill in the art that the embodiments may be practiced without limitation to these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
Referring to fig. 1 to 7, the present invention provides a technical solution:
in one embodiment, an underwater pipeline inspection robot positioning fastener comprises: a mounting bracket and a fastening clamp 3.
Specifically, the mounting frame comprises two guide rods 1 which are arranged in parallel, a robot body 2 is slidably arranged between the two guide rods 1, a detection probe is fixedly arranged at the bottom of the robot body 2, as shown in fig. 1 and 2, the guide rods 1 are parallel to the pipeline, the robot body 2 can slide between the two guide rods 1 along the length direction of the pipeline so as to change the detection probes at the bottom of the robot body 2 to detect different positions of the pipeline, the robot body 2 is of a known structure, and a propeller is arranged in the robot body for moving underwater, and is not repeated herein;
secondly, the fastening anchor clamps 3 are provided with two and lie in the both ends of mounting bracket respectively, fastening anchor clamps 3 are mainly used to fix the mounting bracket in the pipeline outside, the primary structure of fastening anchor clamps 3 includes two intercrossing is the digging arm 31 of "X" form, the upper end of two digging arms 31 rotates with the tip of two guide bars 1 respectively and is connected, as shown in fig. 4, two digging arms 31 all can rotate, and center of rotation coincides with the guide bar 1 of corresponding position, the lower extreme of digging arm 31 is buckled and is formed bending part 32, bending part 32's lower extreme rotates and installs jack catch 4, and bending part 32 and jack catch 4's rotation junction lie in jack catch 4 middle part, jack catch 4 can be driven when the digging arm 31 rotates, thereby change the interval between two jack catch 4, when two jack catch 4 are close to each other, two jack catch 4 can block the both sides at the pipeline respectively, be provided with traction lever 5 between two jack catch 4, the both ends of traction lever 5 rotate with the upper end of two jack catch 4 respectively and are connected, as shown in fig. 6, traction lever 5 is used for carrying out traction to 4's upper end, when two jack catch 4 rotate junction, jack catch 4 is located in jack catch 4, and can drive jack catch 4 and the mutual position can press down the jack catch 4, and the machine body is moved to the jack catch 2 along with the outer side 2 gradually, can be moved to the jack catch body is moved to the jack catch 2 along with the jack catch 4, and the machine body is moved to the jack catch 2 when the jack catch 4 is moved by the mutual, can be moved by the jack catch body is far away from the jack catch body 2 to the jack catch 2.
In order to avoid jack catch 4 to receive the free arm 31 to block when rotating, the bending part 32 and jack catch 4 of this application all set up to "<" font, as shown in fig. 3, the rotatable angle of jack catch 4 can be increased to the bending part 32 of "<" font, avoid jack catch 4 to receive the blocking of free arm 31 when rotating, and "<" jack catch 4 of font is in order to be convenient for carry out more stable chucking to the pipeline, the inboard pressure of jack catch 4 is on the pipeline surface, the fixed connecting seat 44 that is provided with in outside corner of jack catch 4, the fixed round pin axle 33 that is provided with of lower extreme of bending part 32, be connected through round pin axle 33 rotation between bending part 32 and the connecting seat 44, combine fig. 6 and fig. 4 to know that jack catch 4 rotates with bending part 32 and is connected the back, consequently, jack catch 4 can take place to rotate under the effect of lever principle when traction jack catch 4 upper end, thereby realize opening and the function that the pipeline is pressed from top to bottom.
In order to improve the stability of this device, this application has still that vertical friction line 41 and horizontal friction line 42 have been seted up respectively in the upper and lower both sides of jack catch 4 inner wall, as shown in fig. 6, the frictional force between jack catch 4 and the pipeline can be increased in the setting of vertical friction line 41 and horizontal friction line 42, prevent that jack catch 4 from moving by the influence that the water flows after pressing from both sides the clamp to the pipeline, and then improve the stability of this device, rotary groove 43 has been seted up to the upper end of jack catch 4, the tip of traction lever 5 is located rotary groove 43 inner chamber and rotates with it to be connected, the seting up of rotary groove 43 can avoid traction lever 5 to bump with jack catch 4 when traction jack catch 4 rotates and lead to jack catch 4's rotation to be hindered.
In order to rotate the traction rod 5 with jack catch 4 and be connected, this application still has the fixed rubber sleeve that is provided with in the middle part of traction rod 5 for receive traction rod 5 to scrape when preventing pipeline and traction rod 5 contact and bump and damage, the both ends of traction rod 5 all activity run through be provided with it vertically axostylus axostyle, the axostylus axostyle is located the inner chamber of rotation groove 43 and the tip and the rotation groove 43 inner wall fixed connection of axostylus axostyle, as shown in fig. 6, the relative rotation direction between traction rod 5 and the jack catch 4 is the axostylus axostyle around this place.
In order to pull the movable arm 31 to rotate, the application further has the advantages that the avoidance groove 34 is formed in the middle of the movable arm 31, as shown in fig. 4, the avoidance groove 34 is formed to prevent the two movable arms 31 from being blocked when rotating, the upper end of the movable arm 31 is fixedly connected with the rope guide block 35, the middle of the rope guide block 35 is movably penetrated with the pull rope 63, the lower end of the pull rope 63 is tightly pulled and fixedly connected with the lower end of the other movable arm 31, the pull rope 63 is pulled through the upper end of the pull rope 63, and the lower end of the pull rope 63 can pull the corresponding movable arm 31 to rotate, so that the two movable arms 31 are mutually opened.
In order to carry out the rolling to the traction rope 63, the application still has one side at fastening fixture 3 and is provided with mounting panel 6, the tip of two guide bars 1 is fixed respectively at the both ends of mounting panel 6, the fixed surface of mounting panel 6 installs winding motor 61, and winding motor 61's output fixedly connected with wind-up roll 62, two traction ropes 63 all twine in the wind-up roll 62 outside, as shown in fig. 4, winding motor 61 during operation can twine two traction ropes 63 simultaneously, and then drive two movable arms 31 synchronous revolution and open, winding motor 61's outside is provided with the buckler, in order to protect winding motor 61.
In order to ensure that the clamping jaw 4 can be clamped outside a pipeline, the clamping jaw device is further provided with a groove 7 formed in the lower end surface of the movable arm 31, a rope sleeve 71 is fixedly arranged at the bottom of the groove 7, the lower end of the traction rope 63 is fixedly connected with the rope sleeve 71 and used for fixedly connecting the traction rope 63 with the movable arm 31, a compression spring 73 is sleeved outside the outer side of the rope sleeve 71, the compression spring 73 is sleeved outside the lower end of the traction rope 63, the upper end of the compression spring 73 abuts against the lower surface of the rope guide block 35, the compression spring 73 is used for rotating and resetting the opened movable arm 31, so that two bending parts 32 are mutually close to drive the two clamping jaws 4 to be clamped on two sides of the pipeline, that is, the clamping force of the clamping jaw 4 to the pipeline is controlled by the elastic force of the compression spring 73, and the traction rope 63 is only used for releasing the clamping jaw 4 to clamp the pipeline.
In order to install robot body 2, this application still has the outside fixed outer frame 21 that is provided with at robot body 2, the both sides of outer frame 21 are all fixed to be provided with area Kong Tukuai, the outside at guide bar 1 that corresponds with it is established to foraminiferous lug 22 movable sleeve, it can only be followed the length direction slip of guide bar 1 to combine fig. 5 and fig. 2 to foraminiferous lug 22, thereby lead the removal of robot body 2, telescopic push rod 23 is all installed at robot body 2's both ends, telescopic push rod 23's one end is fixed at mounting panel 6 middle part, be used for promoting robot body 2 and remove along the length direction of guide bar 1 when telescopic push rod 23 work, so that the test probe of robot body 2 bottom detects the different positions of pipeline.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an underwater pipeline detects robot positioning fastener which characterized in that: comprising the following steps:
the device comprises a mounting frame, wherein the mounting frame comprises two guide rods (1) which are arranged in parallel, a robot body (2) is slidably arranged between the two guide rods (1), and a detection probe is fixedly arranged at the bottom of the robot body (2);
fastening anchor clamps (3), fastening anchor clamps (3) are provided with two and are located the both ends of mounting bracket respectively, fastening anchor clamps (3) are including two intercrossing be expansion arm (31) of "X" form, two the upper end of expansion arm (31) rotates with the tip of two guide bars (1) respectively and is connected, the lower extreme of expansion arm (31) is buckled and is formed bending portion (32), jaw (4) are installed in the lower extreme rotation of bending portion (32), and bending portion (32) are located jaw (4) middle part with the rotation junction of jaw (4), two be provided with traction lever (5) between jaw (4), the both ends of traction lever (5) rotate with the upper end of two jaws (4) respectively and are connected.
2. An underwater pipeline inspection robot positioning fastener as claimed in claim 1, wherein: the utility model discloses a pipeline structure, including bending portion (32) and jack catch (4), the inboard of jack catch (4) is pressed at the pipeline surface, the outside corner of jack catch (4) is fixed to be provided with connecting seat (44), the lower extreme of bending portion (32) is fixed to be provided with round pin axle (33), rotate through round pin axle (33) between bending portion (32) and connecting seat (44) and be connected.
3. An underwater pipeline inspection robot positioning fastener as claimed in claim 1, wherein: vertical friction lines (41) and transverse friction lines (42) are respectively formed in the upper side and the lower side of the inner wall of the clamping jaw (4), a rotating groove (43) is formed in the upper end of the clamping jaw (4), and the end portion of the traction rod (5) is located in the inner cavity of the rotating groove (43) and is connected with the inner cavity in a rotating mode.
4. A positioning fastener for an underwater pipeline inspection robot as claimed in claim 3, wherein: the middle part of traction lever (5) is fixed and is provided with the rubber sleeve, the both ends of traction lever (5) all activity run through be provided with the axostylus axostyle perpendicular with it, the axostylus axostyle is located the inner chamber of rotation groove (43) and the tip and the rotation groove (43) inner wall fixed connection of axostylus axostyle.
5. An underwater pipeline inspection robot positioning fastener as claimed in claim 1, wherein: the middle part of the movable arm (31) is provided with a avoiding groove (34), the upper end of the movable arm (31) is fixedly connected with a rope guide block (35), the middle part of the rope guide block (35) is movably penetrated with a traction rope (63), and the lower end of the traction rope (63) is tightly tightened and fixedly connected with the lower end of the other movable arm (31).
6. An underwater pipeline inspection robot positioning fastener as claimed in claim 5, wherein: one side of fastening anchor clamps (3) is provided with mounting panel (6), the tip of two guide bars (1) is fixed respectively at the both ends of mounting panel (6), the fixed surface of mounting panel (6) installs rolling motor (61), and the output fixedly connected with wind-up roll (62) of rolling motor (61), two traction rope (63) all twine in wind-up roll (62) outside, the outside of rolling motor (61) is provided with the buckler.
7. An underwater pipeline inspection robot positioning fastener as claimed in claim 5, wherein: the lower extreme surface of digging arm (31) has seted up recess (7), recess (7) tank bottom fixedly is provided with rope cover (71), the lower extreme and the rope cover (71) fixed connection of traction rope (63), the outside cover of rope cover (71) is equipped with hold-down spring (73), hold-down spring (73) cover is located the lower extreme outside of traction rope (63) and the upper end of hold-down spring (73) supports rope guide (35) lower surface.
8. An underwater pipeline inspection robot positioning fastener as claimed in claim 1, wherein: the outside of robot body (2) is fixed and is provided with outer frame (21), the both sides of outer frame (21) are all fixed and are provided with area Kong Tukuai (22), area Kong Tukuai (22) movable sleeve is established in the outside of guide bar (1) that corresponds with it, flexible push rod (23) are all installed at the both ends of robot body (2), the one end of flexible push rod (23) is fixed at mounting panel (6) middle part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311453023.3A CN117182974B (en) | 2023-11-03 | 2023-11-03 | Positioning fastener of underwater pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311453023.3A CN117182974B (en) | 2023-11-03 | 2023-11-03 | Positioning fastener of underwater pipeline detection robot |
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| Publication Number | Publication Date |
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| CN117182974A CN117182974A (en) | 2023-12-08 |
| CN117182974B true CN117182974B (en) | 2024-01-05 |
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| CN202311453023.3A Active CN117182974B (en) | 2023-11-03 | 2023-11-03 | Positioning fastener of underwater pipeline detection robot |
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| JP2018105494A (en) * | 2016-12-28 | 2018-07-05 | 株式会社移動ロボット研究所 | Robot for piping inspection |
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| CN110978039A (en) * | 2019-12-11 | 2020-04-10 | 东北石油大学 | Fixed pipeline clamp for detection type underwater robot |
| CN111002324A (en) * | 2019-12-31 | 2020-04-14 | 中国人民解放军92578部队 | Pipe outer wall robot of crawling |
| CN112338931A (en) * | 2020-10-29 | 2021-02-09 | 南通理工学院 | Underwater pipeline detection robot for shallow water area |
| CN112976001A (en) * | 2021-02-25 | 2021-06-18 | 中国计量大学 | Piping lane inspection robot |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
-
2023
- 2023-11-03 CN CN202311453023.3A patent/CN117182974B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018105494A (en) * | 2016-12-28 | 2018-07-05 | 株式会社移動ロボット研究所 | Robot for piping inspection |
| CN108482618A (en) * | 2018-02-06 | 2018-09-04 | 青岛远创机器人自动化有限公司 | A kind of jacket Corrosion monitoring climbing robot of no magnetic interference |
| CN110978039A (en) * | 2019-12-11 | 2020-04-10 | 东北石油大学 | Fixed pipeline clamp for detection type underwater robot |
| CN111002324A (en) * | 2019-12-31 | 2020-04-14 | 中国人民解放军92578部队 | Pipe outer wall robot of crawling |
| CN112338931A (en) * | 2020-10-29 | 2021-02-09 | 南通理工学院 | Underwater pipeline detection robot for shallow water area |
| CN112976001A (en) * | 2021-02-25 | 2021-06-18 | 中国计量大学 | Piping lane inspection robot |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
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| CN117182974A (en) | 2023-12-08 |
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Inventor after: Chen Qinglong Inventor after: Yang Ping Inventor after: Liang Rujie Inventor after: Fu Chuanbao Inventor after: Liu Ruixin Inventor after: Tan Haoyu Inventor before: Chen Qinglong Inventor before: Yang Ping Inventor before: Liang Rukai Inventor before: Fu Chuanbao Inventor before: Liu Ruixin Inventor before: Tan Haoyu |
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