CN110541999B - Hollow shaft pneumatic pipeline robot - Google Patents
Hollow shaft pneumatic pipeline robot Download PDFInfo
- Publication number
- CN110541999B CN110541999B CN201910922078.1A CN201910922078A CN110541999B CN 110541999 B CN110541999 B CN 110541999B CN 201910922078 A CN201910922078 A CN 201910922078A CN 110541999 B CN110541999 B CN 110541999B
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- Prior art keywords
- hollow shaft
- module
- air bag
- air
- walking
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- 239000002184 metal Substances 0.000 claims description 27
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 230000002093 peripheral effect Effects 0.000 claims description 5
- 239000007789 gas Substances 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000012770 industrial material Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hollow shaft pneumatic pipeline robot. The invention consists of a first walking module, a connecting plate, a second walking module, a connecting column and a small air pump; the two walking modules have the same structure and mainly comprise a sliding telescopic module, an air bag, a cover plate, an air pipe and a hollow shaft; the outer wall of the hollow shaft, the cover plates at the two ends of the hollow shaft and the air bags coated on the outer side of the hollow shaft form a cavity together, and the sliding telescopic module divides the whole cavity into two cavities with variable volumes; the air pipe extending from the small air pump passes through the hollow shaft and is connected with the two cavities of the walking module through the interfaces on the cover plates at the two ends of the hollow shaft; the small air pump can respectively control the air pressure of compressed air entering the cavity, so that the movement state of the sliding telescopic module is changed. The switching cooperation between the motion states of the two walking modules enables the hollow shaft pneumatic pipeline robot to move in the pipeline.
Description
Technical Field
The invention relates to the technical field of robots. In particular to a hollow shaft pneumatic pipeline robot.
Background
Pipes are an extremely important transportation route in our daily life and industrial production. Although the system has the advantages of high efficiency, energy saving, high space utilization rate and the like, the overhaul process is extremely tedious, especially for pipelines which are buried in high altitude or deep underground. These pipes are used for water, oil, gas transport, or for transporting various industrial materials. The diameter size is much smaller than the shoulder width (40 cm) of an adult, and the internal environment of the pipeline is complex and severe, so that the maintenance of the pipeline in the pipeline is almost impossible by manpower. The traditional external maintenance or replacement mode has the defects of long maintenance period, large engineering quantity and high cost, and is extremely easy to cause accidents of massive leakage of residual substances in the pipe. Therefore, a carrying platform capable of moving in the inner space of a pipeline and carrying various maintenance equipment is urgently needed at present, and various operations such as exploration, dredging, repair and the like are carried out on the pipeline by utilizing the existing columnar space in the pipeline.
The pipeline robot may be classified into an electric pipeline robot, a hydraulic pipeline robot, and a pneumatic pipeline robot according to the difference of power sources. The electric pipeline robot may generate electric spark in the movement process, and may generate explosion in the movement of the pipeline for transporting flammable and explosive gases such as natural gas. The main problem of the hydraulic pipeline robot is that the structure is complicated and heavy, and hydraulic oil is easy to leak and pollute the pipeline. It can be seen that pneumatic pipe robots are a good choice.
In the prior art, there is a pneumatic pipeline robot using compressed air as power, and the pneumatic pipeline robot adopts an air cylinder to respectively drive a supporting module and a walking module so as to enable the robot to move in a pipeline. The design structure is complex, a large number of air cylinders and corresponding control valves are needed, the cost and the volume are increased, and the large-sized air cylinder is difficult to widely popularize and use in small pipe diameters. Meanwhile, the pneumatic driving rod piece is in a walking motion mode similar to the inside of the pipeline, and the efficiency is low.
Disclosure of Invention
The invention provides the hollow shaft pneumatic pipeline robot with compact structure and high motion efficiency in order to avoid the defects in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the hollow shaft pneumatic pipeline robot consists of a first walking module, a connecting plate, a second walking module, a connecting column and a small air pump; the first walking module is connected with the second walking module through a connecting plate, and the second walking module is connected with the small air pump through a connecting column;
The first walking module and the second walking module have the same structure and consist of a sliding telescopic module, an air bag, cover plates positioned at two ends, and an air pipe and a hollow shaft which are respectively connected with the cover plates at two ends; the two ends of the air bag and the hollow shaft are respectively bonded with cover plates at the two ends to form a circular cavity, the sliding telescopic module is sleeved outside the air bag, a part of the air bag is tightly pressed on the outer wall of the hollow shaft, and the whole cavity is divided into two cavities with variable volumes; the air pipe extending from the small air pump passes through the hollow shaft and is connected with the two cavities of the walking module through the interfaces on the cover plates at the two ends of the hollow shaft;
the sliding telescopic module comprises two annular sliding blocks, an elastic metal sheet group, two roller groups and a compression spring; the two annular sliding blocks are sleeved outside the air bag, and part of the air bag is pressed onto the outer wall of the hollow shaft; the compression spring is also sleeved outside the air bag and positioned between the two annular sliding blocks; two ends of each metal sheet in the elastic metal sheet group are respectively fixed with the peripheral surfaces of the two annular sliding blocks through screws and are circumferentially distributed along the axis of the hollow shaft; each roller group comprises a plurality of rollers, the axes of the hollow shafts are used as shafts, and each roller is fixed on the inner peripheral surface of the annular sliding block through screws and presses the air bag onto the outer wall of the hollow shaft.
The air pipe passes through the hollow shaft and enters four cavities formed by the two walking modules. The sliding expansion module can be expanded and deformed by adjusting the air pressure of the compressed air entering each cavity. When the sliding telescopic module is compressed, the elastic metal sheet group in the module is contacted with the inner wall of the pipeline and supports the robot body, and when the sliding telescopic module is stretched, the elastic metal sheet is separated from the contact with the inner wall of the pipeline. The size of the cavity can be changed by adjusting the air pressure of the compressed air entering the cavity, and the change of the air bag can lead the roller group to push the sliding telescopic module to move along the hollow shaft. The coordination of the extension and the movement of the sliding extension modules in the two walking modules finally enables the hollow shaft pipeline robot to move in the pipeline.
The invention has the following beneficial effects:
The invention only comprises two executing structures, has compact structure, small occupied space and high-efficiency movement, and is suitable for being used in pipelines with narrow space.
Drawings
FIG. 1 is a schematic illustration of a hollow shaft pneumatic tubing robot according to the present invention;
FIG. 2 is a longitudinal cross-sectional view of a first travel module of the hollow shaft pneumatic pipeline robot of the present invention;
FIG. 3 is a longitudinal cross-sectional view of a second traveling module of the hollow shaft pneumatic pipeline robot of the present invention;
FIG. 4 is a schematic view of the internal structure of the hollow shaft pneumatic pipeline robot according to the invention;
Fig. 5 is a schematic diagram of the motion state of the hollow shaft pneumatic pipeline robot.
Detailed Description
The essential features and advantages of the invention will be further elucidated with reference to the examples, without however being limited to the embodiments listed.
As shown in fig. 1 to 4, the hollow shaft pneumatic pipeline robot provided by the invention comprises a first walking module 1, a connecting plate 2, a second walking module 3, a connecting column 4 and a small air pump 5; wherein the first walking module 1 is connected with the second walking module 3 through a connecting plate 2; the second walking module 3 is connected with a small air pump 5 through a connecting column 4.
Further, as shown in fig. 2 and 4, the first traveling module 1 mainly comprises a first cover plate 11, a first air bag 12, a first sliding telescopic module 13, a second cover plate 14, a second air pipe 15, a first hollow shaft 16 and a first air pipe 17; the first sliding telescopic module 13 mainly comprises a first annular sliding block 131, a first elastic metal sheet group 132, a second annular sliding block 133, a second roller group 134, a first compression spring 135, a first roller group 136 and a first screw group 137; the first air bag 12 and the two ends of the first hollow shaft 16 are respectively bonded with the first cover plate 11 and the second cover plate 14 to form a circular cavity, the first sliding telescopic module 13 is sleeved outside the first air bag 12, and a part of the first air bag 12 is tightly pressed on the first hollow shaft 16 through the first annular sliding block 131 and the second annular sliding block 133 in the first sliding telescopic module 13, so that the circular cavity is divided into two independent part cavities, and the circular cavity can move along the axis of the first hollow shaft 16; Compressed air generated by the small air pump 5 can enter a cavity part between the first cover plate 11 and the first annular slide block 131 through the first air pipe 17, compressed air generated by the small air pump 5 can enter a cavity part between the second cover plate 14 and the second annular slide block 133 through the second air pipe 15, and the cavity part between the first annular slide block 131 and the second annular slide block 133 cannot enter the compressed air; the first roller group 136 comprises a plurality of rollers, takes the axis of the first hollow shaft 16 as a shaft, is distributed on the first annular sliding block 131 in a circumferential array mode, and the first roller group 136 is fixed on the inner peripheral surface of the first annular sliding block 131 through a first screw group 137; the second roller group 134 includes a plurality of rollers, takes the axis of the first hollow shaft 16 as a shaft, is distributed on the second annular sliding block 133 in a circumferential array manner, and is also fixed by a screw group; the first annular slider 131 and the second annular slider 133 are movable along the axis of the first hollow shaft 16 on the surface of the first air bag 12 by the first roller group 131 and the second roller group 133, respectively; the metal sheets in the first elastic metal sheet group 132 are distributed in a circumferential array by taking the axis of the first hollow shaft 16 as the shaft, and the two sides of the metal sheets are respectively fixed on the first annular sliding block 131 and the second annular sliding block 133 by adopting screw groups; The first compression spring 135 is disposed between the first annular slider 131 and the second annular slider 133 with the first hollow shaft 16 as an axis; when the two cavities of the first air bag 12 are not filled with compressed air, the first sliding telescopic module 13 stretches under the action of the first compression spring 135 and is static relative to the first air bag 12, and at the moment, the first sliding telescopic module 13 is in a stretching static state; when compressed air enters a certain cavity through the first air pipe 17 and the second air pipe 15, the first sliding telescopic module 13 stretches under the action of the first compression spring 135, but moves to the side of the cavity with low pressure along the surface of the first air bag 12 under the action of air pressure, and at the moment, the first sliding telescopic module 13 is in a stretching movement state; When compressed air enters the left and right cavities formed in the first air bag 12 through the first air pipe 17 and the second air pipe 15 respectively, the two cavities start to expand, pressure is applied to the first roller group 136 and the second roller group 134, the first compression spring 135 is compressed, the metal sheets in the first compression spring metal sheet group 132 are compressed and bulge outwards until balance between elasticity and pressure is achieved, at the moment, the distance between the first annular sliding block 131 and the second annular sliding block 133 is reduced, and the first sliding telescopic module 13 is in a contracted state; in the contracted state, if the air pressures of the left and right cavities formed inside the first air bag 12 are equal, the first sliding expansion module 13 is stationary with respect to the first air bag 12 in a contracted stationary state; In the contracted state, when the pressures of the two cavities are different, the first sliding expansion module 13 moves to the cavity side with low pressure along the surface of the first air bag 12 until the air pressures in the two cavities are equal or the first sliding expansion module 13 moves to a certain tail end of the first air bag 12, and at the moment, the first sliding expansion module 13 is in the contracted motion state; the first sliding telescopic module 13 in fig. 2 is in a contracted rest state.
Further, as shown in fig. 3 and 4, the second walking module 3 mainly comprises a third cover plate 31, a second air bag 32, a second sliding telescopic module 33, a fourth cover plate 34, a fourth air pipe 35, a third air pipe 36 and a second hollow shaft 37; the second sliding telescopic module 33 mainly comprises a third annular sliding block 331, a second elastic metal sheet group 332, a fourth annular sliding block 333, a fourth roller group 334, a second compression spring 335, a second screw group 336 and a third roller group 337; the second air bag 32 and the two ends of the second hollow shaft 37 are respectively bonded with the third cover plate 31 and the fourth cover plate 34 to form a circular cavity, the second sliding telescopic module 33 is sleeved outside the second air bag 32, and a part of the second air bag 32 is tightly pressed on the second hollow shaft 37 through the third annular sliding block 331 and the fourth annular sliding block 333 in the second sliding telescopic module 33, so that the circular cavity is divided into two independent parts of cavities, and can move along the axis of the second hollow shaft 37; compressed air generated by the small air pump 5 can enter a cavity part between the third cover plate 31 and the third annular slide block 331 through the third air pipe 36, compressed air generated by the small air pump 5 can enter a cavity part between the fourth cover plate 34 and the fourth annular slide block 333 through the fourth air pipe 15, and the cavity part between the third annular slide block 331 and the fourth annular slide block 333 cannot enter; the third roller group 337 comprises a plurality of rollers, takes the axis of the first hollow shaft 37 as a shaft, is distributed on the third annular slide block 331 in a circumferential array mode, and is fixed by adopting the second screw group 336; the fourth roller group 334 comprises a plurality of rollers, takes the axis of the second hollow shaft 37 as a shaft, is distributed on the fourth annular slide block 333 in a circumferential array mode, and is fixed by adopting a screw group; the third ring-shaped slider 331 and the fourth ring-shaped slider 333 are movable along the axis of the first hollow shaft 37 on the surface of the second air bag 32 by the third roller group 337 and the fourth roller group 334, respectively; the metal sheets in the second elastic metal sheet group 332 are distributed in a circumferential array by taking the axis of the second hollow shaft 37 as the shaft, and the two sides of the metal sheets are respectively fixed on the third annular sliding block 331 and the fourth annular sliding block 333 by adopting screw groups; the second compression spring 335 is disposed between the third ring slider 331 and the fourth ring slider 333 with the second hollow shaft 37 as an axis.
The hollow shaft pneumatic pipeline robot disclosed by the invention as shown in fig. 5 completes one cycle of motion in the pipeline wall and is divided into 6 steps altogether; in the step 1, high-pressure gas with equal air pressure is introduced into the left and right cavities of the first air bag 12 in the first walking module 1 and the second air bag 32 in the second walking module 3, and the two air bags compress the first elastic metal sheet group 132, the first compression spring 135, the second elastic metal sheet group 332 and the second compression spring 335 under the action of the high-pressure gas, so that the first elastic metal sheet group 132 and the second elastic metal sheet group 332 are in contact with the pipeline wall, and the hollow shaft robot is supported and is in a static state; in step 2, low-pressure gas with equal air pressure is introduced into the left and right cavities of the first air bag 12 in the first traveling module 1, the first elastic metal sheet 132 and the first compression spring 135 stretch under the action of elasticity, the gas introduced into the second traveling module 3 is kept unchanged, and the second elastic metal sheet group 332 is still in contact with the pipeline wall; in the step 3, the states of the first traveling module 1 and the step 2 are kept consistent, the air pressure of the left cavity in the second air bag 32 in the second traveling module 3 is increased, the air pressure of the right cavity is kept unchanged, the left cavity is gradually increased, the right cavity is gradually decreased, and the robot body is moved leftwards under the common pushing of the third roller group 337 and the fourth roller group 334 until the left cavity of the second air bag 32 becomes minimum because the second elastic metal sheet group 332 is still in contact with the pipeline wall at the moment; in the step 4, the first traveling module 1 is filled with high-pressure gas with equal air pressure again, the first elastic metal sheet group 132 is contacted with the pipeline wall under the action of the first air bag 12, and the second traveling module 3 is kept consistent with the state in the step 3; in step 5, the state of the first traveling module 1 is unchanged, the second traveling module 3 is filled with low-pressure gas with equal pressure, and the internal components are stretched out of contact with the pipeline wall; in step 6, the state of the second traveling module 3 is unchanged, the air pressure of the left cavity in the second air bag 32 of the second traveling module 3 is unchanged, the air pressure of the right cavity is gradually increased, the left cavity is gradually decreased, the right cavity is gradually increased, and the second traveling module 3 moves leftwards along the body of the robot until the left cavity is minimum because the second traveling module is not contacted with the wall of the pipeline at the moment, and then the right cavity begins to compress the second elastic metal sheet group 332 under the action of the air pressure and is contacted with the wall of the pipeline; after these six steps, the robot returns to the initial state of movement, the movement distance corresponding to the length of one air bag.
The foregoing is illustrative of the present invention and is not to be construed as limiting the scope of the invention. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention, and are intended to be within the scope of this invention.
Claims (1)
1. The hollow-shaft pneumatic pipeline robot is characterized by comprising a first traveling module, a connecting plate, a second traveling module, a connecting column and a small air pump; the first walking module is connected with the second walking module through a connecting plate, and the second walking module is connected with the small air pump through a connecting column;
The first walking module and the second walking module have the same structure and consist of a sliding telescopic module, an air bag, cover plates positioned at two ends, and an air pipe and a hollow shaft which are respectively connected with the cover plates at two ends; the two ends of the air bag and the hollow shaft are respectively bonded with cover plates at the two ends to form a circular cavity, the sliding telescopic module is sleeved outside the air bag, a part of the air bag is tightly pressed on the outer wall of the hollow shaft, and the whole circular cavity is divided into two cavities with variable volumes; the air pipe extending from the small air pump passes through the hollow shaft and is connected with the two cavities of each traveling module through the interfaces on the cover plates at the two ends of the hollow shaft;
the sliding telescopic module comprises two annular sliding blocks, an elastic metal sheet group, two roller groups and a compression spring; the two annular sliding blocks are sleeved outside the air bag, and part of the air bag is pressed onto the outer wall of the hollow shaft; the compression spring is also sleeved outside the air bag and positioned between the two annular sliding blocks; the compression spring is a cylindrical spiral spring; two ends of each metal sheet in the elastic metal sheet group are respectively fixed with the peripheral surfaces of the two annular sliding blocks through screws and are circumferentially distributed along the axis of the hollow shaft; each roller group comprises a plurality of rollers, the axes of the hollow shafts are used as shafts, and each roller is fixed on the inner peripheral surface of the annular sliding block through screws and presses the air bag onto the outer wall of the hollow shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910922078.1A CN110541999B (en) | 2019-09-27 | 2019-09-27 | Hollow shaft pneumatic pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910922078.1A CN110541999B (en) | 2019-09-27 | 2019-09-27 | Hollow shaft pneumatic pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110541999A CN110541999A (en) | 2019-12-06 |
| CN110541999B true CN110541999B (en) | 2024-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910922078.1A Active CN110541999B (en) | 2019-09-27 | 2019-09-27 | Hollow shaft pneumatic pipeline robot |
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| CN (1) | CN110541999B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115751002B (en) * | 2022-12-01 | 2023-07-11 | 山东航宇数字勘测有限公司 | Pipeline detection robot capable of adapting to pipeline diameter |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210860285U (en) * | 2019-09-27 | 2020-06-26 | 天津商业大学 | Hollow shaft pneumatic pipeline robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4195529A (en) * | 1977-06-24 | 1980-04-01 | Kantsedalov Viktor G | Device for moving the pickups of a flaw detection system through a pipeline |
| DE50303463D1 (en) * | 2003-02-13 | 2006-06-29 | Rs Technik Ag | Device for sealing the junction of a connection channel in a collecting channel |
| CN108799693B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | a pipeline robot |
| CN209370697U (en) * | 2019-01-05 | 2019-09-10 | 浙江汉领建设有限公司 | A kind of pipeline rehabilitation tooling |
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2019
- 2019-09-27 CN CN201910922078.1A patent/CN110541999B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210860285U (en) * | 2019-09-27 | 2020-06-26 | 天津商业大学 | Hollow shaft pneumatic pipeline robot |
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| CN110541999A (en) | 2019-12-06 |
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