CN206854736U - Pipe cutting machine people - Google Patents
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- CN206854736U CN206854736U CN201720667915.7U CN201720667915U CN206854736U CN 206854736 U CN206854736 U CN 206854736U CN 201720667915 U CN201720667915 U CN 201720667915U CN 206854736 U CN206854736 U CN 206854736U
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- 210000004907 gland Anatomy 0.000 claims description 15
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Abstract
The utility model patent provides a kind of pipe cutting machine people, for the cutting to internal lining pipe at pipeline bifurcations in no-dig technique inverted liner recovery technique, including image mechanism (1), cutting mechanism (2), drive mechanism (3)；Cutting mechanism (2) is installed in drive mechanism (3), image mechanism (1) is installed on cutting mechanism (2), and drive mechanism (3) is mobile in pipeline to drive cutting mechanism (2) to carry out video detection and cutting to internal lining pipe with image mechanism (1).Be it is a kind of can be with automatic detection, the pipe cutting machine people of high, the comprehensive cutting of accuracy.Overcome the shortcomings of that workmen need to enter the method for carrying out cutting process to the solidifying inner lining flexible pipe of pipe branch mouth inside pipeline, solve accurate problem of the cutting tool to cutting track, it is proposed that a kind of high efficiency, omni-directional video detection and cutting, pipe cutting machine people high-precision, easy to operation.
Description
Technical field
Field of mechanical technique is the utility model is related to, specially a kind of pipe cutting machine people.
Background technology
The technological process of gas pipeline no-dig technique inverted liner reparation：The small-sized working pit of local excavation, gas pipeline is cut,
Complete to peep detection in the first time of pipeline using detecting robot of pipe, water horning then is carried out to gas pipeline inwall, will
Dirt inside gas pipeline is cleaned out.Carry out peeping detection in second again after gas pipeline cleaning, check for
The defects of comparing sharp projection, and grinding process is carried out the defects of to existing；Then sandblasting is carried out to gas pipeline surface again
Processing, is cleaned out the chip after blasting treatment using high-power air exhauster.Glue spreader is utilized simultaneously by deployed viscose
Liner pipe is injected, the pressure of pressure roller is adjusted, viscose is evenly distributed in hose inner wall, then will using high pressure drum-type tube rolling device
Flexible pipe after gluing is rolled.Gas pipeline has been connected with high pressure drum-type liner pipe upset system using hose pressure gland
Come；The gases at high pressure provided using high power air compressor complete the upset of liner hose, after the completion of upset during one section of pressurize
Between, it is ensured that viscose solidifies, and liner hose is bonded completely with gas pipeline.Repairing effect is detected using pipe cutting machine people,
And the position of branch's interface tube is positioned, and carry cutting tool with pipe cutting machine people and cut the internal lining pipe at branch's mouth of pipe
Open；Last welded pipeline, backfilling working hole.
City gas pipeline has many branches, can be by liner at these stub interfaces after being completed with internal lining pipe reparation
Pipe plug is lived, so must take measures, the internal lining pipe of branched pipe interface is cut.However, in pipe cutting machine people cutting
Higher is required to cutting track during bushing pipe, to avoid cutting away the internal lining pipe that non-interface goes out.Operating personnel grasp at a distance outside
Man-controlled mobile robot realizes that precisely cutting internal lining pipe is a big technological difficulties.
Problem is blocked to solve pipe branch mouth, improves efficiency of construction, designs a kind of automatic detection, accuracy height, Quan Fang
The pipe cutting machine people of position cutting has a very big significance.
The content of the invention
The technical problems to be solved in the utility model and the technical assignment proposed are to make up the deficiencies in the prior art, there is provided one
Kind of pipe cutting machine people, be it is a kind of can be with automatic detection, the pipe cutting machine people of high, the comprehensive cutting of accuracy.Overcome
Workmen need to enter the deficiency of the method for the solidifying inner lining flexible pipe progress cutting process to pipe branch mouth inside pipeline, solve
Accurate problem of the cutting tool to cutting track, it is proposed that a kind of high efficiency, omni-directional video detection and cutting, high accuracy,
Pipe cutting machine people easy to operation.
The purpose of this utility model is achieved through the following technical solutions：
A kind of pipe cutting machine people, for internal lining pipe at pipeline bifurcations in no-dig technique inverted liner recovery technique
Cutting, including image mechanism 1, cutting mechanism 2, drive mechanism 3；Cutting mechanism 2 is installed in drive mechanism 3, and image mechanism 1 is pacified
Loaded on cutting mechanism 2, the mobile drive cutting mechanism 2 in pipeline of drive mechanism 3 carries out video with image mechanism 1 to internal lining pipe
Detection and cutting.
Described image mechanism 1 includes：14, two LEDs 10 of camera, steering wheel 17 and shooting head support 18；
Camera 14 is installed on steering wheel 17, and two LEDs 10 are symmetrically arranged on the both sides of camera 14, and steering wheel 17 is installed on
Camera 14 is driven to be rotated with two LEDs 10 on shooting head support 18, shooting head support 18 is installed on cutting mechanism 2
On.
Described cutting mechanism 2 includes：Stepper motor 21, cutting tool 24, cutter link 22, cutter connecting seat 23,
Move linearly module 25, rotary mounting seat 26, rotary shaft 27, preceding gland 29 and cutting driving device；
Cutting tool 24 is installed on the stepper motor output shaft 50 of stepper motor 21 by cutter connecting seat 23, stepping electricity
Machine 21 is installed on cutter link 22, and cutter link 22 is installed on the moving parts of rectilinear movement module 25, and straight line moves
The fixed component of dynamic model group 25 is installed on rotary mounting seat 26, and rotary mounting seat 26 is installed in rotary shaft 27, cutting driving dress
Put drives rotary shaft 27 to rotate before being installed on gland 29, and preceding gland 29 is fixed on before drive mechanism 3.
Described cutter connecting seat 23 includes adapter sleeve axle 49, cutter catch 46, cutter positioning axle sleeve 47, encapsulation end cap
40th, counter flange 48 and two pairs of deep groove ball bearings 41；
The inner of adapter sleeve axle 49 is mounted directly stepper motor on output shaft 50, and outer end is determined by cutter catch 46 with cutter
The position clamping installation cutting tool 24 of axle sleeve 47；Encapsulation end cap 40 is fixed on cutter link 22, counter flange 48 and potted ends
The make-up of lid 40, is placed on outside adapter sleeve axle 49, installs two pairs of deep groove ball bearings 41 therebetween and supports adapter sleeve axle 49.
Described drive mechanism 3 include railway carriage 5 and driven front wheels group in railway carriage 5, active drive rear wheels with
Travel driving unit；
Travel driving unit is driven by either-rotation motor, drives active drive rear wheels to advance and retreat, driven front wheels group with
Advance with retreat.
The train of described driven front wheels group and active drive rear wheels includes axletree 70 and two wheels 61, two cars
Wheel 61 is installed on the both ends of axletree 70；
The outsourcing polyurethane rubber-covered of wheel 61, and the multiple uniform wheel treads of a circle are designed with polyurethane rubber-covered；Wheel
61 wheel hub is provided with multiple uniform disc, wheel hub is divided into multiple tri-angle-holed.
The described both sides of railway carriage 5 are provided with side cover plate 4.
The described both sides of railway carriage 5 are provided with suspension ring hole or suspension ring.
A kind of pipeline that the utility model embodiment provides it can be seen from above-mentioned technical scheme provided by the utility model
Cutting robot, be it is a kind of can be with automatic detection, the pipe cutting machine people of high, the comprehensive cutting of accuracy.Overcome constructor
Member need to enter the deficiency of the method for the solidifying inner lining flexible pipe progress cutting process to pipe branch mouth inside pipeline, solve cutting
Accurate problem of the cutter to cutting track, it is proposed that a kind of high efficiency, omni-directional video detection with cutting, in high precision, be easy to grasp
The pipe cutting machine people of work.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
The accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present utility model
Example, on the premise of not paying creative work, can also be according to these accompanying drawings for one of ordinary skill in the art
Obtain other accompanying drawings.
Fig. 1 is the structural representation for the pipe cutting machine people that the utility model embodiment provides；
Fig. 2 is the structural representation of the image mechanism for the pipe cutting machine people that the utility model embodiment provides；
Fig. 3 is the structural representation of the cutting mechanism for the pipe cutting machine people that the utility model embodiment provides；
Fig. 4 is the structure of the cutter connecting seat of the cutting mechanism for the pipe cutting machine people that the utility model embodiment provides
Schematic diagram；
Fig. 5 is the structural representation of the drive mechanism for the pipe cutting machine people that the utility model embodiment provides.
Embodiment
With reference to the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu, it is fully described by, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole realities
Apply example.Based on embodiment of the present utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of protection of the utility model.
The utility model embodiment is described in further detail below in conjunction with accompanying drawing.
As shown in figure 1, a kind of pipe cutting machine people, for pipeline bifurcations in no-dig technique inverted liner recovery technique
Locate the cutting of internal lining pipe, image mechanism 1, cutting mechanism 2, drive mechanism 3 are specifically included in structure；Cutting mechanism 2 is installed on drive
On motivation structure 3, image mechanism 1 is installed on cutting mechanism 2, and drive mechanism 3 is mobile in pipeline to drive cutting mechanism 2 and shooting
Mechanism 1 carries out video detection and cutting to internal lining pipe.
As shown in Fig. 2 described image mechanism 1 includes：14, two LEDs 10 of camera, steering wheel 17 and camera support
Frame 18；Camera 14 is installed on steering wheel 17, and two LEDs 10 are symmetrically arranged on the both sides of camera 14, and steering wheel 17, which is installed on, to be taken the photograph
As driving camera 14 to be rotated with two LEDs 10 on head support 18, shooting head support 18 is installed on cutting mechanism 2.
Specifically, in described photographing module 1, mounting base for camera head drive end bearing bracket 6 passes through the first hexagon socket cap head screw 7
It is connected with mounting base for camera head 13, LED flap 9 is connected by the second hexagon socket cap head screw 8 with LED mounting seat 11
Connect, LED 10 is fixed on inside LED mounting seat 11, and LED mounting seat 11 is installed by the 3rd hexagon socket cap head screw 12
In the both sides of mounting base for camera head 13, two such LED 10 is just symmetrically arranged on the both sides of camera 14；Mounting base for camera head
Bottom plate 16 is connected with mounting base for camera head 13 by the 4th hexagon socket cap head screw 15 and camera 14 is fixed on into shooting
Inside head mounting seat 13, steering wheel 17 is connected with mounting base for camera head bottom plate 16, realizes camera 14 and is installed on steering wheel indirectly
On 17, steering wheel 17 is connected with shooting head support 18.Steering wheel 17 can drive mounting base for camera head 13 to rotate, and specific control can
270 ° of rotation.
In this example, mounting base for camera head 13 is made up of four block size identical 2A12 aluminium alloy plate block weldings, by tightening
Interior first hexagonal cylindrical head screw 7 to interfix between mounting base for camera head 13 and mounting base for camera head drive end bearing bracket 6；Shooting
The head LED flap 9 of the right and left of mounting seat 13, the second hexagon socket cap head screw 8, LED mounting seat 11, LED 10, the
The all same of three hexagon socket cap head screw 12, LED 10 is fixed on LED by tightening the second hexagon socket cap head screw 8
In mounting seat 11, the 3rd hexagon socket cap head screw 12 is used to connect LED mounting seat 11 and mounting base for camera head 13, by twisting
Camera 14 is fixed in mounting base for camera head 13 by tight 4th hexagon socket cap head screw 15.The finger exported by control platform
LED 10 is opened in order, and during pipe cutting machine people enters pipeline inside, camera 14 plays navigation function, and guiding is drawn
Conduit road cutting robot moves to pipe branch mouth；The liner hose at bifurcations is cut in pipe cutting machine people
During, camera 14 controls rotatable 270 ° to monitor cutting process in real time by steering wheel 17.
As shown in figure 3, described cutting mechanism 2 includes：Stepper motor 21, cutting tool 24, cutter link 22, cutter
Connecting seat 23, rectilinear movement module 25, rotary mounting seat 26, rotary shaft 27, preceding gland 29 and cutting driving device；Cutting tool
24 are installed on the stepper motor output shaft 50 of stepper motor 21 by cutter connecting seat 23, and stepper motor 21 is installed on cutter company
Connect on frame 22, cutter link 22 is installed on the moving parts of rectilinear movement module 25, and move linearly the fixed component of module 25
It is installed on rotary mounting seat 26, rotary mounting seat 26 is installed in rotary shaft 27, and cutting driving device is installed on preceding gland 29
Upper driving rotary shaft 27 is rotated, and preceding gland 29 is fixed on before drive mechanism 3.Cutting driving device specifically includes servomotor 31
With planetary reducer 30, before planetary reducer 30 is installed on gland 29, output shaft and the rotary shaft 27 of planetary reducer 30 connect
Connect driving rotary shaft 27 to rotate, the overcoat Biserial cylindrical roller bearing 28 of rotary shaft 27, support rotary shaft 27.
Specifically, be connected between servomotor 31 and planetary reducer 30 by 4 the 5th hexagon socket cap head screws,
It is connected between planetary reducer 30 and gland 29 by 4 the 6th hexagon socket cap head screws, by tightening six in 6 the 7th
On gland 29 is fixed on before the railway carriage 5 of drive module 3 by angle fillister head screw, Biserial cylindrical roller bearing 28 is installed on car
In bearing hole before case 5, its radial positioning is ensured by railway carriage 5, and axially position is ensured by the shaft shoulder, the gland 29 of rotary shaft 27,
Cooperation between Biserial cylindrical roller bearing 28 and rotary shaft 27 uses interference fits, Biserial cylindrical roller bearing 28 and railway carriage 5
Between cooperation using gap coordinate, between rotary shaft 27 and the output shaft of planetary reducer 30 using flat key transmit moment of torsion, rotation
It is connected between rotating shaft 27 and rotary mounting seat 26 by 8 the 8th hexagon socket cap head screws, rotary mounting seat 26 and straight line
Be connected by 6 the 9th hexagon socket cap head screws the movement of rectilinear movement module 25 between the fixed component of mobile module 25
Part passes through 4 with cutter link 22, cutter link 22 and stepper motor 21, cutter link 22 and cutter connecting seat 23
Individual tenth hexagon socket cap head screw is connected.
The torque transfer route of the rotation of cutting module 2 is：31 → planetary reducer of servomotor, 30 → rotary shaft 27 →
Rotary mounting seat 26 → rectilinear movement module 25.
As shown in figure 4, described cutter connecting seat 23 include adapter sleeve axle 49, cutter catch 46, cutter positioning axle sleeve 47,
Encapsulate end cap 40, counter flange 48 and two pairs of deep groove ball bearings 41；The inner of adapter sleeve axle 49 is directly mounted on output shaft 50, outside
End passes through cutter catch 46 and the clamping installation cutting tool 24 of cutter positioning axle sleeve 47；Encapsulation end cap 40 is fixed on cutter link
On 22, counter flange 48 and the encapsulation make-up of end cap 40, it is placed on outside adapter sleeve axle 49, two pairs of deep groove ball bearings 41 is installed therebetween and supported
Adapter sleeve axle 49.
Specifically, the 11st hexagon socket cap head screw 45 be connected with the first spring washer 44 and with adapter sleeve axle 49
Screw thread is engaged, and cutting tool 24 is by covering the 11st cutter catch 46 on hexagon socket cap head screw 45 and being enclosed on adapter sleeve
The positioning of cutter positioning axle sleeve 47 on axle 49 is fixed；Counter flange 48 passes through the 12nd hexagon socket cap head screw 51, the second bullet
Spring packing ring 52 is connected with encapsulation end cap 40, and two inside counter flange 48 deep groove ball bearing 41 is by supporting outer sleeve bearing
Inner sleeve 43 is supported to support between 42 and bearing, the radial positioning of two pairs of deep groove ball bearings 41 is ensured by counter flange 48, axially fixed
Position is ensured by the cooperation between counter flange 48, cutter positioning axle sleeve 47, adapter sleeve axle 49, encapsulation end cap 40；Stepper motor
21 stepper motor output shaft 50 is connected by interior hexagonal flush end holding screw 53 with adapter sleeve axle 49.Cut rotating part
Moment of torsion transfer route is：21 → adapter sleeve of stepper motor axle the 49 → the 11st, 45 → cutting tool of hexagon socket cap head screw 24.
As shown in figure 5, described drive mechanism 3 can use the structure of prior art, in this example, described drive mechanism
3 include railway carriage 5 and driven front wheels group, active drive rear wheels and travel driving unit in railway carriage 5；Hoofing part fills
Put and driven by either-rotation motor, drive active drive rear wheels to advance and retreat, driven front wheels group is advanced and retreated therewith.
The train of described driven front wheels group and active drive rear wheels includes axletree 70 and two wheels 61, two cars
Wheel 61 is installed on the both ends of axletree 70；The outsourcing polyurethane rubber-covered of wheel 61, and it is multiple to be designed with polyurethane rubber-covered a circle
The wheel tread of cloth；The wheel hub of wheel 61 is provided with multiple uniform disc, wheel hub is divided into multiple tri-angle-holed.
Specific wheel 61 uses polyurethane rubber-covered wheel, and wheel tread uniform at a circle 24 is opened on polyurethane rubber-covered.
The wheel hub of wheel 61 is provided with 6 uniform disc, formed it is uniform tri-angle-holed at 6, or be provided with triangular groove uniform at 6 with
Mitigate overall machine hostage amount, end cap 64 passes through hexagon socket cap head screw 63, spring washer 62 and the railway carriage phase of drive module 3
Connection, the internal groove of wheel end cap 64 set rubber seal 65, wheel sleeve 69 be enclosed on axletree 70 and with wheel end cap
64 pairs of taper roll bearings 68 carry out axially position, and the radial positioning of taper roll bearing 68 is protected by the railway carriage 5 of drive module 3
Card.Wheel 61 is fixed by the 12nd hexagon socket cap head screw 67, wheel stationary gland 66 and the phase of axletree 70, four wheels
61 structure all sames, moment of torsion is transmitted between axletree 70 and wheel 61 by general flat key.
The described both sides of railway carriage 5 are provided with side cover plate 4.Side cover plate 4 fixes the both sides of railway carriage 5, railway carriage 5 respectively by screw-nut
Top is additionally provided with lid, that is, railway carriage 5 is empty, is sealed with upper lid with side cover plate 4 and is measured with mitigating overall machine hostage.Separately
Outside, the described both sides of railway carriage 5 are provided with suspension ring hole or suspension ring, for lifting.And the string holes that drives away in the front end of railway carriage 5 is robot control
System line processed provides passage.
Operation principle is：No-dig technique inverted liner recovery project, which proceeds to, to be scribbled the liner hose of adhesive and overturns and be bonded
During inner-walls of duct, through heat preservation solidification after a while, pipe cutting machine people is positioned over entrance, passes through control platform
LED 10 and camera 14 are opened, and starts either-rotation motor and drives drive shaft rotation, drive shaft is moved by general flat key transmission again
Power is to wheel, so as to the forward-reverse of control pipeline cutting robot.During pipe cutting machine people walks, camera
14 realtime graphics detected are transferred to control platform.When finding that liner hose be present in image has projection, say
It is bright to where there is pipe branch mouth, pipe cutting machine people is finely tuned, cutting tool 24 is aligned immediately below protruding parts, passes through control
Platform courses steering wheel 17 processed reversely rotates, and camera 14 is directed at cutting tool 24, realizes the real-time monitoring to cutting process.Most
The elevating movement of cutting tool 24 is controlled to cut the liner hose of different tube diameters by controlling straight line module afterwards.
It is an advantage of the current invention that solve workmen need to enter it is soft to the solidifying inner lining of pipe branch mouth inside pipeline
Pipe carries out the problem of cutting process, is driven using servomotor, camera module detection, quick, comprehensive by control platform
Liner hose is cut, opens pipe branch mouth, there is the features such as easy to operate, efficiency high.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should
It is defined by the protection domain of claims.
Claims (8)
- A kind of 1. pipe cutting machine people, for being cut to internal lining pipe at pipeline bifurcations in no-dig technique inverted liner recovery technique Cut, it is characterised in that：Including image mechanism (1), cutting mechanism (2), drive mechanism (3)；Cutting mechanism (2) is installed on driving machine On structure (3), image mechanism (1) is installed on cutting mechanism (2), and drive mechanism (3) is mobile in pipeline to drive cutting mechanism (2) Video detection and cutting are carried out to internal lining pipe with image mechanism (1).
- 2. pipe cutting machine people according to claim 1, it is characterised in that described image mechanism (1) includes：Shooting Head (14), two LEDs (10), steering wheel (17) and shooting head support (18)；Camera (14) is installed on steering wheel (17), and two LEDs (10) are symmetrically arranged on camera (14) both sides, steering wheel (17) Being installed on shooting head support (18) drives camera (14) to be rotated with two LEDs (10), shooting head support (18) peace Loaded on cutting mechanism (2).
- 3. pipe cutting machine people according to claim 1 or 2, it is characterised in that described cutting mechanism (2) includes： Stepper motor (21), cutting tool (24), cutter link (22), cutter connecting seat (23), rectilinear movement module (25), rotation Mounting seat (26), rotary shaft (27), preceding gland (29) and cutting driving device；Cutting tool (24) is installed on the stepper motor output shaft (50) of stepper motor (21) by cutter connecting seat (23), step Stepper motor (21) is installed on cutter link (22), and cutter link (22) is installed on the move portion of rectilinear movement module (25) On part, rectilinear movement module (25) fixed component is installed on rotary mounting seat (26), and rotary mounting seat (26) is installed on rotation On axle (27), cutting driving device, which is installed on preceding gland (29), drives rotary shaft (27) rotation, and preceding gland (29) is fixed on drive Before motivation structure (3).
- 4. pipe cutting machine people according to claim 3, it is characterised in that described cutter connecting seat (23) includes connecting Female connector axle (49), cutter catch (46), cutter positioning axle sleeve (47), encapsulation end cap (40), counter flange (48) and two pairs of zanjons Ball bearing (41)；Adapter sleeve axle (49) the inner is mounted directly stepper motor on output shaft (50), and outer end passes through cutter catch (46) and cutter Positioning shaft sleeve (47) clamping installation cutting tool (24)；Encapsulation end cap (40) is fixed on cutter link (22), counter flange (48) with encapsulation end cap (40) make-up, it is placed on adapter sleeve axle (49) outside, two pairs of deep groove ball bearing (41) support connections is installed therebetween Cover axle (49).
- 5. pipe cutting machine people according to claim 1 or 2, it is characterised in that described drive mechanism (3) includes car Case (5) and driven front wheels group, active drive rear wheels and travel driving unit in railway carriage (5)；Travel driving unit is driven by either-rotation motor, drives active drive rear wheels to advance and retreat, driven front wheels group is with before Enter and retreat.
- 6. pipe cutting machine people according to claim 5, it is characterised in that described driven front wheels group and active drive The train of rear wheels includes axletree (70) and two wheels (61), and two wheels (61) are installed on axletree (70) both ends；Wheel (61) outsourcing polyurethane rubber-covered, and the multiple uniform wheel treads of a circle are designed with polyurethane rubber-covered；Wheel (61) wheel hub is provided with multiple uniform disc, wheel hub is divided into multiple tri-angle-holed.
- 7. pipe cutting machine people according to claim 5, it is characterised in that described railway carriage (5) both sides are provided with side cover Plate (4).
- 8. pipe cutting machine people according to claim 5, it is characterised in that described railway carriage (5) both sides are provided with suspension ring Hole or suspension ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720667915.7U CN206854736U (en) | 2017-06-09 | 2017-06-09 | Pipe cutting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720667915.7U CN206854736U (en) | 2017-06-09 | 2017-06-09 | Pipe cutting machine people |
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| Publication Number | Publication Date |
|---|---|
| CN206854736U true CN206854736U (en) | 2018-01-09 |
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ID=60831228
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720667915.7U Expired - Fee Related CN206854736U (en) | 2017-06-09 | 2017-06-09 | Pipe cutting machine people |
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| CN (1) | CN206854736U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563187A (en) * | 2018-03-30 | 2018-09-21 | 北京石油化工学院 | A kind of control system and method for pipe cutting machine people |
| CN108637374A (en) * | 2018-06-20 | 2018-10-12 | 中铁工程装备集团有限公司 | A kind of old tube coupling revolution cutter device |
| CN109058646A (en) * | 2018-08-15 | 2018-12-21 | 江西省水利科学研究院 | A kind of drainage pipeline non-excavation type prosthetic device |
| CN109366753A (en) * | 2018-11-30 | 2019-02-22 | 宣城市安工大工业技术研究院有限公司 | A kind of multifunctional intellectual drilling robot |
| CN111355867A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Compound camera structure based on narrow space |
| CN111677972A (en) * | 2020-05-31 | 2020-09-18 | 中国电建集团华东勘测设计研究院有限公司 | Prefabricated steel lantern ring construction method applied to rapid repair of pressure pipeline |
| CN111872948A (en) * | 2020-07-07 | 2020-11-03 | 广东博智林机器人有限公司 | Drive module of robot and robot chassis, cleaning robot that have it |
| CN115592679A (en) * | 2022-09-28 | 2023-01-13 | 西南石油大学（Cn） | Mountain pipeline maintenance and repair cutting groove robot |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | Multi-energy field auxiliary integrated repair system |
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2017
- 2017-06-09 CN CN201720667915.7U patent/CN206854736U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563187A (en) * | 2018-03-30 | 2018-09-21 | 北京石油化工学院 | A kind of control system and method for pipe cutting machine people |
| CN108563187B (en) * | 2018-03-30 | 2020-10-27 | 北京石油化工学院 | Control system and method of pipeline cutting robot |
| CN108637374A (en) * | 2018-06-20 | 2018-10-12 | 中铁工程装备集团有限公司 | A kind of old tube coupling revolution cutter device |
| CN108637374B (en) * | 2018-06-20 | 2024-02-27 | 中铁工程装备集团有限公司 | Old pipe joint rotary cutting device |
| CN109058646A (en) * | 2018-08-15 | 2018-12-21 | 江西省水利科学研究院 | A kind of drainage pipeline non-excavation type prosthetic device |
| CN109366753A (en) * | 2018-11-30 | 2019-02-22 | 宣城市安工大工业技术研究院有限公司 | A kind of multifunctional intellectual drilling robot |
| CN111355867A (en) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | Compound camera structure based on narrow space |
| CN111677972A (en) * | 2020-05-31 | 2020-09-18 | 中国电建集团华东勘测设计研究院有限公司 | Prefabricated steel lantern ring construction method applied to rapid repair of pressure pipeline |
| CN111677972B (en) * | 2020-05-31 | 2021-11-05 | 中国电建集团华东勘测设计研究院有限公司 | Prefabricated steel ring construction method applied to rapid repair of pressure pipeline |
| CN111872948A (en) * | 2020-07-07 | 2020-11-03 | 广东博智林机器人有限公司 | Drive module of robot and robot chassis, cleaning robot that have it |
| CN115592679A (en) * | 2022-09-28 | 2023-01-13 | 西南石油大学（Cn） | Mountain pipeline maintenance and repair cutting groove robot |
| CN115971786A (en) * | 2022-12-19 | 2023-04-18 | 电子科技大学 | Multi-energy field auxiliary integrated repair system |
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