CN103316872A - Robot for cleaning round pipelines - Google Patents
Robot for cleaning round pipelines Download PDFInfo
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- CN103316872A CN103316872A CN2013102062741A CN201310206274A CN103316872A CN 103316872 A CN103316872 A CN 103316872A CN 2013102062741 A CN2013102062741 A CN 2013102062741A CN 201310206274 A CN201310206274 A CN 201310206274A CN 103316872 A CN103316872 A CN 103316872A
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- support
- cylindrical shell
- inflatable
- chuck
- round
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- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims description 10
- 210000004907 gland Anatomy 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000012530 fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000009423 ventilation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000003517 fume Substances 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 239000008187 granular material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention relates to a robot for cleaning round pipelines. The robot for cleaning the round pipelines can be used in combination with a rotatable flexible shaft and comprises a cylindrical body, a first clamping head assembly, a second clamping head assembly, a cleaning head, a support frame and an adjusting mechanism, wherein the first clamping head is connected at one end of the cylindrical body, and the second clamping head is rotatably connected at the other end of the cylindrical body; the cleaning head can rotate along with the second clamping head assembly; the support frame is used for fixing the cylindrical body with the inner wall of a round pipeline and comprises a first support and a second support which are arranged on the cylindrical body, and the first support and the second support respectively comprises at least two support rods rotatably connected with the cylindrical body; the adjusting mechanism is used for adjusting the included angles between the support rods and the axis of the cylindrical body. The robot for cleaning the round pipelines has the advantages of being capable of achieving the automatic cleaning of the inside of a round pipeline, being high in working efficiency and avoiding the problems of great difficulty, large workload and low working efficiency and the like of manual cleaning.
Description
Technical field
The present invention relates to cleaning device, particularly a kind of round pipeline cleaning robot.
Background technology
Pipeline is for delivery of gas, liquid or with the device of the fluid of solid particle.Usually, fluid flows to the low pressure place from the high pressure of pipeline after the superchargings such as air blast, compressor, pump and boiler, also can utilize pressure or the gravity transfer of fluid self.Having many uses of pipeline is general, mainly is used in feedwater, draining, heat supply, gives gas, grows apart from transfer oil and natural gas, agricultural irrigation, hydraulic engineering and various commercial plant.For example, the existing pipeline that utilizes is under construction realized ventilation, and this pipeline is commonly referred to as ventilation shaft, and in addition, hotel, restaurant and kitchen, restaurant etc. utilize pipeline to realize mist extractor etc., and this pipeline is commonly referred to as fume pipeline.
Yet, for described ventilation shaft or fume pipeline etc., after long-time the use; its inwall has lamination more dust granules or oil smoke etc. is arranged, and need to regularly carry out pipeline cleaning, still; because its volume is large, length is longer, and dismounting is inconvenient etc.; cause labor cleaning's workload large, and its internal cleaning is very inconvenient, the cleaning difficulty is large; be difficult to clean out; therefore, for the problems referred to above, a kind of device that can the automated cleaning pipeline to be supplied is arranged.
Summary of the invention
Main purpose of the present invention is, for above-mentioned deficiency of the prior art, but provides the round pipeline cleaning robot of the round inner-walls of duct of a kind of automated cleaning, its high efficiency, and cleaning effect is good.
The present invention solves the technical scheme that the prior art problem adopts: a kind of round pipeline cleaning robot, be used in conjunction with rotatable flexible axle, and it comprises:
Cylindrical shell has the cavity that can hold described flexible axle;
Be used for gripping the first chuck component and second chuck component of described flexible axle, described the first chuck component is connected in an end of described cylindrical shell, and described the second chuck component can be connected in rotatably along described tubular axis the other end of described cylindrical shell;
Can be with the cleaning head of described the second chuck component rotation, described cleaning head is connected with described the second chuck component by connector;
Be used for bracing frame that described cylindrical shell and described round inner-walls of duct are fixed, this bracing frame comprises the first support and the second support that is set up on the cylindrical shell, described the first support and the second support include at least two support bars that are connected with described barrel body rotation, and on the first support and the second support between the free end of corresponding support bar by being connected to form interlock with respect to the gangbar that described support bar rotates;
Guiding mechanism for the angle between the axis of adjusting described support bar and described cylindrical shell.
The below is further elaborated technique scheme:
Further, described guiding mechanism comprises
Sleeve has external screw thread on its excircle, and this sleeve is connected on the described cylindrical shell by bearing holder (housing, cover);
Nut is connected with described bush whorl, and this nut is provided with the pull bar corresponding with each described support bar on the first support or the second support, and described pull bar one end is connected with nut rotation, and the other end and described support bar are rotationally connected;
Be used for driving the driving mechanism of described sleeve rotating, swing so that described nut drives described support bar in described sleeve movement.
Further, described the first chuck component comprises
Inflatable chuck A, this inflatable chuck A front portion has inflatable tapered mouth A, and the rear portion has and the relatively-stationary ring flange A of described cylindrical shell, and the middle part outer surface has external screw thread A;
Locking nut A, have one with the suitable taper stopping surface A of described inflatable tapered mouth A, described locking nut A is threaded state with described inflatable chuck A under, described taper stopping surface A and described inflatable tapered mouth A outer surface against so that described inflatable tapered mouth A shrinks its inner flexible axle is fixedly clamped.
Further, described the second chuck component comprises
Gland, the rear portion of this gland have and the relatively-stationary ring flange B of described cylindrical shell;
Inflatable chuck B, this inflatable chuck B front portion has inflatable tapered mouth B, and the rear portion is anterior fixing by bearing and described gland, and the middle part outer surface has external screw thread B;
Locking nut B, have one with the suitable taper stopping surface B of described inflatable tapered mouth B, described locking nut B is threaded state with described inflatable chuck B under, described taper stopping surface B and described inflatable tapered mouth B outer surface against so that described inflatable tapered mouth B shrinks its inner flexible axle is fixedly clamped.
Further, described driving mechanism comprises motor, the driving gear that is meshed and driven gear, and described motor is relative with described cylindrical shell fixing, and described driving gear is connected in the output shaft of described motor, and described driven gear is socketed on the described sleeve.
Further, also comprise monitoring system, described monitoring system comprises the control system that is arranged at the CCD camera assembly on the described cylindrical shell and is positioned at far-end, and described CCD camera assembly is connected with described control system signal.
Further, the support bar on described the first support and the second support is three, and three described support bar spaced sets are on described cylindrical shell.
Further, described cleaning head is the rolling hairbrush, and its slightly larger in diameter is in described round pipe diameter.
The invention has the beneficial effects as follows: one, round pipeline cleaning robot of the present invention can stretch to round pipe interior, fix by bracing frame and round inner-walls of duct, flexible axle with the outside wears to cylindrical shell again, fix by the first chuck component and the second chuck component, so, when externally drive unit drives the flexible axle rotation, flexible axle drives the rotation of the second chuck component, and the second chuck component then drives the cleaning head rotation, and the cleaning head of rotation cleans round inner-walls of duct, so, realized the automated cleaning of round pipeline, it is easy to use, and cleaning efficiency is high, avoided artificial cleaning difficulty large, workload reaches greatly the problems such as inefficiency; Two, bracing frame is by the control of guiding mechanism, can change the angle between support bar and the tubular axis, angle between support bar and tubular axis hour, can realize fixing with the round inner-walls of duct of minor diameter, when the angle between support bar and tubular axis is larger, can realize fixing with large diameter round inner-walls of duct, so, can be by adjusting angle between support bar and the tubular axis to adapt to different round pipelines, its applicability is stronger, uses more flexible; Three, flexible axle is fixing, adopt the first chuck component and the second chuck component is detachable is locked, concrete, the locking nut of correspondence is threaded with inflatable chuck, taper stopping surface and described inflatable tapered mouth outer surface against, described inflatable tapered mouth is shunk is fixedly clamped its inner flexible axle, and during with locking nut and inflatable chuck release, flexible axle is taken out, be convenient to the replacing of flexible axle and maintenance etc., can not but go out the problems such as replacing after the flexible axle fracture of avoiding adopting the mode such as welding fixedly to cause; Four, adopt CCD camera assembly to realize detection and monitoring to internal state, so that operating personnel can carry out Real Time Monitoring to internal environment and cleaning state, be convenient to internal cleaning is comprehensively cleared up, guarantee that cleaning is without the dead angle etc.
Description of drawings
Fig. 1 is the stereogram of the embodiment of the invention;
Fig. 2 is the cutaway view of the embodiment of the invention;
The realization of the object of the invention, functional characteristics and advantage are described further with reference to accompanying drawing in connection with embodiment.
The specific embodiment
Describe technical scheme of the present invention in detail below with reference to drawings and the specific embodiments, so as clearer, understand invention essence of the present invention intuitively.
Referring to figs. 1 through shown in Figure 2; the invention provides a kind of round pipeline cleaning robot; be used in conjunction with rotatable flexible axle; flexible axle comprises outside protective layer and internal rigid rotating shaft; this robot comprises cylindrical shell 1, the first chuck component 2, the second chuck component 3, cleaning head 4, bracing frame and guiding mechanism, and wherein, cylindrical shell 1 has the cavity that can hold described flexible axle; the open at both ends of this cylindrical shell 1, flexible axle can be worn to the other end by cylindrical shell 1 one ends.
The first chuck component 2 and the second chuck component 3 are used for after flexible axle is located in cylindrical shell 1; described flexible axle is gripped; the first chuck component 2 is connected in an end of described cylindrical shell 1; described the second chuck component 3 can be connected in rotatably along described cylindrical shell 1 axis the other end of described cylindrical shell 1; so; after the first chuck component 2 and the second chuck component 3 are fixing with flexible axle; the protective layer of its flexible axle peripheral is fixed; inner rigid pivoted externally under the driving of drive unit, can rotate freely.Cleaning head 4 is connected with described the second chuck component 3 by connector, when rigid pivoted rotates, drive 3 rotations of the second chuck component, therefore, 4 of cleaning heads can be with 3 rotations of described the second chuck component, in the present embodiment, this cleaning head 4 adopts the rolling hairbrush, and its slightly larger in diameter is in described round pipe diameter, so, when the rolling hairbrush rotates, can with round inner-walls of duct friction, to reach the foreign material such as the dust granules removed on the round inner-walls of duct, oil smoke.
Bracing frame is used for described cylindrical shell 1 is fixed with described round inner-walls of duct, so that the dead in line of cylindrical shell 1 axis and round pipeline, this bracing frame comprises the first support and the second support that is set up on the cylindrical shell 1, the first support is connected with cylindrical shell 1 by a carrier base A12, be connected with cylindrical shell 1 by a carrier base B12 ' on the second support, described the first support and the second support include at least two support bars 11/11 ' that are rotationally connected with described supporting seat, and on the first support and the second support between the free end of corresponding support bar 11/11 ' by being connected to form interlock with respect to the gangbar 13 that described support bar 11/11 ' rotates, so that each support bar 11,11 ' and cylindrical shell 1 axis between angle be consistent, when support bar 11,11 ' and cylindrical shell 1 axis between angle be 90 when spending, then support bar 11,11 ' free end just with vertical top at round pipe side wall, cylindrical shell 1 and round pipeline are fixed.
Guiding mechanism is used for adjusting described support bar 11,11 ' and the axis of described cylindrical shell 1 between angle, control by guiding mechanism, can change support bar 11,11 ' and cylindrical shell 1 axis between angle, at support bar 11,11 ' and cylindrical shell 1 axis between angle hour, can realize fixing with the round inner-walls of duct of minor diameter, at support bar 11,11 ' and cylindrical shell 1 axis between angle when larger, can realize fixing with large diameter round inner-walls of duct, so, can be by adjusting support bar 11,11 ' from cylindrical shell 1 axis between angle to adapt to different round pipelines, its applicability is stronger, uses more flexible.
In the present embodiment, guiding mechanism comprises sleeve 5, nut 6 and driving mechanism, wherein, has external screw thread on sleeve 5 excircles, and this sleeve 5 is socketed on the described cylindrical shell 1 by bearing 14, and realizes between the cylindrical shell 1 freely rotating; Nut 6 is threaded with described sleeve 5, and this nut 6 is provided with the pull bar 7 corresponding with each described support bar 11 on the first support (or second support), and described pull bar 7 one ends and nut 6 are rotationally connected, and the other end and described support bar 11 are rotationally connected; Driving mechanism is used for driving described sleeve 5 rotations, and when sleeve 5 rotation, nut 6 moves at described sleeve 5, mobile nut 6 drives pull bar 7, the described support bar 11 of 7 on pull bar pulling swings, so, realize adjusting support bar 11,11 ' and cylindrical shell 1 axis between angle.Need to prove, above-mentioned driving mechanism can adopt drives structure commonly used of the prior art, in the present embodiment, this driving mechanism adopts following structure, comprise motor 8, the driving gear 9 that is meshed and driven gear 10, described motor 8 is relative fixing with described cylindrical shell 1, described driving gear 9 is connected in the output shaft of described motor 8, described driven gear 10 is socketed on the described sleeve 5, and when motor 8 work, its output shaft drives driving gear 9 rotations, driving gear 9 drives driven gear 10 again and rotates, and driven gear 10 is positioned on the sleeve 5, so, further band moving sleeve 5 rotations of driven gear 10.
The first chuck component 2 comprises inflatable chuck A21 and locking nut A22, and this inflatable chuck A21 front portion has inflatable tapered mouth A211, and the rear portion has the relatively-stationary ring flange A with described carrier base A12, and the middle part outer surface has external screw thread A; Locking nut A22 have one with the suitable taper stopping surface A221 of described inflatable tapered mouth A211, this inflatable tapered mouth A211 is under nature, its internal diameter is slightly larger than the external diameter of flexible axle, described locking nut A22 is threaded state with described inflatable chuck A21 under, described taper stopping surface A221 and described inflatable tapered mouth A211 outer surface against, inflatable tapered mouth A211 is applied a pressure, so that described inflatable tapered mouth A211 shrinks its inner flexible axle is fixedly clamped, when described locking nut A22 is not connected with described inflatable chuck A21 or taper stopping surface A221 when separating with the outer surface of inflatable chuck A21, inflatable tapered mouth A211 resets, namely recover original size, like this, flexible axle can take out in inflatable tapered mouth A211, so that repair and replacement etc.
The second chuck component 3 comprises gland, inflatable chuck B33 and locking nut B34, in the present embodiment, this gland is comprised of holder 31 and the adapter sleeve 32 that is connected on the holder 31, and the rear portion of this holder 31 has the relatively-stationary ring flange B with described carrier base B12 '; This inflatable chuck B33 front portion has inflatable tapered mouth B331, and the rear portion is fixed by bearing 35 and described adapter sleeve 32, realizes rotating freely between inflatable chuck B33 and the adapter sleeve 32, and the middle part outer surface has external screw thread B; Locking nut B34 have one with the suitable taper stopping surface B341 of described inflatable tapered mouth B331, described locking nut B34 is threaded state with described inflatable chuck B33 under, described taper stopping surface B341 and described inflatable tapered mouth B331 outer surface against, so that described inflatable tapered mouth B331 shrinks its inner flexible axle is fixedly clamped, when described locking nut B34 is not connected with described inflatable chuck B33 or taper stopping surface B341 when separating with the outer surface of inflatable chuck B33, inflatable tapered mouth B331 resets, namely recover original size, like this, flexible axle can take out in inflatable tapered mouth B331, so that repair and replacement etc.
Further, robot of the present invention also comprises monitoring system, described monitoring system comprises the control system that is arranged at the CCD camera assembly 15 on the described cylindrical shell 1 and is positioned at far-end, described CCD camera assembly 15 is connected with described control system signal, this monitoring system can make operating personnel carry out Real Time Monitoring to internal environment and cleaning state, be convenient to internal cleaning is comprehensively cleared up, guarantee that cleaning is without the dead angle etc.
As better embodiment, in the present embodiment, the support bar 11,11 ' on described the first support and the second support is three, and three described support bars 11,11 ' spaced set are on described cylindrical shell 1.
In addition, carrier base A12 and carrier base B12 ' are provided with fixed head etc., and motor 8 and CCD camera assembly 15 can be installed on the fixed head.
In the concrete use procedure, round pipeline cleaning robot of the present invention can stretch to round pipe interior, fix by bracing frame and round inner-walls of duct, flexible axle with the outside wears to cylindrical shell 1 again, fixing by the first chuck component 2 and the second chuck component 3, so, when externally drive unit drove the flexible axle rotation, flexible axle drove 3 rotations of the second chuck component, 3 of the second chuck components drive cleaning head 4 rotations, 4 pairs of round inner-walls of duct of cleaning head of rotation clean, and so, have realized the automated cleaning of round pipeline, it is easy to use, cleaning efficiency is high, has avoided artificial cleaning difficulty large, and workload reaches greatly the problems such as inefficiency.
The above only is the preferred embodiments of the present invention; be not so limit its claim; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (8)
1. a round pipeline cleaning robot is used in conjunction with rotatable flexible axle, it is characterized in that, it comprises:
Cylindrical shell has the cavity that can hold described flexible axle;
Be used for gripping the first chuck component and second chuck component of described flexible axle, described the first chuck component is connected in an end of described cylindrical shell, and described the second chuck component can be connected in rotatably along described tubular axis the other end of described cylindrical shell;
Can be with the cleaning head of described the second chuck component rotation, described cleaning head is connected with described the second chuck component by connector;
Be used for bracing frame that described cylindrical shell and described round inner-walls of duct are fixed, this bracing frame comprises the first support and the second support that is set up on the cylindrical shell, described the first support and the second support include at least two support bars that are connected with described barrel body rotation, and on the first support and the second support between the free end of corresponding support bar by being connected to form interlock with respect to the gangbar that described support bar rotates;
Guiding mechanism for the angle between the axis of adjusting described support bar and described cylindrical shell.
2. round pipeline cleaning robot according to claim 1, it is characterized in that: described guiding mechanism comprises
Sleeve has external screw thread on its excircle, and this sleeve is connected on the described cylindrical shell by bearing holder (housing, cover);
Nut is connected with described bush whorl, and this nut is provided with the pull bar corresponding with each described support bar on the first support or the second support, and described pull bar one end is connected with nut rotation, and the other end and described support bar are rotationally connected;
Be used for driving the driving mechanism of described sleeve rotating, swing so that described nut drives described support bar in described sleeve movement.
3. round pipeline cleaning robot according to claim 1, it is characterized in that: described the first chuck component comprises
Inflatable chuck A, this inflatable chuck A front portion has inflatable tapered mouth A, and the rear portion has and the relatively-stationary ring flange A of described cylindrical shell, and the middle part outer surface has external screw thread A;
Locking nut A, have one with the suitable taper stopping surface A of described inflatable tapered mouth A, described locking nut A is threaded state with described inflatable chuck A under, described taper stopping surface A and described inflatable tapered mouth A outer surface against so that described inflatable tapered mouth A shrinks its inner flexible axle is fixedly clamped.
4. round pipeline cleaning robot according to claim 1, it is characterized in that: described the second chuck component comprises
Gland, the rear portion of this gland have and the relatively-stationary ring flange B of described cylindrical shell;
Inflatable chuck B, this inflatable chuck B front portion has inflatable tapered mouth B, and the rear portion is anterior fixing by bearing and described gland, and the middle part outer surface has external screw thread B;
Locking nut B, have one with the suitable taper stopping surface B of described inflatable tapered mouth B, described locking nut B is threaded state with described inflatable chuck B under, described taper stopping surface B and described inflatable tapered mouth B outer surface against so that described inflatable tapered mouth B shrinks its inner flexible axle is fixedly clamped.
5. round pipeline cleaning robot according to claim 2, it is characterized in that: described driving mechanism comprises motor, the driving gear that is meshed and driven gear, described motor is relative with described cylindrical shell fixing, described driving gear is connected in the output shaft of described motor, and described driven gear is socketed on the described sleeve.
6. round pipeline cleaning robot according to claim 1, it is characterized in that: also comprise monitoring system, described monitoring system comprises the control system that is arranged at the CCD camera assembly on the described cylindrical shell and is positioned at far-end, and described CCD camera assembly is connected with described control system signal.
7. round pipeline cleaning robot according to claim 1, it is characterized in that: the support bar on described the first support and the second support is three, and three described support bar spaced sets are on described cylindrical shell.
8. round pipeline cleaning robot according to claim 1, it is characterized in that: described cleaning head is the rolling hairbrush, its slightly larger in diameter is in described round pipe diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310206274.1A CN103316872B (en) | 2013-05-29 | 2013-05-29 | Round pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310206274.1A CN103316872B (en) | 2013-05-29 | 2013-05-29 | Round pipeline cleaning robot |
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| Publication Number | Publication Date |
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| CN103316872A true CN103316872A (en) | 2013-09-25 |
| CN103316872B CN103316872B (en) | 2016-01-20 |
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| CN201310206274.1A Active CN103316872B (en) | 2013-05-29 | 2013-05-29 | Round pipeline cleaning robot |
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Cited By (9)
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| CN104260692A (en) * | 2014-09-16 | 2015-01-07 | 芜湖市华益阀门制造有限公司 | Brush sweeping device for inner surface cleaning machine |
| CN104722543A (en) * | 2014-08-08 | 2015-06-24 | 皖西学院 | Pipeline inner wall cleaning device |
| CN105127162A (en) * | 2015-09-03 | 2015-12-09 | 浙江恩华新材料科技有限公司 | Device for purging aluminum skimmings in aluminum pipe |
| CN107537831A (en) * | 2017-09-30 | 2018-01-05 | 赵卫祥 | High-efficiency washing device inside a kind of petroleum pipeline |
| CN109291479A (en) * | 2018-11-16 | 2019-02-01 | 华澳轮胎设备科技（苏州）股份有限公司 | A kind of rod-pulling type vulcanizer |
| CN109752770A (en) * | 2019-02-18 | 2019-05-14 | 青岛越洋工程咨询有限公司 | A kind of inner cavity of pipe inspection endoscope |
| CN109985867A (en) * | 2017-12-29 | 2019-07-09 | 中国核动力研究设计院 | A kind of big course tube cleaning robot special operation mechanical arm |
| CN110281164A (en) * | 2019-06-03 | 2019-09-27 | 天津德瑞安海洋工程有限公司 | A kind of novel sea deep water cutting equipment |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
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| CN109985867B (en) * | 2017-12-29 | 2022-01-07 | 中国核动力研究设计院 | Special operation arm of long-stroke pipeline cleaning robot |
| CN109291479A (en) * | 2018-11-16 | 2019-02-01 | 华澳轮胎设备科技（苏州）股份有限公司 | A kind of rod-pulling type vulcanizer |
| CN109752770A (en) * | 2019-02-18 | 2019-05-14 | 青岛越洋工程咨询有限公司 | A kind of inner cavity of pipe inspection endoscope |
| CN109752770B (en) * | 2019-02-18 | 2020-08-14 | 青岛越洋工程咨询有限公司 | Endoscope for pipeline lumen examination |
| CN110281164A (en) * | 2019-06-03 | 2019-09-27 | 天津德瑞安海洋工程有限公司 | A kind of novel sea deep water cutting equipment |
| CN112718724A (en) * | 2020-12-18 | 2021-04-30 | 无锡佳谊林电气有限公司 | Power pipeline dredging robot |
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| CN103316872B (en) | 2016-01-20 |
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