CN103981942B - A kind of pipe dredging method and pipe dredging machine people - Google Patents
A kind of pipe dredging method and pipe dredging machine people Download PDFInfo
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- CN103981942B CN103981942B CN201410244030.7A CN201410244030A CN103981942B CN 103981942 B CN103981942 B CN 103981942B CN 201410244030 A CN201410244030 A CN 201410244030A CN 103981942 B CN103981942 B CN 103981942B
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Abstract
The present invention relates to a kind of pipe dredging method and pipe dredging machine people, belong to discharge pipe line Removal Technology field.Technical scheme is: comprise dredging robot car body (20), steel rope trailer, preposition desilting bucket (11), preposition desilting bucket lifting switching mechanism, rearmounted desilting bucket (1), synchronous belt transmission device.Come and go in the stroke of dredging operation at dredging robot, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and traction steel wire rope device to move to the position for the treatment of desilting in the unloaded state to the direction away from inspection shaft well head, haulage cable pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, complete dredging operation by preposition desilting bucket, rearmounted desilting bucket.Preposition desilting bucket, rearmounted desilting bucket coordinate dredging operation, improve the single desilting amount of dredging robot.The present invention has simple and reliable for structure, stable, desilting efficiency data advantages of higher.
Description
Technical field
The present invention relates to a kind of pipe dredging method and pipe dredging machine people, be mainly applicable to the drainage pipe desilting work that caliber is more than or equal to 300mm, belong to discharge pipe line Removal Technology field.
Background technology
City drain every day all discharges a large amount of rubbish, and often make drainage pipe not smooth, easily alluvial, blocking, city often suffers flood, loses very serious.The desilting dredging problem of drainage pipe has become the current thorny problem of government department.At present, the desilting dredging work of China's urban discharging pipeline is also generally in the backward state of manual work, and labour intensity is large, and efficiency is low; In cleaning drainage pipe process, if adopt robot to go to dredging drainpipe road, will greatly reduce the harm of adverse circumstances to workman, will be conducive to improving the pollution discharge capability of urban discharging pipeline and promote the process in sanitation of environment modern civilization city.
Summary of the invention
The object of the invention is to provide a kind of pipe dredging method and pipe dredging machine people, simple and reliable for structure, and single desilting amount is large, and desilting efficiency data is high, can adapt to the task of the drainage pipe cleaning mud of different-diameter, solve Problems existing in background technology.
Technical scheme of the present invention is:
A kind of pipe dredging machine people, comprises dredging robot car body, steel rope trailer, rearmounted desilting bucket, preposition desilting bucket, preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Rearmounted desilting bucket is connected by arc tooth synchronous belt and aluminium extruded sections with between dredging robot rear vehicle, and preposition desilting bucket is connected by connecting rod with between dredging robot Vehicular body front;
Described dredging robot car body, bottom is provided with wheel, using the battery certainly taken as power source, adopts the motion mode of power wheel, drives preposition desilting bucket, rearmounted desilting bucket to move to the direction away from inspection shaft well head together with steel rope trailer; The front and back of dredging robot car body are respectively equipped with front camera and rear camera, and front camera and rear camera are that the infrared water-proof CCD camera wearing rain brush is housed, the dredging operation situation of monitoring pipe interior;
Described steel rope trailer, one end of haulage cable is connected with dredging robot car body, and the other end is connected with the haulage cable motor be installed in engineering truck by the transition of traction steel wire rope support; Moving near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud being taken in preposition desilting bucket and rearmounted desilting bucket, completing dredging operation;
Described preposition desilting bucket, global shape is the cylindrical shell laterally placed, and one end was closed as the bucket end, and the other end is opening, and the first half of opening is semicircular indentations, and the bottom of opening is arc-shaped groove, and preposition desilting bucket is near inner-walls of duct; Bottom preposition desilting bucket, preposition desilting bucket wheel is housed, when being convenient to dredging operation, preposition desilting bucket is walked at pipe interior;
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, drives power transmission shaft motion by the motor B on dredging robot car body, and then drivening rod upset (turning over certain angle), and power transmission shaft is arranged on dredging robot car body by bearing base; Electric cylinder two ends respectively with preposition desilting bucket, rod hinge connection, by the elongation of electric cylinder expansion link and shortening, preposition desilting bucket is overturn further; The effect of this mechanism is before dredging operation starts, by the adjustment of preposition desilting bucket, make preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting, the lifting of preposition desilting bucket is overturn, avoid mud in preposition desilting bucket to leak after desilting terminates;
Described rearmounted desilting bucket, global shape is semicylinder structure, and semi-circular portions is the bucket end, and cylinder one end is opening, rearmounted desilting bucket and the hinged installation of aluminium extruded sections, for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley, is connected with the driving pulley on dredging robot car body by arc tooth synchronous belt;
Described synchronous belt transmission device, drives reducer A, driving pulley to rotate by the motor A on dredging robot car body, drives driven pulley to be synchronized with the movement, and then drive rearmounted desilting bucket to need to do angular turn according to desilting by arc tooth synchronous belt.
A kind of pipe dredging method, concrete steps are as follows:
1. undertaken by above-mentioned pipe dredging machine people, before work starts, first the mud near inspection shaft well head is cleaned out, by engineering truck pipe special dredging robot hung by inspection shaft and deliver in urban discharging pipeline; Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. flat mud is taken off: work starts, drive the vehicle wheel rotation of dredging robot vehicle bottom, move to the direction away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer together move under the drive of dredging robot car body, after the position of dredging operation is carried out in the plan of moving to, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket to rotate by arc tooth synchronous belt, by clear to rearmounted desilting bucket for the thicker mud deposited in pipeline; Haulage cable action, pull dredging robot car body to move near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops more than after a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, takes off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position having mud to the direction away from inspection shaft well head, rearmounted desilting bucket repeats above-mentionedly to take off flat mud action, until dredging robot car body freely can be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, preposition desilting bucket, above mud, under the acting in conjunction of motor B and electric cylinder, puts down by dredging robot body movement, when the quarrel of preposition desilting bucket and inner-walls of duct tangent time, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket to rotate to the quarrel position vertical with pipeline rout direction, and motor A stops action, prepares dredging operation; Then, haulage cable action, pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, is taken in by mud in preposition desilting bucket and rearmounted desilting bucket in motion process; After preposition desilting bucket fills mud, preposition desilting bucket lifts by the connecting rod be connected with preposition desilting bucket counter motion under the drive of motor B, preposition desilting bucket overturns by the electric cylinder action be connected with preposition desilting bucket subsequently, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; After rearmounted desilting bucket also fills mud, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent mud in rearmounted desilting bucket to be back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance above inspection shaft well head, mud in rearmounted desilting bucket is by under rearmounted self rotary unloading of desilting bucket, and so far desilting action completes.
Key point of the present invention is come and go in the stroke of dredging operation at dredging robot, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and traction steel wire rope device to move to the position for the treatment of desilting in the unloaded state to the direction away from inspection shaft well head, haulage cable pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, in motion process, complete dredging operation by preposition desilting bucket, rearmounted desilting bucket.Preposition desilting bucket, rearmounted desilting bucket coordinate dredging operation, improve the single desilting amount of dredging robot, and the quoting of steel rope trailer improves the traction power carrying desilting.The present invention has simple and reliable for structure, stable, desilting efficiency data advantages of higher.
The invention has the beneficial effects as follows: certainly to take battery for power source when (1) dredging robot of the present invention car body drives preposition desilting bucket, rearmounted desilting bucket no load movement, avoid and wear cable operation, make desilting process safety higher; (2) steel rope trailer of the present invention has a year dredging operation to provide tractive force for pulling dredging robot car body together with preposition desilting bucket, rearmounted desilting bucket, ensure that the enough power needed for dredging operation; (3) the present invention adopts electric cylinder, preposition desilting bucket and steel rope trailer to form simple and reliable desilting lifting-overturning device, effectively prevent desilting and terminates leaking of mud in rear desilting bucket; (4) the circular arc quarrel that the present invention's preposition desilting bucket is special, contributes to the mud of pipe interior to clean out, the mobile dredging operation of preposition desilting bucket at pipe interior easy for installation of bucket wheel; (5) dredging robot car body of the present invention adopts synchronous belt transmission device and rearmounted desilting bucket to form rearmounted Accrete clearing device, drives rearmounted desilting bucket to rotate, needed to take off gentle collection mud according to operation by synchronous belt device, and mechanism is simple, safe and reliable; (6), in desilting process of the present invention, coordinated by preposition desilting bucket, rearmounted desilting bucket and jointly complete dredging operation, single desilting amount is large, improves dredging operation efficiency.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention using state schematic diagram;
Fig. 2 is embodiment of the present invention front view;
Fig. 3 is top view of the present invention;
In figure: 1, rearmounted desilting bucket; 2, driven pulley; 3, arc tooth synchronous belt; 4, aluminium extruded sections; 5, driving pulley; 6, reducer A; 7, motor A; 8, motor B; 9, reducer B; 10, power transmission shaft; 11, preposition desilting bucket; 12, haulage cable; 13, electric cylinder; 14, connecting rod; 15, bearing base; 16, wheel; 17, preposition desilting bucket wheel; 18, traction steel wire rope support; 19, rear camera; 20, dredging robot car body; 21, front camera; 22, haulage cable motor; 23, engineering truck; 24, urban discharging pipeline; 25, semicircular indentations; 26, arc-shaped groove; 27, semi-circular portions; 28, cylinder.
Detailed description of the invention
Below in conjunction with accompanying drawing, by example, the invention will be further described.
In an embodiment, a kind of pipe dredging machine people, comprises dredging robot car body 20, steel rope trailer, rearmounted desilting bucket 1, preposition desilting bucket 11, preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Rearmounted desilting bucket is connected by arc tooth synchronous belt 3 and aluminium extruded sections 4 with between dredging robot rear vehicle, and preposition desilting bucket is connected by connecting rod 14 with between dredging robot Vehicular body front.
Described dredging robot car body, bottom is provided with wheel 16, using the battery certainly taken as power source, adopt the motion mode of power wheel 16, drive preposition desilting bucket, rearmounted desilting bucket to move to the direction away from inspection shaft well head together with steel rope trailer; The front and back of dredging robot car body are respectively equipped with front camera 21 and rear camera 19, and front camera and rear camera are that the infrared water-proof CCD camera wearing rain brush is housed, the dredging operation situation of monitoring pipe interior.
Described steel rope trailer, one end of haulage cable 12 is connected with dredging robot car body, and the other end is connected with the haulage cable motor 22 being installed on engineering truck 23 li by the transition of traction steel wire rope support 18; Moving near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud being taken in preposition desilting bucket and rearmounted desilting bucket, completing dredging operation.
Described preposition desilting bucket, global shape is the cylindrical shell laterally placed, and one end was closed as the bucket end, and the other end is opening, and the first half of opening is semicircular indentations 25, and the bottom of opening is arc-shaped groove 26, and preposition desilting bucket is near inner-walls of duct; Bottom preposition desilting bucket, preposition desilting bucket wheel 17 is housed, when being convenient to dredging operation, preposition desilting bucket is walked at pipe interior.
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, power transmission shaft 10 is driven to move by the motor B8 on dredging robot car body, and then drivening rod 14 overturns (turning over certain angle), power transmission shaft is arranged on dredging robot car body by bearing base 15; Electric cylinder 13 two ends are hinged with preposition desilting bucket 11, connecting rod 14 respectively, by the elongation of electric cylinder expansion link and shortening, preposition desilting bucket overturn further; The effect of this mechanism is before dredging operation starts, by the adjustment of preposition desilting bucket, make preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting, the lifting of preposition desilting bucket is overturn, avoid mud in preposition desilting bucket to leak after desilting terminates.
Described rearmounted desilting bucket 1, global shape is semicylinder structure, and semi-circular portions 27 is the bucket end, and cylinder 28 one end is opening, rearmounted desilting bucket and the hinged installation of aluminium extruded sections 4, for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley 2, is connected with the driving pulley 5 on dredging robot car body by arc tooth synchronous belt 3.
Described synchronous belt transmission device, is rotated by the motor A7 drive reducer A6 on dredging robot car body, driving pulley 5, drives driven pulley 2 to be synchronized with the movement, and then drive rearmounted desilting bucket to need to do angular turn according to desilting by arc tooth synchronous belt 3.
A kind of pipe dredging method, concrete steps are as follows:
1. undertaken by above-mentioned pipe dredging machine people, before work starts, first the mud near inspection shaft well head is cleaned out, by engineering truck 23 pipe special dredging robot hung by inspection shaft and deliver in urban discharging pipeline 24; Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. flat mud is taken off: work starts, the wheel 16 of dredging robot vehicle bottom is driven to rotate, move to the direction away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer together move under the drive of dredging robot car body, after the position of dredging operation is carried out in the plan of moving to, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket 1 to rotate by arc tooth synchronous belt 3, by clear to rearmounted desilting bucket for the thicker mud deposited in pipeline; Haulage cable 12 action, pull dredging robot car body to move near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops more than after a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, takes off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position having mud to the direction away from inspection shaft well head, rearmounted desilting bucket repeats above-mentionedly to take off flat mud action, until dredging robot car body freely can be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, preposition desilting bucket 11, above mud, under the acting in conjunction of motor B and electric cylinder 13, puts down by dredging robot body movement, when the quarrel of preposition desilting bucket and inner-walls of duct tangent time, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket 1 to rotate to the quarrel position vertical with pipeline rout direction, and motor A stops action, prepares dredging operation; Then, haulage cable 12 action, pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, is taken in by mud in preposition desilting bucket and rearmounted desilting bucket in motion process; After preposition desilting bucket fills mud, preposition desilting bucket lifts by the connecting rod 14 be connected with preposition desilting bucket counter motion under the drive of motor B, preposition desilting bucket overturns by electric cylinder 13 action be connected with preposition desilting bucket subsequently, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; After rearmounted desilting bucket also fills mud, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent mud in rearmounted desilting bucket to be back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance above inspection shaft well head, mud in rearmounted desilting bucket is by under rearmounted self rotary unloading of desilting bucket, and so far desilting action completes.
Claims (2)
1. a pipe dredging machine people, it is characterized in that a kind of pipe special dredging robot, comprise dredging robot car body (20), steel rope trailer, rearmounted desilting bucket (1), preposition desilting bucket (11), preposition desilting bucket lifting switching mechanism and synchronous belt transmission device; Rearmounted desilting bucket is connected by arc tooth synchronous belt (3) and aluminium extruded sections (4) with between dredging robot rear vehicle, and preposition desilting bucket is connected by connecting rod (14) with between dredging robot Vehicular body front; Pipe special dredging robot is used for the drainage pipe desilting that caliber is more than or equal to 300mm;
Described dredging robot car body, bottom is provided with wheel (16), using the battery certainly taken as power source, adopt the motion mode of power wheel (16), drive preposition desilting bucket, rearmounted desilting bucket to move to the direction away from inspection shaft well head together with steel rope trailer; The front and back of dredging robot car body are respectively equipped with front camera (21) and rear camera (19), and front camera and rear camera are that the infrared water-proof CCD camera wearing rain brush is housed, the dredging operation situation of monitoring pipe interior;
Described steel rope trailer, one end of haulage cable (12) is connected with dredging robot car body, and the other end is connected by the haulage cable motor (22) that the transition of traction steel wire rope support (18) is inner with being installed on engineering truck (23); Moving near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket for pulling dredging robot car body, at motion process, mud being taken in preposition desilting bucket and rearmounted desilting bucket, completing dredging operation;
Described preposition desilting bucket, global shape is the cylindrical shell laterally placed, and one end was closed as the bucket end, and the other end is opening, and the first half of opening is semicircular indentations (25), and the bottom of opening is arc-shaped groove (26), and preposition desilting bucket is near inner-walls of duct; Preposition desilting bucket wheel (17) is housed bottom preposition desilting bucket, and when being convenient to dredging operation, preposition desilting bucket is walked at pipe interior;
Preposition desilting bucket is provided with preposition desilting bucket lifting switching mechanism, motor B(8 by dredging robot car body) drive power transmission shaft (10) to move, and then drivening rod (14) upset, power transmission shaft is arranged on dredging robot car body by bearing base (15); Electric cylinder (13) two ends are hinged with preposition desilting bucket (11), connecting rod (14) respectively, by the elongation of electric cylinder expansion link and shortening, preposition desilting bucket overturn further; The effect of this mechanism is before dredging operation starts, by the adjustment of preposition desilting bucket, make preposition desilting bucket opening be positioned at the position tangent with inner-walls of duct, so that desilting, the lifting of preposition desilting bucket is overturn, avoid mud in preposition desilting bucket to leak after desilting terminates;
Described rearmounted desilting bucket (1), global shape is semicylinder structure, and semi-circular portions (27) is the bucket end, and cylinder (28) one end is opening, rearmounted desilting bucket and aluminium extruded sections (4) hinged installation, for taking off flat mud and collecting mud; Rearmounted desilting bucket is provided with driven pulley (2), is connected with the driving pulley (5) on dredging robot car body by arc tooth synchronous belt (3);
Described synchronous belt transmission device, motor A(7 by dredging robot car body) drive reducer A(6), driving pulley (5) rotate, drive driven pulley (2) to be synchronized with the movement by arc tooth synchronous belt (3), and then drive rearmounted desilting bucket to need to do angular turn according to desilting.
2. a pipe dredging method, concrete steps are as follows:
1. the pipe dredging machine people limited by claim 1 is carried out, and before work starts, first the mud near inspection shaft well head is cleaned out, and by engineering truck (23) pipe special dredging robot is hung by inspection shaft and delivers in urban discharging pipeline (24); Preposition desilting bucket, rearmounted desilting bucket original state are that quarrel is upwards lifted, and ensure preposition desilting bucket, rearmounted desilting bucket do not touch mud;
2. flat mud is taken off: work starts, the wheel (16) of dredging robot vehicle bottom is driven to rotate, move to the direction away from inspection shaft well head, preposition desilting bucket, rearmounted desilting bucket and steel rope trailer together move under the drive of dredging robot car body, after the position of dredging operation is carried out in the plan of moving to, the stop motion of dredging robot car body; Motor A starts working, and drives rearmounted desilting bucket (1) to rotate by arc tooth synchronous belt (3), by clear to rearmounted desilting bucket for the mud deposited in pipeline; Haulage cable (12) action, pull dredging robot car body to move near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, move distance stops more than after a dredging robot length over ends of body, motor A drives rearmounted desilting bucket continuation rotation to make quarrel down, mud is unloaded, takes off flat mud; Subsequently, dredging robot car body drives preposition desilting bucket, rearmounted desilting bucket and steel rope trailer to move to the position having mud to the direction away from inspection shaft well head, rearmounted desilting bucket repeats above-mentionedly to take off flat mud action, until dredging robot car body freely can be walked at pipe interior;
3. rope traction dredging operation: after mud is taken off and put down in pipeline, dredging robot body movement is above mud, under the acting in conjunction of motor B and electric cylinder (13), preposition desilting bucket (11) is put down, when the quarrel of preposition desilting bucket and inner-walls of duct tangent time, motor B and electric cylinder stop action; Now, motor A also drives rearmounted desilting bucket (1) to rotate to the quarrel position vertical with pipeline rout direction, and motor A stops action, prepares dredging operation; Then, haulage cable (12) action, pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, is taken in by mud in preposition desilting bucket and rearmounted desilting bucket in motion process; After preposition desilting bucket fills mud, preposition desilting bucket lifts by the connecting rod (14) be connected with preposition desilting bucket counter motion under the drive of motor B, preposition desilting bucket overturns by electric cylinder (13) action be connected with preposition desilting bucket subsequently, make the quarrel of preposition desilting bucket upward, avoid the mud in preposition desilting bucket to leak; After rearmounted desilting bucket also fills mud, under the drive of motor A, make rearmounted desilting bucket rotate to quarrel position upward, prevent mud in rearmounted desilting bucket to be back to pipe interior; Finally, haulage cable action pulls dredging robot car body and moves near the direction of inspection shaft well head together with preposition desilting bucket, rearmounted desilting bucket, until move to inspection shaft well head place, mud in preposition desilting bucket is walked clearly by the mud lifting appliance above inspection shaft well head, mud in rearmounted desilting bucket is by under rearmounted self rotary unloading of desilting bucket, and so far desilting action completes.
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| KR20020084767A (en) * | 2001-05-03 | 2002-11-11 | 최재현 | Dredging apparatus for sewerage-box or culvert |
| JP4017417B2 (en) * | 2002-02-27 | 2007-12-05 | 株式会社小松製作所 | In-pipe cleaning device |
| KR101283731B1 (en) * | 2011-06-22 | 2013-07-08 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| CN103696490A (en) * | 2013-12-23 | 2014-04-02 | 长沙麓溪机电设备工程有限公司 | Ultra-large silt digging machine and ultra-large silt digging tank used by ultra-large silt digging machine |
| CN203613639U (en) * | 2013-12-17 | 2014-05-28 | 河北联合大学 | Automatic dredging lifting device for dredging robot |
-
2014
- 2014-06-04 CN CN201410244030.7A patent/CN103981942B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020084767A (en) * | 2001-05-03 | 2002-11-11 | 최재현 | Dredging apparatus for sewerage-box or culvert |
| JP4017417B2 (en) * | 2002-02-27 | 2007-12-05 | 株式会社小松製作所 | In-pipe cleaning device |
| KR101283731B1 (en) * | 2011-06-22 | 2013-07-08 | 최인환 | A dredging robot of burpipe conduit for transfer car |
| CN203613639U (en) * | 2013-12-17 | 2014-05-28 | 河北联合大学 | Automatic dredging lifting device for dredging robot |
| CN103696490A (en) * | 2013-12-23 | 2014-04-02 | 长沙麓溪机电设备工程有限公司 | Ultra-large silt digging machine and ultra-large silt digging tank used by ultra-large silt digging machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103981942A (en) | 2014-08-13 |
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