CN106838460B - A kind of no-dig technique urban Underground pipeline laying all-in-one machine - Google Patents
A kind of no-dig technique urban Underground pipeline laying all-in-one machine Download PDFInfo
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- CN106838460B CN106838460B CN201710056741.5A CN201710056741A CN106838460B CN 106838460 B CN106838460 B CN 106838460B CN 201710056741 A CN201710056741 A CN 201710056741A CN 106838460 B CN106838460 B CN 106838460B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003139 buffering effect Effects 0.000 claims description 18
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 241001074085 Scophthalmus aquosus Species 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 15
- 238000009412 basement excavation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000010959 steel 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
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/028—Laying or reclaiming pipes on land, e.g. above the ground in the ground
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
- E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/065—Accessories therefor, e.g. anchors fixed on or to vehicles
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The present invention relates to technical field of engineering machinery, all-in-one machine is laid with more particularly to a kind of no-dig technique urban Underground pipeline, including car body, crawler unit, drill bit, Guan Cang, the drill bit is connect by car body bottom end with pipe storehouse, the crawler unit is set to car body lower end, and crawler unit is for driving car body mobile.All-in-one machine of the invention is small in size, and convenient for excavating, Guan Cangyu car body is organically combined, and can be realized excavation and is laid with while carrying out, and avoids excavating place on a large scale, engineering construction is convenient.
Description
Technical field
The present invention relates to technical field of engineering machinery, and in particular to a kind of no-dig technique urban Underground pipeline laying all-in-one machine.
Background technique
In recent years, urban development is swift and violent, and urban construction is maked rapid progress, and backward municipal works were no longer satisfied people in the past
The needs of people's production and living are needed to be transformed and be built.But due to construction fund, all kinds of urban operating mechanisms are in charge of different departments,
It does things in his own way, City Buried Pipeline construction timing is different, it is unable to synchronized construction, and city manager lacks unified scheduling,
It is unable to one-time-reach-place, road is caused and repeats to excavate, waste man power and money, have become many cities in China the phenomenon that excavated pavement repeatedly
" homely food " in city, visually these roads are referred to as " zipper road " to someone.The road surface fixed is excavated again, seriously
It has appeared before one's eyes the normal trip of resident, and this has repeated to excavate the phenomenon that road additionally arranges underground utilities China is commonplace, layer goes out
It is not poor, by denouncing.
However pipeline at this stage is laid with that there is also construction areas big, noise, dust etc., in people in wheeled digging machine
Similarly there is many problems in design.
Summary of the invention
The purpose of the present invention is be directed to above-mentioned deficiency in the prior art, provide it is small in size, convenient for excavate, pipeline storehouse
It is organically combined with car body, can be realized excavation and is laid with while carrying out, the convenient no-dig technique urban Underground pipeline paving of engineering construction
If all-in-one machine.
The purpose of the present invention is achieved through the following technical solutions:
A kind of no-dig technique urban Underground pipeline laying all-in-one machine, including car body, crawler unit, drill bit, Guan Cang, it is described
Drill bit is connect by car body bottom end with pipe storehouse, and the crawler unit is set to car body lower end, and crawler unit is for driving
Motor vehicles bodies are mobile.
Wherein, the crawler unit includes walking front-wheel and walking rear-wheel, and the walking front-wheel is set under car body
Front is held, the walking rear-wheel is set to car body lower-end rear portion.
Wherein, the walking front-wheel include first tensioning buffer gear, regulating device, front-wheel support, the first scroll wheel and
First bogie wheel, first tensioning buffer gear one end are connect with car body, and the other end is connect with front-wheel support, first rolling
Driving wheel is set to front-wheel support lower end, and first bogie wheel is set to front-wheel support upper end, and first scroll wheel passes through tune
Regulating device is connect with the first bogie wheel.
Wherein, the walking rear-wheel includes the second tensioning buffer gear, crawler rack, the second scroll wheel and the second bearing
Wheel, second tensioning buffer gear one end are connect with car body, and the other end is connect with crawler rack, the second scroll wheel setting
In crawler rack lower end, second bogie wheel is set to crawler rack upper end.
Wherein, buffer rail is provided among the crawler rack.
Wherein, the drill bit includes rotation brill, protection cap, first support arm, second support arm and driving device, the driving dress
It sets for driving second support arm to advance, first support arm one end and second support arm axis connection, the other end are bored with rotation and is fixedly connected, and are turned
Dynamic surrounding of boring is provided with protection cap.
Wherein, folding pipeline is provided in the pipe storehouse.
Wherein, the car body further include be set to upper front end flight stop area, flight by area include stop storehouse and
It is set to the door stopped above storehouse.
Wherein, the car body further includes the scan lamp for being set to front end front.
Wherein, the car body further includes the storage warehouse for being set to middle part.
Beneficial effects of the present invention:
One, no-dig technique urban Underground pipeline of the invention laying all-in-one machine is small in size, and convenient for excavating, Guan Cangyu car body is organic
In conjunction with, it can be realized excavation and be laid with while carrying out, engineering construction convenience, mitigation road pressure, reduction construction area face
Product reduces construction personnel, solves construction site safety and problem of environmental pollution.
Two, the crawler unit that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine is provided with tensioning buffer
Structure can buffer rough ground, guarantee the balance of car body.
Three, the drill bit that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine can be realized various dimensions transhipment, can
Adjustment excavates into hole angle and excavates route, while being provided with driving device, and drill bit can be made to realize multi-angle rotation, excavates effect
Fruit is good.
Detailed description of the invention
Invention is described further using attached drawing, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to the following drawings
Its attached drawing.
Fig. 1 is that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine structure schematic diagram.
Fig. 2 is that no-dig technique urban Underground pipeline of the invention is laid with another structural schematic diagram of all-in-one machine.
Fig. 3 is the structural schematic diagram for the drill bit that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine.
Fig. 4 is the structural schematic diagram for the car body that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine.
Fig. 5 is the structural schematic diagram for the part that no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine.
Appended drawing reference includes: 1 car body, 2 crawler units, 3 drill bits, 4 pipe storehouses, 5 walking front-wheels, 6 walking rear-wheels, 7 the
One tensioning buffer gear, 8 front-wheel supports, 9 first scroll wheels, 10 first bogie wheels, 11 second tensioning buffer gears, 12 crawler belt branch
Frame, 13 second scroll wheels, 14 second bogie wheels, 15 buffer rails, 16 rotation brills, 17 protection caps, 18 first support arms, 19 second
Area, 22 scan lamps, 23 storage warehouses, 24 first buffering principal arms, 25 first buffering support arms, 26 are stopped in arm, 20 driving devices, 21 flights
First steering beam, 27 second buffering principal arms, 28 second buffering support arms, 29 second steering beams.
Specific embodiment
With the following Examples and attached drawing the invention will be further described.
As depicted in figs. 1 and 2, a kind of no-dig technique urban Underground pipeline of the invention is laid with all-in-one machine, including car body 1, shoe
Band running gear 2, drill bit 3, Guan Cang 4, the drill bit 3 are connect by 1 bottom end of car body with pipe storehouse 4, and the crawler unit 2 is set
It is placed in 1 lower end of car body, crawler unit 2 is for driving car body 1 mobile.
No-dig technique urban Underground pipeline laying all-in-one machine of the invention is small in size, convenient for excavating, equipped with foldable in Guan Cang 4
Pipeline, Guan Cang 4 and car body 1 organically combine, can be realized excavation and be laid with while carrying out, and engineering construction is convenient, mitigation road
Current pressure, reduces construction area area, reduces construction personnel, solves construction site safety and problem of environmental pollution.
Crawler unit 2 of the invention includes walking front-wheel 5 and walking rear-wheel 6, and the walking front-wheel 5 is set to car body
1 lower-end front portion, the walking rear-wheel 6 are set to 1 lower-end rear portion of car body.Walking front-wheel 5 and walking rear-wheel 6 all have two, point
It is not set to 1 two sides of car body, so that car body 1 is balanced attitude, and can be buffered according to surface conditions, mitigates rough ground pair
Car body 1 waves, and guarantees the accuracy excavated.
The walking front-wheel 5 of the invention includes the first tensioning buffer gear 7, regulating device, the rolling of front-wheel support 8, first
Driving wheel 9 and the first bogie wheel 10, first tensioning, 7 one end of buffer gear are connect with car body 1, and the other end and front-wheel support 8 connect
It connects, first scroll wheel 9 is set to 8 lower end of front-wheel support, and first bogie wheel 10 is set to 8 upper end of front-wheel support, institute
The first scroll wheel 9 is stated to connect by regulating device with the first bogie wheel 10.The walking rear-wheel 6 of the invention includes the second tensioning
Buffer gear 11, crawler rack 12, the second scroll wheel 13 and the second bogie wheel 14, it is described second tensioning 11 one end of buffer gear with
Car body 1 connects, and the other end connect with crawler rack 12, and second scroll wheel 13 is set to 12 lower end of crawler rack, and described the
Two bogie wheels 14 are set to 12 upper end of crawler rack.
As shown in figure 5, the first tensioning buffer gear 7 of the invention includes being sequentially connected the first buffering principal arm 24, first to delay
Rush support arm 25 and the first steering beam 26, first support arm 18 and car body 1 are horizontally disposed, the first steering beam 26 and the first buffering support arm at
90 degree of axis connections, the front-wheel 5 that makes to walk is respectively to the movement of 1 both ends of car body, to reduce by 1 front center of gravity of car body.Second tensioning simultaneously
Buffer gear 11 includes being sequentially connected the second buffering principal arm 27, the second buffering support arm 28 and the second steering beam 29, the second steering beam
29 and second buffering support arm 28 at 90 degree of axis connections, the rear-wheel 6 that makes to walk is mobile to 1 both ends of car body respectively, thus after reducing car body 1
Portion's center of gravity declines the entire center of gravity of car body 1, walking can be made more smooth at the biggish ground of gradient of walking.Walking 5 He of front-wheel
Walking rear-wheel 6 is respectively arranged with the first tensioning buffer gear 7 and the second tensioning buffer gear 11, can carry out to complicated ground type
Buffering guarantees the balance of car body 1.
Buffer rail 15 is provided among crawler rack 12 of the invention, buffer rail 15 is obliquely installed, the second bogie wheel 14
Bearing realizes the adjusting of 14 height of the second bogie wheel by moving left and right on buffer rail 15, and tensioning buffer gear is to walking front-wheel
5 and walking 6 width of rear-wheel adjusting, cooperate 15 pairs of buffer rail walking rear-wheel 6 adjusting, make all-in-one machine face to need to excavate calmly
The complex road surface of laying, it is practical.
As shown in figure 3, drill bit 3 of the invention includes that 16, protection cap 17, first support arm 18,19 and of second support arm are bored in rotation
Driving device 20, the driving device 20 is for driving second support arm 19 to advance, 18 one end of first support arm and 19 axis of second support arm
Connection, the other end bore 16 with rotation and are fixedly connected, and rotation bores 16 surroundings and is provided with protection cap 17.Second support arm 19 and first support arm
18 axis connections, can vertical direction realize excavate angle adjustment, thus find it is optimal enter hole angle and excavate route, turn
Fortune is bored 16 and is flexibly connected with first support arm 18, can go to from axis direction realization, while there are three different directions for the setting of drill bit 3
Golden steel bore, Jin Gang bore hardness it is big, it is good to firm soil mining effect, Jin Gang bore surrounding be provided with protection cap 17, can keep away
Exempt from the damage that side hard rock bores side to golden steel.Drill bit 3 is small in size, and resistance is small, and it is convenient to excavate.
Folding pipeline is provided in pipe storehouse 4 of the invention.Drill bit 3 excavates forward under the driving of driving device 20,
20 one end of driving device is connect with folding pipeline one end in pipe storehouse 4, when driving device 20 drives drill bit 3 to bore dynamic, and band
Folding pipeline in dynamic pipe storehouse 4 advances, and realizes that excavation carries out simultaneously with laying, avoids the breakage on ground, do not delay ground
The passage of vehicle amount.
As shown in figure 4, car body 1 of the invention further includes the flight stop area 21 for being set to upper front end, flight relies on area
Including stopping storehouse and being set to the door stopped above storehouse.All-in-one machine of the invention is provided with GPS location system, can be with nobody
Machine is connected with mobile terminal, and unmanned plane is detected and monitored to the road conditions for preparing to excavate, and operator can in mobile terminal
Field condition is viewed, and controls all-in-one machine and is excavated and be laid with；Car body 1 further includes the scan lamp 22 for being set to front end, is swept
Ground can be scanned before excavation by retouching lamp 22, to confirm optimal tap point and excavate angle, car body 1 further includes setting
Storage warehouse 23 in middle part, storage warehouse 23 is for storing the tools such as drill bit 3.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (5)
1. a kind of no-dig technique urban Underground pipeline is laid with all-in-one machine, it is characterised in that: including car body, crawler unit, drill bit,
Guan Cang, the drill bit are connect by car body bottom end with pipe storehouse, and the crawler unit is set to car body lower end, crawler travel dress
It sets for driving car body mobile；The crawler unit includes walking front-wheel and walking rear-wheel, and the walking front-wheel is set to
Car body lower-end front portion, the walking rear-wheel are set to car body lower-end rear portion；The walking front-wheel include first tensioning buffer gear,
Regulating device, front-wheel support, the first scroll wheel and the first bogie wheel, first tensioning buffer gear one end are connect with car body,
The other end is connect with front-wheel support, and first scroll wheel is set to front-wheel support lower end, before first bogie wheel is set to
Wheel support upper end, first scroll wheel are connect by regulating device with the first bogie wheel；The walking rear-wheel includes second
Locking buffering mechanism, crawler rack, the second scroll wheel and the second bogie wheel, described second tensioning buffer gear one end and car body connect
It connects, the other end is connect with crawler rack, and second scroll wheel is set to crawler rack lower end, and second bogie wheel is set to
Crawler rack upper end；Buffer rail is provided among the crawler rack；The drill bit include rotation brill, protection cap, first support arm,
Second support arm and driving device, the driving device is for driving second support arm to advance, first support arm one end and second support arm axis
Connection, the other end are bored with rotation and are fixedly connected, and rotation bores surrounding and is provided with protection cap；First tensioning buffer gear includes successively connecting
The first buffering principal arm, the first buffering support arm and the first steering beam are connect, the first buffering support arm and car body are horizontally disposed, the first steering beam
With the first buffering support arm at 90 degree of axis connections；Second tensioning buffer gear includes being sequentially connected the second buffering principal arm, the second buffering
Support arm and the second steering beam, the second steering beam and the second buffering support arm are at 90 degree of axis connections.
2. a kind of no-dig technique urban Underground pipeline according to claim 1 is laid with all-in-one machine, it is characterised in that: the pipe storehouse
Inside it is provided with folding pipeline.
3. a kind of no-dig technique urban Underground pipeline according to claim 1 is laid with all-in-one machine, it is characterised in that: the car body
It further include the flight stop area for being set to upper front end, flight includes the storehouse stopping storehouse and being set to above stop storehouse by area
Door.
4. a kind of no-dig technique urban Underground pipeline according to claim 1 is laid with all-in-one machine, it is characterised in that: the car body
It further include the scan lamp for being set to front end front.
5. a kind of no-dig technique urban Underground pipeline according to claim 1 is laid with all-in-one machine, it is characterised in that: the car body
It further include the storage warehouse for being set to middle part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056741.5A CN106838460B (en) | 2017-01-25 | 2017-01-25 | A kind of no-dig technique urban Underground pipeline laying all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710056741.5A CN106838460B (en) | 2017-01-25 | 2017-01-25 | A kind of no-dig technique urban Underground pipeline laying all-in-one machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106838460A CN106838460A (en) | 2017-06-13 |
| CN106838460B true CN106838460B (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710056741.5A Expired - Fee Related CN106838460B (en) | 2017-01-25 | 2017-01-25 | A kind of no-dig technique urban Underground pipeline laying all-in-one machine |
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| Country | Link |
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| CN (1) | CN106838460B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113915408B (en) * | 2021-09-08 | 2023-05-09 | 湖南尚桦景观工程有限公司 | Be used for afforestation engineering pipeline laying device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88203459U (en) * | 1988-02-13 | 1988-09-21 | 李勇 | Pipelayer |
| CN2121597U (en) * | 1990-05-31 | 1992-11-11 | 河南省许昌市水利科学研究所 | Pipe laying machine by drilling |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| CN104192216A (en) * | 2014-07-03 | 2014-12-10 | 深圳市博铭维系统工程有限公司 | Pipeline ditch detecting robot and system thereof |
| CN104254652A (en) * | 2011-10-26 | 2014-12-31 | Ihc工程商业有限公司 | Steerable underwater trenching apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150233076A1 (en) * | 2014-02-19 | 2015-08-20 | Deere & Company | System to deliver and install pylons and pipes |
-
2017
- 2017-01-25 CN CN201710056741.5A patent/CN106838460B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN88203459U (en) * | 1988-02-13 | 1988-09-21 | 李勇 | Pipelayer |
| CN2121597U (en) * | 1990-05-31 | 1992-11-11 | 河南省许昌市水利科学研究所 | Pipe laying machine by drilling |
| CN104254652A (en) * | 2011-10-26 | 2014-12-31 | Ihc工程商业有限公司 | Steerable underwater trenching apparatus |
| CN103438326A (en) * | 2013-08-29 | 2013-12-11 | 宝鸡石油机械有限责任公司 | Tracked self-adaptation pipeline crawler |
| CN104192216A (en) * | 2014-07-03 | 2014-12-10 | 深圳市博铭维系统工程有限公司 | Pipeline ditch detecting robot and system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106838460A (en) | 2017-06-13 |
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