CN106958717B - A kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector - Google Patents
A kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector Download PDFInfo
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- CN106958717B CN106958717B CN201710386296.9A CN201710386296A CN106958717B CN 106958717 B CN106958717 B CN 106958717B CN 201710386296 A CN201710386296 A CN 201710386296A CN 106958717 B CN106958717 B CN 106958717B
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- mainframe
- wall
- setting
- pipe
- water pipe
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to technical field of automation equipment, the Full-automatic of especially a kind of isometrical threaded walls depth pipe with intelligent detector, it includes mainframe, rotating turret, and there are one plant hair walls for setting on the outer wall of rotating turret, and bristle is provided on plant hair wall；Mainframe is provided with main support rod, secondary supporting rod, there are one interconnecting pieces in the outside end setting of secondary supporting rod, and wheel carrier is connected by axis pin on interconnecting piece, are respectively provided with that there are one runners at wheel carrier both ends, and anti-slip rubber crawler belt is surrounded on two runners；A kind of obtained Full-automatic of the isometrical threaded walls depth pipe with intelligent detector of the present invention, it can be moved freely in deep inside pipe wall, it is cleaned in moving process or using bristle in quiescing process simultaneously, solves the problems, such as that deep inside pipe wall can not clean cleaning.
Description
Technical field
The present invention relates to technical field of automation equipment, especially a kind of isometrical threaded walls depth pipe with intelligent detector
Full-automatic.
Background technology
The inner wall of pipeline profound for some and smaller internal diameter has no idea to clear up it at present；If by artificial
Cleaning, one side caliber is smaller to be difficult to enter, and inconvenient operation be difficult to clear up it is clean, on the other hand since depth is big,
It causes inner air thin, is unable to maintain that manual work.So can not all carry out the cleaning to deep inside pipe wall at present.
Invention content
The purpose of the present invention is to solve the deficiencies of the above technologies and provide it is a kind of can deep inside pipe wall walk and can be right
Inner wall carries out the Full-automatic of the clean isometrical threaded walls depth pipe with intelligent detector.
In order to achieve the above object, a kind of isometrical threaded walls depth pipe with intelligent detector designed by the present invention it is complete from
Dynamic cleaning device, it includes mainframe, and the mainframe is tubular structure, and what is be spaced on the outer wall of lower end in mainframe sets
It sets there are two the sliding rail of annular, there are one rotating turrets, rotating turret to turn on mainframe along sliding rail for setting on the sliding rail of annular
Dynamic, in the lower end setting of rotating turret, there are one ring gears, are fixedly connected between ring gear and rotation, inside mainframe
Lower end is provided with No.1 actuating unit, is provided with driving gear on the output shaft of No.1 actuating unit, the driving gear with
Coordinate between ring gear and is sequentially connected；There are one plant hair wall, the plant Mao Biyu rotating turrets for setting on the outer wall of rotating turret
Between be fixedly connected, plant hair wall on be provided with bristle；The radial direction of the upper end edge mainframe of mainframe is provided with through-hole, it is described
Number of openings be four, and be evenly distributed on the same circumference, main support rod, main branch be internally provided in each through-hole
Strut radially slides in through-hole, and there are one telescoping mechanism, the telescoping mechanism bands for the upper end setting inside mainframe
It moves each main support rod to move and position in through-hole, secondary supporting rod is arranged on the main support rod outside mainframe, in master
Chuck there are one being respectively set on supporting rod and secondary supporting rod, there are one compression springs for setting between two chucks；In secondary supporting rod
Outside end setting there are one interconnecting piece, wheel carrier is connected by axis pin on interconnecting piece, be respectively provided at wheel carrier both ends there are one
Runner, one of runner are Electric Motor Wheel, and anti-slip rubber crawler belt is surrounded on two runners；It is set in the upper end of mainframe
It is equipped with load-bearing lanyard；It is internally provided with control chip in mainframe, power cord, the electricity are provided on the control chip
Source line is upwardly extended along load-bearing lanyard, is connected between the control chip and telescoping mechanism and No.1 actuating unit, and control
Telescoping mechanism processed, the action of No.1 actuating unit.The No.1 actuating unit is the outer of the anti-slip rubber crawler belt described in motor
Surface is provided with inclined strip bulge, and the gradient of the strip bulge is consistent with the deep gradient of screw thread of inside pipe wall, and anti-
The strip bulge on sliding rubber belt track surface and the thread groove of deep inside pipe wall coordinate；There are one being arranged at the upper end center of mainframe
Pedestal, there are one rotating seats for setting on pedestal, and camera and headlamp are provided on rotating seat；It is provided in pedestal electronic
Machine drives rotating seat rotation, and motor, camera and the headlamp in the pedestal are connect with control chip.
It in said program, places a device into inside deep pipe, telescoping mechanism drives main support rod to be displaced outwardly, to drive pair
Supporting rod is outside and the anti-slip rubber crawler belt on two runners is fitted in the inner wall of deep pipe, and under the action of the spring, makes
Obtain has certain pressure always between anti-slip rubber crawler belt and deep inside pipe wall, and strip bulge coordinates with threaded walls, it is ensured that
Device can be fixed on deep inside pipe wall, and CircOlectric kinetic energy makes device be moved on deep inside pipe wall；In addition between
Every uniformly four groups of anti-slip rubber crawler belts of setting, stability higher；Meanwhile the No.1 actuating unit on mainframe drives rotating turret
It is rotated on sliding rail on mainframe, plants hair wall and bristle rotation to realize, the end of bristle contacts with deep inside pipe wall, that is, brushes
It can be to being cleaned inside deep pipe in hair rotation process；Cleaning efficiency is high, excellent result.Pass through the camera on rotating seat simultaneously
And the design of headlamp, internal cleaning situation is sent to outside in real time, it is ensured that internal every nook and cranny is clean.
The structure of the telescoping mechanism includes a gear shaft being arranged in mainframe upper end, and gear shaft is along mainframe
Axial setting, and the axle center of gear shaft is overlapped with the axial centre of mainframe；Gear shaft is rotatablely connected on mainframe, in host
It is provided with No. two actuating units on frame, driving wheel, driving wheel and gear spindle drive are provided on the output shaft of No. two actuating units
Connection, is provided with rotating disc on gear shaft, notch of the equal setting there are four indent is spaced in the periphery of rotating disc, along rotation
On the basis of one of disk circumferential direction, the inner wall of each notch is gradually reduced with the distance between disk center is rotated；The master
End of the supporting rod inside mainframe is located in corresponding notch, and is contacted with the inner wall of notch.Described No. two are dynamic
Force mechanisms are the motor with self-locking function.The design of the structure drives turn disc using No. two actuating units, is turning
The special construction of notch inner wall can be utilized to design in Moving plate rotation process, change main support rod in radial position, to change
The radius of circumference where anti-slip rubber crawler belt is used with adapting to various sizes of deep pipe, and adjustable anti-slip rubber crawler belt with
Pressure between deep inside pipe wall, the performance of lifting device.
The inside at the notch both ends is vertical with radius of the rotating disc at this.The design of the structure, works as main support rod
It when positioned at notch both ends, is all contacted between main support rod and notch inner wall, to improve support effect and stability.
It is internally provided with a water pipe in mainframe, water pipe extends at the axial centre of mainframe lower end, and mainframe
Water pipe at the axial centre of lower end is passed down through ring gear, is rotatablely connected head there are one settings on ring gear water pipe below,
One or more distributive pipes are provided on rotation connection head, distributive pipe extends respectively on the plant hair wall of periphery, is planting in hair wall
Portion is provided with water pipe, and the water pipe is connected with distributive pipe；On the plant hair wall of water pipe region
Bristle is hollow tubular structure, and the bristle of the hollow tubular structure is connected to water pipe；Plant hair wall positioned at other regions
On bristle be solid construction.The design of the structure, by the bristle of the design hollow tubular structure of selectivity, and by reasonable
Water pipe design, realize in rotating turret rotation process to be bristle when being cleaned, can be supplied water or be supplied using water pipe
Cleaning solution is answered, cleaning effect is further increased.In addition cleaning solution or water can be delivered to deep pipe by the bristle of hollow tubular structure
Inner wall can be significantly reduced the consumption of water, cleaning solution, reduce use cost.
A kind of obtained Full-automatic of the isometrical threaded walls depth pipe with intelligent detector of the present invention, can be
Deep inside pipe wall moves freely, while being cleaned in moving process or using bristle in quiescing process, solves in deep pipe
Wall can not clean the problem of cleaning.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of rotating disc of the present invention and main support rod.
Specific implementation mode
The present invention will be further described below by way of embodiments in conjunction with the accompanying drawings.
Embodiment 1：
As shown in Figure 1, a kind of automatic washing of isometrical threaded walls depth pipe with intelligent detector of the present embodiment description
Device, it includes mainframe 1, and the mainframe 1 is tubular structure, the setting being spaced on the outer wall of lower end in mainframe 1
There are two the sliding rails 2 of annular, and there are one rotating turrets 3 for setting on the sliding rail 2 of annular, and rotating turret 3 is along sliding rail 2 in mainframe 1
Upper rotation, rotating turret 3 lower end setting there are one ring gear 4, be fixedly connected between ring gear 4 and rotation, in host
Lower end inside frame 1 is provided with No.1 actuating unit 5, and driving gear 6 is provided on the output shaft of No.1 actuating unit 5, described
Driving gear 6 and ring gear 4 between coordinate be sequentially connected；Setting is described there are one plant hair wall 7 on the outer wall of rotating turret 3
Plant hair wall 7 and rotating turret 3 between be fixedly connected, plant hair wall 7 on be provided with bristle 8；In the upper end edge mainframe of mainframe 1
1 radial direction is provided with through-hole, and the number of openings is four, and is evenly distributed on the same circumference, in each through-hole
It is internally provided with main support rod 13, main support rod 13 radially slides in through-hole, and the upper end inside mainframe 1 is provided with one
A telescoping mechanism, the telescoping mechanism drives each main support rod 13 to move and position in through-hole, outside mainframe 1
It is arranged with secondary supporting rod 14 on main support rod 13, is respectively set there are one chuck 19 on main support rod 13 and secondary supporting rod 14,
There are one compression springs 18 for setting between two chucks 19；Interconnecting piece 15 there are one being arranged in the outside end of secondary supporting rod 14,
Wheel carrier 16 is connected by axis pin on interconnecting piece 15, is respectively provided with there are one runner 17 at 16 both ends of wheel carrier, one of runner 17 is
Electric Motor Wheel is surrounded with anti-slip rubber crawler belt 25 on two runners 17；The upper end of mainframe 1 is provided with load-bearing lanyard
20；It is internally provided with control chip 12 in mainframe 1, power cord, the power cord are provided on the control chip 12
It upwardly extends, is connected between the control chip 12 and telescoping mechanism and No.1 actuating unit 5, and control along load-bearing lanyard 20
Telescoping mechanism processed, No.1 actuating unit 5 act, and it is convex that the outer surface of the anti-slip rubber crawler belt 25 is provided with inclined bar shaped
It rises, the gradient of the strip bulge is consistent with the deep gradient of screw thread of inside pipe wall, and the bar shaped of anti-slip rubber track surface is convex
It rises and coordinates with the thread groove of deep inside pipe wall；There are one pedestals 29 for setting at the upper end center of mainframe 1, are arranged on pedestal 29
There are one rotating seats 30, and camera 31 and headlamp 32 are provided on rotating seat 30；Motor drive is provided in pedestal 29
Rotating seat 30 rotates, and motor, camera 31 and the headlamp 32 in the pedestal 29 are connect with control chip 12.
The structure of the telescoping mechanism includes a gear shaft 10 being arranged in 1 upper end of mainframe, and gear shaft 10 is along master
The axial setting of rack 1, and the axle center of gear shaft 10 is overlapped with the axial centre of mainframe 1；Gear shaft 10 turns on mainframe 1
Dynamic connection, No. two actuating units 11 are provided on mainframe 1, driving wheel is provided on the output shaft of No. two actuating units 11,
Driving wheel is sequentially connected with gear shaft 10, rotating disc 9 is provided on gear shaft 10, as shown in Fig. 2, in the periphery of rotating disc 9
It is spaced notch 24 of the equal setting there are four indent, on the basis of one of rotating disc 9 circumferential direction, the inner wall of each notch 24
The distance between 9 center of rotating disc is gradually reduced；End of the main support rod 13 inside mainframe 1 is located at pair
In the notch 24 answered, and contacted with the inner wall of notch 24.No. two actuating units 11 are the motor with self-locking function.
The inside at 24 both ends of notch is vertical with radius of the rotating disc 9 at this.
It is internally provided with a water pipe 21 in mainframe 1, water pipe 21 extends at the axial centre of 1 lower end of mainframe, and
Water pipe 21 at 1 lower end axial centre of mainframe is passed down through ring gear 4, and one is provided on 4 water pipe 21 below of ring gear
A rotation connection head 22 is rotatablely connected on head 22 and is provided with one or more distributive pipes 23, and distributive pipe 23 extends respectively to periphery
Plant hair wall 7 on, be internally provided with water service pipe 21 planting hair wall 7, the water service pipe 21 is connected with distributive pipe 23；It is located at
The bristle 8 of 21 region of water service pipe planted on hair wall 7 is hollow tubular structure, and the bristle 8 of the hollow tubular structure with
Water service pipe 21 is connected to；The bristle 8 planted on hair wall 7 positioned at other regions is solid construction.
Claims (3)
1. a kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector, it is characterized in that：It includes mainframe,
The mainframe is tubular structure, and there are two the sliding rails of annular for the setting being spaced on the outer wall of lower end in mainframe, in ring
There are one rotating turrets, rotating turret to rotate on mainframe along sliding rail, be set in the lower end of rotating turret for setting on the sliding rail of shape
Ring gear there are one setting is fixedly connected between ring gear and rotation, and the lower end inside mainframe is provided with No.1 actuating unit,
It is provided with driving gear on the output shaft of No.1 actuating unit, coordinates between the driving gear and ring gear and is sequentially connected；
Setting is fixedly connected, on planting hair wall there are one hair wall is planted between the plant Mao Biyu rotating turrets on the outer wall of rotating turret
It is provided with bristle；The radial direction of the upper end edge mainframe of mainframe is provided with through-hole, the number of openings is four, and uniformly
Be distributed on the same circumference, be internally provided with main support rod in each through-hole, main support rod radially slides in through-hole,
There are one telescoping mechanism, the telescoping mechanism drives each main support rod to be moved in through-hole for upper end setting inside mainframe
It moves and positions, secondary supporting rod is arranged on the main support rod outside mainframe, set respectively on main support rod and secondary supporting rod
Chuck there are one setting, there are one compression springs for setting between two chucks；Connection there are one being arranged in the outside end of secondary supporting rod
Portion connects wheel carrier on interconnecting piece by axis pin, is respectively provided with there are one runner at wheel carrier both ends, one of runner is electronic
Wheel, anti-slip rubber crawler belt is surrounded on two runners；The upper end of mainframe is provided with load-bearing lanyard；In mainframe
Portion is provided with control chip, and power cord is provided on the control chip, and the power cord prolongs upwards along load-bearing lanyard
It stretches, is connected between the control chip and telescoping mechanism and No.1 actuating unit, and control telescoping mechanism, No.1 actuating unit
Action；The outer surface of the anti-slip rubber crawler belt is provided with inclined strip bulge, the gradient and depth of the strip bulge
The gradient of the screw thread of inside pipe wall is consistent, and the strip bulge of anti-slip rubber track surface and the thread groove of deep inside pipe wall coordinate；
There are one pedestals for setting at the upper end center of mainframe, and there are one rotating seats for setting on pedestal, are provided with and take the photograph on rotating seat
As head and headlamp；It is provided with motor in pedestal and drives rotating seat rotation, motor, camera and photograph in the pedestal
Bright lamp is connect with control chip；The structure of the telescoping mechanism includes a gear shaft being arranged in mainframe upper end, tooth
Wheel shaft is arranged along the axial direction of mainframe, and the axle center of gear shaft is overlapped with the axial centre of mainframe；Gear shaft is on mainframe
Rotation connection, No. two actuating units are provided on mainframe, driving wheel is provided on the output shaft of No. two actuating units, actively
Wheel is connect with gear spindle drive, and rotating disc is provided on gear shaft, and being spaced equal setting in the periphery of rotating disc, there are four interior
Recessed notch, on the basis of one of rotating disc circumferential direction, the distance between the inner wall of each notch and rotation disk center by
It is tapered small；End of the main support rod inside mainframe is located in corresponding notch, and is connect with the inner wall of notch
It touches.
2. a kind of Full-automatic of isometrical threaded walls depth pipe with intelligent detector according to claim 1,
It is characterized in：The inside at the notch both ends is vertical with radius of the rotating disc at this.
3. a kind of Full-automatic of isometrical threaded walls depth pipe with intelligent detector according to claim 2,
It is characterized in：It is internally provided with a water pipe in mainframe, water pipe extends at the axial centre of mainframe lower end, and under mainframe
Water pipe at the axial centre of end is passed down through ring gear, is rotatablely connected head there are one settings on ring gear water pipe below, turns
One or more distributive pipes are provided on dynamic connector, distributive pipe extends respectively on the plant hair wall of periphery, is planting hair pars intramuralis
It is provided with water pipe, the water pipe is connected with distributive pipe；The brush planted on hair wall positioned at water pipe region
Hair is hollow tubular structure, and the bristle of the hollow tubular structure is connected to water pipe；On the plant hair wall in other regions
Bristle be solid construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386296.9A CN106958717B (en) | 2017-05-26 | 2017-05-26 | A kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386296.9A CN106958717B (en) | 2017-05-26 | 2017-05-26 | A kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106958717A CN106958717A (en) | 2017-07-18 |
| CN106958717B true CN106958717B (en) | 2018-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710386296.9A Active CN106958717B (en) | 2017-05-26 | 2017-05-26 | A kind of Full-automatic of the isometrical threaded walls depth pipe with intelligent detector |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107713020B (en) * | 2017-10-30 | 2020-04-10 | 杨松梅 | Carbon deposit structure is cleared up to electron cigarette |
| CN109024865B (en) * | 2018-09-18 | 2020-07-28 | 广东祥实建设有限公司 | Hydraulic engineering pipeline dredging device and special pipeline for dredging |
| CN109332312A (en) * | 2018-12-03 | 2019-02-15 | 舟山商文机器人科技有限公司 | A kind of pipeline cleaning robot |
| CN114517509A (en) * | 2022-01-25 | 2022-05-20 | 浙大宁波理工学院 | Snakelike cleaning robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19903726C1 (en) * | 1999-01-30 | 2000-04-13 | Pipetronix Gmbh Niederlassung | Pipe cleansing tool, especially for pipes carrying hydrocarbons, comprises an axial carrier connected to a flexible carrier collar which contains cleansing tools arranged at an angle to the pipe axis. |
| DE102013106424A1 (en) * | 2013-06-19 | 2014-12-24 | Rosen Swiss Ag | Pig segment and newt |
| CN203917307U (en) * | 2014-07-01 | 2014-11-05 | 李伟 | The diameter adjustable rust cleaning servicing unit of keeping a public place clean for oil pipe |
| CN205413822U (en) * | 2015-12-15 | 2016-08-03 | 重庆恬愉石油技术有限公司 | Inside belt cleaning device of petroleum pipeline |
| CN105715905A (en) * | 2016-04-22 | 2016-06-29 | 广东技术师范学院 | Spirally walking in-pipe robot and control system thereof |
| CN105772458A (en) * | 2016-05-19 | 2016-07-20 | 丁国忠 | Pipeline dredging washing device |
| CN106623296B (en) * | 2017-02-27 | 2022-10-14 | 山东科技大学 | Novel scalable pipeline cleaning robot |
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2017
- 2017-05-26 CN CN201710386296.9A patent/CN106958717B/en active Active
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Effective date of registration: 20201125 Address after: 277400 intersection of Guangji road and Alishan Road, industrial park, Taierzhuang Economic Development Zone, Zaozhuang City, Shandong Province Patentee after: SHANDONG MINGYUAN INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Address before: Tri village Fengming Street West Bridge Tongxiang city village in Jiaxing City, Zhejiang province 314500 No. 28 Patentee before: Wang Yuqiang |