CN107443399B - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
- Publication number
- CN107443399B CN107443399B CN201710879245.XA CN201710879245A CN107443399B CN 107443399 B CN107443399 B CN 107443399B CN 201710879245 A CN201710879245 A CN 201710879245A CN 107443399 B CN107443399 B CN 107443399B
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- Prior art keywords
- motor
- connecting rod
- pin shaft
- hydraulic cylinder
- hinged
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- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
-
- 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
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention provides a cleaning robot, which comprises three cleaning modules, a turntable, a speed reducing motor, a multi-stage hydraulic cylinder, a first joint, a lifting arm, a hydraulic motor, an upright post and a base, and is characterized in that: the base is fixedly arranged on the ground, the bottom of the upright post is fixedly arranged on the upper end surface of the base, the front end of the upright post is provided with a hydraulic motor with an upward output shaft, the top of the lifting seat of the lifting arm is fixedly arranged on the output shaft of the hydraulic motor, the three cleaning modules are respectively arranged on the front end surface of the rotary table through second joints at the end part of the first hydraulic cylinder, and the rear end surface of the rotary table is fixedly arranged on the output shaft of the speed reducing motor; the tank truck can enter the tank truck through the lifting arm, the cleaning module at the end part can clean the inner wall of the tank body in all directions through rotation and extension, and meanwhile, sewage can be pumped out through the guide pipe, so that workers do not need to enter the tank in the whole process, and the tank truck is safe and efficient.
Description
Technical Field
The invention relates to the technical field of cleaning equipment and robots, in particular to a cleaning robot.
Background
In railway transportation, liquid such as crude oil is often transported by a tank car, workers are often required to enter the tank car when the tank car is cleaned, accidents are very easy to happen due to high temperature and oxygen deficiency in the tank, and life safety of the workers is threatened, so that equipment capable of automatically cleaning the interior of the tank car is required.
Disclosure of Invention
In order to solve the problems, the invention provides a cleaning robot which can enter the tank car through a lifting arm, a cleaning module at the end part can clean the inner wall of a tank body in an all-dimensional manner through rotation and extension, and meanwhile, sewage can be pumped out through a guide pipe, so that workers do not need to enter the tank in the whole process, and the cleaning robot is safe and efficient.
The technical scheme adopted by the invention is as follows: the utility model provides a cleaning machines people, includes three clean module, carousel, gear motor, multistage pneumatic cylinder, first joint, lifing arm, hydraulic motor, stand, base, its characterized in that: the base is fixedly arranged on the ground, the bottom of the upright post is fixedly arranged on the upper end surface of the base, a hydraulic motor with an axial output shaft is arranged at the front end of the upright post, and the top of the lifting seat of the lifting arm is fixedly arranged on the output shaft of the hydraulic motor; the rear end part of the multi-stage hydraulic cylinder is arranged below the carriage of the lifting arm through a first joint, and the speed reducing motor is fixedly arranged at the front end part of the multi-stage hydraulic cylinder; the three cleaning modules are respectively arranged on the front end face of the rotary table through second joints at the end part of the first hydraulic cylinder, and the rear end face of the rotary table is fixedly arranged on an output shaft of the speed reducing motor;
the cleaning module comprises a first support plate, a first motor, a brush, two rotating wheels, two springs, a second support plate, a hinge, a first hydraulic cylinder, two nozzles and a second joint, wherein the second joint is arranged at the end part of a cylinder body of the first hydraulic cylinder; the front part of the lower end surface of the first supporting plate is provided with a first motor, a brush is arranged on a motor shaft of the first motor, and the rear part of the lower end surface of the first supporting plate is provided with two nozzles; the two rotating wheels are respectively arranged on the left side and the right side of the lower end surface of the first supporting plate;
the lifting arm comprises a lifting seat, a second motor, a screw rod, two first guide rails, a dragging plate, a nut, a first pin shaft, four first connecting rods, a second connecting rod, two second guide rails, a third connecting rod, a second pin shaft, a second hydraulic cylinder, a third pin shaft, a fourth pin shaft, a guide pipe, a water inlet, a sliding seat, two sliding chutes, a fixed support, a pipe joint, two first sliding blocks, a synchronizing wheel, a synchronous belt and an electric synchronizing wheel, wherein the two first guide rails are arranged on the front end face of the lifting seat; a nut is arranged on the side surface of the carriage and matched with the lead screw; the front end surface of the carriage is sequentially provided with a first pin shaft, a second pin shaft and a third pin shaft from top to bottom, one ends of two first connecting rods are hinged to two sides of the first pin shaft, and one ends of the other two first connecting rods are hinged to two sides of the third pin shaft; one end of the third connecting rod is hinged to the first connecting rod end part at the upper end of the left side, and the other end of the third connecting rod is hinged to the first connecting rod end part at the lower end of the left side; one end of the second connecting rod is hinged to the first connecting rod end part at the upper end of the right side, and the other end of the second connecting rod is hinged to the first connecting rod end part at the lower end of the right side; the two second guide rails are respectively arranged at the inner sides of the third connecting rod and the second connecting rod; the middle parts of the two lower first connecting rods are connected through a fourth pin shaft, one end of a second hydraulic cylinder is hinged to the second pin shaft, and the other end of the second hydraulic cylinder is hinged to the fourth pin shaft; two sliding chutes are arranged on two sides of the sliding seat, the two sliding chutes are respectively matched with the two second guide rails, the guide pipe is fixedly arranged on the sliding seat, a water inlet is arranged below the guide pipe, and a pipe joint is arranged above the guide pipe; the right side of the sliding seat is provided with a fixed support, two ends of the second connecting rod are respectively provided with a synchronizing wheel and an electric synchronizing wheel, the synchronous belt is arranged on the synchronizing wheel and the electric synchronizing wheel, and the fixed support is fixedly arranged on the upper portion of the synchronous belt.
Furthermore, the pipe joint is connected with an external water suction pump, and the nozzle is connected with an external high-temperature steam generating device.
The invention has the beneficial effects that:
the tank truck can enter the tank truck through the lifting arm, the cleaning module at the end part can clean the inner wall of the tank body in all directions through rotation and extension, and meanwhile, sewage can be pumped out through the guide pipe, so that workers do not need to enter the tank in the whole process, and the tank truck is safe and efficient.
Drawings
Fig. 1 and 5 are schematic views of the overall structure of the present invention.
Fig. 2, 3 and 4 are enlarged views of fig. 1 according to the present invention.
Fig. 6 and 7 are partially enlarged views of fig. 5 according to the present invention.
Fig. 8 and 9 are schematic structural views of the cleaning module of the present invention.
Fig. 10 is a schematic structural view of the lift arm of the present invention.
Fig. 11 is a schematic structural view of the catheter and components associated therewith.
Fig. 12 is a partial enlarged view of fig. 11 of the present invention.
Fig. 13 is a schematic view showing the structure of a side member of the second link according to the present invention.
Reference numerals: 1-a cleaning module; 2-a turntable; 3-a reduction motor; 4-a multi-stage hydraulic cylinder; 5-a first joint; 6-lifting arm; 7-a hydraulic motor; 8-upright column; 9-a base; 101-a first plate; 102-a first electric machine; 103-a brush; 104-a rotating wheel; 105-a spring; 106-a second plate; 107-hinge; 108-a first hydraulic cylinder; 109-a nozzle; 110-a second joint; 601-a lifting seat; 602-a second electric machine; 603-a lead screw; 604-a first guide rail; 605-carriage; 606-a nut; 607-a first pin; 608-a first link; 609-a second link; 610-a second guide rail; 611-a third link; 612-a second pin; 613-second hydraulic cylinder; 614-third pin; 615-a fourth pin; 616-a catheter; 617-water inlet; 618-sliding seat; 619-a chute; 620-fixed support; 621-pipe joint; 622 — first slider; 623-a synchronizing wheel; 624-synchronous belt; 625-electric synchronizing wheel.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Examples
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, and 13, a cleaning robot includes three cleaning modules 1, a turntable 2, a reduction motor 3, a multi-stage hydraulic cylinder 4, a first joint 5, a lift arm 6, a hydraulic motor 7, a column 8, and a base 9, and is characterized in that: the base 9 is fixedly arranged on the ground, the bottom of the upright post 8 is fixedly arranged on the upper end surface of the base 9, the hydraulic motor 7 with an upward output shaft is arranged at the front end of the upright post 8, and the top of the lifting seat 601 of the lifting arm 6 is fixedly arranged on the output shaft of the hydraulic motor 7; the rear end part of the multi-stage hydraulic cylinder 4 is arranged below a carriage 605 of a lifting arm 6 through a first joint 5, and a speed reducing motor 3 is fixedly arranged at the front end part of the multi-stage hydraulic cylinder 4; the three cleaning modules 1 are respectively arranged on the front end face of the rotary table 2 through second joints 110 at the end parts of the first hydraulic cylinders 108, and the rear end face of the rotary table 2 is fixedly arranged on an output shaft of the speed reducing motor 3;
the cleaning module 1 comprises a first support plate 101, a first motor 102, a brush 103, two rotating wheels 104, two springs 105, a second support plate 106, a hinge 107, a first hydraulic cylinder 108, two nozzles 109 and a second joint 110, wherein the end part of a cylinder body of the first hydraulic cylinder 108 is provided with the second joint 110, the end part of a piston rod of the first hydraulic cylinder 108 is provided with the second support plate 106, the upper end surface of the first support plate 101 is hinged on the second support plate 106 through the hinge 107 in the middle part, the two springs 105 are positioned at two sides of the hinge 107, one end is fixed on the first support plate 101, and the other end is fixed on the second support plate 106; the front part of the lower end face of the first support plate 101 is provided with a first motor 102, a brush 103 is arranged on a motor shaft of the first motor 102, and the rear part of the lower end face of the first support plate 101 is provided with two nozzles 109; the two rotating wheels 104 are respectively arranged on the left side and the right side of the lower end face of the first support plate 101;
the lifting arm 6 comprises a lifting seat 601, a second motor 602, a lead screw 603, two first guide rails 604, a carriage 605, a nut 606, a first pin 607, four first connecting rods 608, a second connecting rod 609, two second guide rails 610, a third connecting rod 611, a second pin 612, a second hydraulic cylinder 613, a third pin 614, a fourth pin 615, a guide tube 616, a water inlet 617, a sliding seat 618, two sliding grooves 619, a fixed support 620, a pipe joint 621, two first sliding blocks 622, synchronizing wheels 623, a synchronizing belt 624 and an electric synchronizing wheel 625, two first guide rails 604 are arranged on the front end surface of the lifting seat 601, two first sliding blocks 622 are arranged on the rear end surface of the carriage 605, the two first sliding blocks 622 are respectively matched with the two first guide rails 604, the upper end surface of the lifting seat 601 is provided with a second motor 602, two ends of a lead screw 603 are arranged on two lead screw fixing seats on the front end surface of the lifting seat 601, and a motor shaft of the lead screw 603 is connected with a motor shaft of the second motor 602 through a coupler; a nut 606 is arranged on the side surface of the carriage 605, and the nut 606 is matched with the screw 603; a first pin shaft 607, a second pin shaft 612 and a third pin shaft 614 are sequentially arranged on the front end surface of the carriage 605 from top to bottom, one ends of two first connecting rods 608 are hinged on two sides of the first pin shaft 607, and one ends of the other two first connecting rods 608 are hinged on two sides of the third pin shaft 614; one end of the third connecting rod 611 is hinged to the end of the first connecting rod 608 at the upper end of the left side, and the other end is hinged to the end of the first connecting rod 608 at the lower end of the left side; one end of the second connecting rod 609 is hinged at the end of the first connecting rod 608 at the upper end of the right side, and the other end is hinged at the end of the first connecting rod 608 at the lower end of the right side; the two second guide rails 610 are respectively installed inside the third connecting rod 611 and the second connecting rod 609; the middle parts of the two lower first connecting rods 608 are connected through a fourth pin 615, one end of a second hydraulic cylinder 613 is hinged on the second pin 612, and the other end is hinged on the fourth pin 615; two sliding grooves 619 are arranged on two sides of the sliding seat 618, the two sliding grooves 619 are respectively matched with the two second guide rails 610, the guide pipe 616 is fixedly arranged on the sliding seat 618, a water inlet 617 is arranged below the guide pipe 616, and a pipe joint 621 is arranged above the guide pipe 616; the right side of the sliding seat 618 is provided with a fixed support 620, two ends of the second connecting rod 609 are respectively provided with a synchronizing wheel 623 and an electric synchronizing wheel 625, the synchronous belt 624 is arranged on the synchronizing wheel 623 and the electric synchronizing wheel 625, and the fixed support 620 is fixedly arranged on the upper part of the synchronous belt 624.
Further, the pipe joint 621 is connected to an external water pump, and the nozzle 109 is connected to an external high-temperature steam generator.
The working principle of the invention is as follows: the lifting arm 6 is driven to rotate by the hydraulic motor 7, and the second hydraulic cylinder 613 extends and shortens to drive the second connecting rod 609 and the third connecting rod 611 to move away from and close to the carriage 605; the second motor 602 drives the screw 603 to rotate, and the carriage 605 moves up and down through the nut 606; the multistage hydraulic cylinder 4 is driven to swing through the first joint 5; the electric synchronous wheel 625 drives the synchronous belt 624 to rotate, and drives the sliding seat 618 to move up and down along the second guide rail 610 through the fixed bracket 620; the first support plate 101 swings left and right around the hinge 107 and is kept stable through the spring 105; the first motor 102 drives the brush 103 to rotate; the cleaning modules 1 are driven to rotate through the second joints 110, and the speed reducing motor 3 drives the three cleaning modules 1 to rotate through driving the rotating disc 2; the initial position of the invention is as follows: the carriage 605 is lifted to the highest, the second connecting rod 609 and the third connecting rod 611 are close to the carriage 605, and the sliding seat 618 is lifted to the highest; the multi-stage hydraulic cylinder 4 is contracted to the shortest and vertically downwards, the first hydraulic cylinder 108 is contracted to the shortest, and the end parts of the three cleaning modules 1 are close to each other; when cleaning is needed, firstly, an opening below the tank car is moved to a position right below a lifting arm 6, a dragging plate 605 moves downwards, a multi-stage hydraulic cylinder 4 rotates by 90 degrees, a second connecting rod 609 and a third connecting rod 611 are far away from the dragging plate 605, a sliding seat 618 moves downwards to a water inlet 617 to be contacted with the bottom of the tank, a first hydraulic cylinder 108 and a second joint 110 are linked to enable a rotating wheel 104 and a brush 103 to be contacted with the wall of the tank, a first motor 102 drives the brush 103 to rotate, an external high-temperature steam generating device sprays high-temperature steam through a nozzle 109, a speed reduction motor 3 drives three cleaning modules 1 to rotate through a driving turntable 2, and meanwhile, the multi-stage hydraulic cylinder 4 moves to enable one side of the tank to be; after cleaning of one side is finished, the robot restores the initial position, the hydraulic motor 7 drives the lifting arm 6 to rotate 180 degrees, cleaning of the other side is continued, after the cleaning, the robot restores the initial position, and the tank car is moved away.
Claims (2)
1. The utility model provides a cleaning robot, includes three clean module (1), carousel (2), gear motor (3), multistage pneumatic cylinder (4), first joint (5), lifing arm (6), hydraulic motor (7), stand (8), base (9), its characterized in that: the base (9) is fixedly arranged on the ground, the bottom of the upright post (8) is fixedly arranged on the upper end surface of the base (9), the front end of the upright post (8) is provided with a hydraulic motor (7) with an upward output shaft, and the top of the lifting seat (601) of the lifting arm (6) is fixedly arranged on the output shaft of the hydraulic motor (7); the rear end part of the multi-stage hydraulic cylinder (4) is arranged below a carriage (605) of the lifting arm (6) through a first joint (5), and the speed reducing motor (3) is fixedly arranged at the front end part of the multi-stage hydraulic cylinder (4); the three cleaning modules (1) are respectively arranged on the front end face of the rotary table (2) through second joints (110) at the end part of the first hydraulic cylinder (108), and the rear end face of the rotary table (2) is fixedly arranged on an output shaft of the speed reducing motor (3);
the cleaning module (1) comprises a first support plate (101), a first motor (102), a brush (103), two rotating wheels (104), two springs (105), a second support plate (106), a hinge (107), a first hydraulic cylinder (108), two nozzles (109) and a second joint (110), wherein the second joint (110) is arranged at the end part of a cylinder body of the first hydraulic cylinder (108), the second support plate (106) is arranged at the end part of a piston rod of the first hydraulic cylinder (108), the upper end surface of the first support plate (101) is hinged on the second support plate (106) through the hinge (107) in the middle, the two springs (105) are positioned at two sides of the hinge (107), one end of each spring is fixed on the first support plate (101), and the other end of each spring is fixed on the second support plate (106); a first motor (102) is arranged in front of the lower end face of the first support plate (101), a brush (103) is arranged on a motor shaft of the first motor (102), and two nozzles (109) are arranged at the rear of the lower end face of the first support plate (101); the two rotating wheels (104) are respectively arranged on the left side and the right side of the lower end face of the first support plate (101);
the lifting arm (6) comprises a lifting seat (601), a second motor (602), a lead screw (603), two first guide rails (604), a carriage (605), a nut (606), a first pin shaft (607), four first connecting rods (608), a second connecting rod (609), two second guide rails (610), a third connecting rod (611), a second pin shaft (612), a second hydraulic cylinder (613), a third pin shaft (614), a fourth pin shaft (615), a guide pipe (616), a water inlet (617), a sliding seat (618), two sliding chutes (619), a fixed support (620), a pipe joint (621), two first slide blocks (622), a synchronizing wheel (623), a synchronous belt (624) and an electric synchronizing wheel (625), wherein the front end surface of the lifting seat (601) is provided with the two first guide rails (604), the rear end surface of the carriage (605) is provided with the two first slide blocks (622), and the two first slide blocks (622) are respectively matched with the two first guide rails (604), a second motor (602) is arranged on the upper end face of the lifting seat (601), two ends of a lead screw (603) are arranged on two lead screw fixing seats on the front end face of the lifting seat (601), and a motor shaft of the lead screw (603) is connected with a motor shaft of the second motor (602) through a coupler; a nut (606) is arranged on the side surface of the carriage (605), and the nut (606) is matched with the screw rod (603); a first pin shaft (607), a second pin shaft (612) and a third pin shaft (614) are sequentially arranged on the front end surface of the carriage (605) from top to bottom, one ends of two first connecting rods (608) are hinged to two sides of the first pin shaft (607), and one ends of the other two first connecting rods (608) are hinged to two sides of the third pin shaft (614); one end of the third connecting rod (611) is hinged to the end of the first connecting rod (608) at the upper end of the left side, and the other end of the third connecting rod is hinged to the end of the first connecting rod (608) at the lower end of the left side; one end of the second connecting rod (609) is hinged at the end part of the first connecting rod (608) at the upper end of the right side, and the other end is hinged at the end part of the first connecting rod (608) at the lower end of the right side; the two second guide rails (610) are respectively arranged on the inner sides of the third connecting rod (611) and the second connecting rod (609); the middle parts of the two first connecting rods (608) at the lower part are connected through a fourth pin shaft (615), one end of a second hydraulic cylinder (613) is hinged on the second pin shaft (612), and the other end is hinged on the fourth pin shaft (615); two sliding chutes (619) are arranged on two sides of the sliding seat (618), the two sliding chutes (619) are respectively matched with the two second guide rails (610), the guide pipe (616) is fixedly arranged on the sliding seat (618), a water inlet (617) is arranged below the guide pipe (616), and a pipe joint (621) is arranged above the guide pipe (616); the right side of the sliding seat (618) is provided with a fixed support (620), two ends of the second connecting rod (609) are respectively provided with a synchronizing wheel (623) and an electric synchronizing wheel (625), the synchronous belt (624) is arranged on the synchronizing wheel (623) and the electric synchronizing wheel (625), and the fixed support (620) is fixedly arranged on the upper part of the synchronous belt (624).
2. A cleaning robot as claimed in claim 1, wherein: the pipe joint (621) is connected with an external water suction pump, and the nozzle (109) is connected with an external high-temperature steam generating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710879245.XA CN107443399B (en) | 2017-09-26 | 2017-09-26 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710879245.XA CN107443399B (en) | 2017-09-26 | 2017-09-26 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107443399A CN107443399A (en) | 2017-12-08 |
| CN107443399B true CN107443399B (en) | 2020-09-04 |
Family
ID=60497436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710879245.XA Expired - Fee Related CN107443399B (en) | 2017-09-26 | 2017-09-26 | Cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107443399B (en) |
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| CN114308786A (en) * | 2021-12-02 | 2022-04-12 | 长沙中联重科环境产业有限公司 | Cantilever type upright rod cleaning vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2931060A (en) * | 1957-01-30 | 1960-04-05 | Salvatore Compagnone | Ladle sculling machine |
| JPS52116061U (en) * | 1976-03-01 | 1977-09-02 | ||
| JPS6150037B2 (en) * | 1978-10-31 | 1986-11-01 | Shinnippon Seitetsu Kk | |
| CN201008867Y (en) * | 2006-11-01 | 2008-01-23 | 李树 | Tank truck cleaning apparatus |
| CN205308921U (en) * | 2015-12-18 | 2016-06-15 | 北京砼友混凝土浇筑技术有限公司 | Tank truck cleaning apparatus |
| CN106862197A (en) * | 2017-04-10 | 2017-06-20 | 成都大漠石油技术有限公司 | Suitable for the petroleum pipeline cleaning device of different-diameter |
-
2017
- 2017-09-26 CN CN201710879245.XA patent/CN107443399B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2931060A (en) * | 1957-01-30 | 1960-04-05 | Salvatore Compagnone | Ladle sculling machine |
| JPS52116061U (en) * | 1976-03-01 | 1977-09-02 | ||
| JPS6150037B2 (en) * | 1978-10-31 | 1986-11-01 | Shinnippon Seitetsu Kk | |
| CN201008867Y (en) * | 2006-11-01 | 2008-01-23 | 李树 | Tank truck cleaning apparatus |
| CN205308921U (en) * | 2015-12-18 | 2016-06-15 | 北京砼友混凝土浇筑技术有限公司 | Tank truck cleaning apparatus |
| CN106862197A (en) * | 2017-04-10 | 2017-06-20 | 成都大漠石油技术有限公司 | Suitable for the petroleum pipeline cleaning device of different-diameter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107443399A (en) | 2017-12-08 |
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