CN107486449A - Umbrella shape climbing robot in pipe - Google Patents
Umbrella shape climbing robot in pipe Download PDFInfo
- Publication number
- CN107486449A CN107486449A CN201710884384.1A CN201710884384A CN107486449A CN 107486449 A CN107486449 A CN 107486449A CN 201710884384 A CN201710884384 A CN 201710884384A CN 107486449 A CN107486449 A CN 107486449A
- Authority
- CN
- China
- Prior art keywords
- umbrella
- robot body
- pipe
- robot
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000000523 sample Substances 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 230000037237 body shape Effects 0.000 claims 1
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 230000005855 radiation Effects 0.000 abstract description 4
- 230000008030 elimination Effects 0.000 abstract description 3
- 238000003379 elimination reaction Methods 0.000 abstract description 3
- 238000001816 cooling Methods 0.000 description 14
- 239000003245 coal Substances 0.000 description 2
- 230000006735 deficit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 229910052778 Plutonium Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000498 cooling water Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- OYEHPCDNVJXUIW-UHFFFAOYSA-N plutonium atom Chemical compound [Pu] OYEHPCDNVJXUIW-UHFFFAOYSA-N 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
Classifications
-
- 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
- B08B9/051—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 the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- 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
- B08B9/0495—Nozzles propelled by fluid jets
Abstract
The invention discloses umbrella shape climbing robot in a kind of pipe, it is related to robot field.Umbrella shape climbing robot in the pipe, including robot body, the opposite end of robot body are equiped with probe and some rotary nozzles, high-pressure water pipe of the robot body close to the connection rotary nozzle of one end of rotary nozzle connection one respectively；Opposite sides of the robot body along its axial direction is respectively provided with a umbrella rib structure, each umbrella rib structure includes equivalent fixed mount, umbrella frame, retractable support lever and the pulley of number, fixed mount is arranged on robot body, umbrella frame distinguishes Connection Bracket and pulley, retractable support lever connect robot body and umbrella frame respectively；Robot body also includes drive mechanism and transmission mechanism close to the side of rotary nozzle, and the pulley close to rotary nozzle connects drive mechanism by transmission mechanism.Umbrella shape climbing robot not only avoid harm of the nuclear radiation to human body in the pipe of the present invention, moreover it is possible to which high-efficient cleaning is except incrustation in cleaning pipe and observes elimination effect.
Description
Technical field
The present invention relates to robot field, and in particular to umbrella shape climbing robot in a kind of pipe.
Background technology
Nuclear power plant is a kind of high-energy, the power plant of few feed consumption.So that a generated energy is 1,000,000 kilowatts of power plant as an example, such as
Fruit burns coal, need to consume 7000~8000 tons or so of coal daily, to consume within 1 year more than 200 ten thousand tons.It is annual only to consume if using nuclear power plant instead
1.5 tons of fissioning uraniums or plutonium, once reload continuously to be run 1 year with full power.The transport and storage of Power Plant Fuel can be greatly reduced
Send one's regards to topic.Therefore, within considerably long one period from now on, nuclear power plant is by as the main energy sources of power industry.And nuclear power plant exists
During nuclear energy is converted into heat energy, cooling system plays a very important role.
Completed, there is no automatic by artificial completely when existing nuclear power plant is purged to cooling water pipe inner surface attachment
Cleaning technique, cause cleaning efficiency low, cleaning quality is poor, and nuclear radiation has certain harm to human body.
The content of the invention
In view of the above-mentioned problems, be necessary to provide umbrella shape climbing robot in a kind of pipe, in the pipe, umbrella shape climbing robot is not
Only avoid harm of the nuclear radiation to human body, and can also high-efficient cleaning except incrustation in cooling tube and elimination effect is seen in good time
Examine.
To achieve these goals, the technical solution adopted by the present invention is as follows：
Umbrella shape climbing robot in a kind of pipe, including robot body, the opposite end of the robot body fill respectively
Provided with probe and some rotary nozzles, the robot body is close to the connection rotation of one end of rotary nozzle connection one
The high-pressure water pipe of shower nozzle；Opposite sides of the robot body along its axial direction is respectively provided with a umbrella rib structure, Mei Yisuo
Stating umbrella rib structure includes equivalent fixed mount, umbrella frame, retractable support lever and the pulley of some numbers, some fixed mount circumference
Be evenly arranged on the robot body, each described umbrella frame one end be fixed on the fixed mount and with the robot sheet
The bodily form is at an angle, and each umbrella frame other end connects the pulley, the opposite end point of each retractable support lever
The robot body and the umbrella frame are not connected；The robot body also includes driving close to the side of the rotary nozzle
Mechanism and transmission mechanism, the pulley close to the rotary nozzle connect the drive mechanism by the transmission mechanism.
Preferably, the transmission mechanism includes belt pulley, belt, driven pulley, driven wheel support, driven shaft, universal joint, rotation
Rotating shaft and bevel gear, the belt pulley be arranged on the drive mechanism output shaft on, and with the center of the robot body
Axis co-axial, the driven pulley are arranged on the lower section of the fixed mount by the driven wheel support and connected by the belt
The belt pulley, the driven pulley are set on the driven shaft, the rotary shaft be located at below the driven shaft and parallel to
The umbrella frame, described rotary shaft one end connect the driven shaft by the universal joint, and the rotary shaft other end passes through described
Pulley of the bevel gear connection positioned at the umbrella frame end.
Preferably, the umbrella rib structure close to described probe one end includes five umbrella frames, close to the rotation spray
The umbrella rib structure at first end includes three umbrella frames.
Preferably, each fixed mount includes two fixed plates and a latch, and two fixed plates are respectively mounted
Perforation is offered on the robot body and all, each umbrella frame offers close to one end of the robot body
Jack, and the umbrella frame is lived close to one end of the robot body between two fixed plates and by the latch
It is dynamic to be connected on the robot body.
Preferably, in addition to it is rotatably installed on the robot body and away from the rotating disk of described probe one end, if
The rotary nozzle is done to be arranged in the rotating disk.
Preferably, the rotary nozzle includes two or four, and the rotary nozzle is made up of alloy steel material.
Preferably, the robot body includes the upper and lower part being connected, and the upper and lower part is respectively provided with one
The umbrella rib structure, the probe are arranged on the one end of the top away from the bottom；The drive mechanism and transmission mechanism
Installed in the bottom close to the one end on the top, and the motor shaft of the drive mechanism is rotationally connected with the top, institute
State rotary nozzle and be arranged on the one end of the bottom away from the top.
Preferably, a diameter of 0.3~3m of the stretching, extension of the umbrella rib structure.
Due to using above-mentioned technical proposal, the invention has the advantages that：
Umbrella shape climbing robot in pipe provided by the invention, retractable support lever retractable, pulley can be by can
Telescopic supporting rod keeps the cooling inside pipe wall fitting to different inner diameters, to ensure that umbrella shape climbing robot can cool down in the pipe
Creeped in pipe by so as to remove all dirts in cooling tube.Drive mechanism is driven close to rotary nozzle by transmission mechanism
Pulley rotation so that umbrella shape climbing robot crawls in cooling tube in the pipe, and by high-pressure water pipe supply water with
Rotary nozzle is set to spray water with high pressure to be purged to the dirt in pipe.Further, it is also possible to by detecting the feelings in cooling tube
Condition, and in the degree of impairment for removing detection cooling tube afterwards.
Umbrella shape climbing robot in pipe provided by the invention, the pulley of each close rotary nozzle all connect transmission mechanism,
Therefore, the pulley of each close rotary nozzle can be transferred through transmission mechanism advanced in unison under the driving of drive mechanism, so that institute
Umbrella shape climbing robot in pipe is stated to creep in cooling tube advance.The design of universal joint cause rotary shaft more work freely, from
And umbrella frame is set to uphold freely.Rotary nozzle is installed on the rotating pan, and rotating disk produces rotation by the jet power of water under high pressure, so that rotation
Rotary nozzle on rotating disk can produce rotation cavitation jet, and it is clear that efficiently injection with multi-faceted is carried out to the dirt in cooling tube
Remove, greatly improve effectively strike area.
In summary, umbrella shape climbing robot in pipe provided by the invention, voluntarily enters to the dirt in nuclear power plant's cooling tube
Row high-efficient cleaning removes, and not only avoid harm of the nuclear radiation to human body, and can also high-efficient cleaning except incrustation in cooling tube and to removing
Effect is observed in good time.
Brief description of the drawings
Fig. 1 is the structural representation of umbrella shape climbing robot in the pipe of embodiment of the present invention offer；
Fig. 2 is the schematic enlarged-scale view of the drive mechanism in umbrella shape climbing robot in the pipe of embodiment of the present invention offer.
In accompanying drawing, 1- robot bodies, 2- tops, 3- bottoms, 4- probes, 5- rotary nozzles, 6- high-pressure water pipes, 7- umbrella frames
Structure, 71- fixed mounts, 711- fixed plates, 712- latches, 72 umbrella frames, 73- retractable support levers, 74- pulleys, 741- first are slided
Wheel, 742- second pulleys, 8- drive mechanisms, 9- transmission mechanisms, 91- belt pulleys, 92- belts, 93- driven pulleys, 94- driven pulley branch
Frame, 95- driven shafts, 96- universal joints, 97- rotary shafts, 98- bevel gears, 10- rotating disks.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it
Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
Please referring also to Fig. 1 and Fig. 2, embodiment of the present invention provide umbrella shape climbing robot in a kind of pipe, including machine
Human body 1, and robot body 1 includes the top 2 and bottom 3 being connected.The opposite end of robot body 1 is equiped with spy respectively
First 4 and some rotary nozzles 5, probe 4 is arranged on the one end of top 2 away from bottom 3, and rotary nozzle 5 is installed in bottom 3 away from upper
The one end in portion 2.High-pressure water pipe 6 of the robot body 1 close to the connection rotary nozzle 5 of one end of rotary nozzle 5 connection one.Robot
On body 1 and one end away from probe 4 is also rotatablely equipped with a rotating disk 10, and some rotary nozzles 5 are arranged in rotating disk 10.
Some rotary nozzles 5 include two or four.In the present embodiment, rotary nozzle 5 is two, and rotary nozzle 5 is by steel alloy
Material is made.
Opposite sides of the robot body 1 along its axial direction is respectively provided with a umbrella rib structure 7, i.e. top 2 and bottom 3 is each
One umbrella rib structure 7 is installed.Each umbrella rib structure 7 includes the equivalent fixed mount 71 of some numbers, umbrella frame 72, retractable supports
Bar 73 and pulley 74.Some even circumferentials of fixed mount 71 are arranged on robot body 1, and each fixed mount 71 includes two admittedly
Fixed board 711 and a latch 712.Two fixed plates 711 are installed on robot body 1 and all offer perforation and (do not mark
Show), each umbrella frame 72 offers jack (not indicating) close to one end of robot body 1, and umbrella frame 72 is close to robot sheet
One end of body 1 is movably connected on robot body 1 between two fixed plates 711 and by latch 712.Each umbrella frame 72
One end is fixed on fixed mount 71 and, each umbrella frame 72 other end connection pulley 74 at an angle with the shape of robot body 1.It is close
The umbrella rib structure 7 of 4 one end of popping one's head in includes five umbrella frames 72, and the umbrella rib structure 7 close to the one end of rotary nozzle 5 includes three umbrella frames
72.The opposite end of each retractable support lever 73 connects robot body 1 and umbrella frame 72 respectively.Retractable support lever 73 can be with
Freely stretched in the pipeline of different inner diameters, so that pulley 74 can be kept to different inner diameters by retractable support lever 73
Inside pipe wall fitting is cooled down, is passed through with ensureing in the pipe that umbrella shape climbing robot can creep in cooling tube.In present embodiment
In, the pulley 74 close to probe 4 is first pulley 741, and the pulley 74 close to rotary nozzle 5 is second pulley 742.
Robot body 1 also includes drive mechanism 8 and transmission mechanism 9 close to the side of rotary nozzle 5.The He of drive mechanism 8
Transmission mechanism 9 is arranged on bottom 3 close to the one end on top 2, and the motor shaft of drive mechanism 8 is rotationally connected with top 2.Close to rotation
The pulley 742 for turning shower nozzle 5 connects drive mechanism 8 by transmission mechanism 9.In the present embodiment, transmission mechanism 9 includes belt pulley
91st, belt 92, driven pulley 93, driven wheel support 94, driven shaft 95, universal joint 96, rotary shaft 97 and bevel gear 98.Belt pulley 91
On the output shaft of drive mechanism 9, and it is coaxial with the central axis of robot body 1.Driven pulley 93 passes through driven pulley branch
Frame 94 is arranged on the lower section of fixed mount 71 and connects belt pulley 91 by belt 92.Rotary shaft 97 is located at the lower section of driven shaft 95 and put down
Row is in umbrella frame 72.Driven pulley 93 is set on driven shaft 95.The one end of rotary shaft 97 connects driven shaft 95, rotation by universal joint 96
Pulley 742 of the other end of axle 97 by the connection of bevel gear 98 positioned at the end of umbrella frame 72.
In the present embodiment, a diameter of 0.3~3m of the stretching, extension of umbrella rib structure 7, so that umbrella shape crawling machine in the pipe
People can by caliber be 0.3~3m pipe.
Umbrella shape climbing robot when in use, starts drive mechanism 8, the rotational band of drive mechanism 8 first in the pipe of the present invention
Dynamic belt pulley 91 rotates, and belt pulley 91 drives driven pulley 93 to rotate by belt 92, and then drives driven shaft 95 to rotate, driven shaft
95, which rotate drive universal joint 96, rotates, and universal joint 96, which rotates, drives rotary shaft 97 to rotate, and rotary shaft 97 is rotated so as to by boring tooth
Wheel 98 drives the second pulley 742 close to rotary nozzle 5 to rotate, so that umbrella shape climbing robot is creeped in pipe in the pipe
Advance；Meanwhile bevel gear 98 can change the direction between the second pulley 742 and rotary shaft 97 of rotary nozzle 5, from
And make in the pipe umbrella shape climbing robot change before line direction.When probe 4 detects dirt in pipe, drive mechanism 8 is closed,
Second pulley 742 stops operating so that umbrella shape climbing robot stops creeping in the pipe, while passes through retractable support lever
73 five first pulleys 741 that freely stretch to are stuck on inside pipe wall to secure the above umbrella shape climbing robot in pipe, due to
Retractable support lever 73 is flexible, inwardly compresses during compression, outwards upholds during no external force, the elastic basis of retractable support lever 73
The big freedom in minor affairs regulation external diameter of caliber；Afterwards, high-pressure water pipe 6 supplies water to two rotary nozzles 5, so that two rotary nozzles 5 produce
Raw cavitation jet, while rotating disk 10 produces rotation by the jet power of water under high pressure, to produce rotation cavitation jet impact cooling
The inwall of pipe, effectively strike area can be improved, is removed with carrying out high-efficient cleaning to dirt in pipe.The inspection of probe 4 can be passed through after removing
Look into the degree of impairment of elimination effect and cooling tube.
Described above is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, the equal change completed or modification change under the technical spirit suggested by all present invention, all should belong to
Cover the scope of the claims in the present invention.
Claims (8)
1. umbrella shape climbing robot in a kind of pipe, including robot body, it is characterised in that：Relative the two of the robot body
End is equiped with probe and some rotary nozzles respectively, and the robot body is close to the connection of one end of rotary nozzle connection one
The high-pressure water pipe of the rotary nozzle；Opposite sides of the robot body along its axial direction is respectively provided with a umbrella frame knot
Structure, each umbrella rib structure includes equivalent fixed mount, umbrella frame, retractable support lever and the pulley of some numbers, some described
Fixed mount even circumferential is arranged on the robot body, each described umbrella frame one end be fixed on the fixed mount and with institute
It is at an angle to state robot body shape, each umbrella frame other end connects the pulley, each retractable support lever
Opposite end connects the robot body and the umbrella frame respectively；The robot body is close to the side of the rotary nozzle
Also include drive mechanism and transmission mechanism, the pulley close to the rotary nozzle connects the driving machine by the transmission mechanism
Structure.
2. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：The transmission mechanism include belt pulley,
Belt, driven pulley, driven wheel support, driven shaft, universal joint, rotary shaft and bevel gear, the belt pulley are arranged on the driving
On the output shaft of mechanism, and it is coaxial with the central axis of the robot body, and the driven pulley passes through the driven wheel support
The belt pulley is connected installed in the lower section of the fixed mount and by the belt, the driven pulley is set in the driven shaft
On, the rotary shaft is located at below the driven shaft and passes through the universal joint parallel to the umbrella frame, described rotary shaft one end
Connect the driven shaft, pulley of the rotary shaft other end by bevel gear connection positioned at the umbrella frame end.
3. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：The umbrella close to described probe one end
Bone structure includes five umbrella frames, and the umbrella rib structure close to described rotary nozzle one end includes three umbrella frames.
4. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：Each fixed mount includes two
Fixed plate and a latch, two fixed plates are installed on the robot body and all offer perforation, Mei Yisuo
State umbrella frame and offer jack close to one end of the robot body, and the umbrella frame is close to one end of the robot body
It is movably connected between two fixed plates and by the latch on the robot body.
5. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：Also include being rotatably installed in the machine
Human body is upper and is arranged on away from the rotating disk of described probe one end, some rotary nozzles in the rotating disk.
6. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：The rotary nozzle includes two or four
Individual, the rotary nozzle is made up of alloy steel material.
7. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：The robot body includes being connected
Upper and lower part, the upper and lower part is respectively provided with a umbrella rib structure, and it is remote that the probe is arranged on the top
One end of the bottom；The drive mechanism and transmission mechanism are arranged on the bottom close to the one end on the top, and described
The motor shaft of drive mechanism is rotationally connected with the top, and the rotary nozzle is arranged on one of the bottom away from the top
End.
8. umbrella shape climbing robot in pipe as claimed in claim 1, it is characterised in that：The stretching, extension of the umbrella rib structure is a diameter of
0.3~3m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884384.1A CN107486449A (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710884384.1A CN107486449A (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107486449A true CN107486449A (en) | 2017-12-19 |
Family
ID=60653191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710884384.1A Pending CN107486449A (en) | 2017-09-26 | 2017-09-26 | Umbrella shape climbing robot in pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107486449A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107413542A (en) * | 2017-09-26 | 2017-12-01 | 桂林净美机电有限公司 | Cavitating nozzle swivel head |
| CN108716584A (en) * | 2018-05-25 | 2018-10-30 | 哈尔滨工程大学 | A kind of reducing seabed tunnel robot for cleaning |
| CN108927389A (en) * | 2018-06-29 | 2018-12-04 | 安徽理工大学 | Pipeline cleaning robot |
| CN109365440A (en) * | 2018-11-12 | 2019-02-22 | 厦门佰欧环境智能科技有限公司 | A kind of pipeline cleaning climbing robot |
| CN110216118A (en) * | 2019-06-04 | 2019-09-10 | 邵帅 | A kind of inner wall of the pipe cleaning robot |
| CN110665912A (en) * | 2019-10-28 | 2020-01-10 | 成秀东 | Method for cleaning pipeline |
| CN111156854A (en) * | 2020-02-25 | 2020-05-15 | 西安绿动透平技术有限公司 | Automatic cleaning robot for tube inner wall surface of tube shell type heat exchanger |
| CN117399377A (en) * | 2023-12-14 | 2024-01-16 | 沈阳乐节科技有限公司 | Self-adaptive pipeline inner diameter cleaning robot |
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|---|---|---|---|---|
| CN107413542A (en) * | 2017-09-26 | 2017-12-01 | 桂林净美机电有限公司 | Cavitating nozzle swivel head |
| CN108716584A (en) * | 2018-05-25 | 2018-10-30 | 哈尔滨工程大学 | A kind of reducing seabed tunnel robot for cleaning |
| CN108927389A (en) * | 2018-06-29 | 2018-12-04 | 安徽理工大学 | Pipeline cleaning robot |
| CN109365440A (en) * | 2018-11-12 | 2019-02-22 | 厦门佰欧环境智能科技有限公司 | A kind of pipeline cleaning climbing robot |
| CN110216118A (en) * | 2019-06-04 | 2019-09-10 | 邵帅 | A kind of inner wall of the pipe cleaning robot |
| CN110665912A (en) * | 2019-10-28 | 2020-01-10 | 成秀东 | Method for cleaning pipeline |
| CN111156854A (en) * | 2020-02-25 | 2020-05-15 | 西安绿动透平技术有限公司 | Automatic cleaning robot for tube inner wall surface of tube shell type heat exchanger |
| CN117399377A (en) * | 2023-12-14 | 2024-01-16 | 沈阳乐节科技有限公司 | Self-adaptive pipeline inner diameter cleaning robot |
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Application publication date: 20171219 |
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