CN108167571A - A kind of sewer repairing vehicle and sewer pipes method for repairing and mending - Google Patents
A kind of sewer repairing vehicle and sewer pipes method for repairing and mending Download PDFInfo
- Publication number
- CN108167571A CN108167571A CN201711468564.8A CN201711468564A CN108167571A CN 108167571 A CN108167571 A CN 108167571A CN 201711468564 A CN201711468564 A CN 201711468564A CN 108167571 A CN108167571 A CN 108167571A
- Authority
- CN
- China
- Prior art keywords
- sewer
- orthopaedic device
- pipeline
- shape
- repairing
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4231—Proportioning or supplying water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4234—Charge or discharge systems therefor
- B28C5/4237—Charging, e.g. hoppers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/1645—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe
- F16L55/16455—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe a part of the tool defining, together with the inner wall of the pipe, an enclosed space into which sealing material is injected
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/165—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section
- F16L55/1652—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section
- F16L55/1653—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section and being pressed into contact with the pipe by a tool which moves inside along the pipe
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Transportation (AREA)
- Pipe Accessories (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The present invention relates to a kind of sewer repairing vehicle and sewer pipes method for repairing and mending, sewer repairing vehicle includes chassis vehicle, the subframe of installation on a chassis, it further includes water tank and cement grout preparation system on the subframe, pipe robot and orthopaedic device in sewer can be put in, the orthopaedic device connect with pipe robot and can open around central axis rotation and outward；Tube rolling device is installed in the subframe rear end, and control pipeline robot, orthopaedic device, the power spool for control pipeline robot ambulation and slip casting are wound on the tube rolling device.Sewer repairing vehicle of the present invention can repair sewer pipes, and sewer can be repaired without modes such as excavated pavements, improve construction efficiency.
Description
Technical field
The present invention relates to a kind of sewer repairing vehicle and sewer pipes method for repairing and mending.
Background technology
Drain pipe repairs no special equipment at present, and repairing is mostly repaired using excavated pavement or personnel go into the well
Operation, long construction period and seriously affects traffic.And drain pipe narrow space, construction personnel's operating condition are poor, serious shadow
Ring the personal safety of construction personnel.
Invention content
It is an object of the present invention in view of the deficiencies of the prior art, provide a kind of sewer repairing vehicle and sewer pipes
Method for repairing and mending can repair sewer pipes using vehicle is repaired, without the modes such as excavated pavement can to sewer into
Row repairing, improves construction efficiency.
The technical scheme is that a kind of sewer repairing vehicle, including chassis vehicle, the secondary vehicle of installation on a chassis
Frame, further include water tank and the cement grout preparation system on subframe, pipe robot in sewer can be put in and
Orthopaedic device, the orthopaedic device connect with pipe robot and can rotate around central axis and open outward；The subframe
Tube rolling device is installed in rear end, winding control pipeline robot on the tube rolling device, orthopaedic device, for control pipeline robot ambulation and
The power spool of slip casting.
Preferably, subframe rear portion installation casing, the top of babinet are equipped with to lift pipe robot and school shape
The arm of device.
Preferably, the placing box for storing pipe robot and orthopaedic device is installed in the bottom of the subframe.
Preferably, the orthopaedic device includes horizontal central shaft, uniformly mounted on the N blocks shape-correcting plate of central shaft periphery, use
In connection shape-correcting plate and the connecting rod of central shaft, N number of school shape oil cylinder is installed, and each school shape oil cylinder controls one on the central shaft
The opening of shape-correcting plate and withdrawal；One of shape-correcting plate is equipped with Grouting Pipe.
Preferably, the pipe robot one end being connect with orthopaedic device is equipped with rotation motor, the central shaft and rotation motor
Connection.
Preferably, the pipe robot one end being connect with orthopaedic device is equipped with multiple cameras.
Preferably, the cement grout preparation system includes sandstone storehouse, cement bin, agitator, the sandstone storehouse and cement
Storehouse is connected respectively a vertical screw elevator, and the sandstone storehouse and cement bin bottom are respectively equipped with one and connect with agitator
The quantitative screw conveyor connect.
Another technical solution of the present invention is a kind of method of remedial cement pipeline dislocation sewer, according to following step
Suddenly it is repaired：
1) closure air bag is set respectively at the concrete duct both ends of dislocation；
2) by the pipe robot in the sewer repairing vehicle described in any one claim in claim 1-7 and school
Shape device is put in the concrete duct of dislocation；
3) the school shape oil cylinder of orthopaedic device is controlled, opens shape-correcting plate until the pipeline of dislocation is corrected；
4) the hole area slip casting by school shape oil cylinder outside the pipeline after correction, until hole area is filled；
5) the school shape oil cylinder working-pressure of orthopaedic device is laid down, if pipeline repairs completion, shape-correcting plate is withdrawn without rebound；If pipe
Road is sprung back, then continues the pressurization pressurize of high-ranking officers' shape oil cylinder, until pipeline is not sprung back, then withdraw shape-correcting plate.
Another technical solution of the present invention is a kind of method for the sewer for repairing damaged PVC pipeline, according to as follows
Step is repaired：
1) rubber slab and the sewer described in any one claim in claim 1-7 that will brush full glue are repaired in vehicle
Shape-correcting plate be bonded by low adhesive glue；
2) pipe robot and orthopaedic device are put in the breakage in damaged PVC pipeline again；
3) central shaft of orthopaedic device is rotated by rotation motor, and controls the school shape oil cylinder of orthopaedic device, opens shape-correcting plate
Until rubber slab is bonded completely with PVC pipeline inner wall；
4) the school shape oil cylinder working-pressure of orthopaedic device is laid down, shape-correcting plate is withdrawn, repairing is completed.
Preferably, step 1) -4 is repeated), multilayer repair is carried out to breakage.
The municipal sewer pipe of the present invention for being suitable for repairing local damage or dislocation.This patent product is by from automobile
Engine obtains power and presses station work with motor-car upper liquid.By the monitoring system in robot, the basic feelings in pipeline are checked
Condition simultaneously determines arrangement and method for construction：Concrete duct is repaired using slip casting method.Damaged or dislocation position is observed by video.If
It is only damaged, then by the grouting port on orthopaedic device to breakage slip casting, after reaching grouting pressure pressurize certain time make slurries
Uniformly filling breakage；If pipeline misplaces, then need to first pass through slip casting again after the shape of orthopaedic device school, protected after reaching grouting pressure
Pressure certain time makes slurries uniformly fill breakage.If unclamping the rebound of orthopaedic device pipeline, slip casting again is needed, after the shape of school
Pipeline do not spring back.PVC pipeline uses the brush coating on special rubber slab, is tightly bonded rubber slab with tube wall by orthopaedic device
And repair breakage.Without excavating, repairing speed is fast for the patching, mitigates the influence due to constructing to traffic.Pass through robot
Into pipeline, ground remote control operation construction substantially increases the safety of construction, reduces labor intensity, reduces maintenance cost.Slurry
Liquid compounding system is quantitatively prepared according to damaged area size, reduces the wasting of resources.
Description of the drawings
Fig. 1 is the structural front view that sewer of the present invention repairs vehicle；
Fig. 2 is the structure top view that sewer of the present invention repairs vehicle；
Fig. 3 is the structure diagram of pipe robot and orthopaedic device；
Fig. 4 is the structure diagram of orthopaedic device；
Fig. 5 is orthopaedic device axial direction schematic diagram；
Fig. 6 is cement grout preparation system schematic diagram；
Fig. 7 repairs vehicle construction schematic diagram for sewer；
Schematic diagram when Fig. 8 is remedial cement pipeline dislocation sewer；
Schematic diagram when Fig. 9 is the sewer of the damaged PVC pipeline of repairing.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of sewer repairing vehicle, including chassis vehicle 1, subframe 2, the liquid of installation on a chassis
Pressure system 3 further includes water tank 6 and cement grout preparation system 7 on subframe 2, can put in pipeline in sewer
Robot 10 and orthopaedic device 14, the orthopaedic device connect with pipe robot and can rotate around central axis and open outward
It opens；Tube rolling device 5 is installed in the subframe rear end, and control pipeline robot 10 is wound on the tube rolling device 5, orthopaedic device 14, is used for
Control pipeline robot 10 walks and the power spool 32 of slip casting.Subframe rear portion installation casing 8, the top of babinet, which is equipped with, to be used for
Lift the arm 9 of pipe robot 10 and orthopaedic device 14.It installs to store pipe robot 10 and school shape in the bottom of subframe
The placing box 4 of device 14.
As shown in Figure 3-Figure 5, orthopaedic device includes horizontal central shaft 19, uniformly mounted on the N blocks school of 19 periphery of central shaft
Shape plate 15, the connecting rod 17 for connecting shape-correcting plate 15 and central shaft 19 install N number of school shape oil cylinder 16 on the central shaft 19, and
The opening of 16 one shape-correcting plate 15 of control of each school shape oil cylinder and withdrawal；One of shape-correcting plate 15 is equipped with Grouting Pipe
18.10 one end of pipe robot being connect with orthopaedic device is equipped with rotation motor 13, and the central shaft 19 is connect with rotation motor 13.
10 one end of pipe robot being connect with orthopaedic device is equipped with multiple cameras 11,12.
As shown in fig. 6, cement grout preparation system includes sandstone storehouse 21, cement bin 24, agitator 23, high-pressure injection pump
22, the sandstone storehouse 21 and cement bin 24 are connected respectively a vertical screw elevator 20, the sandstone storehouse 21 and cement
24 bottom of storehouse is respectively equipped with a quantitative screw conveyor 26 being connect with agitator 23.External material is carried by vertical helical
It rises machine 20 and is promoted to cement bin 24 and sandstone storehouse 21, the lid that silo roof can be also opened manually in fraction material is toppled over, various ways
Flexible storing.The water that stirring needs is provided by water tank 6.Cement grout is quantitatively prepared according to operating mode.Quantitative spiral is controlled by system
Conveyer 26 and water pump 25 are quantitatively output to agitator 23, stirring are opened while conveying, system alarm carries after the completion of stirring
Show.
Structure chart during sewer repairing vehicle construction is as shown in Figure 7.Pipe robot 10 is with orthopaedic device 14 in pipeline
Walking.Situation in pipeline is checked by camera 11, camera 12.Rotation motor 13 drives 14270 ° of swings of orthopaedic device, convenient
It is directed at injected hole.Shape-correcting plate 15 is hinged by connecting rod 17 and central shaft 19, opens and withdraws under the action of school shape oil cylinder 16.Note
Slurry pipe 18 is fixed on one piece of shape-correcting plate.Three pieces of shape-correcting plates are distributed in central shaft, and the reaction force of oil cylinder mutually supports when opening school shape
Disappear, it is ensured that the active force of school shape is basically identical.
Using sewer shown in the present invention can remedial cement pipeline dislocation sewer, as shown in figure 8, in accordance with the following steps into
Row repairing：
1) it is set respectively at the concrete duct both ends of dislocation and blocks air bag 27；
2) pipe robot 28 in sewer repairing vehicle and orthopaedic device 29 are put in the concrete duct of dislocation；
3) the school shape oil cylinder of orthopaedic device is controlled, opens shape-correcting plate until the pipeline of dislocation is corrected；
4) the hole area slip casting by school shape oil cylinder outside the pipeline after correction, until hole area is filled；
5) the school shape oil cylinder working-pressure of orthopaedic device is laid down, if pipeline repairs completion, shape-correcting plate is withdrawn without rebound；If pipe
Road is sprung back, then continues the pressurization pressurize of high-ranking officers' shape oil cylinder, until pipeline is not sprung back, then withdraw shape-correcting plate.
In Fig. 8, the magnitude of misalignment 33 when concrete duct misplaces inherently forms a hole area in the side of pipeline
34, under the effect of orthopaedic device external force, change in location can occur for hole area, when setting pressure is fully achieved in orthopaedic device oil cylinder, then wrong
The pipeline of position is corrected substantially.Start slip casting after correction again, high pressure water mud, 35 fill the hole area of displacement, and grouting pump is continuous
Pressurization so that the cement slurry density of hole area increases.After certain density is reached, grouting pressure can increase, and reach setting
System is by automatic pressure-maintaining certain time after grouting pressure.After the dwell time, lay down orthopaedic device oil cylinder working-pressure, if pipeline without return
Bullet then shows that correction is repaired successfully, you can rotation orthopaedic device is simultaneously retracted.If pipeline is sprung back, need to continue slip casting pressurization pressurize,
Until pipeline is not sprung back.
The sewer of damaged PVC pipeline can be repaired using sewer shown in the present invention, principle is as shown in figure 9, according to such as
Lower step is repaired：
1) shape-correcting plate 15 repaired the rubber slab 31 for brushing full glue in vehicle with sewer is be bonded by low adhesive glue；
2) pipe robot and orthopaedic device are put in the breakage in damaged PVC pipeline 30 again；
3) central shaft of orthopaedic device is rotated by rotation motor, and controls the school shape oil cylinder of orthopaedic device, opens shape-correcting plate 15
It opens until rubber slab is bonded completely with PVC pipeline inner wall；
4) the school shape oil cylinder working-pressure of orthopaedic device is laid down, shape-correcting plate is withdrawn, repairing is completed.
Repeatable step 1) -4), multilayer repair is carried out to breakage.
Claims (10)
1. a kind of sewer repairs vehicle, including chassis vehicle (1), the subframe (2) of installation on a chassis, it is characterized in that, also wrap
It includes water tank (6) and cement grout preparation system (7) on the subframe (2), pipe robot in sewer can be put in
(10) it is connect with pipe robot with orthopaedic device (14), the orthopaedic device and can rotate around central axis and open outward；
Subframe rear end installation tube rolling device (5), winding control pipeline robot (10) on the tube rolling device (5), orthopaedic device (14),
For the power spool (32) of control pipeline robot (10) walking and slip casting.
2. sewer repairing vehicle according to claim 1, it is characterized in that, subframe rear portion installation casing (8), babinet
Top is equipped with the arm (9) for lifting pipe robot (10) and orthopaedic device (14).
3. sewer repairing vehicle according to claim 1, it is characterized in that, the bottom of the subframe installs to store pipeline
The placing box (4) of robot (10) and orthopaedic device (14).
4. according to claim 1 sewer repairing vehicle, it is characterized in that, the orthopaedic device include horizontal central shaft (19),
Uniformly it is mounted on the N blocks shape-correcting plate (15), the connecting rod for connecting shape-correcting plate (15) and central shaft (19) of central shaft (19) periphery
(17), N number of school shape oil cylinder (16) is installed, and each school shape oil cylinder (16) controls a shape-correcting plate (15) on the central shaft (19)
Opening and withdrawal；One of shape-correcting plate (15) is equipped with Grouting Pipe (18).
5. sewer repairing vehicle according to claim 4, it is characterized in that, pipe robot (10) one end being connect with orthopaedic device
Equipped with rotation motor (13), the central shaft (19) connect with rotation motor (13).
6. sewer repairing vehicle according to claim 4, it is characterized in that, pipe robot (10) one end being connect with orthopaedic device
Equipped with multiple cameras (11,12).
7. sewer repairing vehicle according to claim 1, it is characterized in that, the cement grout preparation system includes sandstone storehouse
(21), cement bin (24), agitator (23), the sandstone storehouse (21) and cement bin (24) are connected respectively a vertical helical
Conveyer (20), the sandstone storehouse (21) and cement bin (24) bottom are respectively equipped with a quantitative spiral shell being connect with agitator (23)
Revolve conveyer (26).
8. a kind of method of remedial cement pipeline dislocation sewer, it is characterized in that, it is repaired in accordance with the following steps：
1) closure air bag is set respectively at the concrete duct both ends of dislocation；
2) by the pipe robot and orthopaedic device in the sewer repairing vehicle described in any one claim in claim 1-7
It puts in the concrete duct of dislocation；
3) the school shape oil cylinder of orthopaedic device is controlled, opens shape-correcting plate until the pipeline of dislocation is corrected；
4) the hole area slip casting by school shape oil cylinder outside the pipeline after correction, until hole area is filled；
5) the school shape oil cylinder working-pressure of orthopaedic device is laid down, if pipeline repairs completion, shape-correcting plate is withdrawn without rebound；If back of pipeline
Bullet then continues the pressurization pressurize of high-ranking officers' shape oil cylinder, until pipeline is not sprung back, then withdraw shape-correcting plate.
9. a kind of method for the sewer for repairing damaged PVC pipeline, it is characterized in that, it is repaired in accordance with the following steps：
1) rubber slab of full glue and the school in the sewer repairing vehicle described in any one claim in claim 1-7 will be brushed
Shape plate is bonded by low adhesive glue；
2) pipe robot and orthopaedic device are put in the breakage in damaged PVC pipeline again；
3) central shaft of orthopaedic device is rotated by rotation motor, and controls the school shape oil cylinder of orthopaedic device, open shape-correcting plate until
Rubber slab is bonded completely with PVC pipeline inner wall；
4) the school shape oil cylinder working-pressure of orthopaedic device is laid down, shape-correcting plate is withdrawn, repairing is completed.
10. the method for the sewer of damaged PVC pipeline is repaired according to claim 9, it is characterized in that, repeat step
1) multilayer repair -4), is carried out to breakage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468564.8A CN108167571A (en) | 2017-12-29 | 2017-12-29 | A kind of sewer repairing vehicle and sewer pipes method for repairing and mending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711468564.8A CN108167571A (en) | 2017-12-29 | 2017-12-29 | A kind of sewer repairing vehicle and sewer pipes method for repairing and mending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108167571A true CN108167571A (en) | 2018-06-15 |
Family
ID=62519799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711468564.8A Withdrawn CN108167571A (en) | 2017-12-29 | 2017-12-29 | A kind of sewer repairing vehicle and sewer pipes method for repairing and mending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108167571A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891505A (en) * | 2018-07-27 | 2018-11-27 | 深圳市施罗德工业测控设备有限公司 | A kind of pipe crawling device work sentry box |
| CN110594521A (en) * | 2019-09-24 | 2019-12-20 | 深圳市海腾建设工程有限公司 | Pipeline robot, repairing method of drainage pipeline and storage medium |
| CN110630849A (en) * | 2019-08-22 | 2019-12-31 | 杭州帆源强生态科技有限公司 | Device and method for quickly repairing water damage of pipeline |
| CN112228692A (en) * | 2020-09-18 | 2021-01-15 | 南京安透可智能系统有限公司 | Intelligent pipeline plugging robot system |
| CN112815175A (en) * | 2020-12-31 | 2021-05-18 | 中国地质大学（武汉） | Pipe die pressing and injecting type trenchless pipeline repairing equipment and repairing method |
-
2017
- 2017-12-29 CN CN201711468564.8A patent/CN108167571A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108891505A (en) * | 2018-07-27 | 2018-11-27 | 深圳市施罗德工业测控设备有限公司 | A kind of pipe crawling device work sentry box |
| CN110630849A (en) * | 2019-08-22 | 2019-12-31 | 杭州帆源强生态科技有限公司 | Device and method for quickly repairing water damage of pipeline |
| CN110630849B (en) * | 2019-08-22 | 2024-04-16 | 杭州芦悦生态科技有限公司 | Quick repair device and repair method for pipeline water damage |
| CN110594521A (en) * | 2019-09-24 | 2019-12-20 | 深圳市海腾建设工程有限公司 | Pipeline robot, repairing method of drainage pipeline and storage medium |
| CN110594521B (en) * | 2019-09-24 | 2021-06-29 | 海腾创建(深圳)集团有限公司 | Pipeline robot, repairing method of drainage pipeline and storage medium |
| CN112228692A (en) * | 2020-09-18 | 2021-01-15 | 南京安透可智能系统有限公司 | Intelligent pipeline plugging robot system |
| CN112228692B (en) * | 2020-09-18 | 2023-01-17 | 南京安透可智能系统有限公司 | Intelligent pipeline plugging robot system |
| CN112815175A (en) * | 2020-12-31 | 2021-05-18 | 中国地质大学（武汉） | Pipe die pressing and injecting type trenchless pipeline repairing equipment and repairing method |
| CN112815175B (en) * | 2020-12-31 | 2022-03-08 | 中国地质大学（武汉） | Pipe die pressing and injecting type trenchless pipeline repairing equipment and repairing method |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180615 |
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| WW01 | Invention patent application withdrawn after publication |