CN108867840A - A kind of displacement track type pipeline dredging robot - Google Patents
A kind of displacement track type pipeline dredging robot Download PDFInfo
- Publication number
- CN108867840A CN108867840A CN201810854492.9A CN201810854492A CN108867840A CN 108867840 A CN108867840 A CN 108867840A CN 201810854492 A CN201810854492 A CN 201810854492A CN 108867840 A CN108867840 A CN 108867840A
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- hydraulic
- crawler
- motor
- driving wheel
- reamer
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/10—Wheeled apparatus for emptying sewers or cesspools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of displacement track type pipeline dredging robot, including：Dredging reamer mechanism, reamer and the first hydraulic motor including rotation connection；Displacement type crawler body, including two traveling crawlers being oppositely arranged and crawler rack, traveling crawler includes crawler belt, driving wheel and guide wheel, crawler belt surrounds driving wheel and guide wheel, driving wheel is rotatablely connected the second hydraulic motor, crawler rack includes the crossbeam hinged with two guide wheel upper ends and the stringer equipped with oblique adjusting hydraulic cylinder, and oblique adjusting hydraulic cylinder both ends are respectively articulated with stringer and guide wheel lower end；Hydraulic mechanism, hydraulic oil container, variable pump and multi-way valve including the connection of successively pipeline, variable pump is rotatablely connected motor, and motor driven variable pump aspirates the hydraulic oil in hydraulic oil container to multi-way valve, branches to the first hydraulic motor, the second hydraulic motor and two oblique adjusting hydraulic cylinders.Beneficial effects of the present invention：Using displacement type crawler body, adjustable traveling crawler tilt angle is applicable in the cleaning of pipe diameter size difference pipeline.
Description
Technical field
The present invention relates to discharge pipe line Removal Technology field more particularly to a kind of displacement track type pipeline dredging robots.
Background technique
Pipe dredging is to dredge pipeline, clears up the mud inside pipeline, keeps long-term unimpeded, to prevent city from sending out
Raw waterlogging.Pipe dredging works oneself as one very important important process of draining department.It is discharged into drainage pipeline a large amount of
Precipitating occurs for sundries and capital construction building site cement bonded sand, siltation will result in line clogging.It will result in without pipe dredging, dredging
Sewage flows excessively, pollutes environment, makes troubles to people's lives.Necessary periodic cleaning drainage pipeline for protection urban environment, is kept away
Exempt from pollution, maintenance city appearance, improve people's living standard, there is extremely important meaning.Traditional pipe dredging mode master
It is three kinds following：(1) winch dredging, (2) water wash away dredging, (3) high-pressure water jet dredging.But have the shortcomings that it is very big, such as
Labor workload is big, and dredging difficulty is high, and whole desilting efficiency data is low etc..
Summary of the invention
In view of this, the embodiment provides a kind of displacement track type pipeline dredging robots.
The embodiment of the present invention provides a kind of displacement track type pipeline dredging robot：
Dredging reamer mechanism, dredging reamer mechanism include the reamer and the first hydraulic motor of rotation connection；
Displacement type crawler body, the displacement type crawler body include two traveling crawlers and crawler rack being oppositely arranged,
Each traveling crawler includes crawler belt, driving wheel and guide wheel, and the crawler belt surrounds the driving wheel and the guide wheel simultaneously
Engaged with the two, the driving wheel is rotatablely connected the second hydraulic motor, the crawler rack be in two traveling crawlers it
Between, the crawler rack includes horizontal gird interconnected and vertical stringer, the crossbeam both ends respectively with two guidance
Wheel upper end is hinged, and the two sides of the stringer are equipped with oblique adjusting hydraulic cylinder, and oblique adjusting hydraulic cylinder both ends are respectively articulated with the stringer
With the driving wheel lower end；
Hydraulic mechanism, the hydraulic mechanism are set in cabinet, and the cabinet is fixed on the crawler rack top, described
First hydraulic motor is fixed on the cabinet, the hydraulic mechanism include successively pipeline connection hydraulic oil container, variable pump and
Multi-way valve, the multi-way valve difference pipeline connect first hydraulic motor, the second hydraulic motor and the two oblique adjusting hydraulic cylinders,
The variable pump and motor are rotatablely connected, and variable pump described in the motor driven aspirates the hydraulic oil in the hydraulic oil container to institute
Multi-way valve is stated, the hydraulic oil is branched to first hydraulic motor and is used to that the reamer to be driven to rotate, extremely by the multi-way valve
Second hydraulic motor is for driving the driving wheel to rotate and to the two oblique adjusting hydraulic cylinders for making the oblique adjusting liquid
The driving wheel that cylinder pressure pushes out or it is inwardly pulled to connect.
Further, the traveling crawler tilt angle of its side of the oblique adjusting Driven by Hydraulic Cylinder is 0~20 °.
Further, including reamer lifting mechanism, the reamer lifting mechanism include motor box, lifting hydraulic cylinder and hang
Bar, first hydraulic motor are set in the motor box, and the shaft of first hydraulic motor passes through the motor box
Side wall is rotatablely connected the reamer, and described sunpender one end connects the motor upper box part, and the other end connects the lifting hydraulic cylinder,
The lifting hydraulic cylinder is connected with the multichannel valve pipeline, and the hydraulic oil is branched to the raise-lower hydraulic by the multi-way valve
Cylinder, for sunpender described in oscilaltion, so as to adjust the position of the reamer.
Further, the reamer includes cutter shaft and multiple knife bars, and each knife bar outer end connects a blade, and inner end is solid
Due on the cutter shaft, and all blades circularize and are uniformly distributed in the cutter shaft periphery, and the blade and the knife bar are at 30 °
Angle.
Further, each traveling crawler further includes multiple thrust wheels, and all thrust wheels are set to the driving wheel
It is engaged between the guide wheel and with the crawler belt.
Further, the crawler belt includes crawler body and caterpillar chain piece, and the caterpillar chain piece is set to the track bottom
Inside disk, the crawler belt is engaged with the driving wheel and the guide wheel respectively by the caterpillar chain piece.
Further, the driving wheel is the rear-wheel of the traveling crawler.
Further, the hydraulic oil container is equipped with filter, and the output end of the filter connects the variable pump.
Further, the crossbeam both ends are hinged with the two driving wheel upper shafts respectively, oblique adjusting hydraulic cylinder both ends
Distinguish the axis hingedly stringer and the driving wheel lower end.
The embodiment of the present invention provide technical solution bring beneficial effect be：
(1) a kind of displacement track type pipeline dredging robot of the present invention, using novel displacement type crawler body, Ke Yitong
Cross adjustment two sides traveling crawler angle, the cleaning suitable for the big small pipeline of different tube diameters, it is particularly possible to solve big pipe at present
The problem of diameter dredging hardly possible；
(2) a kind of hydraulic mechanism for conjugating track type pipeline dredging robot of the present invention is simple and reliable for structure, and design is reasonable,
Flow system flow can be prevented supersaturated, mechanical efficiency is high, largely lifting system energy-conserving action；
(3) compared to conventional pipelines dredging method, a kind of displacement track type pipeline dredging robot of the present invention greatly drops
Carry out pipe dredging operation to the workload of low dredging worker, more portable and effective.
Detailed description of the invention
Fig. 1 is a kind of axonometric drawing for conjugating track type pipeline dredging robot of the present invention；
Fig. 2 is a kind of top view for conjugating track type pipeline dredging robot of the present invention；
Fig. 3 is a kind of rearview for conjugating track type pipeline dredging robot of the present invention.
In figure：1- dredging reamer mechanism, 2- reamer, 3- circle scraper bowl, 4- cutter shaft, 5- shaft coupling, 6- sunpender, 7- sunpender are sliding
Rail, 8- motor box sliding rail, 9- reamer lifting mechanism, 10- motor box, 11- pedestal, 12- cabinet, 13- output shaft, the first liquid of 14-
Pressure motor, 15- lifting hydraulic cylinder, 16- multi-way valve, 17- filter, 18 variable pumps, 19- hydraulic oil container, 20- reservoir port, 21- tune
Oblique hydraulic cylinder, 22- guide wheel, 23- thrust wheel, 24- traveling crawler, 25- hydraulic mechanism, 26- driving wheel, 27- caterpillar chain piece,
28- crawler body, 29- hinge hole, 30- support, the first pin shaft of 31-, the first pin hole of 32-, 33- crawler rack, the support side 34-
Block, 35- motor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
FIG. 1 to FIG. 3 is please referred to, it is described the embodiment provides a kind of displacement track type pipeline dredging robot
Robot Design is the form of carrier loader, including：Act on the dredging reamer mechanism 1, described for adjusting of drainage pipeline tube wall
The reamer lifting mechanism 9 of dredging reamer mechanism position, adjustable crawler belt tilt angle displacement type crawler body and be the machine
The hydraulic mechanism 25 of device people offer power.
Dredging reamer mechanism 1 is set to car body front end, and dredging reamer mechanism 1 includes reamer 2, round scraper bowl 3
With the first hydraulic motor 14, first hydraulic motor selects BMR hydraulic motor, and the reamer 2 includes cutter shaft 4 and multiple knives
Bar, each knife bar outer end connect a blade, and inner end is fixed on the cutter shaft 4, and all blades are circularized and are uniformly distributed
In 4 periphery of cutter shaft, at 30 ° of angles, the reamer is set within the round scraper bowl 3 for the blade and the knife bar,
And 3 coaxial line of the reamer 2 and the round scraper bowl, 4 rear end of cutter shaft pass through the round scraper bowl 3 and pass through shaft coupling 5
It is rotatablely connected the output shaft 13 of first hydraulic motor, first hydraulic motor 14 and the round scraper bowl 3 are and described
Reamer lifting mechanism is fixedly connected.
The rear end of dredging reamer mechanism 1 connects the reamer lifting mechanism 9, and the reamer lifting mechanism 9 includes horse
Up to case 10, lifting hydraulic cylinder 15 and sunpender 6, the lifting hydraulic cylinder 15 selects the slim hydraulic cylinder of LA, first hydraulic motor
14 are fixed in the motor box 10, and outer wall before the motor box 10, the sunpender 6 are fixed in 3 rear end of the round scraper bowl
For L shape sunpender, one end is fixedly connected with 10 top of motor box, and the other end is fixedly connected with the lifting hydraulic cylinder 15 and this one end
It is additionally provided with sliding block, is additionally provided with sunpender sliding rail 7 on rear side of the lifting hydraulic cylinder 15, when 15 oscilaltion of lifting hydraulic cylinder drives
The motor box 10 is gone up and down, and the sliding block prevents the sunpender 6 from deviating in sliding in the sunpender sliding rail 7, to guarantee to institute
State the adjustment of 2 position of reamer.
The displacement type crawler body is set to the vehicle bottom, and the displacement type crawler body includes being oppositely arranged
Two traveling crawlers 24 and crawler rack 33,33 top of crawler rack are fixed with two support squares 34, and the cabinet is fixed on
On the two support squares 34, each traveling crawler 24 includes crawler belt, driving wheel 26, guide wheel 22 and multiple thrust wheels
23, the crawler belt includes crawler body 28 and caterpillar chain piece 27, and the caterpillar chain piece 27 is set to inside the crawler body 28,
The crawler belt be in tensioning state and meanwhile surround the driving wheel 26 and the guide wheel 22 and by the caterpillar chain piece 27 with
The two engages, and front-wheel of the guide wheel 22 as the traveling crawler 24, the driving wheel is as the traveling crawler 24
Rear-wheel, all thrust wheels 23 are set between the driving wheel 26 and the guide wheel 22 and and the traveling crawler 24
The engagement of caterpillar chain piece, the driving wheel 26 are rotatablely connected the second hydraulic motor, and the crawler rack 33 is in two walkings and carries out
Between band 24, the crawler rack 33 includes horizontal gird interconnected and vertical stringer, and the crossbeam both ends are equipped with the
One pin hole 31, the stringer are equipped with the second pin hole, and the guide wheel upper and lower part is equipped with support 30 and the support 30
Hinge hole 29 is inside set, two first pin holes 32 are aligned with the hinge hole 29 on two 22 tops of guide wheel respectively and are sold with first
Axis 31 connects, to keep the crossbeam both ends hinged with two 22 upper shafts of guide wheel respectively, the two sides of the stringer are all provided with
There is oblique adjusting hydraulic cylinder 21, the oblique adjusting hydraulic cylinder 21 selects HSG type hydraulic cylinder, and 21 both ends of oblique adjusting hydraulic cylinder are equipped with rotation
The rotation hole in hole, 21 upper end of oblique adjusting hydraulic cylinder is aligned equipped with the second pin hole with the stringer and is connected with the second pin shaft,
The rotation hole of lower end is aligned with second pin hole and is connected with third pin shaft, so that 21 both ends of oblique adjusting hydraulic cylinder be made to distinguish
Hinged 22 lower end of the stringer and the guide wheel of axis.
In cabinet 12 above car body described in the hydraulic mechanism 25, displacement type crawler body top is equipped with pedestal
11, the cabinet 12 is fixed on pedestal 11, and first hydraulic motor 14 and 6 sliding rail of the sunpender are fixed on the pedestal 11
On, the pedestal 11 is fixedly arranged at the front end with motor box slot, and the motor box 10 is supported in the motor box slot and the motor box
Slot rear end face is equipped with motor box sliding rail 8, and the motor box 10 can be slided up and down along the motor box sliding rail 8, the hydraulic press
Structure 25 includes hydraulic oil container 19, variable pump 18 and the multi-way valve 16 of successively pipeline connection, and the hydraulic oil container 19 is equipped with filter
17 and reservoir port 20, the output end of the filter 17 connects the variable pump 18, and the filter 17 selects ZU-H filter,
The variable pump 18 selects A10 Variable plunger pump, and the multi-way valve 16 selects M7-LUDV multi-way valve, and the multi-way valve 16 is distinguished
It is hydraulic that pipeline connects first hydraulic motor 14, the lifting hydraulic cylinder 15, second hydraulic motor and two oblique adjustings
Cylinder 21, the variable pump 18 and motor 35 are rotatablely connected, and the motor 35 drives the variable pump 18 to aspirate the hydraulic oil container
To the multi-way valve 16, the hydraulic oil is branched to first hydraulic motor 14 and used hydraulic oil in 19 by the multi-way valve 16
In driving the rotation of reamer 2, the extremely lifting hydraulic cylinder 15 to make sunpender 6 described in its oscilaltion, for adjusting the reamer 2
Position, until second hydraulic motor is for driving the driving wheel 26 to rotate and use to the two oblique adjusting hydraulic cylinders 21
In the driving wheel 26 for pushing out the oblique adjusting hydraulic cylinder 21 or it inwardly being pulled to connect, two 24 upper ends of traveling crawler are logical
It crosses the crossbeam connection upper end width to fix, the oblique adjusting hydraulic cylinder 21 pushes or pull on the traveling crawler inwardly outside inclination
Change 24 lower end width of traveling crawler, so as to so that the traveling crawler 24 inwardly or outside tilt 0~20 °.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of displacement track type pipeline dredging robot, which is characterized in that including：
Dredging reamer mechanism, dredging reamer mechanism include the reamer and the first hydraulic motor of rotation connection；
Displacement type crawler body, the displacement type crawler body includes two traveling crawlers and crawler rack being oppositely arranged, each
The traveling crawler includes crawler belt, driving wheel and guide wheel, and the crawler belt is around the driving wheel and the guide wheel and with two
Person engages, and the driving wheel is rotatablely connected the second hydraulic motor, and the crawler rack is between two traveling crawlers, institute
Stating crawler rack includes horizontal gird interconnected and vertical stringer, the crossbeam both ends respectively with the two guide wheel upper ends
Hingedly, the two sides of the stringer are equipped with oblique adjusting hydraulic cylinder, and oblique adjusting hydraulic cylinder both ends are respectively articulated with the stringer and described
Driving wheel lower end；
Hydraulic mechanism, the hydraulic mechanism are set in cabinet, and the cabinet is fixed on the crawler rack top, and described first
Hydraulic motor is fixed on the cabinet, and the hydraulic mechanism includes hydraulic oil container, variable pump and the multichannel of successively pipeline connection
Valve, the multi-way valve difference pipeline connects first hydraulic motor, the second hydraulic motor and the two oblique adjusting hydraulic cylinders, described
Variable pump and motor rotation connection, variable pump described in the motor driven aspirate the hydraulic oil in the hydraulic oil container to described more
The hydraulic oil is branched to first hydraulic motor and is used to drive the reamer rotation, described in by road valve, the multi-way valve
Second hydraulic motor is for driving the driving wheel to rotate and to the two oblique adjusting hydraulic cylinders for making the oblique adjusting hydraulic cylinder
The driving wheel for pushing out or it inwardly being pulled to connect.
2. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The oblique adjusting hydraulic cylinder
The traveling crawler tilt angle for driving its side is 0~20 °.
3. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：Machine is lifted including reamer
Structure, the reamer lifting mechanism include motor box, lifting hydraulic cylinder and sunpender, and first hydraulic motor is set to the motor
In case, and the output shaft of first hydraulic motor passes through the motor box side wall and is rotatablely connected the reamer, the sunpender one
End connects the motor upper box part, and the other end connects the lifting hydraulic cylinder, the lifting hydraulic cylinder and the multichannel valve pipeline
Connection, the hydraulic oil is branched to the lifting hydraulic cylinder by the multi-way valve, for going up and down the sunpender, so as to adjust described
The position of reamer.
4. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The reamer includes knife
Axis and multiple knife bars, each knife bar outer end connect a blade, and inner end is fixed on the cutter shaft, and all blades circularize
It is uniformly distributed in the cutter shaft periphery, the blade and the knife bar are at 30 ° of angles.
5. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：Each walking is carried out
Band further includes multiple thrust wheels, and all thrust wheels are set between the driving wheel and the guide wheel and nibble with the crawler belt
It closes.
6. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The crawler belt includes carrying out
Band chassis and caterpillar chain piece, the caterpillar chain piece are set to inside the crawler body, and the crawler belt passes through the caterpillar chain piece
It is engaged respectively with the driving wheel and the guide wheel.
7. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The driving wheel is institute
State the rear-wheel of traveling crawler.
8. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The hydraulic oil container is set
There is filter, the output end of the filter connects the variable pump.
9. a kind of displacement track type pipeline dredging robot as described in claim 1, it is characterised in that：The crossbeam both ends point
Not and the two driving wheel upper shafts are hinged, and oblique adjusting hydraulic cylinder both ends difference axis is hingedly under the stringer and the driving wheel
End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810854492.9A CN108867840A (en) | 2018-07-30 | 2018-07-30 | A kind of displacement track type pipeline dredging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810854492.9A CN108867840A (en) | 2018-07-30 | 2018-07-30 | A kind of displacement track type pipeline dredging robot |
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| CN108867840A true CN108867840A (en) | 2018-11-23 |
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| CN201810854492.9A Pending CN108867840A (en) | 2018-07-30 | 2018-07-30 | A kind of displacement track type pipeline dredging robot |
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Cited By (14)
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|---|---|---|---|---|
| CN109763561A (en) * | 2019-01-29 | 2019-05-17 | 淮南市众兴机械制造有限责任公司 | A kind of fore device for pipe dredging |
| CN110700397A (en) * | 2019-10-25 | 2020-01-17 | 诸暨新伏给排水设备有限公司 | Dredging device for industrial drainage pipeline |
| CN111389825A (en) * | 2020-03-24 | 2020-07-10 | 浙江君泰生态环保科技有限公司 | Multi-angle in-pipe dredging device |
| CN111926908A (en) * | 2020-07-17 | 2020-11-13 | 宏腾建设集团有限公司 | Pipeline dredging system |
| CN111962655A (en) * | 2020-07-10 | 2020-11-20 | 安徽工程大学 | River surge sewage pipe network desilting robot |
| CN112282037A (en) * | 2020-09-16 | 2021-01-29 | 南京驭逡通信科技有限公司 | Municipal pipeline silt cleaning machines people |
| CN112676284A (en) * | 2020-12-04 | 2021-04-20 | 池蓉 | Effluent water sump cleaning device |
| CN112854352A (en) * | 2021-03-18 | 2021-05-28 | 慧诚自动化技术(宁波)有限公司 | Parallel pipeline dredging robot capable of being adjusted in diameter |
| CN113266069A (en) * | 2021-05-21 | 2021-08-17 | 广州市城市排水有限公司 | Intelligent dredging robot |
| CN113399384A (en) * | 2021-05-25 | 2021-09-17 | 杭州申昊科技股份有限公司 | Pipeline dredging robot |
| CN113510681A (en) * | 2021-07-26 | 2021-10-19 | 上海市水利工程集团有限公司 | Small-sized dredging robot |
| CN113734308A (en) * | 2021-09-06 | 2021-12-03 | 太原理工大学 | Variable-wheelbase crawler based on water pump hoisting and drainage method thereof |
| CN115199861A (en) * | 2022-07-06 | 2022-10-18 | 广东粤海水务投资有限公司 | Crawler-type self-adaptation pipeline inner wall spraying prosthetic devices |
| CN117862146A (en) * | 2024-03-12 | 2024-04-12 | 山科华智(山东)机器人智能科技有限责任公司 | Crawler-type blast furnace gas pipeline ash removal robot |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109763561A (en) * | 2019-01-29 | 2019-05-17 | 淮南市众兴机械制造有限责任公司 | A kind of fore device for pipe dredging |
| CN110700397A (en) * | 2019-10-25 | 2020-01-17 | 诸暨新伏给排水设备有限公司 | Dredging device for industrial drainage pipeline |
| CN110700397B (en) * | 2019-10-25 | 2021-06-04 | 南京幸庄科技创新产业园管理有限公司 | Dredging device for industrial drainage pipeline |
| CN111389825A (en) * | 2020-03-24 | 2020-07-10 | 浙江君泰生态环保科技有限公司 | Multi-angle in-pipe dredging device |
| CN111962655A (en) * | 2020-07-10 | 2020-11-20 | 安徽工程大学 | River surge sewage pipe network desilting robot |
| CN111962655B (en) * | 2020-07-10 | 2021-07-09 | 安徽工程大学 | River surge sewage pipe network desilting robot |
| CN111926908A (en) * | 2020-07-17 | 2020-11-13 | 宏腾建设集团有限公司 | Pipeline dredging system |
| CN112282037A (en) * | 2020-09-16 | 2021-01-29 | 南京驭逡通信科技有限公司 | Municipal pipeline silt cleaning machines people |
| CN112676284B (en) * | 2020-12-04 | 2021-12-14 | 山西同煤电力环保科技有限公司 | Effluent water sump cleaning device |
| CN112676284A (en) * | 2020-12-04 | 2021-04-20 | 池蓉 | Effluent water sump cleaning device |
| CN112854352A (en) * | 2021-03-18 | 2021-05-28 | 慧诚自动化技术(宁波)有限公司 | Parallel pipeline dredging robot capable of being adjusted in diameter |
| CN113266069A (en) * | 2021-05-21 | 2021-08-17 | 广州市城市排水有限公司 | Intelligent dredging robot |
| CN113399384A (en) * | 2021-05-25 | 2021-09-17 | 杭州申昊科技股份有限公司 | Pipeline dredging robot |
| CN113510681A (en) * | 2021-07-26 | 2021-10-19 | 上海市水利工程集团有限公司 | Small-sized dredging robot |
| CN113510681B (en) * | 2021-07-26 | 2024-05-17 | 上海市水利工程集团有限公司 | Small dredging robot |
| CN113734308A (en) * | 2021-09-06 | 2021-12-03 | 太原理工大学 | Variable-wheelbase crawler based on water pump hoisting and drainage method thereof |
| CN115199861A (en) * | 2022-07-06 | 2022-10-18 | 广东粤海水务投资有限公司 | Crawler-type self-adaptation pipeline inner wall spraying prosthetic devices |
| CN117862146A (en) * | 2024-03-12 | 2024-04-12 | 山科华智(山东)机器人智能科技有限责任公司 | Crawler-type blast furnace gas pipeline ash removal robot |
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