CN108994014A - A kind of small pipeline scavenging machine - Google Patents
A kind of small pipeline scavenging machine Download PDFInfo
- Publication number
- CN108994014A CN108994014A CN201810760536.1A CN201810760536A CN108994014A CN 108994014 A CN108994014 A CN 108994014A CN 201810760536 A CN201810760536 A CN 201810760536A CN 108994014 A CN108994014 A CN 108994014A
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- CN
- China
- Prior art keywords
- component
- connecting rod
- scavenging machine
- gear
- support member
- 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
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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
Abstract
The present invention relates to scavenging machine fields, in particular to a kind of small pipeline scavenging machine, including clearing apparatus, the transfer of clearing apparatus one end is set and running gear of the transfer far from clearing apparatus one end is set, the clearing apparatus includes cleaning component, driving assembly and closed component for closing driving assembly, the transfer includes steering assembly, the running gear includes support member and two ground-engaging elements being arranged in inside support member, the present invention passes through walking of the ground-engaging element realization device in pipeline, and the height of ground-engaging element can be adjusted to facilitate the pipeline for adapting to different bores by adjusting component, when encountering curved situation in pipeline, direction of travel is converted by steering assembly again to allow the device to adapt to various curved pipelines, eventually by cleaning component to pipeline during walking It is inside cleaned, is rinsed again after the completion of cleaning with water, whole process is easy to operate, and work efficiency is high, avoids the problems such as artificial cleaning difficulty is big.
Description
Technical field
The present invention relates to scavenging machine field, in particular to a kind of small pipeline scavenging machine.
Background technique
Pipeline is the device for conveying gas, liquid or the fluid with solid particle.In general, fluid is through air blower, pressure
After the pressurization such as contracting machine, pump and boiler, flowed at low pressure from the high pressure of pipeline, pressure or the gravity that fluid itself can also be used are defeated
It send.Having many uses for pipeline is general, used in water supply, draining, heat supply, gives gas, long distance delivery oil and natural gas, agricultural filling
It irrigates, hydraulic engineering and various commercial plants.For example, existing realize ventilation using pipeline under construction, this pipeline is commonly referred to as
For ventilation shaft, in addition, hotel, restaurant and restaurant kitchen etc. are using pipeline realization mist extractor etc., this pipeline is commonly referred to as oil
Smoke pipeline.
However, after long-time use, inner wall is more with being laminated with for the ventilation shaft or fume pipeline etc.
Dust particles or oil smoke etc., need periodically to carry out pipeline cleaning, still, since its volume is big, length is longer, and disassembly is inconvenient
Deng leading to manual cleaning heavy workload, and its internal cleaning is extremely inconvenient, cleaning difficulty is big, is difficult to clean up clean.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of small pipeline scavenging machine.
To solve the above problems, the present invention the following technical schemes are provided:
A kind of small pipeline scavenging machine, including clearing apparatus, be arranged in clearing apparatus one end transfer and setting exist
Running gear of the transfer far from clearing apparatus one end, the clearing apparatus include clean component, driving assembly and for pair
The one end for cleaning component is arranged in the closed component that driving assembly is protected, the driving component, and the closed component is solid
It is fixed to be arranged on driving assembly, the driving component and clean component transmission connection, the running gear include support member and
The ground-engaging element of two settings on the supporting member, the support member are fixed at one of steering assembly far from clearing apparatus
End, two ground-engaging elements are fixedly installed on the supporting member and are oppositely arranged, and one end setting of the transfer exists
One end of the separate cleaning component of closed component, the other end of the transfer be arranged in support member relative to scavenging machine
Direction of travel side on.
Further, each ground-engaging element include fixed Power Component on the supporting member, two respectively with it is dynamic
Power component transmission connection driven subassembly and two be separately positioned on two driven subassemblies to adjust driven subassembly in diameter
The adjusting component of upward size.
Further, the Power Component include double end motor, be separately fixed at double end motor two output ends two drives
Moving gear, each driven subassembly include the first company that the output end of the double end motor of one end and respective side is rotatably attached
The non-rotatable company in one end for transverse bar, one end and the transverse bar that the other end of extension bar, one end and first connecting rod is rotatably connected
Third connecting rod, one end and the transverse bar that the other end of the second connecting rod, one end and the transverse bar that connect is rotatably connected it is another
The 4th connecting rod of non-rotatable connection is held, can be rotatably set in one end of transverse bar and is passed through with the driving gear of respective side
The driven gear of first transmission chain transmission connection, one end that the second connecting rod is set and with driven gear transmission connection the
Two gears, can be rotatably set in the second connecting rod the other end with second gear by the second transmission chain be sequentially connected
Third gear is respectively arranged with idler wheel in the other end of the second connecting rod and the other end of the 4th connecting rod, and is arranged the
Idler wheel in two connecting rods is connect with third gear drive, and to be resisted against on the inner wall of pipeline, the third connects the idler wheel
Extension bar can be rotatably set in the respective side of support member.
Further, the transverse bar is equipped with sliding slot close to the side of support member, and each adjusting component includes sliding
Block and spring, the sliding block are slidably disposed in sliding slot, and the top of sliding block, the spring is arranged in one end of the spring
The other end bottom of support member is set, the spring is in compressed state always.
Further, the support member includes supporting block, and the supporting block is fixed at the separate clear of transfer
The shell of one end of sweeping device, the double end motor is non-rotatably secured in supporting block.
Further, the steering assembly includes cross direction turning piece, upper steering block and lower steering block, and the upper steering block is solid
One end relative to direction of travel of supporting block is set calmly, and the lower steering block is fixed at the direction support of closed component
The side of block, the upper steering block and lower steering block are connected by cross direction turning piece.
Further, the cleaning component includes clean disk and several cleanings being uniformly arranged on clean disk outer circle wall
Hairbrush.
Further, the driving component includes driving motor, the driving motor be arranged in one end of clean disk and with
Clean disk is mating, the output axis connection of the clean disk and driving motor.
Further, the closed component includes the closed box being fixedly connected with transfer, and the driving motor is closed
In closed box.
The utility model has the advantages that a kind of small pipeline scavenging machine of the invention, passes through row of the ground-engaging element realization device in pipeline
It walks, and the height of ground-engaging element can be adjusted to facilitate the pipeline for adapting to different bores, when encountering in pipeline by adjusting component
When curved situation, then direction of travel is converted by steering assembly and allows the device to adapt to various curved pipelines, finally
By cleaning component during walking to cleaning in pipeline, it is rinsed again after the completion of cleaning with water, whole process
Easy to operate, work efficiency is high, avoids the problems such as artificial cleaning difficulty is big.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is side view of the invention；
Fig. 4 is the cross-sectional view in Fig. 3 along line A-A；
Fig. 5 is stereo-resolution structural schematic diagram of the invention；
Fig. 6 is local fractionation structural representation one of the invention；
Fig. 7 is the enlarged diagram in Fig. 6 at B；
Fig. 8 is local fractionation structural representation two of the invention；
Description of symbols: clearing apparatus 1 cleans component 1a, clean disk 1b, brush sweeper 1c, and driving assembly 1d is closed
Component 1e, driving motor 1f, closed box 1g, transfer 2, steering assembly 2a, cross direction turning piece 2b, upper steering block 2c, lower turn
To block 2d, running gear 3, support member 3a, ground-engaging element 3b, Power Component 3c, driven subassembly 3d adjust component 3e, and first
Connecting rod 3f, transverse bar 3g, the second connecting rod 3h, third connecting rod 3i, the 4th connecting rod 3j, driven gear 3k, second gear
3m, third gear 3n, the second transmission chain 3p, idler wheel 3q, sliding slot 3r, sliding block 3s, spring 3t, double end motor 3u drive gear
3v, the first transmission chain 3w, supporting block 3x.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, specific embodiments of the present invention are described in further detail:
Referring to figs. 1 to a kind of small pipeline scavenging machine shown in Fig. 8, including clearing apparatus 1, setting are in clearing apparatus 1 one
The transfer 2 at end and running gear 3 of the transfer 2 far from clearing apparatus one end be set, the clearing apparatus 1 includes clear
Component 1a, driving assembly 1d and the closed component 1e for closing driving assembly 1d are swept, the driving component 1d setting is cleaning
One end of component 1a, the closed component 1e are fixed on driving assembly 1d, the driving component 1d and cleaning component 1a
Transmission connection, the transfer 2 include steering assembly 2a, and one end of closed component 1e, institute is arranged in the steering assembly 2a
Stating running gear 3 includes support member 3a and two the ground-engaging element 3b, the support member 3a being arranged on support member 3a
It is fixed at the one end of steering assembly 2a far from clearing apparatus, two ground-engaging element 3b are fixed at support member
3a is upper and two ground-engaging element 3b are correspondingly arranged, which is supported in the duct by ground-engaging element 3b and realized in the duct
Walking turns to when encountering the bend in pipeline and passing through steering assembly 2a again, is directed at pipe while walking eventually by clearing apparatus 1
Road inner sidewall is cleaned, and closed component 1e is used to closed driving assembly 1d, and it is clear that driving assembly 1d driving cleans component 1a rotation
It sweeps.
Each ground-engaging element 3b include Power Component 3c, two be separately positioned on driven group of the both ends Power Component 3c
Part 3d and two adjusting the component 3e, the Power Component 3c of two ground-engaging element 3b being separately positioned on two driven subassembly 3d are in
180 ° are symmetrically disposed on support member 3a to guarantee that scavenging machine can be steadily resisted against at the opposite position of pipeline, two institutes
It states driven subassembly 3d and Power Component 3c to be sequentially connected, each adjusting component 3e is slided with the corresponding driven subassembly 3d
Connection, each Power Component 3c provide power and drive corresponding driven subassembly 3d to move and then complete the instruction of walking, adjusting group
Part 3e is used to adjust the distance of driven subassembly 3d to support member 3a and then changes size of the scavenging machine in pipeline radially,
So that scavenging machine is able to enter the pipeline of different bores, and walking can be completed in pipeline to realize the cleaning to pipeline.
The Power Component 3c includes being fixed on double end motor 3u inside support member 3a, being separately fixed at double end motor
Two driving gear 3v, the two drivings gear 3v on two output shafts of 3u are located at the outside of support member 3a.
Each driven subassembly 3d includes first connecting rod 3f, transverse bar 3g, the second connecting rod 3h, third connecting rod
3i, the 4th connecting rod 3j, driven gear 3k, second gear 3m, third gear 3n, the second transmission chain 3p and two idler wheel 3q,
One end of the first connecting rod 3f is set on the output shaft of double end motor 3u, the other end and cross of the first connecting rod 3f
Hinged to bar 3g, the driven gear 3k is rotatable to be fixed on transverse bar 3g and passes through first with corresponding driving gear 3v
Transmission chain 3w transmission connection, the second connecting rod 3h is non-rotatable to be fixed on transverse bar 3g, the second gear 3m
With third gear 3n respectively the rotatable both ends for being fixed on the second connecting rod 3h and by the second transmission chain 3p be sequentially connected,
The driven gear 3k is connected with second gear 3m coaxial transmission, and one end of the third connecting rod 3i is arranged on transverse bar 3g
One end far from driven gear 3k, the other end and support member 3a of the third connecting rod 3i is hinged, the first connecting rod
3f, transverse bar 3g, third connecting rod 3i and support member 3a constitute parallelogram sturcutre.
One end of the 4th connecting rod 3j is non-rotatable to be fixed on transverse bar 3g and with third connecting rod 3i in cross
Fixation position on bar 3g is corresponding, is provided with idler wheel 3q the 4th one end of connecting rod 3j far from transverse bar 3g is rotatable,
Idler wheel 3q is provided with second one end of connecting rod 3h far from transverse bar 3g is rotatable, the idler wheel on the second connecting rod 3h
3q and third gear 3n is coaxially disposed and is sequentially connected, in this way, when each Power Component 3c drives corresponding driven gear 3k rotation
Turn, driven gear 3k will be further driven to second gear 3m and rotate and then drive the second transmission chain 3p and third gear 3n rotation
Turn, then idler wheel 3q rotation is driven by third gear 3n.The idler wheel 3q rubber material increases friction and reduces idler wheel 3q to pipe
The possibility of road damage.
The transverse bar 3g is equipped with sliding slot 3r close to the side of support member 3a, and each adjusting component 3e includes sliding block
3s and spring 3t, the sliding block 3s setting are slidably connected in sliding slot 3r and with transverse bar 3g, one end setting of the spring 3t
On sliding block 3s, the bottom of support member 3a is arranged in the other end of the spring 3t, and shrink spring 3t is in compression shape always
State, in normal state, the tension support first connecting rod 3f of spring 3t simultaneously keep first connecting rod 3f and transverse bar 3g to be in
Plumbness, when enter lesser nozzle when, removable movable slider 3s move backward allow first connecting rod 3f and transverse bar 3g backward
It has a certain degree, to reduce the size of ground-engaging element 3b radially in pipeline.
The support member 3a includes supporting block 3x, and the supporting block 3x is fixed at the separate cleaning of steering assembly 2a
The shell of one end of device 1, the double end electrode 3u is non-rotatably secured in supporting block 3x, supporting block 3x be used to support and
Protect double end motor 3u.
The steering assembly 2a includes cross direction turning piece 2b, upper steering block 2c and lower steering block 2d, the upper steering block 2c
It is fixed on supporting block 3x and is located at along the moving direction of scavenging machine the side of supporting block 3x, the cross direction turning piece 2b
It is arranged on upper steering block 2c and is rotatablely connected with upper steering block 2c, the lower steering block 2d is fixed at closed component 1e's
Far from the side for cleaning component 1a, the cross direction turning piece 2b, which is arranged on lower steering block 2d and rotates with lower steering block 2d, to be connected
It connects, cross direction turning piece 2b is arranged between upper steering block 2c and lower steering block 2d, arbitrary angle can be adjusted, so that working as pipeline
It, can be excessively curved by steering when walking encounters bend.
The cleaning component 1a includes clean disk 1b and several cleaning hairs being uniformly arranged on clean disk 1b outer circle wall
1c is brushed, clean disk 1b rotation will drive several brush sweeper 1c to rotate, and then clean to insides of pipes wall.
The driving component 1d includes driving motor 1f, the driving motor 1f be arranged in one end of clean disk 1b and with it is clear
It is mating to sweep disk 1b, the clean disk 1b and driving motor 1f are rotatablely connected, and open driving motor 1f, driving motor 1f rotation
Clean disk 1b rotation will be driven.
The closed component 1e includes being set in driving for closing the closed box 1g, the closed box 1g of driving motor 1f
On motor 1f, closed box 1g is used to isolation drive motor 1f and the external world, plays waterproof effect.
Working principle: when entering sizeable pipeline, the tension support first connecting rod 3f of spring 3t simultaneously keeps first
Connecting rod 3f and transverse bar 3g is in plumbness, places a device into cleaning, when entering lesser nozzle, removable movable slider 3s
It moves backward and first connecting rod 3f and transverse bar 3g is allowed to have a certain degree backward, to reduce ground-engaging element 3b in pipeline diameter
Upward size, opens double end motor 3u, and the driving gear 3v at the both ends double end motor 3u starts to rotate and drives first respectively
Transmission chain 3w and driven gear 3k rotation, driven gear 3k will be further driven to second gear 3m and rotate and then drive second to pass
It send chain 3p and third gear 3n to rotate, then idler wheel 3q rotation is driven by third gear 3n, cross direction turning piece 2b is arranged at upper turn
To between block 2c and lower steering block 2d, arbitrary angle can be adjusted, so that when pipe walking encounters bend, it can be by turning
To and it is excessively curved, driving motor 1f rotation will drive clean disk 1b rotation, and clean disk 1b rotation will drive several brush sweeper 1c to revolve
Turn, and then insides of pipes wall clearly, go out the cleaning material in pipeline eventually by water flowing.
The above described is only a preferred embodiment of the present invention, not making any limit to technical scope of the invention
System, therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention,
In the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of small pipeline scavenging machine, including clearing apparatus, the transfer of clearing apparatus one end is set and setting is turning
Running gear to device far from clearing apparatus one end, the clearing apparatus include cleaning component, driving assembly and for drive
The one end for cleaning component is arranged in the closed component that dynamic component is protected, the driving component, and the closed component is fixed
It is arranged on driving assembly, the driving component and cleaning component transmission connection, the running gear includes support member and two
The ground-engaging element of a setting on the supporting member, the support member are fixed at one of steering assembly far from clearing apparatus
End, two ground-engaging elements are fixedly installed on the supporting member and are oppositely arranged, and one end setting of the transfer exists
One end of the separate cleaning component of closed component, the other end of the transfer be arranged in support member relative to scavenging machine
Direction of travel side on.
2. a kind of small pipeline scavenging machine according to claim 1, which is characterized in that each ground-engaging element includes solid
Fixed Power Component on the supporting member, two driven subassemblies being sequentially connected respectively with Power Component and two are separately positioned on
The adjusting component to adjust driven subassembly size in the radial direction on two driven subassemblies.
3. a kind of small pipeline scavenging machine according to claim 2, which is characterized in that the Power Component includes double end electricity
Machine, be separately fixed at double end motor two output ends two driving gears, each driven subassembly includes one end and respective side
The other end of first connecting rod, one end and first connecting rod that is rotatably attached of output end of double end motor be rotatably connected
Transverse bar, second connecting rod of the non-rotatable connection in one end of one end and transverse bar, one end and transverse bar the other end can revolve
Turn the third connecting rod of connection, the 4th connecting rod of the non-rotatable connection of the other end of one end and transverse bar, be rotatably arranged
Transverse bar one end and be sequentially connected with the driving gear of respective side by the first transmission chain driven gear, setting is the
One end of two connecting rods and the second gear being sequentially connected with driven gear, the other end that can be rotatably set in the second connecting rod
With second gear pass through the second transmission chain be sequentially connected third gear, the other end of the second connecting rod and the 4th connect
The other end of bar is respectively arranged with idler wheel, and the idler wheel being arranged in the second connecting rod is connect with third gear drive, described
To be resisted against on the inner wall of pipeline, the third connecting rod can be rotatably set in the respective side of support member idler wheel.
4. a kind of small pipeline scavenging machine according to claim 3, which is characterized in that the transverse bar is close to support member
Side be equipped with sliding slot, each adjusting component includes sliding block and spring, and the sliding block is slidably disposed in sliding slot, institute
The top of sliding block is arranged in the one end for stating spring, and the bottom of support member is arranged in the other end of the spring, and the spring begins
It is in compressed state eventually.
5. a kind of small pipeline scavenging machine according to claim 3, which is characterized in that the support member includes support
Block, the supporting block are fixed at one end of the separate clearing apparatus of transfer, and the shell of the double end motor can not revolve
It is fixed in supporting block with turning.
6. a kind of small pipeline scavenging machine according to claim 5, which is characterized in that the steering assembly includes that cross turns
To piece, upper steering block and lower steering block, the upper steering block is fixed at one end relative to direction of travel of supporting block, institute
The side towards supporting block that lower steering block is fixed at closed component is stated, the upper steering block and lower steering block pass through cross
Direction turning piece connection.
7. a kind of small pipeline scavenging machine according to claim 1, which is characterized in that the cleaning component includes clean disk
With several brush sweepers being uniformly arranged on clean disk outer circle wall.
8. a kind of small pipeline scavenging machine according to claim 7, which is characterized in that the driving component includes driving electricity
Machine, the driving motor are arranged in one end of clean disk and mating with clean disk, the clean disk and driving motor it is defeated
Axis connection out.
9. a kind of small pipeline scavenging machine according to claim 8, which is characterized in that the closed component includes and steering
The closed box that device is fixedly connected, the driving motor are enclosed in closed box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760536.1A CN108994014A (en) | 2018-07-12 | 2018-07-12 | A kind of small pipeline scavenging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760536.1A CN108994014A (en) | 2018-07-12 | 2018-07-12 | A kind of small pipeline scavenging machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108994014A true CN108994014A (en) | 2018-12-14 |
Family
ID=64598274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810760536.1A Pending CN108994014A (en) | 2018-07-12 | 2018-07-12 | A kind of small pipeline scavenging machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108994014A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN113198811A (en) * | 2021-06-08 | 2021-08-03 | 池国财 | Pipeline inner wall cleaning robot equipment for pipeline cleaning |
| CN114101238A (en) * | 2022-01-03 | 2022-03-01 | 中国铁路兰州局集团有限公司 | Crystal cleaning equipment used in tunnel blind pipe and application method |
| CN117259361A (en) * | 2023-10-16 | 2023-12-22 | 广州昊洋环境工程有限公司 | Automatic cleaning robot and method for urban underground sewage pipes |
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| JPH02222762A (en) * | 1989-02-27 | 1990-09-05 | Toshiba Corp | Device for cleaning inside of pipeline |
| EP0588196A2 (en) * | 1992-09-18 | 1994-03-23 | Johann Sailer | Working device feedable into a pipeline |
| CN2706251Y (en) * | 2004-02-20 | 2005-06-29 | 李兴浩 | Central air conditioning ventilation pipeline cleaning device |
| CN104607425A (en) * | 2015-01-09 | 2015-05-13 | 宁波科尼管洁净科技有限公司 | Automatic cleaning device for pipe inner wall |
| CN204769766U (en) * | 2015-07-07 | 2015-11-18 | 北京石油化工学院 | Pipeline cleaning device based on gear drive |
| CN107159659A (en) * | 2017-06-22 | 2017-09-15 | 傅昕 | A kind of pipe cleaning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02222762A (en) * | 1989-02-27 | 1990-09-05 | Toshiba Corp | Device for cleaning inside of pipeline |
| EP0588196A2 (en) * | 1992-09-18 | 1994-03-23 | Johann Sailer | Working device feedable into a pipeline |
| CN2706251Y (en) * | 2004-02-20 | 2005-06-29 | 李兴浩 | Central air conditioning ventilation pipeline cleaning device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280550A (en) * | 2019-07-29 | 2019-09-27 | 河北工业职业技术学院 | Inner wall of the pipe sweeping robot |
| CN113198811A (en) * | 2021-06-08 | 2021-08-03 | 池国财 | Pipeline inner wall cleaning robot equipment for pipeline cleaning |
| CN114101238A (en) * | 2022-01-03 | 2022-03-01 | 中国铁路兰州局集团有限公司 | Crystal cleaning equipment used in tunnel blind pipe and application method |
| CN114101238B (en) * | 2022-01-03 | 2024-04-16 | 中国铁路兰州局集团有限公司 | Crystal cleaning equipment used in tunnel blind pipe and application method |
| CN117259361A (en) * | 2023-10-16 | 2023-12-22 | 广州昊洋环境工程有限公司 | Automatic cleaning robot and method for urban underground sewage pipes |
| CN117259361B (en) * | 2023-10-16 | 2024-04-09 | 广州昊洋环境工程有限公司 | Automatic cleaning robot and method for urban underground sewage pipes |
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Application publication date: 20181214 |