CN109108006A - A kind of pipeline cleaning machine people - Google Patents
A kind of pipeline cleaning machine people Download PDFInfo
- Publication number
- CN109108006A CN109108006A CN201810891247.5A CN201810891247A CN109108006A CN 109108006 A CN109108006 A CN 109108006A CN 201810891247 A CN201810891247 A CN 201810891247A CN 109108006 A CN109108006 A CN 109108006A
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- Prior art keywords
- fixedly mounted
- shaft
- wheel
- rotatablely installed
- gear
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- 238000004140 cleaning Methods 0.000 title claims abstract description 35
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012271 agricultural production Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 239000002699 waste material 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
A kind of pipeline cleaning machine people of the invention, including moving device, speed reducer, switching turntable, cleaning plant, speed reducer is fixedly mounted on the front end of moving device, and switching turntable one end is inserted into the hollow shaft of speed reducer, and the rear end of the other end and cleaning plant is fixedly mounted；The present invention moves robot in pipeline by moving device, is cleaned out the sundries of inner wall of the pipe by cleaning plant, and mechanism used by moving device and cleaning plant can adjust working diameter to adapt to the pipeline of different tube diameters, increase the scope of application.
Description
Technical field
The present invention relates to pipeline cleaning equipment technical field, in particular to a kind of pipeline cleaning machine people.
Background technique
In industrial and agricultural production and daily life, pipeline is as a kind of important material transportation means, application range day
Beneficial extensive, quantity is also increasing.Pipeline in use, due to the influence of various factors, will form various pipes
Road blocking and pipeline fault and damage.If may can cause an accident to pipe detection and cleaning not in time, it is unnecessary to be formed
Loss and waste.However, environment locating for pipeline is often that people are not easy to directly reach or do not allow people to be directly entered,
Maintenance and cleaning difficulty are very big, and general cleaning plumbing installation does not have general row, such as application number for the pipeline of different tube diameters
A kind of " pipe cleaning device and pipeline cleaning machine people ", including driving mechanism, driver are disclosed for 201721017049.3
Structure and hollow boring bit, such mechanism cannot be common to different tube diameters or the changeable pipe-line system of caliber, and the scope of application is small, therefore
Need a kind of novel pipeline cleaning machine people.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of pipeline cleaning machine people, make robot in pipe by moving device
It moves, is cleaned out the sundries of inner wall of the pipe by cleaning plant, mechanism used by moving device and cleaning plant in road
Working diameter can be adjusted to adapt to the pipeline of different tube diameters, increase the scope of application.
Technical solution used in the present invention is: a kind of pipeline cleaning machine people, including moving device, speed reducer, switching
Turntable, cleaning plant, the speed reducer are fixedly mounted on the front end of moving device, and switching turntable one end is inserted into speed reducer
In hollow shaft, the rear end of the other end and cleaning plant is fixedly mounted.
The moving device include large cylinder, first motor, first gear, support shaft, second gear, sliding shaft sleeve,
It is first connecting rod, bulky spring, three-phase piston cylinder, hairspring, piston rod, wheel carrier, driven traveling wheel, rolling bearing units, shaft seating, small
Shaft, bevel gear, driving wheel, second connecting rod, belt, driven wheel, positive transport wheel, the first motor are fixedly mounted on greatly
On the boss of inner barrel, the projecting shaft of first gear and first motor is fixedly mounted, and rolling bearing units are fixedly mounted on large cylinder
Rear end, support shaft one end is fixedly mounted on the front end of large cylinder, and second gear one end and support shaft are rotatablely installed, the other end with
Rolling bearing units rotational installation, and engaged with first gear, three-phase piston cylinder is fixed to the support shaft installation, piston rod one end and three
Phase piston cylinder is slidably installed, and the other end and wheel carrier are fixedly mounted, and hairspring covers on three-phase piston cylinder and piston rod, first connecting rod
One end and sliding shaft sleeve are rotatablely installed, and the other end and second connecting rod are rotatablely installed, and shaft seating is fixedly mounted on rolling bearing units,
Small shaft and shaft seating are rotatablely installed, and a bevel gear is respectively fixedly mounted in the both ends of small shaft, and respectively with second gear and
Driving wheel engagement, driving wheel and driven wheel are rotatablely installed with the both ends of second connecting rod respectively, and the both ends of belt are respectively fitted over actively
On wheel and driven wheel, positive transport wheel is fixedly mounted on the driven wheel.
The cleaning plant includes small cylinder, the second motor, shaft coupling, support base, lead screw, feed screw nut, third company
Bar, fourth link, brush, second motor are fixedly mounted on the boss of small inner barrel, lead screw one end and support base
The front end of rotational installation, the other end and small cylinder is rotatablely installed, and shaft coupling one end and the projecting shaft of the second motor are fixed, the other end
It is fixed with the spindle nose of lead screw, feed screw nut and lead screw are rotatablely installed, and third connecting rod one end and feed screw nut are rotatablely installed, the other end
It is rotatablely installed with fourth link, the hinge outside fourth link one end and small cylinder is rotatablely installed, and the other end and brush are fixed and pacified
Dress.
Further, the driven traveling wheel and wheel carrier are rotatablely installed, and sliding shaft sleeve is slidably installed with support shaft, thick bullet
Spring, which is covered, to be placed between sliding shaft sleeve and three-phase piston cylinder in support shaft.
Beneficial effects of the present invention: (1) spring link, spring piston bar and the lead screw and feed screw nut that the present invention uses
Structure can make robot adjust working diameter at work to adapt to the pipeline of different tube diameters, considerably increase applicable model
It encloses；(2) moving device of the invention uses the linkage mechanism of multi-gear, and power takeoff point is unique, ensure that in traveling process
Synchronism.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is moving device structural schematic diagram of the invention.
Fig. 3 is the power section partial structural diagram of moving device of the invention.
Fig. 4 is cleaning plant structural schematic diagram of the invention.
Drawing reference numeral: 1- moving device；2- speed reducer；3- switching turntable；4- cleaning plant；101- large cylinder；102-
One motor；103- first gear；104- support shaft；105- second gear；106- sliding shaft sleeve；107- first connecting rod；108- is thick
Spring；109- three-phase piston cylinder；110- hairspring；111- piston rod；112- wheel carrier；The driven traveling wheel of 113-；114- ushers to seat axis
It holds；115- shaft seating；The small shaft of 116-；117- bevel gear；118- driving wheel；119- second connecting rod；120- belt；121- from
Driving wheel；122- positive transport wheel；The small cylinder of 401-；The second motor of 402-；403- shaft coupling；404- support base；405- lead screw；
406- feed screw nut；407- third connecting rod；408- fourth link；409- brush.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment: a kind of pipeline cleaning machine people as shown in Figure 1, Figure 2, Figure 3, Figure 4, including moving device 1, speed reducer
2, switching turntable 3, cleaning plant 4, speed reducer 2 are fixedly mounted on the front end of moving device 1, and switching 3 one end of turntable, which is inserted into, to be subtracted
In the hollow shaft of fast machine 2, the rear end of the other end and cleaning plant 4 is fixedly mounted.
Moving device 1 include large cylinder 101, first motor 102, first gear 103, support shaft 104, second gear 105,
Sliding shaft sleeve 106, first connecting rod 107, bulky spring 108, three-phase piston cylinder 109, hairspring 110, piston rod 111, wheel carrier 112,
Driven traveling wheel 113, rolling bearing units 114, shaft seating 115, small shaft 116, bevel gear 117, driving wheel 118, second connecting rod
119, belt 120, driven wheel 121, positive transport wheel 122, first motor 102 are fixedly mounted on the boss inside large cylinder 101
On, the projecting shaft of first gear 103 and first motor 102 is fixedly mounted, and rolling bearing units 114 are fixedly mounted on large cylinder 101
Rear end, 104 one end of support shaft are fixedly mounted on the front end of large cylinder 101, and 105 one end of second gear and the rotation of support shaft 104 are pacified
Dress, the other end and rolling bearing units 114 are rotatablely installed, and are engaged with first gear 103, three-phase piston cylinder 109 and support shaft 104
It is fixedly mounted, 111 one end of piston rod is slidably installed with three-phase piston cylinder 109, and the other end and wheel carrier 112 are fixedly mounted, hairspring
110 sets on three-phase piston cylinder 109 and piston rod 111,107 one end of first connecting rod and sliding shaft sleeve 106 are rotatablely installed, the other end
It is rotatablely installed with second connecting rod 119, shaft seating 115 is fixedly mounted on rolling bearing units 114, small shaft 116 and shaft seating
A bevel gear 117 is respectively fixedly mounted in 115 rotational installations, the both ends of small shaft 116, and respectively with second gear 105 and actively
118 engagement of wheel, driving wheel 118 and driven wheel 121 are rotatablely installed with the both ends of second connecting rod 119 respectively, the both ends point of belt 120
It does not cover on driving wheel 118 and driven wheel 121, positive transport wheel 122 is fixedly mounted on driven wheel 121.
Cleaning plant 4 includes small cylinder 401, the second motor 402, shaft coupling 403, support base 404, lead screw 405, lead screw spiral shell
Female 406, third connecting rod 407, fourth link 408, brush 409, the second motor 402 is fixedly mounted on convex inside small cylinder 401
On platform, 405 one end of lead screw and support base 404 are rotatablely installed, and the front end of the other end and small cylinder 401 is rotatablely installed, shaft coupling 403
One end and the projecting shaft of the second motor 402 are fixed, and the spindle nose of the other end and lead screw 405 is fixed, feed screw nut 406 and lead screw 405
Rotational installation, 407 one end of third connecting rod and feed screw nut 406 are rotatablely installed, and the other end and fourth link 408 are rotatablely installed, the
Hinge outside 408 one end of double leval jib and small cylinder 401 is rotatablely installed, and the other end and brush 409 are fixedly mounted.
Driven traveling wheel 113 is rotatablely installed with wheel carrier 112, and sliding shaft sleeve 106 is slidably installed with support shaft 104, bulky spring
108 sets are placed between sliding shaft sleeve 106 and three-phase piston cylinder 109 in support shaft 104.
The working principle of the invention: when robot enters pipeline, due to inner wall of the pipe can to positive transport wheel 122 and from
The piston rod 111 of dynamic 113 inward pressure of traveling wheel, driven end is pressed into three-phase piston cylinder 109, due to the work of hairspring 110
With three driven traveling wheels 113 prop up inner wall of the pipe, and same positive transport wheel 122 can oliquely downward due to the effect of pressure
Movement drives sliding shaft sleeve 106 to travel forward in support shaft 104, due to thick by first connecting rod 107 and second connecting rod 119
Spring 108 to 106 elastic force of sliding shaft sleeve act through first connecting rod 107 and second connecting rod 119 makes three positive transport wheels
122 prop up inner wall of the pipe, so that the moving device 1 of robot is adapted to the pipeline of different tube diameters, 102 work of first motor
Make to drive the rotation of first gear 103 to drive the second gear 105 engaged to rotate, the rotation band mantle of second gear 105
Gear 117 rotation to drive driving wheel 118 rotate, driving wheel 118 rotation by belt 120 drive driven wheel 121 rotation from
And positive transport wheel 122 is driven to rotate, traveling function is realized, the work of the second motor 402 drives lead screw by shaft coupling 403
To drive feed screw nut 406 to be moved forward and backward, feed screw nut 406, which is moved forward and backward, drives the 4th by third connecting rod 407 for 405 rotations
Connecting rod 408 is swung up and down so that brush 409 touches the inner wall of the pipe of different tube diameters, and 2 work belt turn of speed reducer switches through 3 turns of disk
It moves that cleaning plant 4 is driven to rotate, the rotation of cleaning plant 4 is cleaned out the sundries in inner wall of the pipe by brush 409.
Claims (2)
1. a kind of pipeline cleaning machine people, including moving device (1), speed reducer (2), switching turntable (3), cleaning plant (4),
Be characterized in that: the speed reducer (2) is fixedly mounted on the front end of moving device (1), and switching turntable (3) one end is inserted into deceleration
In the hollow shaft of machine (2), the rear end of the other end and cleaning plant (4) is fixedly mounted；
The moving device (1) include large cylinder (101), first motor (102), first gear (103), support shaft (104),
Second gear (105), sliding shaft sleeve (106), first connecting rod (107), bulky spring (108), three-phase piston cylinder (109), hairspring
(110), piston rod (111), wheel carrier (112), driven traveling wheel (113), rolling bearing units (114), shaft seating (115), small turn
Axis (116), driving wheel (118), second connecting rod (119), belt (120), driven wheel (121), is actively walked at bevel gear (117)
Take turns (122), the first motor (102) is fixedly mounted on the internal boss of large cylinder (101), first gear (103) with
The projecting shaft of first motor (102) is fixedly mounted, and rolling bearing units (114) are fixedly mounted on the rear end of large cylinder (101), support shaft
(104) one end is fixedly mounted on the front end of large cylinder (101), and second gear (105) one end and support shaft (104) are rotatablely installed,
The other end and rolling bearing units (114) are rotatablely installed, and are engaged with first gear (103), three-phase piston cylinder (109) and support shaft
(104) it is fixedly mounted, piston rod (111) one end is slidably installed with three-phase piston cylinder (109), and the other end and wheel carrier (112) are fixed
Installation, hairspring (110) cover on three-phase piston cylinder (109) and piston rod (111), first connecting rod (107) one end and sliding axle
(106) rotational installation is covered, the other end and second connecting rod (119) are rotatablely installed, and shaft seating (115) is fixedly mounted on rolling bearing units
(114) on, small shaft (116) and shaft seating (115) are rotatablely installed, and a cone is respectively fixedly mounted in the both ends of small shaft (116)
Gear (117), and engaged respectively with second gear (105) and driving wheel (118), driving wheel (118) and driven wheel (121) are respectively
It is rotatablely installed with the both ends of second connecting rod (119), the both ends of belt (120) are respectively fitted over driving wheel (118) and driven wheel (121)
On, positive transport wheel (122) is fixedly mounted on driven wheel (121)；
The cleaning plant (4) includes small cylinder (401), the second motor (402), shaft coupling (403), support base (404), silk
Thick stick (405), feed screw nut (406), third connecting rod (407), fourth link (408), brush (409), second motor
(402) it is fixedly mounted on the internal boss of small cylinder (401), lead screw (405) one end and support base (404) are rotatablely installed, separately
The front end of one end and small cylinder (401) is rotatablely installed, and shaft coupling (403) one end and the projecting shaft of the second motor (402) are fixed, separately
The spindle nose of one end and lead screw (405) is fixed, and feed screw nut (406) and lead screw (405) are rotatablely installed, third connecting rod (407) one end
It is rotatablely installed with feed screw nut (406), the other end and fourth link (408) are rotatablely installed, fourth link (408) one end and small cylinder
The external hinge rotational installation of body (401), the other end and brush (409) are fixedly mounted.
2. a kind of pipeline cleaning machine people as described in claim 1, it is characterised in that: the driven traveling wheel 113 and wheel
Frame (112) rotational installation, sliding shaft sleeve (106) are slidably installed with support shaft (104), and bulky spring (108) is covered in support shaft (104)
On be placed between sliding shaft sleeve (106) and three-phase piston cylinder 109.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891247.5A CN109108006B (en) | 2018-08-07 | 2018-08-07 | Pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810891247.5A CN109108006B (en) | 2018-08-07 | 2018-08-07 | Pipeline cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109108006A true CN109108006A (en) | 2019-01-01 |
| CN109108006B CN109108006B (en) | 2021-01-01 |
Family
ID=64853112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810891247.5A Active CN109108006B (en) | 2018-08-07 | 2018-08-07 | Pipeline cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109108006B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773825A (en) * | 2019-11-05 | 2020-02-11 | 柳州市豪运工程机械制造有限责任公司 | Automatic cleaning assembly for screw hole of rotating part of loading vehicle |
| CN111023213A (en) * | 2019-12-30 | 2020-04-17 | 绍兴煦橙环保设备有限公司 | Automatic cleaning type oil smoke clarifier |
| CN111069198A (en) * | 2019-12-25 | 2020-04-28 | 桐城市湃腾机械设计有限公司 | Device for cleaning oil dirt of catering flue |
| CN111215405A (en) * | 2020-02-13 | 2020-06-02 | 黄惠惠 | Automatic scale scraping equipment for large-diameter tubular structure |
| CN111282928A (en) * | 2020-02-13 | 2020-06-16 | 黄惠惠 | Traveling mechanism used in large-caliber tubular structure and automatic scale scraping equipment |
| CN111360003A (en) * | 2020-03-25 | 2020-07-03 | 上海隧道工程股份有限公司 | Rolling crushing device for pipeline lining and using method thereof |
| CN111963822A (en) * | 2020-08-17 | 2020-11-20 | 卢振平 | Magnetic field detection device |
| CN112095769A (en) * | 2020-09-18 | 2020-12-18 | 马鞍山迈若斯机器人科技有限公司 | Robot device for cleaning pipeline |
| CN112112259A (en) * | 2020-10-19 | 2020-12-22 | 上海誉帆环境建设有限公司 | Pipeline dredging device |
| CN112555570A (en) * | 2020-12-16 | 2021-03-26 | 浙江科特地理信息技术有限公司 | Pull formula pipeline inspection robot |
| CN112605078A (en) * | 2020-11-30 | 2021-04-06 | 盐城大孙庄新城建设有限公司 | Cleaning robot for central air conditioner |
| CN112915903A (en) * | 2021-01-19 | 2021-06-08 | 楚雄和创药业有限责任公司 | Join in marriage liquid equipment with clean structure of plug-in type inner wall |
| CN113047415A (en) * | 2021-03-31 | 2021-06-29 | 郑州科技学院 | Intelligent robot for detecting and cleaning pipeline |
| CN113464769A (en) * | 2021-07-06 | 2021-10-01 | 刘春艳 | A modular clearance repairing machine for exhaust emission pipeline |
| CN113606425A (en) * | 2021-07-05 | 2021-11-05 | 宝宇(武汉)激光技术有限公司 | Pipeline robot |
| CN113714222A (en) * | 2020-05-26 | 2021-11-30 | 苏州市职业大学 | Controllable diversion self-adaptation pipeline clearance dolly |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| WO2022099984A1 (en) * | 2020-11-13 | 2022-05-19 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN115070527A (en) * | 2022-07-27 | 2022-09-20 | 江苏雅固标准件有限公司 | Pipeline inner wall grinding device |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110773825B (en) * | 2019-11-05 | 2020-07-31 | 柳州市豪运工程机械制造有限责任公司 | Automatic cleaning assembly for screw hole of rotating part of loading vehicle |
| CN110773825A (en) * | 2019-11-05 | 2020-02-11 | 柳州市豪运工程机械制造有限责任公司 | Automatic cleaning assembly for screw hole of rotating part of loading vehicle |
| CN111069198A (en) * | 2019-12-25 | 2020-04-28 | 桐城市湃腾机械设计有限公司 | Device for cleaning oil dirt of catering flue |
| CN111023213A (en) * | 2019-12-30 | 2020-04-17 | 绍兴煦橙环保设备有限公司 | Automatic cleaning type oil smoke clarifier |
| CN111023213B (en) * | 2019-12-30 | 2021-04-20 | 绍兴煦橙环保设备有限公司 | Automatic cleaning type oil smoke clarifier |
| CN111215405A (en) * | 2020-02-13 | 2020-06-02 | 黄惠惠 | Automatic scale scraping equipment for large-diameter tubular structure |
| CN111282928A (en) * | 2020-02-13 | 2020-06-16 | 黄惠惠 | Traveling mechanism used in large-caliber tubular structure and automatic scale scraping equipment |
| CN111360003A (en) * | 2020-03-25 | 2020-07-03 | 上海隧道工程股份有限公司 | Rolling crushing device for pipeline lining and using method thereof |
| CN113714222A (en) * | 2020-05-26 | 2021-11-30 | 苏州市职业大学 | Controllable diversion self-adaptation pipeline clearance dolly |
| CN111963822A (en) * | 2020-08-17 | 2020-11-20 | 卢振平 | Magnetic field detection device |
| CN112095769A (en) * | 2020-09-18 | 2020-12-18 | 马鞍山迈若斯机器人科技有限公司 | Robot device for cleaning pipeline |
| CN112112259A (en) * | 2020-10-19 | 2020-12-22 | 上海誉帆环境建设有限公司 | Pipeline dredging device |
| WO2022099984A1 (en) * | 2020-11-13 | 2022-05-19 | 长缆电工科技股份有限公司 | Device for detecting and cleaning inner wall of pipeline and pipeline cleaning method |
| CN112605078A (en) * | 2020-11-30 | 2021-04-06 | 盐城大孙庄新城建设有限公司 | Cleaning robot for central air conditioner |
| CN112555570A (en) * | 2020-12-16 | 2021-03-26 | 浙江科特地理信息技术有限公司 | Pull formula pipeline inspection robot |
| CN112915903A (en) * | 2021-01-19 | 2021-06-08 | 楚雄和创药业有限责任公司 | Join in marriage liquid equipment with clean structure of plug-in type inner wall |
| CN113047415A (en) * | 2021-03-31 | 2021-06-29 | 郑州科技学院 | Intelligent robot for detecting and cleaning pipeline |
| CN113047415B (en) * | 2021-03-31 | 2022-06-03 | 郑州科技学院 | Intelligent robot for detecting and cleaning pipeline |
| CN113606425A (en) * | 2021-07-05 | 2021-11-05 | 宝宇(武汉)激光技术有限公司 | Pipeline robot |
| CN113464769A (en) * | 2021-07-06 | 2021-10-01 | 刘春艳 | A modular clearance repairing machine for exhaust emission pipeline |
| CN114178265A (en) * | 2022-02-16 | 2022-03-15 | 济南市槐荫区市政工程服务中心 | Water affair pipeline inner wall cleaning equipment |
| CN115070527A (en) * | 2022-07-27 | 2022-09-20 | 江苏雅固标准件有限公司 | Pipeline inner wall grinding device |
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