CN109351719A - A kind of submarine pipeline surface marine growth clearing machine - Google Patents
A kind of submarine pipeline surface marine growth clearing machine Download PDFInfo
- Publication number
- CN109351719A CN109351719A CN201811446464.XA CN201811446464A CN109351719A CN 109351719 A CN109351719 A CN 109351719A CN 201811446464 A CN201811446464 A CN 201811446464A CN 109351719 A CN109351719 A CN 109351719A
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- workbench
- fixture
- marine growth
- gear
- surface marine
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- 230000012010 growth Effects 0.000 title claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims abstract description 62
- 230000003044 adaptive effect Effects 0.000 claims abstract description 5
- 239000007788 liquid Substances 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000238586 Cirripedia Species 0.000 description 1
- 241000237502 Ostreidae Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001595 contractor effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 235000020636 oyster Nutrition 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000002062 proliferating effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000001960 triggered effect Effects 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
- B08B9/023—Cleaning the external surface
Abstract
The present invention provides a kind of submarine pipeline surface marine growth clearing machine, including general frame, workbench, upper fixture device, lower grip device, hydraulic cylinder of creeping, Cleaning cutter pan device.Working principle is that equipment first clamps pipeline by the adaptive centralizer of upper and lower grip device, is closed into an annular workbench with aftertable, finally controls Cleaning cutter pan device without limitation and turns round work, completes the clean-up task of pipe surface marine growth.The present invention can solve the cleaning problem of pipe surface marine growth, reduce the expense of pipeline cleaning, improve the efficiency of pipeline cleaning, reduce China and the external gap in terms of pipe surface marine growth Removal Technology.
Description
Technical field
The present invention relates to a kind of submarine pipeline surface marine growth clearing machines, are suitable for submarine pipeline surface marine growth and clear up
Task, be a kind of important equipment of underwater operation.
Background technique
With the continuous progress of China's offshore oil construction of natural gas fields, oil and gas production is also increasing year by year, and is provided to Yu Haiyang
The requirement of source development technique is also got higher therewith.Therefore, the exploitation for carrying out underwater oil gas also becomes the weight of China's marine energy development
Direction is wanted, production technique also becomes primary study object.In the range of sea level is to following 40 meters or so, jacket surface
There are many marine growth (oyster, barnacle etc.) quickly breedings, growth, the weight of offshore platform are not only increased, but also platform
Increased by action of ocean current area, brings security risk, need periodically to be detected and cleared up.Currently, jacket marine growth is clear
Reason mainly carries cleaning equipment dive cleaning by diver, and to diver, there are personal safety hidden danger, marine growths for sea situation variation
Cleaning workload is very big, and manual cleaning working efficiency is low, and destructible jacket surface covering.
Summary of the invention
The purpose of the invention is to provide a kind of submarine pipeline surface marine growth clearing machine, develops to have and independently know
The pipeline cleaning equipment and its relevant technologies for knowing property right meet the needs of underwater oil and gas development in China, fill up domestic and make under water
Blank in terms of industry constantly reduces the gap between China and advanced international standard.
The object of the present invention is achieved like this: including general frame, workbench that general frame upper end is arranged in, up and down
Climbing between upper fixture device and lower grip device is arranged in the upper fixture device and lower grip device that are arranged in general frame
Row hydraulic cylinder, the Cleaning cutter pan device that lower fixture lower end is arranged in, the workbench include the C-shaped that general frame upper end is arranged in
Workbench, two table motors for being symmetricly set on C-shaped workbench lower end, two workbench meshing gear groups, two unskilled labourers
Make platform, the output end of each table motor input axis connection with two workbench meshing gear groups respectively, two workbench
The output shaft of meshing gear group is connected with corresponding two subtables, and two subtables merge with C-shaped workbench becomes one
A complete circular ring shape workbench, the upper fixture device can be moved along the axial direction of general frame, and upper fixture device and
Identical lower grip device structure is adaptive centralizer device.
The invention also includes structure features some in this way:
1. the upper fixture device and lower grip device include: rack, the fixture motor and fixture that are arranged on the rack
Motor output end connection gear group one, be symmetricly set on by universal joint gear set one output shaft both ends splined shaft group, often
The end of a splined shaft group passes through the input shaft of universal joint connection gear group two, is also symmetrical arranged on the rack there are two slideway,
The output gear of gear set two is engaged with the rack gear being arranged in slideway, and hingedly there are two connecting rods for the lower end of each rack gear, each
The end of connecting rod is hinged with remote fixture, and each remote fixture has been respectively articulated with a nearly fixture and has been provided in hinged place with pretightning force
Torsional spring, be provided with gear set three between two nearly fixtures；The rack of upper fixture is sleeved in the guide post of general frame and can
It is moved along guide post, the rack of lower fixture and the guide post of general frame are connected.
2. the Cleaning cutter pan device includes the roller group being arranged on lower fixture frame lower end surface, is arranged between roller group
C-shaped Cleaning cutter pan, be symmetricly set on fixture frame lower end two cutter motors, be mounted on two cutter motor output ends
Tool gear, two tool gears engage with tooth-shape structure on the outside of C-shaped Cleaning cutter pan, are symmetrically arranged on C-shaped Cleaning cutter pan
Two knife rests, each knife rest end face is provided with a position adjustment bolt, is connect by the slideway being arranged in knife rest with knife rest
It knife handle and knife handle end hinged cutter head, the oblique reinforcing bolt assembly that is hinged between knife rest and knife handle.
3. being additionally provided with slideway on each knife handle, it is provided with slide bar in slideway, is arranged between the ear mount on slideway and cutter head
There is pressure spring.
It creeps there are two hydraulic cylinders, is symmetricly set between upper fixture device and lower grip device described in 4..
Compared with prior art, the beneficial effects of the present invention are: design of the invention is conducive to the debugging and control of equipment,
Different piece can individually be tested, each device is improved and upgraded.The design of self-contained unit is conducive to the later period dimension of equipment
Shield, can save a large amount of maintenance costs.The design of self-contained unit equally makes the installation and removal of equipment more convenient, greatly facilitates
The maintenance in equipment later period.
Detailed description of the invention
Fig. 1 is submarine pipeline surface marine growth clearing machine complete machine schematic diagram；
Fig. 2 is workbench schematic rear view；
Fig. 3 is that workbench is closed into annular working platform schematic rear view；
Fig. 4 is that workbench is closed into annular working platform front schematic view；
Fig. 5 is upper fixture device overall schematic；
Fig. 6 is upper fixture device detailed schematic；
Fig. 7 is lower grip device detailed schematic；
Fig. 8 is lower grip device schematic rear view；
Fig. 9 is Cleaning cutter pan schematic device；
Figure 10 is knife rest and cutter detailed schematic；
Figure 11 is cutter schematic diagram.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
In conjunction with Fig. 1 to Figure 11, a kind of submarine pipeline surface marine growth clearing machine of the invention includes general frame 10, work
Make platform, upper fixture device 300, lower grip device 400, hydraulic cylinder 50 of creeping, Cleaning cutter pan device 600.
The workbench is mainly by being fixed on the C-shaped workbench 24 of 10 upper end of general frame and being arranged in C-shaped workbench 24
The workbench meshing gear group 22 of two sides, the table motor 21 and subtable that 22 both ends of workbench meshing gear group are set
23 are constituted, and after upper and lower 300/400 clamping pipe of grip device of equipment, under the driving of table motor 21, pass through engagement
Gear set 22 imparts power to two subtables 23, is closed with latter two subtable 23, is merged into C-shaped workbench 24
For a complete circular ring shape workbench, provide convenience for the back work of underwater operation personnel；Similarly, in table motor
Under the driving of 21 reversions, two subtables 24 will be separated, and equipment can easily be withdrawn after operation completion.
The upper fixture device 300 wherein side remote fixture 322 and nearly fixture 321 hinged place install with pre-tighten
Under the action of the torsional spring 323 and mechanical position limitation of power, to a certain extent can approximation regard a rigid body as, no relative rotation, by
Connecting rod 320, which is hinged between remote fixture 322 and drive rack 315, transmits power, nearly 321 other end of fixture then with gear 324
It is fixedly installed togather, two gears 324 constitute gear set three, make it without relative rotation, pass through gear set 314 and rack gear 315
Gear motion, rack gear 315 drive connecting rod 320 to drive two remote fixtures 322 according to the track of slideway 325 to drive two closely
Fixture 321 moves together, two nearly 321 end meshed gears 324 of fixture then make two nearly fixtures 321 simultaneously clamp on or pine
It opens, in clamping process, after two nearly fixtures 321 when 300 side of upper fixture device first encounter pipeline, continues drive link
320, then the work of torsional spring 323 can be triggered, nearly fixture 321 relatively rotates two remote fixtures 322 with two, until two remote folders
Tool 322 also simultaneously clamps on pipeline, and similarly, remote, the close fixture 322/321 of 300 other side of upper fixture device also moves simultaneously,
Pipeline is clamped among entire equipment, realizes that conduit axis is overlapped with the centre of gyration of Cleaning cutter pan device 600；Similarly, under
Remote, the close fixture 422/421 of 400 two sides of grip device also simultaneously clamps on pipeline, realizes conduit axis and Cleaning cutter pan device 600
The centre of gyration be overlapped；While upper fixture 300 clamping pipe of device, lower grip device 400 is in releasing orientation, liquid of creeping
Cylinder pressure 50 can be driven by contractive action the lower grip device 400 that is attached thereto along conduit axis move it is certain away from
From then descending 400 clamping pipe of grip device, upper fixture device 300 unclamps pipeline, creeps hydraulic cylinder 50 and can pass through contraction
Movement allows the upper fixture device 300 being attached thereto to move a certain distance in the same direction along conduit axis direction, then realizes equipment
Adjustment along conduit axis direction position.
The upper and lower grip device 300/400 is adaptive centralizer device, by motor 310/410 with moving gear
One 311/411 engaged transmission of group, successively drives universal joint 312/412, the splined shaft group 313/413 of two sides, imparts power to
Gear set 2 314/414, rack gear 315/415, the connecting rod 320/420 for being hinged on 315/415 two sides of rack gear drives again to be attached thereto
Remote fixture 322/422, be achieved that the movement of upper and lower 300/400 clamp or release of grip device.
General frame is made of C-shaped workbench, the rack of lower fixture and the guide post that is arranged between the two.
The Cleaning cutter pan device 600 is suspended on lower fixture by being mounted on the roller group 610 of lower 400 lower end of grip device
The lower end of device 400, and engaging in the circumferential tooth of two pinion gears 612 driven by motor 611 and C-shaped Cleaning cutter pan 613
Under effect, realizes the circumferential rotary motion of Cleaning cutter pan device 600, be fixed on C-shaped Cleaning cutter pan 613 by knife rest 614
Cutter 620 can realize the prune job to pipeline according to pre-adjusted position, to achieve the purpose that clear up pipeline.
Wherein, cutter 620 is by the position adjustment bolt 615 that is mounted on knife rest 614 and oblique reinforcing bolt assembly 616 and knife rest
Slideway inside 614 is located at the operating position of requirement, and the status requirement of adjustment both will not be too far apart from pipe surface, clearly
Manage it is ineffective, and will not be excessively close apart from pipeline, the phenomenon that be easy to causeing cutter 620 to be stuck in pipe surface.In order to solve cutter
620 encountered during cleaning the weld seam of pipeline protrusion or other the case where cause cutter 620 to be stuck with pipeline
The case where, cutter is made of knife handle 621, cutter head 622, slide bar 623, pressure spring 624 and slideway 625, under normal operation, knife
First 622 under the action of 624 pretightning force of pressure spring and mechanical position limitation as knife handle 621 works together, when encounter cutter head 622 and pipe
After the situation of road card master, C-shaped Cleaning cutter pan 613 continues to turn round, then can touch the work of pressure spring 624, and cutter head 622 and knife handle 621 are sent out
Raw to relatively rotate, cutter head 622 rotates backward, and avoids the convex portion on pipeline, is realized by barrier avoiding function to cutter head 622 and pipe
Clear operation is preferably completed in the protection in road.
Submarine pipeline surface marine growth clearing machine of the invention, manipulating object are to be chronically at seawater immersion, marine growth
In the prolific submarine pipeline in surface.When equipment is placed into underwater operation, equipment is carried by ROV first and reaches working position
It sets, then equipment clamps pipeline, as necessary by the cooperation of up/down grip device and its hydraulic cylinder of creeping, makes equipment in pipe
It creeps on road and is moved to the start position of requirement cleaning.After reaching designated position, Cleaning cutter pan device is started to work, and completes pipe
The prune job in road.Above-mentioned operation movement provides power by hydraulic system, the final clearing function for realizing equipment.
Specifically, being achieved in the following ways:
First part is to be clamped pipeline by the upper and lower grip device 300/400 of PC control equipment, consolidates equipment
It is scheduled on pipeline, is generally in operating position to clean up, then control workbench 20 and be closed, under water so as to staff
Back work go on smoothly.
Second part is by adjusting upper and lower grip device 300/400 and its hydraulic cylinder 50 of creeping, by Cleaning cutter pan device
600 are adjusted to the initial position of the pipeline to be cleared up.
Part III is to drive Cleaning cutter pan device 600 by two pinion gears 612 being connected with motor 611, is passed through
The engagement of pinion gear 612 and the circumferential tooth of C-shaped Cleaning cutter pan 613, driving Cleaning cutter pan device 600 rotate, to complete clear
Science and engineering is made.Wherein, the cutter 620 on C-shaped Cleaning cutter pan 613 is mounted in the case where known caliber, is manually adjusted in advance
Position, to reach best cleaning effect,
Part IV is that adjustment equipment makes Cleaning cutter pan device 600 close on what the last time cleared up to suitable position again
The continuous cleaning to pipeline is realized as Cleaning cutter pan device 600 is without limitation rotary motion in position.
Part V is the position for continuously adjusting equipment on pipeline, so that it may realize that equipment makees the cleaning of entire pipeline
Industry.
According to the decomposition that equipment acts, system can be carried out to modularization programming, system includes following module, i.e. work
Make platform module, clamp module, crawler module, cleaning modul.
To sum up, the present invention is to provide a kind of submarine pipeline surface marine growth clearing machines, to meet China's fast development
Marine petroleum exploitation correlation matching technology demand.Its significance lies in that the technology for putting forth effort to solve the cleaning of submarine pipeline marine growth is difficult
It inscribes, which can reduce the expense of submarine pipeline marine growth cleaning, improve submarine pipeline cleaning efficiency, shorten China and foreign countries exist
Gap in terms of submarine pipeline marine growth Removal Technology.Working principle is that equipment relies on the self-centering fixture of itself to be clamped in first
On pipeline, the workbench closure of equipment is then controlled, Cleaning cutter pan device is finally controlled and clears up pipeline.Driving method is hydraulic drive
Dynamic, hydraulic system uses a clack box, and the elements such as the hydraulic valve of hydraulic system and sensor are integrated in the inside；Control system is adopted
With a control cabinet, inside by the control system integration of slave computer；Hydraulic valve box and control cabinet are mounted on equipment；Above and below
Position machine control system is able to achieve remote tele-operation, completes the prune job to submarine pipeline.
The object of the present invention is achieved like this: including general frame, workbench that general frame upper end is arranged in, installation
Moveable upper fixture device in general frame, is arranged in lower fixture the lower grip device for being fixed on general frame lower end
The Cleaning cutter pan device that can be rotated without limitation of device lower end realizes the hydraulic cylinder of creeping that equipment is moved along submarine pipeline axis；
The Cleaning cutter pan device includes C-shaped Cleaning cutter pan, knife rest and knife rest spiral shell by being fixedly mounted on C-shaped Cleaning cutter pan
The cutter connect is tethered, in the case where known pipe diameter, cleaning cutter is manually adjusted in advance at a distance from pipeline, to reach
To the effect most preferably cleared up, Cleaning cutter pan device can be real under the engagement of driving gear and C-shaped Cleaning cutter pan circumferential direction tooth
Existing one week prune job of submarine pipeline, then by the mutually coordinated movement of upper and lower grip device and its hydraulic cylinder of creeping, realize
Equipment along conduit axis crawling exercises, along with the unconfined rotation toward the direction of Cleaning cutter pan device, so that it may
It is continuous to realize prune job.It is repeated continuously the movement of creeping of equipment, so that it may realize equipment to the prune job of entire pipeline.Institute
Workbench is stated mainly by being fixed on the C-shaped workbench of general frame upper end and two subtables being mounted on C-shaped workbench
It constitutes；The hydraulic cylinder of creeping is arranged between upper fixture device and lower grip device；The upper fixture device is movably set
It sets on general frame, can be moved under the driving for hydraulic cylinder of creeping along general frame axis direction.Equipment is whole along pipeline axis
The movement in line direction is unclamped in conjunction with the alternating of upper and lower grip device by the driving for hydraulic cylinder of creeping or pinching action is come in fact
It is existing.: the upper and lower grip device be adaptive centralizer device, it can be achieved that Cleaning cutter pan device the centre of gyration and pipe
The axis in road is overlapped.
The invention also includes structure features some in this way:
1. the workbench is mainly by being fixed on the C-shaped workbench of general frame upper end and being arranged in C-shaped workbench two sides
Meshing gear group, meshing gear group both ends are set hydraulic motor and subtable constitute；Described two hydraulic cylinders of creeping
It is arranged between upper fixture device and lower grip device, is symmetrically distributed in the two sides of equipment；The upper fixture device is arranged whole
In body frame, it can be moved under the driving for hydraulic cylinder of creeping along general frame axis direction；The upper and lower grip device is certainly
Centralizer device is adapted to, it can be achieved that the centre of gyration of Cleaning cutter pan device and the axis of submarine pipeline are concentric, knife is cleared up in guarantee
The smooth revolution of disk device.
2. the whole movement along conduit axis direction of equipment by hydraulic cylinder of creeping driving in conjunction with upper fixture device and under
The alternating of grip device is unclamped or pinching action is realized.
The present invention provides a kind of submarine pipeline surface marine growth clearing machine, including general frame, workbench, upper fixture dress
It sets, lower grip device, hydraulic cylinder of creeping, Cleaning cutter pan device.Working principle be equipment rely on first upper and lower grip device from
It adapts to centralizer to clamp pipeline, is closed into an annular workbench with aftertable, finally control Cleaning cutter pan device
Work is turned round without limitation, completes the clean-up task of pipe surface marine growth.The present invention can solve the cleaning of pipe surface marine growth
Problem reduces the expense of pipeline cleaning, improves the efficiency of pipeline cleaning, reduces China and external in the cleaning of pipe surface marine growth
The gap of technical aspect.
Claims (7)
1. a kind of submarine pipeline surface marine growth clearing machine, it is characterised in that: including general frame, be arranged on general frame
The workbench at end, the upper fixture device being arranged in general frame up and down and lower grip device, setting upper fixture device and under
Hydraulic cylinder of creeping between grip device, the Cleaning cutter pan device that lower fixture lower end is arranged in, the workbench include that setting exists
The C-shaped workbench of general frame upper end, two table motors for being symmetricly set on C-shaped workbench lower end, two workbench are nibbled
Close gear set, two subtables, the input with two workbench meshing gear groups respectively of the output end of each table motor
Axis connection, the output shaft of two workbench meshing gear groups are connected with corresponding two subtables, two subtables and C-shaped
Workbench, which merges, becomes a complete circular ring shape workbench, and the upper fixture device can be moved along the axial direction of general frame
It is dynamic, and it is adaptive centralizer device that upper fixture device is identical with lower grip device structure.
2. a kind of submarine pipeline surface marine growth clearing machine according to claim 1, it is characterised in that: the upper fixture
Device and lower grip device include: rack, is arranged on the rack fixture motor, with fixture motor output end connection gear group
One, the splined shaft group at the output shaft both ends of gear set one is symmetricly set on by universal joint, the end of each splined shaft group passes through
The input shaft of universal joint connection gear group two is also symmetrical arranged on the rack there are two slideway, the output gear of gear set two with
Rack gear engagement in slideway is set, and hingedly there are two connecting rods for the lower end of each rack gear, and the end of each connecting rod is hinged with remote folder
Tool, each remote fixture are respectively articulated with a nearly fixture and hinged place are provided with the torsional spring with pretightning force, two nearly fixtures it
Between be provided with gear set three；The rack of upper fixture is sleeved in the guide post of general frame and can move along guide post, lower folder
The rack of tool and the guide post of general frame are connected.
3. a kind of submarine pipeline surface marine growth clearing machine according to claim 1 or 2, it is characterised in that: described clear
Reason cutter head includes the roller group being arranged on lower fixture frame lower end surface, the C-shaped Cleaning cutter pan being arranged between roller group, right
Title is arranged in two cutter motors of fixture frame lower end, the tool gear being mounted on two cutter motor output ends, and two
Tool gear is engaged with tooth-shape structure on the outside of C-shaped Cleaning cutter pan, and arranged symmetrically on C-shaped Cleaning cutter pan there are two knife rest, each knives
Frame end face be provided with a position adjustment bolt, the knife handle being connect with knife rest by the slideway being arranged in knife rest, with knife handle end
Hinged cutter head, the oblique reinforcing bolt assembly being hinged between knife rest and knife handle.
4. a kind of submarine pipeline surface marine growth clearing machine according to claim 3, it is characterised in that: on each knife handle
It is additionally provided with slideway, slide bar is provided in slideway, is provided with pressure spring between the ear mount on slideway and cutter head.
5. a kind of submarine pipeline surface marine growth clearing machine according to claim 1 or 2, it is characterised in that: described to climb
There are two row hydraulic cylinders, is symmetricly set between upper fixture device and lower grip device.
6. a kind of submarine pipeline surface marine growth clearing machine according to claim 3, it is characterised in that: the liquid of creeping
There are two cylinder pressures, is symmetricly set between upper fixture device and lower grip device.
7. a kind of submarine pipeline surface marine growth clearing machine according to claim 4, it is characterised in that: the liquid of creeping
There are two cylinder pressures, is symmetricly set between upper fixture device and lower grip device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446464.XA CN109351719B (en) | 2018-11-29 | 2018-11-29 | Marine organism cleaning machine for submarine pipeline surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446464.XA CN109351719B (en) | 2018-11-29 | 2018-11-29 | Marine organism cleaning machine for submarine pipeline surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109351719A true CN109351719A (en) | 2019-02-19 |
| CN109351719B CN109351719B (en) | 2024-03-22 |
Family
ID=65343484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811446464.XA Active CN109351719B (en) | 2018-11-29 | 2018-11-29 | Marine organism cleaning machine for submarine pipeline surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109351719B (en) |
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| CN110977708A (en) * | 2019-12-13 | 2020-04-10 | 深圳海油工程水下技术有限公司 | Surface cleaning device for sea pipe |
| CN111975801A (en) * | 2020-08-31 | 2020-11-24 | 成都明杰科技有限公司 | Automatic dust removal robot for photo-thermal power generation system |
| CN113695317A (en) * | 2021-08-11 | 2021-11-26 | 谢勇伟 | Submarine pipeline surface cleaning device |
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| CN110977708A (en) * | 2019-12-13 | 2020-04-10 | 深圳海油工程水下技术有限公司 | Surface cleaning device for sea pipe |
| CN111975801A (en) * | 2020-08-31 | 2020-11-24 | 成都明杰科技有限公司 | Automatic dust removal robot for photo-thermal power generation system |
| CN111975801B (en) * | 2020-08-31 | 2021-08-27 | 苏州知云创宇信息科技有限公司 | Automatic dust removal robot for photo-thermal power generation system |
| CN113695317A (en) * | 2021-08-11 | 2021-11-26 | 谢勇伟 | Submarine pipeline surface cleaning device |
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| CN109351719B (en) | 2024-03-22 |
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