CN109807121B - Top-down descending type pipeline cleaning robot - Google Patents
Top-down descending type pipeline cleaning robot Download PDFInfo
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- CN109807121B CN109807121B CN201910219902.7A CN201910219902A CN109807121B CN 109807121 B CN109807121 B CN 109807121B CN 201910219902 A CN201910219902 A CN 201910219902A CN 109807121 B CN109807121 B CN 109807121B
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- pipe
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- 238000004140 cleaning Methods 0.000 title claims abstract description 76
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 108
- 230000009194 climbing Effects 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005641 tunneling Effects 0.000 claims description 4
- 239000002699 waste material Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract description 9
- 235000017491 Bambusa tulda Nutrition 0.000 abstract description 9
- 241001330002 Bambuseae Species 0.000 abstract description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract description 9
- 239000011425 bamboo Substances 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 239000007787 solid Substances 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 239000010865 sewage Substances 0.000 description 5
- 238000005457 optimization Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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Abstract
The invention discloses a top-down falling type pipeline cleaning robot, which comprises the following components: garbage collection barrel, a plurality of climbing power device, rubbish cleaning device. A garbage collection cavity is formed in the garbage collection barrel; the climbing power devices are arranged on the outer side wall of the garbage collection barrel; the climbing power device comprises a pipe wall bracing assembly and a pipe running assembly; the pipe wall propping assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the pipeline traveling assembly; the garbage cleaning device comprises a cleaning driving part and a cleaning screw rod; the descending type pipeline cleaning robot from top to bottom further comprises a garbage overflow preventing cover, and the garbage overflow preventing cover is arranged at the opening end of the garbage collecting barrel. The invention relates to a top-down falling type pipeline cleaning robot which is used for replacing the traditional bamboo culvert dredging method, and is placed from the top of a vertical drainage pipeline according to actual conditions so as to clean solid garbage in the drainage pipeline in a top-down falling mode.
Description
Technical Field
The invention relates to a pipeline cleaning robot, in particular to a pipeline cleaning robot falling from top to bottom.
Background
In modern building structures, drainage pipelines are usually arranged on walls outside the building, and the drainage pipelines are arranged vertically and are used for communicating all floors. The householder of each floor can discharge domestic sewage through this drainage pipe, and domestic sewage reaches in the waste water collecting well on ground along the drainage pipe to realize domestic sewage's discharge.
As more solid garbage is mixed in the domestic sewage, the drainage pipeline is blocked by the accumulation of the solid garbage over time, thereby bringing inconvenience to normal domestic sewage discharge.
Therefore, the drainage pipeline needs to be dredged, and solid garbage accumulated in the drainage pipeline is cleaned. The traditional method for dredging the drainage pipeline mainly adopts a bamboo pole dredging method, and cleaning staff inserts the bamboo pole into the drainage pipeline, so that the dredging treatment of the drainage pipeline is realized.
However, this conventional method of dredging the drain pipe has a great limitation. For example, for particularly long drain lines, the bamboo poles cannot reach the blockage sites smoothly. For another example, cleaning personnel can hold the bamboo poles to operate on high floors, safety production accidents are easy to occur, and the like.
Therefore, how to develop a top-down falling type pipeline cleaning robot for replacing the traditional bamboo culvert dredging method, according to actual conditions, the robot is put in from the top of a vertical drainage pipeline, and solid garbage in the drainage pipeline is cleaned in a top-down falling mode, which is a technical problem to be solved by design developers.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a top-down falling type pipeline cleaning robot which is used for replacing the traditional bamboo culvert dredging method, and according to actual conditions, the robot is put in from the top of a vertical drainage pipeline to clean solid garbage in the drainage pipeline in a top-down falling mode.
The aim of the invention is realized by the following technical scheme:
a top-down drop down pipe cleaning robot comprising: the garbage collection barrel, a plurality of climbing power devices and a garbage cleaning device;
the garbage collection barrel is of a barrel structure with one end open and one end closed, the garbage collection barrel is provided with an open end and a closed end, and a garbage collection cavity is formed in the garbage collection barrel;
the climbing power devices are arranged on the outer side wall of the garbage collection barrel and distributed in an annular array with the central shaft of the garbage collection barrel as the center;
the climbing power device comprises a pipe wall supporting and pressing assembly and a pipe running assembly; the pipe wall propping assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the pipeline traveling assembly; the pipe wall propping assembly drives the pipe walking assembly so that the pipe walking assembly moves back and forth along the radial direction of the garbage collection barrel;
the garbage cleaning device comprises a cleaning driving part and a cleaning screw rod; the cleaning screw rod is partially accommodated in the garbage collection cavity, and partially extends out of the garbage collection cavity; the cleaning driving part is in driving connection with the cleaning screw rod and drives the cleaning screw rod to rotate;
the top-down falling type pipeline cleaning robot further comprises a garbage overflow preventing cover, and the garbage overflow preventing cover is arranged at the opening end of the garbage collection barrel; the garbage overflow preventing cover comprises a fixed ring and a plurality of movable petals, the fixed ring is fixed at the opening end of the garbage collection barrel, the plurality of movable petals are arranged on the fixed ring and distributed in an annular array with the central shaft of the fixed ring as the center, and the plurality of movable petals cover the opening end of the garbage collection barrel; the movable petals are positioned at the central shaft of the fixed ring to form a through hole, and the cleaning screw rod penetrates through the through hole.
In one embodiment, the tube wall bracing assembly comprises: the supporting and pressing support frame, the supporting and pressing driving part, the supporting and pressing driving rod, the supporting and pressing connecting rod and the walking component mounting platform;
the supporting and pressing support frame is fixed on the outer side wall of the garbage collection barrel, two ends of the supporting and pressing connecting rod are respectively pivoted on the supporting and pressing support frame and the walking component mounting platform, and two ends of the supporting and pressing driving rod are respectively pivoted on the output end of the supporting and pressing driving part and the walking component mounting platform;
the pipeline traveling assembly is installed on the traveling assembly installation platform.
In one embodiment, the bracing driving part is a cylinder driving structure.
In one embodiment, the pipe walking assembly comprises a pipe walking driving part and a crawler wheel, and the pipe walking driving part is in driving connection with the crawler wheel.
In one embodiment, the pipeline walking driving part comprises a walking driving motor and a walking transmission gear arranged at the output end of the walking driving motor, and the walking transmission gear is meshed with the crawler wheel.
In one embodiment, the cleaning drive portion is a motor drive structure.
In one embodiment, the movable flap is a fan-shaped rubber sheet structure.
In one embodiment, a tunneling drill bit is arranged at one end of the cleaning screw rod extending out of the garbage collection cavity.
In one embodiment, the number of climbing power devices is three.
In one embodiment, the garbage collection cylinder is a circular cylinder structure.
The invention relates to a top-down falling type pipeline cleaning robot which is used for replacing the traditional bamboo culvert dredging method, and is placed from the top of a vertical drainage pipeline according to actual conditions so as to clean solid garbage in the drainage pipeline in a top-down falling mode.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of a top-down drop-down pipe cleaning robot according to one embodiment of the present invention;
FIG. 2 is a bottom view of the top-down drop down pipe cleaning robot shown in FIG. 1;
FIG. 3 is a block diagram of the garbage collection canister shown in FIG. 1;
FIG. 4 is a block diagram of the climbing power device shown in FIG. 2;
FIG. 5 is a block diagram of the garbage disposal apparatus shown in FIG. 1;
FIG. 6 is a view showing a construction of the garbage can shown in FIG. 2;
FIG. 7 is a block diagram of the pipe running assembly of the alternative embodiment shown in FIG. 4;
FIG. 8 is a partial view of the pipe running assembly shown in FIG. 7;
fig. 9 is a state diagram of the running roller traveling in a spiral shape in the drain pipe.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 2, a top-down drop-down pipe cleaning robot 10 includes: a garbage collection cylinder 20, a plurality of climbing power devices 30 and a garbage cleaning device 40.
Next, a specific structure of the garbage collection can 20 will be described:
as shown in fig. 3, the garbage collection barrel 20 has a barrel structure with one end open and one end closed, the garbage collection barrel 20 has an open end 21 and a closed end 22, and a garbage collection cavity 23 is formed inside the garbage collection barrel 20. In this embodiment, the garbage collection canister 20 has a circular canister structure.
Next, a specific structure of the climbing power device 30 will be described:
as shown in fig. 2, the plurality of climbing power devices 30 are provided on the outer side wall of the garbage collection canister 20, and the plurality of climbing power devices 30 are distributed in an annular array with the central axis of the garbage collection canister 20 as the center. In this embodiment, the number of climbing power devices 30 is three.
As shown in fig. 4, climbing power device 30 includes a pipe wall bracing assembly 100 and a pipe running assembly 200. The pipe wall propping assembly 100 is arranged on the outer side wall of the garbage collection barrel 20, and the pipe wall propping assembly 100 is in driving connection with the pipeline traveling assembly 200; the pipe wall bracing assembly 100 drives the pipe running assembly 200 so that the pipe running assembly 200 reciprocates along the radial direction of the garbage collection cylinder 20;
as shown in fig. 4, in particular, with respect to the tube wall bracing assembly 100, the tube wall bracing assembly 100 includes: the supporting frame 110, the supporting driving part 120, the supporting driving rod 130, the supporting connecting rod 140 and the walking component mounting platform 150.
The supporting and pressing support frame 110 is fixed on the outer side wall of the garbage collection barrel 20, two ends of the supporting and pressing connecting rod 140 are respectively pivoted on the supporting and pressing support frame 110 and the walking component mounting platform 150, and two ends of the supporting and pressing driving rod 130 are respectively pivoted on the output end of the supporting and pressing driving part 120 and the walking component mounting platform 150; in the present embodiment, the bracing driving portion 120 is a cylinder driving structure.
The pipe running assembly 200 is mounted on the running assembly mounting platform 150.
Specifically, regarding the pipe running assembly 200, in one embodiment, the pipe running assembly 200 includes a pipe running driving portion (not shown) and a crawler 201 (as shown in fig. 4), and the pipe running driving portion is in driving connection with the crawler 201. Further, the pipe running driving part includes a running driving motor (not shown) and a running transmission gear (not shown) provided at an output end of the running driving motor, and the running transmission gear is engaged with the crawler wheel 201.
Next, a specific structure of the garbage cleaning apparatus 40 will be described:
as shown in fig. 5, the garbage cleaning apparatus 40 includes a cleaning driving part 300 and a cleaning screw 400; the cleaning screw rod 400 is partially accommodated in the garbage collection cavity 23, and partially extends out of the garbage collection cavity 23; the cleaning driving part 300 is in driving connection with the cleaning screw rod 400, and the cleaning driving part 300 drives the cleaning screw rod 400 to rotate; in the present embodiment, the cleaning driving part 300 is a motor driving structure. In particular, the end of the cleaning screw 400 that protrudes beyond the waste collection chamber 23 is provided with a ripping bit 410.
Further, the top-down drop-down type pipeline cleaning robot 10 further includes a garbage overflow preventing cover 500 (as shown in fig. 2), wherein the garbage overflow preventing cover 500 is disposed at the opening end 21 (as shown in fig. 2) of the garbage collecting cylinder 20; as shown in fig. 6, the garbage overflow preventing cover 500 includes a fixed ring 510 and a plurality of movable flaps 520, the fixed ring 510 is fixed at the opening end of the garbage collection cylinder 20, the plurality of movable flaps 520 are arranged on the fixed ring 510 and distributed in an annular array with the central axis of the fixed ring 510 as the center, and the plurality of movable flaps 520 cover the opening end 21 of the garbage collection cylinder 20; a plurality of movable flaps 520 are formed at the central axis of the fixed ring 510 to form a passing hole 530, and the cleaning screw 400 is inserted through the passing hole 530. In this embodiment, the movable flap 520 is a fan-shaped rubber sheet structure.
Next, the operation principle of the above-structured top-down drop-down type pipe cleaning robot 10 will be described:
the falling type pipeline cleaning robot 10 is integrally put into the top of the vertical drain pipe, and here, it is to be noted that the vertical drain pipe is vertical to the horizontal plane, that is, the drain pipe extends in the vertical direction;
firstly, the pipe wall supporting and pressing assembly 100 in the climbing power device 30 is started, so that the related travelling wheels in the pipe travelling assembly 200 can press and hold the inner wall of the drain pipe, and in the embodiment, the crawler wheels 201 can press and hold the inner wall of the drain pipe, so that preparation is made for the subsequent whole downward descent of the robot; specifically, the propping driving part 120 drives the propping driving rod 130 to make telescopic movement, and the propping driving rod 130 drives the walking assembly mounting platform 150 to move under the cooperation of the propping connecting rod 140, so that the walking assembly mounting platform 150 can drive the crawler wheel 201 in the pipeline walking assembly 200 to press and hold the inner wall of the drain pipe or separate from the inner wall of the drain pipe; the crawler wheel 201 presses and holds the inner wall of the drain pipe, so that preparation can be made for the subsequent whole robot to climb upwards; when the robot cleans the garbage in the drain pipe, the crawler wheel 201 can be separated from the supporting between the crawler wheel and the inner wall of the drain pipe, so that the whole robot is taken out of the drain pipe; here, it should be noted that the bracing driving rod 130 includes a main driving rod 131 and a sub driving rod 132 sleeved on the main driving rod 131, and a spring member 133 is disposed between the main driving rod 131 and the sub driving rod 132, so that the walking assembly mounting platform 150 and the track wheel 201 can obtain a buffering force in the moving process, so as to prevent the drain pipe from being crushed;
after the crawler wheel 201 presses the inner wall of the drain pipe, the pipeline walking assembly 200 in the climbing power device 30 is started immediately, so that the robot integrally descends downwards, and then the specified position can be reached; for example, the walking driving motor drives the crawler wheel 201 to walk through the walking transmission gear, and as the crawler wheel 201 is tightly pressed on the inner wall of the drain pipe, the whole robot can drop and travel along the inner wall of the drain pipe;
when the robot descends along the inner wall of the drain pipe, the garbage cleaning device 40 also works at the same time, namely the cleaning driving part 300 drives the cleaning screw rod 400 to rotate, so that garbage blocked in the drain pipe is cleaned, and the cleaning screw rod 400 has a spiral structure, so that the cleaned garbage can be rolled into the garbage collection barrel 20 under the action of the spiral rod body;
here, it is particularly important to note that since the robot cleans the garbage in the drain pipe in a descending manner from top to bottom, the garbage caught in the garbage collection cylinder 20 by the cleaning screw 400 is very likely to drop down by gravity, and in order to solve this problem, in the present invention, the garbage overflow preventing cap 500 is provided in the opening end 21 of the garbage collection cylinder 20. As can be seen, the garbage overflow preventing cover 500 includes a fixed ring 510 and a plurality of movable flaps 520, the fixed ring 510 is fixed at the opening end of the garbage collecting cylinder 20, the plurality of movable flaps 520 are arranged on the fixed ring 510 and distributed in an annular array with the central axis of the fixed ring 510 as the center, the plurality of movable flaps 520 cover the opening end 21 of the garbage collecting cylinder 20, and due to the structural design that the movable flaps 520 have better elasticity, on one hand, garbage in the drain pipe can easily reach the garbage collecting cylinder 20 through the movable flaps 520, and on the other hand, the garbage in the garbage collecting cylinder 20 is not easy to fall due to the blockage of the movable flaps 520;
further, a tunneling drill 410 (as shown in fig. 5) is arranged at one end of the cleaning screw rod 400 extending out of the garbage collection cavity 23, and the tunneling drill 410 can fully utilize the rotation function of the cleaning screw rod 400 to crush the hard garbage difficult to clean in the drainage pipeline;
after the robot cleans the garbage of the pipeline, the garbage can come out from the top of the drain pipe or from the bottom of the drain pipe according to actual conditions.
In the present invention, since the inner wall of the drain pipe is smooth, the robot is easy to slip during the running process in the drain pipe, and in order to better solve this technical problem, a further optimization design of the structure of the pipe running assembly 200 is required. For example, as shown in fig. 7 and 8, the pipe running assembly 200 includes: a steering wheel support 210, a traveling roller 220, a support driving part 230, and a roller driving part 240. The support frame driving part 230 is in driving connection with the steering wheel support frame 210, and the support frame driving part 230 drives the steering wheel support frame 210 to rotate. Specifically, the support driving part 230 includes a support driving motor 231 and a support driving gear 232 drivingly connected to the support driving motor 231. The traveling roller 220 is mounted on the steering wheel support frame 210, the roller driving part 240 is in driving connection with the traveling roller 220, and the roller driving part 240 drives the traveling roller 220 to rotate. Specifically, the roller driving part 240 includes a roller driving motor 241 and a roller transmission gear 242 drivingly connected to the roller driving motor 241. Wherein, the rotation axis of the steering wheel support frame 210 is perpendicular to the rotation axis of the running roller 220.
Through the optimization of the structure of the pipe traveling assembly 200, under the action of the pipe wall supporting and pressing assembly 100, the traveling roller 220 presses and holds the inner wall of the drain pipe, so that the robot travels in the pipe in a spiral traveling manner, specifically, the support frame driving part 230 drives the direction wheel support frame 210 to rotate by an angle, the direction wheel support frame 210 drives the traveling roller 220 thereon to correspondingly rotate by an angle, for example, the rotation shaft of the traveling roller 220 and the central line of the drain pipe form an angle of 45 degrees (as shown in fig. 9), and the robot can travel in the pipe in a spiral traveling manner to reach a designated place more stably.
The invention relates to a top-down falling type pipeline cleaning robot which is used for replacing the traditional bamboo culvert dredging method, and is placed from the top of a vertical drainage pipeline according to actual conditions so as to clean solid garbage in the drainage pipeline in a top-down falling mode.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. A top-down drop down pipe cleaning robot, comprising: the garbage collection barrel, a plurality of climbing power devices and a garbage cleaning device;
the garbage collection barrel is of a barrel structure with one end open and one end closed, the garbage collection barrel is provided with an open end and a closed end, and a garbage collection cavity is formed in the garbage collection barrel;
the climbing power devices are arranged on the outer side wall of the garbage collection barrel and distributed in an annular array with the central shaft of the garbage collection barrel as the center;
the climbing power device comprises a pipe wall supporting and pressing assembly and a pipe running assembly; the supporting and pressing assembly is arranged on the outer side wall of the garbage collection barrel and is in driving connection with the walking assembly; the pipe wall propping assembly drives the pipe walking assembly so that the pipe walking assembly moves back and forth along the radial direction of the garbage collection barrel;
the garbage cleaning device comprises a cleaning driving part and a cleaning screw rod; the cleaning screw rod is partially accommodated in the garbage collection cavity, and partially extends out of the garbage collection cavity; the cleaning driving part is in driving connection with the cleaning screw rod and drives the cleaning screw rod to rotate;
the top-down falling type pipeline cleaning robot further comprises a garbage overflow preventing cover, and the garbage overflow preventing cover is arranged at the opening end of the garbage collection barrel; the garbage overflow preventing cover comprises a fixed ring and a plurality of movable petals, the fixed ring is fixed at the opening end of the garbage collection barrel, the plurality of movable petals are arranged on the fixed ring and distributed in an annular array with the central shaft of the fixed ring as the center, and the plurality of movable petals cover the opening end of the garbage collection barrel; a plurality of movable petals are positioned at the central shaft position of the fixed ring to form a through hole, and the cleaning screw rod is arranged in the through hole in a penetrating manner;
the pipe wall bracing assembly comprises: the supporting and pressing support frame, the supporting and pressing driving part, the supporting and pressing driving rod, the supporting and pressing connecting rod and the walking component mounting platform;
the supporting and pressing support frame is fixed on the outer side wall of the garbage collection barrel, two ends of the supporting and pressing connecting rod are respectively pivoted on the supporting and pressing support frame and the walking component mounting platform, and two ends of the supporting and pressing driving rod are respectively pivoted on the output end of the supporting and pressing driving part and the walking component mounting platform;
the pipeline traveling assembly is arranged on the traveling assembly mounting platform;
the pipeline walking assembly comprises a pipeline walking driving part and a crawler wheel, and the pipeline walking driving part is in driving connection with the crawler wheel.
2. The top-down drop-down pipe cleaning robot of claim 1, wherein the bracing drive portion is a cylinder drive structure.
3. The top-down drop-down type pipeline cleaning robot according to claim 1, wherein the pipeline traveling driving part comprises a traveling driving motor and a traveling transmission gear arranged at an output end of the traveling driving motor, and the traveling transmission gear is meshed with the crawler wheel.
4. The top-down drop-down pipe cleaning robot of claim 1, wherein the cleaning drive is a motor drive.
5. The top-down drop-down pipe cleaning robot of claim 1, wherein the movable flap is a fan-shaped rubber sheet structure.
6. The top-down drop tube cleaning robot of claim 1, wherein the end of the cleaning screw extending out of the waste collection chamber is provided with a tunneling drill.
7. The top-down drop-down pipe cleaning robot of claim 1, wherein the number of climbing power devices is three.
8. The top-down drop-down pipe cleaning robot of claim 1, wherein the garbage collection canister is a circular canister structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910219902.7A CN109807121B (en) | 2019-03-22 | 2019-03-22 | Top-down descending type pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910219902.7A CN109807121B (en) | 2019-03-22 | 2019-03-22 | Top-down descending type pipeline cleaning robot |
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| Publication Number | Publication Date |
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| CN109807121A CN109807121A (en) | 2019-05-28 |
| CN109807121B true CN109807121B (en) | 2024-01-23 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193502B (en) * | 2019-05-31 | 2020-09-04 | 南京涵铭置智能科技有限公司 | Pipeline cleaning robot and control method |
| CN110076149B (en) * | 2019-06-09 | 2023-12-15 | 云南明湖环境科技有限公司 | Sewage pipeline running dredging robot |
| CN110303012A (en) * | 2019-07-29 | 2019-10-08 | 武汉特瑞升电子科技有限公司 | A kind of pipe dredging device |
| CN111085513B (en) * | 2019-12-02 | 2021-08-20 | 东北石油大学 | Pipeline robot special for removing coal dust in coal bed gas exploitation pipeline |
| CN111097764B (en) * | 2019-12-02 | 2021-09-17 | 东北石油大学 | Method for removing coal dust in coal bed gas extraction pipeline |
| CN112498633A (en) * | 2020-11-25 | 2021-03-16 | 杭州电子科技大学 | Bionic underwater robot and driving method thereof |
| CN112901894B (en) * | 2021-01-25 | 2022-12-16 | 广东德茂建设工程有限公司 | Portable municipal drainage pipeline rubbish clearance robot |
| CN112974433B (en) * | 2021-04-21 | 2021-07-30 | 山东鹤鹏技术有限公司 | Improved oil gas pipeline descaling device |
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| US6196240B1 (en) * | 1999-02-12 | 2001-03-06 | Howard Liao | Equipment for conveyance and treatment of garbage in high building |
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| CN109807121A (en) | 2019-05-28 |
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