CN111530863B - Automatic change pipeline snaking device - Google Patents
Automatic change pipeline snaking device Download PDFInfo
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- CN111530863B CN111530863B CN202010399741.7A CN202010399741A CN111530863B CN 111530863 B CN111530863 B CN 111530863B CN 202010399741 A CN202010399741 A CN 202010399741A CN 111530863 B CN111530863 B CN 111530863B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an automatic pipeline scale cleaning device which comprises a walking driving mechanism, a cleaning mechanism, an impurity recovery mechanism and a body, wherein the walking driving mechanism is arranged at two ends of the body, and the impurity recovery mechanism is arranged at one end of the body; the cleaning mechanism is arranged in the middle of the body; the sweeping mechanism comprises a rotary driving assembly, a plurality of first sweeping assemblies and a second sweeping assembly, wherein each first sweeping assembly comprises a sweeping brush, a first sweeping arm and a second sweeping arm. The automatic pipeline cleaning machine disclosed by the invention realizes automatic cleaning of the pipeline, does not need manual operation, greatly saves manpower, is suitable for cleaning a straight pipeline and a bent pipeline, and is wide in application range, economical and practical.
Description
Technical Field
The invention relates to the technical field of pipeline cleaning equipment, in particular to an automatic pipeline scale cleaning device.
Background
The existing pipelines comprise sewer pipelines, pipelines for material transportation and the like, and play an important role in various aspects such as petroleum, natural gas, chemical raw materials and the like. However, as the service life of the pipeline increases, a large amount of dust, siltation and the like can be accumulated in the pipeline, and the use of the pipeline is affected. In order to improve the service efficiency and the service life of the pipeline, the pipeline needs to be cleaned regularly. Because the pipeline operation requires highly, the operation environment is complicated and changeable, and the manual cleaning difficulty is large, a device capable of realizing automatic cleaning of the pipeline needs to be designed to solve the problem of pipeline cleaning, and the problem needs to be further researched and developed.
Disclosure of Invention
The automatic pipeline descaling device is used for automatically cleaning a pipeline, manual operation is not needed, labor is greatly saved, and the automatic pipeline descaling device is suitable for cleaning a straight pipeline and a bent pipeline, wide in application range, economical and practical.
In order to achieve the aim, the invention provides an automatic pipeline scale cleaning device which comprises a walking driving mechanism, a cleaning mechanism, an impurity recovery mechanism and a body, wherein the walking driving mechanism is arranged at two ends of the body, and the impurity recovery mechanism is arranged at one end of the body; the cleaning mechanism is arranged in the middle of the body;
the sweeping mechanism comprises a rotary driving assembly, a plurality of first sweeping assemblies and a plurality of second sweeping assemblies, each first sweeping assembly comprises a sweeping brush, a first sweeping arm and a second sweeping arm, one end of each first sweeping arm and one end of each second sweeping arm are rotatably connected with the sweeping brush, the other end of each first sweeping arm and the other end of each second sweeping arm are rotatably connected with the body, a V-shaped structure is formed between each first sweeping arm and each second sweeping arm, and the plurality of first sweeping assemblies are uniformly distributed on the body along the circumference;
the second cleaning assembly comprises a rotating disc and a plurality of cleaning discs, and the rotating disc comprises a disc body and a second rotating driven gear connected with the disc body; the rotating disc is sleeved on the body, and a plurality of cleaning discs are uniformly distributed on the disc body in the circumferential direction;
the rotary driving component is arranged on the body and connected with the first cleaning component and the second rotary driven gear, and the rotary driving component drives the second cleaning component and the first cleaning components to do rotary motion relative to the body.
Furthermore, the cleaning mechanism further comprises a first linear driving assembly and a first sliding sleeve, the first sliding sleeve comprises a first inner sleeve, two first baffle rings arranged at two ends of the first inner sleeve, and a first outer sleeve externally sleeved on the first inner sleeve, and the first outer sleeve is positioned between the two first baffle rings; the other ends of the first sweeping arms are rotatably connected with the first outer sleeve, the first inner sleeve is sleeved on the body through a first key bar, the first linear driving assembly is installed on the body and connected with the first inner sleeve, and the first linear driving assembly drives the first sliding sleeve and the first key bar to move on the body.
Further, the first linear driving assembly comprises a first motor, a first driving gear and a first rack arranged on the first key bar, the first motor is mounted on the body, the first driving gear is mounted on the first motor, and the first driving gear is meshed with the first rack.
Furthermore, the walking driving mechanism comprises a plurality of walking components, each walking component comprises a first walking arm, a second walking arm and a driving wheel of an internal motor, one end of each of the first walking arm and the second walking arm is rotatably connected with the driving wheel of the internal motor, the other end of each of the first walking arm and the second walking arm is rotatably connected with the body, a V-shaped structure is formed between the first walking arm and the second walking arm, and the walking components are uniformly distributed on the body along the circumference.
Furthermore, the traveling driving mechanism further comprises a second linear driving assembly and a second sliding sleeve, the second sliding sleeve comprises a second inner sleeve, two second baffle rings arranged at two ends of the second inner sleeve, and a second outer sleeve externally sleeved on the second inner sleeve, and the second outer sleeve is positioned between the two second baffle rings; the other ends of the first walking arms are rotatably connected with the second outer sleeve, the second inner sleeve is sleeved on the body through a second key bar, the second linear driving assembly is installed on the body and connected with the second inner sleeve, and the second linear driving assembly drives the second sliding sleeve and the second key bar to move on the body.
Furthermore, the second linear driving assembly comprises a second motor, a second driving gear and a second rack arranged on the second key bar, the second motor is mounted on the body, the second driving gear is mounted on the second motor, and the second driving gear is meshed with the second rack.
Furthermore, the walking driving mechanism further comprises a fixing sleeve, the other ends of the second walking arms are rotatably connected with the fixing sleeve, and the fixing sleeve is sleeved on the body through a third key strip.
Further, impurity recovery mechanism includes first fixed plate, second fixed plate, block rubber and dust absorption subassembly, first fixed plate and second fixed plate alternate install in on the body, the second fixed plate is equipped with a plurality ofly along the circumference equipartition the block rubber, dust absorption subassembly install in on first fixed plate and the second fixed plate.
Furthermore, the dust collection assembly comprises a plurality of porous dust collection pipes, a hollow dust collection tray, a main dust collection pipe and a dust collector main machine, the porous dust collection pipes are evenly distributed on the circumference of the plurality of porous dust collection pipes between the first fixing plate and the second fixing plate, the plurality of porous dust collection pipes are connected with the hollow dust collection tray, and the hollow dust collection tray is connected with the dust collector main machine through the main dust collection pipe.
Furthermore, the body comprises a first section of sub-body, a second section of sub-body, a third section of sub-body, a first universal joint and a second universal joint, wherein the first section of sub-body is rotatably connected with the second section of sub-body through the first universal joint, and the second section of sub-body is rotatably connected with the third section of sub-body through the second universal joint; the two traveling driving mechanisms are respectively arranged on the first section of sub-body and the third section of sub-body, the cleaning mechanism is arranged on the second section of sub-body, and the impurity recovery mechanism is arranged on the third section of sub-body.
Furthermore, the cleaning mechanism further comprises a rotating sleeve and a limiting ring, the limiting ring is fixedly sleeved on the body in an externally sleeved mode, the rotating sleeve is rotatably sleeved on the body in an externally sleeved mode, and the limiting ring is used for axially limiting the rotating sleeve; the rotating sleeve comprises a sleeve body and a first rotating driven gear connected with the sleeve body; the other ends of the second sweeping arms are rotatably connected with the sleeve body;
the rotary drive assembly comprises a rotary drive motor and a first rotary drive gear; the rotary driving motor is installed on the body, the first rotary driving gear is installed on the rotary driving motor, the first rotary driving gear is located between the first rotary driven gear and the second rotary driven gear, the first rotary driving gear is meshed with the first rotary driven gear, and the first rotary driving gear is meshed with the second rotary driven gear.
Furthermore, the cleaning mechanism further comprises a rotating sleeve and a limiting ring, the limiting ring is fixedly sleeved on the body in an externally sleeved mode, the rotating sleeve is rotatably sleeved on the body in an externally sleeved mode, and the limiting ring is used for axially limiting the rotating sleeve; the rotating sleeve comprises a sleeve body and a first rotating driven gear connected with the sleeve body;
the rotary driving assembly comprises a first rotary driving motor, a steel strand, a driving mandrel, a poking wheel, a transmission shaft and a first rotary driving gear; the other ends of the second sweeping arms are rotatably connected with the sleeve body; the second section of sub-body, the second universal joint and the third section of sub-body are internally provided with communicated wire passing holes; the driving mandrel is rotatably arranged in the second section of the sub-body;
the last circumference equipartition of following of drive spindle is equipped with a plurality of stirring shafts, the transmission shaft rotate install in on the sub-body of second section, just the both ends of transmission shaft are connected with respectively dial driving wheel and first rotary drive gear, it is located to dial the driving wheel in the sub-body of second section, just dial and be equipped with a plurality of stirring holes along the circumference equipartition on the driving wheel, stir the hole with it cooperatees to dial the shaft, first rotary drive gear is located the outside of sub-body of second section, first rotary drive gear is located between first rotatory driven gear and the rotatory driven gear of second, just first rotary drive gear with first rotatory driven gear meshes mutually, first rotary drive gear with the rotatory driven gear of second meshes mutually.
The second cleaning assembly further comprises an opening and closing adjusting assembly, the opening and closing adjusting assembly comprises a second rotary driving motor, a second rotary driving gear and a third rotary driven gear, the tray body comprises a first sub tray body and a second sub tray body, a plurality of cleaning trays are clamped between the first sub tray body and the second sub tray body, the first sub tray body is connected with the second rotary driven gear, the third rotary driven gear is sleeved on the body in an sleeved mode, the third rotary driven gear is connected with the second sub tray body, the second rotary driving motor is rotatably installed on the body through a shaft sleeve, the second rotary driving gear is installed on the second rotary driving motor, and the second rotary driving gear is meshed with the third rotary driven gear; a plurality of waist-shaped holes with the same number as the cleaning discs are uniformly distributed on the second sub-disc body along the circumference; one side of one end of the cleaning disc is rotatably connected with the first sub disc body, and the other side of the cleaning disc is provided with a pin shaft which is inserted into the waist circular hole of the second sub disc body.
Furthermore, a lightening hole is arranged on the cleaning disc.
When the automatic pipeline descaling device is used, the automatic pipeline descaling device is arranged in a pipeline to be cleaned, and the automatic pipeline descaling device is driven to move in the pipeline through the traveling driving mechanism, so that the pipeline is continuously cleaned; the pipeline cleaning is completed through the cleaning mechanism, the garbage cleaning mechanism completes the cleaning of the garbage and the recovery of the cleaned garbage simultaneously, the automatic cleaning of the pipeline is realized, the cleaning efficiency is high, the manual operation is not needed, and the labor is greatly saved. Under the combined action of the first cleaning assembly and the second cleaning assembly, the pipeline cleaning device enables the pipeline to be cleaned more thoroughly, and the pipeline to be cleaned cleaner, particularly the cleaning of stubborn attachments. The cleaning mechanism can realize the cleaning of different pipelines, and the application range of the automatic pipeline scale cleaning device is widened. The automatic pipeline descaling device is suitable for cleaning straight pipelines and curved pipelines, and is wide in application range, economical and practical.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of the travel drive mechanism of the present invention.
Fig. 3 is a perspective view of the cleaning mechanism of the present invention.
Fig. 4 is a perspective view of fig. 3 rotated at a certain angle.
Fig. 5 is a perspective view of the first linear drive assembly of the present invention.
Fig. 6 is an enlarged view of fig. 3 at a.
Fig. 7 is a perspective view of fig. 6 with the first and second rotating driven gears removed.
Fig. 8 is a partially enlarged view of fig. 7.
Fig. 9 is a perspective view of fig. 8 cut away.
Fig. 10 is a perspective view showing the assembly of the foreign matter recovery mechanism and the travel driving mechanism according to the present invention.
Fig. 11 is a perspective view of the impurity recovery mechanism of fig. 10.
Fig. 12 is a perspective view of the torso of the present invention.
Fig. 13 is an enlarged view of fig. 12 at B.
The above reference numerals:
1, 10 a first section of body, 11 a second section of body, 12 a third section of body, 13 a first universal joint, 14 a second universal joint, 15 a third universal joint, 16 a fourth universal joint, 101 a second key slot, 110 a first key slot, 2 a walking driving mechanism, 20 a first walking arm, 21 a second walking arm, 22 a driving wheel of a built-in motor, 23 a second linear driving component, 24 a second sliding sleeve, 25 a fixed sleeve, 3 a cleaning mechanism, 301 a first cleaning arm, 302 a second cleaning arm, 303 a cleaning brush, 304 a first linear driving component, 305 a first sliding sleeve, 306 a rotating sleeve, 307 a limit ring, 3060 a sleeve body, 3061 a first rotating driven gear, 311 a cleaning disc, 3110 a lightening hole, 310 a rotating disc, 3101 a disc body, 31010 a second sub disc body, 31011 a first sub disc body, 3102 a second rotating driven gear, 31012 a pin shaft, 312 an opening and closing adjusting component, 3120 a second rotating driving motor, 3121 a second rotating driven gear, 3122 a third rotary driven gear, a 3123 shaft sleeve, a 31010-1 waist circular hole, a 111 first shaft sleeve, a 3040 first motor, a 3041 first driving gear, a 3042 first spline, a 30420 first rack, a 3043 first support, a 3050 first inner sleeve, a 3051 first baffle ring, a 3052 first outer sleeve, a 320 first rotary driving gear, a 321 transmission shaft, a 322 installation seat, a 112 installation groove, a 323 fixing seat, a 324 driving core shaft, a 325 toggle shaft, a 326 toggle wheel, a 3260 toggle hole, a 327 first rotary driving motor, a 328 steel strand, a 4 impurity recovery mechanism, a 40 first fixing plate, a 41 second fixing plate, a 42 rubber block, a 430 porous dust collection pipe, a 431 total dust collection plate, 432 total dust collection pipe, a 113 line passing hole, and 5 detection mechanisms.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 13, the automatic pipeline descaling device provided by this embodiment includes a traveling driving mechanism 2, a cleaning mechanism 3, an impurity recovery mechanism 4 and a body 1, wherein the traveling driving mechanism 2 is installed at both ends of the body 1, and the impurity recovery mechanism 4 is installed at one end of the body 1; the cleaning mechanism 3 is arranged in the middle of the body 1;
the cleaning mechanism 3 comprises a rotary driving assembly, a plurality of first cleaning assemblies and a plurality of second cleaning assemblies, each first cleaning assembly comprises a cleaning brush 303, a first cleaning arm 301 and a second cleaning arm 302, one end of each first cleaning arm 301 and one end of each second cleaning arm 302 are rotatably connected with the cleaning brush 303, the other end of each first cleaning arm 301 and the other end of each second cleaning arm 302 are rotatably connected with the body 1, a V-shaped structure is formed between each first cleaning arm 301 and each second cleaning arm 302, and the first cleaning assemblies are uniformly distributed on the body 1 along the circumference;
the second sweeping assembly comprises a rotating disk 310 and a plurality of sweeping disks 311, wherein the rotating disk 310 comprises a disk body 3101 and a second rotating driven gear 3102 connected with the disk body 3101; the rotating disc 310 is sleeved on the body 1, and a plurality of cleaning discs 311 are uniformly distributed on the disc body 3101;
the rotary driving assembly is mounted on the body 1, the rotary driving assembly is connected to the first cleaning assembly and the second rotary driven gear 3102, and the rotary driving assembly drives the second cleaning assembly and the plurality of first cleaning assemblies to rotate relative to the body 1. The number of the first cleaning assemblies in this embodiment is three.
The working principle of the embodiment is as follows:
when in use, the automatic pipeline scale cleaning device is arranged in a pipeline to be cleaned, and the automatic pipeline scale cleaning device is driven to move in the pipeline by the traveling driving mechanism 2, so that the pipeline is cleaned continuously; the pipeline cleaning is completed through the cleaning mechanism 3, the cleaning of the garbage is completed through the impurity recovery mechanism 4, the automatic cleaning of the pipeline is realized, the cleaning efficiency is high, the manual operation is not needed, and the labor is greatly saved. Wherein clean mechanism 3 during operation, the rotation driving subassembly drives a plurality of first subassemblies that clean rotatory for body 1, and a plurality of cleaning brushes 303 clean the pipeline inner wall, accomplishes the pipeline clearance, and wherein first cleaning arm 301 that clean the subassembly includes and second cleaning arm 302 between be V type structure, structural stability is high, guarantees to clean mechanism 3's structural strength and life. Meanwhile, the rotating driving assembly drives the second rotating driven gear 3102 to rotate, so as to drive the rotating disc 310 to rotate, and the rotating disc 310 rotates to drive the plurality of cleaning discs 311 on the rotating disc 310 to rotate, so that under the action of the cleaning discs 311, the cleaning of the pipeline, especially the cleaning of stubborn attachments, is further realized. This embodiment cleans under the combined action of subassembly and second at first for the pipeline clearance is more thorough, and the pipeline clearance is cleaner. In the embodiment, the two ends of the body 1 are respectively provided with the walking driving mechanism 2 so as to ensure the walking stability of the automatic pipeline scale cleaning device in the pipeline.
Further preferably, the cleaning mechanism 3 further includes a first linear driving assembly 304 and a first sliding sleeve 305, the first sliding sleeve 305 includes a first inner sleeve 3050, two first stop rings 3051 disposed at two ends of the first inner sleeve 3050, and a first outer sleeve 3052 externally sleeved on the first inner sleeve 3050, and the first outer sleeve 3052 is located between the two first stop rings 3051; the other ends of the plurality of first cleaning arms 301 are rotatably connected to the first outer sleeve 3052, the first inner sleeve 3050 is sleeved on the body 1 through a first key 3042, the first linear driving element 304 is mounted on the body 1, and the first linear driving element 304 is connected to the first inner sleeve 3050, and the first linear driving element 304 drives the first sliding sleeve 305 and the first key 3042 to move on the body 1. The body 1 is provided with a first key slot 110 mounted with a first key bar 3042, the first inner sleeve 3050 is provided with a key slot mounted with the first key bar 3042 in a matching manner, and the first inner sleeve 3050 and the first key bar 3042 are connected into a whole, so that the first inner sleeve 3050 and the first key bar 3042 move relative to the first key slot 110 of the body 1.
The adjustment of the angle between the first cleaning arm 301 and the second cleaning arm 302 is realized through the first linear driving assembly 304 and the first sliding sleeve 305 in the embodiment, so that the adjustment of the distance between the cleaning brush 303 and the body 1 is realized, the adjustment of the radius of the rotating circumference of the first cleaning assemblies relative to the body 1 is realized, the cleaning of different pipelines can be realized, the application range of the automatic pipeline scale cleaning device in the embodiment is improved, and the device is economical and practical.
Wherein the first runner 305 includes a first outer sheath 3052 that is defined between two first stop rings 3051, such that the first outer sheath 3052 has only circular rotational motion relative to the first inner sheath 3050, i.e., when the rotational driving assembly rotates the plurality of first cleaning assemblies relative to the body 1, the first outer sheath 3052 rotates relative to the first inner sheath 3050. In this embodiment, when the first linear driving element 304 drives the first inner housing 3050 to move, that is, the first inner housing 3050 moves relative to the body 1, the angle between the first cleaning arm 301 and the second cleaning arm 302 can be adjusted.
In this embodiment, preferably, the body 1 is provided with a first sleeve 111, and the first inner sleeve 3050 is sleeved on the first sleeve 111, so that the first inner sleeve 3050 moves on the first sleeve 111; after the use for a period of time, because the clearance between first endotheca 3050 and first axle sleeve 111 increases to when exceeding the permissible error range because of sliding friction, only need to change first axle sleeve 111 can, need not whole change body, practice thrift use cost greatly. Wherein the first shaft sleeve 111 is provided with a first opening groove matched with the first keybar 3042.
In this embodiment, it is further preferable that the first linear driving assembly 304 includes a first motor 3040, a first driving gear 3041, and a first rack 30420 disposed on the first spline 3042, the first motor 3040 is mounted on the body 1, the first driving gear 3041 is mounted on the first motor 3040, and the first driving gear 3041 is engaged with the first rack 30420. In this embodiment, the first motor 3040 is mounted on the body 1 through the first support 3043, and when the body 1 is provided with the first shaft sleeve 111, the first support 3043 is mounted on the first shaft sleeve 111. In operation, the first motor 3040 is activated to drive the first driving gear 3041 to rotate, so as to drive the first rack 30420 to move, and thus the first key 3042 and the first inner sleeve 3050 move relative to the body 1, i.e. the first sliding sleeve 305 moves on the body 1, and thus the angle of the first cleaning arm 301 relative to the second cleaning arm 302 can be adjusted.
In this embodiment, it is further preferable that the travel driving mechanism 2 includes a plurality of travel units, each of the travel units includes a first travel arm 20, a second travel arm 21, and a drive wheel 22 of an internal motor, one end of each of the first travel arm 20 and the second travel arm 21 is rotatably connected to the drive wheel 22 of the internal motor, the other end of each of the first travel arm 20 and the second travel arm 21 is rotatably connected to the body 1, a V-shaped structure is formed between the first travel arm 20 and the second travel arm 21, and the plurality of travel units are uniformly distributed on the body 1 along a circumference. The number of the travel assemblies in this embodiment is three. When the automatic pipeline descaling device is used, the driving wheel 22 of the built-in motor is in contact with the inner wall of the pipeline, or the driving wheel 22 of most built-in motors is in contact with the inner wall of the pipeline, and when the driving wheel 22 of the built-in motors is started, the automatic pipeline descaling device is driven to run in the pipeline. The first traveling arm 20 and the second traveling arm 21 are in a V-shaped structure to ensure the structural strength and the service life of the traveling driving mechanism 2.
In this embodiment, it is further preferable that the traveling driving mechanism 2 further includes a second linear driving assembly 23 and a second sliding sleeve 24, where the second sliding sleeve 24 includes a second inner sleeve, two second stop rings disposed at two ends of the second inner sleeve, and a second outer sleeve sleeved on the second inner sleeve, and the second outer sleeve is located between the two second stop rings; the other ends of the first walking arms 20 are rotatably connected with the second outer sleeve, the second inner sleeve is sleeved on the body 1 through a second key bar, the second linear driving assembly 23 is installed on the body 1, the second linear driving assembly 23 is connected with the second inner sleeve, and the second linear driving assembly 23 drives the second sliding sleeve 24 and the second key bar to move on the body 1. The body 1 is provided with a second key groove 101 for installing a second key strip, a key groove matched with the second key strip is arranged on the corresponding second inner sleeve, and the second inner sleeve and the second key strip are connected into a whole, so that the second inner sleeve and the second key strip move relative to the second key groove 101 of the body 1. The second runner 24 includes a second sheath defined between two second retainer rings. The structure and the operation principle of the second linear driving assembly 23 and the second sliding sleeve 24 in this embodiment are the same as those of the first linear driving assembly 304 and the first sliding sleeve 305, so with reference to fig. 5, specific structural diagrams corresponding to the second linear driving assembly 23 and the second sliding sleeve 24 on the traveling driving mechanism 2 are not provided.
In the present embodiment, the second linear driving assembly 23 and the second sliding sleeve 24 are used to adjust the angle between the first traveling arm 20 and the second traveling arm 21, so as to adjust the distance between the driving wheel 22 of the built-in motor and the body 1. When cleaning different pipelines, the angle between the first walking arm 20 and the second walking arm 21 is adjusted to adjust the distance between the driving wheel 22 of the built-in motor and the body 1, and the walking driving mechanism 2 can stably and effectively walk in the pipelines.
In this embodiment, preferably, the body 1 is provided with a second shaft sleeve, and the second inner sleeve is sleeved on the second shaft sleeve, so that the second inner sleeve moves on the second shaft sleeve; after the novel electric heating cooker is used for a period of time, the sliding friction enables the gap between the second inner sleeve and the second shaft sleeve to be increased to exceed the allowable error range, only the second shaft sleeve needs to be replaced, the body does not need to be replaced integrally, and the use cost is greatly saved. Wherein, the second shaft sleeve is provided with a second open slot matched with the second key strip. The second shaft sleeve is arranged together with the first shaft sleeve, and the method can be realized by referring to fig. 5.
In this embodiment, it is further preferable that the second linear driving assembly 23 includes a second motor, a second driving gear, and a second rack disposed on the second spline, the second motor is mounted on the body 1, the second driving gear is mounted on the second motor, and the second driving gear is engaged with the second rack. In the present embodiment, the second motor is attached to the body 1 via a second bracket. When the body is provided with the second shaft sleeve, the second support is arranged on the second shaft sleeve. During operation, the second motor is started to drive the second driving gear to rotate, so that the second key bar and the second inner sleeve move relative to the body 1, that is, the second sliding sleeve 24 moves on the body 1, and thus the angle between the first traveling arm 20 and the second traveling arm 21 is adjusted. The structure and principle of the second linear driving assembly 23 are the same as those of the first linear driving assembly 304, and refer to fig. 5.
In this embodiment, it is further preferable that the travel driving mechanism 2 further includes a fixing sleeve 25, the other ends of the second traveling arms 21 are rotatably connected to the fixing sleeve 22, and the fixing sleeve 22 is sleeved on the body 1 through a third key bar.
In this embodiment, it is further preferable that the impurity collecting mechanism 4 includes a first fixing plate 40, a second fixing plate 41, rubber blocks 42, and a dust suction unit, the first fixing plate 40 and the second fixing plate 41 are alternately mounted on the body 1, the plurality of rubber blocks 42 are uniformly arranged on the second fixing plate 41 along the circumference, and the dust suction unit is mounted on the first fixing plate 40 and the second fixing plate 41. When the cleaning mechanism is used, the rubber block 42 is attached to the inner wall of the pipeline, the size of the first fixing plate 40 is smaller than the inner diameter of the pipeline, and the garbage cleaned by the cleaning mechanism 3 is collected between the first fixing plate 40 and the second fixing plate 41 and collected through the dust collection assembly. Wherein can set up certain clearance between the adjacent block rubber 42, this clearance size is decided according to operating condition to prevent that the gathering rubbish volume is too much and lead to the pressure too big and press the damage block rubber 42 between first fixed plate 40 and the second fixed plate 41, the clearance plays certain pressure release's effect.
In this embodiment, it is further preferable that the dust suction assembly includes a multi-hole dust suction pipe 430, a hollow dust suction plate 431, a main dust suction pipe 432, and a main vacuum cleaner (not shown), the multi-hole dust suction pipe 430 is circumferentially and uniformly distributed between the first fixing plate 40 and the second fixing plate 41, the multi-hole dust suction pipe 430 is connected to the hollow dust suction plate 431, and the hollow dust suction plate 431 is connected to the main vacuum cleaner through the main dust suction pipe 432. When the dust collector is used, the dust collector main machine is positioned outside the pipeline, the dust collector main machine is started to quickly adsorb the garbage gathered between the first fixing plate 40 and the second fixing plate 41 through the plurality of porous dust collection pipes 430, and the garbage is collected into the dust collector main machine through the hollow dust collection disc 431 and the main dust collection pipe 432 in sequence, so that the use is quite convenient. The principle and the structure of the main machine of the dust collector in the embodiment are the same as those of the dust collector sold in the market, so that the research and development cost is reduced.
In this embodiment, it is further preferable that the body 1 includes a first section of sub-body 10, a second section of sub-body 11, a third section of sub-body 12, a first universal joint 13 and a second universal joint 14, the first section of sub-body 10 is rotatably connected to the second section of sub-body 11 through the first universal joint 13, and the second section of sub-body 11 is rotatably connected to the third section of sub-body 12 through the second universal joint 14; the two traveling driving mechanisms 2 are respectively arranged on the first section of sub-body 10 and the third section of sub-body 12, the cleaning mechanism 3 is arranged on the second section of sub-body 11, and the impurity recovery mechanism 4 is arranged on the third section of sub-body 12. Under the effect of first universal joint 13 and second universal joint 14, realized the adjustment of angle between first section sub-body 10, second section sub-body 11 and the third section sub-body 12 for the automatic pipeline scale removal device of this embodiment can be applicable to the clearance of curved pipeline, and not only is limited to the clearance of straight pipeline, has effectively improved the application range of this embodiment, and is economical and practical.
In the present embodiment, the first fixing plate 40 is installed at the second universal joint 14, and the second fixing plate 41 is installed on the third segment sub-body 12 through the third universal joint 15, so that the first fixing plate 40 and the second fixing plate 41 can track and change along with the angle change of the pipeline.
In this embodiment, it is further preferable that the cleaning mechanism 3 further includes a rotating sleeve 306 and a limiting ring 307, the limiting ring 307 is fixedly sleeved on the body 1, the rotating sleeve 306 rotates and is sleeved on the body 1, and the limiting ring 307 is used for axial limiting of the rotating sleeve 306; the rotating sleeve 306 comprises a sleeve body 3060 and a first rotating driven gear 3061 connected with the sleeve body 3060; the other ends of the second sweeping arms 302 are rotatably connected to the housing 3060. The structural form of the corresponding rotary driving assembly is as follows:
first, the rotary drive assembly includes a rotary drive motor (not shown) and a first rotary drive gear 320; the rotation driving motor is attached to the body 1, the first rotation driving gear 320 is attached to the rotation driving motor, the first rotation driving gear 320 is positioned between the first rotation driven gear 3061 and the second rotation driven gear 3102, the first rotation driving gear 320 is engaged with the first rotation driven gear 3061, and the first rotation driving gear 320 is engaged with the second rotation driven gear 3102. Wherein the rotary drive motor is mounted to the body 1 via a third bracket (not shown). In use, the rotating driving motor is activated, and the first rotating driving gear 320 rotates to drive the first rotating driven gear 3061 and the second rotating driven gear 3102 to rotate, so as to drive the rotating sleeve 306 and the rotating disc 310 to rotate, so as to drive the plurality of second sweeping arms 302 and the plurality of sweeping discs 311 to rotate relative to the body 1, i.e. to drive the plurality of first sweeping assemblies and the second sweeping assemblies to rotate relative to the body 1.
The rotary driving assembly comprises a first rotary driving motor 327, a steel strand 328, a driving mandrel 324, a dial wheel 326, a transmission shaft 321 and a first rotary driving gear 320; the other ends of the second sweeping arms 302 are rotatably connected with the sleeve 3060; the second section of sub-body 11, the second universal joint 14 and the third section of sub-body 12 are internally provided with communicated wire passing holes 113; the driving mandrel 324 is rotatably arranged in the second section of the sub-body 11; the last circumference equipartition of driving dabber 324 is equipped with a plurality of stirring axles 325, transmission shaft 321 rotate install in on the second section sub-body 11, just the both ends of transmission shaft 321 are connected with respectively stirring wheel 326 and first rotary drive gear 320, stirring wheel 326 is located in the second section sub-body 11, just it is equipped with a plurality of toggle holes 3260 along the circumference equipartition on the stirring wheel 326, toggle hole 3260 with stirring axle 325 cooperatees, first rotary drive gear 320 is located the outside of second section sub-body 11, first rotary drive gear 320 is located between first rotatory driven gear 3061 and the rotatory driven gear 3102 of second, just first rotary drive gear 320 with first rotatory driven gear 3061 meshes mutually, first rotary drive gear 320 with the rotatory driven gear 3102 of second meshes mutually. Specifically, a first rotary drive motor 327 is connected to the main suction tray 431.
The second rotary drive assembly operates as follows:
second, the first rotation driving motor 327 is started to drive the steel strand 328 in the second section of the sub-body 11, the second universal joint 14 and the third section of the sub-body 12 to rotate, the steel strand 328 rotates to drive the driving spindle 324 to rotate, the driving spindle 324 rotates to drive the plurality of shifting shafts 325 thereon to rotate, during the rotation of the shifting shafts 325, constantly engaging the toggle holes 3260 of the toggle wheel 326, thereby driving the toggle wheel 326 to rotate, correspondingly, the transmission shaft 321 and the first rotation driving gear 320 are driven to rotate, the first rotation driving gear 320 rotates, thereby rotating the first rotating driven gear 3061 and the second rotating driven gear 3102, thereby rotating the rotating sleeve 306 and the rotating disc 310 and thus the plurality of second cleaning arms 302 and the plurality of cleaning discs 311 relative to the body 1, i.e. the plurality of first cleaning elements and the plurality of second cleaning elements relative to the body 1.
In the present embodiment, the steel strand 328 is designed such that the steel strand 328 can effectively transmit the power of the first rotary driving motor 327 to the driving core 324 no matter the second section of the sub-body 11, the second universal joint 14, and the third section of the sub-body 12 are in a straight state or a bent state. At the same time
The second rotary driving assembly of this embodiment further includes an installation seat 322 and a fixing seat 323, wherein the second sub-body 11 is provided with an installation groove 112, the installation groove 112 is communicated with the wire passing hole 113, the installation seat 322 is installed at the installation groove 112, the fixing seats 323 are respectively installed at two ends of the installation seat 322, and two ends of the driving core shaft 324 are respectively rotatably installed on the two fixing seats 323.
In this embodiment, it is further preferable that the second cleaning assembly further includes an opening and closing adjustment assembly 312, the opening and closing adjustment assembly 312 includes a second rotary driving motor 3120, a second rotary driving gear 3121, and a third rotary driven gear 3122, the plate 3101 includes a first sub-plate 31011 and a second sub-plate 31010, the plurality of cleaning plates 311 are sandwiched between the first sub-plate 31011 and the second sub-plate 31010, the first sub-plate 31011 is connected to the second rotary driven gear 3102, the third rotary driven gear 3122 is externally sleeved on the body 1, and the third rotary driven gear 3122 is connected to the second sub-plate 31010, the second rotary driving motor 3120 is rotatably mounted on the body 1 through a bushing 3123, wherein the bushing 3123 is integrally connected to the third rotary driven gear 3122, the second rotary driving gear 3121 is mounted on the second rotary driving motor 3120, the second rotary driving gear 3121 is meshed with the third rotary driven gear 3122; a plurality of kidney-shaped holes 31010-1 with the same number as the cleaning discs 311 are uniformly distributed on the second sub-disc body 31010 along the circumference; one side of one end of the cleaning disc 311 is rotatably connected with the first sub-disc 31011, and the other side is provided with a pin 31012, and the pin 31012 is inserted into a round hole 31010-1 of the second sub-disc 31010.
When the cleaning device works, the first rotary driving gear 320 drives the second rotary driven gear 3102 to rotate, so as to drive the rotary disc 310 to rotate, the rotary disc 310 rotates to drive the plurality of cleaning discs 311 on the rotary disc 310 to rotate, and simultaneously drives the opening and closing adjusting assembly 312 to rotate relative to the body 1, and the second rotary driving motor 3120 and the second rotary driving gear 3121 rotate relative to the body 1 together with the shaft sleeve 3123, so as to realize the rotary motion of the second cleaning assembly relative to the body 1. When the circumferential rotation radius of the plurality of cleaning discs 311 relative to the body 1 needs to be adjusted, the second rotary driving motor 3120 is started to drive the second rotary driving gear 3121 to rotate, so as to drive the third rotary driven gear 3122 to rotate, the third rotary driven gear 3122 rotates to drive the second sub-disc 31010 to rotate relative to the body 1, so that the pin 31012 moves in the oval hole 31010-1, so as to adjust the circumferential rotation radius of the plurality of cleaning discs 311 relative to the body 1, so as to be suitable for cleaning different pipelines, and the use is flexible and convenient.
The first cleaning assembly and the second cleaning assembly of the embodiment are driven by the same rotary driving assembly, so that energy consumption is effectively saved, and the compactness of the structure is improved.
In this embodiment, the cleaning plate 311 is preferably provided with a lightening hole 3110. The weight-reducing hole 3110 further reduces the weight of the cleaning plate 311 while ensuring the structural strength of the cleaning plate 311, so as to reduce the energy consumption of the second cleaning assembly during operation.
This embodiment is further, automatic pipeline scale removal device still includes detection mechanism 5, detection mechanism 5 including install in the casing of the 1 other end of body, install in camera, PLC controller and wireless transmitting module in the casing still including being located the outer monitor terminal of pipeline, through the clearance condition of camera detection pipeline, the PLC controller passes through wireless transmitting module with the monitoring condition and transmits to monitor terminal, in order to know the pipeline clearance condition clearly through monitor terminal to make things convenient for the automatic pipeline scale removal device work of remote control. Specifically, a fourth universal joint 16 is arranged on the first section of sub-body 10, and the first section of sub-body 10 is rotatably connected with a housing included in the detection mechanism 5 through the fourth universal joint 16.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An automatic pipeline scale cleaning device is characterized by comprising a walking driving mechanism, a cleaning mechanism, an impurity recovery mechanism and a body, wherein the walking driving mechanism is mounted at two ends of the body, and the impurity recovery mechanism is mounted at one end of the body; the cleaning mechanism is arranged in the middle of the body;
the sweeping mechanism comprises a rotary driving assembly, a plurality of first sweeping assemblies and a plurality of second sweeping assemblies, each first sweeping assembly comprises a sweeping brush, a first sweeping arm and a second sweeping arm, one end of each first sweeping arm and one end of each second sweeping arm are rotatably connected with the sweeping brush, the other end of each first sweeping arm and the other end of each second sweeping arm are rotatably connected with the body, a V-shaped structure is formed between each first sweeping arm and each second sweeping arm, and the plurality of first sweeping assemblies are uniformly distributed on the body along the circumference;
the second cleaning assembly comprises a rotating disc and a plurality of cleaning discs, and the rotating disc comprises a disc body and a second rotating driven gear connected with the disc body; the rotating disc is sleeved on the body, and a plurality of cleaning discs are uniformly distributed on the disc body in the circumferential direction;
the rotary driving component is arranged on the body and is connected with the first cleaning component and the second rotary driven gear, and the rotary driving component drives the second cleaning component and the first cleaning components to do rotary motion relative to the body;
the cleaning mechanism further comprises a first linear driving assembly and a first sliding sleeve, the first sliding sleeve comprises a first inner sleeve, two first stop rings arranged at two ends of the first inner sleeve, and a first outer sleeve externally sleeved on the first inner sleeve, and the first outer sleeve is positioned between the two first stop rings; the other ends of the first sweeping arms are rotatably connected with the first outer sleeve, the first inner sleeve is sleeved on the body through a first key bar, the first linear driving assembly is installed on the body and connected with the first inner sleeve, and the first linear driving assembly drives the first sliding sleeve and the first key bar to move on the body.
2. The automated pipe scale removal device of claim 1, wherein the first linear drive assembly comprises a first motor, a first pinion, and a first rack disposed on the first spline, the first motor is mounted on the body, the first pinion is mounted on the first motor, and the first pinion is engaged with the first rack.
3. The automatic pipeline descaling device of claim 1, wherein the traveling driving mechanism comprises a plurality of traveling assemblies, each traveling assembly comprises a first traveling arm, a second traveling arm and a driving wheel of an internal motor, one end of each of the first traveling arm and the second traveling arm is rotatably connected with the driving wheel of the internal motor, the other end of each of the first traveling arm and the second traveling arm is rotatably connected with the body, a V-shaped structure is formed between the first traveling arm and the second traveling arm, and the plurality of traveling assemblies are uniformly distributed on the body along the circumference.
4. The automatic pipeline descaling device of claim 3, wherein the traveling driving mechanism further comprises a second linear driving assembly and a second sliding sleeve, the second sliding sleeve comprises a second inner sleeve, two second stop rings arranged at two ends of the second inner sleeve, and a second outer sleeve sleeved on the second inner sleeve, and the second outer sleeve is positioned between the two second stop rings; the other ends of the first walking arms are rotatably connected with the second outer sleeve, the second inner sleeve is sleeved on the body through a second key bar, the second linear driving assembly is installed on the body and connected with the second inner sleeve, and the second linear driving assembly drives the second sliding sleeve and the second key bar to move on the body.
5. The automatic pipeline descaling device of claim 1, wherein the impurity recovery mechanism comprises a first fixing plate, a second fixing plate, rubber blocks and a dust collection assembly, the first fixing plate and the second fixing plate are alternately arranged on the body, the second fixing plate is uniformly provided with a plurality of rubber blocks along the circumference, and the dust collection assembly is arranged on the first fixing plate and the second fixing plate.
6. The automatic pipeline descaling device of claim 1, wherein the body comprises a first section of sub-body, a second section of sub-body, a third section of sub-body, a first universal joint and a second universal joint, the first section of sub-body is rotatably connected with the second section of sub-body through the first universal joint, and the second section of sub-body is rotatably connected with the third section of sub-body through the second universal joint; the two traveling driving mechanisms are respectively arranged on the first section of sub-body and the third section of sub-body, the cleaning mechanism is arranged on the second section of sub-body, and the impurity recovery mechanism is arranged on the third section of sub-body.
7. The automatic pipeline descaling device of any one of claims 1-6, wherein the cleaning mechanism further comprises a rotating sleeve and a limiting ring, the limiting ring is fixedly sleeved on the body, the rotating sleeve rotates and is sleeved on the body, and the limiting ring is used for axially limiting the rotating sleeve; the rotating sleeve comprises a sleeve body and a first rotating driven gear connected with the sleeve body; the other ends of the second sweeping arms are rotatably connected with the sleeve body;
the rotary drive assembly comprises a rotary drive motor and a first rotary drive gear; the rotary driving motor is installed on the body, the first rotary driving gear is installed on the rotary driving motor, the first rotary driving gear is located between the first rotary driven gear and the second rotary driven gear, the first rotary driving gear is meshed with the first rotary driven gear, and the first rotary driving gear is meshed with the second rotary driven gear.
8. The automatic pipeline descaling device of claim 6, wherein the cleaning mechanism further comprises a rotating sleeve and a limiting ring, the limiting ring is fixedly sleeved on the body, the rotating sleeve rotates and is sleeved on the body, and the limiting ring is used for axially limiting the rotating sleeve; the rotating sleeve comprises a sleeve body and a first rotating driven gear connected with the sleeve body;
the rotary driving assembly comprises a first rotary driving motor, a steel strand, a driving mandrel, a poking wheel, a transmission shaft and a first rotary driving gear; the other ends of the second sweeping arms are rotatably connected with the sleeve body; the second section of sub-body, the second universal joint and the third section of sub-body are internally provided with communicated wire passing holes; the driving mandrel is rotatably arranged in the second section of the sub-body;
the last circumference equipartition of following of drive spindle is equipped with a plurality of stirring shafts, the transmission shaft rotate install in on the sub-body of second section, just the both ends of transmission shaft are connected with respectively dial driving wheel and first rotary drive gear, it is located to dial the driving wheel in the sub-body of second section, just dial and be equipped with a plurality of stirring holes along the circumference equipartition on the driving wheel, stir the hole with it cooperatees to dial the shaft, first rotary drive gear is located the outside of sub-body of second section, first rotary drive gear is located between first rotatory driven gear and the rotatory driven gear of second, just first rotary drive gear with first rotatory driven gear meshes mutually, first rotary drive gear with the rotatory driven gear of second meshes mutually.
9. The automatic pipeline descaling device of claim 8, wherein the second cleaning assembly further comprises an opening and closing adjusting assembly, the opening and closing adjusting component comprises a second rotary driving motor, a second rotary driving gear and a third rotary driven gear, the tray body comprises a first sub tray body and a second sub tray body, a plurality of cleaning trays are clamped between the first sub tray body and the second sub tray body, the first sub-disc body is connected with the second rotating driven gear, the third rotating driven gear is sleeved on the body, and the third rotary driven gear is connected with the second sub-disc body, the second rotary driving motor is rotationally arranged on the body through a shaft sleeve, the second rotary driving gear is arranged on the second rotary driving motor and is meshed with the third rotary driven gear; a plurality of waist-shaped holes with the same number as the cleaning discs are uniformly distributed on the second sub-disc body along the circumference; one side of one end of the cleaning disc is rotatably connected with the first sub disc body, and the other side of the cleaning disc is provided with a pin shaft which is inserted into the waist circular hole of the second sub disc body.
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| CN202010399741.7A CN111530863B (en) | 2020-05-12 | 2020-05-12 | Automatic change pipeline snaking device |
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| CN202010399741.7A CN111530863B (en) | 2020-05-12 | 2020-05-12 | Automatic change pipeline snaking device |
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| NO310280B1 (en) * | 1999-08-24 | 2001-06-18 | Joesang Tv Roerinspeksjon As | Flushing device for internal flushing of pipes |
| US8805579B2 (en) * | 2011-02-19 | 2014-08-12 | Richard Arthur Skrinde | Submersible robotically operable vehicle system for infrastructure maintenance and inspection |
| KR101362544B1 (en) * | 2012-03-19 | 2014-02-13 | 원영식 | Elbow and the elbow, including the exhaust system |
| CN105521971B (en) * | 2016-01-19 | 2018-11-23 | 扬州亚联机械科技有限公司 | A kind of the crooked pipeline cleaning device for inner wall and method for cleaning of high-freedom degree |
| CN106269733A (en) * | 2016-08-29 | 2017-01-04 | 山东胜伟园林科技有限公司 | A kind of filtrate wave duct cleaning equipment |
| CN106944432B (en) * | 2017-03-13 | 2019-01-18 | 惠州市嘉通科技有限公司 | A kind of pipeline cleaning robot |
| CN206613815U (en) * | 2017-03-27 | 2017-11-07 | 新疆交通职业技术学院 | A kind of abdomen arm robot for pipeline cleaning |
| CN208810759U (en) * | 2018-09-17 | 2019-05-03 | 山东国铭球墨铸管科技有限公司 | A kind of spheroidal graphite cast-iron can washing apparatus |
| CN110307443B (en) * | 2019-07-10 | 2020-08-18 | 集美工业学校 | Circular pipeline inner wall detection device |
| CN110420941A (en) * | 2019-08-07 | 2019-11-08 | 郑素青 | A kind of mechanical pipe cleaning device |
| CN110681657A (en) * | 2019-11-01 | 2020-01-14 | 东莞市奇趣机器人科技有限公司 | Walking device of ventilating duct cleaning robot |
| CN110899269A (en) * | 2019-12-12 | 2020-03-24 | 大唐郓城发电有限公司 | Thermal power factory ash pipeline cleaning device |
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