CN112128509A - Running gear of robot patrolling and examining underwater pipeline - Google Patents
Running gear of robot patrolling and examining underwater pipeline Download PDFInfo
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- CN112128509A CN112128509A CN202011006828.XA CN202011006828A CN112128509A CN 112128509 A CN112128509 A CN 112128509A CN 202011006828 A CN202011006828 A CN 202011006828A CN 112128509 A CN112128509 A CN 112128509A
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- square frame
- wheel
- plate
- shaft
- sealing cover
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/24—Preventing accumulation of dirt or other matter in the pipes, e.g. by traps, by strainers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The robot patrols and examines the running gear of underwater pipeline. The square frame in end, the preceding arc cutting board that sets up of square frame in end, arc cutting board fixed connection preceding arc flitch, the preceding fixed clamping bar of welding of square frame in end a set of, preceding fixed clamping bar highly vary, preceding arc flitch open and to have a set of shape of falling U bayonet socket, the shape of falling U bayonet socket card go into preceding fixed clamping bar fixed, the outside of preceding fixed clamping bar screw thread section has, screw thread section coupling nut lock, the nut push down preceding arc flitch, arc cutting board have the cutting edge, the bottom of square frame in end connect flat frame in, interior flat frame connect the bottom closure board, interior flat frame with the bottom closure board between be provided with sealed the pad and fix with the bolt. The robot walking robot is used for walking when the robot patrols and examines underwater pipelines.
Description
The technical field is as follows:
the invention relates to a walking device for a robot to patrol an underwater pipeline.
Background art:
the distance of pipeline all is very long, and the pipeline need carry out periodic inspection, only inspects pipeline outside and can't thoroughly guarantee especially not appearing damaging in the petroleum pipeline in the pipeline, in case damage appears in the pipeline, the pipeline will unable normal use, if not in time discover the problem can also appear very big danger, how can be timely patrol and examine the damage or the potential safety hazard that exist in the pipeline, be the problem that needs to solve.
The invention content is as follows:
the invention aims to provide a walking device for the robot to patrol and examine an underwater pipeline, which can drive the underwater robot to walk, detect damage or potential safety hazard in the pipeline and has good using effect.
The above purpose is realized by the following technical scheme:
the utility model provides a running gear of pipeline under water is patrolled and examined to robot which constitutes and includes: a bottom square frame, an arc cutting plate is arranged in front of the bottom square frame, the arc cutting plate is fixedly connected with the front arc pasting plate, a group of front fixing clamping rods are welded in front of the bottom square frame, the front fixing clamping rods are different in height, the front arc pasting plate is provided with a group of inverted U-shaped bayonets, the inverted U-shaped bayonet is clamped into the front fixing clamping rod for fixing, the outer side of the front fixing clamping rod is provided with a thread section, the threaded section is connected with a nut for locking, the nut presses the front arc-shaped flitch, the arc-shaped cutting plate is provided with a cutting edge, the bottom of the bottom square frame is connected with an inner flat frame, the inner flat frame is connected with a bottom closing plate, and a sealing gasket is arranged between the inner flat frame and the bottom closing plate and is fixed by bolts.
The robot patrol and examine running gear of pipeline under water, the fixed motor that just reverses of bottom closure plate, the motor that just reverses pass through waterproof line and connect the power, waterproof line pack into in the U-shaped holds in the palm the piece, the U-shaped left countershaft that holds in the palm the piece connect 2 left layshafts that are parallel to each other, left layshaft connect left side and remove the auxiliary wheel, the right side of U-shaped hold in the palm the piece connect 2 right layshafts that are parallel to each other, right countershaft connect right side and remove the auxiliary wheel, the open end of U-shaped hold in the palm the piece open and have left fixed mouthful and right fixed mouthful, left fixed mouthful with right fixed mouthful between insert and have pushed down the elastic pressing plate, the elastic pressing plate fix waterproof line.
The robot patrol and examine running gear of pipeline under water, elastic pressing plate's left side connect left hand screw, left hand screw block the U-shaped open end left side that holds in the palm the piece, elastic pressing plate's right side connect right hand screw, right hand screw block the U-shaped open end right side that holds in the palm the piece, the U-shaped hold in the palm the piece with elastic pressing plate between the preceding bonding rubber adapter sleeve, waterproof line pass the fastening of rubber adapter sleeve.
The robot patrol and examine running gear of pipeline under water, positive motor that just changes connect the shaft coupling, the coupling joint main shaft, the main shaft connect a belt pulley and No. two belt pulleys, a belt pulley connection belt, a belt connect an axle belt pulley, an axle belt pulley connection shaft, No. two belt pulley connection belt, No. two belt connect No. two axle belt pulleys, No. two axle belt pulley connection shaft.
The robot patrol and examine running gear of pipeline under water, a shaft with No. two shafts wear out end square frame, a wheel hub connection left side first remove the wheel and the right side first removes the wheel, the left side first remove the wheel be located the left side of end square frame, the right side first remove the wheel be located the right side of end square frame, No. two wheel hub connection left side second remove the wheel and the right side second removes the wheel, the left side second remove the wheel be located the left side of end square frame, the right side two remove the wheel be located the right side of end square frame.
The robot patrols and examines running gear of underwater pipeline, bottom square frame and the wheel axle of the number one, the second wheel axle between all be equipped with the bearing, the outside of bottom square frame connect left sealed lid, left second sealed lid, right first sealed lid, right second sealed lid respectively, left first sealed lid pass the wheel axle of the number one and detain sealed the bearing, left second sealed lid pass the wheel axle of the number two and detain sealed the bearing, right first sealed lid pass the wheel axle of the number one and detain sealed the bearing, right second sealed lid pass the wheel axle of the number two and detain sealed the bearing, left first sealed lid be located the wheel side of the left removal, right first sealed lid be located the wheel side of the right removal, left second sealed lid be located the wheel side of the left removal, the right two sealing covers are positioned on one side of the right two movable wheels.
The robot patrol and examine running gear of pipeline under water, the top of bottom square frame connect the layer board, the layer board connect the underwater robot body, the preceding front beam of connecting of layer board, the front beam open and to have the right angle slot, the right angle slot in the tight fit insert the right angle picture peg, the right angle picture peg connect preceding protection shield, preceding protection shield block the latter half of underwater robot body.
Has the advantages that:
1. the robot can be produced by Shenzhen Shencheng science and technology Limited company, can also be produced by Dayang science and technology Limited company, can be used in pipelines, can also be used in pipelines with water, and can also be used in pipelines with other substances, and has wide application range and good use effect.
2. The front arc-shaped flitch is matched with the bottom of a pipeline in shape and is provided with the cutting edge, so that sundries at the bottom in the pipeline can be cleaned, the walking of the device is clear, the walking is convenient and free, and the detection is guaranteed.
3. The bottom square frame, the supporting plate and the bottom closing plate are hermetically connected, so that the normal use of a forward and reverse rotating motor cannot be influenced no matter the bottom square frame, the supporting plate and the bottom closing plate are used in any pipeline, the product can smoothly move forward, and necessary guarantee is provided for detection.
4. The first wheel shaft, the second wheel shaft and the bottom square frame are arranged in a sealing mode, so that liquid and sundries cannot enter the bottom square frame, the supporting plate and the bottom sealing plate, normal use of a forward and reverse rotating motor is guaranteed, and the use process is safe.
Description of the drawings:
fig. 1 is a schematic structural diagram of the product.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a cross-sectional view of fig. 1.
Figure 4 is a cross-sectional view of the U-shaped bracket and flashing line of the present product.
Fig. 5 is a cross-sectional view of the front cross beam and the front protective guard of the present product.
The specific implementation mode is as follows:
the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention.
Example 1:
a walking device for a robot to patrol and examine underwater pipelines comprises a bottom square frame 1, wherein an arc-shaped cutting plate 2 is arranged in front of the bottom square frame, the shape of the arc-shaped cutting plate is basically matched with that of the bottom of a pipeline, the arc-shaped cutting plate is fixedly connected with a front arc-shaped flitch 3, a group of front fixing clamping rods 4 are welded in front of the bottom square frame, the heights of the front fixing clamping rods are different, the arc-shaped cutting plate can be fixed at different positions, the arc-shaped cutting plate can be guaranteed to be completely capable of bearing forward cutting force, the front arc-shaped flitch is provided with a group of inverted U-shaped bayonets 5, the inverted U-shaped bayonets are clamped into the front fixing clamping rods for fixation, the inverted U-shaped bayonets have clamping and positioning functions, the outer side of the front fixing clamping rods is provided with a thread section, the thread section is connected with a nut 6 for locking, and the purposes of replacing the arc-shaped cutting plate are achieved and convenient, the nut presses the front arc-shaped flitch, the arc-shaped cutting plate is provided with a cutting edge 8, the bottom of the bottom square frame is connected with an inner flat frame 9, the inner flat frame is connected with a bottom closing plate 10, and a sealing gasket 11 is arranged between the inner flat frame and the bottom closing plate and is fixed by a bolt. The sealing effect is good, liquid and sundries can enter the bottom square frame, and the using effect is good.
Example 2:
the robot patrols and examines running gear of underwater pipeline, embodiment 1 the bottom closure plate fixed positive reverse motor 12, positive reverse motor can enough drive this product to move ahead, also can drive this product to withdraw from the pipeline, the use is very convenient, positive reverse motor pass through waterproof line 13 and connect the power, waterproof line can enough give positive reverse motor power transmission, when this product breaks down and can't move, pull waterproof line and can withdraw from this product, waterproof line pack into U-shaped holder 14, the left side of U-shaped holder connect 2 left countershaft 15 that are parallel to each other, left countershaft connect left removal auxiliary wheel 16, the right side of U-shaped holder connect 2 right countershaft 17 that are parallel to each other, right countershaft connect right removal auxiliary wheel 18, the open end of U-shaped holder open left fixed port 19 and right fixed port 20, an elastic pressing plate 21 is inserted between the left fixing port and the right fixing port, and the elastic pressing plate presses and fixes the waterproof wire. The waterproof line passes through U-shaped support piece, left countershaft, left removal auxiliary wheel, right countershaft, the auxiliary forward that moves of right removal auxiliary wheel, can not lead to the fact the burden of marcing for this part of square frame in the end, can alleviate the hindrance of this product action, ensures that the result of use of this product is good. The elastic pressing plate can assist in fixing the U-shaped supporting piece and the waterproof wire, the waterproof wire can be further fixed, the waterproof wire is prevented from being separated from the U-shaped supporting piece, and the advancing process is smooth.
Example 3:
Example 4:
Example 5:
embodiment 4 the robot patrol and examine running gear of underwater pipeline, a shaft with No. two shafts wear out the square frame in bottom, a shaft connect the first removal of left wheel 35 and the first removal of right wheel 36, the first removal of left wheel be located the left side of bottom square frame, the first removal of right wheel be located the right side of bottom square frame, No. two shafts connect the second removal of left wheel 37 and the second removal of right wheel 38, the second removal of left wheel be located the left side of bottom square frame, the second removal of right wheel be located the right side of bottom square frame. The first left removes the wheel, the first right removes the wheel, the second left removes the wheel, the second right removes the both sides that the wheel is located the square frame at the bottom, can make the first left remove the wheel, the first right removes the wheel, the second left removes the wheel, the second right removes the both sides that the wheel can all be located the pipeline, can enough hold this product, can make the stable walking of this product again, can also make this product walking process steady, the phenomenon of empting, overturning can not appear.
Example 6:
the walking device for inspecting underwater pipelines by the robot in embodiment 5, wherein bearings 38 are respectively installed between the bottom square frame and the first wheel shaft and between the bottom square frame and the second wheel shaft, the outer side of the bottom square frame is respectively connected with a left first sealing cover 39, a left second sealing cover 40, a right first sealing cover 41 and a right second sealing cover 42, the left first sealing cover passes through the first wheel shaft to be buckled and sealed with the bearings, the left second sealing cover passes through the second wheel shaft to be buckled and sealed with the bearings, the right first sealing cover passes through the first wheel shaft to be buckled and sealed with the bearings, the right second sealing cover passes through the second wheel shaft to be buckled and sealed with the bearings, the left first sealing cover is located on one side of the left first movable wheel, the right sealing cover is located on one side of the right movable wheel, and the left second sealing cover is located on one side of the left second movable wheel, the right two sealing covers are positioned on one side of the right two movable wheels. The left first sealing cover, the left second sealing cover, the right first sealing cover and the right second sealing cover can seal the joints of the first wheel shaft, the second wheel shaft and the bottom square frame, the sealing effect is good, and the sealing effect in the bottom square frame is good.
Example 7:
Example 8:
the robot of embodiment 1 above patrol and examine running gear of underwater pipeline put this device into the pipeline mouth, for motor switch on, drive this device and inwards walk, at first through the arc cutting board clearance that has the cutting edge impurity in the pipeline in front of this device, detect the pipeline through the robot.
Claims (7)
1. The walking device for the robot to patrol and examine underwater pipelines comprises a bottom square frame and is characterized in that an arc cutting plate is arranged in front of the bottom square frame, the arc cutting plate is fixedly connected with a front arc pasting plate, a group of front fixing clamping rods are welded in front of the bottom square frame, the heights of the front fixing clamping rods are unequal, a group of inverted U-shaped bayonets are formed in the front arc pasting plate, the inverted U-shaped bayonets are clamped into the front fixing clamping rods to be fixed, a threaded section is arranged on the outer side of the front fixing clamping rods and is connected with a nut to be locked, the nut presses the front arc pasting plate, the arc cutting plate is provided with a cutting edge, the bottom of the bottom square frame is connected with an inner flat frame, the inner flat frame is connected with a bottom sealing plate, and a sealing gasket is arranged between the inner flat frame and the bottom sealing plate, And fixed by bolts.
2. The robot walking device for inspecting underwater pipelines according to claim 1, wherein the bottom closing plate fixes a forward and reverse rotating motor, the forward and reverse rotating motor is connected with a power supply through a waterproof wire, the waterproof wire is arranged in the U-shaped supporting piece, the left side of the U-shaped supporting piece is connected with 2 left auxiliary shafts which are parallel to each other, the left auxiliary shaft is connected with a left moving auxiliary wheel, the right side of the U-shaped supporting piece is connected with 2 right auxiliary shafts which are parallel to each other, the right auxiliary shaft is connected with a right moving auxiliary wheel, a left fixing port and a right fixing port are formed in the opening end of the U-shaped supporting piece, an elastic pressing plate is inserted between the left fixing port and the right fixing port, and the elastic pressing plate presses and fixes the waterproof wire.
3. The robot walking device for inspecting underwater pipelines according to claim 2, wherein the left side of the elastic pressure plate is connected with a left-hand screw, the left-hand screw clamps the left side of the opening end of the U-shaped support member, the right side of the elastic pressure plate is connected with a right-hand screw, the right-hand screw clamps the right side of the opening end of the U-shaped support member, a rubber fastening sleeve is bonded in front of the U-shaped support member and the elastic pressure plate, and the waterproof wire penetrates through the rubber fastening sleeve for fastening.
4. The robot walking device for inspecting underwater pipelines according to claim 2, wherein the forward and reverse rotating motors are connected with a coupler, the coupler is connected with a main shaft, the main shaft is connected with a first belt pulley and a second belt pulley, the first belt pulley is connected with a first belt, the first belt is connected with a first shaft belt pulley, the first shaft belt pulley is connected with a first wheel shaft, the second belt pulley is connected with a second belt, the second belt is connected with a second shaft belt pulley, and the second shaft belt pulley is connected with a second wheel shaft.
5. The robot walking device for inspecting underwater pipelines according to claim 4, wherein the first wheel shaft and the second wheel shaft penetrate through the bottom square frame, the first wheel shaft is connected with a left moving wheel and a right moving wheel, the left moving wheel is positioned on the left side of the bottom square frame, the right moving wheel is positioned on the right side of the bottom square frame, the second wheel shaft is connected with a left moving wheel and a right moving wheel, the left moving wheel is positioned on the left side of the bottom square frame, and the right moving wheel is positioned on the right side of the bottom square frame.
6. The robot walking device for inspecting underwater pipelines according to claim 5, wherein bearings are respectively arranged between the bottom square frame and the first wheel shaft and between the bottom square frame and the second wheel shaft, the outer side of the bottom square frame is respectively connected with a left first sealing cover, a left second sealing cover, a right first sealing cover and a right second sealing cover, the left first sealing cover penetrates through the first wheel shaft to be buckled and sealed with the bearings, the left second sealing cover penetrates through the second wheel shaft to be buckled and sealed with the bearings, the right first sealing cover penetrates through the first wheel shaft to be buckled and sealed with the bearings, the right second sealing cover penetrates through the second wheel shaft to be buckled and sealed with the bearings, the left first sealing cover is positioned on one side of the left moving wheel, the right sealing cover is positioned on one side of the right moving wheel, and the left second sealing cover is positioned on one side of the left moving wheel, the right two sealing covers are positioned on one side of the right two movable wheels.
7. The robot walking device for inspecting underwater pipelines according to claim 5, wherein the top of the bottom square frame is connected with a supporting plate, the supporting plate is connected with an underwater robot body, the front of the supporting plate is connected with a front cross beam, the front cross beam is provided with a right-angle slot, a right-angle inserting plate is inserted into the right-angle slot in a tight fit mode, the right-angle inserting plate is connected with a front protection baffle, and the front protection baffle blocks the lower half portion of the underwater robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011006828.XA CN112128509A (en) | 2020-09-23 | 2020-09-23 | Running gear of robot patrolling and examining underwater pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011006828.XA CN112128509A (en) | 2020-09-23 | 2020-09-23 | Running gear of robot patrolling and examining underwater pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112128509A true CN112128509A (en) | 2020-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011006828.XA Pending CN112128509A (en) | 2020-09-23 | 2020-09-23 | Running gear of robot patrolling and examining underwater pipeline |
Country Status (1)
| Country | Link |
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| CN (1) | CN112128509A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130104676A1 (en) * | 2011-11-02 | 2013-05-02 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| CN204018323U (en) * | 2014-03-31 | 2014-12-17 | 北京汉卓空气净化设备有限责任公司 | A kind of robot for pipeline cleaning |
| US20160123517A1 (en) * | 2013-07-26 | 2016-05-05 | Hibot Corp. | In-pipe moving apparatus |
| CN206135310U (en) * | 2016-10-19 | 2017-04-26 | 国网冀北电力有限公司张家口供电公司 | Duct cable conveyor |
| CN108787648A (en) * | 2018-05-20 | 2018-11-13 | 佛山市高芯科技服务有限公司 | A kind of pipeline cleaning machine people |
| CN208162206U (en) * | 2017-12-29 | 2018-11-30 | 深圳信息职业技术学院 | Pipe dredging mud-scraping apparatus and pipe dredging machine people with the device |
| CN108944471A (en) * | 2018-07-11 | 2018-12-07 | 陈藕花 | It is a kind of can automatically walk robot |
-
2020
- 2020-09-23 CN CN202011006828.XA patent/CN112128509A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130104676A1 (en) * | 2011-11-02 | 2013-05-02 | Industry-Academic Cooperation Foundation Yonsei University | In-pipe inspection robot |
| US20160123517A1 (en) * | 2013-07-26 | 2016-05-05 | Hibot Corp. | In-pipe moving apparatus |
| CN204018323U (en) * | 2014-03-31 | 2014-12-17 | 北京汉卓空气净化设备有限责任公司 | A kind of robot for pipeline cleaning |
| CN206135310U (en) * | 2016-10-19 | 2017-04-26 | 国网冀北电力有限公司张家口供电公司 | Duct cable conveyor |
| CN208162206U (en) * | 2017-12-29 | 2018-11-30 | 深圳信息职业技术学院 | Pipe dredging mud-scraping apparatus and pipe dredging machine people with the device |
| CN108787648A (en) * | 2018-05-20 | 2018-11-13 | 佛山市高芯科技服务有限公司 | A kind of pipeline cleaning machine people |
| CN108944471A (en) * | 2018-07-11 | 2018-12-07 | 陈藕花 | It is a kind of can automatically walk robot |
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Application publication date: 20201225 |
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| RJ01 | Rejection of invention patent application after publication |