CN114289424A - Underwater pipeline dredging robot - Google Patents
Underwater pipeline dredging robot Download PDFInfo
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- CN114289424A CN114289424A CN202210169691.2A CN202210169691A CN114289424A CN 114289424 A CN114289424 A CN 114289424A CN 202210169691 A CN202210169691 A CN 202210169691A CN 114289424 A CN114289424 A CN 114289424A
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- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 238000004140 cleaning Methods 0.000 claims abstract description 34
- 239000010802 sludge Substances 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000001125 extrusion Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 238000010276 construction Methods 0.000 abstract description 9
- 229910001220 stainless steel Inorganic materials 0.000 abstract description 4
- 239000010935 stainless steel Substances 0.000 abstract description 4
- 238000005086 pumping Methods 0.000 abstract 1
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
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Abstract
The invention discloses an underwater pipeline dredging robot, which relates to the technical field of robots and comprises a robot body, wherein two crawler-type chassis driving mechanisms are installed at the bottom of the robot body, a robot arm is fixedly connected to the front end of the robot body, a leading-in mechanism for collecting sludge is installed at the output end of the robot arm, an image acquisition mechanism is installed at the front end of the robot body, a controller is installed inside the robot body, a sludge pump connecting port is formed in the back of the robot body, the leading-in mechanism comprises a leading-in rack, a scraper bucket, a driving motor and a cleaning assembly, the driving motor is used for driving the cleaning assembly to clean the sludge, and one end of the scraper bucket is fixedly connected with a connecting pipe. The underwater pipeline dredging robot has the advantages that the hairbrush tool bit and the stainless steel tool bit are selected and replaced according to different dredging media, construction can be completed at one time through pumping at the rear end of the broken front end carrying tool bit, other equipment does not need to be equipped, and construction operation can be completed independently after the underwater pipeline dredging robot reaches the site.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater pipeline dredging robot.
Background
In modern times, criss-cross pipelines are laid around the world, and tap water, a heating system and petroleum and natural gas transmission in the chemical field cannot leave the medium of the pipeline, and underground pipelines are used as one of important infrastructures for urban construction, so that the quality of human life is greatly improved, and the underground pipelines become underground life lines of human life.
At present the pipeline takes place to block up, generally clears up through personnel, but the speed of personnel's clearance is lower and work load is great, consequently derives the desilting robot, and current pipeline robot all carries out the desilting to the silt of a certain specific environment, can not adapt to the change of environment, has greatly limited pipeline robot's use.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides an underwater pipeline dredging robot, which solves the problems in the background technology.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: pipeline desilting robot under water, including the robot, two crawler-type chassis actuating mechanism are installed to the bottom of robot, the front end fixedly connected with robot arm of robot, the input mechanism who is used for collecting silt is installed to robot arm's output, image acquisition mechanism is installed to robot's front end, robot's internally mounted has the controller, silt pump connector has been seted up at robot's the back, input mechanism is including leading-in frame, scraper bowl, driving motor and clearance subassembly, driving motor is used for driving the clearance subassembly and clears up silt, the one end fixedly connected with of scraper bowl is in charge of.
Optionally, the crawler-type chassis driving mechanism adopts a rubber crawler and a crawler chassis system, and the crawler-type chassis driving mechanism is used for driving the robot body to move.
Optionally, the image acquisition mechanism comprises a fixed support, the upper surface of the fixed support is fixedly connected with a fixing piece, the inner side wall of the fixing piece is rotatably connected with a supporting seat, a camera is arranged inside the supporting seat, and an adjusting mechanism is fixedly arranged on the other side of the upper surface of the fixed support.
Optionally, the adjusting mechanism comprises an adjusting push rod, one end of the adjusting push rod is rotatably connected with a first U-shaped seat through a rotating shaft, the other end of the adjusting push rod is rotatably connected with a second U-shaped seat through a rotating shaft, the first U-shaped seat is fixedly mounted on one side of the fixing support, the second U-shaped seat is fixedly mounted on one side of the supporting seat, and the rotating shaft of the fixing support, which is connected with the fixing piece, is a horizontal rotating shaft arranged in the fixing piece.
Optionally, the clearance subassembly includes cleaning roller and clearance brush, clearance brush fixed mounting be in the surface of cleaning roller, the cleaning roller coaxial arrangement be in driving motor's output, driving motor installs the interior roof of leading-in frame, driving motor is double-shaft motor.
Optionally, the driving assembly may be replaced by a crushing assembly, the crushing assembly includes a crushing roller, a crushing blade is fixedly connected to a surface of the crushing roller, the crushing blade is fixedly connected to a surface of the crushing roller, and the crushing rollers are coaxially mounted at output ends of the driving motor respectively.
Optionally, the connecting pipe comprises a hard pipe and a soft pipe, one end of the soft pipe is communicated with the bucket, the soft pipe and the bucket form an input channel, one end of the hard pipe is communicated with the sludge pump connecting port, the hard pipe and the sludge pump connecting port form an output channel, and a threaded hole is formed in the inner side wall of the sludge pump connecting port.
Optionally, the control system includes central processing unit and power module, central processing unit's input is connected with state detection module, image acquisition unit, control module and communication module electricity respectively, state detection module, image acquisition unit and communication module input are connected with central processing unit's output electricity respectively, control module includes power unit, operating unit and clearance unit, power unit, operating unit and clearance unit are corresponding with crawler-type chassis actuating mechanism, robot arm and driving motor respectively, control module is used for controlling crawler-type chassis actuating mechanism, robot arm and the running state of guiding mechanism.
Optionally, the image acquisition unit includes the camera, adjusts push rod and wave filter, state detecting element includes dual-frenquency detector, AD converter and pressure sensor, pressure sensor installs the bottom at the robot for detect the extrusion force of silt to the robot, the dual-frenquency detector is used for acquireing the degree of depth that the robot immerges silt, the AD converter is used for converting the data conversion that the dual-frenquency detector acquireed into digital signal and transmitting to central processing unit.
Advantageous effects
The invention provides an underwater pipeline dredging robot, which has the following beneficial effects:
1. this pipeline desilting robot under water, through crawler-type chassis actuating mechanism, the robot arm, the setting of introduction mechanism and clearance subassembly, the crawler-type chassis is convenient for easily remove and cross little barrier, the operator is forbidden usually to get into in restricted space, perhaps the very narrow space that is difficult to arrive under water, personnel's risk can be reduced like this, but can not reduce the quality of construction, the clearance of completion silt that robot arm cooperation introduction mechanism can the preferred, to different desilting medium, there is brush tool bit and stainless steel tool bit to supply to select and change, the broken rear end pump of front end carrying tool bit is inhaled and is once only accomplished the construction, need not to be equipped with other equipment, can independently accomplish the construction operation after reaching the scene.
2. This pipeline desilting robot under water, through state detecting element and image processing unit's setting, image acquisition mechanism can carry out audio-visual show with the image information in the pipeline to make things convenient for personnel to operate the robot body, improve work efficiency, state detecting element can carry out real-time supervision to the running state of robot body, dive state and pressurized state, make things convenient for personnel to in time adjust and control the robot body, avoid the robot body to sink into and cause the machine of dying in the silt.
Drawings
FIG. 1 is a schematic structural view of a robot body and a cleaning assembly according to the present invention;
FIG. 2 is a schematic structural view of the robot body and the crushing assembly according to the present invention;
FIG. 3 is a schematic front view of the structure of FIG. 1 according to the present invention;
FIG. 4 is a schematic top view of the structure of FIG. 1 according to the present invention;
FIG. 5 is a rear view of the present invention;
FIG. 6 is an enlarged view taken at A of FIG. 5 in accordance with the present invention;
FIG. 7 is a block diagram of the system of the present invention.
In the figure: 1-a robot body, 2-a crawler type chassis driving mechanism, 3-a robot arm, 4-a leading-in mechanism, 5-an image acquisition mechanism, 501-a fixed support, 502-a supporting seat, 503-a camera, 6-a sludge pump connecting port, 7-a leading-in rack, 8-a bucket, 9-a cleaning component, 10-a connecting pipe, 101-a hard pipe, 102-a soft pipe, 11-an adjusting push rod, 12-a first U-shaped seat, 13-a second U-shaped seat, 14-a cleaning roller, 15-a cleaning brush, 16-a crushing roller, 17-a crushing blade, 18-a central processor, 19-a state detection module, 20-an image acquisition unit, 21-a control module, 22-a communication module, 23-a dual-frequency detector, 24-AD converter, 25-pressure sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example one
Referring to fig. 1 to 6, the present invention provides a technical solution: an underwater pipeline dredging robot comprises a robot body 1, two crawler-type chassis driving mechanisms 2 are installed at the bottom of the robot body 1, the crawler-type chassis is convenient to move easily and cross small obstacles, operators are usually prohibited from entering the limited space, or the space which is difficult to reach underwater is very narrow, so that the risk of the personnel can be reduced, but the construction quality cannot be reduced, a robot arm 3 is fixedly connected to the front end of the robot body 1, a leading-in mechanism 4 for collecting sludge is installed at the output end of the robot arm 3, the robot arm 3 can better finish the sludge cleaning by matching with the leading-in mechanism 4, an image acquisition mechanism 5 is installed at the front end of the robot body 1, a controller is installed inside the robot body 1, a sludge pump connecting port 6 is formed in the back of the robot body 1, and the leading-in mechanism 3 comprises a leading-in rack 7, scraper bowl 8, driving motor and clearance subassembly 9, driving motor is used for driving clearance subassembly 9 and clears up silt, and the one end fixedly connected with of scraper bowl 7 is connected pipe 10.
The cleaning assembly comprises a cleaning roller 14 and a cleaning brush 15, the cleaning brush 15 is fixedly arranged on the surface of the cleaning roller 14, the cleaning roller 14 is coaxially arranged at the output end of a driving motor, the driving motor is arranged on the inner top wall of the leading-in frame 7, the driving motor is a double-shaft motor, a hairbrush cutter head and a stainless steel cutter head are selected and replaced aiming at different dredging media, the front end carries the broken cutter head, the rear end is pumped to finish construction at one time, other equipment is not required to be arranged, construction operation can be independently finished after the site is reached, the connecting pipe 10 comprises a hard pipe 101 and a soft pipe 102, one end of the soft pipe 102 is communicated with the bucket 7, the soft pipe 102 and the bucket 7 form an input channel, one end of the hard pipe 101 is communicated with the sludge pump 6, the hard pipe 101 and the sludge pump connecting port 6 form an output channel, the inner side wall of the sludge pump connecting port 6 is provided with a threaded hole, the crawler-type chassis driving mechanism 2 adopts a rubber and crawler type chassis system, crawler-type chassis actuating mechanism 2 is used for driving robot body 1 to remove, image acquisition mechanism 5 includes fixed bolster 501, the last fixed surface of fixed bolster 501 is connected with the mounting, the inside wall swivelling joint of mounting has supporting seat 502, the inside of supporting seat 502 is provided with camera 503, the opposite side fixed mounting of fixed bolster 501 upper surface has adjustment mechanism, adjustment mechanism includes adjusting push rod 11, adjusting push rod 11's one end has first U-shaped seat 12 through pivot swivelling joint, adjusting push rod 11's the other end has second U-shaped seat 13 through pivot swivelling joint, first U-shaped seat 12 fixed mounting is in one side of fixed bolster 501, second U-shaped seat 13 fixed mounting is in one side of supporting seat 502, the pivot that fixed bolster 501 and mounting are connected is the horizontal rotation axle of setting in the mounting.
Referring to fig. 7, the present invention provides a technical solution: a control system of an underwater pipeline dredging robot comprises:
the control system comprises a central processing unit 18 and a power supply module, wherein the input end of the central processing unit 18 is respectively electrically connected with a state detection module 19, an image acquisition unit 20, a control module 21 and a communication module 22, the input ends of the state detection module 19, the image acquisition unit 20 and the communication module are respectively electrically connected with the output end of the central processing unit 18, the control module 21 comprises a power unit, an operation unit and a cleaning unit, the power unit, the operation unit and the cleaning unit respectively correspond to the crawler-type chassis driving mechanism 2, the robot arm 3 and the driving motor, the control module is used for controlling the running states of the crawler-type chassis driving mechanism 2, the robot arm 3 and the lead-in mechanism 4, the image acquisition unit comprises a camera 503, an adjusting push rod 11 and a filter, the image acquisition mechanism can visually display image information in a pipeline, and therefore a person can conveniently operate the robot body, improve work efficiency, the state detecting element includes dual-frenquency detector 23, AD converter 24 and pressure sensor 25, pressure sensor 25 installs the bottom at robot 1, be used for detecting the extrusion force of silt to robot 1, dual-frenquency detector 23 is used for obtaining the degree of depth that robot 1 immerges the silt, AD converter 24 is used for converting the data conversion that dual-frenquency detector 23 obtained into digital signal and transmitting to central processing unit 18, state detecting element 19 can be to the running state of robot, dive state and pressurized state carry out real-time supervision, make things convenient for personnel in time to adjust and control the robot, avoid the robot to cause the machine of running down in the silt.
Example two
Referring to fig. 2, basically the same as the first embodiment, the difference from the first embodiment is that the cleaning assembly is replaced by a crushing assembly, the crushing assembly includes a crushing roller 16, a crushing blade 17 is fixedly connected to the surface of the crushing roller 16, the material of the crushing blade 17 is stainless steel, the crushing rollers 16 are respectively and coaxially installed at the output ends of the driving motors, the crushing assembly can crush hard sludge or soil blocks and other garbage, and the crushed sludge is conveniently discharged.
In conclusion, when the underwater pipeline dredging robot is used, a worker connects the robot body 1 with an external conduit and an external centrifugal pump, puts the connected robot body 1 into a working environment, operates the robot body 1 to run, drives the robot body 1 to walk in sludge through the crawler-type chassis driving mechanism 2 at the bottom of the robot body, adjusts the position of the leading-in mechanism 4 through the self-adjusting function of the robot arm 3, meanwhile, the connecting pipe 10 can be always communicated with the bucket 8 through the soft pipe 102 of the connecting pipe, so that the sludge is conveniently discharged through the bucket 8, the driving motor is started, drives the cleaning roller 14 to rotate, drives the cleaning brush 15 to push the sludge into the bucket 8 while the cleaning roller 14 rotates, and can drive the bucket 8 to shovel the sludge through the movement of the robot body 1, at the moment, the external centrifugal pump discharges the sludge through the connecting pipe 10 and the conduit, the sludge can be better removed, meanwhile, when the sludge is firmer, the cleaning assembly is disassembled and replaced by a crushing assembly, the driving motor drives the crushing roller 16 to rotate, the crushing roller 16 drives the crushing blade 17 to cut the sludge while rotating, and the cut sludge can be quickly discharged through the scraper bucket 8 and the connecting pipe 10, so that the sludge-removing machine is suitable for different working environments;
the power supply module is used for supplying power to all electrical equipment and electrical components, and can be charged by external power supply equipment, the central processing unit 18 is used for receiving signals sent by the state detection module 19, the image acquisition unit 20, the control module 21 and the communication module 22, processing the received signals in and out, and respectively sending the processed information to corresponding modules or driving equipment, the power unit, the operation unit and the cleaning unit respectively correspond to the crawler-type chassis driving mechanism 2, the robot arm 3 and the driving motor, the control module is used for controlling the running states of the crawler-type chassis driving mechanism 2, the robot arm 3 and the lead-in mechanism 4, the image acquisition unit comprises a camera 503, an adjusting push rod 11 and a filter, the image acquisition mechanism can visually display image information in a pipeline, so that personnel can conveniently operate the robot body, improve work efficiency, the state detecting element includes dual-frenquency detector 23, AD converter 24 and pressure sensor 25, pressure sensor 25 installs the bottom at robot 1, be used for detecting the extrusion force of silt to robot 1, dual-frenquency detector 23 is used for obtaining the degree of depth that robot 1 immerges the silt, AD converter 24 is used for converting the data conversion that dual-frenquency detector 23 obtained into digital signal and transmitting to central processing unit 18, state detecting element 19 can be to the running state of robot, dive state and pressurized state carry out real-time supervision, make things convenient for personnel in time to adjust and control the robot, avoid the robot to cause the machine of running down in the silt.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. Pipeline desilting machine people under water, its characterized in that: comprises a robot body (1), two crawler-type chassis driving mechanisms (2) are arranged at the bottom of the robot body (1), the front end of the robot body (1) is fixedly connected with a robot arm (3), the output end of the robot arm (3) is provided with a leading-in mechanism (4) for collecting silt, the front end of the robot body (1) is provided with an image acquisition mechanism (5), the interior of the robot body (1) is provided with a controller, the back of the robot body (1) is provided with a sludge pump connecting port (6), the leading-in mechanism (3) comprises a leading-in frame (7), a bucket (8), a driving motor and a cleaning assembly (9), the driving motor is used for driving the cleaning assembly (9) to clean sludge, and one end of the bucket (7) is fixedly connected with the connecting pipe (10).
2. The underwater pipeline dredging robot of claim 1, wherein: the crawler-type chassis driving mechanism (2) adopts a rubber crawler and a crawler chassis system, and the crawler-type chassis driving mechanism (2) is used for driving the robot body (1) to move.
3. The underwater pipeline dredging robot of claim 1, wherein: image acquisition mechanism (5) are including fixed bolster (501), the last fixed surface of fixed bolster (501) is connected with the mounting, the inside wall swivelling joint of mounting has supporting seat (502), the inside of supporting seat (502) is provided with camera (503), the opposite side fixed mounting of fixed bolster (501) upper surface has adjustment mechanism.
4. The underwater pipeline dredging robot of claim 3, wherein: adjustment mechanism is including adjusting push rod (11), the one end of adjusting push rod (11) has first U-shaped seat (12) through pivot rotatable coupling, the other end of adjusting push rod (11) has second U-shaped seat (13) through pivot rotatable coupling, first U-shaped seat (12) fixed mounting be in one side of fixed bolster (501), second U-shaped seat (13) fixed mounting be in one side of supporting seat (502), the pivot that fixed bolster (501) are connected with the mounting is for setting up horizontal rotation shaft in the mounting.
5. The underwater pipeline dredging robot of claim 1, wherein: the cleaning assembly comprises a cleaning roller (14) and a cleaning brush (15), the cleaning brush (15) is fixedly installed on the surface of the cleaning roller (14), the cleaning roller (14) is coaxially installed at the output end of the driving motor, the driving motor is installed on the inner top wall of the guide-in rack (7), and the driving motor is a double-shaft motor.
6. The underwater pipeline dredging robot of claim 5, wherein: the driving assembly can also be replaced by a crushing assembly equivalently, the crushing assembly comprises a crushing roller (16), a crushing blade (17) is fixedly connected to the surface of the crushing roller (16), the crushing blade (17) is fixedly connected to the surface of the crushing roller (16), and the crushing rollers (16) are respectively and coaxially mounted at the output end of the driving motor.
7. The underwater pipeline dredging robot of claim 1, wherein: the connecting pipe (10) comprises a hard pipe (101) and a soft pipe (102), one end of the soft pipe (102) is communicated with the bucket (7), the soft pipe (102) and the bucket (7) form an input channel, one end of the hard pipe (101) is communicated with the sludge pump connecting port (6), the hard pipe (101) and the sludge pump connecting port (6) form an output channel, and the inner side wall of the sludge pump connecting port (6) is provided with a threaded hole.
8. A control system for the underwater pipe dredging robot of any one of claims 1 to 7, characterized in that: the control system comprises a central processing unit (18) and a power supply module, wherein the input end of the central processing unit (18) is electrically connected with a state detection module (19), an image acquisition unit (20), a control module (21) and a communication module (22) respectively, the input ends of the state detection module (19), the image acquisition unit (20) and the communication module are electrically connected with the output end of the central processing unit (18) respectively, the control module (21) comprises a power unit, an operation unit and a cleaning unit, the power unit, the operation unit and the cleaning unit correspond to a crawler-type chassis driving mechanism (2), a robot arm (3) and a driving motor respectively, and the control module is used for controlling the running states of the crawler-type chassis driving mechanism (2), the robot arm (3) and a leading-in mechanism (4).
9. The control system of the underwater pipeline dredging robot of claim 8, wherein: the image acquisition unit includes camera (503), adjusts push rod (11) and wave filter, state detecting element includes dual-frenquency detector (23), AD converter (24) and pressure sensor (25), pressure sensor (25) are installed in the bottom of robot body (1) for detect the extrusion force of silt to robot body (1), dual-frenquency detector (23) are used for acquireing the degree of depth that robot body (1) immerses silt, AD converter (24) are used for converting the data conversion that dual-frenquency detector (23) acquireed into digital signal and transmit to central processing unit (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210169691.2A CN114289424A (en) | 2022-02-23 | 2022-02-23 | Underwater pipeline dredging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210169691.2A CN114289424A (en) | 2022-02-23 | 2022-02-23 | Underwater pipeline dredging robot |
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| CN202210169691.2A Pending CN114289424A (en) | 2022-02-23 | 2022-02-23 | Underwater pipeline dredging robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114855911A (en) * | 2022-04-20 | 2022-08-05 | 浙江鸿程传动机械有限公司 | Desilting robot for underwater submersible operation |
| CN115710946A (en) * | 2022-07-22 | 2023-02-24 | 浙江大学 | Dredging robot |
| CN116293201A (en) * | 2023-04-08 | 2023-06-23 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
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| CN207295970U (en) * | 2017-09-13 | 2018-05-01 | 天津大力金刚科技有限公司 | Pipe dredging machine people and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114855911A (en) * | 2022-04-20 | 2022-08-05 | 浙江鸿程传动机械有限公司 | Desilting robot for underwater submersible operation |
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| CN116293201B (en) * | 2023-04-08 | 2023-10-10 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
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Application publication date: 20220408 |