CN115198828A - Double-helix stirring suction pump station dredging device - Google Patents

Double-helix stirring suction pump station dredging device Download PDF

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Publication number
CN115198828A
CN115198828A CN202211033412.6A CN202211033412A CN115198828A CN 115198828 A CN115198828 A CN 115198828A CN 202211033412 A CN202211033412 A CN 202211033412A CN 115198828 A CN115198828 A CN 115198828A
Authority
CN
China
Prior art keywords
pump station
double
pump
helix stirring
hydraulic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211033412.6A
Other languages
Chinese (zh)
Inventor
王晓鑫
康文庆
王爱强
贡东宇
边疆
任鹏飞
张刚
李硕
马飞
于宏亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baotou Drainage Industry Co ltd
Jiangsu Qingtong Water Technology Co ltd
Original Assignee
Baotou Drainage Industry Co ltd
Jiangsu Qingtong Water Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Baotou Drainage Industry Co ltd, Jiangsu Qingtong Water Technology Co ltd filed Critical Baotou Drainage Industry Co ltd
Priority to CN202211033412.6A priority Critical patent/CN115198828A/en
Publication of CN115198828A publication Critical patent/CN115198828A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8808—Stationary installations, e.g. installations using spuds or other stationary supports
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
    • E02F3/92—Digging elements, e.g. suction heads
    • E02F3/9212—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel
    • E02F3/9225—Mechanical digging means, e.g. suction wheels, i.e. wheel with a suction inlet attached behind the wheel with rotating cutting elements
    • E02F3/9237—Suction wheels with axis of rotation in transverse direction of the longitudinal axis of the suction pipe
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
    • E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

The invention discloses a dredging device of a double-helix stirring suction pump station, which comprises: the device comprises a rack, wherein two spiral rods which are arranged in parallel are arranged in the horizontal direction of the rack, and the rotating directions of blades on the two spiral rods are opposite; one end of the screw rod is connected with a driving mechanism, the driving mechanism is connected with a hydraulic power mechanism, and the other end of the screw rod is connected with a stirrer; a slurry conveying pump is also arranged on the frame; this two spiral stir suction pump station desilting device drives the stirring head stirring through two spiral walks, pumps the silt pump that stirs up out the pump station well through sediment thick liquid delivery pump, and the system provides system's power through hydraulic power unit, remote control operation, and the desilting device can get into the operation region through narrow and small hole, and the operation environment restriction is little, and is efficient, convenient operation, and the security is good, can solve most pump station desilting work.

Description

Double-helix stirring suction pump station dredging device
Technical Field
The invention relates to the field of environmental protection equipment, in particular to a dredging device of a double-helix stirring suction pump station.
Background
The urban sewage pump station operates for many years, a large amount of sludge is deposited at the bottom, and the currently and generally adopted mechanical dredging methods comprise the following steps: the first method is to carry out dredging through a dredging grab bucket, and in the method, a cover is not arranged above a pump station pool, the periphery is spacious, and most pump station rooms cannot meet the conditions; secondly, for a pump station capable of being lowered into large-scale equipment, the water level is lowered, dredging is carried out through an excavator or a loader lowered into a pump station pool, the mode needs to be lowered into the pump station pool, the operation environment is poor, even the danger that toxic gas in the pool endangers the life of operating personnel exists, and the normal operation of the pump station can be influenced by lowering the water level of the pump station; the third kind is carried out the desilting through track desilting sediment removal device under water, and this kind of mode needs the pump station top to have great access hole, and the access hole below can not influence the equipment that track desilting sediment removal device hung and put, and a lot of pump stations do not possess this kind of condition, and this kind of desilting sediment removal device generally is three-phase 380V power drive, has the electric leakage danger, and track desilting sediment removal device also has the flexibility poor and is absorbed in the not enough problem of deep silt walking ability.
Disclosure of Invention
In order to solve the problems, the invention provides a dredging device which is small in size, light in weight, high in efficiency and flexible in action.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: the utility model provides a two spiral stir suction pump station sediment removal device, includes: the device comprises a rack, wherein two spiral rods which are arranged in parallel are arranged in the horizontal direction of the rack, and the rotating directions of blades on the two spiral rods are opposite; one end of the screw rod is connected with a driving mechanism, the driving mechanism is connected with a hydraulic power mechanism, and the other end of the screw rod is connected with a stirrer; and a slurry conveying pump is also arranged on the frame.
As a preferred technical scheme, the frame includes first mounting panel and second mounting panel, pass through the crossbeam between first mounting panel and the second mounting panel fixed, the hob is connected between first mounting panel and the second mounting panel.
Preferably, the first mounting plate or the second mounting plate is connected with a lifting ring.
Preferably, the drive mechanism comprises a hydraulic motor drive, comprising 2 hydraulic motors, each driving a screw.
According to a preferable technical scheme, the hydraulic power mechanism comprises a hydraulic oil tank, the hydraulic oil tank is connected with inlets of the first gear pump and the second gear pump respectively, and outlets of the first gear pump and the second gear pump are connected with the driving mechanism and the slurry conveying pump respectively.
Preferably, the first gear pump and the second gear pump are respectively connected with a first motor and a second motor.
As a preferred technical scheme, the first motor and the second motor are controlled to start and stop through a frequency converter.
Preferably, a first oil return filter is further disposed between the driving mechanism and the hydraulic oil tank.
As an optimized technical scheme, an oil return port of the slag slurry conveying pump is connected with a second oil return filter, and an air cooling machine is arranged between the oil return port of the slag slurry conveying pump and the second oil return filter.
Preferably, the stirrer is one or more of a cross-shaped stirrer, a spiral stirrer or a cone-shaped stirrer.
Compared with the prior art, the invention has the beneficial effects that: this double helix stirring suction pump station desilting device drives the stirring head stirring through double helix walking, pumps the silt pump that stirs up out the pump station well through sediment thick liquid delivery pump, and the system provides system's power through hydraulic power unit, remote control operation, and desilting device can get into the operation region through narrow and small hole, and the operation environment restriction is little, and is efficient, convenient operation, and the security is good, can solve most pump station desilting work.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a partial block diagram of the present invention;
FIG. 3 is a block diagram of a first mounting plate of the present invention;
FIG. 4 is a structural view of a hydraulic power mechanism according to the present invention;
in the figure, 1-rack; 2-a screw rod; 3-a drive mechanism; 4-a stirrer; 5-slurry conveying pump; 6-conveying pipeline; 7-hydraulic lines; 8-a hydraulic power mechanism; 11-a first mounting plate; 12-a cross beam; 13-a second mounting plate; 111-a front plate; 112-a bearing seat; 113-a bearing; 114-oil seal; 115-support shaft; 116-an end cap; 801-hydraulic oil tank; 802-a first electric machine; 803-a second motor; 804-a first gear pump; 805-a second gear pump; 806-a first hydraulic valve pack; 807-a second hydraulic valve group; 808-a first oil return filter; 809-a second oil return filter; 810-an air cooling machine; 811-frequency conversion control system; 812-remote control.
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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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 discussed further in subsequent figures.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited. Further, although the terms used in the present application are selected from publicly known and used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Further, it is required that the present application is understood not only by the actual terms used but also by the meaning of each term lying within.
Referring to fig. 1, the embodiment provides a dredging device for a double-helix stirring suction pump station, which comprises a frame 1, wherein two parallel screw rods 2 are arranged in the horizontal direction of the frame 1, and the rotating directions of blades on the two screw rods 2 are opposite; one end of the screw rod 2 is connected with a driving mechanism 3, the driving mechanism 3 is connected with a hydraulic power mechanism 8, and the other end of the screw rod 2 is connected with a stirrer 4; the frame 1 is also provided with a slurry delivery pump 5.
Referring to fig. 2, the frame 1 is composed of a first mounting plate 11, a cross beam 12 and a second mounting plate 13, and is used for mounting carriers for other working components of the dredging device, a hoisting ring of the dredging device is mounted on the second mounting plate 13, so that the dredging device is convenient to hoist, and a screw rod 2, a driving mechanism 3, a stirrer 4 and a slurry conveying pump 5 are mounted on the frame 1.
In this embodiment, 2 symmetries of double helix device set up, are provided with helical blade on the double helix device 2, helical blade be symmetrical arrangement, helical blade on two helical devices is reverse setting promptly, two helical device 2 can realize following six kinds of actions like this: the left side of the double-spiral device 2 rotates rightwards, and the right side rotates leftwards, so that the dredging device can move forwards; the left side of the double-spiral device 2 rotates leftwards, and the right side of the double-spiral device 2 rotates rightwards, so that the dredging device can retreat; the left side of the double-helix device 2 rotates rightwards, and the right side stops rotating, so that the dredging device can rotate rightwards; the left side of the double-helix device 2 stops rotating, and the right side rotates leftwards, so that the left rotation of the dredging device can be realized; the left side of the double-spiral device 2 rotates leftwards, and the right side rotates leftwards, so that the dredging device can crab leftwards; the left side of the double-spiral device 2 is right-handed, and the right side of the double-spiral device is right-handed, so that the dredging device can crab to the right; through the six basic actions, the dredging device can move in all directions during operation. Helical blade through on the double helix device 2 can not only provide the thrust of walking, can also stir silt to dredging device middle part axis direction, does benefit to 5 suctions of rear end sediment thick liquid delivery pump. Under the condition of ensuring the advancing force, the overall dimension can be greatly reduced, the overall weight is reduced, the movement is flexible, and the device can move in all directions. In addition, the spiral blade can provide walking thrust, can stir the sludge to the axis direction in the middle of the robot, and is beneficial to the suction of a rear-end slurry conveying pump.
In addition, the stirrer 4 is installed at the front end of the supporting shaft 115 on the first installation plate 11, and the double helix device 2 is driven by the stirrer 4 along with the driving mechanism 3 to rotate, so as to drive the supporting shaft 115 to rotate, and further drive the stirrer 4 to rotate. The stirrer 4 can be replaced by a cross, a spiral, a cone and other forms according to actual requirements, and the cross form is taken as an example in the embodiment.
Further, sediment thick liquid delivery pump 5 is equipped with in second mounting panel 13 rear, through hydraulic drive, and the silt that will stir is through two helical device 2 to the axis direction after stirring, concentrates on 5 pump mouths of sediment thick liquid delivery pump and inhales, carries out the pump station pond through pipeline 6 afterwards.
Referring to fig. 3, the first mounting plate 11 is provided with a front plate 111, a bearing seat 112, a bearing 113, an oil seal 114, a support shaft 115, an end cover and the like 116, and through the combination of the bearing 113 and the oil seal 114, the spiral propeller 2 can be rotatably supported and sealed so as to prevent sewage from entering the bearing seat during rotation.
Referring to fig. 4, the hydraulic power mechanism 8 is composed of a hydraulic oil tank 801, a first motor 802, a second motor 803, a first gear pump 804, a second gear pump 805, a first hydraulic valve bank 806, a second hydraulic valve bank 807, a first oil return filter 808, a second oil return filter 809, an air cooling machine 810, a variable frequency control system 811 and a remote controller 812, wherein the variable frequency control system 811 is used for controlling start-stop and rotation speed adjustment of the first motor 802 and the second motor 803, the first motor 802 drives the first gear pump 804, the second motor 803 drives the second gear pump 805, the first gear pump 802 outputs hydraulic oil after drawing out the hydraulic oil from the hydraulic oil tank 801 and controls the output hydraulic oil through the first hydraulic valve bank 806, the hydraulic pump 802 is connected with the driving mechanism 3 through a hydraulic pipeline 7, return oil from the driving mechanism 3 to the oil tank 801 through the first oil return filter 808, the second gear pump 805 outputs hydraulic oil after drawing out of the hydraulic oil from the hydraulic oil tank 801 and controls the output hydraulic valve bank 807, the hydraulic pump 5 is connected with the driving slurry delivery pump 5 through the hydraulic pipeline 7, return oil from the slurry delivery pump 5 passes through the residue delivery pump 810, and the air cooling machine 810 cools the second oil tank 809. The remote controller 812 can remotely and wirelessly control the frequency conversion control system 811, start and stop of the first motor 802 and the second motor 803 are realized by controlling the frequency conversion control system 811, and rotation speed adjustment can be carried out according to actual working conditions.
This two spiral stir suction pump station desilting device drives the stirring head stirring through two spiral walks, pumps the silt pump that stirs up out the pump station well through sediment thick liquid delivery pump, and the system provides system's power through hydraulic power unit, remote control operation, and the desilting device can get into the operation region through narrow and small hole, and the operation environment restriction is little, and is efficient, convenient operation, and the security is good, can solve most pump station desilting work.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The utility model provides a two spiral stir suction pump station sediment removal device which characterized in that includes:
the device comprises a rack, wherein two screw rods which are arranged in parallel are arranged in the horizontal direction of the rack, and the rotating directions of blades on the two screw rods are opposite; one end of the screw rod is connected with a driving mechanism, the driving mechanism is connected with a hydraulic power mechanism, and the other end of the screw rod is connected with a stirrer; and a slurry conveying pump is also arranged on the frame.
2. The double-helix stirring pump station desilting device according to claim 1, characterized in that: the frame includes first mounting panel and second mounting panel, it is fixed through the crossbeam between first mounting panel and the second mounting panel, the hob is connected between first mounting panel and the second mounting panel.
3. The double-helix stirring pump station desilting device according to claim 2, characterized in that: and the first mounting plate or the second mounting plate is connected with a lifting ring.
4. The double-helix stirring pump station dredging device according to claim 1, characterized in that: the drive mechanism comprises a hydraulic motor drive comprising 2 hydraulic motors each driving a screw.
5. The double-helix stirring pump station desilting device according to claim 4, characterized in that: the hydraulic power mechanism comprises a hydraulic oil tank, the hydraulic oil tank is connected with the inlet of the first gear pump and the inlet of the second gear pump respectively, and the outlets of the first gear pump and the second gear pump are connected with the driving mechanism and the slurry conveying pump respectively.
6. The double-helix stirring pump station desilting device according to claim 5, characterized in that: the first gear pump and the second gear pump are respectively connected with a first motor and a second motor.
7. The double-helix stirring pump station desilting device according to claim 6, characterized in that: the first motor and the second motor are controlled to be started and stopped through a frequency converter.
8. The double-helix stirring pump station desilting device according to claim 5, characterized in that: and a first oil return filter is also arranged between the driving mechanism and the hydraulic oil tank.
9. The double-helix stirring pump station desilting device according to claim 5, characterized in that: and an air cooling machine is arranged between the oil return port of the slag slurry conveying pump and the second oil return filter.
10. The double-helix stirring pump station dredging device according to claim 1, characterized in that: the stirrer is one or more of a cross-shaped stirrer, a spiral stirrer or a cone-shaped stirrer.
CN202211033412.6A 2022-08-26 2022-08-26 Double-helix stirring suction pump station dredging device Pending CN115198828A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211033412.6A CN115198828A (en) 2022-08-26 2022-08-26 Double-helix stirring suction pump station dredging device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211033412.6A CN115198828A (en) 2022-08-26 2022-08-26 Double-helix stirring suction pump station dredging device

Publications (1)

Publication Number Publication Date
CN115198828A true CN115198828A (en) 2022-10-18

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101439771B1 (en) * 2013-05-06 2014-09-11 주식회사 포스코 Robot for cleaning sludge
CN106545042A (en) * 2017-01-20 2017-03-29 核工业烟台同兴实业有限公司 Automatic dredging machine under water
CN206092550U (en) * 2016-08-16 2017-04-12 湖南奇思环保设备制造有限公司 Sensitive hydraulic system of load and underwater dredging equipment
WO2021008525A1 (en) * 2019-07-16 2021-01-21 中国石油大学(华东) Paraffin clearing operation pipeline robot
CN112942474A (en) * 2021-02-02 2021-06-11 山东科技大学 Single-end spiral transportation formula sump cleaning device
CN113338377A (en) * 2021-06-09 2021-09-03 辽宁工程技术大学 Cleaning robot and use method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101439771B1 (en) * 2013-05-06 2014-09-11 주식회사 포스코 Robot for cleaning sludge
CN206092550U (en) * 2016-08-16 2017-04-12 湖南奇思环保设备制造有限公司 Sensitive hydraulic system of load and underwater dredging equipment
CN106545042A (en) * 2017-01-20 2017-03-29 核工业烟台同兴实业有限公司 Automatic dredging machine under water
WO2021008525A1 (en) * 2019-07-16 2021-01-21 中国石油大学(华东) Paraffin clearing operation pipeline robot
CN112942474A (en) * 2021-02-02 2021-06-11 山东科技大学 Single-end spiral transportation formula sump cleaning device
CN113338377A (en) * 2021-06-09 2021-09-03 辽宁工程技术大学 Cleaning robot and use method thereof

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