CN115680051A - Underwater cleaning device for water pumping port of nuclear power station - Google Patents
Underwater cleaning device for water pumping port of nuclear power station Download PDFInfo
- Publication number
- CN115680051A CN115680051A CN202211293173.8A CN202211293173A CN115680051A CN 115680051 A CN115680051 A CN 115680051A CN 202211293173 A CN202211293173 A CN 202211293173A CN 115680051 A CN115680051 A CN 115680051A
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- Prior art keywords
- shoveling
- collecting structure
- sundries
- collecting
- underwater cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 66
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 23
- 238000005086 pumping Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 45
- 238000003756 stirring Methods 0.000 claims description 29
- 238000005192 partition Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 5
- 230000001154 acute effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 3
- 241000238424 Crustacea Species 0.000 abstract description 10
- 239000012535 impurity Substances 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 239000002826 coolant Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- -1 silt Substances 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
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Abstract
The invention belongs to the technical field of nuclear power station underwater operation equipment, and particularly relates to an underwater cleaning device for a pumping port of a nuclear power station. The underwater cleaning device (7) is arranged on the underwater cleaning equipment (1) and comprises a shoveling and collecting structure (8), a smashing structure (10) and a collecting structure (14), wherein the shoveling and collecting structure (8) is used for shoveling sundries in water, and the smashing structure (10) is used for smashing the sundries in the shoveling and collecting structure (8); the collecting structure (14) is used for collecting the sundries in the shoveling and collecting structure (8). According to the invention, sundries are shoveled by the shoveling and collecting structure (8), especially, on the seabed of the water pumping port of the nuclear power station, a lot of crustaceans are arranged, the crustaceans attached to the seabed can be cleaned well by the shoveling and collecting structure (8), the shoveled crustaceans are smashed by the smashing structure (10), and then are collected together by the collecting structure (14) for treatment, so that the cleaning is clean and convenient, the personnel launching operation is not needed, and the personal safety is prevented from being damaged.
Description
Technical Field
The invention belongs to the technical field of underwater operation equipment of nuclear power stations, and particularly relates to an underwater cleaning device for a water pumping port of a nuclear power station.
Background
The civil nuclear power station is generally arranged at the sea, seawater needs to be pumped to be used as a coolant when the civil nuclear power station works, the water needs to be pumped from the water under water to be used as the coolant in the running and working process of the nuclear power station, but a lot of impurities such as silt, garbage and shells of crustaceans exist under water, and after the water is pumped for a period of time, the impurities such as the silt, the garbage and the shells of the crustaceans are easily sucked to the water pumping port, so that the water pumping port is easily blocked, the equipment cannot continue to work, and therefore the impurities near the water pumping port need to be regularly cleaned.
At present, the cleaning is carried out from the underwater by manpower, more dangers exist underwater, the personal safety of an operator who is underwater is difficult to guarantee, particularly, the cleaning is carried out underwater in a nuclear power station, the damage of nuclear radiation can be further caused, and the cleaning is difficult and the cleaning efficiency is low.
Disclosure of Invention
The invention aims to provide an underwater cleaning device based on a nuclear power station, which can improve cleaning efficiency and cleaning degree and avoid faults caused by the influence of water on a power system.
In order to achieve the purpose, the technical scheme adopted by the invention is that the underwater cleaning device is used for a water pumping port of a nuclear power station, wherein the underwater cleaning device is arranged on underwater cleaning equipment and comprises a shoveling and collecting structure, a smashing structure and a collecting structure, the shoveling and collecting structure is used for shoveling sundries in water, and the smashing structure is used for smashing the sundries in the shoveling and collecting structure; the collecting structure is used for collecting the sundries in the shoveling and collecting structure.
Further, the shovel-collecting structure is a bucket-shaped hollow structure with an opening on one surface and is arranged at the front end of the main body of the underwater cleaning equipment; the shoveling and collecting structure is used for shoveling the sundries and entering the cavity in the shoveling and collecting structure through the opening.
Furthermore, an inclined plane is arranged on one side, which is in contact with the ground, of the shoveling and folding structure, and the inclined plane faces upwards, so that the edge, which is in contact with the ground, of the shoveling and folding structure is an acute angle; the shoveling and collecting structure comprises a plurality of shoveling blocks, and the shoveling blocks are uniformly arranged at the opening of the shoveling and collecting structure and are positioned on one side contacting with the ground; the shovel block is in the shape of a triangular prism.
Further, the stirring structure is arranged in a cavity inside the shoveling and collecting structure and is used for stirring the sundries in the cavity inside the shoveling and collecting structure; the stirring and crushing structure comprises two spiral conveyors which are symmetrically arranged, and one ends of the two spiral conveyors are respectively and rotatably arranged on two side walls in the cavity of the shoveling and collecting structure; the spiral conveyors are provided with spiral blades, and the spiral directions of the spiral blades of the two spiral conveyors are opposite; the helical blade is used for coacting with the inner wall of the shoveling and collecting structure to stir the shoveled sundries into pieces; the helical blade can be in the crushing process, sundries can be pushed and rolled to the middle of the cavity of the shoveling and collecting structure.
The spiral conveyor performs steering control through the hydraulic speed reducing motor, and pushes and rolls sundries to the middle of the cavity of the shoveling and collecting structure; the hydraulic speed reducing motor is a sealing structure; the output end of the hydraulic speed reducing motor is connected with the stirring structure to provide rotating force for the stirring structure; the hydraulic speed reducing motor is driven hydraulically by a power device in the underwater cleaning equipment.
Furthermore, a plurality of notches are arranged on the edge of the helical blade at equal intervals, and the radian of the interval between every two adjacent notches is equal; the breach makes the structure of stirring will more easily the debris are stirred up, simultaneously, can also pass through the breach blocks debris when the rotation with the inner wall combined action of structure is received to the shovel, will the debris are stirred up.
Further, the collecting structure is arranged above the main body, and the collecting structure can be turned over and used for unloading the sundries; the collecting structure is hydraulically driven by a power plant in the underwater cleaning device.
The shovel structure comprises a shovel shaft, a first baffle plate, a second baffle plate and a connecting plate, wherein the shovel shaft is arranged in the shovel shaft; the first cavity and the second cavity correspond to the two screw conveyors respectively; the other end of the spiral conveyor is rotatably arranged on the clapboard; when the spiral conveyor pushes the sundries to the middle of the cavity of the shoveling and collecting structure, the sundries can be propped against the partition plate, and the spiral blades can extrude the sundries to crush the sundries.
The shovel-collecting structure is lifted and turned over through the transmission device, and the sundries are sent into the collecting structure; the transmission device comprises a first transmission structure and a second transmission structure, wherein one end of the first transmission structure is connected to the shoveling and collecting structure, and the other end of the first transmission structure is rotatably connected to the main body and used for driving the shoveling and collecting structure to turn over; one end of the second transmission structure is connected to the main body, and the other end of the second transmission structure is connected to the first transmission structure and used for pushing and pulling the first transmission structure so as to drive the shoveling and collecting structure to ascend or descend; the first transmission structure and the second transmission structure are both hydraulically driven by a power device in the underwater cleaning equipment.
The invention has the beneficial effects that:
the invention shovels sundries through the shoveling and collecting structure 8, particularly, the crustaceans are more on the seabed of the pumping port of the nuclear power station, the shoveling and collecting structure 8 can well clean the crustaceans attached to the seabed, the shoveled crustaceans are smashed through the smashing structure 10 and then are gathered together through the collecting and collecting structure 14 for treatment, the cleaning is clean and convenient, the personnel launching operation is not needed, and the personal safety is prevented from being damaged.
Drawings
Fig. 1 is a schematic view of an underwater cleaning device 1 (provided with an underwater cleaning device 7) according to an embodiment of the present invention;
FIG. 2 is a view in the direction A of FIG. 1;
FIG. 3 is a schematic view of an underwater cleaning device 7 according to an embodiment of the present invention;
in the figure: 1-underwater cleaning equipment, 2-a main body, 3-an electric appliance control unit, 4-a transmission device, 5-a first transmission structure, 6-a second transmission structure, 7-underwater cleaning device, 8-a shoveling and collecting structure, 9-a shoveling block, 10-a smashing structure, 11-a screw conveyor, 12-a screw blade, 13-a notch, 14-a collecting structure, 15-a hydraulic speed reducing motor, 16-a clapboard, 17-an underwater hydraulic control device, 18-a clamping jaw structure, 19-a chassis and 20-a track wheel.
Detailed Description
The invention is further described below with reference to the figures and examples.
The invention provides an underwater cleaning device for a water pumping port of a nuclear power station, wherein the underwater cleaning device 7 is arranged on an underwater cleaning device 1, the underwater cleaning device 1 comprises a main body 2 and a chassis 19 at the bottom of the main body 2, crawler wheels 20 are arranged in the chassis 19, the chassis 19 drives the main body 2 to move under the water through the crawler wheels 20, the crawler wheels 20 are hydraulically driven through an underwater hydraulic control device 17, the underwater cleaning device 1 can better move under the water by using the crawler wheels 20 due to the fact that the topography of the sea bottom is complex and uneven, larger driving force can be improved by using the crawler wheels 20, and sundries can be better cleaned. And the electrical appliance control unit 3 is arranged in the main body 2 and is used for controlling various electrical appliance elements in the underwater cleaning equipment 1.
The underwater cleaning device 7 comprises a shoveling and collecting structure 8, a stirring structure 10 and a collecting structure 14, wherein the shoveling and collecting structure 8 is used for shoveling sundries in water, and the stirring structure 10 is used for stirring the sundries in the shoveling and collecting structure 8; the collecting structure 14 is used for collecting the sundries in the shovel structure 8. Shoveling the sundries by the shoveling and collecting structure 8, particularly on the seabed, a lot of crustaceans can be removed well by the shoveling structure, the crustaceans attached to the seabed can be smashed by the smashing structure 10 after shoveling, the shoveling and collecting structure 8 is concentrated into the collecting structure 14 for treatment, the cleaning is convenient, the personnel launching operation is not needed, and the personal safety is prevented from being damaged. Of course, the sundries can be also crushed without using the crushing structure 10, and the scooping structure 8 can directly pour the sundries into the collecting structure 14 after scooping the sundries.
The shoveling and collecting structure 8 is a bucket-shaped hollow structure with an opening on one surface and is arranged at the front end of the main body 2 of the underwater cleaning equipment 1; the scooping structure 8 is used for scooping up the sundries and entering the inner cavity of the scooping structure 8 through the opening.
An inclined plane is arranged on one side, which is in contact with the ground, of the shoveling and collecting structure 8, the inclined plane is upward, so that the edge, which is in contact with the ground, of the shoveling and collecting structure 8 is an acute angle, and small impurities such as sludge on the bottom surface can be shoveled more cleanly; the shoveling and collecting structure 8 comprises a plurality of shoveling blocks 9, and the shoveling blocks 9 are uniformly arranged at the opening of the shoveling and collecting structure 8 and are positioned on one side contacting with the ground; the shovel block 9 is in the shape of a triangular prism, the edge is forward, the edge is in an acute angle structure and is relatively sharp, and certain reef or organisms attached to the water bottom can be scraped.
The stirring structure 10 is arranged in a cavity inside the shoveling and collecting structure 8 and is used for stirring sundries in the cavity inside the shoveling and collecting structure 8; the stirring structure 10 comprises two spiral conveyors 11, the two spiral conveyors 11 are symmetrically arranged, and one ends of the two spiral conveyors 11 are respectively and rotatably arranged on two side walls in the cavity of the shoveling and collecting structure 8; the spiral conveyors 11 are provided with spiral blades 12, and the spiral directions of the spiral blades 12 of the two spiral conveyors 11 are opposite; after the sundries are scooped up, the spiral blades 12 are used for coacting with the inner wall of the scooping structure 8 to stir up the scooped sundries; and because helical blade 12 is spiral and the direction of rotation is opposite, in the process of stirring, can push the debris to the cavity middle part of structure 8 is received to the shovel and roll.
The hydraulic reducing motor 15 is arranged on the shoveling and collecting structure 8, the spiral conveyors 11 are controlled to rotate in opposite directions through the hydraulic reducing motor 15 or a gear set (one hydraulic reducing motor 15 is used for controlling the two spiral conveyors 11 simultaneously, or the two hydraulic reducing motors 15 are used for controlling the two spiral conveyors 11 respectively), and then sundries are pushed and rolled to the middle of the cavity of the shoveling and collecting structure 8 in the process of crushing; the hydraulic reducing motor 15 is a sealing structure; the output end of the hydraulic speed reducing motor 15 is connected with the stirring structure 10 to provide a rotating force for the stirring structure 10; the hydraulic reduction motor 15 is hydraulically driven by means of a power unit (underwater hydraulic control unit 17) in the underwater cleaning device 1.
The edge of the helical blade 12 is provided with a plurality of notches 13 at equal intervals, and the radian of the interval between the adjacent notches 13 is equal; breach 13 makes stirring structure 10 stir debris more easily, forms the effect similar to the saw, simultaneously, can also block the edge edges and corners of debris through breach 13, and with the inner wall combined action of shovel receipts structure 8 in the pivoted, stir debris, promote the stirring effect.
The collecting structure 14 is used for collecting and containing sundries, the collecting structure 14 is arranged above the main body 2, the sundries can be poured and poured out conveniently, and the collecting structure 14 can be turned over and used for unloading the sundries; the collecting structure 14 is hydraulically driven by means of a power unit (underwater hydraulic control unit 17) in the underwater cleaning device 1.
The shovel-folding structure further comprises two partition plates 16 arranged in the cavity of the shovel-folding structure 8, and the partition plates 16 divide the cavity of the shovel-folding structure 8 into a first cavity and a second cavity; the first and second cavities correspond to the two screw conveyors 11, respectively; the other end of the screw conveyor 11 is rotatably disposed on the partition 16; when the spiral conveyor 11 pushes sundries to the middle of the cavity of the shoveling and collecting structure 8, the larger sundries can be propped against the partition plate 16, and when the spiral conveyor 11 continues to rotate again, the spiral blades 12 can extrude the sundries, and the larger sundries are extruded and crushed again.
The device also comprises a transmission device 4 arranged on the shoveling and collecting structure 8, wherein the shoveling and collecting structure 8 is lifted and turned over through the transmission device 4 to send sundries into a collecting structure 14; the transmission device 4 comprises a first transmission structure 5 and a second transmission structure 6, one end of the first transmission structure 5 is connected to the shoveling and collecting structure 8, and the other end of the first transmission structure is rotatably connected to the main body 2 and used for driving the shoveling and collecting structure 8 to turn over; one end of the second transmission structure 6 is connected to the main body 2, and the other end is connected to the first transmission structure 5 and used for pushing and pulling the first transmission structure 5 so as to drive the shoveling and collecting structure 8 to ascend or descend; the first transmission 5 and the second transmission 6 are both hydraulically driven by means of a power unit (underwater hydraulic control unit 17) in the underwater cleaning device 1. The shoveling and collecting structure 8 shovels and crushes the sundries, the shoveling and collecting structure 8 is lifted through the second transmission structure 6, the shoveling and collecting structure 8 is turned over through the first transmission structure 5, and the sundries are poured into the collecting structure 14; similarly, due to the complex and uneven topography of the sea bottom, when the underwater cleaning equipment 1 moves for cleaning, the height and the angle of the underwater cleaning device 7 can be adjusted through the first transmission structure 5 and the second transmission structure 6, and the situation that the underwater cleaning equipment cannot advance when encountering abrupt terrain blockage is avoided.
The underwater cleaning device 7 is also provided with a clamping jaw structure 18 with an auxiliary effect, the clamping jaw structure 18 is arranged on the first transmission structure 5, and the clamping jaw structure 18 can rotate with multiple degrees of freedom; the jaw structure 18 is hydraulically driven by means of an underwater hydraulic control 17. The clamping jaw structure 18 can clamp objects which obviously cannot be crushed or are plastic bags and the like into the collecting structure 14 directly, so that the spiral blades 12 are prevented from being damaged, and impurities clamped on the crushing structure 10 can be clamped away.
The practical application of the underwater cleaning device 7 provided by the invention is as follows:
firstly, transporting the underwater cleaning equipment 1 to an underwater working place by transporting equipment;
secondly, starting the underwater cleaning equipment 1, controlling the crawler wheels 20 to rotate to drive the underwater cleaning equipment 1 out of the dispatching equipment, and controlling the underwater cleaning equipment 1 to move to a working destination;
thirdly, the impurities are cleaned or crushed by the underwater cleaning device 7 or the clamping jaw structure 18 and transferred to the collecting structure 14, and after the collecting structure 14 is filled, the impurities in the collecting structure 14 are cleaned by moving the whole underwater cleaning device 1 to the shore.
The device according to the present invention is not limited to the embodiments described in the specific embodiments, and those skilled in the art can derive other embodiments according to the technical solutions of the present invention, and also belong to the technical innovation scope of the present invention.
Claims (9)
1. The utility model provides a cleaning device under water for nuclear power station pumping port, characterized by: the underwater cleaning device (7) is arranged on the underwater cleaning equipment (1) and comprises a shoveling and collecting structure (8), a smashing structure (10) and a collecting structure (14), wherein the shoveling and collecting structure (8) is used for shoveling sundries in water, and the smashing structure (10) is used for smashing the sundries in the shoveling and collecting structure (8); the collecting structure (14) is used for collecting the sundries in the shoveling and collecting structure (8).
2. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 1, wherein: the shovel collecting structure (8) is a bucket-shaped hollow structure with an opening on one surface and is arranged at the front end of the main body (2) of the underwater cleaning equipment (1); the shoveling and collecting structure (8) is used for shoveling the sundries and entering the cavity in the shoveling and collecting structure (8) through the opening.
3. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 2, characterized in that: an inclined plane is arranged on one side, which is in contact with the ground, of the shoveling and folding structure (8), and the inclined plane faces upwards, so that the edge, which is in contact with the ground, of the shoveling and folding structure (8) is an acute angle; the shoveling and collecting structure (8) comprises a plurality of shoveling blocks (9), and the shoveling blocks (9) are uniformly arranged at the opening of the shoveling and collecting structure (8) and are positioned on one side in contact with the ground; the shovel block (9) is in the shape of a triangular prism.
4. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 3, wherein: the stirring structure (10) is arranged in a cavity inside the shoveling and collecting structure (8) and is used for stirring the sundries in the cavity inside the shoveling and collecting structure (8); the stirring structure (10) comprises two spiral conveyors (11), the two spiral conveyors (11) are symmetrically arranged, and one ends of the two spiral conveyors (11) are respectively and rotatably arranged on two side walls in the cavity of the shoveling and collecting structure (8); the spiral conveyors (11) are provided with spiral blades (12), and the spiral directions of the spiral blades (12) of the two spiral conveyors (11) are opposite; the helical blade (12) is used for coacting with the inner wall of the shoveling and collecting structure (8) to smash the shoveled sundries; the spiral blades (12) can push and crush the sundries to the middle of the cavity of the shoveling and collecting structure (8) in the process of crushing.
5. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 4, wherein: the device is characterized by further comprising a hydraulic speed reducing motor (15) arranged on the shoveling and collecting structure (8), wherein the spiral conveyor (11) is controlled to turn through the hydraulic speed reducing motor (15) so as to push and roll sundries to the middle of a cavity of the shoveling and collecting structure (8); the hydraulic speed reducing motor (15) is of a sealing structure; the output end of the hydraulic speed reducing motor (15) is connected with the stirring structure (10) to provide rotating force for the stirring structure (10); the hydraulic reducing motor (15) is hydraulically driven by a power device in the underwater cleaning equipment (1).
6. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 5, wherein: a plurality of notches (13) are arranged at the edge of the helical blade (12) at equal intervals, and the radian of the interval between every two adjacent notches (13) is equal; breach (13) make it is easier with stirring structure (10) debris stir, simultaneously, can also pass through breach (13) block debris, in the pivoted with the inner wall combined action of shovel receipts structure (8) will debris stir.
7. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 6, wherein: the collecting structure (14) is arranged above the main body (2), and the collecting structure (14) can be overturned for unloading the sundries; the collecting structure (14) is hydraulically driven by means of a power unit in the underwater cleaning device (1).
8. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 7, wherein: the shovel is characterized by further comprising two partition plates (16) arranged in the cavity of the shovel structure (8), wherein the partition plates (16) divide the cavity of the shovel structure (8) into a first cavity and a second cavity; the first and second cavities correspond to the two screw conveyors (11), respectively; the other end of the spiral conveyor (11) is rotatably arranged on the clapboard (16); when the spiral conveyor (11) pushes the sundries to the middle of the cavity of the shoveling and collecting structure (8), the sundries can be propped against the partition plate (16), and the spiral blades (12) can extrude the sundries to crush the sundries.
9. An underwater cleaning device for a nuclear power station pumping port as claimed in claim 8, wherein: the device is characterized by further comprising a transmission device (4) arranged on the shoveling and collecting structure (8), wherein the shoveling and collecting structure (8) is lifted and turned over through the transmission device (4), and the sundries are sent into the collecting structure (14); the transmission device (4) comprises a first transmission structure (5) and a second transmission structure (6), one end of the first transmission structure (5) is connected to the shoveling and collecting structure (8), and the other end of the first transmission structure is rotatably connected to the main body (2) and used for driving the shoveling and collecting structure (8) to turn over; one end of the second transmission structure (6) is connected to the main body (2), and the other end of the second transmission structure is connected to the first transmission structure (5) and used for pushing and pulling the first transmission structure (5) so as to drive the shoveling and collecting structure (8) to ascend or descend; the first transmission structure (5) and the second transmission structure (6) are both hydraulically driven by a power device in the underwater cleaning equipment (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211293173.8A CN115680051A (en) | 2022-10-21 | 2022-10-21 | Underwater cleaning device for water pumping port of nuclear power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211293173.8A CN115680051A (en) | 2022-10-21 | 2022-10-21 | Underwater cleaning device for water pumping port of nuclear power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115680051A true CN115680051A (en) | 2023-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211293173.8A Pending CN115680051A (en) | 2022-10-21 | 2022-10-21 | Underwater cleaning device for water pumping port of nuclear power station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115680051A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116677066A (en) * | 2023-05-26 | 2023-09-01 | 广州市鼎盛建设工程有限公司 | Pipeline dredging method for trenchless large underground pipe network |
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| CN112323884A (en) * | 2020-10-30 | 2021-02-05 | 重庆宏工工程机械股份有限公司 | Bucket stirring device |
| CN112854344A (en) * | 2020-12-16 | 2021-05-28 | 中广核研究院有限公司 | Dredging robot |
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2022
- 2022-10-21 CN CN202211293173.8A patent/CN115680051A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101299480B1 (en) * | 2012-03-13 | 2013-08-29 | 노현구 | Salt loading apparatus for salt pond |
| CN208056282U (en) * | 2018-01-12 | 2018-11-06 | 安徽芳奎环境治理研究所有限公司 | Municipal pipeline internal cleaning vehicle |
| CN110593344A (en) * | 2019-10-08 | 2019-12-20 | 长沙矿冶研究院有限责任公司 | Underwater obstacle removing vehicle |
| CN211948616U (en) * | 2020-03-20 | 2020-11-17 | 中铁十二局集团第二工程有限公司 | Earth ditch excavation one shot forming machines |
| CN112323884A (en) * | 2020-10-30 | 2021-02-05 | 重庆宏工工程机械股份有限公司 | Bucket stirring device |
| CN112854344A (en) * | 2020-12-16 | 2021-05-28 | 中广核研究院有限公司 | Dredging robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116677066A (en) * | 2023-05-26 | 2023-09-01 | 广州市鼎盛建设工程有限公司 | Pipeline dredging method for trenchless large underground pipe network |
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