CN116005790A - Variable angle pipeline dredging robot - Google Patents
Variable angle pipeline dredging robot Download PDFInfo
- Publication number
- CN116005790A CN116005790A CN202310002750.1A CN202310002750A CN116005790A CN 116005790 A CN116005790 A CN 116005790A CN 202310002750 A CN202310002750 A CN 202310002750A CN 116005790 A CN116005790 A CN 116005790A
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- connecting seat
- detection
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- bin
- variable angle
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- 238000001514 detection method Methods 0.000 claims abstract description 44
- 239000007921 spray Substances 0.000 claims abstract description 27
- 239000000523 sample Substances 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000010802 sludge Substances 0.000 description 5
- 238000005406 washing Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a variable-angle pipeline dredging robot which comprises a detection bin, wherein an annular lamp is arranged on the front end face of the detection bin, a detection probe is arranged on the front end face of the detection bin, a first connecting seat is fixed on the rear end face of the detection bin, a second connecting seat is arranged on one side of the first connecting seat, and a control bin is arranged on the other side of the second connecting seat. According to the invention, the three walking tracks of the device can be unfolded and contracted without manual adjustment, so that the walking tracks can be matched with different pipeline inner walls, the device is conveniently and rapidly arranged in the pipeline inner cavity, meanwhile, the high-pressure spray head of the device can be connected with an external water source through a hose, convenient spray dredging can be carried out on the pipeline inner wall through the high-pressure spray head, the traditional manual dredging mode is changed, automatic pipeline cleaning operation is achieved, and the rotating sleeve and the high-pressure spray head can axially rotate through driving of a servo motor, and any part of the pipeline inner wall can be washed through cooperation of the multi-shaft mechanical arm.
Description
Technical Field
The invention relates to the technical field of pipeline robot equipment, in particular to a variable-angle pipeline dredging robot.
Background
With the acceleration of urban progress in China, the challenges of sewer drainage are increasingly outstanding, especially the gradual ageing of urban pipe networks, the accumulation after heavy rain is serious, and even serious personnel and property losses occur. The pipeline must in time dredge after crowding, waste such as silt in the clearance pipeline keeps unblocked for a long time to prevent that the city from taking place the waterlogging, the pipeline does not regularly dredge and can cause sewage to overflow, polluted environment brings the trouble for people living, in municipal underwater pipe network, cause silt and rubbish to the jam of tunnel relatively easily, thereby influence the normal operation of whole tunnel, and to the pressurized tunnel because of being full of rivers for a long time, difficult manual cleaning, conventional dredging method is that the dredging car is followed ground and is plugged into pipe network washing or manual excavation operation with big velocity of flow water washing of entrance to a cave.
The pipeline dredging robot comprises a traveling vehicle and a sludge treatment device, wherein the traveling vehicle comprises a carriage with the sludge treatment device at the front end, a power supply device and a control device which are arranged in the carriage, a signal feedback device which is arranged on the carriage, and two traveling devices which are symmetrically arranged on the outer side wall of the carriage and have anti-skid performance;
in the device, though the robot for dredging through the pipeline can replace manual dredging operation, the safety is high, the sludge can be thoroughly cleaned and the cleaning efficiency is high through automatic walking operation in the pipeline between two well heads, but the robot can not be used for flushing the inner wall of the pipeline in a rotating way in the dredging process, so that the residual sludge is easy to appear at the inner wall of the pipeline, the dredging is not thorough enough, and the robot is easy to be blocked and moved by the sludge at the lower end of the inner cavity of the pipeline.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a variable angle pipeline dredging robot, which solves the problems and solves the problems proposed by the background technology.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the angle-variable pipeline dredging robot comprises a detection bin, wherein an annular lamp is arranged on the front end face of the detection bin, a detection probe is arranged on the front end face of the detection bin, a first connecting seat is fixed on the rear end face of the detection bin, a second connecting seat is arranged on one side of the first connecting seat, and a control bin is arranged on the other side of the second connecting seat;
the connecting seat I is rotatably provided with a plurality of first supporting rods, the connecting seat II is rotatably provided with a plurality of second supporting rods, a walking crawler belt is arranged between the first supporting rods and the second supporting rods, a plurality of guide rods are arranged between the second connecting seat and the control cabin, the surfaces of the guide rods are sleeved with sliding sleeves, telescopic push rods are rotatably arranged between the sliding sleeves and the second supporting rods, a screw rod is rotatably arranged between the second connecting seat and the control cabin, ball nuts are in threaded engagement with the surfaces of the screw rod, and connecting rods are fixed between the ball nuts and the sliding sleeves;
the surface of the detection bin is rotationally provided with a rotating sleeve through a bearing, the surface of the rotating sleeve is fixedly provided with driven teeth, the upper end surface of the rotating sleeve is fixedly provided with a mounting seat, the upper end surface of the mounting seat is provided with a multi-shaft mechanical arm, the extension end of the multi-shaft mechanical arm is provided with a high-pressure spray head, the surface of the detection bin is fixedly provided with a servo motor, and the output end of the servo motor is fixedly provided with driving teeth;
the inner cavity of the detection bin is rotatably provided with a roller, the surface of the roller is wound with a guide pipe, torsion springs are fixed between the two sides of the roller and the two sides of the inner wall of the detection bin respectively, and a corner tube is fixed on the lower end surface of the detection bin;
two supporting plates are fixed on the lower end face of the control bin, and a line roller is rotatably arranged between the two supporting plates.
Preferably, the surface of the walking track is provided with a non-slip belt.
Preferably, the driving teeth are meshed with the driven teeth, and the rotating sleeve forms a transmission structure through the driven teeth, the driving teeth and the servo motor.
Preferably, the opening end of the lower part of the corner tube is fixedly provided with a first guide opening, and the opening end of the upper part of the corner tube is fixedly provided with a second guide opening.
Preferably, the output end of the guide pipe passes through the detection bin and is fixedly connected with the high-pressure spray head, and the other end of the guide pipe is sleeved with the corner pipe in a penetrating manner.
Preferably, the compliant roller is coupled to the catheter surface for assisting in catheter movement.
Preferably, the sliding sleeve and the ball nut form a transmission structure through a connecting rod.
Preferably, the walking track forms an extensible structure through the telescopic push rod, the sliding sleeve and the guide rod.
(III) beneficial effects
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the three walking tracks of the device can be unfolded and contracted without manual adjustment, so that the walking tracks can be matched with different pipeline inner walls, the device is conveniently and rapidly arranged in the pipeline inner cavity, meanwhile, the high-pressure spray head of the device can be connected with an external water source through a hose, convenient spray dredging can be carried out on the pipeline inner wall through the high-pressure spray head, the traditional manual dredging mode is changed, automatic pipeline cleaning operation is achieved, and the rotating sleeve and the high-pressure spray head can axially rotate through driving of a servo motor, and any part of the pipeline inner wall can be washed through cooperation of the multi-shaft mechanical arm.
2. According to the invention, when the device moves in the pipeline, the guide pipe is pulled to move, and when the guide pipe is pulled, the winding roller can rotate to put the pipe, so that the situation that the pipe body is pulled in the pipeline to fall off can be effectively prevented.
3. According to the invention, the guide pipe can be hung by the control bin, the guide pipe is prevented from being dragged to the lower end of the inner wall of the pipeline, excessive friction between the guide pipe and the pipeline can be prevented, and the situation that the guide pipe is worn and broken is prevented.
Drawings
FIG. 1 is a schematic diagram of a front view of a variable angle pipeline dredging robot in the invention;
FIG. 2 is a schematic view of the structure of the track of the present invention;
FIG. 3 is a schematic view of the structure of the detection bin in the present invention;
FIG. 4 is a schematic view of the cross section of the inspection chamber according to the present invention;
fig. 5 is a schematic view of the structure of the present invention at the line roller.
In the figure: 1. a detection bin; 2. a ring lamp; 3. a detection probe; 4. a first connecting seat; 5. a second connecting seat; 6. a control bin; 7. a first supporting rod; 8. a second supporting rod; 9. a walking track; 10. a guide rod; 11. a sliding sleeve; 12. a telescopic push rod; 13. an anti-slip belt; 14. a screw rod; 15. a ball nut; 16. a connecting rod; 17. a rotating sleeve; 18. driven teeth; 19. a mounting base; 20. a multi-axis mechanical arm; 21. a high pressure nozzle; 22. a servo motor; 23. a driving tooth; 24. a roller; 25. a conduit; 26. a torsion spring; 27. a corner tube; 28. a guide opening I; 29. a second guide port; 30. a support plate; 31. and (5) a line roller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, a variable angle pipeline dredging robot comprises a detection bin 1, wherein an annular lamp 2 is arranged on the front end surface of the detection bin 1, a detection probe 3 is arranged on the front end surface of the detection bin 1, a first connecting seat 4 is fixed on the rear end surface of the detection bin 1, a second connecting seat 5 is arranged on one side of the first connecting seat 4, and a control bin 6 is arranged on the other side of the second connecting seat 5;
a plurality of first supporting rods 7 are rotatably arranged on the surface of the first connecting seat 4, a plurality of second supporting rods 8 are rotatably arranged on the surface of the second connecting seat 5, a walking track 9 is arranged between the first supporting rods 7 and the second supporting rods 8, a plurality of guide rods 10 are arranged between the second connecting seat 5 and the control cabin 6, sliding sleeves 11 are sleeved on the surfaces of the guide rods 10, telescopic push rods 12 are rotatably arranged between the sliding sleeves 11 and the surfaces of the second supporting rods 8, a screw rod 14 is rotatably arranged between the second connecting seat 5 and the control cabin 6, ball nuts 15 are in threaded engagement with the surfaces of the screw rod 14, and connecting rods 16 are fixed between the ball nuts 15 and the sliding sleeves 11;
the surface of the detection bin 1 is rotatably provided with a rotating sleeve 17 through a bearing, the surface of the rotating sleeve 17 is fixedly provided with driven teeth 18, the upper end surface of the rotating sleeve 17 is fixedly provided with a mounting seat 19, the upper end surface of the mounting seat 19 is provided with a multi-shaft mechanical arm 20, the extension end of the multi-shaft mechanical arm 20 is provided with a high-pressure spray head 21, the surface of the detection bin 1 is fixedly provided with a servo motor 22, and the output end of the servo motor 22 is fixedly provided with driving teeth 23;
the inner cavity of the detection bin 1 is rotatably provided with a roller 24, a guide pipe 25 is wound on the surface of the roller 24, a torsion spring 26 is fixed between two sides of the roller 24 and two sides of the inner wall of the detection bin 1 respectively, and a corner tube 27 is fixed on the lower end surface of the detection bin 1;
two support plates 30 are fixed on the lower end surface of the control bin 6, and a line roller 31 is rotatably arranged between the two support plates 30;
the device is placed on the inner wall of a pipeline, the output end of a driving motor in a control bin 6 rotates to drive a screw rod 14 to rotate, a ball nut 15 with the surface in threaded engagement moves when the screw rod 14 rotates, the ball nut 15 drives a sliding sleeve 11 to move on the surface of a guide rod 10 through a connecting rod 16, so that the sliding sleeve 11 drives a telescopic push rod 12 with one end in rotary installation to stretch and adjust the angle, the telescopic push rod 12 stretches and adjusts the angle and simultaneously supports a walking track 9 to spread, so that anti-skid belts 13 of three walking tracks 9 are attached to the inner wall of the pipeline, the device is supported on the inner wall of the pipeline, equipment is driven to move on the inner wall of the pipeline through the walking track 9,
the ring lamp 2 works to search and shine the inside of the pipeline, the detecting probe 3 scans and shoots the inner wall of the pipeline,
the water is sent into the high-pressure spray head 21 from the conduit 25 through a water source externally connected with the conduit 25 and is sprayed and washed on the inner wall of the pipeline through the high-pressure spray head 21, in the washing process, the spray angle of the high-pressure spray head 21 is regulated through the multi-shaft mechanical arm 20, then the driving teeth 23 are driven to rotate through the output end of the servo motor 22, the driving teeth 23 drive the driven teeth 18 to rotate, the rotating sleeve 17 is made to rotate, the rotating sleeve 17 drives the multi-shaft mechanical arm 20 and the high-pressure spray head 21 to axially rotate, the high-pressure spray head 21 is made to rotate and wash on the inner wall of the pipeline,
when the guide tube 25 is pulled, the winding roller 24 can be rotated to release the guide tube 25 with the pulled end, and the guide tube 25 can be driven to rotate and wind up by the torsion of the torsion spring 26.
Referring to fig. 2, the surface of the walking track 9 is provided with a non-slip belt 13, and the non-slip belt 13 can prevent slipping when the device moves.
Referring to fig. 3, the driving teeth 23 are engaged with the driven teeth 18, and the rotating sleeve 17 forms a transmission structure with the driven teeth 18, the driving teeth 23 and the servo motor 22, so that the rotating sleeve 17 can be driven to rotate.
Referring to fig. 4, a first guide opening 28 is fixed at the lower opening end of the corner tube 27, and a second guide opening 29 is fixed at the upper opening end of the corner tube 27, so that the conduit 25 can pass through the two guide openings conveniently.
Referring to fig. 4, an output end of a conduit 25 passes through the detection bin 1 and is fixedly connected with the high-pressure spray head 21, and the other end of the conduit 25 is connected with a corner pipe 27 in a penetrating and sleeving manner, so that high-pressure water can be sent into the high-pressure spray head 21 through the conduit 25.
Referring to fig. 5, a compliant roller 31 is coupled to the surface of the conduit 25 for assisting in the movement of the conduit 25.
Referring to fig. 2, the sliding sleeve 11 and the ball nut 15 form a transmission structure through a connecting rod 16.
Referring to fig. 2, the walking track 9 forms an extendable structure with the guide rod 10 through the telescopic push rod 12, the sliding sleeve 11.
A working method of a variable angle pipeline dredging robot comprises the following steps:
the device is placed on the inner wall of a pipeline, the output end of a driving motor in a control bin 6 rotates, a screw rod 14 is driven to rotate, a ball nut 15 with the surface in threaded engagement moves when the screw rod 14 rotates, the ball nut 15 drives a sliding sleeve 11 to move on the surface of a guide rod 10 through a connecting rod 16, so that the sliding sleeve 11 drives a telescopic push rod 12 with one end in rotary installation to stretch and adjust an angle, the telescopic push rod 12 stretches and adjusts the angle, the driving teeth 23 are supported to be unfolded, the anti-skid belts 13 of three walking tracks 9 are attached to the inner wall of the pipeline, the device is supported on the inner wall of the pipeline, the device is driven to move on the inner wall of the pipeline through the walking tracks 9, an annular lamp 2 works to search and photograph the inner wall of the pipeline, a detection probe 3 scans and photographs the inner wall of the pipeline, water source connected with the pipeline 25 is fed into a high-pressure spray head 21 through a high-pressure pump, the pipeline inner wall is sprayed and washed through the high-pressure spray head 21, in the washing process, the multi-shaft mechanical arm 20 adjusts the spraying angle of the high-pressure spray head 21, the output end of the servo motor 22 drives a driving tooth 23 to rotate, the driving tooth 23 drives a driven tooth 18 to rotate, the rotating sleeve 17, the anti-skid belt 13 is attached to the inner wall of the pipeline, the pipeline is driven by the rotating sleeve 17 to rotate, the high-pressure spray head 21, and the high-pressure spray head 21 is driven by the high-pressure spray roller 25, and the high-pressure roller 26 rotates the high-pressure roller 26, and the high-speed torsion roller roll drum roller 25 rotates along the inner wall through the high-speed rotation principle, and can rotate, and the pipeline.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a variable angle pipeline dredging robot, includes detection storehouse (1), its characterized in that, annular lamp (2) are installed to detection storehouse (1) preceding terminal surface, detection probe (3) are installed to detection storehouse (1) preceding terminal surface, detection storehouse (1) rear end face is fixed with connecting seat one (4), connecting seat one side is provided with connecting seat two (5), connecting seat two (5) opposite side is provided with control bin (6);
the novel automatic control device comprises a first connecting seat (4), a second connecting seat (5), a first supporting rod (7), a second supporting rod (8), a walking crawler belt (9), a plurality of guide rods (10), a sliding sleeve (11), a telescopic push rod (12), a screw rod (14) and a ball nut (15), wherein the first supporting rod (7) is rotatably arranged on the surface of the first connecting seat (4), the second supporting rod (8) is rotatably arranged on the surface of the second connecting seat (5), the ball nut (15) is arranged between the first supporting rod (7) and the second supporting rod (8), the guide rods (10) are arranged between the second connecting seat (5) and the control cabin (6), the connecting rod (16) is fixedly arranged between the ball nut (15) and the sliding sleeve (11);
the detection bin comprises a detection bin body, wherein a rotating sleeve (17) is rotatably arranged on the surface of the detection bin body through a bearing, driven teeth (18) are fixed on the surface of the rotating sleeve (17), an installation seat (19) is fixed on the upper end face of the rotating sleeve (17), a multi-shaft mechanical arm (20) is arranged on the upper end face of the installation seat (19), a high-pressure spray head (21) is arranged at the extension end of the multi-shaft mechanical arm (20), a servo motor (22) is fixed on the surface of the detection bin body, and driving teeth (23) are fixed at the output end of the servo motor (22);
the inner cavity of the detection bin (1) is rotatably provided with a roller (24), a guide pipe (25) is wound on the surface of the roller (24), torsion springs (26) are fixed between two sides of the roller (24) and two sides of the inner wall of the detection bin (1), and a corner tube (27) is fixed on the lower end surface of the detection bin (1);
two supporting plates (30) are fixed on the lower end face of the control bin (6), and a line roller (31) is rotatably arranged between the two supporting plates (30).
2. The variable angle pipeline dredging robot of claim 1, wherein: the surface of the walking crawler belt (9) is provided with an anti-skid belt (13).
3. The variable angle pipeline dredging robot of claim 1, wherein: the driving teeth (23) are connected with the driven teeth (18) in a meshed mode, and the rotating sleeve (17) and the servo motor (22) form a transmission structure through the driven teeth (18) and the driving teeth (23).
4. The variable angle pipeline dredging robot of claim 1, wherein: the first guide opening (28) is fixed at the lower opening end of the corner tube (27), and the second guide opening (29) is fixed at the upper opening end of the corner tube (27).
5. The variable angle pipeline dredging robot of claim 1, wherein: the output end of the guide pipe (25) penetrates through the detection bin (1) and is fixedly connected with the high-pressure spray head (21), and the other end of the guide pipe (25) is sleeved with the corner pipe (27) in a penetrating mode.
6. The variable angle pipeline dredging robot of claim 1, wherein: the line roller (31) is connected with the surface of the guide pipe (25) and is used for assisting the movement of the guide pipe (25).
7. The variable angle pipeline dredging robot of claim 1, wherein: the sliding sleeve (11) and the ball nut (15) form a transmission structure through a connecting rod (16).
8. The variable angle pipeline dredging robot of claim 1, wherein: the walking crawler belt (9) forms an extensible structure with the guide rod (10) through the telescopic push rod (12), the sliding sleeve (11).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002750.1A CN116005790A (en) | 2023-01-03 | 2023-01-03 | Variable angle pipeline dredging robot |
| PCT/CN2023/119197 WO2024146167A1 (en) | 2023-01-03 | 2023-09-15 | Variable-angle pipeline desilting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310002750.1A CN116005790A (en) | 2023-01-03 | 2023-01-03 | Variable angle pipeline dredging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116005790A true CN116005790A (en) | 2023-04-25 |
Family
ID=86033340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310002750.1A Pending CN116005790A (en) | 2023-01-03 | 2023-01-03 | Variable angle pipeline dredging robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116005790A (en) |
| WO (1) | WO2024146167A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024146167A1 (en) * | 2023-01-03 | 2024-07-11 | 中铁市政环境建设有限公司 | Variable-angle pipeline desilting robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5203646A (en) * | 1992-02-06 | 1993-04-20 | Cornell Research Foundation, Inc. | Cable crawling underwater inspection and cleaning robot |
| JPH07171531A (en) * | 1993-12-21 | 1995-07-11 | Toshiba Corp | Piping maintenance robot |
| CN107989168A (en) * | 2017-10-27 | 2018-05-04 | 北海南坡腕网络技术有限公司 | A kind of intelligent robot of pipe dredging |
| CN108413177B (en) * | 2018-03-09 | 2020-01-31 | 武汉理工大学 | self-adaptive pipeline dredging robot |
| CN110656695A (en) * | 2019-09-19 | 2020-01-07 | 陕西中建建乐智能机器人有限公司 | Municipal administration pipeline desilting robot |
| CN211312810U (en) * | 2019-12-03 | 2020-08-21 | 常州步新自动化科技有限公司 | High-efficient desilting device of underground piping |
| CN212153680U (en) * | 2020-04-11 | 2020-12-15 | 湖南中科恒清环境管理有限责任公司 | Multifunctional drainage system detection, dredging and restoration robot |
| CN212893188U (en) * | 2020-06-17 | 2021-04-06 | 浙江铭普机械设备科技有限公司 | Dredging pipe reel for dredging vehicle |
| CN217165643U (en) * | 2022-04-21 | 2022-08-12 | 安徽中烟工业有限责任公司 | Automatic cleaning device for hot air pipeline |
| CN116005790A (en) * | 2023-01-03 | 2023-04-25 | 中铁市政环境建设有限公司 | Variable angle pipeline dredging robot |
-
2023
- 2023-01-03 CN CN202310002750.1A patent/CN116005790A/en active Pending
- 2023-09-15 WO PCT/CN2023/119197 patent/WO2024146167A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024146167A1 (en) * | 2023-01-03 | 2024-07-11 | 中铁市政环境建设有限公司 | Variable-angle pipeline desilting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024146167A1 (en) | 2024-07-11 |
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