CN201177141Y - Central air-conditioner pipeline cleaning and disinfection vehicle - Google Patents
Central air-conditioner pipeline cleaning and disinfection vehicle Download PDFInfo
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- CN201177141Y CN201177141Y CNU2008200833208U CN200820083320U CN201177141Y CN 201177141 Y CN201177141 Y CN 201177141Y CN U2008200833208 U CNU2008200833208 U CN U2008200833208U CN 200820083320 U CN200820083320 U CN 200820083320U CN 201177141 Y CN201177141 Y CN 201177141Y
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- drive motor
- bevel gear
- central air
- car base
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Abstract
The utility model discloses a cleaning and disinfection vehicle for central air conditioning pipelines, which comprises a vehicle base, a travel mechanism, a cleaning mechanism, and a disinfection interface, wherein the travel mechanism is arranged below the vehicle base, the cleaning mechanism is arranged on the vehicle base, the travel mechanism comprises four mechanical legs and tracked feet and travel driving motors, each mechanical leg comprises an upper chain wheel, a chain, a lower chain wheel, a first transmission guide rod, a second transmission guide rod and a driving wheel, and the driving wheel is in transmission connection with a caterpillar of one tracked foot; the travel mechanism also comprises two sets of swinging leg mechanisms which are positioned between the two mechanical legs on the front part and on the back part of the vehicle base, each swinging leg mechanism comprises a swinging leg motor, a driving gear, a driven gear and a screw transmission rod, the lower part of the screw transmission rod is sleeved on a position block with a threaded hole, the position block with the threaded hole is arranged on a pressure lever, the first transmission guide rods of the mechanical legs are fixedly sleeved with connecting sheets with arc-shaped grooves, and the pressure lever passes through the arc-shaped grooves of the connecting sheets. The cleaning and disinfection vehicle for the central air conditioning pipelines can be simultaneously suitable for cleaning rectangular and round pipelines.
Description
Technical field
The utility model relates to the central air-conditioner pipeline cleaning and disinfecting vehicle.
Background technique
Since the 2004-2007, China not but several case of SARSs occurred, and a province has suffered the bird flu invasion and attack surplus also having ten.SARS and " bird flu " these respiratory infectious diseases have caused the concern of people to the central air-conditioner health and safety in the propagation of China and surrounding countries.
State Administration for Quality Supervision and Inspection and Quarantine has issued the NBS of " air conditioner ventilating system cleaning standard " GB1920-2003, the Ministry of Public Health has issued " public place centralized air ventilation system hygienic practice ", the Ministry of Construction has formulated " air conditioner ventilating system operation management standard ", strengthened the dynamics to central air-conditioning duct cleaning, the notion of " health-care air-conditioner " begins to popularize.
According in " technical requirements of purpose-built washing equipment " and the appendix 1 among the appendix m of " the public place centralized air ventilation system cleans standard " " the main purpose-built washing equipment inventory of air conditioning wind pipe system ", stipulated that clearly cleaning the main way that adopts at China's airduct is that robot cleans and flexible axle cleans.And at present the pneumatic wash machine of external import such as air knife, vibrations whip also are not the main flow cleaning equipments in China.So domestic a large amount of still import or homemade robot washer tool.
Middle central air-conditioner pipeline cleaning robot generally is a wired remote control, enter ventilation duct by crawler belt or wheel, by the hairbrush rotation inner-walls of duct is cleaned with water, the pipeline cleaning robot of representative patent No. ZL 200520014894.6: the Athey wheel of the motor drive both sides of advancing about in the car, finish cleaning robot advancing, turning in pipeline, realize walking function; Elongation shortening by strut and adjusting strut is adjusted the hairbrush seat, realizes cleaning with water function.This background technique has can only adapt to rectangular duct, the shortcoming that can't normally in circular pipe, work, and, may bring the cleaning problem for the adjustment underaction at cleaning brush seat.
Another kind of central air-conditioner pipeline cleaning robot, the pipeline cleaning robot of representative application number 200710069249.8: adopt the absorption electromagnet to make the entire machine people be adsorbed on the pipe side wall walking, realize walking function as critical piece; By laterally zygomorphic two hairbrush the upper and lower wall in the pipeline is cleaned with water, realized cleaning with water function.It is slow that this background technique has gait of march, can only realize the shortcoming to adsorbable metal pipe-wall cleaning, and can only be applicable to the cleaning of rectangular duct equally, can't operation in circular pipe.
Summary of the invention
In order to overcome the deficiency that existing central air-conditioner pipeline cleaning robot can only be adapted to rectangular duct, can not adapt to circular pipe, the central air-conditioner pipeline cleaning and disinfecting vehicle that the utility model provides a kind of energy simultaneous adaptation rectangle and circular pipe to clean.
The technological scheme that its technical problem that solves the utility model adopts is:
A kind of central air-conditioner pipeline cleaning and disinfecting vehicle, comprise the car base, traveller, wiper mechanism and the sterilization interface that is communicated with external conveyance conduit, described traveller is installed in described car base below, described wiper mechanism is installed on the car base, described traveller comprises four mechanical legs, the mechanical leg fixing frame, crawler belt foot and travel driving motor, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection;
It is characterized in that: described traveller also comprises two cover swinging kick mechanisms, described two cover swinging kick mechanisms are between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
As preferred a kind of scheme: described wiper mechanism comprises the washing machine framework, cleans drive motor, loop bar, first bevel gear, second bevel gear, left and right sides hairbrush connecting rod, preceding hairbrush connecting rod and hairbrush, described cleaning drive motor is fixed on the washing machine framework, the output terminal of described cleaning drive motor is connected with loop bar, described loop bar is connected with first bevel gear, described first bevel gear and the second bevel gear Vertical Meshing, left and right sides hairbrush connecting rod cooperatively interacts to connect and is fixed on described second bevel gear, and described left and right hairbrush connecting rod is connected with hairbrush; Preceding hairbrush connecting rod is connected with described first bevel gear, and described preceding hairbrush connecting rod is connected with hairbrush.
As preferably in a kind of scheme: the cleaning brush regulating mechanism is installed on the described car base, described wiper mechanism is installed on the described cleaning brush regulating mechanism, described cleaning brush regulating mechanism comprises the elevator mechanism of four-bar linkage principle and utilizes the swinging mechaism of worm and worm gear, described elevator mechanism comprises four bar fixing frames, the lifting drive motor, drive link, driving lever, connecting rod, follower lever, described four bar fixing frames are installed on the car base, described driving lever and follower lever and described four bar fixing frames are hinged, described lifting drive motor is installed on the car base, install elevating endless screw on the output shaft of described lifting drive motor, described elevating endless screw cooperates with the lifting worm gear, described lifting worm gear and drive link are affixed, described drive link and driving lever are affixed, described driving lever and rod hinge connection, described connecting rod and follower lever are hinged; Described swinging mechaism comprises fixing rod, waves drive motor, waves worm screw, waves worm gear, described fixing rod is fixed on the elevator mechanism, described washing machine framework is sleeved on the fixing rod, the described drive motor that waves is installed on the washing machine framework, install the described worm screw that waves on the described output shaft that waves drive motor, describedly wave worm screw and cooperate, describedly wave worm gear and fixing rod is affixed with the described worm gear that waves.
Further, described crawler belt comprises frame and rack-mounted first follower, second follower enough, suit crawler belt on described first follower, second follower, and described driving wheel cooperates with crawler tensioning.
Further, described cleaning and disinfecting vehicle also comprises watch-dog, and this cup of described monitoring comprises monitoring drive motor, disk and camera, and described disk is installed in rotation on the car base, described camera is installed on the disk, and the rotating shaft of described disk connects with the output shaft of monitoring drive motor.
Further again, the auxiliary exhaust mouth is installed on the described car base, described auxiliary exhaust mouth external pipe is communicated with air pump.
Technical conceive of the present utility model is: the mechanical leg that adopts the band chute, two mechanical legs are one group, be symmetrically distributed in the head and the afterbody on chassis, article four, the upper end of leg is hinged on the chassis respectively, each leg can be adjusted several angle around this hinged place upset, the two groups of mechanical legs in front and back are connected by a swinging kick mechanism, and four crawler belt foots are connected with the end of mechanical leg.Swinging kick mechanism makes two legs can open certain angle smoothly, makes that four crawler belt foots on the mechanical leg flip an angle, and satisfies the needs that advance in circular pipe, so just can satisfy this novel requirement.
Realize the lifting of Vertical direction by four-bar linkage, utilize worm and worm gear to finish the upset of certain limit in the vertical plane, acting in conjunction by two regulating mechanisms, the assurance cleaning brush can be finished Height Adjustment in cleaning process, can guarantee again and the pipe blow-through level, so just can satisfy this novel requirement.
Different seats implementation pattern one and pattern two by the hairbrush connecting rod is installed adopt pattern one when cleaning rectangular duct, adopt pattern two when cleaning circular pipe, can both accomplish once to finish like this when cleaning rectangle and circular pipe, and guarantee cleaning quality.
The beneficial effects of the utility model mainly show: can simultaneous adaptation rectangle and circular pipe cleaning.
Description of drawings
Fig. 1 is the overall construction drawing of central air-conditioner pipeline cleaning and disinfecting vehicle.
Fig. 2 is the schematic representation of traveller that adapts to the central air-conditioner pipeline cleaning robot of rectangular duct.
Fig. 3 is the schematic representation of crawler belt foot.
Fig. 4 is the schematic representation of traveller that adapts to the central air-conditioner pipeline cleaning robot of circular pipe.
Fig. 5 is the cleaning brush regulating mechanism figure of central air-conditioner pipeline cleaning robot.
Fig. 6 is the washing machine composition of central air-conditioner pipeline cleaning robot.
Embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1～Fig. 6, a kind of central air-conditioner pipeline cleaning and disinfecting vehicle, comprise car base 1, traveller 2, wiper mechanism 5 and the sterilization interface 6 that is communicated with external conveyance conduit, described traveller 2 is installed in described car base 1 below, and described wiper mechanism 5 is installed on the car base 1.The sterilization interface 6 of described central air-conditioner pipeline cleaning and disinfecting vehicle, external conveyance conduit and air pump are with the thimerosal sprinkling that nebulizes; The watch-dog 7,8,9 of described central air-conditioner pipeline cleaning and disinfecting vehicle, monitoring drive motor driver plate 8 rotates, and drives camera 9 and carries out 360 degree adjustment, monitors; The auxiliary exhaust mouth 10 of described central air-conditioner pipeline cleaning and disinfecting vehicle, external gas pipeline and air pump spray high-pressure air in pipeline, play auxiliary airborne dust effect.
Described traveller 2 comprises car base 1, be installed in four mechanical legs 12 of described car base 1,22,32,42, mechanical leg fixing frame 13,23,33,43, crawler belt foot 11,21,31,41 and travel driving motor 61,62,63,64, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection; Described traveller also comprises two cover swinging kick mechanisms, two the cover leg mechanisms between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
Described crawler belt comprises frame and rack-mounted first follower, second follower enough, suit crawler belt on described first follower, second follower, and described driving wheel cooperates with crawler tensioning.
The concrete structure of present embodiment is with reference to Fig. 1, traveller comprises right front crawler belt foot 11, right front mechanical leg 12, right front mechanical leg fixing frame 13, left front crawler belt foot 21, left front mechanical leg 22, left front mechanical leg fixing frame 23, right back crawler belt foot 31, right back mechanical leg 32, right back mechanical leg fixing frame 33, left back crawler belt foot 41, left back mechanical leg 42, left back mechanical leg fixing frame 43, right front track drive motor 61, left front track drive motor 62, right back track drive motor 63, left back track drive motor 64, right front track drive motor fixing frame 81, right back track drive motor fixing frame 83, left front track drive motor fixing frame, left back track drive motor fixing frame 84, preceding swinging kick drive motor 71, back swing leg drive motor 72;
With left front mechanical leg 22 is example, comprises left front upper sprocket wheel 27, left front lower sprocket 28, left front chain 29, left front first drive link 26, left front first bevel gear 25, left front second bevel gear 24, left front second drive link 20, left front driving wheel 114.Left front crawler belt foot 21 comprises left front first follower 112, left front second follower 113, left front crawler belt 111.
The mechanism of swinging kick in the past is an example, the forward swing leg mechanism comprises preceding swinging kick motor 71, preceding driving gear 51, preceding driven gear 52, preceding thread drive link 53, the below of described preceding thread drive link 53 is sleeved on preceding fixed block 54 with threaded hole, and described preceding fixed block 54 with threaded hole is installed on the depression bar 55; At the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar 55 passes the curve bath of described each connecting sheet.
The traveller of present embodiment, it is characterized in that each crawler belt foot all has independently drive system, the basic structure of each drive system is identical, with left front crawler belt foot drive system is example: left front track drive motor 62 is fixed on the left front track drive motor fixing frame 82, by left front upper sprocket wheel 27, left front chain 29, lower-left sprocket wheel 28, give left front drive link No. one 26 with transmission of power, left front drive link drives left front bevel gear for No. one 26 and rotates for No. one 25, then mesh by bevel gear, left front bevel gear No. two 24 is given left front drive link No. two 20 with transmission of power, drives left front driving wheel 114 motions, drives left front crawler belt 111, thereby onward impulse is provided, and the drive system of other each crawler belt foot is identical with this system.
Machine traveller according to present embodiment, it is characterized in that it has comprised a swinging kick mechanism, swinging kick mechanism comprises preceding swinging kick drive motor 71, back swing leg drive motor 72, these two motors are synchronous workings, driving gear 51 rotated before preceding swinging kick drive motor 71 drove, rotate by threaded drive link 53 before driving with preceding driven gear 52 engagements, preceding square 54 with threaded hole moves up and down along the screw thread drive link, thereby depression bar 55 vertically moves, the mechanical leg of realizing the band chute opens, and forms posture shown in Figure 3, is implemented in the motor function in the circular pipe.
Referring to Fig. 5, the cleaning brush regulating mechanism of described central air-conditioner pipeline cleaning and disinfecting vehicle, this cleaning brush regulating mechanism has two parts to constitute, one for utilizing the elevator mechanism of four-bar linkage principle, described elevator mechanism comprises four bar fixing frames 300, lifting drive motor 301, drive link 304, driving lever 311, connecting rod 312, follower lever 313, described four bar fixing frames are installed on the car base 1, described driving lever 311 and follower lever 313 are hinged with described four bar fixing frames 300, described lifting drive motor 301 is installed on the car base 1, install elevating endless screw 302 on the output shaft of described lifting drive motor 301, described elevating endless screw 302 cooperates with lifting worm gear 303, described lifting worm gear 303 is affixed with drive link 304, described drive link 304 is affixed with driving lever 311, described driving lever 311 is hinged with connecting rod 312, and described connecting rod 312 is hinged with follower lever 313;
Another is the swinging mechaism that utilizes worm and worm gear, described swinging mechaism comprises fixing rod 305, waves drive motor 401, waves worm screw 402, waves worm gear 403, described fixing rod 305 is fixed on the elevator mechanism, install the described worm screw 402 that waves on the described output shaft that waves drive motor 401, describedly wave worm screw 402 and cooperate with the described worm gear 403 that waves, the described worm gear 403 that waves is affixed with fixing rod 305.
Referring to Fig. 6, the wiper mechanism of described central air-conditioner pipeline cleaning and disinfecting vehicle: comprise washing machine framework 4, clean drive motor 404, loop bar 405, first bevel gear 406, second bevel gear 407, a left side, right side hairbrush connecting rod 408, preceding hairbrush connecting rod 409, hairbrush 410, described cleaning drive motor 404 is fixed on the washing machine framework 4, the output terminal of described cleaning drive motor 404 is connected with loop bar 405, described loop bar 405 is connected with first bevel gear 406, described first bevel gear 406 and second bevel gear, 407 Vertical Meshing, below be divided into two kinds of patterns: pattern one, a left side, right side hairbrush connecting rod 408 connection that cooperatively interacts, be fixed on described second bevel gear 407 a described left side, right hairbrush connecting rod 408 is connected with hairbrush 410; Pattern two is taken down left and right hairbrush connecting rod 408, and preceding hairbrush connecting rod 409 is connected with described first bevel gear 406, and described preceding hairbrush connecting rod 409 is connected with hairbrush 410.
Claims (6)
1, a kind of central air-conditioner pipeline cleaning and disinfecting vehicle, comprise the car base, traveller, wiper mechanism and the sterilization interface that is communicated with external conveyance conduit, described traveller is installed in described car base below, described wiper mechanism is installed on the car base, it is characterized in that: described traveller comprises four mechanical legs, the mechanical leg fixing frame, crawler belt foot and travel driving motor, described mechanical leg comprises upper sprocket wheel, chain, lower sprocket, first transmission guide rod, second transmission guide rod and driving wheel, described travel driving motor is installed on the car base, install sprocket wheel on the output shaft of described drive motor, described upper sprocket wheel is in transmission connection by chain and lower sprocket, described lower sprocket is sleeved on first transmission guide rod, first bevel gear is installed on described first transmission guide rod, second bevel gear is installed on described second transmission guide rod, described first bevel gear and the second bevel gear Vertical Meshing, described driving wheel is installed on second transmission guide rod, and the crawler belt of described driving wheel and crawler belt foot is in transmission connection;
Described traveller also comprises two cover swinging kick mechanisms, described two cover swinging kick mechanisms are between two mechanical legs at car base the place ahead and rear, described swinging kick mechanism comprises swinging kick motor, driving gear, driven gear, screw thread drive link, the below of described screw thread drive link is sleeved on fixed block with threaded hole, described fixed block with threaded hole is installed on the depression bar, at the fixing connecting sheet of suit band curve bath of first transmission guide rod of described each mechanical leg, described depression bar passes the curve bath of described each connecting sheet.
2, central air-conditioner pipeline cleaning and disinfecting vehicle as claimed in claim 1, it is characterized in that: described wiper mechanism comprises the washing machine framework, clean drive motor, loop bar, first bevel gear, second bevel gear, a left side, right side hairbrush connecting rod, preceding hairbrush connecting rod and hairbrush, described cleaning drive motor is fixed on the washing machine framework, the output terminal of described cleaning drive motor is connected with loop bar, described loop bar is connected with first bevel gear, described first bevel gear and the second bevel gear Vertical Meshing, a left side, right side hairbrush connecting rod cooperatively interacts to connect and is fixed on described second bevel gear a described left side, right hairbrush connecting rod is connected with hairbrush; Preceding hairbrush connecting rod is connected with described first bevel gear, and described preceding hairbrush connecting rod is connected with hairbrush.
3, central air-conditioner pipeline cleaning and disinfecting vehicle as claimed in claim 2, it is characterized in that: the cleaning brush regulating mechanism is installed on the described car base, described wiper mechanism is installed on the described cleaning brush regulating mechanism, described cleaning brush regulating mechanism comprises the elevator mechanism of four-bar linkage principle and utilizes the swinging mechaism of worm and worm gear, described elevator mechanism comprises four bar fixing frames, the lifting drive motor, drive link, driving lever, connecting rod, follower lever, described four bar fixing frames are installed on the car base, described driving lever and follower lever and described four bar fixing frames are hinged, described lifting drive motor is installed on the car base, install elevating endless screw on the output shaft of described lifting drive motor, described elevating endless screw cooperates with the lifting worm gear, described lifting worm gear and drive link are affixed, described drive link and driving lever are affixed, described driving lever and rod hinge connection, described connecting rod and follower lever are hinged;
Described swinging mechaism comprises fixing rod, waves drive motor, waves worm screw, waves worm gear, described fixing rod is fixed on the elevator mechanism, described washing machine framework is sleeved on the fixing rod, the described drive motor that waves is installed on the washing machine framework, install the described worm screw that waves on the described output shaft that waves drive motor, describedly wave worm screw and cooperate, describedly wave worm gear and fixing rod is affixed with the described worm gear that waves.
4, as the described central air-conditioner pipeline cleaning and disinfecting vehicle of one of claim 1-3, it is characterized in that: described crawler belt comprises frame and rack-mounted first follower, second follower enough, suit crawler belt on described first follower, second follower, described driving wheel cooperates with crawler tensioning.
5, central air-conditioner pipeline cleaning and disinfecting vehicle as claimed in claim 4, it is characterized in that: described cleaning and disinfecting vehicle also comprises watch-dog, this cup of described monitoring comprises monitoring drive motor, disk and camera, described disk is installed in rotation on the car base, described camera is installed on the disk, and the rotating shaft of described disk connects with the output shaft of monitoring drive motor.
6, central air-conditioner pipeline cleaning and disinfecting vehicle as claimed in claim 5 is characterized in that: the auxiliary exhaust mouth is installed on the described car base, and described auxiliary exhaust mouth external pipe is communicated with air pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200833208U CN201177141Y (en) | 2008-02-04 | 2008-02-04 | Central air-conditioner pipeline cleaning and disinfection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200833208U CN201177141Y (en) | 2008-02-04 | 2008-02-04 | Central air-conditioner pipeline cleaning and disinfection vehicle |
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| Publication Number | Publication Date |
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| CN201177141Y true CN201177141Y (en) | 2009-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008200833208U Expired - Lifetime CN201177141Y (en) | 2008-02-04 | 2008-02-04 | Central air-conditioner pipeline cleaning and disinfection vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996974A (en) * | 2012-12-06 | 2013-03-27 | 浙江工业大学 | Traveling device transmission system in electric drive pipeline |
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN106439385A (en) * | 2016-09-30 | 2017-02-22 | 福建（泉州）哈工大工程技术研究院 | Telescopic arm pipe detecting robot suitable for different size pipe diameters |
| CN108080367A (en) * | 2018-01-02 | 2018-05-29 | 栾福超 | A kind of petroleum installation |
| CN108150757A (en) * | 2017-12-21 | 2018-06-12 | 常州大学 | A kind of industrial robot of intelligent measurement oil-gas pipeline |
| CN110185885A (en) * | 2019-04-30 | 2019-08-30 | 上海航天设备制造总厂有限公司 | A kind of pipeline polishing mobile robot |
| CN113458102A (en) * | 2021-07-02 | 2021-10-01 | 河南省紫风养护发展有限公司 | Efficient cleaning, sterilizing and killing device and process for smoke plant pipeline |
| CN115387652A (en) * | 2022-08-24 | 2022-11-25 | 上海汇聚自动化科技有限公司 | Integral lifting type parking robot |
-
2008
- 2008-02-04 CN CNU2008200833208U patent/CN201177141Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102996974A (en) * | 2012-12-06 | 2013-03-27 | 浙江工业大学 | Traveling device transmission system in electric drive pipeline |
| CN102996974B (en) * | 2012-12-06 | 2014-08-06 | 浙江工业大学 | Traveling device transmission system in electric drive pipeline |
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN106439385A (en) * | 2016-09-30 | 2017-02-22 | 福建（泉州）哈工大工程技术研究院 | Telescopic arm pipe detecting robot suitable for different size pipe diameters |
| CN108150757A (en) * | 2017-12-21 | 2018-06-12 | 常州大学 | A kind of industrial robot of intelligent measurement oil-gas pipeline |
| CN108080367A (en) * | 2018-01-02 | 2018-05-29 | 栾福超 | A kind of petroleum installation |
| CN110185885A (en) * | 2019-04-30 | 2019-08-30 | 上海航天设备制造总厂有限公司 | A kind of pipeline polishing mobile robot |
| CN110185885B (en) * | 2019-04-30 | 2021-06-18 | 上海航天设备制造总厂有限公司 | Pipeline polishing mobile robot |
| CN113458102A (en) * | 2021-07-02 | 2021-10-01 | 河南省紫风养护发展有限公司 | Efficient cleaning, sterilizing and killing device and process for smoke plant pipeline |
| CN115387652A (en) * | 2022-08-24 | 2022-11-25 | 上海汇聚自动化科技有限公司 | Integral lifting type parking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20090107 Effective date of abandoning: 20080204 |