CN206215630U - A kind of pipe dredging detects robot - Google Patents
A kind of pipe dredging detects robot Download PDFInfo
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- CN206215630U CN206215630U CN201621174011.2U CN201621174011U CN206215630U CN 206215630 U CN206215630 U CN 206215630U CN 201621174011 U CN201621174011 U CN 201621174011U CN 206215630 U CN206215630 U CN 206215630U
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- mobile vehicle
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- pipeline
- overcoat
- inner core
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 46
- 238000005406 washing Methods 0.000 claims abstract description 29
- 238000007789 sealing Methods 0.000 claims abstract description 13
- 230000003068 static effect Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000004140 cleaning Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000010865 sewage Substances 0.000 description 3
- 239000010802 sludge Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000010908 plant waste Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- Cleaning In General (AREA)
Abstract
The utility model is related to a kind of pipe dredging detection robot, and mobile vehicle both sides are equipped with wheel, and the wheel per side drives rotation by transmission mechanism by the motor in mobile vehicle；The both sides of mobile vehicle are mounted on cylinder, and support arm is respectively connected with per the output end of side cylinder, and camera is provided with support arm；The front end of mobile vehicle is provided with rotary shaft, rotary shaft includes the shell being fixed on mobile vehicle, the inner core being placed in shell and the static and dynamic sealing ring between shell and inner core, inner core is rotated by static and dynamic sealing ring relative to shell, inner core is divided into relatively independent overcoat and inner sleeve, water delivery nozzle and water sucking mouth are respectively equipped with shell, one end of inner core is connected with the washing knife motor on mobile vehicle, and the other end is connected with washing knife, and multiple limbers are evenly equipped with washing knife.The utility model can be greatly enhanced accuracy, reliability and the operating efficiency of operation.
Description
Technical field
The utility model is related to special trade robot field, specifically a kind of pipe dredging detection robot, uses
To complete the tasks such as defects detection, tube wall cleaning, the interior reparation of pipe inside pipeline, it is mainly used in Urban Buried Pipeline Network Systems, stone
The occasions such as the development and pipe-line maintenance of oil, chemical industry, natural gas and nuclear industry.
Background technology
Because the displacement of China's urban discharging pipeline in recent years is increasing, by domestic garbage, plant waste, base
Build building site mud etc. and sediment occurs in drainage pipeline, cause line clogging, it is necessary to cleared up in time, dredged.Here
Desilting work, from terms of existing equipment, such as winch, jetting, logical hook machine, catchment, all compare in actual job
It is difficult.In addition, traditional workman's detection, dredging method bring and cause many danger.According to statistics, annual city row domestic in recent years
Waterpipe maintenance, over thousands of of accident of dredging, cause so many people injures and deaths；Meanwhile, as many as more than 10,000,000,000 are accessed between economic loss.In
It is that the demand of pipe robot is just arisen at the historic moment.
Utility model content
The purpose of this utility model is to provide a kind of pipe dredging detection robot.Pipe dredging detection robot can
The tasks such as the defects detection in pipe, cleaning, the interior reparation of pipe of pipeline and tube wall are completed, the accurate of operation can be greatly enhanced
Property, reliability and operating efficiency.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes the integrated pipeline of pipeline cable, suction hose, flow pipe, cylinder, support arm, mobile vehicle, car
Wheel, washing knife motor, rotary shaft and washing knife, wherein mobile vehicle both sides are equipped with wheel, and the wheel per side passes through
Transmission mechanism drives rotation by motor independent, in the mobile vehicle；The both sides of the mobile vehicle are mounted on
Cylinder, the output end of cylinder is respectively connected with support arm described in per side, camera is provided with the support arm, by the cylinder band
Dynamic support arm stretches, and adapts to the pipeline of different tube diameters；The front end of the mobile vehicle is provided with rotary shaft, and the rotary shaft includes fixing
Shell on mobile vehicle, the inner core being placed in shell and the static and dynamic sealing ring between shell and inner core, it is described in
Core is rotated by static and dynamic sealing ring relative to shell, and the inner core is divided into relatively independent overcoat and inner sleeve, on the shell respectively
It is provided with the water delivery nozzle being connected with overcoat or inner sleeve and the water sucking mouth being connected with inner sleeve or overcoat, one end and the peace of the inner core
Washing knife motor on mobile vehicle is connected, and the other end is connected with the washing knife, is evenly equipped with the washing knife many
Individual limbers；The water delivery nozzle is connected by flow pipe with the integrated pipeline of pipeline cable, and water sucking mouth is by suction hose and pipeline electricity
The integrated pipeline of cable is connected.
Wherein：The static and dynamic sealing ring will be divided into two parts in shell vertically, and outer the putting per part is equipped with opening,
The open communication of a portion in the overcoat and water delivery nozzle or water sucking mouth, the open communication of another part in the inner sleeve with
Water sucking mouth or water delivery nozzle；The longitudinal center line of the overcoat, inner sleeve and shell is conllinear；The washing knife inside and overcoat and inner sleeve
It is connected, the limbers is arranged along the even circumferential on washing knife chassis；The support arm is cylindric, and its rear and front end is equal
Camera is installed, the motor in the camera and mobile vehicle passes through tracheae, electric wire integrated pipeline and the pipeline cable collection
It is connected into pipeline；Every side of the mobile vehicle is respectively provided with three wheels, and three wheels per side are by a motor by passing
Motivation structure drives.
Advantage of the present utility model is with good effect：
1. single motor drives unilateral wheel；Robot can be divided into wheeled, crawler type from move mode and free wriggling
Formula etc., fast with speed because wheel type mobile mode is compared with other manner, stable movement is wide the advantages of load capacity is strong
It is general for various pipeline Work robots in, and using effect of this move mode in straight tube is fine；In addition, both sides are each
It is driven using a motor, and using the gear drive of transmission efficiency, realizes that a motor drives three simultaneously
Wheel.
2. pipeline reducing diameter is adapted to and robot locking；It is slippery surface that sewer pipe inside is mostly, particularly most beneath, also
Mud so that robot is when mobile, it is easy to skidding occur, it is impossible to realize movement；In addition, the diameter of sewer pipe is more
There is difference, this requires that robot there should be certain adaptability；To solve these problems, on robot, it is provided with
One support arm that lifting is realized with cylinder, when support arm is lifted, is adapted to the pipeline of different tube diameters；When, increase wheel
To the pressure of tube wall, the tractive force of robot is improved, it is ensured that robot realizes normal mobile；In addition, when support arm rises, making
Cylinder when being close to pipeline top face, robot can be locked in current position so that the washing knife operation of rotation
When, do not washed away by current, it is ensured that robot completes pipeline cleaning operation.
3. pipeline inner machine people antidumping；Antidumping is unexistent, robot in current pipe detection, cleaning robot
When pipeline is moved, moved along conduit axis direction, this direction is deviate from when robot is moved, it is possible to make
Robot produces inclination, and robot can be caused to topple when serious；In order to ensure robot when mobile can safe normal operation,
Robot supports inner-walls of duct face by air cylinder driven support arm, it is to avoid robot topples.
4. washing knife-edge rotation side carries out clean-up operation；In existing sewer pipe clean-up operation robot, adopt
Clean-up operation, including two kinds of orientation water spray and rotary water jet are carried out with high-pressure water knife；There is injection extremely in the water knife for orienting water spray
The problem at angle, it is impossible to remove inside pipeline well；The water knife of rotary water jet is mostly that by the way of active drive, this is accomplished by
Increase a motor to drive, increased system complexity；To solve this problem, devise a kind of using water movement reality
Now the washing knife of automatic rotation, while motor is reduced, solves the problems, such as dead angle of spraying water again.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is structural front view of the present utility model；
Fig. 3 is the internal structure schematic diagram of the utility model rotary shaft；
Wherein：1 is the integrated pipeline of pipeline cable, and 2 is suction hose, and 3 is flow pipe, and 4 is cylinder, and 5 is support arm, and 6 is this
Body, 7 is wheel, and 8 is washing knife motor, and 9 is rotary shaft, and 10 is washing knife, and 11 is limbers, and 12 is tracheae, electric wire collection
Into pipeline, 13 is camera, and 14 is shell, and 15 is water delivery nozzle, and 16 is water sucking mouth, and 17 is static and dynamic sealing ring, and 18 is opening A, 19
It is opening B, 20 is overcoat, and 21 is inner sleeve.
Specific embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the utility model include the integrated pipeline 1 of pipeline cable, suction hose 2, flow pipe 3, cylinder 4,
Support arm 5, mobile vehicle 6, wheel 7, washing knife motor 8, rotary shaft 9, washing knife 10 and camera 13, wherein mobile carry
The both sides of body 6 are equipped with wheel 7, and the wheel 7 per side is three, and three wheels 7 per side are by an independent motor by transmission
Mechanism drives rotation, is capable of achieving to advance, retreats and left-right rotation；Transmission mechanism of the present utility model is gear drive, this
It is prior art, will not be repeated here.Two motors of both sides wheel are driven to be arranged in mobile vehicle 6.
The both sides of mobile vehicle 6 are mounted on cylinder 4, are respectively connected with support arm 5 per the output end of side cylinder 4, the support
Arm 5 is cylindric, and its rear and front end is mounted on camera 13, and inner-walls of duct situation can be detected by camera 13, shooting
First 13, two motors in cylinder 4 and mobile vehicle 6 are by tracheae, electric wire integrated pipeline 12 and are located at mobile vehicle rear end
The integrated pipeline 1 of pipeline cable is connected.The cylinder 4 of the both sides of mobile vehicle 6 drives the support arm 5 of both sides to stretch respectively, adapts to not
With the pipeline of caliber, adaptability of the robot to different tube diameters downcomer is improved, while robot can be increased again to ground
Pressure, improve robot tractive force, it is ensured that robot is in wet and slippery inner-walls of duct proper motion.
The front end of mobile vehicle 6 is provided with rotary shaft 9, as shown in figure 3, rotary shaft 9 is outer on mobile vehicle 6 including being fixed on
Shell 14, the inner core being placed in shell 14 and the static and dynamic sealing ring 17 between shell 14 and inner core, inner core are close by sound
Seal ring 17 can rotate relative to shell 14, and the inner core is divided into relatively independent overcoat 20 and inner sleeve 21, overcoat 20, inner sleeve 21 and outer
The longitudinal center line of shell 14 is conllinear.Static and dynamic sealing ring 17 will be divided into two parts in shell 14 vertically, on the overcoat 20 per part
It is equipped with opening；Be respectively equipped with shell 14 water delivery nozzle 15 that is connected with overcoat 20 or inner sleeve 21 and with inner sleeve 21 or overcoat 20
The water sucking mouth 16 being connected.The open communication of a portion in overcoat 20 and water delivery nozzle 15 or water sucking mouth 16, another part
Open communication is in inner sleeve 21 and water sucking mouth 16 or water delivery nozzle 15.The utility model sets on the overcoat 20 of the rear side of static and dynamic sealing ring 17
The opening A18 for having and being connected in overcoat 20, corresponding opening A18 is provided with water delivery nozzle 15 on shell 14, and the water delivery nozzle 15 is by sending
Water pipe 3 is connected with the integrated pipeline 1 of pipeline cable；Opening B19, the opening are provided with the overcoat 20 of the front side of static and dynamic sealing ring 17
B19 is connected with inner sleeve 21, and corresponding opening B19 is provided with water sucking mouth 16 on shell 14, and the water sucking mouth 16 passes through suction hose 2 and pipeline
The integrated pipeline 1 of cable is connected.One end of inner core is connected with the washing knife motor 8 on mobile vehicle 6, and the other end connects
It is connected to washing knife 10.Wash knife 10 chassis on be along the circumferential direction evenly equipped with multiple limbers 11, these limbers 11 both with outward
Set 20 is connected, and is connected with inner sleeve 21.When flow pipe 3 send water, each limbers 11 is and send water hole, and current are by each rotation
Washing knife 10 on each limbers 11 spray, be used to carry out downcomer wall clean-up operation；It is each logical when suction hose 2 absorbs water
Water hole 11 is again suction hole, extracts sludge, sewage out pipeline.
Operation principle of the present utility model is：
Robot of the present utility model is one cable Work robot, and the integrated pipeline 11 of pipeline cable is by cable and control
System (control system of the present utility model is prior art) processed is connected.After cable is connected with control system, response control
The operational order of system, such as：The advance of mobile vehicle 6, retrogressing, steering, stopping, speed regulation, the lifting of camera 13, under
Drop, light regulation, focusing, zoom, front and rear view angle switch of camera etc..During detection, desilting, control system can be real-time
The status information of display, the picture that recording camera 13 is passed back and mobile vehicle 6, and remark information, can at any time control washing
The rotation of knife 10 is strong and weak.In cutting operation, it is ensured that the stability of mobile vehicle 6, sludge, sewage are extracted out pipeline at any time.Tool
Body is：
Two motors in mobile vehicle 6 drive the wheel 7 of both sides to rotate respectively, according in pipeline situation advance, after
Move back or turn to.The cylinder 4 of the both sides of mobile vehicle 6 drives the support arm 5 of both sides to lift, and machine is observed using front and rear camera 13
The road conditions of device people's direction of travel, while observing inner-walls of duct situation.When needing to carrying out desilting in pipeline, motor stops
Only work, cylinder 4 drives support arm 5 to rise to and supports inner-walls of duct face, plays a part of stationary machines people.Washing knife drives
Motor 8 works, and drives washing knife 10 to rotate by rotary shaft 9 and the scope of operation is cut, is sprayed by limbers 11 in rotation
Current, are used to carry out clean-up operation to inner-walls of duct face.After desilting, suction hose 2 extracts sludge, sewage out pipeline.
The utility model can reach following technical performance index：Maximum translational speed is 20m/min；Classification of waterproof is
IP68；Desilting mode washes away for rotary water current；View mode is visible light camera, thermal camera；Illuminator is combination
LED spotlight；Detectability is that can carry various difference in functionality modules, such as gas detection, temperature, water level, flow, image；It is fixed
Position mode is low-frequency electromagnetic wave combination odometer；Cable length is 100m (variable)；Mode of operation is easily operated long-range control
Device processed；Temperature range is 0~50 DEG C；Pipeline adaptability is pipe diameter 350mm~500mm.
Claims (6)
1. a kind of pipe dredging detects robot, it is characterised in that：Including the integrated pipeline of pipeline cable (1), suction hose (2), send
Water pipe (3), cylinder (4), support arm (5), mobile vehicle (6), wheel (7), washing knife motor (8), rotary shaft (9) and water
Knife (10) is washed, wherein mobile vehicle (6) both sides are equipped with wheel (7), the wheel (7) per side is by transmission mechanism by independence
, motor in the mobile vehicle (6) drive rotation；The both sides of the mobile vehicle (6) are mounted on cylinder (4),
The output end of cylinder (4) is respectively connected with support arm (5) described in per side, camera (13) is provided with the support arm (5), by institute
Stating cylinder (4) drives support arm (5) to stretch, and adapts to the pipeline of different tube diameters；The front end of the mobile vehicle (6) is provided with rotary shaft
(9), the rotary shaft (9) is including the shell (14) being fixed on mobile vehicle (6), the inner core being placed in shell (14) and is located at
Static and dynamic sealing ring (17) of the shell (14) and inner core between, the inner core is revolved by static and dynamic sealing ring (17) relative to shell (14)
Turn, the inner core is divided into relatively independent overcoat (20) and inner sleeve (21), be respectively equipped with the shell (14) with overcoat (20) or
Water delivery nozzle (15) that inner sleeve (21) is connected and the water sucking mouth (16) being connected with inner sleeve (21) or overcoat (20), the inner core
One end is connected with washing knife motor (8) on mobile vehicle (6), and the other end is connected with washing knife (10),
Multiple limbers (11) are evenly equipped with the washing knife (10)；The water delivery nozzle (15) is integrated with pipeline cable by flow pipe (3)
Pipeline (1) is connected, and water sucking mouth (16) are connected by suction hose (2) with the integrated pipeline of pipeline cable (1).
2. the pipe dredging as described in claim 1 detects robot, it is characterised in that：The static and dynamic sealing ring (17) is vertically
Two parts will be divided into shell (14), opening is equipped with the overcoat (20) per part, the open communication of a portion is in institute
Overcoat (20) and water delivery nozzle (15) or water sucking mouth (16) are stated, the open communication of another part is in the inner sleeve (21) and water sucking mouth
Or water delivery nozzle (15) (16).
3. the pipe dredging as described in claim 1 or 2 detects robot, it is characterised in that：The overcoat (20), inner sleeve (21)
And the longitudinal center line of shell (14) is conllinear.
4. the pipe dredging as described in claim 1 detects robot, it is characterised in that：Washing knife (10) inside and overcoat
(20) and inner sleeve (21) is connected, the limbers (11) along washing knife (10) chassis even circumferential arrangement.
5. the pipe dredging as described in claim 1 detects robot, it is characterised in that：The support arm (5) be it is cylindric, its
Rear and front end is mounted on camera (13), and the motor in the camera (13) and mobile vehicle (6) is integrated by tracheae, electric wire
Pipeline (12) is connected with the integrated pipeline of pipeline cable (1).
6. the pipe dredging as described in claim 1 detects robot, it is characterised in that：Every side of the mobile vehicle (6) is each
Three wheels (7) are provided with, three wheels (7) per side are driven by a motor by transmission mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621174011.2U CN206215630U (en) | 2016-11-02 | 2016-11-02 | A kind of pipe dredging detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621174011.2U CN206215630U (en) | 2016-11-02 | 2016-11-02 | A kind of pipe dredging detects robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206215630U true CN206215630U (en) | 2017-06-06 |
Family
ID=58787860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621174011.2U Active CN206215630U (en) | 2016-11-02 | 2016-11-02 | A kind of pipe dredging detects robot |
Country Status (1)
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| CN (1) | CN206215630U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN108580452A (en) * | 2018-05-18 | 2018-09-28 | 广西联壮科技股份有限公司 | Self-propelled chemical pipeline decontamination cleaning device |
| CN108951834A (en) * | 2018-06-27 | 2018-12-07 | 安徽佳明环保科技股份有限公司 | Urban pipe network Accrete clearing device based on intelligent robot |
| CN109296058A (en) * | 2018-11-13 | 2019-02-01 | 申子元 | A kind of mud acquisition device |
| CN109570157A (en) * | 2018-11-23 | 2019-04-05 | 崔云华 | A kind of hydraulic engineering dredging blowdown robot system and its method of dredging blowdown |
| CN110159871A (en) * | 2019-07-11 | 2019-08-23 | 任振强 | A kind of horizontal Underground Culvert blocking dredging robot and its working method |
| CN110385318A (en) * | 2019-07-08 | 2019-10-29 | 湖北三峡职业技术学院 | Pipe culvert silting dredges robot and dredging method |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN111878662A (en) * | 2020-07-25 | 2020-11-03 | 浙江诚基环境工程有限公司 | Pipeline internal repair equipment |
| CN112705533A (en) * | 2021-01-25 | 2021-04-27 | 成都和拓土木工程有限公司 | Blind pipe dredging and detecting integrated equipment |
| CN112839744A (en) * | 2018-05-15 | 2021-05-25 | 巴西石油公司 | Apparatus for removing internal plugging material from a fluid transfer line |
-
2016
- 2016-11-02 CN CN201621174011.2U patent/CN206215630U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036150B (en) * | 2017-12-01 | 2019-10-01 | 山东金茂塑业有限公司 | A kind of drainpipe detecting robot |
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN112839744A (en) * | 2018-05-15 | 2021-05-25 | 巴西石油公司 | Apparatus for removing internal plugging material from a fluid transfer line |
| CN108580452A (en) * | 2018-05-18 | 2018-09-28 | 广西联壮科技股份有限公司 | Self-propelled chemical pipeline decontamination cleaning device |
| CN108951834A (en) * | 2018-06-27 | 2018-12-07 | 安徽佳明环保科技股份有限公司 | Urban pipe network Accrete clearing device based on intelligent robot |
| CN108951834B (en) * | 2018-06-27 | 2020-07-28 | 安徽佳明环保科技股份有限公司 | City pipe network dredging device based on intelligent robot |
| CN109296058A (en) * | 2018-11-13 | 2019-02-01 | 申子元 | A kind of mud acquisition device |
| CN109570157A (en) * | 2018-11-23 | 2019-04-05 | 崔云华 | A kind of hydraulic engineering dredging blowdown robot system and its method of dredging blowdown |
| CN109570157B (en) * | 2018-11-23 | 2021-09-24 | 宁夏亘利建筑工程有限公司 | Hydraulic engineering desilting and sewage discharging robot system and desilting and sewage discharging method thereof |
| CN110385318A (en) * | 2019-07-08 | 2019-10-29 | 湖北三峡职业技术学院 | Pipe culvert silting dredges robot and dredging method |
| CN110159871A (en) * | 2019-07-11 | 2019-08-23 | 任振强 | A kind of horizontal Underground Culvert blocking dredging robot and its working method |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN111878662A (en) * | 2020-07-25 | 2020-11-03 | 浙江诚基环境工程有限公司 | Pipeline internal repair equipment |
| CN111878662B (en) * | 2020-07-25 | 2021-12-14 | 浙江诚基环境工程有限公司 | Pipeline internal repair equipment |
| CN112705533A (en) * | 2021-01-25 | 2021-04-27 | 成都和拓土木工程有限公司 | Blind pipe dredging and detecting integrated equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20181029 Address after: 230601 406, room 2, zone A, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei economic and Technological Development Zone, Anhui Patentee after: Hefei ha Gong Lun ton Engineering Technology Co., Ltd. Address before: 110179 A1 161, Yatai International Garden, 6 new you street, Hunnan New District, Shenyang, Liaoning. Patentee before: Pei Jiayang |