CN220184236U - Pipeline plug clearance robot device and pipeline plug clearance system - Google Patents
Pipeline plug clearance robot device and pipeline plug clearance system Download PDFInfo
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- CN220184236U CN220184236U CN202320501941.8U CN202320501941U CN220184236U CN 220184236 U CN220184236 U CN 220184236U CN 202320501941 U CN202320501941 U CN 202320501941U CN 220184236 U CN220184236 U CN 220184236U
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- 230000007246 mechanism Effects 0.000 claims abstract description 154
- 238000004140 cleaning Methods 0.000 claims abstract description 82
- 230000010405 clearance mechanism Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000013589 supplement Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 238000011084 recovery Methods 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 description 6
- 238000005286 illumination Methods 0.000 description 2
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 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
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model discloses a pipeline blockage cleaning robot device and a pipeline blockage cleaning system, the design is ingenious in that an image pickup mechanism and a blockage cleaning mechanism are arranged on a carrier mechanism, then the carrier mechanism is driven by a driving mechanism to move in a pipeline, so that the device can be conveniently placed in the pipeline to be cleaned, when the device enters the pipeline for detection, a designated position is not required to be arranged in advance, the blockage position can be accurately reached by means of the driving of a video image of the image pickup mechanism (a high-definition camera) combined with the driving mechanism, the position of the carrier mechanism in the pipeline can be regulated by the driving mechanism, the carrier mechanism can easily enter a pipe network to perform cleaning work, and the carrier mechanism can also directly pull out the pipeline through a traction rope to realize device recovery, so that cleaning is completed; the scheme has the advantages of simple structure, reliable implementation and convenient operation.
Description
Technical Field
The utility model relates to the field of pipeline cleaning devices, in particular to a pipeline blockage cleaning robot device and a pipeline blockage cleaning system.
Background
In recent years, with the continuous increase of economy and the continuous development of science and technology, urban drainage pipelines are continuously increased, and as the drainage pipelines are used for years, some plugs often exist, so that the drainage efficiency of the pipelines is affected, and the plugs are caused to influence the lives of citizens over time. Most of the existing blockage cleaning means are manually cleaned, and blockage deeper in a pipeline cannot be cleaned by adopting the manual mode, and meanwhile, the cleaning sight is also affected to a certain extent; meanwhile, some pipelines with smaller pipe diameters can not be cleaned by people because of the diameter problem, so that how to clean the pipelines with the aid of mechanical equipment in an auxiliary manner makes up the defect of manually cleaning the blockage, and the improvement of the cleaning efficiency is a problem with positive practical significance.
Disclosure of Invention
In view of the above, the present utility model aims to provide a pipe blockage cleaning robot device and a pipe blockage cleaning system, which have simple structures, reliable implementation and convenient operation.
In order to achieve the technical purpose, the utility model adopts the following technical scheme:
a pipe blockage cleaning robot apparatus, comprising:
the carrier mechanism is used for moving in the pipeline;
the driving mechanism is connected with the carrier mechanism through the connecting mechanism and is used for driving the carrier mechanism to move in the pipeline;
the image shooting mechanism is arranged on the carrier mechanism through the cradle head and is used for shooting images in the pipeline;
the plug clearance mechanism is fixed on carrier mechanism, and it includes:
the mounting frame is fixed on the upper end face of the carrier mechanism;
the rotary rod is rotatably arranged on the mounting frame in a penetrating way, one end of the rotary rod penetrates out along the front end direction of the carrier mechanism, and the other end of the rotary rod penetrates out along the tail end direction of the carrier mechanism;
the cleaning drill bits are of arc-shaped structures and are distributed in a ring-shaped array, one end of each cleaning drill bit is connected to one end of the rotary rod, and the other end of each cleaning drill bit is a tip;
the driven gear is fixed at the other end of the rotating rod;
the first driving motor is fixed at the rear end of the carrier mechanism through the motor base, the driving end of the first driving motor is connected with a driving gear, the driving gear is meshed with a driven gear, the driven gear is driven by the first driving motor to rotate, the rotary rod is driven to rotate in a following mode, the cleaning drill bit is driven to rotate, and plugs in the pipeline are cleaned by the cleaning drill bit.
As one possible implementation manner, the cleaning drill bit according to the present embodiment further includes an arc portion and a tip portion, one end of the arc portion is connected to one end of the rotating rod, the other end of the arc portion extends along a virtual line direction close to an axial center of the rotating rod, and the tip portion is disposed at the other end of the arc portion.
As one possible implementation manner, the carrier mechanism of the present embodiment further includes:
a first frame;
the first wheels are arranged at two ends of the first frame in pairs, the first wheels are rotatably connected with the first frame, and the lower edges of the first wheels downwards exceed the lower end face of the first frame.
As a possible implementation manner, further, in this aspect, an edge of a side of the first wheel away from the first frame is provided with an oblique chamfer.
As a possible implementation manner, further, the upper part of the cradle head is also connected with a light supplementing lamp assembly; the image shooting component is a camera component.
As a preferred alternative embodiment, preferably, the connection mechanism of the present embodiment includes:
one end of the first connecting plate is fixed at the center of the tail end of the carrier mechanism;
the second connecting plate, its one side is equipped with the spout that suits with first connecting plate structure and through spout and first connecting plate sliding connection, still be equipped with the restriction piece that prevents that first connecting plate from deviating from in the spout on the first connecting plate, spout both sides are equipped with restriction piece complex restriction groove.
As a preferred optional implementation manner, preferably, the driving mechanism is a driving vehicle, and the driving vehicle includes a second frame, second wheels connected to two sides of the second frame, and a second driving motor connected to the second wheels and driving the second wheels to rotate, so as to realize movement of the driving vehicle;
the second connecting plate is provided with a connecting hole which is detachably matched and connected with the connecting ring at one end far away from the carrier mechanism;
the driving vehicle and the carrier mechanism are provided with a first state and a second state which are matched with each other;
when the second driving motor drives the driving vehicle to move along the direction approaching the carrier mechanism, the second frame of the driving vehicle is propped against the second connecting plate, so that the driving vehicle pushes the carrier mechanism to move in the pipeline, and when the second driving motor reversely rotates, the driving vehicle moves in the pipeline in a direction far away from the carrier mechanism, the driving vehicle pulls the carrier mechanism to move in the pipeline;
when the second driving motor drives the driving vehicle to move along the direction approaching the carrier mechanism, the second frame of the driving vehicle is propped against the second connecting plate, so that the driving vehicle pushes the carrier mechanism to move in the pipeline, and when the second driving motor reversely rotates, the driving vehicle is separated from the carrier mechanism and moves in the pipeline along the direction far from the carrier mechanism when the driving vehicle moves along the direction far from the carrier mechanism, and the carrier mechanism stays in the pipeline.
As a preferred alternative, preferably, the upper part of the second frame is further provided with an illumination lamp assembly.
As a preferred alternative, preferably, an edge of the side of the second wheel away from the second frame is provided with a chamfer.
Based on the above, the utility model further provides a pipe blockage cleaning system, which comprises the pipe blockage cleaning robot device and a controller, wherein the controller is connected with a first driving motor of a blockage cleaning mechanism and a second driving motor of the driving mechanism and controls the first driving motor and the second driving motor to work and open and close, and the second driving motor is a servo motor.
By adopting the technical scheme, compared with the prior art, the utility model has the beneficial effects that: the technical scheme is ingenious in that the image capturing mechanism and the blockage cleaning mechanism are arranged on the carrier mechanism, the carrier mechanism is driven by the driving mechanism to move in the pipeline, so that the device can be conveniently placed in the pipeline to be dredged, when the device enters the pipeline for detection, a designated position is not required to be arranged in advance, the blockage position can be accurately reached by means of the video image of the image capturing mechanism (high-definition camera) combined with the driving of the driving mechanism, the position of the carrier mechanism in the pipeline can be regulated by the driving mechanism, the carrier mechanism can easily enter the pipe network to perform cleaning work, and the carrier mechanism can also directly pull out the pipeline through a traction rope to realize recovery of the device, so that cleaning is completed; when the carrier mechanism loaded with the plug cleaning mechanism is pulled to a plug position in a pipeline, the cleaning drill bit can be rotated to drill into the plug to hook the plug by starting the plug cleaning mechanism, and the plug is peeled off from the inner wall of the pipeline when the cleaning is completed, and after the cleaning is completed, the carrier mechanism is pulled out by using a pulling rope or a driving mechanism, so that the cleaning of the plug of the pipeline can be completed; the scheme has the advantages of simple structure, reliable implementation and convenient operation.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a schematic implementation of the apparatus of the present utility model;
FIG. 2 is a schematic diagram of the cooperation of the carrier mechanism, the image capturing mechanism and the blockage cleaning mechanism of the device according to the present utility model;
FIG. 3 is one of two-dimensional perspective schematic views of the structure shown in FIG. 2;
FIG. 4 is a second schematic view of the two-dimensional view of the structure of FIG. 2;
FIG. 5 is a third schematic view of the two-dimensional view of the structure of FIG. 2;
FIG. 6 is a schematic illustration of a simplified embodiment of the connection mechanism of the device of the present utility model;
FIG. 7 is a second schematic illustration of a simplified implementation of the connection mechanism of the apparatus of the present utility model;
FIG. 8 is a schematic view of a schematic implementation of a second connection plate of the connection mechanism of the device of the present utility model;
fig. 9 is a schematic structural view of a first connection plate of the connection mechanism of the device according to the present utility model.
Detailed Description
The utility model is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present utility model, but do not limit the scope of the present utility model. Likewise, the following examples are only some, but not all, of the examples of the present utility model, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present utility model.
As shown in one of fig. 1 to 9, the present embodiment provides a pipe blockage cleaning robot apparatus, which includes:
a carrier mechanism 1 for moving in the pipeline;
the driving mechanism 2 is connected with the carrier mechanism 1 through a connecting mechanism 5 and is used for driving the carrier mechanism 1 to move in the pipeline;
an image capturing mechanism 3 mounted on the carrier mechanism 1 via a cradle head 31 and configured to capture an image of the inside of the pipe;
the plug cleaning mechanism 4 is fixed on the carrier mechanism 1, and comprises:
the mounting frame 41 is fixed on the upper end face of the carrier mechanism 1;
a rotating rod 42 rotatably inserted in the mounting frame 41, one end of which is inserted out in the direction of the front end of the carrier mechanism 1, and the other end of which is inserted out in the direction of the rear end of the carrier mechanism 1;
the cleaning drill bits 43 are of arc-shaped structures and are multiple in number, the cleaning drill bits 43 are distributed in an annular array, one end of each cleaning drill bit is connected to one end of the rotary rod 42, and the other end of each cleaning drill bit is a tip;
a driven gear 46 fixed to the other end of the rotating lever 42;
the first driving motor 44 is fixed at the rear end of the carrier mechanism 1 through a motor seat 441, the driving end of the first driving motor is connected with a driving gear 45, the driving gear 45 is meshed with a driven gear 46, the driven gear 46 is driven to rotate by the first driving motor 44, the rotary rod 42 is driven to rotate in a follow-up manner, so that the cleaning drill bit 43 is driven to rotate, and the blockage blocked in the pipeline is cleaned by the cleaning drill bit 43.
In this embodiment, the cleaning bits 43 include an arc portion 431 and a tip portion 432, one end of the arc portion 431 is connected to one end of the rotating rod 42, the other end of the arc portion 431 extends along a virtual line direction close to the axial center of the rotating rod 42 (i.e., the cleaning bits 43 form a semi-bent claw shape), and the tip portion 432 is disposed at the other end of the arc portion 431.
When the arc structure of the cleaning bit 43 makes the tip 432 contact the blockage, the arc structure hooks the blockage first, and then when the cleaning bit 43 is driven to rotate by the first driving motor 44 driving the rotating rod 42, the cleaning bit 43 pulls the blockage to separate the blockage from the inner wall of the pipeline, and then the pipeline is gradually dredged, so that the aperture of the pipeline is increased (the blocked area is reduced).
In this embodiment, the carrier mechanism 1 includes:
a first frame 11;
the first wheels 12 are arranged at two ends of the first frame 11 in pairs, and the first wheels 12 are rotatably connected with the first frame 11, and the lower edges of the first wheels extend downwards beyond the lower end surface of the first frame 11.
The carrier mechanism 1 of the scheme adopts the structure, is simple and reliable, and has low cost and strong operation convenience.
Since the interior of the pipe is usually a dim or even a completely black atmosphere, in order to improve the image acquisition definition of the image capturing component 32, as a possible implementation manner, a light supplementing lamp component 33 is further connected to the upper portion of the pan/tilt head 31; the image capturing component 32 is a camera component; wherein, the cradle head 31 can adopt 360 degrees rotatory cradle heads, perhaps adopts the automatically controlled cradle head, observes the inside silting up repair state of pipeline in real time through the cradle head 31, is convenient for observe intraductal environment. The camera component can be a high-definition camera, can adopt a camera with high definition and color 2 degrees of freedom above 500 ten thousand pixels, and can quickly and intuitively judge the blocking condition in the inspection pipeline by inspecting the picture image, so that the moving operation of the device is more flexible and the adaptability is stronger.
In this embodiment, the connection mechanism 5 includes:
a first connecting plate 52 having one end fixed to the center of the rear end of the carrier mechanism 1;
the second connecting plate 51 has a chute corresponding to the structure of the first connecting plate 52 on one side thereof and 512 slidably connected with the first connecting plate 52 through the chute 512, the first connecting plate 52 is further provided with a restraint block 521 for preventing the first connecting plate from being separated from the chute 512, and restraint grooves matched with the restraint block are formed on two sides of the chute 512.
In this solution, the driving mechanism 2 is a driving vehicle, and the driving vehicle includes a second frame 21, second wheels 22 connected to two sides of the second frame 21, and a second driving motor 23 connected to the second wheels 22 and driving the second wheels 22 to rotate, so as to realize movement of the driving vehicle;
wherein, one end of the second frame 21 is provided with a connecting ring 25, and one end of the second connecting plate 51, which is far away from the carrier mechanism 1, is provided with a connecting hole 511 which is detachably connected with the connecting ring 25 in a matching manner.
In this embodiment, the upper portion of the second frame 21 is further provided with an illumination lamp assembly 24.
In order to facilitate the cooperation of the carrier mechanism 1, the driving mechanism 2 and the inner wall of the pipeline, and simultaneously, improve the contact friction between the first wheel 12, the second wheel 22 and the inner wall of the pipeline, the first wheel 12 is far away from the first frame 11, and the inclined chamfer 121 is arranged on one side edge, which is far away from the second frame 21, of the first wheel 12 in the scheme, and likewise, the inclined chamfer is arranged on one side edge, which is far away from the second wheel 22. In this configuration, the first wheel 12 and the second wheel 22 have a structure in which the inner side is a cylinder, the outer side is a truncated cone, and the diameter of the junction between the cylinder and the truncated cone is the same, so that the inner diameter of the first wheel 12 and the second wheel 22 is larger than the outer diameter. The combined wheel formed by combining the cylinder and the circular truncated cone has large inner part and small outer part, and can adapt to the internal structure of the pipeline, so that the robot can climb in the pipeline flexibly.
In addition, the driving vehicle and the carrier mechanism 1 have a first state and a second state which are matched with each other;
in the first state, the connecting ring 25 on the driving vehicle is cooperatively connected with the connecting hole 511 of the second connecting plate 51 on the carrier mechanism 1, when the driving vehicle is driven by the second driving motor 23 to travel along the direction approaching the carrier mechanism 1, the second frame 21 of the driving vehicle is propped against the second connecting plate 51, so that the driving vehicle pushes the carrier mechanism 1 to move in the pipeline, and when the driving vehicle is driven by the second driving motor 23 to reversely rotate, so that the driving vehicle travels along the direction far away from the carrier mechanism 1, the driving vehicle pulls the carrier mechanism 1 to move in the pipeline;
in the second state, the connecting ring 25 on the driving vehicle is not connected with the connecting hole 511 of the second connecting plate 51 on the carrier mechanism 1 in a matching way, when the second driving motor 23 drives the driving vehicle to travel along the direction approaching the carrier mechanism 1, the second frame 21 of the driving vehicle is propped against the second connecting plate 51, so that the driving vehicle pushes the carrier mechanism 1 to move in the pipeline, when the second driving motor 23 rotates reversely, the driving vehicle is separated from the carrier mechanism 1 and moves in the pipeline along the direction far from the carrier mechanism 1 when the driving vehicle travels along the direction far from the carrier mechanism 1, the carrier mechanism 1 stays in the pipeline, in this case, the traction rope can be connected on the connecting hole 511 in advance, then the other end of the traction rope is pulled by an external operator, and when dredging is not needed, the carrier mechanism 1 and the components connected on the carrier mechanism 1 are pulled out of the pipeline together by pulling the traction rope.
Under the implementation mechanism of the above-mentioned pipeline obstruction cleaning robot device, this scheme can also be through utilizing the first driving motor 44 of controller and obstruction cleaning mechanism 4 and the second driving motor 23 of actuating mechanism to be connected and control first driving motor 44, second driving motor 23 work to open and close to this realization remote control, and in order to conveniently control the distance of marcing of actuating mechanism 2, in this scheme, second driving motor 23 can be servo motor.
When the device is used, the carrier mechanism 1 and the driving mechanism 2 are placed in a pipeline, the carrier mechanism 1 is driven by the driving mechanism 2 to enter the pipeline for detection, at the moment, the carrier mechanism 1 can be driven to accurately reach the blocking position by means of the video image of the high-definition camera (namely, the image shooting mechanism 3) loaded on the carrier mechanism 1 in cooperation with the second driving motor 23 adopting a servo motor, the position of the blocking object cleaning robot in the pipeline does not need to be preset, the position of the blocking object cleaning robot in the pipeline can be regulated by driving of the driving mechanism 2, the carrier mechanism 1 and the carrier mechanism 1 can easily enter a pipe network to perform cleaning work by using the blocking object cleaning mechanism 4, and when the device needs to be taken out, the carrier mechanism 1 loaded with the blocking object cleaning mechanism 4 can be pulled back through the driving mechanism 2 directly, namely, a pulling rope is pulled back, and cleaning is completed.
Because the plug cleaning mechanism 4 is mounted on the carrier mechanism 1, when the driving mechanism 2 drives the carrier mechanism 1 and the plug cleaning mechanism 4 to be pulled to the plugging position of the pipeline, the driven gear 46 can be driven by the first driving motor 44 to rotate, so that the rotary rod 42 rotates to drive the cleaning drill bit 43 to rotate, and the plug plugged in the pipeline is cleaned by the cleaning drill bit 43 (namely, the first driving motor 44 drives the rotary rod 11 to rotate the cleaning drill bit 43, the tip 432 of the cleaning drill bit 43 drills into the plug, the plug is stripped along with the rotation), and after cleaning, the cleaning maintenance work can be completed by pulling the carrier mechanism 1 out of the pipeline.
The foregoing description is only a partial embodiment of the present utility model, and is not intended to limit the scope of the present utility model, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present utility model or directly or indirectly applied to other related technical fields are included in the scope of the present utility model.
Claims (10)
1. A pipe blockage cleaning robot apparatus, comprising:
the carrier mechanism is used for moving in the pipeline;
the driving mechanism is connected with the carrier mechanism through the connecting mechanism and is used for driving the carrier mechanism to move in the pipeline;
the image shooting mechanism is arranged on the carrier mechanism through the cradle head and is used for shooting images in the pipeline;
the plug clearance mechanism is fixed on carrier mechanism, and it includes:
the mounting frame is fixed on the upper end face of the carrier mechanism;
the rotary rod is rotatably arranged on the mounting frame in a penetrating way, one end of the rotary rod penetrates out along the front end direction of the carrier mechanism, and the other end of the rotary rod penetrates out along the tail end direction of the carrier mechanism;
the cleaning drill bits are of arc-shaped structures and are distributed in a ring-shaped array, one end of each cleaning drill bit is connected to one end of the rotary rod, and the other end of each cleaning drill bit is a tip;
the driven gear is fixed at the other end of the rotating rod;
the first driving motor is fixed at the rear end of the carrier mechanism through the motor base, the driving end of the first driving motor is connected with a driving gear, the driving gear is meshed with a driven gear, the driven gear is driven by the first driving motor to rotate, the rotary rod is driven to rotate in a following mode, the cleaning drill bit is driven to rotate, and plugs in the pipeline are cleaned by the cleaning drill bit.
2. The pipe blockage cleaning robot apparatus of claim 1, wherein the cleaning bit includes an arc portion having one end connected to one end of the rotating rod and the other end extending in a virtual line direction near an axial center of the rotating rod, and a tip portion provided at the other end of the arc portion.
3. The pipe blockage cleaning robot of claim 1, wherein the carrier mechanism includes:
a first frame;
the first wheels are arranged at two ends of the first frame in pairs, the first wheels are rotatably connected with the first frame, and the lower edges of the first wheels downwards exceed the lower end face of the first frame.
4. A pipe blockage cleaning robot according to claim 3, wherein an edge of a side of the first wheel remote from the first frame is provided with a beveled chamfer.
5. The robotic pipe plug cleaning device of claim 1, wherein the upper portion of the pan-tilt head is further connected with a light supplement lamp assembly; the image shooting component is a camera component.
6. The pipe blockage cleaning robot apparatus of one of claims 1 to 5, wherein said connection mechanism includes:
one end of the first connecting plate is fixed at the center of the tail end of the carrier mechanism;
the second connecting plate, its one side is equipped with the spout that suits with first connecting plate structure and through spout and first connecting plate sliding connection, still be equipped with the restriction piece that prevents that first connecting plate from deviating from in the spout on the first connecting plate, spout both sides are equipped with restriction piece complex restriction groove.
7. The pipe blockage cleaning robot apparatus of claim 6, wherein the driving mechanism is a driving vehicle including a second frame, second wheels connected to both sides of the second frame, and a second driving motor connected to the second wheels and driving the second wheels to rotate to realize movement of the driving vehicle;
the second connecting plate is provided with a connecting hole which is detachably matched and connected with the connecting ring at one end far away from the carrier mechanism;
the driving vehicle and the carrier mechanism are provided with a first state and a second state which are matched with each other;
when the second driving motor drives the driving vehicle to move along the direction approaching the carrier mechanism, the second frame of the driving vehicle is propped against the second connecting plate, so that the driving vehicle pushes the carrier mechanism to move in the pipeline, and when the second driving motor reversely rotates, the driving vehicle moves in the pipeline in a direction far away from the carrier mechanism, the driving vehicle pulls the carrier mechanism to move in the pipeline;
when the second driving motor drives the driving vehicle to move along the direction approaching the carrier mechanism, the second frame of the driving vehicle is propped against the second connecting plate, so that the driving vehicle pushes the carrier mechanism to move in the pipeline, and when the second driving motor reversely rotates, the driving vehicle is separated from the carrier mechanism and moves in the pipeline along the direction far from the carrier mechanism when the driving vehicle moves along the direction far from the carrier mechanism, and the carrier mechanism stays in the pipeline.
8. The pipe blockage cleaning robot of claim 7, wherein the second carriage upper portion is further provided with a light assembly.
9. The pipe blockage cleaning robot of claim 7, wherein an edge of a side of the second wheel remote from the second frame is provided with a beveled chamfer.
10. A pipe blockage cleaning system, characterized by: the pipeline blockage cleaning robot device comprises the pipeline blockage cleaning robot device according to any one of claims 7 to 9, and further comprises a controller, wherein the controller is connected with a first driving motor of the blockage cleaning mechanism and a second driving motor of the driving mechanism and controls the first driving motor and the second driving motor to work and open and close, and the second driving motor is a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320501941.8U CN220184236U (en) | 2023-03-15 | 2023-03-15 | Pipeline plug clearance robot device and pipeline plug clearance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320501941.8U CN220184236U (en) | 2023-03-15 | 2023-03-15 | Pipeline plug clearance robot device and pipeline plug clearance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220184236U true CN220184236U (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320501941.8U Active CN220184236U (en) | 2023-03-15 | 2023-03-15 | Pipeline plug clearance robot device and pipeline plug clearance system |
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| Country | Link |
|---|---|
| CN (1) | CN220184236U (en) |
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2023
- 2023-03-15 CN CN202320501941.8U patent/CN220184236U/en active Active
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