CN220303120U - Three-degree-of-freedom mechanical arm of pipeline non-excavation type repair pretreatment robot - Google Patents
Three-degree-of-freedom mechanical arm of pipeline non-excavation type repair pretreatment robot Download PDFInfo
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- CN220303120U CN220303120U CN202321921595.5U CN202321921595U CN220303120U CN 220303120 U CN220303120 U CN 220303120U CN 202321921595 U CN202321921595 U CN 202321921595U CN 220303120 U CN220303120 U CN 220303120U
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- 238000009412 basement excavation Methods 0.000 title claims description 6
- 239000012636 effector Substances 0.000 claims abstract description 42
- 210000000245 forearm Anatomy 0.000 claims description 19
- 238000004140 cleaning Methods 0.000 claims description 4
- 239000013049 sediment Substances 0.000 claims description 4
- 238000003801 milling Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 230000007797 corrosion Effects 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000009428 plumbing Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002203 pretreatment Methods 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a three-degree-of-freedom mechanical arm of a pipeline trenchless restoration pretreatment robot, which comprises a large arm assembly, a first angle adjusting assembly, a small arm assembly, a second angle adjusting assembly, a rotary driving assembly and an end effector, wherein the large arm assembly is connected with the small arm assembly through a first angle adjusting assembly; according to the utility model, through adopting the modular design of the mechanical arm end effector, the interior of a pipeline can be cleaned, a repair area is prepared, the quality and durability of a repair effect are improved, different end effectors can be replaced according to specific task requirements, the flexibility and applicability of the mechanical arm are improved, the end effector adopts a pneumatic motor as a power device of the end effector, compared with a motor, the mechanical arm end effector is more reliable and stable in special environments such as high temperature, high humidity and the like, and adopts a joint module direct connection design, so that the structure of the mechanical arm is simplified, the precision and stability of the mechanical arm are improved, and the three degrees of freedom of adjustment of the end effector can be realized.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a three-degree-of-freedom mechanical arm of a pipeline trenchless repair pretreatment robot.
Background
Over the last decades, a large number of old and low quality plumbing facilities have made underground plumbing inadequate. At present, various problems such as corrosion, leakage, deformation, damage, blockage and the like of urban underground pipelines are prominent, and the pipelines cannot play a role according to design requirements. In order to solve these problems, a new pipeline maintenance mode, namely a trenchless repair technology, has appeared in recent years.
In the field of trenchless pipeline repair technology, there is a problem that sediment, dirt, sundries and other adverse factors often exist in the pipeline, and these factors affect the adhesiveness and repair effect of the repair material.
Therefore, we propose a three-degree-of-freedom mechanical arm of a pipeline trenchless rehabilitation pretreatment robot.
Disclosure of Invention
It is an object of the present utility model to provide a three degree of freedom robotic arm for a pipeline trenchless rehabilitation pre-treatment robot that solves or at least alleviates one or more of the above-identified problems and other problems of the prior art.
In order to achieve the above purpose, the main technical scheme adopted by the utility model comprises the following steps:
a three degree of freedom robotic arm for a pipeline trenchless rehabilitation preconditioning robot, comprising:
the large arm assembly is provided with a first angle adjusting assembly at one end for adjusting the angle of depression and elevation of the large arm assembly;
the rotary driving assembly is used for controlling the common rotation angle of the large arm assembly and the first angle adjusting assembly, and the output end of the rotary driving assembly is connected with the first angle adjusting assembly;
the small arm assembly, one end of the large arm assembly far away from the first adjusting assembly is provided with a second angle adjusting assembly for adjusting the angle of depression and elevation of the small arm assembly, and the output end of the second angle adjusting assembly is connected with one end of the small arm assembly;
the end effector is used for cleaning sediment in the pipeline, is arranged at one end of the small arm assembly, which is far away from the second angle adjusting assembly, and is a replaceable effector with a modularized design.
The three-degree-of-freedom mechanical arm of the pipeline non-excavation type repairing pretreatment robot comprises a base, wherein the base is arranged on the pipeline non-excavation type repairing pretreatment robot, one side of the base is fixedly connected with a joint module base, a joint module is fixedly arranged in the joint module base, and the output end of the joint module is connected with the first angle adjusting component through a joint connecting piece.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises a chassis mounting plate, a right driving plate and a left driving plate, wherein the right driving plate and the left driving plate are respectively and fixedly connected to two ends of the chassis mounting plate, and the first angle adjusting component is fixedly arranged between the right driving plate and the left driving plate.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises a large arm left side plate and a large arm right side plate, wherein the large arm assembly comprises a second shutdown module, the second shutdown module is fixedly arranged on a left side driving plate, the output end of the second shutdown module rotatably penetrates through the left side driving plate and is fixedly connected with one end of the large arm left side plate, and one end of the large arm right side plate is rotatably connected with the right side driving plate through a rotating assembly.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot is characterized in that a plurality of support columns are fixedly connected between the left side plate of the large arm and the right side plate of the large arm.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises a small arm left side plate and a small arm right side plate, wherein the second angle adjusting assembly comprises a third joint module, the third joint module is fixedly arranged at one end of the large arm left side plate, which is far away from the second shutdown module, an output end of the third joint module rotatably penetrates through the large arm left side plate and is fixedly connected with the small arm left side plate, the small arm right side plate is rotatably connected with one end of the large arm right side plate, which is far away from the second shutdown module, through the other group of rotating assemblies, and an end effector fixing plate is fixedly connected between the small arm left side plate and the small arm right side plate.
In the three degree of freedom robotic arm of the pipeline trenchless rehabilitation pre-treatment robot according to the present utility model, wherein the end effector is a milling head-carrying effector, a drill bit-carrying effector, or a saw blade-carrying effector.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises a pneumatic motor, a motor mounting plate, a shaft sleeve connecting rod and a saw blade, wherein the output end of the pneumatic motor is fixedly connected with the lower end of the shaft sleeve connecting rod, the upper end of the shaft sleeve connecting rod is fixedly connected with the saw blade through a bolt, the pneumatic motor is fixedly arranged at the bottom of the motor mounting plate, and the bottom of the motor mounting plate is fixedly connected with the top of the end effector fixing plate through a supporting rod.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot is characterized in that four supporting rods are arranged at the bottom of the motor mounting plate.
The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises an elastic check ring, a deep groove ball bearing, a driving bearing seat and a rotating shaft, wherein the driving bearing seat is used for fixedly supporting the outer ring of the deep groove ball bearing; the rotating assembly comprises an elastic retainer ring, a deep groove ball bearing, a rotating shaft and a driving shaft bearing seat, wherein the driving shaft bearing seat is used for fixedly supporting the outer ring of the deep groove ball bearing; the rotary shaft comprises a disc-shaped big head end and a shaft section coaxially arranged with the big head end, one end of the shaft section, which is far away from the big head end, can penetrate through the bearing hole of the deep groove ball bearing and is in interference fit with the inner ring of the deep groove ball bearing, and a clamping groove for clamping the elastic retainer ring is formed in the part, extending out of the bearing hole, of the shaft section.
The utility model has at least the following beneficial effects:
the large arm assembly, the first angle adjusting assembly, the small arm assembly, the second angle adjusting assembly, the rotary driving assembly and the end effector can be used for adjusting the end effector at multiple angles according to the actual conditions in the pipeline, and the applicability is wide;
by adopting the modular design of the mechanical arm end effector, the interior of the pipeline can be cleaned, a repair area is prepared, the quality and durability of the repair effect are improved, different end effectors can be replaced according to specific task requirements, and the flexibility and applicability of the mechanical arm are improved;
in some preferred embodiments, the end effector employs a pneumatic motor as the end effector power device, which is more reliable and stable in special environments such as high temperature, high humidity, etc., than the motor;
in some preferred embodiments, the joint module direct connection design is adopted, so that the structure of the mechanical arm is simplified, the precision and stability of the mechanical arm are improved, and the three degrees of freedom of the end effector can be adjusted;
in some preferred embodiments, the addition of support posts between the left side plate of the large arm and the right side plate of the large arm increases the rigidity and stability of the robotic arm while reducing vibration and errors of the robotic arm.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is one of the schematic structural views of the partial explosion of the present utility model;
FIG. 3 is a second schematic view of a partial explosion of the present utility model;
FIG. 4 is a third schematic view of a partial explosion of the present utility model.
Reference numerals illustrate:
110. a first joint module; 120. a second shutdown module; 130. a third joint module; 210. a joint module base; 220. a joint connection; 221. a chassis mounting plate; 222. a right side driving plate; 223. a left driving plate; 230. a large arm assembly; 231. left side plate of big arm; 232. a right side plate of the large arm; 233. a support column; 240. a forearm assembly; 241. an end effector fixing plate; 242. left side plate of small arm; 243. a right side plate of the small arm; 310. a shaft sleeve connecting rod; 320. a saw blade; 331. a motor mounting plate; 332. a support rod; 340. a pneumatic motor; 400. a rotating assembly; 401. a circlip; 402. deep groove ball bearings; 403. a driving bearing seat; 404. a rotation shaft; 500. and (5) a base.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings and examples, so that the implementation process of how the technical means are applied to solve the technical problems and achieve the technical effects of the present application can be fully understood and implemented accordingly.
Referring to fig. 1 to 4, in an embodiment of the present utility model:
the three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot comprises a large arm assembly 230, a small arm assembly 240, a first angle adjusting assembly for adjusting the pitching angle and the elevation angle of the large arm assembly 230, a second angle adjusting assembly for adjusting the pitching angle and the elevation angle of the small arm assembly 240, a rotary driving assembly for controlling the common rotation angle of the large arm assembly 230 and the first angle adjusting assembly and an end effector for cleaning sediment in a pipeline.
As shown in fig. 2, the rotation driving assembly includes a base 500 installed on the pipeline non-excavation type repair pretreatment robot, one side of the base 500 is fixedly connected with a joint module base 210, a first joint module 110 is fixedly installed inside the joint module base 210, and an output end of the first joint module 110 is connected with the first angle adjusting assembly through a joint connector 220. In use, the output end of the first joint module 110 is controlled to rotate, so as to drive the large arm assembly 230 to rotate 360 °.
As shown in fig. 2 and 3, the joint connector 220 includes a chassis mounting plate 221, a right driving plate 222 and a left driving plate 223, the right driving plate 222 and the left driving plate 223 are respectively and fixedly connected to two ends of the chassis mounting plate 221, the first angle adjusting component is fixedly installed between the right driving plate 222 and the left driving plate 223, the large arm component 230 includes a large arm left side plate 231 and a large arm right side plate 232, the first angle adjusting component includes a second shutdown module 120, the second shutdown module 120 is fixedly installed on the left driving plate 223 through a mounting seat, an output end on the same side of the second shutdown module 120 rotatably passes through the right driving plate 222 and is fixedly connected with one end of the large arm left side plate 231, and one end of the large arm right side plate 232 is rotatably connected with the left driving plate 223 through a rotating component 400. By adopting the above technical scheme, the pitching angle and the elevation angle of the large arm assembly 230 can be adjusted by controlling the output end of the second shutdown module 120 to rotate.
Preferably, a plurality of support columns 233 are fixedly connected between the left side plate 231 and the right side plate 232 of the large arm, and the structural stability of the large arm of the mechanical arm can be effectively enhanced through the arranged support columns 233, and the shake and deformation in the operation process of the mechanical arm are reduced, so that the movement precision and the positioning precision of the mechanical arm are improved; part of the load of the mechanical arm can be borne, and the load of the large arm is reduced, so that the load capacity and the working efficiency of the mechanical arm are improved; vibration of the mechanical arm in the motion process can be reduced, so that stability and motion precision of the mechanical arm are improved; through increasing the structural strength of support column 233, can prolong the life of arm, reduce the maintenance and the replacement cost of arm, compare in traditional arm, support column 233 can reduce the weight of arm under the prerequisite that does not influence the arm performance to alleviate the burden of arm itself, improve the flexibility and the work efficiency of arm.
As shown in fig. 3, the forearm assembly 240 includes a forearm left side plate 242 and a forearm right side plate 243, the second angle adjustment assembly includes a third joint module 130, the third joint module 130 is fixedly installed at one end of the forearm left side plate 231 far away from the second shutdown module 120 through a mounting seat, the output end of the third joint module 130, which is located on the same side as the mounting seat, is rotatably connected with the forearm left side plate 242 after passing through the forearm left side plate 231, the forearm right side plate 243 is rotatably connected with one end of the forearm right side plate 232 far away from the second shutdown module 120 through another group of rotation assemblies 400, and an end effector fixing plate 241 is fixedly connected between the forearm left side plate 242 and the forearm right side plate 243.
Also illustrated in fig. 4 are specific components of a rotary assembly 400 employed in the present embodiment, the rotary assembly 400 being comprised of circlip 401, deep groove ball bearing 402, drive shaft socket 403, and rotation shaft 404; the rotary shaft comprises a disc-shaped big head end and a shaft section coaxially arranged with the big head end, one end of the shaft section, far away from the big head end, can penetrate through the bearing hole of the deep groove ball bearing and is in interference fit with the inner ring of the deep groove ball bearing, and a clamping groove for clamping the elastic retainer ring is formed in the part, extending out of the bearing hole, of the shaft section.
In this embodiment, when the rotating assembly 400 is used for connecting the large arm right side plate 232 with the left side driving plate 223, the disc on one side of the rotating shaft 404 passes through the left side driving plate 223 and is fixedly connected with the large arm right side plate 232, the shaft rod of the rotating shaft 404 is fixed on the inner ring of the deep groove ball bearing 402, the circlip 401 is clamped into the clamping groove on one end of the shaft rod extending out of the inner ring of the deep groove ball bearing 402, so as to prevent the rotating shaft 404 from separating from the inner ring of the deep groove ball bearing 402, the driving bearing seat 403 is used for supporting and fixing the outer ring of the deep groove ball bearing 402, and the left side driving plate 223 is fixedly sleeved outside the driving bearing seat 403.
When the rotating assembly 400 is used for connecting the small arm right side plate 243 with one end of the large arm right side plate 232 far away from the second shutdown module 120, the disc on one side of the rotating shaft 404 is fixedly connected with the small arm right side plate 243, the shaft rod of the rotating shaft 404 is fixed on the inner ring of the deep groove ball bearing 402, the circlip 401 is clamped into the clamping groove on one end of the rotating shaft rod extending out of the inner ring of the deep groove ball bearing 402, the rotating shaft 404 is prevented from separating from the inner ring of the deep groove ball bearing 402, the driving bearing seat 403 is used for supporting and fixing the outer ring of the deep groove ball bearing 402, and one end of the large arm right side plate 232 far away from the second shutdown module 120 is fixedly sleeved outside the driving bearing seat 403.
The end effector may be a milling head-carrying effector, a drill-carrying effector, a saw blade-carrying effector, or other end effector for cleaning deposits in a pipe. As shown in fig. 4, the end effector with saw blade 320 is exemplarily shown, the end effector includes a driving part and an actuating part, the driving part includes a pneumatic motor 340, a motor mounting plate 331 and a supporting rod 332, the actuating part includes a shaft sleeve connecting rod 310 and the saw blade 320, the output end of the pneumatic motor 340 rotatably passes through the motor mounting plate 331 and is fixedly connected with the lower end of the shaft sleeve connecting rod 310, the upper end of the shaft sleeve connecting rod 310 is fixedly connected with the saw blade 320 through a bolt, the pneumatic motor 340 is fixedly installed at the bottom of the motor mounting plate 331, the bottom of the motor mounting plate 331 is fixedly connected with the top of the end effector fixing plate 241 through the supporting rod 332, in order to improve the connection stability of the end effector 300 and the forearm assembly 240, the supporting rod 332 is provided with four supporting rods 332, and four supporting rods 332 are respectively arranged at the four corners of the bottom of the motor mounting plate 331. In a wet plumbing environment, the pneumatic motor 340 is not prone to wetting and will not fail due to the wetting of the electrical circuit. The use of an air motor can avoid the problem of failure of the motor due to corrosion, as the pipe environment is susceptible to corrosion. Compared with the motor, the pneumatic motor has smaller volume and lighter weight, so that the pneumatic motor can be operated more flexibly and conveniently in a narrow pipeline environment.
The joint connector 220, the large arm assembly 230, the small arm assembly 240 and the base 500 are all made of aluminum alloy 6061, and the advantages of the aluminum alloy 6061 further include strong corrosion resistance, strong workability, good heat resistance, good recyclability and the like, so that the mechanical arm has better performance and reliability.
In this embodiment, the first joint module 110, the second shutdown module 120 and the third joint module 130 may be all joint modules of HJ series manufactured by guangdong tian robot limited. The joint module tightly inherits the permanent magnet synchronous motor, the motor driver, the encoder, the speed reducer and the power-off brake into a whole, so that the joint module has the characteristics of high integration, high precision, high performance, light weight and the like. Compared with the traditional motor, the mechanical arm joint module adopts a gear transmission structure, and compared with the motor, the mechanical arm joint module has smaller volume and can be more conveniently embedded into the joint of the mechanical arm; the mechanical arm joint module adopts a gear transmission structure, so that high torque can be provided; the device has higher precision and stability, can provide more accurate position control, and avoids shaking when the mechanical arm moves; the mechanical arm joint module is simple in structure and low in maintenance cost, and the motor needs more maintenance.
While the foregoing description illustrates and describes the preferred embodiments of the present utility model, it is to be understood that the utility model is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the utility model are intended to be within the scope of the appended claims.
Claims (10)
1. The three-degree-of-freedom mechanical arm of the pipeline trenchless rehabilitation pretreatment robot is characterized by comprising:
the large arm assembly is provided with a first angle adjusting assembly at one end for adjusting the angle of depression and elevation of the large arm assembly;
the rotary driving assembly is used for controlling the common rotation angle of the large arm assembly and the first angle adjusting assembly, and the output end of the rotary driving assembly is connected with one side of the first angle adjusting assembly;
the small arm assembly, one end of the large arm assembly far away from the first angle adjusting assembly is provided with a second angle adjusting assembly for adjusting the angle of depression and elevation of the small arm assembly, and the output end of the second angle adjusting assembly is connected with one end of the small arm assembly;
the end effector is used for cleaning sediment in the pipeline and is arranged at one end, far away from the second angle adjusting assembly, of the small arm assembly.
2. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 1, wherein: the rotary driving assembly comprises a base arranged on the pipeline non-excavation type repair pretreatment robot, one side of the base is fixedly connected with a joint module base, the interior of the joint module base is fixedly provided with a joint module, and the output end of the joint module is connected with the first angle adjusting assembly through a joint connector.
3. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 2, wherein: the joint connector comprises a chassis mounting plate, a right driving plate and a left driving plate, wherein the right driving plate and the left driving plate are respectively and fixedly connected to two ends of the chassis mounting plate, and the first angle adjusting component is fixedly arranged between the right driving plate and the left driving plate.
4. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 3, wherein: the big arm assembly comprises a big arm left side plate and a big arm right side plate, the first angle adjusting assembly comprises a second shutdown module, the second shutdown module is fixedly installed on the left side driving plate, the output end of the second shutdown module rotates to penetrate through the left side driving plate and then is fixedly connected with one end of the big arm left side plate, and one end of the big arm right side plate is rotationally connected with the right side driving plate through a rotating assembly.
5. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 4, wherein: a plurality of support columns are fixedly connected between the left side plate of the large arm and the right side plate of the large arm.
6. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 4, wherein: the forearm subassembly includes forearm left side board and forearm right side board, second angle adjustment subassembly includes third joint module, third joint module fixed mounting is in big arm left side board is kept away from the one end of second shutdown module, the output rotation of third joint module run through behind the big arm left side board with forearm left side board fixed connection, forearm right side board is through another group rotating assembly with big arm right side board is kept away from the one end rotation connection of second shutdown module, forearm left side board with fixedly connected with end effector fixed plate between the forearm right side board.
7. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 6, wherein: the end effector is a milling head-carrying effector, a drill-carrying effector, or a saw blade-carrying effector.
8. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 7, wherein: the end effector with the saw bit includes air motor, motor mounting panel, axle sleeve connecting rod and saw bit, air motor's output with the lower extreme fixed connection of axle sleeve connecting rod, the upper end of axle sleeve connecting rod pass through the bolt with saw bit fixed connection, air motor fixed mounting is in the bottom of motor mounting panel, the bottom of motor mounting panel pass through the bracing piece with the top fixed connection of end effector fixed plate.
9. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 8, wherein: the support rods are arranged in four, and the four support rods are respectively arranged at the bottom of the motor mounting plate.
10. The three degree of freedom robotic arm of a pipeline trenchless rehabilitation preconditioner robot of claim 6, wherein: the rotating assembly comprises an elastic retainer ring, a deep groove ball bearing, a rotating shaft and a driving shaft bearing seat, wherein the driving shaft bearing seat is used for fixedly supporting the outer ring of the deep groove ball bearing; the rotary shaft comprises a disc-shaped big head end and a shaft section coaxially arranged with the big head end, one end of the shaft section, which is far away from the big head end, can penetrate through the bearing hole of the deep groove ball bearing and is in interference fit with the inner ring of the deep groove ball bearing, and a clamping groove for clamping the elastic retainer ring is formed in the part, extending out of the bearing hole, of the shaft section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321921595.5U CN220303120U (en) | 2023-07-20 | 2023-07-20 | Three-degree-of-freedom mechanical arm of pipeline non-excavation type repair pretreatment robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321921595.5U CN220303120U (en) | 2023-07-20 | 2023-07-20 | Three-degree-of-freedom mechanical arm of pipeline non-excavation type repair pretreatment robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220303120U true CN220303120U (en) | 2024-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321921595.5U Active CN220303120U (en) | 2023-07-20 | 2023-07-20 | Three-degree-of-freedom mechanical arm of pipeline non-excavation type repair pretreatment robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220303120U (en) |
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2023
- 2023-07-20 CN CN202321921595.5U patent/CN220303120U/en active Active
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