CN111395466A - Tap water pipeline cleaning robot - Google Patents
Tap water pipeline cleaning robot Download PDFInfo
- Publication number
- CN111395466A CN111395466A CN202010164679.3A CN202010164679A CN111395466A CN 111395466 A CN111395466 A CN 111395466A CN 202010164679 A CN202010164679 A CN 202010164679A CN 111395466 A CN111395466 A CN 111395466A
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- Prior art keywords
- cleaning
- water pipeline
- tap water
- rod
- cleaning robot
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03C—DOMESTIC PLUMBING INSTALLATIONS FOR FRESH WATER OR WASTE WATER; SINKS
- E03C1/00—Domestic plumbing installations for fresh water or waste water; Sinks
- E03C1/12—Plumbing installations for waste water; Basins or fountains connected thereto; Sinks
- E03C1/30—Devices to facilitate removing of obstructions in waste-pipes or sinks
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03C—DOMESTIC PLUMBING INSTALLATIONS FOR FRESH WATER OR WASTE WATER; SINKS
- E03C1/00—Domestic plumbing installations for fresh water or waste water; Sinks
- E03C1/12—Plumbing installations for waste water; Basins or fountains connected thereto; Sinks
- E03C1/30—Devices to facilitate removing of obstructions in waste-pipes or sinks
- E03C1/302—Devices to facilitate removing of obstructions in waste-pipes or sinks using devices moved through the pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B1/00—Engines of impulse type, i.e. turbines with jets of high-velocity liquid impinging on blades or like rotors, e.g. Pelton wheels; Parts or details peculiar thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a tap water pipeline cleaning robot, comprising: the body part, the cleaning part, the advancing part and the energy storage part, wherein the energy storage part comprises a storage battery, a micro generator and a power generation propeller; when the electric quantity of battery needs to charge, many clean arms outwards expand and push down the inner wall of water pipeline in order to fix the robot, and electric valve opens, and the electricity generation screw outwards stretches out under the effect of first telescopic link, and water pipeline's rivers drive the electricity generation screw and rotate so that micro generator charges to the battery. The water energy of flowing tap water is converted into electric energy, the electric energy can be continuously supplied to the cleaning part and the advancing part, and the situation that the electric quantity is exhausted to be trapped in the tap water pipeline is avoided.
Description
Technical Field
The invention relates to the field of automatic robots, in particular to a tap water pipeline cleaning robot.
Background
The pipeline cleaning robot is an intelligent automatic robot applied to the field of pipeline cleaning. For the household tap water pipeline, the diameter is small, so the size of the cleaning robot for the tap water pipeline also needs to be small, and the storage battery of the robot can only adopt a battery with small size. However, the battery energy storage technology is slowly developed, and a small-size battery is difficult to store more electric quantity, so that the tap water pipeline cleaning robot usually runs out of electric quantity without working or charging after going out of the pipeline, but the tap water pipeline is small, and people cannot directly enter the cleaning robot to take out the cleaning robot. This may cause a trouble that the cleaning robot is trapped in the water pipe.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the prior art, and an object of the present invention is to provide a robot for cleaning a tap water pipe, which can be charged by using water flow in the tap water pipe.
The technical scheme adopted by the invention for solving the problems is as follows:
a water pipe cleaning robot comprising:
a body section, wherein a controller is arranged in the body section;
the cleaning part is used for cleaning the inner wall of a tap water pipeline and is provided with a plurality of cleaning arms capable of reciprocating in the inward and outward directions;
a traveling unit for traveling the water pipe cleaning robot;
the energy storage part comprises a storage battery, a micro generator and a power generation propeller, the power generation propeller is arranged on the side surface of the body part, an electric gate is arranged at the position of the body part corresponding to the power generation propeller, the power generation propeller is connected with the micro generator through a first telescopic rod, and the micro generator is connected with the storage battery;
when the electric quantity of the storage battery needs to be charged, the cleaning arms expand outwards to press the inner wall of the tap water pipeline so as to fix the tap water pipeline cleaning robot, the electric valve is opened, the power generation screw propeller extends outwards under the action of the first telescopic rod, and the water flow of the tap water pipeline drives the power generation screw propeller to rotate so that the micro generator charges the storage battery.
The tap water pipeline cleaning robot at least has the following beneficial effects: when the electric quantity of battery is less than the threshold value or reach the charge time, water pipeline cleaning robot can fix in water pipeline, opens tap when people, and the rivers in the water pipeline flow, and rivers impact electricity generation screw charges for the battery, and the battery just can last to supply power for clean portion and portion of marcing like this, avoids in the electric quantity exhausts and the water pipeline of being stranded.
Further, the controller includes a timing module to determine a time.
Further, the controller also comprises a setting module, wherein the setting module is used for setting a working time period and a charging time period; during working, the running water pipeline cleaning robot runs in the running water pipeline through the running part and cleans the inner wall of the running water pipeline through the cleaning part; in the charging time period, the tap water pipeline cleaning robot is fixed in the tap water pipeline and is charged through the energy storage part.
Further, the cleaning part is connected to the front end of the body part; the cleaning part rotates around a transverse central shaft of the cleaning part.
Further, the cleaning part comprises a cleaning main body, the cleaning arm comprises a driving rod, a cleaning rod and a driven rod which are sequentially hinged, and the driving rod, the cleaning rod, the driven rod and the cleaning main body form a parallelogram mechanism; the outer side of the cleaning rod is provided with a dentate cleaning block made of flexible material.
Further, the cleaning rod is provided with a pressure sensor; during working, the pressure sensor detects that the pressure of the tooth-shaped cleaning block pressed against the inner wall of a tap water pipeline reaches a first threshold value, and the cleaning arm stops moving outwards; during the charging time period, the pressure sensor detects that the pressure of the toothed cleaning block pressing against the inner wall of the tap water pipeline reaches a second threshold value, and the cleaning arm stops moving outwards; the second threshold is greater than the first threshold.
Further, the traveling part includes a plurality of moving legs mounted on a side surface of the trunk part; the movable support leg comprises a support leg main rod and a second telescopic rod; one end of the support leg main rod is hinged with the body part, the other end of the support leg main rod is provided with a wheel, and the support leg main rod is provided with a guide groove; one end of the second telescopic rod is fixedly connected with the trunk part, and the other end of the second telescopic rod penetrates through the guide groove through a support rod.
Further, the traveling part further includes a propeller installed at a rear end of the trunk part.
Further, the controller also comprises a positioning module and a path marking module; the positioning module is used for determining the position of the tap water pipeline cleaning robot in a tap water pipeline diagram; the path marking module is used for marking the cleaned pipeline on the tap water pipeline map.
Further, the controller further comprises an optimal path planning module for planning an optimal path for moving from one area to another area according to the tap water pipeline diagram.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a structural view of a tap water pipe cleaning robot according to an embodiment of the present invention;
FIG. 2 is a structural view of an energy storage portion;
fig. 3 is a block diagram of the controller.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 and 2, an embodiment of the present invention provides a tap water pipe cleaning robot, including:
a body part 100, wherein a controller 10 is arranged in the body part 100;
a cleaning part 200, wherein the cleaning part 200 is used for cleaning the inner wall of the tap water pipeline, and the cleaning part 200 is provided with a plurality of cleaning arms 220 capable of reciprocating in the inward and outward directions;
a traveling unit 300 for traveling the water pipe cleaning robot by the traveling unit 300;
the energy storage part 400, the energy storage part 400 includes a storage battery 430, a micro-generator 420 and a power generation propeller 410, the power generation propeller 410 is installed on the side surface of the trunk part 100, the position of the trunk part 100 corresponding to the power generation propeller 410 is provided with an electric gate 120, the power generation propeller 410 is connected with the micro-generator 420 through a first telescopic rod 440, and the micro-generator 420 is connected with the storage battery 430;
when the electric quantity of the storage battery 430 needs to be charged, the plurality of cleaning arms 220 are expanded outwards to press the inner wall of the tap water pipeline so as to fix the tap water pipeline cleaning robot, the electric gate 120 is opened, the power generation propeller 410 extends outwards under the action of the first telescopic rod 440, and the water flow of the tap water pipeline drives the power generation propeller 410 to rotate so that the micro generator 420 charges the storage battery 430.
In this embodiment, the side of the trunk 100 is provided with a plurality of semi-closed cavities 110 for housing the power generating propellers 410. The chamber 110 is opened with an opening on the outer surface of the trunk part 100, and a power shutter 120 is used to open and close the opening. The first telescopic rod 440 passes through the bottom of the chamber body 110.
When the amount of electricity of the storage battery 430 is lower than the threshold value or reaches the charging time, the mains cleaning robot moves outward by the cleaning arm 220 and presses the inner wall of the mains, thereby fixing it in the mains. When people open the water tap, water in the tap water pipeline flows. When the electric gate 120 is opened, the first telescopic rod 440 extends out, and the power generation propeller 410 extends out from the trunk portion 100 to a position protruding out of the trunk portion 100 as a whole under the action of the first telescopic rod 440. The water impacts the power generation screw 410, and the power generation screw 410 rotates to drive the micro generator 420 to generate power and charge the storage battery 430, so that the storage battery 430 can continuously supply power to the cleaning part 200 and the traveling part 300, and the situation that the water is trapped in the tap water pipeline due to the exhaustion of electric quantity is avoided. When charging is completed, the first telescopic rod 440 is retracted inwards, the power generation propeller 410 is reset under the action of the first telescopic rod 440, and the electric gate 120 is closed.
The battery 430 supplies electric power to the cleaning part 200 and the traveling part 300. Before entering the water line, the water line cleaning robot retracts the cleaning arm 220 to the innermost position. After entering the tap water pipeline, the cleaning arm 220 is extended outwards until the cleaning arm 220 butts against the inner wall of the tap water pipeline; the traveling unit 300 is started, and the traveling unit 300 drives the water pipe cleaning robot to travel, so that the cleaning unit 200 cleans the inner wall of the water pipe. In addition, the cleaning arm 220 can reciprocate inward and outward, and can adapt to pipelines with different sizes, thereby improving the applicability of the pipeline cleaning robot.
Referring to fig. 3, further, the controller 10 includes a timing module 11 for determining time. The controller 10 further comprises a setting module 12, wherein the setting module 12 is used for setting an operating time period and a charging time period; during the operation period, the tap water pipe cleaning robot travels in the tap water pipe through the traveling part 300 and cleans the inner wall of the tap water pipe through the cleaning part 200; in the charging period, the water pipe cleaning robot is fixed in the water pipe to be charged through the energy storage part 400.
Generally, twelve o 'clock in the evening to six o' clock in the morning, the user uses a small amount of water, and the time period can be set as the working time period by the setting module 12. And (4) the user normally uses water in the rest time, and the time is set as a charging time period. The working time period and the charging time period can also be set through the setting module 12 according to the living water habit of the user.
Further, the cleansing part 200 is connected to the front end of the body part 100; the cleaning part 200 is rotated about its own transverse center axis by the driving of the rotating motor. The rotary motor is installed in the body portion 100, and an output shaft of the rotary motor is inserted to a lateral center shaft position of the cleaning portion 200. The cleaning portion 200 has a cylindrical shape, and the lateral central axis of the cleaning portion 200 is a circular central axis. The rotating cleaning module enables the cleaning arm 220 to comprehensively clean the inner wall of the tap water pipeline, and effectively improves the cleaning efficiency.
Further, the cleaning part 200 further includes a cleaning main body 210. Four cleaning arms 220 are circumferentially disposed at the side of the cleaning main body 210. The cleaning arm 220 comprises a driving rod 221, a cleaning rod 222 and a driven rod 223 which are sequentially hinged, and the driving rod 221, the cleaning rod 222, the driven rod 223 and the cleaning main body 210 form a parallelogram mechanism; the cleaning rod 222 is provided on its outside with a toothed cleaning block 224 made of a flexible material. Each cleaning arm 220 is provided with a micro motor, and the micro motor drives the driving rod 221 to reciprocate inward and outward, so as to drive the whole cleaning arm 220 to move. The cleaning arm 220 of the parallelogram mechanism has the characteristic of flexibility. The parallelogram mechanism enables the cleaning rod 222 to always keep the tooth-shaped cleaning block 224 in a state of facing the inner wall of the pipeline, so that the contact area of the tooth-shaped cleaning block 224 and the inner wall of the pipeline is increased, and the cleaning efficiency is further improved. In addition, the rigidity of the flexible material is between that of the pipeline material and that of the fouling material; likewise, the hardness of the flexible material is between that of the pipe material and that of the fouling material. This allows the tooth-like cleaning blocks 224 to clean dirt without causing damage to the inner wall of the pipe.
Further, the cleaning rod 222 is provided with a pressure sensor 225; during operation, the pressure sensor 225 detects that the pressure of the toothed cleaning block 224 against the inner wall of the mains water pipe reaches a first threshold value and the cleaning arm 220 stops moving outwards. During the charging period, the pressure sensor 225 detects that the pressure of the toothed cleaning block 224 against the inner wall of the tap water pipe reaches the second threshold value, and the cleaning arm 220 stops moving outward. The second threshold is greater than the first threshold.
During the working period, the toothed cleaning block 224 only removes dirt on the inner wall of the tap water pipeline through the rotating motion, and only the toothed cleaning block 224 is required to be in contact with the inner wall of the tap water pipeline, so that the first threshold value is smaller. In the charging period, the tap water needs to be pressed tightly against the inner wall of the tap water pipeline by the toothed cleaning block 224 to fix the cleaning robot and avoid being washed away by the flowing tap water, so that the second threshold value is larger.
Further, the traveling part 300 includes a plurality of moving legs 310 installed at the side of the trunk part 100; the movable leg 310 includes a leg main bar 310 and a second telescopic bar 320; one end of the leg main rod 310 is hinged with the trunk part 100, the other end of the leg main rod 310 is provided with a wheel 330, and the leg main rod 310 is provided with a guide groove 311; one end of the second telescopic rod 320 is fixedly connected with the trunk part 100, and the other end of the second telescopic rod 320 passes through the guide slot 311 through the supporting rod. A micro motor for driving the second telescopic rod 320 to perform telescopic motion is disposed in the second telescopic rod 320, so that the second telescopic rod 320 can perform telescopic motion. The telescopic rod performs telescopic motion, and the rod moves along the guide slot 311, thereby pushing the main rod 310 to rotate around the hinge point of the main rod and the trunk 100.
Further, the traveling part 300 further includes a propeller 342 mounted at the rear end of the trunk part 100. Starting the propeller 342, and pushing the tap water pipeline cleaning robot to move forward by the propeller 342; the movable legs 310 are used to assist the water pipe cleaning robot to move forward, and the wheels 330 are attached to the water pipe to prevent the body 100 from being deviated.
Referring to fig. 3, further, the controller 10 further includes a positioning module 13 and a path marking module 14; the positioning module 13 is used for determining the position of the tap water pipeline cleaning robot on the tap water pipeline map; the path marking module 14 is used to mark the cleaned pipe on the tap water pipeline map during a task cycle. For the cleaned pipe, the cleaning part 200 is not started again for cleaning the pipe when the tap water pipe cleaning robot passes repeatedly.
Further, the controller 10 further comprises an optimal path planning module 15 for planning an optimal path for moving from one area to another area according to the tap water piping diagram. When the water pipe cleaning robot finishes cleaning the pipes in one area, the optimal path from the end point position to the target area, which is usually the shortest path, is calculated by the optimal path planning module 15. In this embodiment, the optimal path is calculated using the a-algorithm.
Further, the controller 10 further includes a self-checking module 16 for checking the cleaning unit 200 and the traveling unit 300 to determine whether the functions thereof can be normally used. The self-checking module 16 sends the detected information to the user end, so that the user can conveniently know the condition of the user, and the user can control the partially damaged tap water pipeline cleaning robot to timely go out of the tap water pipeline for maintenance.
The above is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means.
Claims (10)
1. A water pipe cleaning robot, comprising:
a body section, wherein a controller is arranged in the body section;
the cleaning part is used for cleaning the inner wall of a tap water pipeline and is provided with a plurality of cleaning arms capable of reciprocating in the inward and outward directions;
a traveling unit for traveling the water pipe cleaning robot;
the energy storage part comprises a storage battery, a micro generator and a power generation propeller, the power generation propeller is arranged on the side surface of the body part, an electric gate is arranged at the position of the body part corresponding to the power generation propeller, the power generation propeller is connected with the micro generator through a first telescopic rod, and the micro generator is connected with the storage battery;
when the electric quantity of the storage battery needs to be charged, the cleaning arms expand outwards to press the inner wall of the tap water pipeline so as to fix the tap water pipeline cleaning robot, the electric valve is opened, the power generation screw propeller extends outwards under the action of the first telescopic rod, and the water flow of the tap water pipeline drives the power generation screw propeller to rotate so that the micro generator charges the storage battery.
2. The water pipe cleaning robot as claimed in claim 1, wherein the controller comprises a timing module for determining time.
3. The water pipe cleaning robot as claimed in claim 2, wherein the controller further comprises a setting module for setting an operation time period and a charging time period; during working, the running water pipeline cleaning robot runs in the running water pipeline through the running part and cleans the inner wall of the running water pipeline through the cleaning part; in the charging time period, the tap water pipeline cleaning robot is fixed in the tap water pipeline and is charged through the energy storage part.
4. The water pipe cleaning robot according to claim 3, wherein the cleaning part is connected to a front end of the trunk part; the cleaning part rotates around a transverse central shaft of the cleaning part.
5. The water pipe cleaning robot as claimed in claim 4, wherein the cleaning part comprises a cleaning body, the cleaning arm comprises a driving rod, a cleaning rod and a driven rod, which are hinged in sequence, and the driving rod, the cleaning rod, the driven rod and the cleaning body form a parallelogram mechanism; the outer side of the cleaning rod is provided with a dentate cleaning block made of flexible material.
6. The water pipe cleaning robot as claimed in claim 5, wherein the cleaning rod is provided with a pressure sensor; during working, the pressure sensor detects that the pressure of the tooth-shaped cleaning block pressed against the inner wall of a tap water pipeline reaches a first threshold value, and the cleaning arm stops moving outwards; during the charging time period, the pressure sensor detects that the pressure of the toothed cleaning block pressing against the inner wall of the tap water pipeline reaches a second threshold value, and the cleaning arm stops moving outwards; the second threshold is greater than the first threshold.
7. The water pipe cleaning robot according to claim 1, wherein the traveling part comprises a plurality of moving legs mounted on a side surface of the trunk part; the movable support leg comprises a support leg main rod and a second telescopic rod; one end of the support leg main rod is hinged with the body part, the other end of the support leg main rod is provided with a wheel, and the support leg main rod is provided with a guide groove; one end of the second telescopic rod is fixedly connected with the trunk part, and the other end of the second telescopic rod penetrates through the guide groove through a support rod.
8. The water pipe cleaning robot according to claim 7, wherein the traveling part further comprises a propeller installed at a rear end of the trunk part.
9. The water pipe cleaning robot as claimed in claim 1, wherein the controller further comprises a positioning module and a path marking module; the positioning module is used for determining the position of the tap water pipeline cleaning robot in a tap water pipeline diagram; the path marking module is used for marking the cleaned pipeline on the tap water pipeline map.
10. The water pipe cleaning robot of claim 9, wherein the controller further comprises an optimal path planning module for planning an optimal path for moving from one area to another area according to a water pipe map.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010164679.3A CN111395466A (en) | 2020-03-11 | 2020-03-11 | Tap water pipeline cleaning robot |
| PCT/CN2020/112538 WO2021179549A1 (en) | 2020-03-11 | 2020-08-31 | Cleaning robot for tap water pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010164679.3A CN111395466A (en) | 2020-03-11 | 2020-03-11 | Tap water pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111395466A true CN111395466A (en) | 2020-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010164679.3A Pending CN111395466A (en) | 2020-03-11 | 2020-03-11 | Tap water pipeline cleaning robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111395466A (en) |
| WO (1) | WO2021179549A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021179549A1 (en) * | 2020-03-11 | 2021-09-16 | 五邑大学 | Cleaning robot for tap water pipeline |
| CN115121559A (en) * | 2022-09-02 | 2022-09-30 | 苏州方舟环保科技有限公司 | Intelligent dirt removing system and method for water pollution treatment underground pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115245932A (en) * | 2022-06-23 | 2022-10-28 | 中煤科工集团重庆研究院有限公司 | Movable pipeline ash removal robot attached to pipeline |
| CN115156210B (en) * | 2022-06-29 | 2023-10-31 | 沈阳能源技术开发研究所 | Self-powered pipe cleaner for petroleum pipeline |
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Application publication date: 20200710 |