CN114776931A - Robot for detecting inner wall of medium-small diameter heat supply network pipeline - Google Patents
Robot for detecting inner wall of medium-small diameter heat supply network pipeline Download PDFInfo
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- CN114776931A CN114776931A CN202210380416.5A CN202210380416A CN114776931A CN 114776931 A CN114776931 A CN 114776931A CN 202210380416 A CN202210380416 A CN 202210380416A CN 114776931 A CN114776931 A CN 114776931A
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- robot body
- robot
- pipe wall
- heat supply
- supporting
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- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000004140 cleaning Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 27
- 238000000034 method Methods 0.000 abstract description 13
- 230000007547 defect Effects 0.000 abstract description 6
- 230000006978 adaptation Effects 0.000 abstract 1
- 239000012535 impurity Substances 0.000 description 3
- 238000010030 laminating Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of pipeline detection, and provides a robot for detecting the inner wall of a medium-small diameter heat supply network pipeline, which comprises a robot body and four groups of anti-skid wheels fixed on the robot body, wherein the right end of the robot body is connected with a connecting circuit, the left end of the robot body is provided with a detection mechanism, an anti-collision beam longer than the detection mechanism is arranged below the detection mechanism, one end, close to the detection mechanism, above the robot body is provided with an illuminating mechanism, a fixed frame is arranged above the illuminating mechanism, two side edges of the robot body are provided with pipe diameter adjusting and supporting mechanisms, each pipe diameter adjusting and supporting mechanism comprises a pipe wall supporting telescopic rod, and the pipe wall supporting telescopic rods are arranged on the two side edges of the robot body by utilizing movable hinge seats. The problem of current robot do not have the special design that can adjust the adaptation at any time and use to pipeline diameter size, the robot can't pass stably in some pipe diameter oversize designs, appear shifting or toppling over in-process of removing, can't right its defect is solved.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a robot for detecting the inner wall of a medium-small diameter heat supply network pipeline.
Background
The heat supply network pipeline is a heat supply pipeline, and is mainly used for connecting heat supply centers such as a boiler room and the like, and a heat inlet of a heat source building is arranged, so the heat supply network pipeline is also called a heat supply network, and the heat supply network pipeline is worn out for a long time along with the use all year round, so the defects of damage and the like exist more or less, the normal conveying of a heat source is influenced, so the pipeline defects can be quickly prepared and found, various detection robots for detection appear in the market, but the detection robots which are relatively lack heat supply network pipes with medium and small diameters are still used at present, the existing robots also have certain defects, if the existing robots do not have the design of being specially adjusted and adapted to the diameters of the pipelines at any time, the robots cannot stably pass through in the design of overlarge pipe diameters, shift or topple over in the moving process, and cannot be righted.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide a robot for detecting the inner wall of a heat supply network pipeline with a medium and small diameter, which is used for solving the defects that the existing robot has no design which is specially adjusted and adapted to the diameter of the pipeline at any time, the robot cannot stably pass through the pipeline in some designs with overlarge pipe diameter, and the pipeline is shifted or toppled in the moving process and cannot be righted.
Disclosure of the invention
In order to solve the technical problems, the invention provides the following technical scheme: a robot for detecting the inner wall of a medium-small diameter heat supply network pipeline comprises a robot body and four groups of anti-skid wheels fixed on the robot body, wherein the right end of the robot body is connected with a connecting circuit, the left end of the robot body is provided with a detection mechanism, an anti-collision beam which is longer than the detection mechanism is arranged below the detection mechanism, one end, close to the detection mechanism, above the robot body is provided with an illuminating mechanism, a fixing frame is arranged above the illuminating mechanism, and the robot is characterized in that pipe diameter adjusting and supporting mechanisms are arranged on two side edges of the robot body and comprise pipe wall supporting telescopic rods which are arranged on the two side edges of the robot body through movable hinge seats, the top ends of the pipe wall supporting telescopic rods are connected with pipe wall contact wheels, and one side of the pipe wall supporting telescopic rods is provided with an angle adjusting hydraulic rod through the movable hinge seats, the angle adjusting hydraulic rod is fixed on the robot body through a movable hinge seat.
Preferably, the pipe wall supporting telescopic rod is one of a telescopic supporting rod with an elastic part arranged inside or an electric hydraulic rod, and the angle adjusting hydraulic rod is an electric hydraulic rod.
Preferably, the angle adjusting hydraulic rod stretches and retracts to drive the pipe wall supporting telescopic rod to rotate on the movable hinge seat, and the pipe wall supporting telescopic rod is gradually contacted and attached with the pipe wall of the medium-small diameter heat supply network pipeline, so that a supporting balance effect is achieved.
Preferably, the pipe diameter adjusting and supporting structures on the two sides are designed to be centrosymmetric structures.
Preferably, when the pipe wall supporting telescopic rod is retracted to the inner side of the robot body by using the angle adjusting hydraulic rod, the pipe wall contact wheel is retracted to the inner side of the anti-skid wheel.
Preferably, the robot body is internally provided with a self-cleaning mechanism, the self-cleaning mechanism comprises a cleaning wheel and a driving motor, the cleaning wheel is arranged at the bottom of the robot body, the driving motor is arranged in the robot body, and the driving motor is connected with the cleaning wheel through an upper rotating shaft of the driving motor for transmission.
(III) advantageous effects
The invention provides a robot for detecting the inner wall of a medium-small diameter heat supply network pipeline, which has the advantages that:
1. add pipe diameter and adjust supporting mechanism, guarantee the steady operation of robot at the removal in-process according to the pipeline diameter size, use the distance between electrical control pipe wall contact wheel and pipeline lateral wall, let pipe wall contact wheel and the contact laminating of pipeline lateral wall, the removal process both sides pipe wall contact wheel removes with the pipe wall laminating all the time, can effectively avoid the skew, guarantee stably, can adjust the pipe wall contact wheel according to the pipe diameter size simultaneously and shrink the distance of guaranteeing laminating between the pipe wall, improve equipment adaptability.
2. The self-cleaning mechanism is added, the bottom cleaning wheel of the robot continuously rotates in the operation process, impurities in particles at the bottom are cleaned, and the moving process is not influenced by the operation of the impurities.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1 according to the present invention;
fig. 3 is a schematic view of the local cross-sectional structure of the present invention.
The reference numbers in the figures illustrate: 1. a robot body; 2. a pipe diameter adjusting and supporting mechanism; 21. the pipe wall supports the telescopic rod; 22. a pipe wall contact wheel; 23. an angle adjusting hydraulic rod; 3. anti-skid wheels; 4. an impact beam; 5. a detection mechanism; 6. an illumination mechanism; 7. a fixed mount; 8. a self-cleaning mechanism; 81. a cleaning wheel; 82. a drive motor; 9. and connecting the lines.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
Referring to fig. 1-3, the invention provides a robot for detecting the inner wall of a medium-diameter and small-diameter heat network pipeline, which comprises a robot body 1 and four sets of anti-skid wheels 3 fixed on the robot body 1, wherein the right end of the robot body 1 is connected with a connecting circuit 9, the left end of the robot body 1 is provided with a detection mechanism 5, an anti-collision beam 4 longer than the detection mechanism 5 is arranged below the detection mechanism 5, one end of the upper part of the robot body 1 close to the detection mechanism 5 is provided with an illuminating mechanism 6, a fixing frame 7 is arranged above the illuminating mechanism 6, two side edges of the robot body 1 are provided with pipe diameter adjusting and supporting mechanisms 2, each pipe diameter adjusting and supporting mechanism 2 comprises a pipe wall supporting and telescoping rod 21, the pipe wall supporting and telescoping rods 21 are arranged at two side edges of the robot body 1 by using movable hinge seats, the top end of the pipe wall supporting and telescoping rod 21 is connected with contact wheels 22, one side of the pipe wall supporting and telescoping rod 21 is provided with an angle adjusting hydraulic rod 23 by using the movable hinge seats, the angle adjusting hydraulic rod 23 is fixed on the robot body 1 by a movable hinge seat;
example one
At present, most detection robots on the market are designed in a trolley type, and are more mature and stable in application, the invention is also designed according to the design of the existing trolley type robots, certain changes are made on the basis of the design, and certain defects in the prior art are overcome, in the prior art, a power source is connected with power according to a tail connecting line 9, a remote controller controls the robot to move forwards and backwards, detection monitoring is carried out by using a detection mechanism 5 at the front end of a robot body 1, a detection assembly with a certain telescopic adjustable height exists in the market, but the robot is not suitable for the patent, the application object of the robot is a medium-and-small-diameter heat net pipeline, the diameter of the pipeline needs to be considered, the telescopic performance of detection equipment occupies a larger space in the application process, so that the detection equipment is not considered any more, and an anti-collision beam 4 additionally arranged at the front end of the detection mechanism 5 is designed for most products, when the device is used, the detection mechanism 5 is protected, and the illumination mechanism 6 assists the detection mechanism 5 to be used, so that the generated picture is clearer and clearer, the identification of workers is facilitated, and the follow-up treatment is carried out in time;
the pipe wall supporting telescopic rod 21 is one of a telescopic support rod with a built-in elastic part or an electric hydraulic rod, the angle adjusting hydraulic rod 23 is an electric hydraulic rod, the angle adjusting hydraulic rod 23 stretches and retracts to drive the pipe wall supporting telescopic rod 21 to rotate on a movable hinged seat of the pipe wall supporting telescopic rod and gradually contact and attach with a pipe wall of a medium-small diameter heat supply network pipeline to achieve a supporting balance effect, the pipe diameter adjusting and supporting structures 2 on two sides are designed to be central symmetrical structures, and when the pipe wall supporting telescopic rod 21 retracts to the inner side of the robot body 1 by using the angle adjusting hydraulic rod 23, the pipe wall contact wheel 22 retracts to the inner side of the anti-slip wheel 3;
example two
Aiming at the use of middle and small diameter heat supply network pipelines, the robot body 1 is additionally provided with a pipe diameter adjusting and supporting mechanism 2, the robot can topple over due to misoperation in the moving process and influence subsequent treatment, therefore, the adjustable supporting mechanisms are additionally arranged at the two sides of the robot body 1, whether the mechanism is started or not is determined according to the size of the pipeline in the using process, the design of the robot firstly meets the requirement of freely shuttling in the small diameter heat supply network pipelines, when the robot is used in the middle diameter pipeline, an angle adjusting hydraulic rod 23 is started to enable a pipe wall supporting telescopic rod 21 to rotate and to be propped open towards the direction of the pipe wall until a pipe wall contact wheel 22 on the pipe wall supporting telescopic rod 21 is contacted with the pipe wall, the robot can slide on the pipe wall, the two sides are contacted with the pipe wall to balance the pipe wall, and the supporting adjustment between the pipe wall contact wheel 22 and the pipe wall is matched in the moving process of the robot body 1, the moving process of the pipe wall contact wheel is more stable, the pipe wall contact wheel is more suitable for pipelines with different pipe diameters, if the pipe wall contact wheel is used in a small-diameter pipeline and placed to a pipe opening, whether two-side support is needed by visual inspection or not is judged, the angle adjusting hydraulic rod 23 does not need to be started, if the pipe wall contact wheel is needed, the pipe wall contact wheel 22 on the pipe wall support telescopic rod 21 is in contact with the pipe wall, compared with a medium-diameter pipeline, the expansion angle of the pipe wall support telescopic rod 21 in the small-diameter pipeline is relatively small, or the top pipe wall contact wheel 22 is contracted to the inner side of the anti-skid wheel 3 when the pipe wall contact wheel is not needed to be used, and the longitudinal width of the pipe wall contact wheel 22 is relatively wide, so that the pipe wall can be fully attached and contacted, and meanwhile, the moving process is more stable;
the robot body 1 is internally provided with the self-cleaning mechanism 8, the self-cleaning mechanism 8 comprises a cleaning wheel 81 and a driving motor 82, the cleaning wheel 81 is arranged at the bottom of the robot body 1, the driving motor 82 is arranged in the robot body 1, and the driving motor 82 is connected with the cleaning wheel 81 through an upper rotating shaft of the driving motor 82 for transmission;
EXAMPLE III
The pipeline bottom is used throughout the year and is accumulated a lot of small impurity particles and the like, the robot body 1 is influenced to move, the self-cleaning mechanism 8 is additionally arranged at the bottom of the robot body 1, the cleaning wheel 81 is used for cleaning the bottom area in cooperation with the driving motor 82, the cleanness of the bottom is guaranteed, and the situation that the rear wheels are blocked cannot occur when passing through is avoided.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A robot for detecting the inner wall of a medium-and-small-diameter heat supply network pipeline comprises a robot body and four groups of anti-skid wheels fixed on the robot body, wherein the right end of the robot body is connected with a connecting circuit, a detecting mechanism is arranged at the left end of the robot body, an anti-collision beam which is longer than the detecting mechanism is arranged below the detecting mechanism, an illuminating mechanism is arranged at one end, close to the detecting mechanism, above the robot body, and a fixed frame is arranged above the illuminating mechanism;
the utility model discloses a robot comprises a robot body, and is characterized in that robot body both sides limit is equipped with pipe diameter regulation supporting mechanism, pipe diameter regulation supporting mechanism includes that the pipe wall supports the telescopic link, the pipe wall supports the telescopic link and utilizes the articulated seat of activity to locate robot body both sides limit, the pipe wall supports the telescopic link top and even has pipe wall contact wheel, the pipe wall supports telescopic link one side and utilizes the articulated seat of activity to be equipped with the angle modulation hydraulic stem, the angle modulation hydraulic stem utilizes the articulated seat of activity to be fixed in on the robot body.
2. The robot for detecting the inner wall of the middle and small-diameter heat supply network pipeline according to claim 1, wherein the pipe wall supporting telescopic rod is one of a telescopic supporting rod with an internal elastic part or an electric hydraulic rod, and the angle adjusting hydraulic rod is an electric hydraulic rod.
3. The robot for detecting the inner walls of the pipelines of the medium-small diameter heat supply networks as claimed in claim 1, wherein the angle adjusting hydraulic rod stretches and retracts to drive the pipe wall supporting telescopic rod to rotate on the movable hinged seat, and the pipe wall supporting telescopic rod gradually contacts and fits with the pipe wall of the medium-small diameter heat supply network pipeline to achieve a supporting balance effect.
4. The robot for detecting the inner walls of the pipelines of the medium-small diameter heat supply networks as claimed in claim 1, wherein the pipe diameter adjusting and supporting structures on both sides are designed to be centrosymmetric.
5. The robot for detecting the inner wall of the medium-small diameter heat supply network pipeline as claimed in claim 1, wherein when the pipe wall supporting telescopic rod is retracted to the inner side of the robot body by using the angle adjusting hydraulic rod, the pipe wall contact wheel is retracted to the inner side of the anti-slip wheel.
6. The robot for detecting the inner wall of the middle and small-diameter heat supply network pipeline as claimed in claim 1, wherein the robot body is internally provided with a self-cleaning mechanism, the self-cleaning mechanism comprises a cleaning wheel and a driving motor, the cleaning wheel is arranged at the bottom of the robot body, the robot body is internally provided with the driving motor, and the driving motor is connected with the cleaning wheel through an upper rotating shaft of the driving motor for transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210380416.5A CN114776931A (en) | 2022-04-12 | 2022-04-12 | Robot for detecting inner wall of medium-small diameter heat supply network pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210380416.5A CN114776931A (en) | 2022-04-12 | 2022-04-12 | Robot for detecting inner wall of medium-small diameter heat supply network pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114776931A true CN114776931A (en) | 2022-07-22 |
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ID=82428865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210380416.5A Pending CN114776931A (en) | 2022-04-12 | 2022-04-12 | Robot for detecting inner wall of medium-small diameter heat supply network pipeline |
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| Country | Link |
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| CN (1) | CN114776931A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1164230A (en) * | 1997-08-26 | 1999-03-05 | Shibazaki Denshi Kk | Pipe channel inspecting device with expansion/ contraction type running carriage |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN112283497A (en) * | 2020-11-11 | 2021-01-29 | 云南华昆水电水利科学研究有限公司 | Support device for preventing vehicle body from side turning |
| CN213065130U (en) * | 2020-09-18 | 2021-04-27 | 张家港保税区华瑞管道检测有限公司 | Novel non-excavation pipeline inside check out test set |
| CN214947353U (en) * | 2021-06-24 | 2021-11-30 | 福建省中孚检测技术有限公司 | Full-automatic cleaning device of pipeline inspection robot |
| US20220057040A1 (en) * | 2018-12-03 | 2022-02-24 | Ebara Environmental Plant Co., Ltd. | Pipe interior inspection robot |
-
2022
- 2022-04-12 CN CN202210380416.5A patent/CN114776931A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1164230A (en) * | 1997-08-26 | 1999-03-05 | Shibazaki Denshi Kk | Pipe channel inspecting device with expansion/ contraction type running carriage |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| US20220057040A1 (en) * | 2018-12-03 | 2022-02-24 | Ebara Environmental Plant Co., Ltd. | Pipe interior inspection robot |
| CN213065130U (en) * | 2020-09-18 | 2021-04-27 | 张家港保税区华瑞管道检测有限公司 | Novel non-excavation pipeline inside check out test set |
| CN112283497A (en) * | 2020-11-11 | 2021-01-29 | 云南华昆水电水利科学研究有限公司 | Support device for preventing vehicle body from side turning |
| CN214947353U (en) * | 2021-06-24 | 2021-11-30 | 福建省中孚检测技术有限公司 | Full-automatic cleaning device of pipeline inspection robot |
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