CN204934150U - A kind of Novel underground drain road sewage disposal apparatus - Google Patents
A kind of Novel underground drain road sewage disposal apparatus Download PDFInfo
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- CN204934150U CN204934150U CN201520528944.6U CN201520528944U CN204934150U CN 204934150 U CN204934150 U CN 204934150U CN 201520528944 U CN201520528944 U CN 201520528944U CN 204934150 U CN204934150 U CN 204934150U
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Abstract
The utility model discloses a kind of Novel underground drain road sewage disposal apparatus, comprise cutting mechanism, automatic walking mechanism, proof mechanism of water and pollution discharge mechanism, described cutting mechanism periphery is provided with automatic walking mechanism, be provided with proof mechanism of water outside described automatic walking mechanism, described proof mechanism of water outboard end is provided with pollution discharge mechanism; By the use of automatic walking mechanism, this device can be made to wriggle in pipeline and to walk forward, and in the process of walking cutting removing be carried out to ducted dirt.Cutter head and walking mechanism adjustable, meet different tube diameters requirement; Realize cutting function, dirt eliminating function and from walking function; Realize robot submersible.Drainage pipeline installations can liberate the both hands of workman, reduce manual intervention, thoroughly substitute and manually remove contamination, protect the safety of workman, efficiently dredging drainpipe road.
Description
Technical field
The utility model relates to pipeline cleaning technical field, more particularly, relates to a kind of Novel underground drain road sewage disposal apparatus.
Background technology
China's urban discharging pipeline is embedded in shallow underground mostly, and pipe diameter is little.Pipeline can produce precipitation, the alluvial of dirt owing to using for a long time, the flow which results in pipeline reduces further, for small-bore pipeline, if alluvial is serious, can result in blockage.During a large amount of rainfall, if drainage pipeline flow is inadequate or block, then urban pavement can be made to occur seeping phenomenon, large amount of sewage discharges ground, has a strong impact on the productive life of city dweller.
Be all industrial wastewater and sanitary sewage in urban discharging pipeline, a large amount of rotten materials produces pernicious gas, causes serious threat to the safety of pipeline cleaning workman; Easily produce inflammable and explosive gas in pipeline, as biogas, also very easily blast when removing contamination.
Domestic pipeline cleaning method has water under high pressure desilting method, flowing water washes away desilting method etc.Wherein water under high pressure can cause punching wound and broken ring to pipeline, and wastes a large amount of clear water; Flowing water is flushed in retaining process, and upstream line may be caused to produce new alluvial.This is a kind of efficiently for research and development, the pipeline cleaning installations of low cost provide necessity.
Therefore, owing to there is above-mentioned technological deficiency in prior art, be those skilled in that art's technical problems urgently to be resolved hurrily.
Utility model content
The purpose of this utility model is for providing a kind of Novel underground drain road sewage disposal apparatus, for desilting, the dredging of urban discharging pipeline, devise and a kind ofly adapt to different tube diameters, integrate the installations of removing contamination with the creeping motion type of blowdown, small-bore drainage pipeline can be met to remove contamination requirement, realize the no-dig technique long distance prune job of pipeline.
For achieving the above object, the utility model provides following technical scheme:
A kind of Novel underground drain road sewage disposal apparatus, comprise cutting mechanism, automatic walking mechanism, proof mechanism of water and pollution discharge mechanism, described cutting mechanism periphery is provided with automatic walking mechanism, is provided with proof mechanism of water outside described automatic walking mechanism, and described proof mechanism of water outboard end is provided with pollution discharge mechanism;
Described cutting mechanism comprises slotted nut, short sleeve, long sleeve, long flat key, short flat key, final drive shaft, first slide block, second slide block, connecting rod and blade, described final drive shaft one end is provided with slotted nut, described final drive shaft the other end is provided with screw thread, short sleeve is provided with successively after described slotted nut, first slide block, long sleeve and the second slide block, described first slide block periphery is connected with blade by rotating shaft, described second slide block periphery connects one end of connecting rod by rotating shaft, the described connecting rod other end connects blade by rotating shaft, groove is respectively equipped with inside described first slide block and the second slide block, the shaft shoulder of described final drive shaft is provided with short flat key, long flat key is provided with in the axial end of described final drive shaft, described long flat key coordinates with the inner groovy of described first slide block, described short flat key coordinates with the inner groovy of described second slide block,
Described automatic walking mechanism comprises support set connector, push rod support connecting piece, AC servo motor, electric pushrod, roller, connecting rod, nut sleeve, nut guide plate, shaft coupling and support set, described final drive shaft is connected with AC servo motor by shaft coupling, on described final drive shaft, screw thread both sides are respectively equipped with support set, support set connector is provided with outside described support set, push rod support connecting piece is provided with outside described support set connector, described push rod support connecting piece connects electric pushrod outward, described electric pushrod end is provided with roller, the screw thread of described final drive shaft is provided with nut sleeve, nut guide plate is provided with outside described nut sleeve, connecting rod connects the described support set at two ends through described nut guide plate,
Described proof mechanism of water comprises drive end bearing bracket, outside link, rear bucket, dead ring, bellows and arm-tie, described bellows-sheathed is located at outside described automatic walking mechanism, described electric pushrod and roller are through described bellows, described bellows front end is provided with drive end bearing bracket, described bellows rear end is provided with rear bucket, described bellows two ends are fixedly connected with rear bucket with described drive end bearing bracket by dead ring, are provided with arm-tie outside described drive end bearing bracket, and described arm-tie is connected by outside link with described rear bucket;
Described pollution discharge mechanism comprises feed pipe, screen pack and blow-off pipe, and outside described rear bucket, lower end is provided with fixed head, and described feed pipe and blow-off pipe are installed on the fixed head of bucket in the rear, and the mouth of pipe of described blow-off pipe is provided with screen pack.
Preferably, described slotted nut is fixed by split pin in the end of described final drive shaft.
Preferably, described blade is provided with 3, is evenly located at described first slide block periphery.
Preferably, be provided with O type circle, stationary ring, rotating ring, O type circle, portable plate, spring, holding screw inside described drive end bearing bracket successively, mark closely ring and screw.
Usefulness of the present utility model is: provide a kind of Novel underground drain road sewage disposal apparatus, can realize from walking function in the small-bore pipeline that caliber is different, realize submersible function, integrate and remove contamination and blowdown.Meet the pipeline cleaning job requirements of 500 ~ 800mm caliber, speed of travel 0.25m/min, once remove contamination beeline 30m; Cutter head and walking mechanism adjustable, meet different tube diameters requirement; Realize cutting function, dirt eliminating function and from walking function; Realize robot submersible; Cutter head is detachable, loads other mechanisms and can be used as other robot use (as measuring robots, wearing cable robot etc.).Drainage pipeline installations can liberate the both hands of workman, reduce manual intervention, thoroughly substitute and manually remove contamination, protect the safety of workman, efficiently dredging drainpipe road.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is general assembly structural representation of the present utility model;
Fig. 2 is the structural representation of cutting mechanism of the present utility model;
Fig. 3 is the exploded perspective view of cutting mechanism of the present utility model;
Fig. 4 is the structural representation of automatic walking mechanism of the present utility model;
Fig. 5 is the partial schematic diagram of automatic walking mechanism of the present utility model;
Fig. 6 is the structural scheme of mechanism of proof mechanism of water of the present utility model;
Fig. 7 is the exploded perspective view of proof mechanism of water of the present utility model;
Fig. 8 is the detonation configuration schematic diagram of drive end bearing bracket of the present utility model;
Fig. 9 is the structural representation of pollution discharge mechanism of the present utility model;
In figure: 1 is slotted nut; 2 is short sleeve; 3 is long sleeve; 4 is long flat key; 5 is short flat key; 6 is final drive shaft; 7 is the first slide block; 8 is the second slide block; 9 is connecting rod; 10 is blade; 11 is support set connector; 12 is push rod support connecting piece; 13 is AC servo motor; 14 is electric pushrod; 15 is roller; 16 is connecting rod; 17 is nut sleeve; 18 is nut guide plate; 19 is shaft coupling; 20 is support set; 21 is drive end bearing bracket; 22 is outside link; 23 is rear bucket; 24 is dead ring; 25 is bellows; 26 is arm-tie; 27 is feed pipe; 28 is screen pack; 29 is blow-off pipe; 30 is split pin; 31 is O type circle; 32 is stationary ring; 33 is rotating ring; 34 is portable plate; 35 is spring; 36 is holding screw; 37 for marking closely ring; 38 is screw.
Detailed description of the invention
The utility model provides a kind of Novel underground drain road sewage disposal apparatus, and drainage pipeline installations can liberate the both hands of workman, reduces manual intervention, thoroughly substitutes and manually removes contamination, protect the safety of workman, efficiently dredging drainpipe road.
Below in conjunction with the accompanying drawing in the utility model embodiment, carry out clear and detailed description to the technical scheme in the utility model embodiment, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making other embodiments all obtained under creative work prerequisite, all belong to the scope of the utility model protection.
A kind of Novel underground drain road sewage disposal apparatus as shown in Figure 1, comprise cutting mechanism, automatic walking mechanism, proof mechanism of water and pollution discharge mechanism, described cutting mechanism periphery is provided with automatic walking mechanism, is provided with proof mechanism of water outside described automatic walking mechanism, and described proof mechanism of water outboard end is provided with pollution discharge mechanism;
As shown in Figures 2 and 3, described cutting mechanism comprises slotted nut 1, short sleeve 2, long sleeve 3, long flat key 4, short flat key 5, final drive shaft 6, first slide block 7, second slide block 8, connecting rod 9 and blade 10, described final drive shaft 6 one end is provided with slotted nut 1, described final drive shaft 6 the other end is provided with screw thread, short sleeve 2 is provided with successively after described slotted nut 1, first slide block 7, long sleeve 3 and the second slide block 8, described first slide block 7 periphery is connected with blade 10 by rotating shaft, described second slide block 8 periphery connects one end of connecting rod 9 by rotating shaft, described connecting rod 9 other end connects blade 10 by rotating shaft, groove is respectively equipped with inside described first slide block 7 and the second slide block 8, the shaft shoulder of described final drive shaft 6 is provided with short flat key 5, long flat key 4 is provided with in the axial end of described final drive shaft 6, described long flat key 4 coordinates with the inner groovy of described first slide block 7, described short flat key 5 coordinates with the inner groovy of described second slide block 8, cutter head 10 adopts slider-crank mechanism, can realize reducing, for the operation of different tube diameters.The slider designs of cutter head 10 has groove, carrys out transmitting torque with final drive shaft 6 by key.On final drive shaft 6, use short flat key 5 near shaft shoulder place, use long flat key 4, two key length scopes to meet the requirement of cutter head adjustment work exhibition footpath 500mm ~ 800mm near axial end.Require that adjustment cutter head 10 opens up footpath according to work caliber, with split pin 30 cross-notching nut 1 fixed position, the length simultaneously adjusting short sleeve 2 and long sleeve 3 realizes the adjustment in cutter head exhibition footpath.Short sleeve 2 and long sleeve 3 are for ease of installing, and endoporus all has width and is a bit larger tham the wide groove of key.
As shown in Figures 4 and 5, described automatic walking mechanism comprises support set connector 11, push rod support connecting piece 12, AC servo motor 13, electric pushrod 14, roller 15, connecting rod 16, nut sleeve 17, nut guide plate 18, shaft coupling 19 and support set 20, described final drive shaft 6 is connected with AC servo motor 13 by shaft coupling 19, on described final drive shaft 6, screw thread both sides are respectively equipped with support set 20, support set connector 11 is provided with outside described support set 20, push rod support connecting piece 12 is provided with outside described support set connector 11, described push rod support connecting piece 12 is outer connects electric pushrod 14, described electric pushrod 14 end is provided with roller 15, the screw thread of described final drive shaft 6 is provided with nut sleeve 17, nut guide plate 18 is provided with outside described nut sleeve 17, connecting rod 16 connects the described support set 20 at two ends through described nut guide plate 18,
The course of work of automatic walking mechanism is: provided by AC servo motor 13 from the power of ground-engaging element, by shaft coupling 19, moment of torsion is passed to final drive shaft 6.On final drive shaft 6, screw thread both sides are provided with two rotatable support sets 20, fix the axial distance of two rotatable support sets 20 with connecting rod 16, and support set 20 gyrations axial displacement do not occur.The screw thread of final drive shaft 6 is provided with nut sleeve 17.Two rotatable support sets 20 and nut sleeve 17 are respectively equipped with three electric pushrods 14, the support requirement of different tube diameters can be met.Electric pushrod 14 end is provided with roller 15, is beneficial to the movement of this device in drainage pipeline.Connecting rod 16 play the guiding role to nut sleeve 17, also ensure that the interlock of nut sleeve 17 and rotatable support set 20.Limit switch is equipped with connecting rod 16, for controlling the rotation direction of AC servo motor 13.
AC servo motor 13 is opened, now in nut sleeve 17 electric pushrod 14 stretch out and withstand drainage pipeline inwall, the position of nut sleeve 17 is fixed, and final drive shaft 6 rotates forward, whole device opposing nut cover 17 moves forward, and drives cutting mechanism rotary cutting simultaneously and moves forward; When the nut guide plate 18 in nut sleeve 17 touches the limit switch of connecting rod 16 rear end, electric pushrod 14 in nut sleeve 17 is retracted, electric pushrod 14 on two rotatable support sets 20 stretches out and withstands drainage pipeline inwall, the rotating speed of AC servo motor 13 is decreased to reversion gradually, in moderating process, nut sleeve 17 moves backward relative to final drive shaft 6, for ensureing that nut sleeve 17 is not collided with the rotatable support set 20 of rear end, limit switch is arranged on the correct position on connecting rod 16; When AC servo motor 13 reverses, drive final drive shaft 6 to reverse, now the relative final drive shaft 6 of nut sleeve 17 moves forward, and the invariant position of whole device relative duct size, cutting mechanism original place reversely rotates; When the nut guide plate 18 in nut sleeve 17 touches the limit switch of connecting rod 16 front end, electric pushrod 14 on two rotatable support sets 20 is retracted, electric pushrod 14 in nut sleeve 17 stretches out and withstands drainage pipeline inwall, the position of nut sleeve 17 is fixed, the rotating speed of AC servo motor 13 is decreased to gradually and turns to upset, in moderating process, the position of whole device opposing nut cover 17 is moved backward, for ensureing that nut sleeve 17 is not collided with the rotatable support set 20 of front end, limit switch is arranged on the correct position on connecting rod 16; Turn to upset when AC servo motor 13, final drive shaft 6 rotates forward whole device opposing nut cover 17 and moves forward, and drives cutting mechanism rotary cutting simultaneously and moves forward.Motion like this, whole device completes from walking function and cutting function.
As shown in Figures 6 and 7, described proof mechanism of water comprises drive end bearing bracket 21, outside link 22, rear bucket 23, dead ring 24, bellows 25 and arm-tie 26, described bellows 25 is set in outside described automatic walking mechanism, described electric pushrod 14 and roller 15 are through described bellows 25, described bellows 25 front end is provided with drive end bearing bracket 21, described bellows 25 rear end is provided with rear bucket 23, described bellows 25 two ends are fixedly connected with rear bucket 23 with described drive end bearing bracket 21 by dead ring 24, arm-tie 26 is provided with outside described drive end bearing bracket 21, described arm-tie 26 is connected by outside link 22 with described rear bucket 23,
Front end robot seal member is arranged on final drive shaft 6, and tighten holding screw and make the position marking closely ring be fixed on final drive shaft 6, spring plays stretch compensation effect.There is floor in rear bucket 23, AC servo motor 13 can be supported.Bellows 25 is sleeved on drive end bearing bracket 21 and rear bucket 23, and two ends dead ring 24 carries out pinch seal.Bellows 25 can free-extension, facilitate its from walking movement.Arm-tie 26 and drive end bearing bracket 21 lay respectively at the axle collar both sides of final drive shaft 6.Arm-tie 26 and rear bucket 23 utilize outside link 22 to strain, the two ends spring washer of outside link 22 and nut screwing clamping.After installation, the stretching motion bar of electric pushrod 14 is in the outside of bellows 25.There is sleeve pipe at the position of bellows 25 being installed electric pushrod 14, can meet the seal request of installation position.
When the agent structure of this device is installed, first front end robot seal member is installed, bellows 25 and automatic walking mechanism are installed again, then AC servo motor 13 screw is arranged on rear bucket 23, then with dead ring 24, bellows 25 two ends are fixed on rear bucket 23 and drive end bearing bracket 21, finally load onto arm-tie 26, with outside link 22, arm-tie 26 and rear bucket 23 are strained.
As shown in Figure 9, described pollution discharge mechanism comprises feed pipe 27, screen pack 28 and blow-off pipe 29, outside described rear bucket 23, lower end is provided with fixed head, and described feed pipe 27 is installed on the fixed head of bucket 23 in the rear with blow-off pipe 29, and the mouth of pipe of described blow-off pipe 29 is provided with screen pack 28.Feed pipe 27 connects water supply installation, the dirt that feedwater dilution drainage inwall is cut.Blow-off pipe 29 connects water absorber, and dirt is discharged drainage pipeline.The mouth of pipe of blow-off pipe 29 is provided with screen pack 28, prevents blowdown apparatus from blocking.
Further, described slotted nut 1 is fixed by split pin 30 in the end of described final drive shaft 6.
Further, described blade 10 is provided with 3, is evenly located at described first slide block 7 periphery.
As shown in Figure 8, further, be provided with O type circle 31, stationary ring 32, rotating ring 33, O type circle 31, portable plate 34, spring 35, holding screw 36 inside described drive end bearing bracket 21 successively, mark closely ring 37 and screw 38.Make drive end bearing bracket 21 fixing more tight, water resistance is better.
The utility model in use, before blowdown operation starts, first the automatic walking mechanism of this device and proof mechanism of water are installed, then put into drainage pipeline, then cutter head 10, feed pipe 27 and blow-off pipe 29 are installed, starter motor, start working by this device.Automatic walking mechanism completes peristaltic action, and cutting mechanism completes the cutting of drainage pipeline inwall dirt.Start water supply installation, dilution dirt, starts blowdown apparatus, dirt discharge line.
The utility model is removed contamination for drainage pipeline the requirement of blowdown; devise the sewage disposal apparatus meeting the requirement of different tube diameters drainage pipeline; removing contamination of pipeline no-dig technique can be realized; cutting function can be realized, from walking function and dirt eliminating function; reduce manual intervention; thoroughly substitute and manually remove contamination, protect the safety of workman, dredged drainage pipeline efficiently.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the utility model.Be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from spirit or scope of the present utility model, can realize in other embodiments.Therefore, the utility model can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (4)
1. a Novel underground drain road sewage disposal apparatus, it is characterized in that: comprise cutting mechanism, automatic walking mechanism, proof mechanism of water and pollution discharge mechanism, described cutting mechanism periphery is provided with automatic walking mechanism, be provided with proof mechanism of water outside described automatic walking mechanism, described proof mechanism of water outboard end is provided with pollution discharge mechanism;
Described cutting mechanism comprises slotted nut, short sleeve, long sleeve, long flat key, short flat key, final drive shaft, first slide block, second slide block, connecting rod and blade, described final drive shaft one end is provided with slotted nut, described final drive shaft the other end is provided with screw thread, short sleeve is provided with successively after described slotted nut, first slide block, long sleeve, with the second slide block, described first slide block periphery is connected with blade by rotating shaft, described second slide block periphery connects one end of connecting rod by rotating shaft, the described connecting rod other end connects blade by rotating shaft, groove is respectively equipped with inside described first slide block and the second slide block, the shaft shoulder of described final drive shaft is provided with short flat key, long flat key is provided with in the axial end of described final drive shaft, described long flat key coordinates with the inner groovy of described first slide block, described short flat key coordinates with the inner groovy of described second slide block,
Described automatic walking mechanism comprises support set connector, push rod support connecting piece, AC servomotor, electric pushrod, roller, connecting rod, nut sleeve, nut guide plate, shaft coupling and support set, described final drive shaft is connected with AC servo motor by shaft coupling, on described final drive shaft, screw thread both sides are respectively equipped with support set, support set connector is provided with outside described support set, push rod support connecting piece is provided with outside described support set connector, described push rod support connecting piece connects electric pushrod outward, described electric pushrod end is provided with roller, the screw thread of described final drive shaft is provided with nut sleeve, nut guide plate is provided with outside described nut sleeve, connecting rod connects the described support set at two ends through described nut guide plate,
Described proof mechanism of water comprises drive end bearing bracket, outside link, rear bucket, dead ring, bellows and arm-tie, described bellows-sheathed is located at outside described automatic walking mechanism, described electric pushrod and roller are through described bellows, described bellows front end is provided with drive end bearing bracket, described bellows rear end is provided with rear bucket, described bellows two ends are fixedly connected with rear bucket with described drive end bearing bracket by dead ring, are provided with arm-tie outside described drive end bearing bracket, and described arm-tie is connected by outside link with described rear bucket;
Described pollution discharge mechanism comprises feed pipe, screen pack and blow-off pipe, and outside described rear bucket, lower end is provided with fixed head, and described feed pipe and blow-off pipe are installed on the fixed head of bucket in the rear, and the mouth of pipe of described blow-off pipe is provided with screen pack.
2. Novel underground drain road as claimed in claim 1 sewage disposal apparatus, is characterized in that: described slotted nut is fixed by split pin in the end of described final drive shaft.
3. Novel underground drain road as claimed in claim 2 sewage disposal apparatus, is characterized in that: described blade is provided with 3, is evenly located at described first slide block periphery.
4. Novel underground drain road as claimed in claim 1 sewage disposal apparatus, is characterized in that: be provided with O type circle, stationary ring, rotating ring, O type circle, portable plate, spring, holding screw inside described drive end bearing bracket successively, mark closely ring and screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520528944.6U CN204934150U (en) | 2015-07-20 | 2015-07-20 | A kind of Novel underground drain road sewage disposal apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520528944.6U CN204934150U (en) | 2015-07-20 | 2015-07-20 | A kind of Novel underground drain road sewage disposal apparatus |
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| Publication Number | Publication Date |
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| CN204934150U true CN204934150U (en) | 2016-01-06 |
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| CN201520528944.6U Withdrawn - After Issue CN204934150U (en) | 2015-07-20 | 2015-07-20 | A kind of Novel underground drain road sewage disposal apparatus |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105149300A (en) * | 2015-07-20 | 2015-12-16 | 天津城建大学 | Novel underground drainage pipeline sewage disposal device |
| CN106140747A (en) * | 2016-07-05 | 2016-11-23 | 宿州市航宇塑胶贸易有限公司 | A kind of automatic pipeline cleaning plant |
| CN106903120A (en) * | 2017-05-11 | 2017-06-30 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| CN108019586A (en) * | 2018-01-19 | 2018-05-11 | 浙江省天然气开发有限公司 | A kind of stable type pipe robot walking mechanism |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN112090885A (en) * | 2020-09-08 | 2020-12-18 | 方常平 | Efficient self-adaptive pipeline cleaning mechanism |
-
2015
- 2015-07-20 CN CN201520528944.6U patent/CN204934150U/en not_active Withdrawn - After Issue
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105149300A (en) * | 2015-07-20 | 2015-12-16 | 天津城建大学 | Novel underground drainage pipeline sewage disposal device |
| CN105149300B (en) * | 2015-07-20 | 2017-06-09 | 天津城建大学 | Novel underground drain road sewage disposal apparatus |
| CN106140747A (en) * | 2016-07-05 | 2016-11-23 | 宿州市航宇塑胶贸易有限公司 | A kind of automatic pipeline cleaning plant |
| WO2018205530A1 (en) * | 2017-05-11 | 2018-11-15 | 中国矿业大学 | Single-drive bidirectional crawling pipeline cleaning robot |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| WO2018205920A1 (en) * | 2017-05-11 | 2018-11-15 | 中国矿业大学 | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
| CN106903120A (en) * | 2017-05-11 | 2017-06-30 | 中国矿业大学 | A kind of single two-way crawling formula pipeline cleaning machine people of drive |
| CN106925575B (en) * | 2017-05-11 | 2019-02-19 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| GB2569931A (en) * | 2017-05-11 | 2019-07-03 | Univ China Mining | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
| GB2569931B (en) * | 2017-05-11 | 2020-04-15 | Univ China Mining | Complete strong supporting single drive two-way crawling type pipeline cleaning robot |
| US10981203B2 (en) | 2017-05-11 | 2021-04-20 | China University Of Mining And Technology | Single-drive bidirectional-crawling pipe-cleaning robot |
| CN108019586A (en) * | 2018-01-19 | 2018-05-11 | 浙江省天然气开发有限公司 | A kind of stable type pipe robot walking mechanism |
| CN108019586B (en) * | 2018-01-19 | 2024-03-01 | 国家管网集团浙江省天然气管网有限公司 | Stable pipeline robot running gear |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN108758166B (en) * | 2018-07-17 | 2019-11-29 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN112090885A (en) * | 2020-09-08 | 2020-12-18 | 方常平 | Efficient self-adaptive pipeline cleaning mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160106 Effective date of abandoning: 20170609 |
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| AV01 | Patent right actively abandoned |