CN218063929U - Positioning and moving device for air bag plugging robot - Google Patents
Positioning and moving device for air bag plugging robot Download PDFInfo
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- CN218063929U CN218063929U CN202221837870.0U CN202221837870U CN218063929U CN 218063929 U CN218063929 U CN 218063929U CN 202221837870 U CN202221837870 U CN 202221837870U CN 218063929 U CN218063929 U CN 218063929U
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Abstract
The utility model provides a positioning and moving device of an air bag plugging robot, which comprises a spiral driving wheel, a driving wheel driving piece and a swing arm driving piece which are rotationally connected at the two sides of the robot; the two sides of the robot are symmetrically and rotationally connected with the spiral driving wheels through the swing arm assemblies and are driven by the driving wheel driving parts; the swing arm driving piece drives the swing arm assembly to swing up and down. The utility model provides a foldable swing arm structure, after the shrink compact structure, be convenient for business turn over inspection well head, transport are stored. Strong adaptability, the swing arm is expanded the back support span is big, walking stability is good, adjusts support span and robot height simultaneously through adjusting the swing angle, adapts to the high adjustment demand of robot at the mobile location stability in the pit and location well head position.
Description
Technical Field
The utility model relates to a pipeline inspection technical field is an gasbag shutoff robot positioning mobile device particularly.
Background
Municipal drainage pipeline engineering construction is divided into several categories such as pipeline detection, maintenance, restoration, and high water level pipeline construction all needs to carry out works such as precipitation, drainage, washing after the shutoff pipeline earlier stage. Air bag plugging is one of the most common modes for pipeline plugging, and is basically manual downhole operation at present.
However, since a safe manhole cover is arranged above each manhole, a closed limited space is formed by the manhole and the pipeline. After the natural substances in the inspection well are rotten, other toxic gases such as methane and the like are easily generated, and particularly, the generation conditions of sewage and rainwater pipelines are more sufficient. The methane is colorless, tasteless and insoluble combustible gas. When the concentration of the accumulated toxic gas is high, operators can easily suffer from poisoning and coma or even death when entering the inspection well without protective measures. Therefore, the operators who work for plugging the air bag need to make preparations for gas protection before going into the well, such as gas masks. However, the inspection wells are outdoor and scattered in all corners of a city, so that great difficulty exists in supervision of operators, and operators with weak safety consciousness often enter the inspection wells without any anti-virus measures under the unsupervised condition, so that great life safety problems exist. And the manual work efficiency is low.
Based on the development of the robot technology, robots with various functions are applied to pipeline maintenance. But because silt thickness is different in the different pipelines, under the dead weight effect, the robot is absorbed in silt very easily, does not have a section at present and can adjust the high running gear of robot location back in silt.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem how to provide a robot positioning and walking device that can adjust the height of robot and accomodate.
The utility model discloses a following technical means realizes solving above-mentioned technical problem:
a positioning and moving device of an air bag plugging robot comprises a spiral driving wheel (16), a driving wheel driving piece (18) and a swing arm driving piece (17), wherein the spiral driving wheel, the driving wheel driving piece and the swing arm driving piece are rotatably connected to two sides of the robot; the two sides of the robot are symmetrically and rotatably connected with the spiral driving wheels (16) through swing arm assemblies, and each swing arm assembly comprises a driving swing arm (14) and a driven swing arm (15); two ends of each spiral driving wheel (16) are respectively and rotatably connected with one end of a driving swing arm (14) and one end of a driven swing arm (15), and the other end of the driving swing arm (14) is fixed with the output end of a swing arm driving piece (17); the output end of the driving wheel driving piece (18) is linked with the spiral driving wheel (16) through a first chain wheel component; the driven swing arm (15) is provided with a groove (151), and the first chain wheel assembly is positioned in the groove (151).
The folding swing arm structure has a compact structure after being contracted, is convenient to pass in and out of an inspection well mouth and carry and store. Strong adaptability, the swing arm is expanded the back support span is big, walking stability is good, adjusts support span and robot height simultaneously through adjusting the swing angle, adapts to the high adjustment demand of robot at the mobile location stability in the pit and location well head position.
Furthermore, the driving wheel driving part (18) and the swing arm driving part (17) are fixed with the robot, and the output ends of the driving wheel driving part and the swing arm driving part face the front end and the rear end of the robot respectively; the swing arm assembly comprises a driving swing arm (14) and a driven swing arm (15); and two ends of each spiral driving wheel (16) are respectively and rotatably connected with one end of a driving swing arm (14) and one end of a driven swing arm (15), and the other ends of the driving swing arm (14) and the driven swing arm (15) are respectively fixed with the output ends of a swing arm driving piece (17) and a driving wheel driving piece (18).
Furthermore, a connecting rod (13) is fixed at the bottom of the robot, and the spiral driving wheel (16), the driving swing arm (14), the driven swing arm (15), the swing arm driving piece (17) and the driving wheel driving piece (18) are symmetrically distributed on two sides of the connecting rod (13).
Furthermore, the two driving wheel driving pieces (18) are connected with the rotating shaft of the spiral driving wheel (16) through a first chain wheel assembly.
Further, the first chain wheel assembly comprises a driving chain wheel (101), a transmission chain wheel (102) and a first chain (103); the driving chain wheel (101) is fixed at one end, facing the connecting rod (13), of the driven swing arm (15), the transmission chain wheel (102) is fixed at one end, facing the spiral driving wheel (16), of the driven swing arm (15), the first chain (103) is connected with the driving chain wheel (101) and the transmission chain wheel (102), and the transmission chain wheel (102) is fixed with a rotating shaft of the spiral driving wheel (16); the driving chain wheel (101) is fixed with an output shaft of the driving wheel driving part (18).
Further, the driven swing arm (15) is provided with a groove (151) for accommodating a chain, a plurality of tensioning rollers are arranged in the groove (151), and the chain is tensioned by the plurality of tensioning rollers and is positioned in the groove (151).
Further, the groove (151) faces the active swing arm (14).
Furthermore, the robot is provided with a containing cavity containing the driving swing arm (14) and the driven swing arm (15), and when the robot is folded, the driving swing arm (14) and the driven swing arm (15) swing upwards to be contained in the containing cavity on two sides of the robot.
Furthermore, the outer contours of the driving swing arm (14) and the driven swing arm (15) are consistent with the outer contour of the side face of the robot.
Furthermore, the whole robot is a cylinder, and the movable swing arm (14) and the driven swing arm (15) are arc-shaped swing arms.
The utility model has the advantages of:
the foldable symmetrical swing arm structure has a compact structure after contraction, is convenient for getting in and out of inspection well mouths and carrying and storing. Strong adaptability, the swing arm is expanded the back support span is big, walking stability is good, adjusts support span and robot height simultaneously through adjusting the swing angle, adapts to the high adjustment demand of robot at the mobile location stability in the pit and location well head position.
The left and right spiral driving wheels support the robot, and the spiral blades have large adhesive force when being submerged in sludge of the vertical well, so that the reaction force of the air bag to the robot in the pushing-out process can be counteracted, and the operation stability of the robot is kept.
The driving wheel driving piece drives the left and right spiral driving wheels through the gears and the chain, the driving system guides and tensions the chain through the tension wheel, the swing arm is conveniently designed into a shape matched with the profile of the robot, and the cross section of the robot is integrally in an original shape after the swing arm is folded and is matched with a wellhead.
By adjusting the rotating direction of the left and right spiral driving wheels, the robot can realize multiple position adjustment such as forward movement, backward movement, steering and lateral movement, and the requirements of adjusting the front and back well mouth positions and the left and right well mouth positions of the robot are met.
Drawings
Fig. 1 is a schematic view of an application structure of a robot in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of the robot in an expanded state according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an outer frame assembly of the robot according to the embodiment of the present invention;
fig. 4 is a schematic structural view of a spiral driving wheel and a swing arm on one side of the robot according to the embodiment of the present invention;
fig. 5 is the embodiment of the present invention, which is a schematic structural view of the chain wheel assembly shown after the cover plate is opened by the driven swing arm of the robot.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
The embodiment discloses that location, mobile device are applied to gasbag shutoff robot, as shown in fig. 1, derrick 3 erects at the inspection well head for the conveying robot gets into in the inspection well, and cable box 4 provides cable transport and power supply for the robot, and the air compressor machine is aerifyd for the driving piece in the robot, guarantees its leakproofness. The gasbag 10 is placed in the robot, is pushed to the cross well by the robot to aerify by the air compressor machine. Each section is described in detail below.
As shown in fig. 2 and 3, the robot includes an outer frame assembly 1, an inner guide cylinder assembly 2, and a positioning moving device. The outer frame assembly 1 comprises a front side plate 11, a rear side plate 12, a plurality of connecting rods 13 connected with the front side plate 11 and the rear side plate 12 and a telescopic driving piece; in this embodiment, the front side plate 11 and the rear side plate 12 are circular ring-shaped plate bodies with the same diameter, and two ends of the plurality of connecting rods 13 are respectively fixed with the front side plate 11 and the rear side plate 12, so as to form a cylinder body which is a substantially cylindrical cylinder. In order to facilitate the fixation of other components, in this embodiment, the connecting rods 13 are 5, two at the top, one at the left and right sides of the middle position, one at the bottom, and two at the middle and one at the bottom form an isosceles triangle structure.
As shown in fig. 4, the positioning and moving device includes a driving swing arm 14, a driven swing arm 15, two spiral driving wheels 16, two swing arm driving pieces 17, and two driving wheel driving pieces 18.
A swing arm driving member 17 and a driving wheel driving member 18 are respectively fixed on the left and right sides of the bottom connecting rod 13, the output shafts of the two driving members respectively face to the front and back, and in order to facilitate the fixing with the swing arm, motor bases 19 are further fixed on the two ends of the bottom connecting rod 13, as shown in fig. 3, the motor bases 19 are substantially plate-shaped structures and are welded or bolted with the connecting rod 13. Two mounting holes are formed in the motor base 19 and symmetrically located on two sides of the bottom connecting rod 13; as shown in fig. 2, the bases of the swing arm driving member 17 and the driving wheel driving member 18 are fixed to the bottom connecting rod 13, and the output ends are respectively fixed to the mounting holes at both ends of the bottom connecting rod 13.
As shown in fig. 4, two ends of each spiral driving wheel 16 are respectively rotatably connected to one end of the driving swing arm 14 and one end of the driven swing arm 15, as shown in fig. 2, the other end of the driven swing arm 15 is respectively fixed to a mounting hole on the motor base 19 at a corresponding position, and the other end of the driving swing arm 14 is fixed to a mounting hole of the corresponding motor base 19 (the motor base 19 is not labeled in fig. 2), so as to be rotatably connected to an output end of the corresponding swing arm driving member 17. In this embodiment, initiative swing arm 14 and driven swing arm 15 are the arc structure, and when swing arm driving piece 17 drive initiative swing arm 14 was packed up, initiative swing arm 14 drove spiral drive wheel 16 upswing, accomodate between preceding curb plate 11 and posterior lateral plate 12, when opening, can adjust the angle that both sides swing arm was opened as required to the holistic height of control robot. The two helical drive wheels 16 also provide a stable support for the robot.
In this embodiment, the drive wheel drive member 18 needs to be coupled to the shaft of the helical drive wheel 16 via a first sprocket assembly. As shown in fig. 5, the first sprocket assembly includes a driving sprocket 101, a driving sprocket 102, a first chain 103; the driving chain wheel 101 is fixed at one end of the driven swing arm 15 facing the connecting rod 13, the driving chain wheel 102 is fixed at one end of the driven swing arm 15 facing away from the connecting rod, the first chain 103 is connected with the driving chain wheel 101 and the driving chain wheel 102, and the driving chain wheel 102 is fixed with a rotating shaft of the spiral driving wheel 16 (the spiral driving wheel 16 refers to fig. 2); the drive sprocket 101 is fixed to the output shaft of the drive wheel drive 18 (the drive wheel drive 18 is shown in fig. 2). In this embodiment, the driven swing arm 15 is provided with a groove 151 for accommodating the first chain 103, and since the groove 151 is integrally arc-shaped, a plurality of tension rollers are provided in the groove 151, and the chain is tensioned by the tension rollers and is located in the groove 151, thereby avoiding scraping against the wall of the groove 151. In addition, the groove 151 faces the side of the active swing arm 14 (the active swing arm 14 refers to fig. 2). When the driving wheel driving member 18 is activated, the spiral driving wheel 16 is driven by the chain wheel transmission to rotate forward and backward (the spiral driving wheel 16 is shown in fig. 2), so that the robot moves forward and backward. The groove 151 is sealed through the cover plate and the silica gel sealing gasket, so that stability, safety and reliability of the first chain wheel assembly are guaranteed.
In this embodiment, in order to hoist the robot and send the robot into the inspection well, a cross bar is further fixed on the outer wall of the rear side plate 12 to form a hanger 121, and meanwhile, the strength of the rear side plate 12 can also be improved, two connecting rods 13 located at the top are fixed with U-shaped hanging rings 121-1, two ends of each U-shaped hanging ring 121-1 rotate on the two connecting rods 13 at the top respectively and are close to the front side plate 11, and the hanger 121 and the hanging rings 121-1 form two lifting points, so that the head and tail heights of the robot can be controlled in the hoisting process conveniently. When the U-shaped hanging ring 121-1 is folded, the U-shaped hanging ring is tightly attached to the connecting rod 13, so that the robot is convenient to store.
Fig. 2 shows the state that the spiral driving wheel of the robot is opened.
In this embodiment, a muddy water camera 6 and a sonar 7 are fixed to the front side plate 11, a plurality of obstacle avoidance distance measuring sensors 8 are mounted to the plurality of connecting rods 13, and an attitude sensor 9 is fixed to the inner guide cylinder wall. The upper end carries with waterproof light, muddy water camera or polarized light camera under water and preceding imaging sonar respectively before the robot to and keep away barrier range finding sensor, be used for surveying the position of the horizontal well of needs shutoff in perpendicular inspection shaft, guide robot movement location. The air bag is pushed in place and the inflation plugging is completed, so that the air bag posture and the plugging condition are detected in an auxiliary mode.
The inner guide cylinder component 2 comprises an inner guide cylinder, a push plate, a second chain wheel component and a push plate driving piece, the inner guide cylinder is of a cylindrical structure, and the whole body is hollow, so that the whole weight of the robot can be reduced; the inner guide cylinder is arranged in a cylindrical cylinder which is formed by enclosing a front side plate 11, a rear side plate 12 and 5 connecting rods 13, wherein the diameter of a middle through hole of the front side plate 11 is larger than that of the inner guide cylinder, and the movement path of the inner guide cylinder extends out of or retracts back from the front side plate 11.
In order to ensure that the path does not deflect when the inner guide cylinder moves, the guide sleeve 100 is arranged on at least one connecting rod 13, and the guide sleeve 100 is in contact with the outer wall of the inner guide cylinder assembly; this embodiment installs uide bushing 100 on two connecting rods 13 in the middle, because the outer wall of interior guide tube subassembly is the cambered surface, the face of uide bushing 100 and interior guide tube subassembly outer wall contact also is the cambered surface, is convenient for laminate with interior guide tube subassembly outer wall. The two guide sleeves 100 provide limiting and guiding in the movement process of the inner guide cylinder, so that the movement process of the inner guide cylinder is smooth. In this embodiment, the cross-section of the guide sleeve 100 is generally triangular, a hole is formed in the middle, and the connecting column penetrates through the hole, and the connecting column can be fixed through bolts or welding. In order to reduce the frictional force, the contact surface of the guide sleeve 100 with the inner guide cylinder is made smooth.
The inner guide cylinder is driven to stretch by a telescopic driving piece. The flexible driving piece is the electric push rod, and its base rotates to be connected at posterior lateral plate 12, and the output rotates with the one end of interior guide cylinder towards anterior lateral plate 11 to be connected, and flexible driving piece starts the back, drives interior guide cylinder and wears out anterior lateral plate 11 and slide forward. The front side plate 11 is provided with a limit hole for the output end of the telescopic driving piece to pass through. In this embodiment, the telescopic driving member is located at the middle position of the two top connecting rods 13.
The push pedal is located interior guide tube, and the area of push pedal is less than interior guide tube interior sectional area, wholly is located the below of interior guide tube inner chamber, and the push pedal driving piece is located the push pedal rear, and gasbag 10 is located push pedal the place ahead, and when push pedal driving piece drive push pedal gos forward, the push pedal promotes gasbag 10 and advances to send into in the appointed pipeline. The specific driving structure is as follows:
the left side and the right side of the inner guide cylinder are provided with sliding grooves along the moving direction, the left side and the right side of the push plate are both fixed with guide shafts, and the guide shafts extend out of the sliding grooves to be fixed with a guide shaft sliding seat; the second chain wheel assembly is positioned on the outer wall of the inner guide cylinder and comprises a driving gear, a driven gear and a second chain, wherein the driving gear and the driven gear are respectively fixed at two ends of the sliding chute; two ends of the second chain are connected with the guide shaft sliding seat in series to form a closed loop; the driving gear is located at the rear end of the inner guide cylinder. Lie in the push pedal rear in the inner guide cylinder and rotate and be fixed with the transmission shaft, two driving gears all are fixed with the transmission shaft, and the push pedal driving piece drives the transmission shaft and rotates, and the transmission shaft drives two driving gears and rotates to drive the chain operation, because the guiding axle slide is as a part of chain, is being drawn along the spout operation, thereby drives the push pedal motion, and the gasbag 10 motion is being pushed away to the push pedal, realizes the purpose of pushing away the inner guide cylinder with gasbag 10. In the embodiment, due to reasons such as vibration and friction, two ends of the transmission shaft are fixed with the two driving gears through the universal joint 29, so that a large intersection angle is allowed between the two connected shafts, and the requirement of the limited position layout of the servo motor on the robot is met.
In this embodiment, still fix on the spout and want the sliding sleeve, the sliding sleeve can adopt the nylon material that the smoothness is high, adopts the modularized design, and convenient to detach changes, when the guiding axle slides and sliding fit between the sliding sleeve reduces frictional force.
The mounting bracket is fixed in the inner guide cylinder, the mounting bracket is positioned at the rear of the push plate, and the push plate driving piece is fixed in the mounting bracket through screws. The push plate driving piece is in transmission connection with the transmission shaft through a third chain wheel assembly. Through the transmission of third sprocket subassembly, a push pedal driving piece can drive two driving gears simultaneously and rotate, reduces driving piece quantity, has both practiced thrift the cost, can guarantee again that push pedal both sides functioning speed always, can also alleviate robot weight. In this embodiment, the third sprocket assembly is a combination structure of a driving wheel, a driven wheel and a chain, and will not be described in detail herein.
In order to protect the second chain wheel assembly, a protective cover is covered outside the sliding chute; the driving gear, the driven gear and the chain are all positioned in the protective cover. Because the guard shield has certain thickness, in order to reduce the interval of interior guide cylinder and outer frame member, this embodiment is slotted in the corresponding position of preceding curb plate 11, supplies the guard shield to wear out, can not only play the guide effect for the moving path of interior guide cylinder like this, can make robot structure compacter again.
This embodiment has still seted up at least one supplementary spout on the guide tube, and the push pedal additionally designs a slider and supplementary spout cooperation, combines above-mentioned two spouts, forms three point at least supports, can guarantee the stability of push pedal slip process.
The left and right groups of chain wheels are coaxially driven by the single servo motor, so that the left and right chains synchronously move, and the push plate of the air bag 10 stably pushes the air bag 10 to enter a hoistway. The pushing-out speed of the air bag 10 is adjusted by adjusting the rotating speed of the driving motor, so that the pushing-out stability of the air bag 10 is controlled; the stroke of the secondary pushing mechanism is controlled by adjusting the revolution of the servo motor, so that the requirements of air bags 10 with different specifications and sizes on the stroke of the pushing plate are met.
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 skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. A positioning and moving device of an air bag plugging robot is characterized by comprising spiral driving wheels (16), driving wheel driving pieces (18) and swing arm driving pieces (17), wherein the spiral driving wheels, the driving wheel driving pieces and the swing arm driving pieces are rotatably connected to two sides of the robot; the two sides of the robot are symmetrically and rotatably connected with the spiral driving wheels (16) through swing arm assemblies, and each swing arm assembly comprises a driving swing arm (14) and a driven swing arm (15); two ends of each spiral driving wheel (16) are respectively and rotatably connected with one end of a driving swing arm (14) and one end of a driven swing arm (15), and the other end of the driving swing arm (14) is fixed with the output end of a swing arm driving piece (17); the output end of the driving wheel driving piece (18) is linked with the spiral driving wheel (16) through a first chain wheel component; the driven swing arm (15) is provided with a groove (151), and the first chain wheel assembly is located in the groove (151).
2. The positioning and moving device for the airbag plugging robot as claimed in claim 1, wherein the driving wheel driving member (18) and the swing arm driving member (17) are fixed with the robot, and the output ends of the driving wheel driving member and the swing arm driving member face the front end and the rear end of the robot respectively.
3. The positioning and moving device for the airbag plugging robot as claimed in claim 2, wherein a connecting rod (13) is fixed at the bottom of the robot, and the spiral driving wheel (16), the driving swing arm (14), the driven swing arm (15), the swing arm driving member (17) and the driving wheel driving member (18) are symmetrically arranged on two sides of the connecting rod (13) at the bottom.
4. The positioning and moving device for the airbag plugging robot as claimed in any one of claims 1 to 3, wherein two driving wheel driving members (18) are connected with the rotating shaft of the spiral driving wheel (16) through a first chain wheel assembly.
5. The airbag plugging robot positioning and moving device according to claim 4, wherein; the first chain wheel assembly comprises a driving chain wheel (101), a transmission chain wheel (102) and a first chain (103); the driving chain wheel (101) is fixed at one end, facing the connecting rod (13), of the driven swing arm (15), the transmission chain wheel (102) is fixed at one end, facing the spiral driving wheel (16), of the driven swing arm (15), the first chain (103) is connected with the driving chain wheel (101) and the transmission chain wheel (102), and the transmission chain wheel (102) is fixed with a rotating shaft of the spiral driving wheel (16); the driving chain wheel (101) is fixed with an output shaft of the driving wheel driving part (18).
6. An air bag plugging robot positioning and moving device according to claim 5, wherein a plurality of tensioning rollers are arranged in said groove (151), said chain is tensioned in said groove (151) by a plurality of tensioning rollers.
7. An airbag plugging robot positioning and moving device according to claim 6, characterized in that the groove (151) faces the active swing arm (14).
8. The positioning and moving device for the airbag plugging robot according to claim 2 or 3, wherein the robot is provided with accommodating cavities for accommodating the driving swing arm (14) and the driven swing arm (15), and when the robot is folded, the driving swing arm (14) and the driven swing arm (15) swing upwards to be accommodated in the accommodating cavities on two sides of the robot.
9. The airbag plugging robot positioning and moving device according to claim 8, wherein the outer contours of the driving swing arm (14) and the driven swing arm (15) are consistent with the outer contour of the side face of the robot.
10. The positioning and moving device of the airbag plugging robot as claimed in claim 9, wherein the robot is a cylinder in its entirety, and the movable swing arm (14) and the driven swing arm (15) are arc swing arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221837870.0U CN218063929U (en) | 2022-07-14 | 2022-07-14 | Positioning and moving device for air bag plugging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221837870.0U CN218063929U (en) | 2022-07-14 | 2022-07-14 | Positioning and moving device for air bag plugging robot |
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| Publication Number | Publication Date |
|---|---|
| CN218063929U true CN218063929U (en) | 2022-12-16 |
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| CN202221837870.0U Active CN218063929U (en) | 2022-07-14 | 2022-07-14 | Positioning and moving device for air bag plugging robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116906728A (en) * | 2023-09-14 | 2023-10-20 | 江苏爱索新材料科技有限公司 | Clamp for sealing and inflating large-caliber flexible lining hose |
-
2022
- 2022-07-14 CN CN202221837870.0U patent/CN218063929U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116906728A (en) * | 2023-09-14 | 2023-10-20 | 江苏爱索新材料科技有限公司 | Clamp for sealing and inflating large-caliber flexible lining hose |
| CN116906728B (en) * | 2023-09-14 | 2024-02-23 | 江苏爱索新材料科技有限公司 | Clamp for sealing and inflating large-caliber flexible lining hose |
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